优化任务接口数据源并修复路径点坐标映射

- 将任务接口数据源从 activeMovingObjectsCache 改为从 HTTP 缓存获取
- 新增路径点 x/y 坐标字段支持，兼容不同数据源格式
- 修复路径点状态字段空指针异常，添加安全处理逻辑
- 优化路径点坐标映射逻辑（x 对应 latitude，y 对应 longitude）
- 添加详细的调试日志输出，便于问题排查
- 更新生产环境配置，设置默认的无人车服务地址
- 新增接口文档3.md，记录相关接口信息

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

@@ -86,7 +86,7 @@ data:
         at-manager-bsm: /ws/at_manager_bsm
         at-manager-path: /ws/at_manager_path
       http:
-        base-url: ${VEHICLE_MANAGER_HTTP_BASE_URL:}
+        base-url: ${VEHICLE_MANAGER_HTTP_BASE_URL:http://localhost:8020}
         status: /api/vehicle_manager/v1/vehicles/{vehicleId}/status
         vehicle-details: /api/vehicle_details
         poll-interval-ms: 1000

qaup-collision/src/main/java/com/qaup/collision/common/model/UnmannedVehicle.java

@@ -116,6 +116,7 @@ public class UnmannedVehicle extends MovingObject {
     @lombok.Builder
     @lombok.NoArgsConstructor
     @lombok.AllArgsConstructor
+    @com.fasterxml.jackson.annotation.JsonIgnoreProperties(ignoreUnknown = true)
     public static class WaypointInfo {
         private String waypointId;
         private Double latitude;

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

@@ -51,67 +51,113 @@ public class VehicleTaskController {
         private String status;
     }
 
-    @GetMapping
+@GetMapping
     public AjaxResult list(@RequestParam(required = false, defaultValue = "1") int pageNum,
                            @RequestParam(required = false, defaultValue = "10") int pageSize,
                            @RequestParam(required = false) String status) {
-        Map<String, MovingObject> activeMovingObjectsCache = dataCollectorService.getActiveMovingObjectsCache();
+        // 从 HTTP 缓存获取车辆状态数据
+        Map<String, DataCollectorService.UniversalVehicleStatusCacheEntry> httpCache = dataCollectorService.getUniversalStatusCache();
         List<VehicleTaskDTO> allTasks = new ArrayList<>();
 
-        for (MovingObject movingObject : activeMovingObjectsCache.values()) {
-            if (!(movingObject instanceof UnmannedVehicle vehicle)) {
+        System.out.println("[DEBUG] ========== 任务接口调试信息 ==========");
+        System.out.println("[DEBUG] httpCache size: " + httpCache.size());
+        System.out.println("[DEBUG] httpCache keys: " + httpCache.keySet());
+
+        for (Map.Entry<String, DataCollectorService.UniversalVehicleStatusCacheEntry> entry : httpCache.entrySet()) {
+            String cacheKey = entry.getKey();
+            DataCollectorService.UniversalVehicleStatusCacheEntry cacheEntry = entry.getValue();
+
+            System.out.println("[DEBUG] Processing cacheKey: " + cacheKey);
+
+            if (cacheEntry.getStatusData() == null) {
+                System.out.println("[DEBUG]   - statusData is null, skipping");
                 continue;
             }
 
-            String vehicleId = vehicle.getObjectId();
-            String missionId = vehicle.getMissionId();
+            // 从 cacheKey 中提取 vehicleId（格式：universal_status_vehicleId）
+            String vehicleId = cacheKey.replace("universal_status_", "");
+            System.out.println("[DEBUG]   - vehicleId: " + vehicleId);
+
+            com.qaup.collision.datacollector.model.dto.UniversalVehicleStatusDTO statusData = cacheEntry.getStatusData();
+            com.qaup.collision.datacollector.model.dto.MissionContextDTO missionContext = statusData.getMissionContext();
+
+            System.out.println("[DEBUG]   - missionContext: " + (missionContext != null ? missionContext.getClass().getSimpleName() : "null"));
+            if (missionContext != null) {
+                System.out.println("[DEBUG]   - currentMission: " + (missionContext.getCurrentMission() != null ? missionContext.getCurrentMission().getClass().getSimpleName() : "null"));
+            }
+
+            if (missionContext == null || missionContext.getCurrentMission() == null) {
+                System.out.println("[DEBUG]   - Skipping (no missionContext)");
+                continue;
+            }
+
+            com.qaup.collision.datacollector.model.dto.MissionContextDTO.CurrentMissionDTO currentMission = missionContext.getCurrentMission();
+            String missionId = currentMission.getMissionId();
+
+            System.out.println("[DEBUG]   - missionId: " + missionId);
 
-            // 如果没有任务ID，跳过
             if (missionId == null || missionId.isBlank()) {
+                System.out.println("[DEBUG]   - Skipping (no missionId)");
                 continue;
             }
 
-            String missionStatus = vehicle.getMissionStatus() != null ? vehicle.getMissionStatus().name() : "UNKNOWN";
+            // 获取车辆类型（VehicleInfoDTO 只有 vehicleId，没有 vehicleType，使用默认值）
+            String vehicleType = "UNMANNED_VEHICLE";
+
+            // 获取任务状态（从 operationalStatus 获取 operationalMode）
+            String missionStatus = "UNKNOWN";
+            if (statusData.getOperationalStatus() != null) {
+                missionStatus = statusData.getOperationalStatus().getOperationalMode();
+            }
 
             // 状态筛选
             if (status != null && !status.isEmpty() && !status.equalsIgnoreCase(missionStatus)) {
+                System.out.println("[DEBUG]   - Skipping (status filter: " + status + " != " + missionStatus + ")");
                 continue;
             }
 
-            // 获取车辆类型
-            String vehicleType = vehicle.getObjectType().name();
+            System.out.println("[DEBUG]   - Adding task: " + vehicleId + ", MissionId: " + missionId);
 
             // 获取路径点
             List<WaypointDTO> waypoints = new ArrayList<>();
-            if (vehicle.getWaypoints() != null) {
-                for (UnmannedVehicle.WaypointInfo wp : vehicle.getWaypoints()) {
+            System.out.println("[DEBUG]   - missionContext.getWaypoints(): " + missionContext.getWaypoints());
+            if (missionContext.getWaypoints() != null) {
+                System.out.println("[DEBUG]   - waypoints size: " + missionContext.getWaypoints().size());
+                for (com.qaup.collision.datacollector.model.dto.MissionContextDTO.WaypointDTO wp : missionContext.getWaypoints()) {
+                    System.out.println("[DEBUG]     - waypoint: " + wp.getWaypointId() + ", lat: " + wp.getLatitude() + ", lon: " + wp.getLongitude() + ", status: " + wp.getStatus());
                     WaypointDTO waypoint = WaypointDTO.builder()
                         .waypointId(wp.getWaypointId())
                         .latitude(wp.getLatitude())
                         .longitude(wp.getLongitude())
-                        .status(wp.getStatus().name())
+                        .status(wp.getStatus())
                         .build();
                     waypoints.add(waypoint);
                 }
+            } else {
+                System.out.println("[DEBUG]   - waypoints is null");
             }
+            System.out.println("[DEBUG]   - final waypoints size: " + waypoints.size());
 
             VehicleTaskDTO task = VehicleTaskDTO.builder()
                 .vehicleId(vehicleId)
                 .vehicleType(vehicleType)
                 .missionId(missionId)
-                .missionType(vehicle.getMissionType())
+                .missionType(currentMission.getMissionType())
                 .missionStatus(missionStatus)
-                .missionStartTime(vehicle.getMissionStartTime())
-                .estimatedEndTime(vehicle.getEstimatedEndTime())
-                .progress(vehicle.getProgress())
-                .totalMileage(vehicle.getTotalMileage())
+                .missionStartTime(currentMission.getStartTime())
+                .estimatedEndTime(currentMission.getEstimatedEndTime())
+                .progress(currentMission.getProgress())
+                .totalMileage(currentMission.getTotalMileage())
                 .waypoints(waypoints)
-                .lastSeenAt(null) // 暂时设为null，后续可以从缓存获取
+                .lastSeenAt(cacheEntry.getTimestamp())
                 .build();
 
             allTasks.add(task);
         }
 
+        System.out.println("[DEBUG] Total tasks found: " + allTasks.size());
+        System.out.println("[DEBUG] =========================================");
+
         // 按任务开始时间倒序排序
         allTasks.sort((a, b) -> {
             if (a.getMissionStartTime() == null && b.getMissionStartTime() == null) return 0;
@@ -136,29 +182,41 @@ public class VehicleTaskController {
 
     @GetMapping("/{vehicleId}")
     public AjaxResult get(@PathVariable String vehicleId) {
-        Map<String, MovingObject> activeMovingObjectsCache = dataCollectorService.getActiveMovingObjectsCache();
-        MovingObject movingObject = activeMovingObjectsCache.get(vehicleId);
+        // 从 HTTP 缓存获取车辆状态数据（使用正确的 cacheKey 格式）
+        String cacheKey = "universal_status_" + vehicleId;
+        DataCollectorService.UniversalVehicleStatusCacheEntry entry = dataCollectorService.getUniversalStatusCache().get(cacheKey);
 
-        if (!(movingObject instanceof UnmannedVehicle vehicle)) {
-            return AjaxResult.error(HttpStatus.NOT_FOUND, "车辆不存在或无任务").put("timestamp", System.currentTimeMillis());
+        if (entry == null || entry.getStatusData() == null) {
+            return AjaxResult.error(HttpStatus.NOT_FOUND, "车辆不存在或无数据").put("timestamp", System.currentTimeMillis());
         }
 
-        String missionId = vehicle.getMissionId();
+        com.qaup.collision.datacollector.model.dto.UniversalVehicleStatusDTO statusData = entry.getStatusData();
+        com.qaup.collision.datacollector.model.dto.MissionContextDTO missionContext = statusData.getMissionContext();
+
+        if (missionContext == null || missionContext.getCurrentMission() == null) {
+            return AjaxResult.error(HttpStatus.NOT_FOUND, "车辆无任务").put("timestamp", System.currentTimeMillis());
+        }
+
+        com.qaup.collision.datacollector.model.dto.MissionContextDTO.CurrentMissionDTO currentMission = missionContext.getCurrentMission();
+        String missionId = currentMission.getMissionId();
 
         if (missionId == null || missionId.isBlank()) {
             return AjaxResult.error(HttpStatus.NOT_FOUND, "车辆无任务").put("timestamp", System.currentTimeMillis());
         }
 
-        String vehicleType = vehicle.getObjectType().name();
+        String vehicleType = "UNMANNED_VEHICLE";
+        String missionStatus = statusData.getOperationalStatus() != null 
+            ? statusData.getOperationalStatus().getOperationalMode() 
+            : "UNKNOWN";
 
         List<WaypointDTO> waypoints = new ArrayList<>();
-        if (vehicle.getWaypoints() != null) {
-            for (UnmannedVehicle.WaypointInfo wp : vehicle.getWaypoints()) {
+        if (missionContext.getWaypoints() != null) {
+            for (com.qaup.collision.datacollector.model.dto.MissionContextDTO.WaypointDTO wp : missionContext.getWaypoints()) {
                 WaypointDTO waypoint = WaypointDTO.builder()
                     .waypointId(wp.getWaypointId())
                     .latitude(wp.getLatitude())
                     .longitude(wp.getLongitude())
-                    .status(wp.getStatus().name())
+                    .status(wp.getStatus())
                     .build();
                 waypoints.add(waypoint);
             }
@@ -168,14 +226,14 @@ public class VehicleTaskController {
             .vehicleId(vehicleId)
             .vehicleType(vehicleType)
             .missionId(missionId)
-            .missionType(vehicle.getMissionType())
-            .missionStatus(vehicle.getMissionStatus() != null ? vehicle.getMissionStatus().name() : "UNKNOWN")
-            .missionStartTime(vehicle.getMissionStartTime())
-            .estimatedEndTime(vehicle.getEstimatedEndTime())
-            .progress(vehicle.getProgress())
-            .totalMileage(vehicle.getTotalMileage())
+            .missionType(currentMission.getMissionType())
+            .missionStatus(missionStatus)
+            .missionStartTime(currentMission.getStartTime())
+            .estimatedEndTime(currentMission.getEstimatedEndTime())
+            .progress(currentMission.getProgress())
+            .totalMileage(currentMission.getTotalMileage())
             .waypoints(waypoints)
-            .lastSeenAt(null) // 暂时设为null
+            .lastSeenAt(entry.getTimestamp())
             .build();
 
         return AjaxResult.success(task).put("timestamp", System.currentTimeMillis());

qaup-collision/src/main/java/com/qaup/collision/datacollector/model/dto/MissionContextDTO.java

@@ -76,6 +76,7 @@ public class MissionContextDTO {
     @NoArgsConstructor
     @AllArgsConstructor
     @Builder
+    @com.fasterxml.jackson.annotation.JsonIgnoreProperties(ignoreUnknown = true)
     public static class WaypointDTO {
         /**
          * 路径点ID
@@ -96,5 +97,31 @@ public class MissionContextDTO {
          * 状态 (PENDING, COMPLETED, SKIPPED)
          */
         private String status;
+
+        /**
+         * X坐标 (经度)
+         */
+        @com.fasterxml.jackson.annotation.JsonProperty("x")
+        private Double x;
+
+        /**
+         * Y坐标 (纬度)
+         */
+        @com.fasterxml.jackson.annotation.JsonProperty("y")
+        private Double y;
+
+        /**
+         * 获取纬度，如果为null则返回x值
+         */
+        public Double getLatitude() {
+            return latitude != null ? latitude : x;
+        }
+
+        /**
+         * 获取经度，如果为null则返回y值
+         */
+        public Double getLongitude() {
+            return longitude != null ? longitude : y;
+        }
     }
 }

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

@@ -632,12 +632,29 @@ public class DataCollectorService {
                         // 提取路径点信息
                         if (missionContext.getWaypoints() != null) {
                             java.util.List<UnmannedVehicle.WaypointInfo> waypoints = missionContext.getWaypoints().stream()
-                                .map(wp -> UnmannedVehicle.WaypointInfo.builder()
-                                    .waypointId(wp.getWaypointId())
-                                    .latitude(wp.getLatitude())
-                                    .longitude(wp.getLongitude())
-                                    .status(UnmannedVehicle.WaypointStatus.valueOf(wp.getStatus()))
-                                    .build())
+                                .map(wp -> {
+                                    // 安全处理状态字段，避免 null 导致 NPE
+                                    UnmannedVehicle.WaypointStatus status = UnmannedVehicle.WaypointStatus.PENDING;
+                                    if (wp.getStatus() != null && !wp.getStatus().isEmpty()) {
+                                        try {
+                                            status = UnmannedVehicle.WaypointStatus.valueOf(wp.getStatus());
+                                        } catch (IllegalArgumentException e) {
+                                            // 如果状态值无效，使用默认值
+                                            status = UnmannedVehicle.WaypointStatus.PENDING;
+                                        }
+                                    }
+                                    
+                                    // x 对应 latitude（纬度），y 对应 longitude（经度）
+                                    Double lat = wp.getX() != null ? wp.getX() : wp.getLatitude();
+                                    Double lon = wp.getY() != null ? wp.getY() : wp.getLongitude();
+                                    
+                                    return UnmannedVehicle.WaypointInfo.builder()
+                                        .waypointId(wp.getWaypointId())
+                                        .latitude(lat)
+                                        .longitude(lon)
+                                        .status(status)
+                                        .build();
+                                })
                                 .collect(java.util.stream.Collectors.toList());
                             vehicleBuilder.waypoints(waypoints);
                         }
@@ -798,21 +815,47 @@ public class DataCollectorService {
 
         // 如果存在missionContext数据，更新到activeMovingObjectsCache中的无人车对象
         if (statusData.getMissionContext() != null) {
+            log.info("========== 开始更新任务上下文 ==========");
+            log.info("vehicleId: {}", vehicleId);
+            log.info("missionContext: {}", statusData.getMissionContext());
+            log.info("waypoints: {}", statusData.getMissionContext().getWaypoints());
             updateUnmannedVehicleMissionContext(vehicleId, statusData.getMissionContext());
+            log.info("========== 任务上下文更新完成 ==========");
         }
 
         log.debug("缓存通用车辆状态数据: vehicleId={}, cacheKey={}, 包含任务上下文: {}",
                  vehicleId, cacheKey, statusData.getMissionContext() != null);
     }
 
-    /**
-     * 更新无人车的任务上下文信息
-     */
-    private void updateUnmannedVehicleMissionContext(String vehicleId, MissionContextDTO missionContext) {
-        MovingObject existingObject = activeMovingObjectsCache.get(vehicleId);
+        /**
 
-        if (existingObject instanceof UnmannedVehicle) {
-            UnmannedVehicle unmannedVehicle = (UnmannedVehicle) existingObject;
+         * 更新无人车的任务上下文信息
+
+         */
+
+            private void updateUnmannedVehicleMissionContext(String vehicleId, MissionContextDTO missionContext) {
+
+                log.info("========== updateUnmannedVehicleMissionContext 开始 ==========");
+
+                log.info("vehicleId: {}", vehicleId);
+
+                log.info("activeMovingObjectsCache 是否包含 vehicleId: {}", activeMovingObjectsCache.containsKey(vehicleId));
+
+                
+
+                MovingObject existingObject = activeMovingObjectsCache.get(vehicleId);
+
+                log.info("existingObject: {}", existingObject);
+
+                log.info("existingObject 类型: {}", existingObject != null ? existingObject.getClass().getName() : "null");
+
+    
+
+                if (existingObject instanceof UnmannedVehicle) {
+
+                    log.info("找到 UnmannedVehicle 对象，开始更新任务上下文");
+
+                    UnmannedVehicle unmannedVehicle = (UnmannedVehicle) existingObject;
 
             // 更新任务上下文信息
             if (missionContext.getCurrentMission() != null) {
@@ -827,15 +870,38 @@ public class DataCollectorService {
 
             // 更新路径点信息
             if (missionContext.getWaypoints() != null) {
+                log.info("更新路径点信息: vehicleId={}, waypoints数量={}", vehicleId, missionContext.getWaypoints().size());
                 java.util.List<UnmannedVehicle.WaypointInfo> waypoints = missionContext.getWaypoints().stream()
-                    .map(wp -> UnmannedVehicle.WaypointInfo.builder()
-                        .waypointId(wp.getWaypointId())
-                        .latitude(wp.getLatitude())
-                        .longitude(wp.getLongitude())
-                        .status(UnmannedVehicle.WaypointStatus.valueOf(wp.getStatus()))
-                        .build())
+                    .map(wp -> {
+                        // 安全处理状态字段，避免 null 导致 NPE
+                        UnmannedVehicle.WaypointStatus status = UnmannedVehicle.WaypointStatus.PENDING;
+                        if (wp.getStatus() != null && !wp.getStatus().isEmpty()) {
+                            try {
+                                status = UnmannedVehicle.WaypointStatus.valueOf(wp.getStatus());
+                            } catch (IllegalArgumentException e) {
+                                // 如果状态值无效，使用默认值
+                                status = UnmannedVehicle.WaypointStatus.PENDING;
+                            }
+                        }
+                        
+                        // x 对应 latitude（纬度），y 对应 longitude（经度）
+                        Double lat = wp.getX() != null ? wp.getX() : wp.getLatitude();
+                        Double lon = wp.getY() != null ? wp.getY() : wp.getLongitude();
+                        
+                        log.info("  路径点: waypointId={}, x={}, y={}, latitude={}, longitude={}, status={}",
+                                 wp.getWaypointId(), wp.getX(), wp.getY(), lat, lon, wp.getStatus());
+                        return UnmannedVehicle.WaypointInfo.builder()
+                            .waypointId(wp.getWaypointId())
+                            .latitude(lat)
+                            .longitude(lon)
+                            .status(status)
+                            .build();
+                    })
                     .collect(java.util.stream.Collectors.toList());
                 unmannedVehicle.setWaypoints(waypoints);
+                log.info("路径点更新完成: vehicleId={}, 设置的路径点数量={}", vehicleId, waypoints.size());
+            } else {
+                log.debug("路径点为空: vehicleId={}", vehicleId);
             }
 
             // 更新缓存
@@ -849,6 +915,7 @@ public class DataCollectorService {
         } else {
             log.debug("缓存中未找到无人车对象或类型不匹配，跳过任务上下文更新: vehicleId={}", vehicleId);
         }
+        log.info("========== updateUnmannedVehicleMissionContext 完成 ==========");
     }
     
     // 用于存储通用车辆状态数据的缓存

接口文档3.md

@@ -0,0 +1,28 @@
+车辆管理系统接口文档
+1. 查询车辆列表
+接口描述
+该接口用于查询项目车辆列表数据。
+
+接口详情
+协议名称: HTTP
+
+接口地址: /api/vehicle_details
+
+请求方法: GET
+
+请求参数: 无
+参数名称,参数类型,描述
+code,int,状态码
+msg,str,任务信息
+data,str,车辆列表
+timestamp,float,时间戳
+
+{
+  "code": 200,
+  "message": "success",
+  "data": [
+    "AET02",
+    "AET01"
+  ],
+  "timestamp": 0
+}