From b23ca99916e4ea6efbc26f299b3c180d72423c34 Mon Sep 17 00:00:00 2001 From: shan <1653261938@qq.com> Date: Fri, 23 Jan 2026 09:19:18 +0800 Subject: [PATCH] =?UTF-8?q?=E9=87=8D=E6=9E=84=E4=BB=BB=E5=8A=A1=E6=8E=A5?= =?UTF-8?q?=E5=8F=A3=E5=B1=95=E7=A4=BA=E6=97=A0=E4=BA=BA=E8=BD=A6=E5=AE=9E?= =?UTF-8?q?=E9=99=85=E4=BB=BB=E5=8A=A1=E4=BF=A1=E6=81=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 移除内存任务库，改为从 activeMovingObjectsCache 获取无人车任务数据 - 新增 DataCollectorService.getActiveMovingObjectsCache() 公共方法 - 修复 missionStatus 空指针异常，添加空值检查 - 支持按任务状态筛选和分页查询 - 返回完整的任务上下文信息（任务ID、类型、状态、进度、路径点等） - 修正 getObjectType() 方法调用 --- .../controller/VehicleTaskController.java | 214 +++++++++++------- .../service/DataCollectorService.java | 7 + 2 files changed, 143 insertions(+), 78 deletions(-) diff --git a/qaup-collision/src/main/java/com/qaup/collision/controller/VehicleTaskController.java b/qaup-collision/src/main/java/com/qaup/collision/controller/VehicleTaskController.java index e0744ce..6b3dd2c 100644 --- a/qaup-collision/src/main/java/com/qaup/collision/controller/VehicleTaskController.java +++ b/qaup-collision/src/main/java/com/qaup/collision/controller/VehicleTaskController.java @@ -3,18 +3,18 @@ package com.qaup.collision.controller; import com.fasterxml.jackson.databind.JsonNode; import com.qaup.common.constant.HttpStatus; import com.qaup.common.core.domain.AjaxResult; -import com.qaup.collision.task.InMemoryTaskStore; -import jakarta.validation.Valid; -import jakarta.validation.constraints.NotBlank; -import jakarta.validation.constraints.NotNull; +import com.qaup.collision.common.model.MovingObject; +import com.qaup.collision.common.model.UnmannedVehicle; +import com.qaup.collision.datacollector.service.DataCollectorService; +import com.qaup.collision.datacollector.service.VehicleManagerCacheService; +import lombok.Builder; import lombok.Data; import lombok.RequiredArgsConstructor; import org.springframework.validation.annotation.Validated; import org.springframework.web.bind.annotation.*; -import java.util.HashMap; -import java.util.List; -import java.util.Map; +import java.util.*; +import java.util.concurrent.ConcurrentHashMap; import java.util.stream.Collectors; @RestController @@ -23,30 +23,107 @@ import java.util.stream.Collectors; @RequiredArgsConstructor public class VehicleTaskController { - private final InMemoryTaskStore taskStore; + private final VehicleManagerCacheService cacheService; + private final DataCollectorService dataCollectorService; @Data - public static class TaskUpsertRequest { - @NotBlank - private String name; + @Builder + public static class VehicleTaskDTO { + private String vehicleId; + private String vehicleType; + private String missionId; + private String missionType; + private String missionStatus; + private Long missionStartTime; + private Long estimatedEndTime; + private Double progress; + private Double totalMileage; + private List waypoints; + private Long lastSeenAt; + } - @NotBlank - private String type; - - private Integer priority; - - private JsonNode payload; + @Data + @Builder + public static class WaypointDTO { + private String waypointId; + private Double latitude; + private Double longitude; + private String status; } @GetMapping public AjaxResult list(@RequestParam(required = false, defaultValue = "1") int pageNum, - @RequestParam(required = false, defaultValue = "10") int pageSize) { - List all = taskStore.listAll(); - int total = all.size(); + @RequestParam(required = false, defaultValue = "10") int pageSize, + @RequestParam(required = false) String status) { + Map activeMovingObjectsCache = dataCollectorService.getActiveMovingObjectsCache(); + List allTasks = new ArrayList<>(); + for (MovingObject movingObject : activeMovingObjectsCache.values()) { + if (!(movingObject instanceof UnmannedVehicle vehicle)) { + continue; + } + + String vehicleId = vehicle.getObjectId(); + String missionId = vehicle.getMissionId(); + + // 如果没有任务ID，跳过 + if (missionId == null || missionId.isBlank()) { + continue; + } + + String missionStatus = vehicle.getMissionStatus() != null ? vehicle.getMissionStatus().name() : "UNKNOWN"; + + // 状态筛选 + if (status != null && !status.isEmpty() && !status.equalsIgnoreCase(missionStatus)) { + continue; + } + + // 获取车辆类型 + String vehicleType = vehicle.getObjectType().name(); + + // 获取路径点 + List waypoints = new ArrayList<>(); + if (vehicle.getWaypoints() != null) { + for (UnmannedVehicle.WaypointInfo wp : vehicle.getWaypoints()) { + WaypointDTO waypoint = WaypointDTO.builder() + .waypointId(wp.getWaypointId()) + .latitude(wp.getLatitude()) + .longitude(wp.getLongitude()) + .status(wp.getStatus().name()) + .build(); + waypoints.add(waypoint); + } + } + + VehicleTaskDTO task = VehicleTaskDTO.builder() + .vehicleId(vehicleId) + .vehicleType(vehicleType) + .missionId(missionId) + .missionType(vehicle.getMissionType()) + .missionStatus(missionStatus) + .missionStartTime(vehicle.getMissionStartTime()) + .estimatedEndTime(vehicle.getEstimatedEndTime()) + .progress(vehicle.getProgress()) + .totalMileage(vehicle.getTotalMileage()) + .waypoints(waypoints) + .lastSeenAt(null) // 暂时设为null，后续可以从缓存获取 + .build(); + + allTasks.add(task); + } + + // 按任务开始时间倒序排序 + allTasks.sort((a, b) -> { + if (a.getMissionStartTime() == null && b.getMissionStartTime() == null) return 0; + if (a.getMissionStartTime() == null) return 1; + if (b.getMissionStartTime() == null) return -1; + return Long.compare(b.getMissionStartTime(), a.getMissionStartTime()); + }); + + int total = allTasks.size(); int fromIndex = Math.max(0, (pageNum - 1) * pageSize); int toIndex = Math.min(total, fromIndex + pageSize); - List page = fromIndex >= total ? List.of() : all.subList(fromIndex, toIndex); + List page = fromIndex >= total ? List.of() : allTasks.subList(fromIndex, toIndex); Map data = new HashMap<>(); data.put("total", total); @@ -57,69 +134,50 @@ public class VehicleTaskController { return AjaxResult.success(data).put("timestamp", System.currentTimeMillis()); } - @GetMapping("/{id}") - public AjaxResult get(@PathVariable long id) { - InMemoryTaskStore.Task task = taskStore.get(id); - if (task == null) { - return AjaxResult.error(HttpStatus.NOT_FOUND, "任务不存在").put("timestamp", System.currentTimeMillis()); + @GetMapping("/{vehicleId}") + public AjaxResult get(@PathVariable String vehicleId) { + Map activeMovingObjectsCache = dataCollectorService.getActiveMovingObjectsCache(); + MovingObject movingObject = activeMovingObjectsCache.get(vehicleId); + + if (!(movingObject instanceof UnmannedVehicle vehicle)) { + return AjaxResult.error(HttpStatus.NOT_FOUND, "车辆不存在或无任务").put("timestamp", System.currentTimeMillis()); } - return AjaxResult.success(task).put("timestamp", System.currentTimeMillis()); - } - @PostMapping - public AjaxResult create(@Valid @RequestBody TaskUpsertRequest request) { - InMemoryTaskStore.Task task = taskStore.create( - request.getName(), - request.getType(), - request.getPriority(), - request.getPayload() - ); - return AjaxResult.success(task).put("timestamp", System.currentTimeMillis()); - } + String missionId = vehicle.getMissionId(); - @PutMapping("/{id}") - public AjaxResult update(@PathVariable long id, @Valid @RequestBody TaskUpsertRequest request) { - InMemoryTaskStore.Task task = taskStore.update( - id, - request.getName(), - request.getType(), - request.getPriority(), - request.getPayload() - ); - if (task == null) { - return AjaxResult.error(HttpStatus.NOT_FOUND, "任务不存在").put("timestamp", System.currentTimeMillis()); + if (missionId == null || missionId.isBlank()) { + return AjaxResult.error(HttpStatus.NOT_FOUND, "车辆无任务").put("timestamp", System.currentTimeMillis()); } - return AjaxResult.success(task).put("timestamp", System.currentTimeMillis()); - } - @DeleteMapping("/{ids}") - public AjaxResult delete(@PathVariable String ids) { - List idList = parseIds(ids); - int removed = taskStore.deleteMany(idList); + String vehicleType = vehicle.getObjectType().name(); - Map data = new HashMap<>(); - data.put("removed", removed); - data.put("requested", idList.size()); - - return AjaxResult.success(data).put("timestamp", System.currentTimeMillis()); - } - - private List parseIds(String ids) { - if (ids == null || ids.isBlank()) { - return List.of(); + List waypoints = new ArrayList<>(); + if (vehicle.getWaypoints() != null) { + for (UnmannedVehicle.WaypointInfo wp : vehicle.getWaypoints()) { + WaypointDTO waypoint = WaypointDTO.builder() + .waypointId(wp.getWaypointId()) + .latitude(wp.getLatitude()) + .longitude(wp.getLongitude()) + .status(wp.getStatus().name()) + .build(); + waypoints.add(waypoint); + } } - return List.of(ids.split(",")) - .stream() - .map(String::trim) - .filter(s -> !s.isEmpty()) - .map(s -> { - try { - return Long.parseLong(s); - } catch (NumberFormatException e) { - return null; - } - }) - .filter(v -> v != null) - .collect(Collectors.toList()); + + VehicleTaskDTO task = VehicleTaskDTO.builder() + .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()) + .waypoints(waypoints) + .lastSeenAt(null) // 暂时设为null + .build(); + + return AjaxResult.success(task).put("timestamp", System.currentTimeMillis()); } } diff --git a/qaup-collision/src/main/java/com/qaup/collision/datacollector/service/DataCollectorService.java b/qaup-collision/src/main/java/com/qaup/collision/datacollector/service/DataCollectorService.java index be05df8..70f3419 100644 --- a/qaup-collision/src/main/java/com/qaup/collision/datacollector/service/DataCollectorService.java +++ b/qaup-collision/src/main/java/com/qaup/collision/datacollector/service/DataCollectorService.java @@ -108,6 +108,13 @@ public class DataCollectorService { // 用于缓存所有活跃的MovingObject的最新状态 private final Map activeMovingObjectsCache = new ConcurrentHashMap<>(); + /** + * 获取活跃的移动对象缓存（供外部访问） + */ + public Map getActiveMovingObjectsCache() { + return activeMovingObjectsCache; + } + // 航班通知缓存：Key=flightNo:type, Value=最新的航班通知 private final Map flightNotificationCache = new ConcurrentHashMap<>();