小鹏汽车Robotaxi
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
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2026-04-22 bc7ea9b2430833d1bda26cb75e756ab0e28ab34f 
 xp-robotaxi-itinerary-boot/src/main/java/com/xiaopeng/itinerary/controller/ActiveOrderController.java


@@ -6,6 +6,7 @@


import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;


import com.xiaopeng.api.vo.operation.RouteAndFareVo;


import com.xiaopeng.api.vo.operation.VehiclePositionVo;


import com.xiaopeng.api.vo.vehicleConvoy.XpVehicleVO;


import com.xiaopeng.common.core.domain.R;


import com.xiaopeng.itinerary.service.ActiveOrderService;


import com.xiaopeng.itinerary.service.XpPricingService;


@@ -13,6 +14,7 @@


import io.swagger.annotations.Api;


import io.swagger.annotations.ApiOperation;


import lombok.extern.slf4j.Slf4j;


import org.springframework.beans.BeanUtils;


import org.springframework.data.geo.Distance;


import org.springframework.data.geo.Metrics;


import org.springframework.data.geo.Point;


@@ -80,35 +82,7 @@


        return R.ok();


    }




    @Resource


    XpVehicleClient xpVehicleClient;


    /**


     * 周围车辆点位查询


     */


    @ApiOperation(value = "周围车辆点位查询", notes = "", tags = {"小程序-周围车辆点位查询"})


    @GetMapping("/api/v1/mini-program/nearby/cars")


    @XpClientCheck(checkToken = false, checkOtpToken = true)


    public R<List<XpVehicle>> carAround(@RequestParam double lon,@RequestParam double lat,HttpServletRequest request) {






        // TODO 需要车头方向


        Point point = new Point(lon, lat);


        Distance distance = new Distance(3, Metrics.KILOMETERS);


        Criteria criteria = Criteria.where("point")


                .nearSphere(point)


                .maxDistance(distance.getNormalizedValue());


        Query query = new Query(criteria);


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




        List<XpVehicle> xpVehicleList = vehiclePositions.stream()


                .sorted(Comparator.comparingDouble(VehiclePositionVo::getDistance))


                .map(v -> xpVehicleClient.findByVehicleVin(v.getVin()).getData())


                .filter(v -> v.getState() == 0)


                .limit(5)


                .collect(Collectors.toList());




        return R.ok(xpVehicleList);


    }


    @Resource


    private MongoTemplate mongoTemplate;