修复坐标转换问题并新增车辆列表接口

- 修正经纬度坐标转换错误（longitude/latitude互换）
- 新增车辆列表查询接口 GET /api/vehicle-manager/vehicles
- 支持分页、状态筛选和离线判定
- 更新生产环境配置（Redis主机和无人车服务地址）
- 优化任务路径点坐标映射

qaup-admin/src/main/resources/application-prod.yml

@@ -21,7 +21,7 @@ spring:
   # Redis配置（支持环境变量）
   data:
     redis:
-      host: ${REDIS_HOST:localhost}
+      host: ${REDIS_HOST:10.0.0.58}
       port: ${REDIS_PORT:6379}
       database: ${REDIS_DATABASE:0}
       password: ${REDIS_PASSWORD:}
@@ -77,8 +77,8 @@ data:
       retry-attempts: ${VEHICLE_API_RETRY:3}
 
     vehicle-manager:
-      host: ${VEHICLE_MANAGER_HOST:}
+      host: ${VEHICLE_MANAGER_HOST:localhost}
-      port: ${VEHICLE_MANAGER_PORT:0}
+      port: ${VEHICLE_MANAGER_PORT:8020}
       reconnect-delay-millis: ${VEHICLE_MANAGER_RECONNECT_DELAY:3000}
       ws:
         at-manager: /ws/at_manager

qaup-admin/src/main/resources/application.yml

@@ -40,7 +40,7 @@ spring:
 
   # 默认激活的profile（开发环境）
   profiles:
-    # active: dev,druid
+    #active: dev,druid
     active: prod,druid
 
   # 文件上传

qaup-collision/src/main/java/com/qaup/collision/controller/VehicleManagerApiController.java

@@ -38,6 +38,16 @@ public class VehicleManagerApiController {
         return AjaxResult.success(summary).put("timestamp", System.currentTimeMillis());
     }
 
+    @GetMapping("/vehicles")
+    public AjaxResult getVehicleList(
+            @RequestParam(defaultValue = "1") int pageNum,
+            @RequestParam(defaultValue = "10") int pageSize,
+            @RequestParam(required = false) String status,
+            @RequestParam(defaultValue = "30000") long staleMillis) {
+        VehicleManagerQueryService.VehicleListResponse response = queryService.getVehicleList(pageNum, pageSize, status, staleMillis);
+        return AjaxResult.success(response).put("timestamp", System.currentTimeMillis());
+    }
+
     @GetMapping("/vehicles/{vehicleId}")
     public AjaxResult getVehicleSnapshot(@PathVariable String vehicleId) {
         Map<String, Object> snapshot = queryService.getVehicleSnapshot(vehicleId);
@@ -122,8 +132,8 @@ public class VehicleManagerApiController {
             Double y = getDouble(node, "y");
             waypoints.add(MissionContextDTO.WaypointDTO.builder()
                 .waypointId(String.valueOf(index++))
-                .longitude(x)
+                .longitude(y)
-                .latitude(y)
+                .latitude(x)
                 .status("PENDING")
                 .build());
         }

qaup-collision/src/main/java/com/qaup/collision/datacollector/service/DataCollectorService.java

@@ -297,7 +297,7 @@ public class DataCollectorService {
         Double x = getDouble(dataNode, "x");
         Double y = getDouble(dataNode, "y");
         if (x != null && y != null) {
-            Point currentPosition = geometryFactory.createPoint(new org.locationtech.jts.geom.Coordinate(x, y));
+            Point currentPosition = geometryFactory.createPoint(new org.locationtech.jts.geom.Coordinate(y, x));
 
             MovingObject existing = activeMovingObjectsCache.get(vehicleId);
             UnmannedVehicle vehicle = existing instanceof UnmannedVehicle

qaup-collision/src/main/java/com/qaup/collision/datacollector/service/VehicleManagerQueryService.java

@@ -6,9 +6,7 @@ import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
-import java.util.HashMap;
+import java.util.*;
-import java.util.Map;
-import java.util.Set;
 
 @Service
 @RequiredArgsConstructor
@@ -187,4 +185,166 @@ public class VehicleManagerQueryService {
         }
         return value.asText();
     }
+
+    @Data
+    @Builder
+    public static class VehicleListItemDTO {
+        private String vehicleId;
+        private String vehicleType;
+        private String status;
+        private Map<String, Object> position;
+        private Double speed;
+        private Double batteryLevel;
+        private Long lastSeenAt;
+        private Boolean isEmergency;
+        private Boolean isFault;
+        private String currentTask;
+    }
+
+    @Data
+    @Builder
+    public static class VehicleListResponse {
+        private int total;
+        private int pageNum;
+        private int pageSize;
+        private List<VehicleListItemDTO> rows;
+        private VehicleSummary summary;
+    }
+
+    public VehicleListResponse getVehicleList(int pageNum, int pageSize, String statusFilter, long staleMillis) {
+        long now = System.currentTimeMillis();
+        Set<String> vehicleIds = cacheService.getKnownVehicleIds();
+        List<VehicleListItemDTO> allVehicles = new ArrayList<>();
+
+        for (String vehicleId : vehicleIds) {
+            VehicleManagerCacheService.CacheEntry detailsEntry = cacheService.getVehicleDetails(vehicleId);
+            VehicleManagerCacheService.CacheEntry loginEntry = cacheService.getVehicleLoginStatus(vehicleId);
+            VehicleManagerCacheService.CacheEntry positionEntry = cacheService.getVehiclePosition(vehicleId);
+            VehicleManagerCacheService.CacheEntry chassisEntry = cacheService.getVehicleChassis(vehicleId);
+            VehicleManagerCacheService.CacheEntry suspendEntry = cacheService.getVehicleSuspend(vehicleId);
+            VehicleManagerCacheService.CacheEntry fmsEntry = cacheService.getVehicleFmsMessage(vehicleId);
+            VehicleManagerCacheService.CacheEntry orderEntry = cacheService.getVehicleOrder(vehicleId);
+
+            String vehicleType = getText(detailsEntry != null ? detailsEntry.getData() : null, "vehicleType");
+            String loginStatus = getText(loginEntry != null ? loginEntry.getData() : null, "loginStatus");
+            boolean loginStale = isStale(loginEntry, now, staleMillis);
+
+            String status;
+            if (loginEntry == null || loginStale) {
+                status = "offline";
+            } else {
+                status = "login".equalsIgnoreCase(loginStatus) ? "online" : "offline";
+            }
+
+            boolean isEmergency = false;
+            if (!isStale(suspendEntry, now, staleMillis)) {
+                Integer suspendStatus = getInt(suspendEntry != null ? suspendEntry.getData() : null, "suspendStatus");
+                if (suspendStatus != null && suspendStatus != 0) {
+                    isEmergency = true;
+                    status = "emergency";
+                }
+            }
+
+            boolean isFault = false;
+            if (!isStale(fmsEntry, now, staleMillis)) {
+                if (isFault(fmsEntry != null ? fmsEntry.getData() : null)) {
+                    isFault = true;
+                    status = "fault";
+                }
+            }
+
+            if (statusFilter != null && !statusFilter.isEmpty() && !status.equalsIgnoreCase(statusFilter)) {
+                continue;
+            }
+
+            Map<String, Object> position = null;
+            if (positionEntry != null && positionEntry.getData() != null) {
+                JsonNode posData = positionEntry.getData();
+                position = new HashMap<>();
+                position.put("x", getDouble(posData, "x"));
+                position.put("y", getDouble(posData, "y"));
+                position.put("theta", getDouble(posData, "theta"));
+            }
+
+            Double speed = null;
+            if (chassisEntry != null && chassisEntry.getData() != null) {
+                JsonNode chassisData = chassisEntry.getData();
+                JsonNode stateInfo = chassisData.path("sys_info").path("state_info");
+                speed = getDouble(stateInfo, "d_speed_kmph");
+            }
+
+            Double batteryLevel = null;
+            if (chassisEntry != null && chassisEntry.getData() != null) {
+                JsonNode chassisData = chassisEntry.getData();
+                JsonNode stateInfo = chassisData.path("sys_info").path("state_info");
+                String batteryStr = getText(stateInfo, "d_battery_available");
+                if (batteryStr != null) {
+                    try {
+                        batteryLevel = Double.parseDouble(batteryStr);
+                    } catch (NumberFormatException ignored) {
+                    }
+                }
+            }
+
+            String currentTask = null;
+            if (orderEntry != null && orderEntry.getData() != null) {
+                currentTask = getText(orderEntry.getData(), "businessKey");
+            }
+
+            VehicleListItemDTO item = VehicleListItemDTO.builder()
+                .vehicleId(vehicleId)
+                .vehicleType(vehicleType)
+                .status(status)
+                .position(position)
+                .speed(speed)
+                .batteryLevel(batteryLevel)
+                .lastSeenAt(getLastSeenAt(vehicleId))
+                .isEmergency(isEmergency)
+                .isFault(isFault)
+                .currentTask(currentTask)
+                .build();
+
+            allVehicles.add(item);
+        }
+
+        int total = allVehicles.size();
+        int fromIndex = (pageNum - 1) * pageSize;
+        int toIndex = Math.min(fromIndex + pageSize, total);
+        List<VehicleListItemDTO> pagedVehicles = fromIndex < total ?
+            allVehicles.subList(fromIndex, toIndex) : new ArrayList<>();
+
+        VehicleSummary summary = getVehicleSummary(staleMillis);
+
+        return VehicleListResponse.builder()
+            .total(total)
+            .pageNum(pageNum)
+            .pageSize(pageSize)
+            .rows(pagedVehicles)
+            .summary(summary)
+            .build();
+    }
+
+    private Double getDouble(JsonNode node, String field) {
+        if (node == null || node.isMissingNode()) {
+            return null;
+        }
+        JsonNode value = node.get(field);
+        if (value == null || value.isNull()) {
+            return null;
+        }
+        if (value.isDouble() || value.isFloat()) {
+            return value.asDouble();
+        }
+        if (value.isInt() || value.isLong()) {
+            return (double) value.asLong();
+        }
+        if (value.isTextual()) {
+            try {
+                return Double.parseDouble(value.asText());
+            } catch (NumberFormatException ignored) {
+                return null;
+            }
+        }
+        return null;
+    }
 }

qaup-collision/src/main/java/com/qaup/collision/datacollector/service/VehicleStatusAggregationService.java

@@ -61,8 +61,8 @@ public class VehicleStatusAggregationService {
                 Double y = getDouble(data, "y");
                 if (x != null && y != null) {
                     position = MotionStatusDTO.PositionDTO.builder()
-                        .longitude(x)
+                        .longitude(y)
-                        .latitude(y)
+                        .latitude(x)
                         .build();
                 }
                 Double theta = getDouble(data, "theta");
@@ -166,8 +166,8 @@ public class VehicleStatusAggregationService {
                     Double y = getDouble(node, "y");
                     MissionContextDTO.WaypointDTO waypoint = MissionContextDTO.WaypointDTO.builder()
                         .waypointId(String.valueOf(index++))
-                        .longitude(x)
+                        .longitude(y)
-                        .latitude(y)
+                        .latitude(x)
                         .status("PENDING")
                         .build();
                     waypoints.add(waypoint);