Merge branch 'master' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi

liujie

2026-03-01 4f01fa9a654ea4935d6bf8ce97c2485a9113497d

Merge branch 'master' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi

# Conflicts:
#	xp-robotaxi-order-boot/src/main/java/com/xiaopeng/order/service/impl/XpOrderServiceImpl.java

 xp-robotaxi-account-boot/src/main/java/com/xiaopeng/account/service/impl/XpQualificationAuditServiceImpl.java

@@ -74,9 +74,8 @@

                // 角色名称匹配
                for (XpQualificationAuditVO xpQualificationAuditVO : list) {
                    map.get(xpQualificationAuditVO.getOperationsUserId()).forEach(sysRole -> {
                        xpQualificationAuditVO.getRoleNames().add(sysRole.getRoleName());
                    });
                    List<SysRole> roleList = map.get(xpQualificationAuditVO.getOperationsUserId());
                    xpQualificationAuditVO.setRoleNames(roleList.stream().map(SysRole::getRoleName).collect(Collectors.toList()));
                }
            }
        }

 xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java

@@ -32,6 +32,7 @@
import com.xiaopeng.common.redis.service.RedisService;
import io.swagger.annotations.Api;
import lombok.extern.slf4j.Slf4j;
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;
@@ -181,7 +182,7 @@
        //构建推送消息
        Map<String, Object> params = new HashMap<>();
        Map<String, Object> content = new HashMap<>();
        content.put("orderId", orderId);
        content.put("orderId", orderId.toString());
        content.put("status", 3);
        params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
        params.put("content", JSONObject.toJSONString(content));
@@ -228,7 +229,7 @@
                Double longitude = lonLatDto.getLongitude();

                //保存车辆实时位置到redis
                redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new GeoJsonPoint(longitude, latitude), vin);
                redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new Point(longitude, latitude), vin);

                //保存车辆实时信息到mongodb
                VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
@@ -254,10 +255,11 @@
                    dto.setLatitude(latitude);
                    dto.setDuration(10);
                    dto.setDistance(2);
                    dto.setDirection(60);
                    xpPushMessageClient.pushOrderRoute(dto);
                }

                //5秒钟循环一次
                //2秒钟循环一次
                try {
                    Thread.sleep(2000);
                } catch (InterruptedException e) {
@@ -268,7 +270,7 @@
            //构建推送消息
            Map<String, Object> params = new HashMap<>();
            Map<String, Object> content = new HashMap<>();
            content.put("orderId", orderId);
            content.put("orderId", orderId.toString());
            content.put("status", 4);
            params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
            params.put("content", JSONObject.toJSONString(content));
@@ -299,7 +301,7 @@
        //构建推送消息
        Map<String, Object> params = new HashMap<>();
        Map<String, Object> content = new HashMap<>();
        content.put("orderId", orderId);
        content.put("orderId", orderId.toString());
        content.put("status", status);
        params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
        params.put("content", JSONObject.toJSONString(content));
@@ -346,7 +348,7 @@
                Double longitude = lonLatDto.getLongitude();

                //保存车辆实时位置到redis
                redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new GeoJsonPoint(longitude, latitude), vin);
                redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new Point(longitude, latitude), vin);

                //保存车辆实时信息到mongodb
                VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
@@ -372,6 +374,7 @@
                    dto.setLatitude(latitude);
                    dto.setDuration(20);
                    dto.setDistance(10);
                    dto.setDirection(60);
                    xpPushMessageClient.pushOrderRoute(dto);
                }

@@ -386,7 +389,7 @@
            //构建推送消息
            Map<String, Object> params = new HashMap<>();
            Map<String, Object> content = new HashMap<>();
            content.put("orderId", orderId);
            content.put("orderId", orderId.toString());
            content.put("status", 4);
            params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
            params.put("content", JSONObject.toJSONString(content));

 xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java

@@ -51,7 +51,7 @@
import com.xiaopeng.common.core.utils.uuid.UUID;
import com.xiaopeng.common.redis.service.RedisService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.data.mongodb.core.MongoTemplate;
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;
import org.springframework.data.mongodb.core.query.Query;
@@ -277,7 +277,7 @@
        long sequence = msgContent.getHeader().getSequence();
        responseMessage(sequence, vin);
        //保存车辆实时位置到redis
        redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new GeoJsonPoint(longitude, latitude), vin);
        redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new Point(longitude, latitude), vin);

        //保存车辆实时信息到mongodb
        VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
@@ -927,7 +927,7 @@
            //构建推送消息
            Map<String, Object> params = new HashMap<>();
            Map<String, Object> content = new HashMap<>();
            content.put("orderId", orderId);
            content.put("orderId", orderId.toString());
            content.put("status", status.getCode());
            params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
            params.put("content", JSONObject.toJSONString(content));

 xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/schedule/InsuranceInspectionScheduleTask.java

@@ -350,7 +350,7 @@
            }

            // 设置任务状态为待到达
            task.setStatus(TaskScheduleConstants.TASK_STATUS_PENDING_ARRIVE);
            task.setStatus(TaskScheduleConstants.TASK_STATUS_PENDING);

            // 设置任务接收人（配置角色下的所有运维人员都可以看到）
            task.setHandleUserId(belongUserIds);

 xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/schedule/RoutinePreparationScheduleTask.java

@@ -370,7 +370,7 @@
            }

            // 设置任务状态为待到达
            task.setStatus(TaskScheduleConstants.TASK_STATUS_PENDING_ARRIVE);
            task.setStatus(TaskScheduleConstants.TASK_STATUS_PENDING);

            // 设置任务接收人（配置角色下的所有运维人员都可以看到）
            task.setHandleUserId(belongUserIds);

 xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/schedule/VehicleCleanScheduleTask.java

@@ -370,7 +370,7 @@
            }

            // 设置任务状态为待到达
            task.setStatus(TaskScheduleConstants.TASK_STATUS_PENDING_ARRIVE);
            task.setStatus(TaskScheduleConstants.TASK_STATUS_PENDING);

            // 设置任务接收人（配置角色下的所有运维人员都可以看到）
            task.setHandleUserId(belongUserIds);

 xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/schedule/VehicleInspectionScheduleTask.java

@@ -330,7 +330,7 @@
            }

            // 设置任务状态为待到达
            task.setStatus(TaskScheduleConstants.TASK_STATUS_PENDING_ARRIVE);
            task.setStatus(TaskScheduleConstants.TASK_STATUS_PENDING);

            // 设置任务接收人（配置角色下的所有运维人员都可以看到）
            task.setHandleUserId(belongUserIds);

 xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/schedule/VehicleMaintenanceScheduleTask.java

@@ -356,7 +356,7 @@
            }

            // 设置任务状态为待到达
            task.setStatus(TaskScheduleConstants.TASK_STATUS_PENDING_ARRIVE);
            task.setStatus(TaskScheduleConstants.TASK_STATUS_PENDING);

            // 设置任务接收人（配置角色下的所有运维人员都可以看到）
            task.setHandleUserId(belongUserIds);

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

@@ -249,8 +249,8 @@
        String endTime = "";
        if(StringUtils.isNotEmpty(query.getStatisticDate())){
            String statisticDate = query.getStatisticDate();
            startTime = statisticDate.split(" - ")[0];
            endTime = statisticDate.split(" - ")[1];
            startTime = statisticDate.split(" - ")[0].split(" ")[0];
            endTime = statisticDate.split(" - ")[1].split(" ")[0];
        }
        //查询数据
        List<ClockInStatisticsDto> clockInStatistics = this.baseMapper.getClockInStatistics(pageInfo, appUserIds, startTime, endTime);
@@ -309,8 +309,8 @@
        String endTime = "";
        if(StringUtils.isNotEmpty(query.getStatisticDate())){
            String statisticDate = query.getStatisticDate();
            startTime = statisticDate.split(" - ")[0];
            endTime = statisticDate.split(" - ")[1];
            startTime = statisticDate.split(" - ")[0].split(" ")[0];
            endTime = statisticDate.split(" - ")[1].split(" ")[0];
        }
        //查询数据
        List<ClockInStatisticsDto> clockInStatistics = this.baseMapper.getClockInStatistics(pageInfo, appUserIds, startTime, endTime);
@@ -355,8 +355,8 @@
        String endTime = "";
        if(StringUtils.isNotEmpty(query.getStatisticDate())){
            String statisticDate = query.getStatisticDate();
            startTime = statisticDate.split(" - ")[0];
            endTime = statisticDate.split(" - ")[1];
            startTime = statisticDate.split(" - ")[0].split(" ")[0];
            endTime = statisticDate.split(" - ")[1].split(" ")[0];
        }
        List<ClockInStatisticsDetailsDto> clockInStatisticsDetails = this.baseMapper.getClockInStatisticsDetails(pageInfo, query.getAppUserId(), startTime, endTime);
        List<XpOperationsUserWithRoleVO> data = xpOperationUserClient.listByIdsWithRole(Arrays.asList(query.getAppUserId())).getData();
@@ -384,8 +384,8 @@
        String endTime = "";
        if(StringUtils.isNotEmpty(query.getStatisticDate())){
            String statisticDate = query.getStatisticDate();
            startTime = statisticDate.split(" - ")[0];
            endTime = statisticDate.split(" - ")[1];
            startTime = statisticDate.split(" - ")[0].split(" ")[0];
            endTime = statisticDate.split(" - ")[1].split(" ")[0];
        }
        List<ClockInStatisticsDetailsDto> clockInStatisticsDetails = this.baseMapper.getClockInStatisticsDetails(pageInfo, query.getAppUserId(), startTime, endTime);
        List<XpOperationsUserWithRoleVO> data = xpOperationUserClient.listByIdsWithRole(Arrays.asList(query.getAppUserId())).getData();

 xp-robotaxi-operation-boot/src/main/java/com/xiaopeng/operation/service/impl/XpPointServiceImpl.java

@@ -30,10 +30,12 @@
import com.xiaopeng.operation.vo.NearestVo;
import com.xiaopeng.operation.vo.OrderDistanceVo;
import org.springframework.stereotype.Service;
import org.springframework.util.StringUtils;

import javax.annotation.Resource;
import java.time.LocalTime;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Comparator;
import java.util.List;
import java.util.stream.Collectors;
@@ -159,6 +161,14 @@

    @Override
    public List<XpPoint> listAll(PointListQuery query) {
        if(StringUtils.hasLength(query.getOperationStatus())){
            String[] split = query.getOperationStatus().split(",");
            List<Integer> statusIds = new ArrayList<>();
            for (String s : split) {
                statusIds.add(Integer.valueOf(s));
            }
            query.setOperationStatusIds(statusIds);
        }
        List<XpPoint> list = this.baseMapper.listAll(query);
        return list;
    }

 xp-robotaxi-order-boot/src/main/java/com/xiaopeng/order/service/impl/XpOrderServiceImpl.java

@@ -51,6 +51,7 @@
import com.xiaopeng.api.vo.OrderType;
import com.xiaopeng.api.vo.account.GetUserListByUidsVo;
import com.xiaopeng.api.vo.account.UserCouponVo;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudOrderOperation.OrderOperationType;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.api.vo.order.*;
@@ -1051,7 +1052,7 @@
        // 消息推送
        Map<String, Object> params = new HashMap<>();
        Map<String, Object> content = new HashMap<>();
        content.put("orderId", order.getId());
        content.put("orderId", order.getId().toString());
        content.put("status", OrderStatusEnum.CANCELED.getCode());
        params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
        params.put("content", com.alibaba.fastjson2.JSONObject.toJSONString(content));
@@ -2024,9 +2025,10 @@
                userVehicleClient.addTaxiPassenger(addTaxiPassengerVo);
                //推送乘客车辆到达预约点的导航数据
                sendRoute(addTaxiPassengerVo.getUid(), orderId, "ORDER_NAVIGATION_START_DATA");
                sendRoute(order.getAppUserId().toString(), orderId, "ORDER_NAVIGATION_START_DATA", dto.getXpVehicleVin());
            }else{
                //推送行起点到终点的驶轨迹给乘客端
                sendRoute(order.getAppUserId().toString(), orderId, "ORDER_NAVIGATION_END_DATA");
                sendRoute(order.getAppUserId().toString(), orderId, "ORDER_NAVIGATION_END_DATA", dto.getXpVehicleVin());
            }
        }
    }
@@ -2037,7 +2039,8 @@
     * @param appUserId
     * @param keyStr
     */
    public void sendRoute(String appUserId, Long orderId, String keyStr){
    public void sendRoute(String appUserId, Long orderId, String keyStr, String vin){
        VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
        Object cacheObject = redisService.getCacheObject(keyStr + ":" + appUserId);
        if(null != cacheObject){
            RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
@@ -2047,6 +2050,7 @@
            JSONObject content = new JSONObject();
            content.put("orderId", orderId);
            content.put("routeType", "ORDER_NAVIGATION_START_DATA".equals(keyStr) ? 1 : 2);
            content.put("direction", null != vehiclePosition ? vehiclePosition.getCourse() : 0);
            JSONObject route = new JSONObject();
            route.put("distance", routeVo.getDistance());
            route.put("duration", routeVo.getDuration());

 xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/controller/PushOrderRouteController.java

@@ -14,6 +14,7 @@
import com.xiaopeng.common.redis.service.RedisService;
import com.xiaopeng.pushMessage.utils.MapMatchingUtil;
import io.swagger.annotations.Api;
import org.powermock.core.ListMap;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.PostMapping;
@@ -66,10 +67,12 @@
            redisService.setCacheObject(CacheConstants.ORDER_ROUTE_CAPTURE + "_" + dto.getOrderId() + "_" +routeType, routeVo);

            // 封装轨迹点位集合
            Map<String, Object> polyline = new HashMap<>();
            List<Map<String, Object>> polyline = new ArrayList<>();
            for (LonLatDto lonLatDto : lonLatDtos) {
                polyline.put("longitude",lonLatDto.getLongitude());
                polyline.put("latitude",lonLatDto.getLatitude());
                Map<String, Object> polylineMap = new HashMap<>();
                polylineMap.put("longitude",lonLatDto.getLongitude());
                polylineMap.put("latitude",lonLatDto.getLatitude());
                polyline.add(polylineMap);
            }
            // 封装路由详情
            Map<String, Object> route = new HashMap<>();

 xp-robotaxi-vehicle-convoy-boot/src/main/java/com/xiaopeng/vehicleConvoy/service/impl/XpVehicleServiceImpl.java

@@ -38,6 +38,7 @@
import org.apache.commons.lang3.StringUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.i18n.LocaleContextHolder;
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;
@@ -149,11 +150,11 @@
        }

        for (XpVehicleVO xpVehicleVO : list) {
            GeoJsonPoint geoJsonPoint = redisService.getCacheObject("vehiclePosition:" + xpVehicleVO.getVehicleVin());
            if (Objects.nonNull(geoJsonPoint)){
            Point point = redisService.getCacheObject("vehiclePosition:" + xpVehicleVO.getVehicleVin());
            if (Objects.nonNull(point)){
                // 获取经纬度
                xpVehicleVO.setLongitude(geoJsonPoint.getX());
                xpVehicleVO.setLatitude(geoJsonPoint.getY());
                xpVehicleVO.setLongitude(point.getX());
                xpVehicleVO.setLatitude(point.getY());
            }
            // 查询车辆的续航里程
            VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(xpVehicleVO.getVehicleVin())), VehiclePosition.class);