Merge branch '1.0' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi in...

liujie

2026-06-09 c96fbe6b0aeb413a17c429133ee6d81d138144b9

 xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/service/impl/XpTaskServiceImpl.java

@@ -5,10 +5,13 @@
import com.alibaba.fastjson2.JSONArray;
import com.alibaba.fastjson2.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.google.common.collect.Lists;
import com.xiaopeng.api.dto.account.XpOperationsUserPositionDTO;
import com.xiaopeng.api.dto.account.XpOperationsUserQueryDTO;
import com.xiaopeng.api.dto.operation.LonLatDto;
import com.xiaopeng.api.dto.pushMessage.AliPushMessageDTO;
import com.xiaopeng.api.feignClient.account.SysUserClient;
import com.xiaopeng.api.feignClient.account.XpOperationUserClient;
@@ -25,9 +28,11 @@
import com.xiaopeng.api.model.account.XpOperationsUserNotification;
import com.xiaopeng.api.model.maintenance.*;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.api.vo.TaskVO;
import com.xiaopeng.api.vo.XpTaskVO;
import com.xiaopeng.api.vo.account.XpOperationsUserWithRoleVO;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
import com.xiaopeng.api.vo.maintenance.TaskScheduleConstants;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.api.vo.operation.SmsVo;
import com.xiaopeng.common.core.constant.AliPushTypeConstant;
import com.xiaopeng.common.core.domain.R;
@@ -35,10 +40,12 @@
import com.xiaopeng.common.core.enums.TaskTypeEnum;
import com.xiaopeng.common.core.enums.TaskTypeNotificationEnum;
import com.xiaopeng.common.core.exception.ServiceException;
import com.xiaopeng.common.core.utils.SensitiveDataCryptoUtil;
import com.xiaopeng.common.core.web.page.PageInfo;
import com.xiaopeng.evi.oss.service.AliOssService;
import com.xiaopeng.maintenance.constant.I18nKeyConstant;
import com.xiaopeng.maintenance.dto.HandleVehicleAccidentDto;
import com.xiaopeng.maintenance.dto.SaveRemoteDrivingAccidentDto;
import com.xiaopeng.maintenance.dto.SaveErrorTaskDto;
import com.xiaopeng.maintenance.dto.SaveRoutineDetailDto;
import com.xiaopeng.maintenance.dto.SaveVehicleAccidentDto;
@@ -49,6 +56,7 @@
import com.xiaopeng.maintenance.model.query.XpTaskRecordPageQuery;
import com.xiaopeng.maintenance.model.vo.*;
import com.xiaopeng.maintenance.repo.XpOperationsUserRepository;
import com.xiaopeng.maintenance.service.IXpClockInService;
import com.xiaopeng.maintenance.service.IXpTaskRuleRoleService;
import com.xiaopeng.maintenance.service.IXpTaskRuleService;
import com.xiaopeng.maintenance.service.XpTaskService;
@@ -57,8 +65,11 @@
import com.xiaopeng.maintenance.utils.UUIDUtil;
import com.xiaopeng.maintenance.vo.TaskCleanDetailVO;
import com.xiaopeng.maintenance.vo.TaskDetectionDetailVO;
import com.xiaopeng.maintenance.vo.TaskReassignmentVo;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang3.StringUtils;
import org.apache.logging.log4j.util.Strings;
import org.apache.shardingsphere.transaction.annotation.ShardingSphereTransactionType;
import org.apache.shardingsphere.transaction.core.TransactionType;
import org.redisson.api.RLock;
@@ -66,7 +77,6 @@
import org.springframework.beans.BeanUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.data.geo.Point;
import org.springframework.data.mongodb.core.MongoTemplate;
import org.springframework.data.mongodb.core.geo.GeoJsonPoint;
import org.springframework.data.mongodb.core.query.Criteria;
@@ -120,22 +130,22 @@

    @Autowired
    private XpVehicleCleanMapper vehicleCleanMapper;
    @Autowired
    @Resource
    private XpOperationUserClient xpOperationUserClient;
    @Autowired
    @Resource
    private SysUserClient sysUserClient;
    @Autowired
    private XpTaskHandleDetailRoutineMapper xpTaskHandleDetailRoutineMapper;

    @Autowired
    @Resource
    private XpVehicleClient xpVehicleClient;
    @Autowired
    private XpTaskRuleMapper xpTaskRuleMapper;
    @Autowired
    private MongoTemplate mongoTemplate;
    @Autowired
    @Resource
    private XpAliPushMessageClient xpAliPushMessageClient;
    @Autowired
    @Resource
    private XpOperationUserNotificationClient xpOperationUserNotificationClient;
    @Autowired
    private IXpTaskRuleRoleService xpTaskRuleRoleService;
@@ -155,6 +165,12 @@
    private AliOssService aliOssService;
    @Autowired
    private AliOssDownloadUtil aliOssDownloadUtil;

    @Resource
    private WebSocketMessageClient xpWebSocketMessageClient;

    @Resource
    private IXpClockInService xpClockInService;

    @Override
    public PageInfo<WorkBenchVO> workbench(WorkBenchQuery query) throws UnsupportedEncodingException {
@@ -244,7 +260,8 @@
        if (Objects.isNull(vehicle)) {
            throw new ServiceException("上报失败，未获取到车辆信息", I18nKeyConstant.TASK_VEHICLE_NOT_EXIST);
        }
        VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vehicle.getVehicleVin())), VehiclePosition.class);
        String vin = SensitiveDataCryptoUtil.decryptIfPossible(vehicle.getVehicleVin());
        VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
        if (Objects.isNull(vehiclePosition)) {
            log.error("事故上报未获取到车辆当前定位");
            throw new ServiceException("获取车辆实时定位信息失败，请稍后重试", I18nKeyConstant.TASK_SAVE_ERROR);
@@ -259,9 +276,9 @@
        }
        xpTask.setVehicleLocation(address);
// 临时处理
//         xpTask.setVehicleLon(new BigDecimal("104.055683"));
//         xpTask.setVehicleLat(new BigDecimal("30.585991"));
//         xpTask.setVehicleLocation("四川省成都市武侯区石羊街道天府新谷");
//        xpTask.setVehicleLon(new BigDecimal("104.055683"));
//        xpTask.setVehicleLat(new BigDecimal("30.585991"));
//        xpTask.setVehicleLocation("四川省成都市武侯区石羊街道天府新谷");
        xpTask.setVehicleId(dto.getId());
        xpTask.setReportUserId(xpOperationsUser.getId());
        xpTask.setReportTime(LocalDateTime.now());
@@ -281,7 +298,61 @@
            List<Long> userIds = xpOperationsRoleResult.getData().stream().filter(x -> ids.contains(x.getOperationsUserId()))
                    .map(XpOperationsRole::getOperationsUserId)
                    .distinct().collect(Collectors.toList());
            xpTask.setHandleUserId(StringUtils.join(userIds, ","));
            if (CollUtil.isEmpty(userIds)) {
                throw new ServiceException("未配置车队运维人员");
            }
            //获取首选人的实时定位，计算每个人到事故车辆位置的导航距离
            List<Operations> operationsList = new ArrayList<>();
            for (Long userId : userIds) {
                Operations operations = new Operations();
                operations.setUserId(userId);
                //获取运维人员实时定位
                XpOperationsUserPositionDTO operationsUserPositionDTO = mongoTemplate.findOne(new Query(Criteria.where("id").is(userId)), XpOperationsUserPositionDTO.class);
                if (null != operationsUserPositionDTO) {
                    LonLatDto start = new LonLatDto(operationsUserPositionDTO.getLongitude(), operationsUserPositionDTO.getLatitude());
                    LonLatDto end = new LonLatDto(xpTask.getVehicleLon().doubleValue(), xpTask.getVehicleLat().doubleValue());
                    //获取导航线路
                    RouteVo routeVo = gdMapGeocodingUtil.getDistanceAndTime(start, end, null, null, null, null);
                    operations.setDistance(routeVo.getDistance());
                    operationsList.add(operations);
                }
            }
            if(operationsList.isEmpty()){
                throw new ServiceException("未找到合适的运维人员");
            }

            //对距离进行排序，去距离最近的人员
            operationsList.sort((o1, o2) -> o1.getDistance().compareTo(o2.getDistance()) * -1);
            Operations operations = operationsList.get(0);
            Long userId = operations.getUserId();
            //如果多人距离相同，可按照上班状态>空闲状态>工号排序
            List<Operations> collect = operationsList.stream().filter(s -> s.getDistance().equals(operations.getDistance())).collect(Collectors.toList());
            if (collect.size() > 1) {
                //查询已经上班打卡了的人员
                List<XpClockIn> xpClockIns = xpClockInService.list(new QueryWrapper<XpClockIn>().in("app_user_id", collect)
                        .isNull("clock_out_result").last(" and DATE(now()) = DATE(clock_in_time) and clock_out_time is null"));
                if (xpClockIns.size() == 1) {
                    userId = xpClockIns.get(0).getAppUserId();
                } else if (xpClockIns.size() > 1) {
                    //查询有任务的人员
                    List<Long> collect1 = xpClockIns.stream().map(XpClockIn::getAppUserId).collect(Collectors.toList());
                    List<XpTask> list1 = this.list(new QueryWrapper<XpTask>().eq("task_category", 2).in("handle_user_id", collect1)
                            .in("status", Arrays.asList(0, 1, 4)));
                    if (list1.size() > 0) {
                        //对工号进行排序
                        List<String> collect2 = list1.stream().map(XpTask::getHandleUserId).collect(Collectors.toList());
                        //找出没有任务的人员
                        List<Long> collect3 = collect1.stream().filter(s -> !collect2.contains(s.toString())).collect(Collectors.toList());
                        //查询人员数据，对其进行工号排序
                        XpOperationsUserQueryDTO dto1 = new XpOperationsUserQueryDTO();
                        dto1.setIds(collect3);
                        List<XpOperationsUserWithRoleVO> data = xpOperationUserClient.findList(dto1).getData();
                        data.sort((o1, o2) -> o1.getUniqueNumber().compareTo(o2.getUniqueNumber()) * -1);
                        userId = data.get(0).getId();
                    }
                }
            }
            xpTask.setHandleUserId(userId.toString());
        }
        // 根据事故处理限时配置设置任务截止时间
        LocalDateTime endTime = LocalDateTime.now().plusMinutes(taskRule.getProcessingTimeLimit());
@@ -289,7 +360,7 @@
        xpTask.setExpiredNoticeSent(0);
        xpTask.setWillTimeoutNoticeSent(0);
        this.save(xpTask);
        if (xpTask.getId() == null && StringUtils.isNotBlank(xpTask.getTaskCode())) {
        if (xpTask.getId() == null && StringUtils.isNotEmpty(xpTask.getTaskCode())) {
            XpTask savedTask = this.getOne(new LambdaQueryWrapper<XpTask>()
                    .eq(XpTask::getTaskCode, xpTask.getTaskCode())
                    .last("limit 1"));
@@ -304,10 +375,109 @@
        return xpTask;
    }

    @Override
    @Transactional
    @ShardingSphereTransactionType(TransactionType.BASE)
    public XpTask saveRemoteDrivingAccident(SaveRemoteDrivingAccidentDto dto) {
        validateRemoteDrivingAccidentDto(dto);

        XpVehicle vehicle = xpVehicleClient.findByVehicleVin(dto.getVin().trim()).getData();
        if (Objects.isNull(vehicle)) {
            throw new ServiceException("上报失败，未获取到车辆信息", I18nKeyConstant.TASK_VEHICLE_NOT_EXIST);
        }

        LocalDateTime reportTime = parseRemoteDrivingTaskTime(dto.getTaskTime());
        Integer taskSource = parseTaskSource(dto.getSource());
        XpTask xpTask = new XpTask();
        SimpleDateFormat sdf = new SimpleDateFormat("yyyyMMddHHmmssSSS");
        String code = sdf.format(new Date()) + UUIDUtil.getNumberRandom(5);
        xpTask.setTaskCode(code);
        xpTask.setTaskCategory(2);
        xpTask.setTaskTypeId(normalizeAccidentTaskTypeId(dto.getTaskTypeId()));
        xpTask.setTaskUrgencyLevel(mapRemoteDrivingUrgencyLevel(dto.getTaskUrgencyLevel()));
        xpTask.setTaskDescription(dto.getTaskDescription().trim());
        xpTask.setTaskImage(normalizeTaskImage(dto.getTaskImage()));
        xpTask.setVehicleId(vehicle.getId());
//        xpTask.setVehicleLocation(dto.getVehicleLocation().trim());
//        xpTask.setVehicleLon(dto.getVehicleLon());
//        xpTask.setVehicleLat(dto.getVehicleLat());
        String vin = SensitiveDataCryptoUtil.decryptIfPossible(vehicle.getVehicleVin());
        VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
        if (Objects.isNull(vehiclePosition)) {
            log.error("远程代驾事故上报未获取到车辆当前定位");
            throw new ServiceException("获取车辆实时定位信息失败，请稍后重试", I18nKeyConstant.TASK_SAVE_ERROR);
        }
        xpTask.setVehicleLon(new BigDecimal(vehiclePosition.getPoint().getX()));
        xpTask.setVehicleLat(new BigDecimal(vehiclePosition.getPoint().getY()));
        Map<String, String> geocode = gdMapGeocodingUtil.geocode(xpTask.getVehicleLon().toString(), xpTask.getVehicleLat().toString());
        String address = geocode == null ? null : geocode.get("address");
        if (StringUtils.isBlank(address)) {
            log.error("远程代驾事故上报通过车辆定位从高德获取地址信息失败");
            throw new ServiceException("获取车辆实时定位信息失败，请稍后重试", I18nKeyConstant.TASK_SAVE_ERROR);
        }
        xpTask.setVehicleLocation(address);

        xpTask.setReportUserId(0L);
        xpTask.setReportTime(reportTime);
        xpTask.setStatus(0);
        xpTask.setTaskSource(taskSource);
        xpTask.setCreateBy(dto.getSource().trim());

        XpTaskRule taskRule = xpTaskRuleService.lambdaQuery().last("limit 1").one();
        List<XpTaskRuleRole> list = xpTaskRuleRoleService.lambdaQuery().eq(XpTaskRuleRole::getRuleType, 9).list();
        if (CollUtil.isEmpty(list) || Objects.isNull(taskRule)) {
            throw new ServiceException("未配置车辆事故任务分配规则");
        }
        List<Long> roleIds = list.stream().map(XpTaskRuleRole::getRoleId).collect(Collectors.toList());
        R<List<XpOperationsRole>> xpOperationsRoleResult = xpOperationUserClient.getXpOperationsRoleByRoleIds(roleIds);
        if (CollUtil.isNotEmpty(xpOperationsRoleResult.getData())) {
            Long fleetId = xpFleetVehicleClient.getFleetIdByVehicleId(vehicle.getId()).getData();
            List<Long> ids = xpFleetOperationsClient.getOperationsIdsByFleetId(fleetId).getData();
            // 根据配置的事故处理角色和事故车辆所属车队人员，确定最终的任务分配人列表（取交集）
            List<Long> userIds = xpOperationsRoleResult.getData().stream()
                    .map(XpOperationsRole::getOperationsUserId)
                    .filter(ids::contains)
                    .distinct()
                    .collect(Collectors.toList());
            xpTask.setHandleUserId(StringUtils.join(userIds, ","));
        }
        // 根据事故处理限时配置设置任务截止时间
        xpTask.setEndTime(reportTime.plusMinutes(taskRule.getProcessingTimeLimit()));
        xpTask.setExpiredNoticeSent(0);
        xpTask.setWillTimeoutNoticeSent(0);
        this.save(xpTask);
        if (xpTask.getId() == null && StringUtils.isNotBlank(xpTask.getTaskCode())) {
            XpTask savedTask = this.getOne(new LambdaQueryWrapper<XpTask>()
                    .eq(XpTask::getTaskCode, xpTask.getTaskCode())
                    .last("limit 1"));
            if (savedTask != null && savedTask.getId() != null) {
                xpTask.setId(savedTask.getId());
            }
        }

        sendAccidentNotificationAsync(xpTask, vehicle.getPlateNumber(), taskRule.getProcessingTimeLimit());
        return xpTask;
    }


    @Data
    class Operations {
        /**
         * 候选人id
         */
        private Long userId;
        /**
         * 距离
         */
        private Integer distance;
    }


    /**
     * 异步发送事故通知
     * @param xpTask 任务信息
     * @param plateNumber 车牌号
     *
     * @param xpTask              任务信息
     * @param plateNumber         车牌号
     * @param processingTimeLimit 处理时限（分钟）
     */
    private void sendAccidentNotificationAsync(XpTask xpTask, String plateNumber, Integer processingTimeLimit) {
@@ -343,9 +513,9 @@
    /**
     * 异步发送事故任务分配通知
     *
     * @param xpTask 任务信息
     * @param handlerUserId 当前分配的处理人
     * @param plateNumber 车牌号
     * @param xpTask              任务信息
     * @param handlerUserId       当前分配的处理人
     * @param plateNumber         车牌号
     * @param processingTimeLimit 处理时限（分钟）
     */
    private void sendAssignedAccidentNotificationAsync(XpTask xpTask, Long handlerUserId, String plateNumber, Integer processingTimeLimit) {
@@ -375,8 +545,8 @@
    /**
     * 构建事故通知文案
     *
     * @param xpTask 任务信息
     * @param plateNumber 车牌号
     * @param xpTask              任务信息
     * @param plateNumber         车牌号
     * @param processingTimeLimit 处理时限（分钟）
     * @return 通知内容
     */
@@ -386,8 +556,9 @@

    /**
     * 构建事故推送 body JSON
     *
     * @param content 消息内容
     * @param xpTask 任务信息
     * @param xpTask  任务信息
     * @return JSON 字符串
     */
    private String buildAccidentPushBodyJson(String content, XpTask xpTask) {
@@ -402,9 +573,9 @@
    /**
     * 保存事故通知记录并发送阿里云推送
     *
     * @param data 接收通知的运维人员
     * @param data    接收通知的运维人员
     * @param content 通知内容
     * @param xpTask 任务信息
     * @param xpTask  任务信息
     */
    private void saveAndPushAccidentNotification(List<XpOperationsUser> data, String content, XpTask xpTask) {
        String bodyJson = buildAccidentPushBodyJson(content, xpTask);
@@ -425,9 +596,9 @@
            log.info("事故通知记录保存成功，共 {} 条", notifications.size());
        }

        TaskVO taskVO = new TaskVO();
        BeanUtil.copyProperties(xpTask, taskVO);
        xpWebSocketMessageClient.pushTask(taskVO);
        XpTaskVO xpTaskVO = new XpTaskVO();
        BeanUtil.copyProperties(xpTask, xpTaskVO);
        xpWebSocketMessageClient.pushTask(xpTaskVO);

        Map<Integer, List<XpOperationsUser>> operationUserMap = data.stream()
                .filter(u -> u.getDeviceType() != null && StringUtils.isNotBlank(u.getPhoneNumber()))
@@ -437,7 +608,7 @@
        }
    }

    WebSocketMessageClient xpWebSocketMessageClient;

    /**
     * 推送阿里云通知
     *
@@ -484,7 +655,8 @@
        res.setPlateNumber(vehicle.getPlateNumber());
        res.setVehicleColor(vehicle.getVehicleColor());
        res.setVehicleCode(vehicle.getVehicleCode());
        res.setVehicleVin(vehicle.getVehicleVin());
        String vin = SensitiveDataCryptoUtil.decryptIfPossible(vehicle.getVehicleVin());
        res.setVehicleVin(vin);
        res.setVehicleLocation(task.getVehicleLocation());
        res.setCreateBy(task.getCreateBy());
        res.setCreateTime(task.getCreateTime());
@@ -574,7 +746,8 @@
        res.setPlateNumber(vehicle.getPlateNumber());
        res.setVehicleColor(vehicle.getVehicleColor());
        res.setVehicleCode(vehicle.getVehicleCode());
        res.setVehicleVin(vehicle.getVehicleVin());
        String vin = SensitiveDataCryptoUtil.decryptIfPossible(vehicle.getVehicleVin());
        res.setVehicleVin(vin);
        res.setVehicleLocation(task.getVehicleLocation());
        res.setCreateBy(task.getCreateBy());
        res.setCreateTime(task.getCreateTime());
@@ -625,7 +798,8 @@
        res.setPlateNumber(vehicle.getPlateNumber());
        res.setVehicleColor(vehicle.getVehicleColor());
        res.setVehicleCode(vehicle.getVehicleCode());
        res.setVehicleVin(vehicle.getVehicleVin());
        String vin = SensitiveDataCryptoUtil.decryptIfPossible(vehicle.getVehicleVin());
        res.setVehicleVin(vin);
        res.setVehicleLocation(task.getVehicleLocation());
        res.setCreateBy(task.getCreateBy());
        res.setCreateTime(task.getCreateTime());
@@ -809,7 +983,8 @@
        res.setPlateNumber(vehicle.getPlateNumber());
        res.setVehicleColor(vehicle.getVehicleColor());
        res.setVehicleCode(vehicle.getVehicleCode());
        res.setVehicleVin(vehicle.getVehicleVin());
        String vin = SensitiveDataCryptoUtil.decryptIfPossible(vehicle.getVehicleVin());
        res.setVehicleVin(vin);
        res.setVehicleLocation(task.getVehicleLocation());
        res.setCreateBy(task.getCreateBy());
        res.setCreateTime(task.getCreateTime());
@@ -1344,6 +1519,92 @@
        return normalizedTypeIds.stream().map(String::valueOf).collect(Collectors.joining(","));
    }

    private void validateRemoteDrivingAccidentDto(SaveRemoteDrivingAccidentDto dto) {
        if (dto == null) {
            throw new ServiceException("请求参数不能为空");
        }
        if (StringUtils.isBlank(dto.getVin())) {
            throw new ServiceException("vin不能为空");
        }
        if (StringUtils.isBlank(dto.getTaskTypeId())) {
            throw new ServiceException("事故类型不能为空");
        }
        if (StringUtils.isBlank(dto.getTaskUrgencyLevel())) {
            throw new ServiceException("事故紧急程度不能为空");
        }
        if (StringUtils.isBlank(dto.getTaskDescription())) {
            throw new ServiceException("事故描述不能为空");
        }
        if (dto.getTaskDescription().trim().length() > 600) {
            throw new ServiceException("事故描述最多600字");
        }
        if (StringUtils.isBlank(dto.getTaskTime())) {
            throw new ServiceException("工单上报时间不能为空");
        }
        if (StringUtils.isBlank(dto.getVehicleLocation())) {
            throw new ServiceException("车辆位置不能为空");
        }
        if (dto.getVehicleLon() == null) {
            throw new ServiceException("车辆经度不能为空");
        }
        if (dto.getVehicleLat() == null) {
            throw new ServiceException("车辆纬度不能为空");
        }
        if (StringUtils.isBlank(dto.getSource())) {
            throw new ServiceException("工单来源不能为空");
        }
    }

    private Integer mapRemoteDrivingUrgencyLevel(String taskUrgencyLevel) {
        String normalized = StringUtils.trimToEmpty(taskUrgencyLevel);
        if (!StringUtils.isNumeric(normalized)) {
            throw new ServiceException("事故紧急程度不支持: " + taskUrgencyLevel);
        }
        Integer urgencyLevel = Integer.valueOf(normalized);
        if (urgencyLevel < 0 || urgencyLevel > 3) {
            throw new ServiceException("事故紧急程度不支持: " + taskUrgencyLevel);
        }
        return urgencyLevel;
    }

    private Integer parseTaskSource(String source) {
        String normalized = StringUtils.trimToEmpty(source);
        if (!StringUtils.isNumeric(normalized)) {
            throw new ServiceException("工单来源不支持: " + source);
        }
        Integer taskSource = Integer.valueOf(normalized);
        if (taskSource < 1 || taskSource > 3) {
            throw new ServiceException("工单来源不支持: " + source);
        }
        return taskSource;
    }

    private LocalDateTime parseRemoteDrivingTaskTime(String taskTime) {
        String normalized = StringUtils.trimToEmpty(taskTime);
        List<DateTimeFormatter> formatters = Arrays.asList(
                DateTimeFormatter.ISO_LOCAL_DATE_TIME,
                DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss")
        );
        for (DateTimeFormatter formatter : formatters) {
            try {
                return LocalDateTime.parse(normalized, formatter);
            } catch (Exception ignored) {
            }
        }
        throw new ServiceException("工单上报时间格式不正确: " + taskTime);
    }

    private String normalizeTaskImage(String taskImage) {
        if (StringUtils.isBlank(taskImage)) {
            return "[]";
        }
        String trimmed = taskImage.trim();
        if (trimmed.startsWith("{") || trimmed.startsWith("[")) {
            return trimmed;
        }
        return "[]";
    }

    private List<Long> parseAccidentTaskTypeIds(String taskTypeId) {
        if (StringUtils.isBlank(taskTypeId)) {
            return Collections.emptyList();
@@ -1388,32 +1649,53 @@
        XpTask task = getById(taskId);
        XpVehicle vehicle = xpVehicleClient.queryById(task.getVehicleId()).getData();
        XpTaskRule taskRule = xpTaskRuleService.lambdaQuery().last("limit 1").one();
        List<XpTaskRuleRole> taskRuleRole = xpTaskRuleRoleService.lambdaQuery().eq(XpTaskRuleRole::getRuleType, 9).list();

        int type = 9;
        if (task.getTaskCategory() != 2) {
            type = Integer.parseInt(task.getTaskTypeId());
        }

        List<XpTaskRuleRole> taskRuleRole = xpTaskRuleRoleService.lambdaQuery().eq(XpTaskRuleRole::getRuleType, type).list();

        if (Objects.isNull(taskRuleRole) || Objects.isNull(taskRule)) {
            throw new ServiceException("未配置车辆事故任务分配规则");
        }
        List<Long> excludedUserIds = Optional.ofNullable(task.getExcluded()).orElse(new ArrayList<>());
        excludedUserIds.addAll(Arrays.asList(task.getHandleUserId().split(",")).stream().map(Long::parseLong).collect(Collectors.toList()));
        task.setExcluded(excludedUserIds);

        List<XpTask.Reject> rejects = Optional.ofNullable(task.getExcluded()).orElse(new ArrayList<>());
        if (msg != null && Strings.isNotBlank(task.getHandleUserId())) {
            XpTask.Reject reject = task.reject(msg);
            rejects.add(reject);
            List<Long> id = Collections.singletonList(Long.parseLong(task.getHandleUserId()));
            String roleName = xpOperationUserClient.listByIdsWithRole(id).getData().get(0).getRoleName();
            reject.setRejectUserRoleName(roleName);
        }
        task.setExcluded(rejects);
        task.setReassignmentStatus(1);
        task.setStatus(4);
        Set<String> excludedUserIds = rejects.stream().map(XpTask.Reject::getRejectUserId).collect(Collectors.toSet());

        Long fleetId = xpFleetVehicleClient.getFleetIdByVehicleId(vehicle.getId()).getData();
        List<Long> roleIds = taskRuleRole.stream().map(XpTaskRuleRole::getRoleId).collect(Collectors.toList());
        List<Long> ids = xpFleetOperationsClient.getOperationsIdsByFleetId(fleetId).getData();
        String belongUserIds = xpOperationUserClient.getXpOperationsRoleByRoleIds(roleIds).getData().stream()
                .map(XpOperationsRole::getOperationsUserId)
                .filter(ids::contains)
                .filter(id -> !excludedUserIds.contains(id))
                .filter(e -> ids == null || ids.isEmpty() || ids.contains(e))
                .filter(id -> !excludedUserIds.contains(id.toString()))
                .map(String::valueOf).collect(Collectors.joining(","));
//        VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vehicle.getVehicleVin())), VehiclePosition.class);
        VehiclePosition vehiclePosition = new VehiclePosition();
        vehiclePosition.setPoint(new GeoJsonPoint(103.12615621, 30.264561));

        String vin = SensitiveDataCryptoUtil.decryptIfPossible(vehicle.getVehicleVin());
        VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
//        VehiclePosition vehiclePosition = new VehiclePosition();
//        vehiclePosition.setPoint(new GeoJsonPoint(103.12615621, 30.264561));
        String handlerUser = chooseNearestAvailableOperationsUser(belongUserIds, vehiclePosition);
        task.setHandleUserId(handlerUser);
        if(handlerUser == null) {
        if (handlerUser == null) {
            task.setStatus(4);
            task.setReassignmentStatus(1);
            noticeAdministrator(task);//TODO 需要通知管理员手动处理，考虑再AliPushUtil 中给管理员发送消息
        }
        updateById(task);
        if(StringUtils.isNotBlank(task.getHandleUserId())){
        if (StringUtils.isNotBlank(task.getHandleUserId())) {
            sendAccidentNotificationAsync(task, vehicle.getPlateNumber(), taskRule.getProcessingTimeLimit());
        }
    }
@@ -1435,7 +1717,8 @@
                .filter(ids::contains)
                .map(String::valueOf).collect(Collectors.joining(","));

        VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vehicle.getVehicleVin())), VehiclePosition.class);
        String vin = SensitiveDataCryptoUtil.decryptIfPossible(vehicle.getVehicleVin());
        VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
        Map<String, String> geocode = gdMapGeocodingUtil.geocode(vehiclePosition.getPoint().getX() + "", vehiclePosition.getPoint().getY() + "");
        String address = geocode.get("address");

@@ -1453,8 +1736,9 @@
        task.setVehicleLon(new BigDecimal(vehiclePosition.getPoint().getX()));
        String handlerUser = chooseNearestAvailableOperationsUser(belongUserIds, vehiclePosition);
        task.setHandleUserId(handlerUser);
        if(handlerUser == null) {
        if (handlerUser == null) {
            task.setStatus(4);
            task.setReassignmentStatus(1);
            noticeAdministrator(task);
        }
        task.setAssigneeTime(LocalDateTime.now());
@@ -1478,12 +1762,57 @@
        XpTask task = getById(Long.valueOf(taskId));
        XpVehicle vehicle = xpVehicleClient.queryById(task.getVehicleId()).getData();
        updateTaskStatus(task.getId(), TaskScheduleConstants.TASK_STATUS_PENDING_ARRIVE, Long.valueOf(task.getHandleUserId()));
        sendAccidentNotificationAsync(getById(task.getId()), vehicle.getPlateNumber(), (int) Duration.between(LocalDateTime.now(),task.getEndTime()).toMinutes());
        sendAccidentNotificationAsync(getById(task.getId()), vehicle.getPlateNumber(), (int) Duration.between(LocalDateTime.now(), task.getEndTime()).toMinutes());
    }

    @Override
    public PageInfo<TaskVO> reassignTaskPageList(TaskPageListQuery query) {
    public PageInfo<XpTaskVO> reassignTaskPageList(TaskPageListQuery query) {

        PageInfo<XpTaskVO> pageInfo = new PageInfo<>(query.getPageNum(), query.getPageSize());
        List<XpTaskVO> list = baseMapper.reassignTaskPageList(pageInfo, query);
        pageInfo.setRecords(list);
        return pageInfo;
    }

    @Override
    public XpTaskVO detail(Long taskId) {
        XpTask task = getById(taskId);
        if (task == null) {
            return null;
        }
        XpTaskVO xpTaskVO = new XpTaskVO();
        BeanUtil.copyProperties(task, xpTaskVO);

        String taskImage = xpTaskVO.getTaskImage();
        if (StringUtils.isNotBlank(taskImage)) {
            try {
                xpTaskVO.setTaskImage(aliOssDownloadUtil.getPictureJsonArray(taskImage));
            } catch (Exception e) {
                log.error("获取任务图片下载地址失败，taskId={}", taskId, e);
            }
        }

        // 2. 如果有车辆信息，可以补充车辆相关详情（如果需要）
        if (task.getVehicleId() != null) {
            R<XpVehicle> vehicleResult = xpVehicleClient.queryById(task.getVehicleId());
            if (vehicleResult != null && vehicleResult.getData() != null) {
                XpVehicle vehicle = vehicleResult.getData();
                xpTaskVO.setPlateNumber(vehicle.getPlateNumber());
//                xpTaskVO.setVehicleColor(vehicle.getVehicleColor());
//                xpTaskVO.setVehicleCode(vehicle.getVehicleCode());
//                xpTaskVO.setVehicleVin(vehicle.getVehicleVin());

            }
        }

        return xpTaskVO;
    }

    @Override
    public List<XpTaskVO> exportList(TaskPageListQuery query) {

        return baseMapper.reassignTaskPageList(query);

    }

    @Value("${robotaxi.sms.app-id:1476153389173952512}")
@@ -1515,7 +1844,10 @@
        // 让mongo根据[id in ids]返回距离排序的users
//        List<XpOperationsUserPositionDTO> users = mongoTemplate.find(new Query(Criteria.where("_id").in(ids)), XpOperationsUserPositionDTO.class);

        List<XpOperationsUserPositionDTO> XpOperationsUserPositionDTOs = repository.findWithDistance(new Point(vehiclePosition.getPoint().getX(), vehiclePosition.getPoint().getY()), 1000, ids);
        List<XpOperationsUserPositionDTO> XpOperationsUserPositionDTOs = mongoTemplate.find(
                new Query(Criteria.where("_id").in(ids).and("location").nearSphere(new GeoJsonPoint(vehiclePosition.getPoint().getX(), vehiclePosition.getPoint().getY())).maxDistance(1000 / 6378137.0)),
                XpOperationsUserPositionDTO.class
        );

        boolean skipBusy = false;//TODO 获取系统配置，是否开启跳过忙碌

@@ -1528,7 +1860,6 @@

        return String.valueOf(candidates.get(0).getId());
    }



    @Override
@@ -1561,6 +1892,8 @@
        } else {
            task.setEndTime(LocalDateTime.now().plusDays(3));
        }
        task.setReassignmentStatus(2);
        task.setStatus(1);
        task.setAssigneeTime(LocalDateTime.now());
        task.setHandleUserId(handlerUserId.toString());
        task.setVehicleId(null);
@@ -1573,6 +1906,7 @@
    }

    @Override
    @Transactional
    public void saveTask(SaveErrorTaskDto dto, Long reportUserId) {

        List<XpTask> saveTask = new ArrayList<>();
@@ -1603,6 +1937,10 @@
        }
        this.saveBatch(saveTask);

        for (XpTask task : saveTask) {

            reassign(task.getId(), null);
        }
    }

    @Override
@@ -1622,6 +1960,7 @@
                    I18nKeyConstant.VEHICLE_NOT_EXIST
            );
        }
        String vin = SensitiveDataCryptoUtil.decryptIfPossible(vehicle.getVehicleVin());
        String vehiclePicture = aliOssDownloadUtil.getPictureJSONObject(vehicle.getVehiclePictures());
        if (task.getTaskCategory() == 1) {
            // 常规任务
@@ -1636,7 +1975,7 @@
                    taskManagementDetectionDetailVO.setPlateNumber(vehicle.getPlateNumber());
                    taskManagementDetectionDetailVO.setVehicleColor(vehicle.getVehicleColor());
                    taskManagementDetectionDetailVO.setVehicleCode(vehicle.getVehicleCode());
                    taskManagementDetectionDetailVO.setVehicleVin(vehicle.getVehicleVin());
                    taskManagementDetectionDetailVO.setVehicleVin(vin);
                    taskManagementDetectionDetailVO.setVehicleLocation(task.getVehicleLocation());
                    taskManagementDetectionDetailVO.setVehiclePictures(vehiclePicture);

@@ -1783,7 +2122,7 @@
                    taskManagementChargingDetailVO.setPlateNumber(vehicle.getPlateNumber());
                    taskManagementChargingDetailVO.setVehicleColor(vehicle.getVehicleColor());
                    taskManagementChargingDetailVO.setVehicleCode(vehicle.getVehicleCode());
                    taskManagementChargingDetailVO.setVehicleVin(vehicle.getVehicleVin());
                    taskManagementChargingDetailVO.setVehicleVin(vin);
                    taskManagementChargingDetailVO.setVehicleLocation(task.getVehicleLocation());
                    taskManagementChargingDetailVO.setTaskCode(task.getTaskCode());
                    taskManagementChargingDetailVO.setVehiclePictures(vehiclePicture);
@@ -1824,7 +2163,7 @@
                    taskManagementPreparationDetailVO.setPlateNumber(vehicle.getPlateNumber());
                    taskManagementPreparationDetailVO.setVehicleColor(vehicle.getVehicleColor());
                    taskManagementPreparationDetailVO.setVehicleCode(vehicle.getVehicleCode());
                    taskManagementPreparationDetailVO.setVehicleVin(vehicle.getVehicleVin());
                    taskManagementPreparationDetailVO.setVehicleVin(vin);
                    taskManagementPreparationDetailVO.setVehicleLocation(task.getVehicleLocation());
                    taskManagementPreparationDetailVO.setTaskCode(task.getTaskCode());
                    taskManagementPreparationDetailVO.setVehiclePictures(vehiclePicture);
@@ -1865,7 +2204,7 @@
                    taskManagementCleanDetailVO.setPlateNumber(vehicle.getPlateNumber());
                    taskManagementCleanDetailVO.setVehicleColor(vehicle.getVehicleColor());
                    taskManagementCleanDetailVO.setVehicleCode(vehicle.getVehicleCode());
                    taskManagementCleanDetailVO.setVehicleVin(vehicle.getVehicleVin());
                    taskManagementCleanDetailVO.setVehicleVin(vin);
                    taskManagementCleanDetailVO.setVehicleLocation(task.getVehicleLocation());
                    taskManagementCleanDetailVO.setTaskCode(task.getTaskCode());
                    taskManagementCleanDetailVO.setVehiclePictures(vehiclePicture);
@@ -1894,7 +2233,7 @@
                    taskManagementRepairDetailVO.setPlateNumber(vehicle.getPlateNumber());
                    taskManagementRepairDetailVO.setVehicleColor(vehicle.getVehicleColor());
                    taskManagementRepairDetailVO.setVehicleCode(vehicle.getVehicleCode());
                    taskManagementRepairDetailVO.setVehicleVin(vehicle.getVehicleVin());
                    taskManagementRepairDetailVO.setVehicleVin(vin);
                    taskManagementRepairDetailVO.setVehicleLocation(task.getVehicleLocation());
                    taskManagementRepairDetailVO.setTaskCode(task.getTaskCode());
                    taskManagementRepairDetailVO.setVehiclePictures(vehiclePicture);
@@ -1937,7 +2276,7 @@
                    res.setVehicleColor(vehicle.getVehicleColor());
                    res.setVehicleCode(vehicle.getVehicleCode());
                    res.setVehicleLocation(task.getVehicleLocation());
                    res.setVehicleVin(vehicle.getVehicleVin());
                    res.setVehicleVin(vin);
                    res.setTaskCode(task.getTaskCode());
                    res.setVehiclePictures(vehiclePicture);
                    XpTaskHandleDetailRoutine xpTaskHandleDetailRoutine = xpTaskHandleDetailRoutineMapper.selectOne(new LambdaQueryWrapper<XpTaskHandleDetailRoutine>()
@@ -1960,7 +2299,7 @@
                    res.setVehicleColor(vehicle.getVehicleColor());
                    res.setVehicleCode(vehicle.getVehicleCode());
                    res.setVehicleLocation(task.getVehicleLocation());
                    res.setVehicleVin(vehicle.getVehicleVin());
                    res.setVehicleVin(vin);
                    managementDetailVO.setRoutineDetailVO(res);

                    break;
@@ -2009,7 +2348,6 @@
                }
                res.setTaskImage(JSONArray.toJSONString(jsonArray));
            }

            res.setId(id);
            res.setVehicleId(vehicle.getId());
            res.setTaskUrgencyLevel(task.getTaskUrgencyLevel());
@@ -2017,7 +2355,7 @@
            res.setVehicleColor(vehicle.getVehicleColor());
            res.setVehicleCode(vehicle.getVehicleCode());
            res.setVehicleLocation(task.getVehicleLocation());
            res.setVehicleVin(vehicle.getVehicleVin());
            res.setVehicleVin(vin);
            if (task.getReportUserId().equals(0L)) {
                // 系统补偿上传车辆异常任务 为系统创建
                res.setReportUserId(0L);
@@ -2077,4 +2415,47 @@
    }


    /**
     * 任务改派操作
     *
     * @param vo
     */
    @Override
    public void taskReassignment(TaskReassignmentVo vo) {
        XpTask xpTask = this.getById(vo.getTaskId());
        if (null == xpTask) {
            throw new ServiceException("无效的任务", I18nKeyConstant.TASK_NOT_EXIST);
        }
        if (2 == xpTask.getReassignmentStatus()) {
            throw new ServiceException("任务已改派，不能重复操作", I18nKeyConstant.TASK_HAS_BEEN_REASSIGNED);
        }
        xpTask.setReassignmentStatus(2);
        xpTask.setHandleUserId(vo.getNewOperationsUserId() + "");
        xpTask.setStatus(1);
        this.updateById(xpTask);
        //推送websocket
        XpTaskVO xpTaskVO = new XpTaskVO();
        BeanUtil.copyProperties(xpTask, xpTaskVO);
        xpWebSocketMessageClient.pushTask(xpTaskVO);
        boolean isAccidentTask = Integer.valueOf(2).equals(xpTask.getTaskCategory());
        Long vehicleId = xpTask.getVehicleId();
        Integer processingTimeLimit = null;
        String plateNumber = "";
        if (isAccidentTask) {
            // 查询规则 任务结束时间从任务分配时开始计算
            XpTaskRule taskRule = xpTaskRuleMapper.selectOne(null);
            if (taskRule != null) {
                processingTimeLimit = taskRule.getProcessingTimeLimit();
            }
            if (vehicleId != null) {
                XpVehicle vehicle = xpVehicleClient.queryById(vehicleId).getData();
                if (vehicle != null && StringUtils.isNotBlank(vehicle.getPlateNumber())) {
                    plateNumber = vehicle.getPlateNumber();
                }
            }
        }
        if (isAccidentTask && processingTimeLimit != null) {
            sendAssignedAccidentNotificationAsync(xpTask, Long.valueOf(xpTask.getHandleUserId()), plateNumber, processingTimeLimit);
        }
    }
}