小鹏汽车Robotaxi
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
liujie
2026-06-09 c96fbe6b0aeb413a17c429133ee6d81d138144b9 
 xp-robotaxi-operation-boot/src/main/java/com/xiaopeng/operation/utils/mango/VehiclePositionService.java


@@ -2,17 +2,18 @@




import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;


import org.springframework.data.domain.Sort;


import org.springframework.data.geo.*;


import org.springframework.data.geo.Circle;


import org.springframework.data.geo.Distance;


import org.springframework.data.geo.Metrics;


import org.springframework.data.mongodb.core.MongoTemplate;


import org.springframework.data.mongodb.core.geo.GeoJsonPoint;


import org.springframework.data.mongodb.core.query.Criteria;


import org.springframework.data.mongodb.core.query.NearQuery;


import org.springframework.data.mongodb.core.query.Query;


import org.springframework.stereotype.Service;




import javax.annotation.Resource;


import java.util.ArrayList;


import java.util.List;


import java.util.stream.Collectors;




@Service


public class VehiclePositionService {


@@ -31,35 +32,17 @@


                                                             double latitude,


                                                             double distanceInMeters,int num) {


        try {


//            // 1. 创建查询点


//            Point referencePoint = new Point(longitude, latitude);


//


//            // 2. 构建 NearQuery - 完全使用 NearQuery 的 API


//            NearQuery nearQuery = NearQuery.near(referencePoint, Metrics.KILOMETERS)


//                    .maxDistance(distanceInMeters / 1000)  // 转成公里


//                    .spherical(true);


//


//


//            // 4. 执行查询 - 明确指定集合名


//            GeoResults<VehiclePosition> geoResults = mongoTemplate.geoNear(


//                    nearQuery,


//                    VehiclePosition.class,


//                    "vehicle_position"  // 明确指定集合名，避免映射错误


//            );


//


//            // 5. 提取结果


//            return geoResults.getContent().stream()


//                    .map(geoResult -> geoResult.getContent())


//                    .collect(Collectors.toList());




            //找到中心点


            // 找到中心点


            GeoJsonPoint geoJsonPoint = new GeoJsonPoint(longitude, latitude);


            //构造半径


            // 构造半径


            Distance distanceR = new Distance(distanceInMeters, Metrics.KILOMETERS);


            //画圆


            // 画圆


            Circle circle = new Circle(geoJsonPoint, distanceR);


            // 构造query对象


            Query query = Query.query(Criteria.where("point").withinSphere(circle));


            long latestAllowedAddTime = System.currentTimeMillis() - 60 * 1000;


            Query query = Query.query(new Criteria().andOperator(


                    Criteria.where("point").withinSphere(circle),


                    Criteria.where("addTime").gte(latestAllowedAddTime)


            ));


            List<VehiclePosition> vehiclePositions = mongoTemplate.find(query, VehiclePosition.class);


            return vehiclePositions;


        } catch (Exception e) {


@@ -69,6 +52,7 @@


    }








    /**


     * 根据车辆ID查询车辆信息


     * @param vehicleId 车辆ID