车辆追踪session获取修改提交

zhangnaisong

2024-01-29 480439a44a66ede602aa57e5446ecdf2a3732923

 ard-work/src/main/java/com/ruoyi/sy/service/impl/ArdSyCarServiceImpl.java

@@ -1,8 +1,9 @@
package com.ruoyi.sy.service.impl;

import java.awt.geom.Point2D;
import java.io.IOException;
import java.io.InputStream;
import java.io.UnsupportedEncodingException;
import java.net.URLEncoder;
import java.text.ParseException;
import java.text.SimpleDateFormat;
import java.util.*;
@@ -14,29 +15,36 @@

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.dtflys.forest.annotation.Var;
import com.github.pagehelper.PageInfo;
import com.ruoyi.app.application.domain.ArdAppApplication;
import com.ruoyi.app.application.mapper.ArdAppApplicationMapper;
import com.ruoyi.app.position.mapper.ArdAppPositionMapper;
import com.ruoyi.common.core.domain.AjaxResult;
import com.ruoyi.common.core.domain.entity.SysUser;
import com.ruoyi.common.core.redis.RedisCache;
import com.ruoyi.common.utils.SecurityUtils;
import com.ruoyi.common.utils.uuid.IdUtils;
import com.ruoyi.utils.tools.Point;
import com.ruoyi.sy.domain.ArdAccessFence;
import com.ruoyi.sy.param.ArdSyCarParam;
import com.ruoyi.sy.vo.ArdSyCarVo;
import com.ruoyi.system.mapper.SysDeptMapper;
import com.ruoyi.utils.gis.GisUtil;
import com.ruoyi.utils.gis.Point;
import com.ruoyi.scheduling.domian.SchedulingParam;
import com.ruoyi.sy.domain.ArdSyCarDay;
import com.ruoyi.sy.mapper.ArdSyCarDayMapper;
import com.ruoyi.utils.tools.GisTool;
import com.ruoyi.utils.minio.MinioUtil;
import com.ruoyi.utils.websocket.util.WebSocketUtils;
import com.ruoyi.device.hiksdk.config.MinioClientSingleton;
import com.ruoyi.storage.minio.utils.MinioUtils;
import com.ruoyi.sy.domain.ArdSyUser;
import com.ruoyi.sy.gps31.PositionContainer;
import com.ruoyi.sy.mapper.ArdSyUserMapper;
import com.ruoyi.system.domain.SysConfig;
import com.ruoyi.common.core.domain.entity.SysConfig;
import com.ruoyi.system.mapper.SysConfigMapper;
import com.ruoyi.system.mapper.SysUserMapper;
import com.ruoyi.utils.forest.SYClient;
import com.ruoyi.utils.result.Results;
import io.minio.GetPresignedObjectUrlArgs;
import io.minio.ListObjectsArgs;
import io.minio.PutObjectArgs;
import io.minio.Result;
import io.minio.http.Method;
import io.minio.messages.Item;
@@ -46,6 +54,7 @@
import okhttp3.Response;
import okhttp3.ResponseBody;
import org.apache.commons.codec.digest.DigestUtils;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import com.ruoyi.sy.mapper.ArdSyCarMapper;
import com.ruoyi.sy.domain.ArdSyCar;
@@ -84,6 +93,15 @@
    @Resource
    private ArdSyCarDayMapper ardSyCarDayMapper;

    @Resource
    private ArdAppApplicationMapper ardAppApplicationMapper;

    @Resource
    private SysDeptMapper sysDeptMapper;

    @Value("${minio.endpoint}")
    private String minioEndpoint;

    private Map<Integer, Map<String, String>> logInMap = new HashMap();

    private Map<String, Timer> userCarTimerMap = new HashMap();
@@ -108,6 +126,52 @@
    @Override
    public List<ArdSyCar> selectArdSyCarList(ArdSyCar ardSyCar) {
        return ardSyCarMapper.selectArdSyCarList(ardSyCar);
    }

    @Override
    public AjaxResult ardSyCarList(ArdSyCarParam ardSyCarParam,Map<String,Object> result) {
        QueryWrapper<ArdSyCar> queryWrapper = new QueryWrapper<>();
        queryWrapper.like(ardSyCarParam.getCarBrand()!=null,"car_brand",ardSyCarParam.getCarBrand())
                .like(ardSyCarParam.getCarType()!=null,"car_type",ardSyCarParam.getCarType());
        List<ArdSyCar> ardSyCars = ardSyCarMapper.selectList(queryWrapper);
        List<ArdSyCarVo> ardSyCarVoList = new ArrayList<>();
        if(((String)result.get("code")).equals("200")){
            List<Map<String,Object>> list = (List<Map<String, Object>>) result.get("data");
            for (int i = 0; i < ardSyCars.size(); i++) {
                ArdSyCar ardSyCar = ardSyCars.get(i);
                String carId = ardSyCar.getCarId();
                for (int j = 0; j < list.size(); j++) {
                    String carId31 = (String) list.get(j).get("carId");
                    if(carId.equals(carId31)){
                        ArdSyCarVo ardSyCarVo = new ArdSyCarVo();
                        ardSyCarVo.setId(ardSyCar.getId());
                        ardSyCarVo.setCarId(carId);
                        ardSyCarVo.setCarBrand(ardSyCar.getCarBrand());
                        ardSyCarVo.setCarModel(ardSyCar.getCarModel());
                        ardSyCarVo.setCarPicture(ardSyCar.getCarPicture());
                        ardSyCarVo.setCarType(ardSyCar.getCarType());
                        ardSyCarVo.setDeptId(ardSyCar.getDeptId());
                        ardSyCarVo.setRemark(ardSyCar.getRemark());
                        ardSyCarVo.setCarPlate((String) list.get(j).get("carPlate"));
                        ardSyCarVoList.add(ardSyCarVo);
                        break;
                    }
                }
            }
            if(ardSyCarParam.getCarPlate()!=null){
                List<ArdSyCarVo> newList = new ArrayList<>();
                for (int i = 0; i < ardSyCarVoList.size(); i++) {
                    String carPlate = ardSyCarVoList.get(i).getCarPlate();
                    if(!carPlate.contains(ardSyCarParam.getCarPlate())){
                        newList.add(ardSyCarVoList.get(i));
                    }
                }
                ardSyCarVoList.removeAll(newList);
            }
            return AjaxResult.success(new PageInfo<>(ardSyCarVoList));
        }else {
            return AjaxResult.error("31平台连接失败，车牌号获取失败！",new PageInfo<>(ardSyCars));
        }
    }

    /**
@@ -147,7 +211,7 @@
                objectNames.add(ardSyCar.getCarPicture().split("/sycar/")[1]);
            }
        }
        MinioUtils.removeObjects("sycar", objectNames);
        MinioUtil.removeObjects("sycar", objectNames);
        return ardSyCarMapper.deleteArdSyCarByIds(ids);
    }

@@ -264,17 +328,19 @@

    @Override
    public List<Map<String, String>> getAllCarModel() {
        boolean exsit = MinioUtils.exitsBucket("sycar");
        boolean exsit = MinioUtil.exitsBucket("sycar");
        if (exsit) {
            List<Map<String, String>> listObjetcName = new ArrayList<>();
            try {
                ListObjectsArgs listObjectsArgs = ListObjectsArgs.builder().prefix("carmodel/").bucket("sycar").build();
                Iterable<Result<Item>> myObjects = MinioClientSingleton.getMinioClient().listObjects(listObjectsArgs);
               // ListObjectsArgs listObjectsArgs = ListObjectsArgs.builder().prefix("carmodel/").bucket("sycar").build();
                Iterable<Result<Item>> myObjects = MinioUtil.getObjectsByBucket("sycar","carmodel");
                for (Result<Item> result : myObjects) {
                    Item item = result.get();
                    Map<String, String> map = new HashMap();
                    String[] strArr = item.objectName().split("/");
                    map.put("carType", strArr[1]);
                    map.put("carModel", "sycar/" + item.objectName());
                    switch (item.objectName()) {
                    /*switch (item.objectName()) {
                        case "carmodel/aodi.glb":
                            map.put("carType", "奥迪");
                            break;
@@ -313,11 +379,12 @@
                            break;
                        default:
                            break;
                    }
                    }*/
                    listObjetcName.add(map);
                }
                return listObjetcName;
            } catch (Exception ex) {
                ex.printStackTrace();
                //log.error("minio获取桶下对象异常：" + ex.getMessage());
            }
        }
@@ -332,16 +399,16 @@
            if (ardSyCarr.getCarPicture() != null || !ardSyCarr.getCarPicture().equals("")) {
                String objectName = ardSyCarr.getCarPicture().split("/sycar/")[1];
                objectNames.add(objectName);
                MinioUtils.removeObjects("sycar", objectNames);
                MinioUtil.removeObjects("sycar", objectNames);
            }
        }
        //判断文件是否为空
        if (null == carPicture || 0 == carPicture.getSize()) {
            return "";
        }
        boolean exsit = MinioUtils.exitsBucket("sycar");
        boolean exsit = MinioUtil.exitsBucket("sycar");
        if (!exsit) {
            boolean bucket = MinioUtils.createBucket("sycar");
            boolean bucket = MinioUtil.createBucket("sycar");
        }
        //文件名
        String originalFilename = carPicture.getOriginalFilename();
@@ -350,14 +417,15 @@
        try {
            InputStream inputStream = carPicture.getInputStream();
            /*上传对象*/
            PutObjectArgs putObjectArgs = PutObjectArgs
                    .builder()
                    .bucket("sycar")
                    .object(fileName)
                    .stream(inputStream, carPicture.getSize(), -1)
                    .contentType(carPicture.getContentType())
                    .build();
            MinioClientSingleton.getMinioClient().putObject(putObjectArgs);
//            PutObjectArgs putObjectArgs = PutObjectArgs
//                    .builder()
//                    .bucket("sycar")
//                    .object(fileName)
//                    .stream(inputStream, carPicture.getSize(), -1)
//                    .contentType(carPicture.getContentType())
//                    .build();
//            MinioConfig.getMinioClient().putObject(putObjectArgs);
            MinioUtil.uploadObject("sycar",fileName,inputStream,carPicture.getSize(),carPicture.getContentType());
            inputStream.close();
            /*获取url*/
            GetPresignedObjectUrlArgs getPresignedObjectUrlArgs = GetPresignedObjectUrlArgs
@@ -366,8 +434,8 @@
                    .object(fileName)
                    .method(Method.GET)
                    .build();
            String presignedObjectUrl = MinioClientSingleton.getMinioClient().getPresignedObjectUrl(getPresignedObjectUrlArgs);
            String ObjectUrl = presignedObjectUrl.substring(0, presignedObjectUrl.indexOf("?"));
            //String presignedObjectUrl = MinioConfig.getMinioClient().getPresignedObjectUrl(getPresignedObjectUrlArgs);
            String ObjectUrl = MinioUtil.getBucketObjectUrl("sycar", fileName);
            if (id != null && !id.equals("")) {//id为非必要
                ArdSyCar ardSyCar = new ArdSyCar();
                ardSyCar.setId(id);
@@ -408,8 +476,9 @@
        if (result != null) {
            if (result.get("carPicture") != null) {
                if (!((String) result.get("carPicture")).equals("")) {
                    String url = ((String) result.get("carPicture")).split("sycar")[0];
                    String carModel = url + (String) result.get("carModel");
                    /*String url = ((String) result.get("carPicture")).split("sycar")[0];
                    String carModel = url + (String) result.get("carModel");*/
                    String carModel = this.minioEndpoint + "/" + (String) result.get("carModel");
                    result.put("carModel", carModel);
                }
            }
@@ -475,7 +544,7 @@
     * @return
     */
    @Override
    public Map<String, Object> allListByUser(ArdSyUser ardSyUser, String syURL, String usersId) {
    public Map<String, Object> allListByUser(ArdSyUser ardSyUser, String syURL, String usersId, List<Long> deptList) {
        Map<String, Object> result0 = new HashMap();
        //判断关联表是否有数据
        if (ardSyUser != null) {
@@ -496,10 +565,29 @@
                map.put("list", new ArrayList());
                return map;
            }
            QueryWrapper<ArdSyCar> queryWrapper = new QueryWrapper<>();
            queryWrapper.in("dept_id", deptList);
            List<ArdSyCar> carListTable = ardSyCarMapper.selectList(queryWrapper);
            int online = 0;
            for (Map<String, Object> map : (List<Map<String, Object>>) result0.get("list")) {
                Map<String, Object> resultMap = sYClient.getTeamCarList(syURL, (String) map.get("teamId"), result.get("sessionId"));
                List<Map<String, Object>> carList = (List<Map<String, Object>>) resultMap.get("carList");
                if(carList.size()>0){
                    for (int i = 0; i < carList.size(); i++) {
                        String carId = (String) carList.get(i).get("carId");
                        Boolean isCar = false;
                        for (int j = 0; j < carListTable.size(); j++) {
                            ArdSyCar ardSyCar = carListTable.get(j);
                            if (carId.equals(ardSyCar.getCarId())) {
                                isCar = true;
                                break;
                            }
                        }
                        if(!isCar){
                            carList.remove(carList.get(i));
                        }
                    }
                }
                for (Map<String, Object> m : carList) {
                    if (((String) m.get("stateCn")).contains("在线")) {
                        online = online + 1;
@@ -507,11 +595,12 @@
                        continue;
                    }
                }
                for (Map<String, Object> m : (List<Map<String, Object>>) result0.get("list")) {
                    if (((String) m.get("teamId")).equals(((String) map.get("teamId")))) {
                        map.put("count", Integer.parseInt((String) m.get("carNum")));
                    }
                }
//                for (Map<String, Object> m : (List<Map<String, Object>>) result0.get("list")) {
//                    if (((String) m.get("teamId")).equals(((String) map.get("teamId")))) {
//                        map.put("count", Integer.parseInt((String) m.get("carNum")));
//                    }
//                }
                map.put("count", carList.size());
                map.put("online", online);
                online = 0;
            }
@@ -615,23 +704,29 @@
        queryWrapper.in("dept_id", deptList);
        List<ArdSyCar> carList = ardSyCarMapper.selectList(queryWrapper);
        //对比把匹配到的数据添加到list中
        for (Map<String, String> m : list) {
            String carId = m.get("carId");
            for (int i = 0; i < carList.size(); i++) {
                ArdSyCar ardSyCar = carList.get(i);
        for (int i = 0; i < list.size(); i++) {
            String carId = list.get(i).get("carId");
            Boolean isCar = false;
            for (int j = 0; j < carList.size(); j++) {
                ArdSyCar ardSyCar = carList.get(j);
                if (carId.equals(ardSyCar.getCarId())) {
                    String url = "";
                    /*String url = "";
                    if (ardSyCar.getCarPicture() != null) {
                        if (!ardSyCar.getCarPicture().equals("")) {
                            url = ardSyCar.getCarPicture().split("sycar")[0];
                        }
                    }
                    m.put("carModel", url + ardSyCar.getCarModel());//zns
                    }*/
                    list.get(i).put("carModel", this.minioEndpoint + "/" + ardSyCar.getCarModel());//zns
                    //m.put("carModel",ardSyCar.getCarModel());
                    m.put("carTypeArd", ardSyCar.getCarType());
                    m.put("carBrand", ardSyCar.getCarBrand());
                    m.put("carPicture", ardSyCar.getCarPicture());
                    list.get(i).put("carTypeArd", ardSyCar.getCarType());
                    list.get(i).put("carBrand", ardSyCar.getCarBrand());
                    list.get(i).put("carPicture", ardSyCar.getCarPicture());
                    isCar = true;
                    break;
                }
            }
            if(!isCar){
                list.remove(list.get(i));
            }
        }
        return list;
@@ -774,20 +869,68 @@
    }

    @Override
    public Results getCarGPSBycarId(String usersId, String carId, String syURL, ArdSyUser ardSyUser) {
        Map<String, String> result = logInMap.get(Integer.parseInt(usersId));
    public Map<String, Object> getCarGPSBycarId(String usersId, String carId, String syURL, ArdSyUser ardSyUser) {
//        Map<String, String> result = logInMap.get(Integer.parseInt(usersId));
        //31用户名密码
        String username31 = ardSyUser.getUserId();
        String password31 = ardSyUser.getPassword();
        String passwordMd5 = DigestUtils.md5Hex(password31);
        Map<String, Object> result1 = sYClient.logIn(syURL, passwordMd5, username31);
        result = new HashMap();
        Map<String, String> result = new HashMap();
        result.put("userId", username31);
        result.put("sessionId", (String) result1.get("sessionId"));
        Map<String, Object> result0 = new HashMap();
        result0 = sYClient.getCarNearPositionByCarId(syURL, carId, result.get("userId"), result.get("sessionId"));
        return Results.succeed(result0);
        return sYClient.getCarNearPositionByCarId(syURL, carId, result.get("userId"), result.get("sessionId"));
    }

    @Override
    public Map<String, Object> getCarPicture(String carId, String syURL, String sessionId) {
        return sYClient.getCarPicture(syURL, carId, sessionId);
    }

    @Override
    public String getSessionId(String syURL,ArdSyUser ardSyUser) {
        String username31 = ardSyUser.getUserId();
        String password31 = ardSyUser.getPassword();
        String passwordMd5 = DigestUtils.md5Hex(password31);
        System.out.println(passwordMd5);
        Map<String, Object> result1 = sYClient.logIn(syURL, passwordMd5, username31);
        return (String) result1.get("sessionId");
    }

    @Override
    public Map<String, Object> sendCmd(String userId,String syURL, String sessionId, String carId, List<String> channelList) throws UnsupportedEncodingException {
//        for (int i = 0; i < channelList.size(); i++) {
            Map<String,String> params = new HashMap();
            params.put("channel", channelList.get(1));//选择通道1
            params.put("interval", "0");//每隔0s照一次
            params.put("photoNum", "1");//照1张
            params.put("action", "0");//上传模式
            String paramsStr = com.alibaba.fastjson2.JSON.toJSONString(params);
            paramsStr = URLEncoder.encode(paramsStr,"UTF-8");
            System.out.println("拍照参数："+paramsStr);
            return sYClient.sendCmd(syURL,userId,carId,301,"MediaTake",paramsStr,sessionId);
//        }
//        return sendCmdMap;
    }

    @Override
    public Map<String, Object> getPhoto(String syURL, String carId, String sessionId,String startTime) {
        SimpleDateFormat sdf = new SimpleDateFormat("yyyyMMddHHmmss");
        String endTime = sdf.format(new Date());
        System.out.println("开始时间："+startTime+"  结束时间："+endTime);
        return sYClient.getPhoto(syURL,carId,startTime,endTime,sessionId);
    }

    @Override
    public Map<String, Object> getVideo(String syURL,String carId,ArdSyUser ardSyUser) {
        //31用户名密码
        String username = ardSyUser.getUserId();
        String password31 = ardSyUser.getPassword();
        String password = DigestUtils.md5Hex(password31);
//        Map<String, Object> result1 = sYClient.logIn(syURL, passwordMd5, username31);
        return sYClient.getVideo(syURL,username,password,"黑E12401",1);
    }


    @Override
    public Results chaseCarByCarId(String usersId, String carId, String cycle) {
@@ -820,7 +963,14 @@
                                if (position.size() != 0) {
                                    Map<String, Map<String, Object>> data = new HashMap();
                                    data.put("31000", position);
                                    WebSocketUtils.sendMessage(ONLINE_USER_SESSIONS.get(usersId), JSON.toJSONString(data));
                                    //WebSocketUtils.sendMessage(ONLINE_USER_SESSIONS.get(usersId), JSON.toJSONString(data));
                                    String sessionId = "";
                                    for(String key : ONLINE_USER_SESSIONS.keySet()){
                                        if(key.startsWith(usersId + "_")){
                                            sessionId = key;
                                        }
                                    }
                                    WebSocketUtils.sendMessage(ONLINE_USER_SESSIONS.get(sessionId), JSON.toJSONString(data));
                                }
                            }
                        }
@@ -842,7 +992,14 @@
                                if (position.size() != 0) {
                                    Map<String, Map<String, Object>> data = new HashMap();
                                    data.put("31000", position);
                                    WebSocketUtils.sendMessage(ONLINE_USER_SESSIONS.get(usersId), JSON.toJSONString(data));
                                    //WebSocketUtils.sendMessage(ONLINE_USER_SESSIONS.get(usersId), JSON.toJSONString(data));
                                    String sessionId = "";
                                    for(String key : ONLINE_USER_SESSIONS.keySet()){
                                        if(key.startsWith(usersId + "_")){
                                            sessionId = key;
                                        }
                                    }
                                    WebSocketUtils.sendMessage(ONLINE_USER_SESSIONS.get(sessionId), JSON.toJSONString(data));
                                }
                            }
                        }
@@ -1085,7 +1242,7 @@
            List<Map<String, Object>> carGPSMap = (List<Map<String, Object>>) carGPSTrack.get("list");
            Double lng = Double.valueOf((String) carGPSMap.get(0).get("lng"));
            Double lat = Double.valueOf((String) carGPSMap.get(0).get("lat"));
            double distance = GisTool.getDistance( new double[]{longitude,latitude}, new double[]{lng, lat});
            double distance = GisUtil.getDistance( new double[]{longitude,latitude}, new double[]{lng, lat});
            if (distance <= radius) {
                carMap.put("longitude",lng);
                carMap.put("latitude",lat);
@@ -1143,8 +1300,8 @@
                List<Map<String, Object>> carGPSMap = (List<Map<String, Object>>) carGPSTrack.get("list");
                Double lng = Double.valueOf((String) carGPSMap.get(0).get("lng"));
                Double lat = Double.valueOf((String) carGPSMap.get(0).get("lat"));
                Point point = new Point(lng, lat);
                boolean inPolygon = GisTool.isInPolygon(point, partitionLocation);
                Point point = new Point(lng,lat);
                boolean inPolygon = GisUtil.isInPolygon(point, partitionLocation);
                if (inPolygon) {
                    carMap.put("longitude", lng);
                    carMap.put("latitude", lat);
@@ -1158,4 +1315,95 @@
        }
        return filteredList;
    }

    @Override
    public List<ArdSyCar> all() {
        QueryWrapper<ArdSyCar> queryWrapper = new QueryWrapper<>();
        queryWrapper.ne("reserved_1","");
        return ardSyCarMapper.selectList(queryWrapper);
    }

    @Override
    public Map<String, Object> getAlarmHPfmCountDetail(String sessionId, String usersId, String carId, String startTime, String endTime, String syURL) {
//        System.out.println("sessionId------"+sessionId+",usersId-----"+usersId+",carId-----"+carId+",startTime----"+startTime+",endTime----"+endTime+",syURL----"+syURL);
        return sYClient.getAlarmHPfmCountDetail(syURL,carId,sessionId,startTime,endTime);
    }

    @Override
    public Map<String, Object> getOnlineSYCarPosition(String soilderId) {
        Map<String,Object> result = new HashMap();
        ArdSyUser ardSyUserPara = new ArdSyUser();
        ardSyUserPara.setSysUserId(soilderId);
        List<ArdSyUser> ardSyUserList = ardSyUserMapper.selectArdSyUserList(ardSyUserPara);
        if(ardSyUserList.size() == 0){
            result.put("code","0");
            result.put("msg","登录用户未挂接三一车辆账号");
            result.put("SYCarPositionList",new ArrayList());
            return result;
        }
        ArdAppApplication ardAppApplicationPara = new ArdAppApplication();
        ardAppApplicationPara.setSoilderId(soilderId);
        ardAppApplicationPara.setApplicationType("SYCar");
        ardAppApplicationPara.setState("1");
        List<ArdAppApplication> ardAppApplicationList = ardAppApplicationMapper.selectArdAppApplicationList(ardAppApplicationPara);
        if(ardAppApplicationList.size() == 0){
            result.put("code","0");
            result.put("msg","登录用户未经指挥端同意");
            result.put("SYCarPositionList",new ArrayList());
            return result;
        }
        SysUser sysUser = userMapper.selectUserById(soilderId);//获取系统用户
        List<Long> deptIdList = new ArrayList();
        deptIdList.add(sysUser.getDeptId());
        deptIdList = getOwnAndChildrenDeptIdList(deptIdList,new ArrayList());//递归查询下属部门主键
        List<String> carIdList = ardSyCarMapper.selectArdSyCarByDeptIds(deptIdList);
        String carIds = "";
        for(String carId : carIdList){
            carIds = carIds + carId + ",";
        }
        carIds = carIds.substring(0,carIds.length() - 1);
        String syURL = "";
        List<SysConfig> sysConfigResult = sysConfigMapper.selectByType("syCarPT");
        if(sysConfigResult.size() > 0){
            syURL = sysConfigResult.get(0).getConfigValue();
        }else{
            result.put("code","0");
            result.put("msg","三一车辆url没有录入");
            result.put("SYCarPositionList",new ArrayList());
            return result;
        }
        String passwordMd5 = DigestUtils.md5Hex(ardSyUserList.get(0).getPassword());
        Map<String,Object> syLoginResult = sYClient.logIn(syURL, passwordMd5, ardSyUserList.get(0).getUserId());
        String sessionId = (String) syLoginResult.get("sessionId");
        Map<String,Object> carNearPositionResult = sYClient.getCarNearPositionByCarId(syURL, carIds, ardSyUserList.get(0).getUserId(),sessionId);
        if(((String)carNearPositionResult.get("rspCode")).equals("1")){
            result.put("code","1");
            result.put("msg","三一车辆查询成功");
            List<Map<String,Object>> SYCarPositionList = (List<Map<String, Object>>) carNearPositionResult.get("list");
            //筛选在线
            SYCarPositionList = SYCarPositionList.stream().filter(map -> ((String)map.get("stateCn")).startsWith("在线")).collect(Collectors.toList());
            for(Map<String,Object> sycar : SYCarPositionList){
                Map<String,Object> map = ardSyCarMapper.getArdSyCarAndDeptByCarId((String)sycar.get("carId"));
                sycar.putAll(map);
            }
            result.put("SYCarPositionList",SYCarPositionList);
            return result;
        }else{
            result.put("code","0");
            result.put("msg","三一车辆查询失败");
            result.put("SYCarPositionList",new ArrayList());
            return result;
        }
    }

    public List<Long> getOwnAndChildrenDeptIdList(List<Long> deptIdList,List<Long> deptIdListr){
        deptIdListr.addAll(deptIdList);
        List<Long> result = sysDeptMapper.getChildrenDeptIdList(deptIdList);
        if(result.size() != 0){
            deptIdListr.addAll(result);
            result = getOwnAndChildrenDeptIdList(result,deptIdListr);
        }
        deptIdListr = deptIdListr.stream().distinct().collect(Collectors.toList());
        return deptIdListr;
    }
}