小鹏汽车Robotaxi
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
puzhibing
2026-05-18 d8440cc93f48e5a4b932d8daf740023e16d65008 
 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;


@@ -20,6 +21,7 @@


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.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;


@@ -65,11 +67,11 @@


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.*;


@@ -1261,31 +1263,32 @@


    @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<>());


        }


        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());


                    return vo;


                })


                .filter(Objects::nonNull)


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


                .limit(5)


                .collect(Collectors.toList());


        return R.ok(xpVehicleList);