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-vehicle-convoy-boot/src/main/java/com/xiaopeng/vehicleConvoy/controller/XpVehicleController.java


@@ -10,6 +10,7 @@


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.core.conditions.update.LambdaUpdateWrapper;


import com.mongodb.client.MongoCollection;


import com.xiaopeng.api.dto.operation.VehiclePositionByVinDto;


@@ -18,8 +19,11 @@


import com.xiaopeng.api.dto.vehicleConvoy.VehicleTemperatureDto;


import com.xiaopeng.api.feignClient.maintenance.*;


import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;


import com.xiaopeng.api.model.account.XpOperationsUser;import com.xiaopeng.api.model.maintenance.XpTask;


import com.xiaopeng.api.model.account.XpOperationsUser;


import com.xiaopeng.api.model.maintenance.XpErrorType;


import com.xiaopeng.api.model.maintenance.XpTask;


import com.xiaopeng.api.model.maintenance.XpTaskRule;


import com.xiaopeng.api.model.operation.XpGeoQueryEntity;


import com.xiaopeng.api.model.maintenance.XpVehicleModel;


import com.xiaopeng.api.model.operation.XpOfficialPartner;


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


@@ -48,6 +52,7 @@


import com.xiaopeng.vehicleConvoy.model.importExcel.XpVehicleImportExcel;


import com.xiaopeng.vehicleConvoy.model.query.*;


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


import com.xiaopeng.vehicleConvoy.model.vo.VehicleListByVinVo;


import com.xiaopeng.vehicleConvoy.model.vo.VehiclePositionDto;


import com.xiaopeng.vehicleConvoy.service.IXpFleetService;


import com.xiaopeng.vehicleConvoy.service.IXpFleetVehicleService;


@@ -65,11 +70,11 @@


import org.springframework.context.MessageSource;


import org.springframework.context.annotation.Lazy;


import org.springframework.context.i18n.LocaleContextHolder;


import org.springframework.data.geo.Distance;


import org.springframework.data.geo.Metrics;


import org.springframework.data.geo.Point;


import org.springframework.data.geo.*;


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.util.CollectionUtils;


import org.springframework.web.bind.annotation.*;


@@ -866,7 +871,8 @@


    @PostMapping("/logan/inner/vehicle/queryVehiclePositionByVin")


    public R<List<String>> queryVehiclePositionByVin(@RequestBody VehiclePositionByVinDto dto){


        List<XpVehicle> list = xpVehicleService.list(new LambdaQueryWrapper<XpVehicle>().eq(XpVehicle::getState, Optional.ofNullable(dto.getStatus()).orElse(0))


                .eq(XpVehicle::getOperatingStatus, 1).eq(XpVehicle::getElectronicId, dto.getFenceId()).in(XpVehicle::getVehicleVin, buildVinQueryValues(dto.getVinList())));


                .eq(XpVehicle::getOperatingStatus, 1).eq(XpVehicle::getElectronicId, dto.getFenceId())


                .eq(XpVehicle::getVehicleType, 2).in(XpVehicle::getVehicleVin, buildVinQueryValues(dto.getVinList())));


        if (list.isEmpty()) {


            return R.ok(new ArrayList<>());


        } else {


@@ -1079,17 +1085,6 @@


        return R.ok(xpVehicleService.listByPlateNumber(plateNumber));


    }




    /**


     * 车辆详情-车门解锁/后备箱解锁


     */


    @ApiOperation(value = "车辆运维-车门解锁/后备箱解锁", tags = {"运维APP-车辆管理"})


    @PostMapping("/maintenance-app/api/v1/vehicle/unlockByType")


    public R<String> unlockByType(@RequestBody UnlockByTypeDTO dto) {




        // TODO 车门解锁、后备箱解锁




        return R.ok();


    }




    /**


     * 业务流程-车门解锁/后备箱解锁


@@ -1118,23 +1113,25 @@


    @GetMapping("/api/v1/mini-program/order/queryTemperatureByOrderId")


    @XpClientCheck(checkToken = false, checkOtpToken = true)


    public R<String> queryTemperatureByOrderId(@RequestParam Long orderId, HttpServletRequest request) {


        String uid = request.getHeader("XP-Uid");


        VehicleTemperatureDto vehicleTemperatureDto = xpVehicleService.queryTemperatureByOrderId(orderId, uid);


        VehicleStateVo hvacInnerTemp = vehicleTemperatureDto.getStateMap().get("hvacInnerTemp");


        if(null == hvacInnerTemp){


        VehicleDoorStatusVo vehicleDoorStatus = xpVehicleService.getVehicleDoorStatus(orderId);


        if(null == vehicleDoorStatus){


            return R.fail("查询车内温度失败");


        }


        return R.ok(hvacInnerTemp.getValue());


        if(null == vehicleDoorStatus.getRearLeftHvacTempFloat()){


            return R.ok("25");


        }


        return R.ok(vehicleDoorStatus.getRearLeftHvacTempFloat().toString());


    }








    @ApiOperation(value = "通过订单id查询当前车辆车门状态", tags = {"小程序-业务流程"})


    @GetMapping("/api/v1/mini-program/order/queryVehicleTrunkOpenStatus")


    public R<VehicleTemperatureDto> queryVehicleTrunkOpenStatus(@RequestParam Long orderId, HttpServletRequest request) {


    @XpClientCheck(checkToken = false, checkOtpToken = true)


    public R<Integer> queryVehicleTrunkOpenStatus(@RequestParam Long orderId, HttpServletRequest request) {


        String uid = request.getHeader("XP-Uid");


        VehicleTemperatureDto vehicleTemperatureDto = xpVehicleService.queryTemperatureByOrderId(orderId,uid);


        return R.ok(vehicleTemperatureDto);


        Boolean trunkOpenStatus = xpVehicleService.queryTrunkOpenStatusByOrderId(orderId, uid);


        return R.ok(trunkOpenStatus ? 1 : 0);


    }






@@ -1148,6 +1145,19 @@


    @PostMapping("/api/v1/vehicle/page-list")


    public R<PageInfo<XpVehicleVO>> getVehiclePageList(@RequestBody VehicleSelectPageQuery query) {


        return R.ok(xpVehicleService.getVehiclePageList(query));


    }






    /**


     * 获取车辆不分页列表


     *


     * @param query


     * @return


     */


    @ApiOperation(value = "获取车辆分页列表", tags = {"管理后台-定向服务"})


    @PostMapping("/api/v1/vehicle/getTargetedVehiclePageList")


    public R<PageInfo<XpVehicleVO>> getTargetedVehiclePageList(@RequestBody VehicleSelectPageQuery query) {


        return R.ok(xpVehicleService.getTargetedVehiclePageList(query));


    }






@@ -1261,33 +1271,37 @@


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


    @XpClientCheck(checkToken = false, checkOtpToken = false)


    public R<List<XpVehicleVO>> carAround(@RequestParam double lon, @RequestParam double lat) {




        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);


        //找到中心点


        GeoJsonPoint geoJsonPoint = new GeoJsonPoint(lon, lat);


        //构造半径


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


        //画圆


        Circle circle = new Circle(geoJsonPoint, distanceR);


        // 构造query对象


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


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


        if (CollectionUtils.isEmpty(vehiclePositions)) {


            return R.ok(new ArrayList<>());


        }


        log.info("周围车辆查询结果：{}", JSON.toJSONString(vehiclePositions));


        List<XpVehicleVO> xpVehicleList = vehiclePositions.stream()


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


                .map(vp -> {


                    XpVehicle xpVehicle = xpVehicleService.getOne(new LambdaQueryWrapper<XpVehicle>().in(XpVehicle::getVehicleVin, SensitiveDataCryptoUtil.queryValues(vp.getVin())));


                    XpVehicle xpVehicle = xpVehicleService.getOne(new LambdaQueryWrapper<XpVehicle>().eq(XpVehicle::getState, 0).eq(XpVehicle::getOperatingStatus, 1)


                            .eq(XpVehicle::getAcceptOrTest, 1).eq(XpVehicle::getDeleted, 0).in(XpVehicle::getVehicleVin, SensitiveDataCryptoUtil.queryValues(vp.getVin())));


                    if (xpVehicle == null) {


                        return null;


                    }


                    XpVehicleVO vo = new XpVehicleVO();


                    BeanUtils.copyProperties(xpVehicle, vo);


                    vo.setLongitude(vp.getPoint().getX());


                    vo.setLatitude(vp.getPoint().getY());


                    vo.setDirection(vp.getCourse());


                    vo.setId(xpVehicle.getId());


                    return vo;


                })


                .filter(Objects::nonNull)


                .filter(v -> v.getState() != null && v.getState() == 0)


                .limit(5)


                .collect(Collectors.toList());


        log.info("周围车辆筛选结果：{}", JSON.toJSONString(xpVehicleList));


        return R.ok(xpVehicleList);


    }




@@ -1358,4 +1372,17 @@


                .distinct()


                .collect(Collectors.toList());


    }








    @ApiOperation(value = "根据VIN码查询车辆信息", response = XpErrorType.class, tags = "远程代驾")


    @GetMapping("/logan/assistance/v1/vehicle/getVehicleListByVin/{vin}")


    public R<VehicleListByVinVo> getVehicleListByVin(@PathVariable String vin) {


        XpVehicle vehicle = xpVehicleService.getOne(new QueryWrapper<XpVehicle>().eq("vehicle_vin", SensitiveDataCryptoUtil.encrypt(vin))


                .eq("is_deleted", 0));


        VehicleListByVinVo vehicleListByVinVo = new VehicleListByVinVo();


        BeanUtil.copyProperties(vehicle, vehicleListByVinVo);


        vehicleListByVinVo.setVin(vin);


        return R.ok(vehicleListByVinVo);


    }


}