Merge branch '1.0' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi in...

liujie

2026-05-13 07b823813e0f41c49f3468f1d2fa86b82b46689e

 xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java

@@ -572,10 +572,6 @@
                    reassignOrderDTO.setUid(xpOrder.getAppUserId().toString());
                    reassignOrderDTO.setOrderNo(xpOrder.getOrderNumber());
                    reassignOrderDTO.setCount(10);
//                    RealtimePose pose = systemRuntimeStatus.getPose();
//                    Wgs naviPose = pose.getNaviPose();
//                    Double latitude = naviPose.getLatitude();
//                    Double longitude = naviPose.getLongitude();
                    reassignOrderDTO.setLongitude(xpOrder.getStartLon());
                    reassignOrderDTO.setLatitude(xpOrder.getStartLat());
                    reassignOrderClient.reassignOrder(reassignOrderDTO);
@@ -1192,7 +1188,7 @@
                            testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.READY_DEPART.getCode());
                        }else{
                            buildPushOrderStatus(cmd, orderId, OrderStatusEnum.READY_DEPART, sequence);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.READY_DEPART.getCode(), false);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.READY_DEPART.getCode());
                        }
                    }
                    break;
@@ -1207,7 +1203,7 @@
                            testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.PICK_UP.getCode());
                        }else{
                            buildPushOrderStatus(cmd, orderId, OrderStatusEnum.PICK_UP, sequence);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PICK_UP.getCode(), false);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PICK_UP.getCode());
                        }
                    }
                    break;
@@ -1222,7 +1218,7 @@
                            testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.PICK_UP_GUESTS.getCode());
                        }else{
                            buildPushOrderStatus(cmd, orderId, OrderStatusEnum.PICK_UP_GUESTS, sequence);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PICK_UP_GUESTS.getCode(), false);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PICK_UP_GUESTS.getCode());
                        }
                    }
                    break;
@@ -1233,7 +1229,7 @@
                            testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.PASSENGER_BOARDED.getCode());
                        }else{
                            buildPushOrderStatus(cmd, orderId, OrderStatusEnum.PASSENGER_BOARDED, sequence);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PASSENGER_BOARDED.getCode(), false);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PASSENGER_BOARDED.getCode());
                        }
                    }
                    break;
@@ -1244,7 +1240,7 @@
                            testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.IN_SERVICE.getCode());
                        }else{
                            buildPushOrderStatus(cmd, orderId, OrderStatusEnum.IN_SERVICE, sequence);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.IN_SERVICE.getCode(), false);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.IN_SERVICE.getCode());
                        }
                    }
                    break;
@@ -1259,7 +1255,7 @@
                            testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.SEE_OFF_GUESTS.getCode());
                        }else{
                            buildPushOrderStatus(cmd, orderId, OrderStatusEnum.SEE_OFF_GUESTS, sequence);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.SEE_OFF_GUESTS.getCode(), false);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.SEE_OFF_GUESTS.getCode());
                        }
                    }
                    break;
@@ -1322,74 +1318,75 @@
                            }
                            return;
                        }
                        if(orderId.contains("TEST")){
                            //判断订单状态，已经取消的不作处理
                            Object cacheObject = redisService.getCacheObject("TEST_ORDER_STATUS:" + orderId.substring(4));
                            if(null != cacheObject){
                                int order_status = Integer.parseInt(cacheObject.toString());
                                if(0 == order_status){
                                    return;
                                }
                            }
                            XpTestOrder testOrder = testOrderClient.queryOrderById(Long.valueOf(orderId.substring(4))).getData();
                            if(testOrder.getStatus() == 0 || testOrder.getStatus() >= 8){
                                return;
                            }
                            //行程中取消订单，按照行程结束处理
                            if(testOrder.getStatus() > 5 && testOrder.getStatus() < 8){
                                testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.SEE_OFF_GUESTS.getCode());
                                redisService.setCacheObject("TEST_ORDER_STATUS:" + orderId.substring(4), OrderStatusEnum.SEE_OFF_GUESTS.getCode(), 24L, TimeUnit.HOURS);
                            }else{
                                testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.CANCELED.getCode());
                                redisService.setCacheObject("TEST_ORDER_STATUS:" + orderId.substring(4), OrderStatusEnum.CANCELED.getCode(), 24L, TimeUnit.HOURS);
                            }
                        }else{
                            //判断订单状态，已经取消的不作处理
                            Object cacheObject = redisService.getCacheObject("ORDER_STATUS:" + orderId);
                            if(null != cacheObject){
                                int order_status = Integer.parseInt(cacheObject.toString());
                                if(0 == order_status){
                                    return;
                                }
                            }
                            XpOrder xpOrder = xpOrderClient.queryOrderById(Long.parseLong(orderId)).getData();
                            if(xpOrder.getStatus() == 0 || xpOrder.getStatus() >= 8){
                                return;
                            }

                            List<Integer>  xczqx = new ArrayList<Integer>(){{
                                add(OrderStatusEnum.IN_SERVICE.getCode());//服务中
                                add(OrderStatusEnum.SEE_OFF_GUESTS.getCode());//SEE_OFF_GUESTS
                            }};
                            if(xczqx.contains(xpOrder.getStatus())){//行程中取消订单，按照行程结束处理
                                buildPushOrderStatus(cmd, orderId, OrderStatusEnum.SEE_OFF_GUESTS, sequence);
                                xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.SEE_OFF_GUESTS.getCode(), true);
                                redisService.setCacheObject("ORDER_STATUS:" + orderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode(), 24L, TimeUnit.HOURS);
                                // 判断当前订单的车辆是否有连环派单，然后判断是都还满足连环派单的条件，不满足则需要重新派单
                                String json = redisService.getCacheObject(CacheConstants.nextOrder(orderId));
                                if (StringUtils.isNotEmpty(json)){
                                    JSONObject jsonObject = JSON.parseObject(json);
                                    Long nextOrderId = jsonObject.getLong("orderId");
                                    XpOrder nextOrder = xpOrderClient.queryOrderById(nextOrderId).getData();
                                    if(null != nextOrder && nextOrder.getStatus() == OrderStatusEnum.PICK_UP.getCode()){
                                        redisService.setCacheObject(CacheConstants.nextOrder(orderId),null);
                                        ReassignOrderDTO reassignOrderDTO = new ReassignOrderDTO();
                                        reassignOrderDTO.setUid(xpOrder.getAppUserId().toString());
                                        reassignOrderDTO.setOrderNo(xpOrder.getOrderNumber());
                                        reassignOrderDTO.setCount(10);
                                        reassignOrderDTO.setLongitude(xpOrder.getStartLon());
                                        reassignOrderDTO.setLatitude(xpOrder.getStartLon());
                                        reassignOrderClient.reassignOrder(reassignOrderDTO);
                                    }
                                }
                                redisService.getCacheObject("ORDER_CONNECT_ORDER:" + orderId);

                            }else{
                                buildPushOrderStatus(cmd, orderId, OrderStatusEnum.CANCELED, sequence);
                                xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.CANCELED.getCode(), true);
                                redisService.setCacheObject("ORDER_STATUS:" + orderId, OrderStatusEnum.CANCELED.getCode(), 24L, TimeUnit.HOURS);
                            }
                        }
                        // 这部分不做处理，已经移到靠边停车报文处理中了
//                        if(orderId.contains("TEST")){
//                            //判断订单状态，已经取消的不作处理
//                            Object cacheObject = redisService.getCacheObject("TEST_ORDER_STATUS:" + orderId.substring(4));
//                            if(null != cacheObject){
//                                int order_status = Integer.parseInt(cacheObject.toString());
//                                if(0 == order_status){
//                                    return;
//                                }
//                            }
//                            XpTestOrder testOrder = testOrderClient.queryOrderById(Long.valueOf(orderId.substring(4))).getData();
//                            if(testOrder.getStatus() == 0 || testOrder.getStatus() >= 8){
//                                return;
//                            }
//                            //行程中取消订单，按照行程结束处理
//                            if(testOrder.getStatus() > 5 && testOrder.getStatus() < 8){
//                                testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.SEE_OFF_GUESTS.getCode());
//                                redisService.setCacheObject("TEST_ORDER_STATUS:" + orderId.substring(4), OrderStatusEnum.SEE_OFF_GUESTS.getCode(), 24L, TimeUnit.HOURS);
//                            }else{
//                                testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.CANCELED.getCode());
//                                redisService.setCacheObject("TEST_ORDER_STATUS:" + orderId.substring(4), OrderStatusEnum.CANCELED.getCode(), 24L, TimeUnit.HOURS);
//                            }
//                        }else{
//                            //判断订单状态，已经取消的不作处理
//                            Object cacheObject = redisService.getCacheObject("ORDER_STATUS:" + orderId);
//                            if(null != cacheObject){
//                                int order_status = Integer.parseInt(cacheObject.toString());
//                                if(0 == order_status){
//                                    return;
//                                }
//                            }
//                            XpOrder xpOrder = xpOrderClient.queryOrderById(Long.parseLong(orderId)).getData();
//                            if(xpOrder.getStatus() == 0 || xpOrder.getStatus() >= 8){
//                                return;
//                            }
//
//                            List<Integer> xczqx = new ArrayList<Integer>(){{
//                                add(OrderStatusEnum.IN_SERVICE.getCode());//服务中
//                                add(OrderStatusEnum.SEE_OFF_GUESTS.getCode());//SEE_OFF_GUESTS
//                            }};
//                            if(xczqx.contains(xpOrder.getStatus())){//行程中取消订单，按照行程结束处理
//                                buildPushOrderStatus(cmd, orderId, OrderStatusEnum.SEE_OFF_GUESTS, sequence);
//                                xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.SEE_OFF_GUESTS.getCode());
//                                redisService.setCacheObject("ORDER_STATUS:" + orderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode(), 24L, TimeUnit.HOURS);
//                                // 判断当前订单的车辆是否有连环派单，然后判断是都还满足连环派单的条件，不满足则需要重新派单
//                                String json = redisService.getCacheObject(CacheConstants.nextOrder(orderId));
//                                if (StringUtils.isNotEmpty(json)){
//                                    JSONObject jsonObject = JSON.parseObject(json);
//                                    Long nextOrderId = jsonObject.getLong("orderId");
//                                    XpOrder nextOrder = xpOrderClient.queryOrderById(nextOrderId).getData();
//                                    if(null != nextOrder && nextOrder.getStatus() == OrderStatusEnum.PICK_UP.getCode()){
//                                        redisService.setCacheObject(CacheConstants.nextOrder(orderId),null);
//                                        ReassignOrderDTO reassignOrderDTO = new ReassignOrderDTO();
//                                        reassignOrderDTO.setUid(xpOrder.getAppUserId().toString());
//                                        reassignOrderDTO.setOrderNo(xpOrder.getOrderNumber());
//                                        reassignOrderDTO.setCount(10);
//                                        reassignOrderDTO.setLongitude(xpOrder.getStartLon());
//                                        reassignOrderDTO.setLatitude(xpOrder.getStartLon());
//                                        reassignOrderClient.reassignOrder(reassignOrderDTO);
//                                    }
//                                }
//                                redisService.getCacheObject("ORDER_CONNECT_ORDER:" + orderId);
//
//                            }else{
//                                buildPushOrderStatus(cmd, orderId, OrderStatusEnum.CANCELED, sequence);
//                                xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.CANCELED.getCode());
//                                redisService.setCacheObject("ORDER_STATUS:" + orderId, OrderStatusEnum.CANCELED.getCode(), 24L, TimeUnit.HOURS);
//                            }
//                        }
                    }
                    break;
                case ORDER_ARRIVED_AT_CRUISE_DESTINATION:
@@ -1688,31 +1685,33 @@

    //靠边停车处理逻辑
    public void pulloverStatusEvent(MsgContent msgContent){
        // todo 等对接完成数据结构后再实现相关功能
        //开始处理消息对应的业务逻辑
        NavigationRequest naviRequest = msgContent.getNavigationRequest();
        String requestId = naviRequest.getRequestId();
        String orderId = naviRequest.getOrderId();
        String taskId = naviRequest.getTaskId();
        OrderPhase orderPhase = naviRequest.getOrderPhase();
        PullOverInfo pulloverInfo = msgContent.getPulloverInfo();
        String orderId = pulloverInfo.getOrderId();
        String taskId = pulloverInfo.getTaskId();
        PullOverStatus pullOverStatus = pulloverInfo.getPullOverStatus();
        log.info("订单ID：{}", orderId);
        log.info("任务ID：{}", taskId);

        //获取系统异常订单超时配置，创建定时任务取消订单
        if(!orderId.contains("XU")){
            XpSystemSetting xpSystemSetting = systemSettingClient.getSystemSettingOne().getData();
            Map<String, ? extends Object> jobMaps =
                    new ImmutableMap.Builder<String, String>()
                            .put("id", orderId)
                            .put("orderType", orderId.contains("TEST") ? OrderType.TEST_ORDER : OrderType.USER_ORDER)
                            .build();
            QuartzManager.addJob(
                    OrderExceptionJob.class,
                    (OrderExceptionJob.name + orderId).toUpperCase(),
                    TimeJobType.ERROR_ORDER_CANCEL,
                    DateUtils.localDateTimeToDate(LocalDateTime.now().plusMinutes(xpSystemSetting.getOrderExceptionalTimeout())),
                    jobMaps
            );
            //靠边停车完成后，创建定时任务处理后续业务逻辑
            if(pullOverStatus.getNumber() == PullOverStatus.PULL_OVER_COMPLETED.getNumber()){
                XpSystemSetting xpSystemSetting = systemSettingClient.getSystemSettingOne().getData();
                Map<String, ? extends Object> jobMaps =
                        new ImmutableMap.Builder<String, String>()
                                .put("id", orderId)
                                .put("orderType", orderId.contains("TEST") ? OrderType.TEST_ORDER : OrderType.USER_ORDER)
                                .build();
                QuartzManager.addJob(
                        OrderExceptionJob.class,
                        (OrderExceptionJob.name + orderId).toUpperCase(),
                        TimeJobType.ERROR_ORDER_CANCEL,
                        DateUtils.localDateTimeToDate(LocalDateTime.now().plusMinutes(xpSystemSetting.getOrderExceptionalTimeout())),
                        jobMaps
                );
            }

        }

    }