修改bug

puzhibing

2026-03-10 9e3ecfab0113a6b45e30e0ac64e51e8df53c4f72

修改bug

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/dto/automaticPilot/PushOrderDto.java

@@ -1,6 +1,6 @@
package com.xiaopeng.api.dto.automaticPilot;

import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudOrderOperation.OrderOperationType;
import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
import io.swagger.annotations.ApiModel;
import io.swagger.annotations.ApiModelProperty;
import lombok.AllArgsConstructor;

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/GeoPoint.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/ResponseMessage.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/StatusCode.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudCreateOrder/NavigationWaypoint.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudCreateOrder/RTTask.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudCreateOrder/TaskStatus.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudCreateOrder/TaskType.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudCreateOrder/WaypointAction.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudCreateOrder/WaypointType.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudOrderOperation/ActionType.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudOrderOperation/OrderOperation.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudOrderOperation/OrderOperationType.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudOrderOperation/OrderType.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudOrderOperation/PointType.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudOrderOperation/TargetPoint.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudOrderOperation/Waypoint.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudPushNavigation/RestoreNavigationData.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/ResponseMessage.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/StatusCode.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/NavigationDeviationMessage.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/ResponseMessage.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/RtEventType.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/StatusCode.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/GeoPoint.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NaviPosition.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NaviProgressInfo.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NaviStatus.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NavigationInfo.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NavigationInfoUpdateEvent.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/OrderPhase.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/ResponseMessage.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/RtEventType.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/StatusCode.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/Waypoint.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/GeoPoint.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderPhase.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderStateChangeSource.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderStatus.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderStatusInfo.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderStatusInfoEvent.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/ResponseMessage.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/RtEventType.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/RtTripInfo.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/RtTripInfoEvent.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/StatusCode.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/Waypoint.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/NaviPosition.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/NaviProgressInfo.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/NaviStatus.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/NavigationInfo.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/OrderPhase.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/OrderStateChangeSource.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/OrderStatus.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/OrderStatusInfo.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/RealtimePose.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/ResponseMessage.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/RtTripInfo.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/StatusCode.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/Wgs.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/GeoPoint.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/OrderPhase.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/RealtimePose.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/Wgs.java

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

@@ -19,9 +19,6 @@
import com.xiaopeng.api.model.order.XpOrder;import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.api.vo.SystemEventType;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.RTTask;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.TaskStatus;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.TaskType;
import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.api.vo.order.OrderTrajectoryVo;

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

@@ -226,23 +226,35 @@
    @Override
    public PageInfo<ClockInStatisticsDto> getClockInStatistics(ClockInStatisticsVo query) {
        PageInfo<ClockInStatisticsDto> pageInfo = new PageInfo<>(query.getPageNum(), query.getPageSize());
        List<Long> appUserIds = new ArrayList<>();
        List<Long> appUserIds1 = new ArrayList<>();
        List<Long> appUserIds2 = new ArrayList<>();
        List<Long> appUserIds3 = new ArrayList<>();
        //处理查询条件
        if(StringUtils.isNotEmpty(query.getName())){
            R<List<XpOperationsUser>> listR = xpOperationUserClient.listByName(query.getName());
            if(listR.getCode() == Constants.SUCCESS){
                List<Long> collect = listR.getData().stream().map(XpOperationsUser::getId).collect(Collectors.toList());
                appUserIds.addAll(collect);
                appUserIds1.addAll(collect);
            }
            appUserIds.add(0L);
            appUserIds1.add(0L);
        }
        if(null != query.getRoleId()){
            R<List<XpOperationsRole>> roleByRoleId = xpOperationUserClient.getXpOperationsRoleByRoleId(query.getRoleId());
            if(roleByRoleId.getCode() == Constants.SUCCESS){
                List<Long> collect = roleByRoleId.getData().stream().map(XpOperationsRole::getOperationsUserId).collect(Collectors.toList());
                appUserIds.addAll(collect);
                appUserIds2.addAll(collect);
            }
            appUserIds.add(0L);
            appUserIds2.add(0L);
        }
        if(StringUtils.isNotEmpty(query.getName()) && null != query.getRoleId()){
            for (Long l : appUserIds1) {
                if(appUserIds2.contains(l)){
                    appUserIds3.add(l);
                }
            }
        }else{
            appUserIds3.addAll(appUserIds1);
            appUserIds3.addAll(appUserIds2);
        }

        String startTime = "";
@@ -253,7 +265,7 @@
            endTime = statisticDate.split(" - ")[1].split(" ")[0];
        }
        //查询数据
        List<ClockInStatisticsDto> clockInStatistics = this.baseMapper.getClockInStatistics(pageInfo, appUserIds, startTime, endTime);
        List<ClockInStatisticsDto> clockInStatistics = this.baseMapper.getClockInStatistics(pageInfo, appUserIds3, startTime, endTime);
        List<String> appUserIdList = clockInStatistics.stream().map(ClockInStatisticsDto::getAppUserId).collect(Collectors.toList());
        List<Long> ids = appUserIdList.stream().map(Long::parseLong).collect(Collectors.toList());
        List<XpOperationsUserWithRoleVO> data = xpOperationUserClient.listByIdsWithRole(ids).getData();
@@ -272,7 +284,8 @@
            }
            Integer shouldClockInDays = clockInStatistic.getShouldClockInDays();
            Integer clockInDays = clockInStatistic.getClockInDays();
            clockInStatistic.setNotClockInDays(shouldClockInDays - clockInDays);
            Integer lateEarly = clockInStatistic.getLateEarly();
            clockInStatistic.setNotClockInDays(shouldClockInDays - clockInDays - lateEarly);
        }
        pageInfo.setRecords(clockInStatistics);
        return pageInfo;
@@ -287,23 +300,35 @@
    @Override
    public void exportClockInStatistics(ClockInStatisticsVo query, HttpServletResponse response) {
        PageInfo<ClockInStatisticsDto> pageInfo = new PageInfo<>(0, 10000);
        List<Long> appUserIds = new ArrayList<>();
        List<Long> appUserIds1 = new ArrayList<>();
        List<Long> appUserIds2 = new ArrayList<>();
        List<Long> appUserIds3 = new ArrayList<>();
        //处理查询条件
        if(StringUtils.isNotEmpty(query.getName())){
            R<List<XpOperationsUser>> listR = xpOperationUserClient.listByName(query.getName());
            if(listR.getCode() == Constants.SUCCESS){
                List<Long> collect = listR.getData().stream().map(XpOperationsUser::getId).collect(Collectors.toList());
                appUserIds.addAll(collect);
                appUserIds1.addAll(collect);
            }
            appUserIds.add(0L);
            appUserIds1.add(0L);
        }
        if(null != query.getRoleId()){
            R<List<XpOperationsRole>> roleByRoleId = xpOperationUserClient.getXpOperationsRoleByRoleId(query.getRoleId());
            if(roleByRoleId.getCode() == Constants.SUCCESS){
                List<Long> collect = roleByRoleId.getData().stream().map(XpOperationsRole::getOperationsUserId).collect(Collectors.toList());
                appUserIds.addAll(collect);
                appUserIds2.addAll(collect);
            }
            appUserIds.add(0L);
            appUserIds2.add(0L);
        }
        if(StringUtils.isNotEmpty(query.getName()) && null != query.getRoleId()){
            for (Long l : appUserIds1) {
                if(appUserIds2.contains(l)){
                    appUserIds3.add(l);
                }
            }
        }else{
            appUserIds3.addAll(appUserIds1);
            appUserIds3.addAll(appUserIds2);
        }
        String startTime = "";
        String endTime = "";
@@ -313,7 +338,7 @@
            endTime = statisticDate.split(" - ")[1].split(" ")[0];
        }
        //查询数据
        List<ClockInStatisticsDto> clockInStatistics = this.baseMapper.getClockInStatistics(pageInfo, appUserIds, startTime, endTime);
        List<ClockInStatisticsDto> clockInStatistics = this.baseMapper.getClockInStatistics(pageInfo, appUserIds3, startTime, endTime);
        List<String> appUserIdList = clockInStatistics.stream().map(ClockInStatisticsDto::getAppUserId).collect(Collectors.toList());
        List<Long> ids = appUserIdList.stream().map(Long::parseLong).collect(Collectors.toList());
        List<XpOperationsUserWithRoleVO> data = xpOperationUserClient.listByIdsWithRole(ids).getData();
@@ -331,7 +356,8 @@
            }
            Integer shouldClockInDays = clockInStatistic.getShouldClockInDays();
            Integer clockInDays = clockInStatistic.getClockInDays();
            clockInStatistic.setNotClockInDays(shouldClockInDays - clockInDays);
            Integer lateEarly = clockInStatistic.getLateEarly();
            clockInStatistic.setNotClockInDays(shouldClockInDays - clockInDays - lateEarly);
        }

        ExcelUtil<ClockInStatisticsDto> excel = new ExcelUtil<ClockInStatisticsDto>(ClockInStatisticsDto.class);

 xp-robotaxi-map-boot/pom.xml

@@ -237,6 +237,11 @@
            <artifactId>aliyun-sdk-oss</artifactId>
            <version>3.18.5</version>
        </dependency>
        <dependency>
            <groupId>org.locationtech.jts</groupId>
            <artifactId>jts-core</artifactId>
            <version>1.19.0</version> <!-- 请使用最新版本 -->
        </dependency>
    </dependencies>

    <build>

 xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/service/serviceimpl/XpElectronicFenceServiceImpl.java

@@ -31,6 +31,10 @@
import com.xiaopeng.map.utils.PolygonOverlapService;
import lombok.extern.slf4j.Slf4j;
import net.sourceforge.pinyin4j.PinyinHelper;
import org.locationtech.jts.geom.Coordinate;
import org.locationtech.jts.geom.GeometryFactory;
import org.locationtech.jts.geom.LinearRing;
import org.locationtech.jts.geom.Polygon;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.data.geo.Point;
import org.springframework.data.mongodb.core.MongoTemplate;
@@ -40,6 +44,7 @@
import org.springframework.stereotype.Service;

import javax.annotation.Resource;
import java.awt.geom.Point2D;
import java.time.LocalDateTime;
import java.util.ArrayList;
import java.util.List;
@@ -166,7 +171,13 @@
        //根据经纬度获取当前城市code
        XpElectronicFenceArea xpElectronicFenceArea = dto.getElectronicFenceAreas().get(0);
        String[] split = xpElectronicFenceArea.getFencePoints().split(",")[0].split("_");
        Map<String, String> geocode = gdMapGeocodingUtil.geocode(split[0], split[1]);
        Coordinate[] coordinates = new Coordinate[split.length];
        for (int i = 0; i < split.length; i++) {
            String[] split1 = split[i].split("_");
            coordinates[i] = new Coordinate(Double.parseDouble(split1[0]), Double.parseDouble(split1[1]));
        }
        org.locationtech.jts.geom.Point point = calculateCentroid(coordinates);
        Map<String, String> geocode = gdMapGeocodingUtil.geocode(point.getX() + "", point.getY() + "");
        if(null == geocode){
            return R.fail("经纬度转换城市code失败");
        }
@@ -383,7 +394,13 @@
            //根据经纬度获取当前城市code
            XpElectronicFenceArea electronicFenceArea = dto.getElectronicFenceAreas().get(0);
            String[] split = electronicFenceArea.getFencePoints().split(",")[0].split("_");
            Map<String, String> geocode = gdMapGeocodingUtil.geocode(split[0], split[1]);
            Coordinate[] coordinates = new Coordinate[split.length];
            for (int i = 0; i < split.length; i++) {
                String[] split1 = split[i].split("_");
                coordinates[i] = new Coordinate(Double.parseDouble(split1[0]), Double.parseDouble(split1[1]));
            }
            org.locationtech.jts.geom.Point point = calculateCentroid(coordinates);
            Map<String, String> geocode = gdMapGeocodingUtil.geocode(point.getX() + "", point.getY() + "");
            if(null == geocode){
                return R.fail("经纬度转换城市code失败");
            }
@@ -696,4 +713,22 @@
    }


    /**
     * 计算围栏中心点
     * @param coordinates
     * @return
     */
    private org.locationtech.jts.geom.Point calculateCentroid(Coordinate[] coordinates) {
        GeometryFactory factory = new GeometryFactory();
        // 创建线性环 (LinearRing)
        LinearRing ring = factory.createLinearRing(coordinates);
        // 创建多边形 (Polygon)
        Polygon polygon = factory.createPolygon(ring);
        // 计算质心 (Centroid)
        org.locationtech.jts.geom.Point centroid = polygon.getCentroid();

        System.out.println("中心点经度: " + centroid.getX());
        System.out.println("中心点纬度: " + centroid.getY());
        return centroid;
    }
}