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

liujie

2026-06-09 c96fbe6b0aeb413a17c429133ee6d81d138144b9

 xp-robotaxi-operation-boot/src/main/java/com/xiaopeng/operation/controller/XpCruisePlanController.java

@@ -3,27 +3,28 @@

import cn.hutool.core.lang.Snowflake;
import cn.hutool.core.util.IdUtil;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.xiaopeng.api.dto.map.OrderRouteAndFareDto;
import com.xiaopeng.api.dto.operation.CruisePointDto;
import com.xiaopeng.api.dto.operation.LonLatDto;
import com.xiaopeng.api.dto.operation.NewCruiseOrderDto;
import com.xiaopeng.api.feignClient.map.XpMapClient;
import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;
import com.xiaopeng.api.model.operation.XpCruisePlan;
import com.xiaopeng.api.model.operation.XpCruisePlanPoint;
import com.xiaopeng.api.model.operation.XpCruisePlanVehicle;
import com.xiaopeng.api.model.operation.XpPoint;
import com.xiaopeng.api.model.operation.*;
import com.xiaopeng.api.model.order.XpCruiseOrder;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.core.web.page.PageInfo;
import com.xiaopeng.common.log.annotation.AdminOperationLog;
import com.xiaopeng.common.log.enums.AdminBusinessType;
import com.xiaopeng.common.log.enums.AdminOperationType;
import com.xiaopeng.common.redis.service.RedisService;
import com.xiaopeng.operation.dto.XpCruisePlanAddDTO;
import com.xiaopeng.operation.dto.XpCruisePlanEditDTO;
import com.xiaopeng.operation.query.CruisePlanQuery;
import com.xiaopeng.operation.service.IXpCruisePlanPointService;
import com.xiaopeng.operation.service.IXpCruisePlanService;
import com.xiaopeng.operation.service.IXpCruisePlanVehicleService;
import com.xiaopeng.operation.service.XpPointService;
import com.xiaopeng.operation.service.*;
import com.xiaopeng.operation.vo.XpCruisePlanDetailVO;
import io.swagger.annotations.ApiOperation;
import lombok.RequiredArgsConstructor;
@@ -47,6 +48,7 @@

import java.util.List;
import java.util.Objects;
import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
import com.xiaopeng.common.log.annotation.AdminOperationLog;
import com.xiaopeng.common.log.enums.AdminBusinessType;
@@ -69,6 +71,18 @@
    private final IXpCruisePlanPointService xpCruisePlanPointService;
    private final XpPointService pointService;
    private final XpVehicleClient xpVehicleClient;

    @Resource
    private XpTargetedServiceVehicleService xpTargetedServiceVehicleService;

    @Resource
    private XpTargetedServiceService xpTargetedServiceService;

    @Resource
    private XpMapClient xpMapClient;

    @Resource
    private RedisService redisService;

    @Resource(name = "hutoolSnowflake")
    private Snowflake snowflake;
@@ -133,11 +147,25 @@
    public R<XpCruiseOrder> getCruisePoint(@RequestBody CruisePointDto dto) {
        // 先找计划
        XpCruisePlanVehicle plan = xpCruisePlanVehicleService.getOne(new LambdaQueryWrapper<XpCruisePlanVehicle>().eq(XpCruisePlanVehicle::getVehicleId, dto.getVehicleId()));
        Long cruisePlanId = null;
        if (plan == null) {
            return R.fail("没有找到对应的计划");
            //没有巡游计划，判断是否在定向服务里面
            List<XpTargetedService> targetedServices = xpTargetedServiceService.list(new QueryWrapper<XpTargetedService>().eq("status", 1));
            if(targetedServices.isEmpty()){
                return R.fail("没有巡游计划");
            }
            List<Long> collect1 = targetedServices.stream().map(XpTargetedService::getId).collect(Collectors.toList());
            List<XpTargetedServiceVehicle> list = xpTargetedServiceVehicleService.list(new QueryWrapper<XpTargetedServiceVehicle>().in("targeted_service_id", collect1)
                    .eq("vehicle_id", dto.getVehicleId()));
            if(list.isEmpty()){
                return R.fail("没有巡游计划");
            }
            cruisePlanId = list.get(0).getCruisePlanId();
        }else{
            cruisePlanId = plan.getCruisePlanId();
        }
        // 找对应的多个点位
        List<XpCruisePlanPoint> planPointList = xpCruisePlanPointService.list(new LambdaQueryWrapper<XpCruisePlanPoint>().eq(XpCruisePlanPoint::getCruisePlanId, plan.getCruisePlanId()).orderByAsc(XpCruisePlanPoint::getSortOrder));
        List<XpCruisePlanPoint> planPointList = xpCruisePlanPointService.list(new LambdaQueryWrapper<XpCruisePlanPoint>().eq(XpCruisePlanPoint::getCruisePlanId, cruisePlanId).orderByAsc(XpCruisePlanPoint::getSortOrder));
        // 找到现在这个点位
        // 根据dto的pointId 是第几个
        int index = 0;
@@ -179,7 +207,62 @@
        newXpCruiseOrder.setEndLat(point.getPointLat());
        newXpCruiseOrder.setMissionId(xpCruisePlanPoint.getCruisePlanId());


        //获取巡游导航数据，如果无法获取到有效的导航，则继续用下一个点位作为终点
        LonLatDto destination = new LonLatDto();
        LonLatDto origin = new LonLatDto();
        boolean ROUTE_FLAG = false;
        boolean start = false;
        if(newXpCruiseOrder.getOrderReverse() == 1){
            for (XpCruisePlanPoint xpCruisePlanPoint1 : planPointList) {
                if (start || xpCruisePlanPoint1.getPointId().equals(newXpCruiseOrder.getEndPointId())) {
                    start = true;
                    origin.setLongitude(newXpCruiseOrder.getStartLon());
                    origin.setLatitude(newXpCruiseOrder.getStartLat());
                    XpPoint xpPoint1 = pointService.getById(xpCruisePlanPoint1.getPointId());
                    destination.setLongitude(xpPoint1.getPointLon());
                    destination.setLatitude(xpPoint1.getPointLat());
                    OrderRouteAndFareDto dto1 = new OrderRouteAndFareDto();
                    dto1.setOrigin(origin);
                    dto1.setDestination(destination);
                    dto1.setRouteType(3);
                    R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto1);
                    if (200 != routeVoR.getCode()) {
                        continue;
                    }
                    RouteVo routeVo = routeVoR.getData();
                    redisService.setCacheObject("CRUISE_ROUTE:" + newXpCruiseOrder.getVehicleId(), JSON.toJSONString(routeVo), 24L, TimeUnit.DAYS);
                    ROUTE_FLAG = true;
                    break;
                }
            }
        }else{
            for (int i = planPointList.size() - 1; i >= 0; i--) {
                XpCruisePlanPoint xpCruisePlanPoint1 = planPointList.get(i);
                if(start || xpCruisePlanPoint1.getPointId().equals(newXpCruiseOrder.getEndPointId())){
                    start = true;
                    origin.setLongitude(newXpCruiseOrder.getStartLon());
                    origin.setLatitude(newXpCruiseOrder.getStartLat());
                    XpPoint xpPoint1 = pointService.getById(xpCruisePlanPoint1.getPointId());
                    destination.setLongitude(xpPoint1.getPointLon());
                    destination.setLatitude(xpPoint1.getPointLat());
                    OrderRouteAndFareDto dto1 = new OrderRouteAndFareDto();
                    dto1.setOrigin(origin);
                    dto1.setDestination(destination);
                    dto1.setRouteType(3);
                    R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto1);
                    if (200 != routeVoR.getCode()) {
                        continue;
                    }
                    RouteVo routeVo = routeVoR.getData();
                    redisService.setCacheObject("CRUISE_ROUTE:" + newXpCruiseOrder.getVehicleId(), JSON.toJSONString(routeVo), 24L, TimeUnit.DAYS);
                    ROUTE_FLAG = true;
                    break;
                }
            }
        }
        if(!ROUTE_FLAG){
            return R.fail("巡游计划获取导航信息失败");
        }
        return R.ok(newXpCruiseOrder);
    }

@@ -204,8 +287,27 @@
    public R<List<XpCruisePlanPoint>> getCruisePlanPointList(@RequestParam Long vehicleId) {
        // 先找计划
        XpCruisePlanVehicle plan = xpCruisePlanVehicleService.getOne(new LambdaQueryWrapper<XpCruisePlanVehicle>().eq(XpCruisePlanVehicle::getVehicleId, vehicleId));
        Long cruisePlanId = null;
        if(null == plan){
            //没有巡游计划，判断是否在定向服务里面
            List<XpTargetedService> targetedServices = xpTargetedServiceService.list(new QueryWrapper<XpTargetedService>().eq("status", 1));
            if(targetedServices.isEmpty()){
                return R.fail("没有巡游计划，执行收车失败");
            }
            List<Long> collect1 = targetedServices.stream().map(XpTargetedService::getId).collect(Collectors.toList());
            List<XpTargetedServiceVehicle> list = xpTargetedServiceVehicleService.list(new QueryWrapper<XpTargetedServiceVehicle>().in("targeted_service_id", collect1)
                    .eq("vehicle_id", vehicleId));
            if(list.isEmpty()){
                return R.fail("没有巡游计划，执行收车失败");
            }
            cruisePlanId = list.get(0).getCruisePlanId();
        }else{
            cruisePlanId = plan.getCruisePlanId();
        }

        // 找对应的多个点位
        List<XpCruisePlanPoint> planPointList = xpCruisePlanPointService.list(new LambdaQueryWrapper<XpCruisePlanPoint>().eq(XpCruisePlanPoint::getCruisePlanId, plan.getCruisePlanId()).orderByAsc(XpCruisePlanPoint::getSortOrder));
        List<XpCruisePlanPoint> planPointList = xpCruisePlanPointService.list(new LambdaQueryWrapper<XpCruisePlanPoint>()
                .eq(XpCruisePlanPoint::getCruisePlanId, cruisePlanId).orderByAsc(XpCruisePlanPoint::getSortOrder));
        return R.ok(planPointList);
    }

@@ -218,13 +320,25 @@
     */
    @PostMapping("/logan/inner/cruise/getNewCruiseOrder")
    public R<XpCruiseOrder> getNewCruiseOrder(@RequestBody NewCruiseOrderDto dto) {

        // 先找计划
        XpCruisePlanVehicle plan = xpCruisePlanVehicleService.getOne(new LambdaQueryWrapper<XpCruisePlanVehicle>().eq(XpCruisePlanVehicle::getVehicleId, dto.getVehicleId()));
        if(null == plan){
            //没有巡游计划，判断是否在定向服务里面
            List<XpTargetedService> targetedServices = xpTargetedServiceService.list(new QueryWrapper<XpTargetedService>().eq("status", 1));
            if(targetedServices.isEmpty()){
                return R.ok(null);
            }
            List<Long> collect1 = targetedServices.stream().map(XpTargetedService::getId).collect(Collectors.toList());
            List<XpTargetedServiceVehicle> list = xpTargetedServiceVehicleService.list(new QueryWrapper<XpTargetedServiceVehicle>().in("targeted_service_id", collect1)
                    .eq("vehicle_id", dto.getVehicleId()));
            if(list.isEmpty()){
                return R.ok(null);
            }
            plan = xpCruisePlanVehicleService.getOne(new LambdaQueryWrapper<XpCruisePlanVehicle>()
                    .eq(XpCruisePlanVehicle::getCruisePlanId, list.get(0).getCruisePlanId()).eq(XpCruisePlanVehicle::getVehicleId, dto.getVehicleId()));
        }
        // 找对应的多个点位
        List<XpCruisePlanPoint> planPointList = xpCruisePlanPointService.list(new LambdaQueryWrapper<XpCruisePlanPoint>().eq(XpCruisePlanPoint::getCruisePlanId, plan.getCruisePlanId()).orderByAsc(XpCruisePlanPoint::getSortOrder));



        XpCruiseOrder newXpCruiseOrder = new XpCruiseOrder();
        newXpCruiseOrder.setFleetId(dto.getFleetId());
@@ -251,6 +365,62 @@
        newXpCruiseOrder.setEndLon(endPoint.getPointLon());
        newXpCruiseOrder.setEndLat(endPoint.getPointLat());

        //获取巡游导航数据，如果无法获取到有效的导航，则继续用下一个点位作为终点
        LonLatDto destination = new LonLatDto();
        LonLatDto origin = new LonLatDto();
        boolean ROUTE_FLAG = false;
        boolean start = false;
        if(newXpCruiseOrder.getOrderReverse() == 1){
            for (XpCruisePlanPoint xpCruisePlanPoint1 : planPointList) {
                if (start || xpCruisePlanPoint1.getPointId().equals(newXpCruiseOrder.getEndPointId())) {
                    start = true;
                    origin.setLongitude(newXpCruiseOrder.getStartLon());
                    origin.setLatitude(newXpCruiseOrder.getStartLat());
                    XpPoint xpPoint1 = pointService.getById(xpCruisePlanPoint1.getPointId());
                    destination.setLongitude(xpPoint1.getPointLon());
                    destination.setLatitude(xpPoint1.getPointLat());
                    OrderRouteAndFareDto dto1 = new OrderRouteAndFareDto();
                    dto1.setOrigin(origin);
                    dto1.setDestination(destination);
                    dto1.setRouteType(3);
                    R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto1);
                    if (200 != routeVoR.getCode()) {
                        continue;
                    }
                    RouteVo routeVo = routeVoR.getData();
                    redisService.setCacheObject("CRUISE_ROUTE:" + newXpCruiseOrder.getVehicleId(), JSON.toJSONString(routeVo), 24L, TimeUnit.DAYS);
                    ROUTE_FLAG = true;
                    break;
                }
            }
        }else{
            for (int i = planPointList.size() - 1; i >= 0; i--) {
                XpCruisePlanPoint xpCruisePlanPoint1 = planPointList.get(i);
                if(start || xpCruisePlanPoint1.getPointId().equals(newXpCruiseOrder.getEndPointId())){
                    start = true;
                    origin.setLongitude(newXpCruiseOrder.getStartLon());
                    origin.setLatitude(newXpCruiseOrder.getStartLat());
                    XpPoint xpPoint1 = pointService.getById(xpCruisePlanPoint1.getPointId());
                    destination.setLongitude(xpPoint1.getPointLon());
                    destination.setLatitude(xpPoint1.getPointLat());
                    OrderRouteAndFareDto dto1 = new OrderRouteAndFareDto();
                    dto1.setOrigin(origin);
                    dto1.setDestination(destination);
                    dto1.setRouteType(3);
                    R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto1);
                    if (200 != routeVoR.getCode()) {
                        continue;
                    }
                    RouteVo routeVo = routeVoR.getData();
                    redisService.setCacheObject("CRUISE_ROUTE:" + newXpCruiseOrder.getVehicleId(), JSON.toJSONString(routeVo), 24L, TimeUnit.DAYS);
                    ROUTE_FLAG = true;
                    break;
                }
            }
        }
        if(!ROUTE_FLAG){
            return R.fail("巡游计划获取导航信息失败");
        }


        return R.ok(newXpCruiseOrder);
@@ -267,7 +437,19 @@
        // 先找计划
        XpCruisePlanVehicle plan = xpCruisePlanVehicleService.getOne(new LambdaQueryWrapper<XpCruisePlanVehicle>().eq(XpCruisePlanVehicle::getVehicleId, xpCruiseOrder.getVehicleId()));
        if(null == plan){
            //没有巡游计划，判断是否在定向服务里面
            List<XpTargetedService> targetedServices = xpTargetedServiceService.list(new QueryWrapper<XpTargetedService>().eq("status", 1));
            if(targetedServices.isEmpty()){
            return R.fail("没有巡游计划，执行收车失败");
            }
            List<Long> collect1 = targetedServices.stream().map(XpTargetedService::getId).collect(Collectors.toList());
            List<XpTargetedServiceVehicle> list = xpTargetedServiceVehicleService.list(new QueryWrapper<XpTargetedServiceVehicle>().in("targeted_service_id", collect1)
                    .eq("vehicle_id", xpCruiseOrder.getVehicleId()));
            if(list.isEmpty()){
                return R.fail("没有巡游计划，执行收车失败");
            }
            plan = xpCruisePlanVehicleService.getOne(new LambdaQueryWrapper<XpCruisePlanVehicle>()
                    .eq(XpCruisePlanVehicle::getCruisePlanId, list.get(0).getCruisePlanId()).eq(XpCruisePlanVehicle::getVehicleId, xpCruiseOrder.getVehicleId()));
        }
        // 找对应的多个点位
        List<XpCruisePlanPoint> planPointList = xpCruisePlanPointService.list(new LambdaQueryWrapper<XpCruisePlanPoint>().eq(XpCruisePlanPoint::getCruisePlanId, plan.getCruisePlanId()).orderByAsc(XpCruisePlanPoint::getSortOrder));
@@ -278,6 +460,63 @@
        xpCruiseOrder.setEndLon(xpPoint.getPointLon());
        xpCruiseOrder.setEndLat(xpPoint.getPointLat());
        xpCruiseOrder.setMissionId(plan.getCruisePlanId());

        //获取巡游导航数据，如果无法获取到有效的导航，则继续用下一个点位作为终点
        LonLatDto destination = new LonLatDto();
        LonLatDto origin = new LonLatDto();
        boolean ROUTE_FLAG = false;
        boolean start = false;
        if(xpCruiseOrder.getOrderReverse() == 1){
            for (XpCruisePlanPoint xpCruisePlanPoint1 : planPointList) {
                if (start || xpCruisePlanPoint1.getPointId().equals(xpCruiseOrder.getEndPointId())) {
                    start = true;
                    origin.setLongitude(xpCruiseOrder.getStartLon());
                    origin.setLatitude(xpCruiseOrder.getStartLat());
                    XpPoint xpPoint1 = pointService.getById(xpCruisePlanPoint1.getPointId());
                    destination.setLongitude(xpPoint1.getPointLon());
                    destination.setLatitude(xpPoint1.getPointLat());
                    OrderRouteAndFareDto dto1 = new OrderRouteAndFareDto();
                    dto1.setOrigin(origin);
                    dto1.setDestination(destination);
                    dto1.setRouteType(3);
                    R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto1);
                    if (200 != routeVoR.getCode()) {
                        continue;
                    }
                    RouteVo routeVo = routeVoR.getData();
                    redisService.setCacheObject("CRUISE_ROUTE:" + xpCruiseOrder.getVehicleId(), JSON.toJSONString(routeVo), 24L, TimeUnit.DAYS);
                    ROUTE_FLAG = true;
                    break;
                }
            }
        }else{
            for (int i = planPointList.size() - 1; i >= 0; i--) {
                XpCruisePlanPoint xpCruisePlanPoint1 = planPointList.get(i);
                if(start || xpCruisePlanPoint1.getPointId().equals(xpCruiseOrder.getEndPointId())){
                    start = true;
                    origin.setLongitude(xpCruiseOrder.getStartLon());
                    origin.setLatitude(xpCruiseOrder.getStartLat());
                    XpPoint xpPoint1 = pointService.getById(xpCruisePlanPoint1.getPointId());
                    destination.setLongitude(xpPoint1.getPointLon());
                    destination.setLatitude(xpPoint1.getPointLat());
                    OrderRouteAndFareDto dto1 = new OrderRouteAndFareDto();
                    dto1.setOrigin(origin);
                    dto1.setDestination(destination);
                    dto1.setRouteType(3);
                    R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto1);
                    if (200 != routeVoR.getCode()) {
                        continue;
                    }
                    RouteVo routeVo = routeVoR.getData();
                    redisService.setCacheObject("CRUISE_ROUTE:" + xpCruiseOrder.getVehicleId(), JSON.toJSONString(routeVo), 24L, TimeUnit.DAYS);
                    ROUTE_FLAG = true;
                    break;
                }
            }
        }
        if(!ROUTE_FLAG){
            return R.fail("巡游计划获取导航信息失败");
        }
        return R.ok(xpCruiseOrder);
    }