From c96fbe6b0aeb413a17c429133ee6d81d138144b9 Mon Sep 17 00:00:00 2001
From: liujie <1793218484@qq.com>
Date: 星期二, 09 六月 2026 10:58:52 +0800
Subject: [PATCH] Merge branch '1.0' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi into 1.0
---
xp-robotaxi-operation-boot/src/main/java/com/xiaopeng/operation/controller/XpCruisePlanController.java | 271 +++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 255 insertions(+), 16 deletions(-)
diff --git a/xp-robotaxi-operation-boot/src/main/java/com/xiaopeng/operation/controller/XpCruisePlanController.java b/xp-robotaxi-operation-boot/src/main/java/com/xiaopeng/operation/controller/XpCruisePlanController.java
index 8797bce..d9da3f7 100644
--- a/xp-robotaxi-operation-boot/src/main/java/com/xiaopeng/operation/controller/XpCruisePlanController.java
+++ b/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){
- return R.fail("没有巡游计划，执行收车失败");
+ //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);
}
--
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