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

liujie

2026-05-12 0bcfca6b2561d096a2ce26e2e7200cd0768b2b6d

 xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java

@@ -1,7 +1,6 @@
package com.xiaopeng.automaticPilot.controller;

import cn.hutool.core.lang.Snowflake;
import cn.hutool.core.util.IdUtil;
import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONObject;
import com.xiaopeng.api.dto.automaticPilot.MqttPublishDto;
@@ -12,24 +11,23 @@
import com.xiaopeng.api.dto.pushMessage.PushOrderRouteDTO;
import com.xiaopeng.api.dto.pushMessage.SendMessageDTO;
import com.xiaopeng.api.dto.vehicleConvoy.UpdateVehicleStateDto;
import com.xiaopeng.api.feignClient.automaticPilot.VehicleBuriedPointClient;
import com.xiaopeng.api.feignClient.map.XpMapClient;
import com.xiaopeng.api.feignClient.order.XpOrderClient;
import com.xiaopeng.api.feignClient.pushMessage.XpPushMessageClient;
import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;
import com.xiaopeng.api.model.order.XpOrder;import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.api.vo.SystemEventType;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.RTTask;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.TaskStatus;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.TaskType;
import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.api.vo.order.OrderTrajectoryVo;
import com.xiaopeng.automaticPilot.util.XPUUtil;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.core.enums.CancelOrderSceneEnum;
import com.xiaopeng.common.core.enums.OrderStatusEnum;
import com.xiaopeng.common.core.enums.PushMessageTypeEnum;
import com.xiaopeng.common.core.utils.SnowFlake;
import com.xiaopeng.common.core.utils.StringUtils;
import com.xiaopeng.common.redis.service.RedisService;
import io.swagger.annotations.Api;
@@ -56,33 +54,46 @@
@Api(tags = "订单任务Api")
public class OrderMissionController {

    /**
     * 共享线程池，用于推送司机位置轨迹，避免每次请求创建新线程池导致资源泄漏
     */
    private static final ThreadPoolExecutor DRIVER_LOCATION_EXECUTOR = new ThreadPoolExecutor(
            2, 4, 60L, TimeUnit.SECONDS,
            new LinkedBlockingQueue<>(500),
            r -> {
                Thread t = new Thread(r, "driver-location-push");
                t.setDaemon(true);
                return t;
            },
            new ThreadPoolExecutor.CallerRunsPolicy()
    );

    @Resource
    private XPUUtil xpuUtil;
    @Resource
    private RedisService redisService;
    @Resource
    private XpVehicleClient xpVehicleClient;
    @Resource
    private VehicleBuriedPointClient vehicleBuriedPointClient;
    @Resource(name = "hutoolSnowflake")
    private Snowflake snowflake;

    @PostMapping("/inner/pushOrder")
    @PostMapping("/logan/inner/pushOrder")
    public R<Boolean> pushOrder(@RequestBody PushOrderDto dto) {
        RtTask.Builder taskBuilder = RtTask.newBuilder();
        SnowFlake snowFlake = new SnowFlake(0, 0);
        snowFlake.withStartTimestamp(1420041600000L);
        taskBuilder.setOrderId(dto.getOrderId().toString());
        taskBuilder.setTaskId(snowFlake.nextId() + "");

        if(dto.getOrderId().contains("XU")){
            taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
        }else {
            taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
        }
        log.info("创建订单，推送XPU报文：{}", JSON.toJSONString(dto));
        //构建点位信息
        Waypoint.Builder pointBuilderStart = Waypoint.newBuilder();
        Waypoint.Builder pointBuilderEnd = Waypoint.newBuilder();
        RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
        //巡游订单
        if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.CRUISE_ORDER)){
            RtTask.Builder taskBuilder = RtTask.newBuilder();
            taskBuilder.setOrderId(dto.getOrderId().toString());
            taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "");
            taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
            //构建起点坐标数据
            pointBuilderStart.setWaypointId(dto.getOrderId() + "-001");
            pointBuilderStart.setWaypointId(dto.getStartWaypointId() + "");
            pointBuilderStart.setPointType(PointType.START_POINT);
            pointBuilderStart.setSequence(1);
            pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
@@ -93,83 +104,247 @@
            taskBuilder.addPoints(pointBuilderStart);

            //构建终点数据
            pointBuilderEnd.setWaypointId(dto.getOrderId() + "-002");
            pointBuilderEnd.setWaypointId(dto.getEndWaypointId() + "");
            pointBuilderEnd.setPointType(PointType.CRUISE_END_POINT);
            pointBuilderEnd.setSequence(2);
            pointBuilderEnd.setActionType(ActionType.DRIVE_THROUGH);
            geoPointBuilder = GeoPoint.newBuilder();
            geoPointBuilder.setLatitude(dto.getEndLatitude());
            geoPointBuilder.setLongitude(dto.getEndLatitude());
            geoPointBuilder.setLongitude(dto.getEndLongitude());
            pointBuilderEnd.setPoint(geoPointBuilder.build());
            taskBuilder.addPoints(pointBuilderEnd);
            taskBuilder.setSequence(1);
            taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_CRUISE);
        }else{
            //用户订单
            if(dto.getStage() == 1){
                //构建车辆当前位置数据
                pointBuilderStart.setWaypointId(dto.getOrderId() + "-JJ-001");
                pointBuilderStart.setPointType(PointType.START_POINT);
                pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
                pointBuilderStart.setSequence(1);
                GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
                geoPointBuilder.setLatitude(dto.getStartLatitude());
                geoPointBuilder.setLongitude(dto.getStartLongitude());
                pointBuilderStart.setPoint(geoPointBuilder.build());
                taskBuilder.addPoints(pointBuilderStart);
            taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_CRUISE);

                //构建上车点位置信息
                pointBuilderEnd.setWaypointId(dto.getOrderId() + "-JJ-002");
                pointBuilderEnd.setPointType(PointType.PICK_UP_POINT);
                pointBuilderEnd.setActionType(ActionType.PICK_UP);
                pointBuilderEnd.setSequence(2);
                geoPointBuilder = GeoPoint.newBuilder();
                geoPointBuilder.setLatitude(dto.getStartLatitude());
                geoPointBuilder.setLongitude(dto.getStartLongitude());
                pointBuilderEnd.setPoint(geoPointBuilder.build());
                taskBuilder.addPoints(pointBuilderEnd);
                taskBuilder.setSequence(1);
                taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_PICKUP);
            }else{
                //构建上车点位置信息
                pointBuilderStart.setWaypointId(dto.getOrderId() + "-SD-001");
                pointBuilderStart.setPointType(PointType.PICK_UP_POINT);
                pointBuilderStart.setActionType(ActionType.PICK_UP);
                pointBuilderStart.setSequence(1);
                GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
                geoPointBuilder.setLatitude(dto.getEndLatitude());
                geoPointBuilder.setLongitude(dto.getEndLatitude());
                pointBuilderStart.setPoint(geoPointBuilder.build());
                taskBuilder.addPoints(pointBuilderStart);

                //构建下车点位置信息
                pointBuilderEnd.setWaypointId(dto.getOrderId() + "-SD-002");
                pointBuilderEnd.setPointType(PointType.END_POINT);
                pointBuilderEnd.setActionType(ActionType.DROP_OFF);
                pointBuilderEnd.setSequence(2);
                geoPointBuilder = GeoPoint.newBuilder();
                geoPointBuilder.setLatitude(dto.getEndLatitude());
                geoPointBuilder.setLongitude(dto.getEndLatitude());
                pointBuilderEnd.setPoint(geoPointBuilder.build());
                taskBuilder.addPoints(pointBuilderEnd);
                taskBuilder.setSequence(2);
                taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);
            //不停车替换原有任务
            if(null != dto.getLastOrderId()){
                TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
                taskActionBuilder.setOrderId(dto.getLastOrderId());
                taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
                taskActionBuilder.setActionType(dto.getTaskActionType());
                taskBuilder.addPreActions(taskActionBuilder.build());
            }
        }
        RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
        taskListBuilder.addTasks(taskBuilder.build());
            taskListBuilder.addTasks(taskBuilder.build());
        }else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.USER_ORDER)){
            //乘客单
            for (int i = 1; i < 3; i++) {
                if(i == 1){
                    RtTask.Builder taskBuilder = RtTask.newBuilder();
                    taskBuilder.setOrderId(dto.getOrderId().toString());
                    taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getStartTaskId()) ? dto.getStartTaskId() : snowflake.nextId() + "");
                    taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
                    VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(dto.getVin())), VehiclePosition.class);
                    //构建车辆当前位置数据
                    pointBuilderStart.setPointType(PointType.START_POINT);
                    pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
                    pointBuilderStart.setSequence(1);
                    GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(vehiclePosition.getPoint().getY());
                    geoPointBuilder.setLongitude(vehiclePosition.getPoint().getX());
                    pointBuilderStart.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderStart);

        long sequence = snowFlake.nextId();
                    //构建上车点位置信息
                    pointBuilderEnd.setWaypointId(dto.getStartWaypointId() + "");
                    pointBuilderEnd.setPointType(PointType.PICK_UP_POINT);
                    pointBuilderEnd.setActionType(ActionType.PICK_UP);
                    pointBuilderEnd.setSequence(2);
                    geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(dto.getStartLatitude());
                    geoPointBuilder.setLongitude(dto.getStartLongitude());
                    pointBuilderEnd.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderEnd);
                    taskBuilder.setSequence(i);
                    taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_PICKUP);

                    //不停车替换原有任务
                    if(null != dto.getLastOrderId()){
                        TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
                        taskActionBuilder.setOrderId(dto.getLastOrderId());
                        taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
                        taskActionBuilder.setActionType(dto.getTaskActionType());
                        taskBuilder.addPreActions(taskActionBuilder.build());
                    }
                    taskListBuilder.addTasks(taskBuilder.build());
                }else{
                    RtTask.Builder taskBuilder = RtTask.newBuilder();
                    taskBuilder.setOrderId(dto.getOrderId().toString());
                    taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "");
                    taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
                    //构建上车点位置信息
                    pointBuilderStart.setWaypointId(dto.getStartWaypointId() + "");
                    pointBuilderStart.setPointType(PointType.PICK_UP_POINT);
                    pointBuilderStart.setActionType(ActionType.PICK_UP);
                    pointBuilderStart.setSequence(1);
                    GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(dto.getStartLatitude());
                    geoPointBuilder.setLongitude(dto.getStartLongitude());
                    pointBuilderStart.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderStart);

                    //构建下车点位置信息
                    pointBuilderEnd.setWaypointId(dto.getEndWaypointId() + "");
                    pointBuilderEnd.setPointType(PointType.END_POINT);
                    pointBuilderEnd.setActionType(ActionType.DROP_OFF);
                    pointBuilderEnd.setSequence(2);
                    pointBuilderEnd.setPoiName(dto.getEndPoiName());
                    geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(dto.getEndLatitude());
                    geoPointBuilder.setLongitude(dto.getEndLongitude());
                    pointBuilderEnd.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderEnd);
                    taskBuilder.setSequence(i);
                    taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);

                    //不停车替换原有任务
                    if(null != dto.getLastOrderId()){
                        TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
                        taskActionBuilder.setOrderId(dto.getLastOrderId());
                        taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
                        taskActionBuilder.setActionType(dto.getTaskActionType());
                        taskBuilder.addPreActions(taskActionBuilder.build());
                    }
                    taskListBuilder.addTasks(taskBuilder.build());
                }
            }
        }else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.TEST_ORDER)){
            //测试单
            for (int i = 1; i < 3; i++) {
                if(i == 1){
                    RtTask.Builder taskBuilder = RtTask.newBuilder();
                    taskBuilder.setOrderId(dto.getOrderId().toString());
                    taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getStartTaskId()) ? dto.getStartTaskId() : snowflake.nextId() + "");
                    taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
                    VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(dto.getVin())), VehiclePosition.class);
                    //构建车辆当前位置数据
                    pointBuilderStart.setPointType(PointType.START_POINT);
                    pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
                    pointBuilderStart.setSequence(1);
                    GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(vehiclePosition.getPoint().getY());
                    geoPointBuilder.setLongitude(vehiclePosition.getPoint().getX());
                    pointBuilderStart.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderStart);

                    //构建上车点位置信息
                    pointBuilderEnd.setWaypointId(dto.getStartWaypointId() + "");
                    pointBuilderEnd.setPointType(PointType.PICK_UP_POINT);
                    pointBuilderEnd.setActionType(ActionType.PICK_UP);
                    pointBuilderEnd.setSequence(2);
                    geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(dto.getStartLatitude());
                    geoPointBuilder.setLongitude(dto.getStartLongitude());
                    pointBuilderEnd.setPoint(geoPointBuilder.build());
                    pointBuilderEnd.setPoiName(dto.getEndPoiName());
                    taskBuilder.addPoints(pointBuilderEnd);
                    taskBuilder.setSequence(i);
                    taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_PICKUP);

                    //不停车替换原有任务
                    if(null != dto.getLastOrderId()){
                        TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
                        taskActionBuilder.setOrderId(dto.getLastOrderId());
                        taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
                        taskActionBuilder.setActionType(dto.getTaskActionType());
                        taskBuilder.addPreActions(taskActionBuilder.build());
                    }
                    taskListBuilder.addTasks(taskBuilder.build());
                }else{
                    RtTask.Builder taskBuilder = RtTask.newBuilder();
                    taskBuilder.setOrderId(dto.getOrderId().toString());
                    taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "");
                    taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
                    //构建上车点位置信息
                    pointBuilderStart.setWaypointId(dto.getStartWaypointId() + "");
                    pointBuilderStart.setPointType(PointType.PICK_UP_POINT);
                    pointBuilderStart.setActionType(ActionType.PICK_UP);
                    pointBuilderStart.setSequence(1);
                    GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(dto.getStartLatitude());
                    geoPointBuilder.setLongitude(dto.getStartLongitude());
                    pointBuilderStart.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderStart);

                    //构建下车点位置信息
                    pointBuilderEnd.setWaypointId(dto.getEndWaypointId() + "");
                    pointBuilderEnd.setPointType(PointType.END_POINT);
                    pointBuilderEnd.setActionType(ActionType.DROP_OFF);
                    pointBuilderEnd.setSequence(2);
                    geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(dto.getEndLatitude());
                    geoPointBuilder.setLongitude(dto.getEndLongitude());
                    pointBuilderEnd.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderEnd);
                    taskBuilder.setSequence(i);
                    taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);

                    //不停车替换原有任务
                    if(null != dto.getLastOrderId()){
                        TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
                        taskActionBuilder.setOrderId(dto.getLastOrderId());
                        taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
                        taskActionBuilder.setActionType(dto.getTaskActionType());
                        taskBuilder.addPreActions(taskActionBuilder.build());
                    }
                    taskListBuilder.addTasks(taskBuilder.build());
                }
            }
        }else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.TEST_CRUISE_ORDER)){
            //测试单巡游单
            RtTask.Builder taskBuilder = RtTask.newBuilder();
            taskBuilder.setOrderId(dto.getOrderId().toString());
            taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "");
            taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
            //构建起点坐标数据
            pointBuilderStart.setWaypointId(dto.getStartWaypointId() + "");
            pointBuilderStart.setPointType(PointType.START_POINT);
            pointBuilderStart.setSequence(1);
            pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
            GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
            geoPointBuilder.setLatitude(dto.getStartLatitude());
            geoPointBuilder.setLongitude(dto.getStartLongitude());
            pointBuilderStart.setPoint(geoPointBuilder.build());
            taskBuilder.addPoints(pointBuilderStart);

            //构建终点数据
            pointBuilderEnd.setWaypointId(dto.getEndWaypointId() + "");
            pointBuilderEnd.setPointType(PointType.CRUISE_END_POINT);
            pointBuilderEnd.setSequence(2);
            pointBuilderEnd.setActionType(ActionType.DRIVE_THROUGH);
            geoPointBuilder = GeoPoint.newBuilder();
            geoPointBuilder.setLatitude(dto.getEndLatitude());
            geoPointBuilder.setLongitude(dto.getEndLongitude());
            pointBuilderEnd.setPoint(geoPointBuilder.build());
            taskBuilder.addPoints(pointBuilderEnd);
            taskBuilder.setSequence(1);
            taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_CRUISE);

            //不停车替换原有任务
            if(null != dto.getLastOrderId()){
                TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
                taskActionBuilder.setOrderId(dto.getLastOrderId());
                taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
                taskActionBuilder.setActionType(dto.getTaskActionType());
                taskBuilder.addPreActions(taskActionBuilder.build());
            }
            taskListBuilder.addTasks(taskBuilder.build());
        }

        long sequence = snowflake.nextId();
        MqttPublishDto mqttPublishDto = xpuUtil.cloudCreateOrder(taskListBuilder.build(), dto.getVin(),sequence);

        //先将车辆修改状态，防止在异步通知之前被其他订单选中
        if (!dto.getOrderId().contains("XU") && mqttPublishDto.getCode()== 200) {
        if(!dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.CRUISE_ORDER) &&
                !dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.TEST_CRUISE_ORDER)
                && mqttPublishDto.getCode()== 200){
            // 修改车子为接单状态
            xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(dto.getVin(), 1));
        }

        if(null != mqttPublishDto && mqttPublishDto.getCode() == 200){
            JSONObject jsonObject = new JSONObject();
            jsonObject.put("event", SystemEventType.CREATE_ORDER);
            jsonObject.put("orderType", dto.getOrderId().contains("XU") ? com.xiaopeng.api.vo.OrderType.CRUISE_ORDER : com.xiaopeng.api.vo.OrderType.USER_ORDER);
            jsonObject.put("orderType",  dto.getOrderType());
            jsonObject.put("orderId", dto.getOrderId());
            jsonObject.put("vin", dto.getVin());
            redisService.setCacheObject("CREATE_ORDER:" + dto.getOrderId().toString(), jsonObject.toJSONString(),30L, TimeUnit.MINUTES);
@@ -178,24 +353,32 @@
        return R.ok(false);
    }

    @PostMapping("/inner/cancelOrder")
    R<Boolean> cancelOrder(@RequestBody PushOrderDto dto) {
    @PostMapping("/logan/inner/cancelOrder")
    public R<Boolean> cancelOrder(@RequestBody PushOrderDto dto) {
        log.info("取消订单，推送XPU报文：{}", JSON.toJSONString(dto));
        String taskId = StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "";
        OrderOperation.Builder operationBuilder = OrderOperation.newBuilder();
        operationBuilder.setOrderId(dto.getOrderId().toString());
        operationBuilder.setTaskId("CANCEL_MISSION_" + IdUtil.fastUUID());
        operationBuilder.setTaskId(taskId);
        if (dto.getOperation_type() != null) {
            operationBuilder.setOperationType(OrderOperationType.forNumber(dto.getOperation_type().getNumber()));
        }

        SnowFlake snowFlake = new SnowFlake(0, 0);
        snowFlake.withStartTimestamp(1420041600000L);
        long sequence = snowFlake.nextId();
        long sequence = snowflake.nextId();
        MqttPublishDto mqttPublishDto = xpuUtil.cloudOrderOperation(operationBuilder.build(), dto.getVin(), sequence);

        if (mqttPublishDto.getCode() == 200) {
            if(!dto.getOrderId().contains("XU")){
                // 正常订单处理
                redisService.setCacheObject(String.valueOf(sequence), "cancelOrder_" + dto.getOrderId() + "_" + dto.getVin(), 30l, TimeUnit.MINUTES);
                Map<String, Object> cancelContext = new HashMap<>();
                cancelContext.put("orderId", dto.getOrderId());
                cancelContext.put("vin", dto.getVin());
                cancelContext.put("cancelScene", StringUtils.isNotEmpty(dto.getCancelScene())
                        ? dto.getCancelScene()
                        : CancelOrderSceneEnum.NORMAL_CANCEL.getCode());
                redisService.setCacheObject("CANCEL_ORDER_CONTEXT:" + taskId,
                        JSONObject.toJSONString(cancelContext), 30L, TimeUnit.MINUTES);
                log.info("记录取消订单上下文成功，orderId: {}, vin: {}, taskId: {}, cancelScene: {}",
                        dto.getOrderId(), dto.getVin(), taskId, cancelContext.get("cancelScene"));
            }
            return R.ok(true);
        }
@@ -207,6 +390,48 @@



    @PostMapping("/logan/inner/updateEndAddress")
    public R<Boolean> updateEndAddress(@RequestBody PushOrderDto dto){
        log.info("修改目的地，推送XPU报文：{}", JSON.toJSONString(dto));
        String taskId = StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "";
        OrderOperation.Builder operationBuilder = OrderOperation.newBuilder();
        operationBuilder.setOrderId(dto.getOrderId().toString());
        operationBuilder.setTaskId(taskId);
        if (dto.getOperation_type() != null) {
            operationBuilder.setOperationType(OrderOperationType.forNumber(dto.getOperation_type().getNumber()));
        }
        Waypoint.Builder waypointBuilder = Waypoint.newBuilder();
        waypointBuilder.setWaypointId(dto.getOrderId() + "-002");
        waypointBuilder.setPointType(PointType.END_POINT);
        waypointBuilder.setActionType(ActionType.DROP_OFF);
        waypointBuilder.setSequence(2);
        GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
        geoPointBuilder.setLatitude(dto.getEndLatitude());
        geoPointBuilder.setLongitude(dto.getEndLongitude());
        waypointBuilder.setPoint(geoPointBuilder.build());
        waypointBuilder.setPoiName(dto.getEndPoiName());
        operationBuilder.setTargetPoint(waypointBuilder);
        long sequence = snowflake.nextId();
        MqttPublishDto mqttPublishDto = xpuUtil.cloudOrderOperation(operationBuilder.build(), dto.getVin(), sequence);

        if (mqttPublishDto.getCode() == 200) {
            if(!dto.getOrderId().contains("XU")){
                Map<String, Object> cancelContext = new HashMap<>();
                cancelContext.put("orderId", dto.getOrderId());
                cancelContext.put("vin", dto.getVin());
                cancelContext.put("cancelScene", StringUtils.isNotEmpty(dto.getCancelScene())
                        ? dto.getCancelScene()
                        : CancelOrderSceneEnum.NORMAL_CANCEL.getCode());
                redisService.setCacheObject("CANCEL_ORDER_CONTEXT:" + taskId,
                        JSONObject.toJSONString(cancelContext), 30L, TimeUnit.MINUTES);
                log.info("记录修改目的地订单上下文成功，orderId: {}, vin: {}, taskId: {}, cancelScene: {}",
                        dto.getOrderId(), dto.getVin(), taskId, cancelContext.get("cancelScene"));
            }
            return R.ok(true);
        }

        return R.ok(false);
    }



@@ -246,46 +471,100 @@
     */
    @GetMapping("/base/v1/order/acceptingOrder")
    public R acceptingOrder(Long orderId, String code, Long vehicleId, Double startLon, Double startLat){
        log.info("【模拟接单】开始，orderId={}, code={}, vehicleId={}, startLon={}, startLat={}", orderId, code, vehicleId, startLon, startLat);
        if(null == vehicleId){
            vehicleId = 11L;//默认使用造的测试车辆
            log.info("【模拟接单】vehicleId为空，使用默认测试车辆 vehicleId={}", vehicleId);
        }
        if(null == startLat || null == startLon){
            startLat = 30.583407D;
            startLon = 104.040251D;
            startLat = 23.146815D;
            startLon = 113.459765D;
            log.info("【模拟接单】起点坐标为空，使用默认坐标 startLon={}, startLat={}", startLon, startLat);
        }
        XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
        log.info("【模拟接单】查询车辆信息，vehicleId={}, vin={}", vehicleId, xpVehicle != null ? xpVehicle.getVehicleVin() : "null");
        XpOrder xpOrder = null;
        if(null != orderId){
            xpOrder = xpOrderClient.queryOrderById(orderId).getData();
            log.info("【模拟接单】按orderId查询订单，orderId={}, orderNo={}", orderId, xpOrder != null ? xpOrder.getOrderNumber() : "null");
        }
        if(StringUtils.isNotEmpty(code)){
            xpOrder = xpOrderClient.queryOrderByOrderNo(code).getData();
            log.info("【模拟接单】按orderNo查询订单，code={}, orderId={}", code, xpOrder != null ? xpOrder.getId() : "null");
        }

        orderId = xpOrder.getId();
        log.info("【模拟接单】订单信息，orderId={}, appUserId={}, startLon={}, startLat={}", orderId, xpOrder.getAppUserId(), xpOrder.getStartLon(), xpOrder.getStartLat());
        OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
        dto.setOrderId(orderId);
        LonLatDto origin = new LonLatDto();
        origin.setLongitude(startLon);
        origin.setLatitude(startLat);
        dto.setOrigin(origin);

        //保存车辆实时位置到redis
        redisTemplate.opsForGeo().add("vehiclePosition:" + xpVehicle.getVehicleVin(), new Point(startLon, startLat), xpVehicle.getVehicleVin());
        log.info("【模拟接单】保存车辆位置到Redis，vin={}, lon={}, lat={}", xpVehicle.getVehicleVin(), startLon, startLat);

        //保存车辆实时信息到mongodb
        VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(xpVehicle.getVehicleVin())), VehiclePosition.class);
        if (null == vehiclePosition) {
            log.info("【模拟接单】MongoDB无车辆位置记录，新建，vin={}", xpVehicle.getVehicleVin());
            vehiclePosition = new VehiclePosition();
            vehiclePosition.setVin(xpVehicle.getVehicleVin());
            vehiclePosition.setPoint(new GeoJsonPoint(startLon, startLat));
            vehiclePosition.setCourse(60D);
            vehiclePosition.setAlt(100F);
            vehiclePosition.setSpeed(50F);
            vehiclePosition.setCurrentElectricity(80);
            vehiclePosition.setMileageRange(300f);
            vehiclePosition.setHasOrder(0);
            vehiclePosition.setOrderId(orderId);
            vehiclePosition.setTotalOdometer(10000L);
            vehiclePosition.setAddTime(System.currentTimeMillis());
            mongoTemplate.save(vehiclePosition);
        }else{
            log.info("【模拟接单】更新MongoDB车辆位置记录，vin={}", xpVehicle.getVehicleVin());
            vehiclePosition.setOrderId(orderId);
            Update update = new Update()
                    .set("point", new GeoJsonPoint(startLon, startLat))
                    .set("course", 60D)
                    .set("alt", 100F)
                    .set("speed", 50F)
                    .set("currentElectricity", 80)
                    .set("mileageRange", 300f)
                    .set("hasOrder", 0)
                    .set("orderId", orderId)
                    .set("totalOdometer", 10000L)
                    .set("addTime", System.currentTimeMillis());
            mongoTemplate.updateFirst(new Query(Criteria.where("vin").is(xpVehicle.getVehicleVin())), update, VehiclePosition.class);
        }

        LonLatDto destination = new LonLatDto();
        destination.setLongitude(xpOrder.getStartLon());
        destination.setLatitude(xpOrder.getStartLat());
        dto.setDestination(destination);
        dto.setRouteType(1);
        dto.setVehicleId(xpOrder.getVehicleId());
        log.info("【模拟接单】请求规划接驾路线，origin=[{},{}], destination=[{},{}]", startLon, startLat, xpOrder.getStartLon(), xpOrder.getStartLat());
        R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
        if (200 != routeVoR.getCode()) {
            log.error("【模拟接单】获取订单线路和运费失败，orderId={}, code={}, msg={}", orderId, routeVoR.getCode(), routeVoR.getMsg());
            throw new RuntimeException("获取订单线路和运费失败");
        }
        RouteVo routeVo = routeVoR.getData();
        log.info("【模拟接单】获取接驾路线成功，orderId={}, distance={}, duration={}, polylineSize={}", orderId, routeVo.getDistance(), routeVo.getDuration(), routeVo.getPolyline() != null ? routeVo.getPolyline().size() : 0);
        //缓存数据，用于后续推给乘客导航线路
        redisService.setCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
        log.info("【模拟接单】缓存接驾导航数据成功，key=ORDER_NAVIGATION_START_DATA:{}", xpOrder.getAppUserId());

        PopOrderDto dto1 = new PopOrderDto();
        dto1.setOrderId(Long.valueOf(orderId));
        dto1.setXpVehicleVin(xpVehicle.getVehicleVin());
        dto1.setOrderType(com.xiaopeng.api.vo.OrderType.USER_ORDER);
        log.info("【模拟接单】调用popOrder，orderId={}, vin={}", orderId, xpVehicle.getVehicleVin());
        R<?> r = xpOrderClient.popOrder(dto1);
        log.info("【模拟接单】popOrder结果，orderId={}, code={}", orderId, r.getCode());

        //构建推送消息
        Map<String, Object> params = new HashMap<>();
@@ -300,11 +579,14 @@
        SendMessageDTO dto2 = new SendMessageDTO();
        dto2.setAppUserId(appUserId + "");
        dto2.setMessage(message);
        log.info("【模拟接单】推送订单状态(status=3)给用户，appUserId={}, orderId={}", appUserId, orderId);
        R<String> stringR = xpPushMessageClient.sendStatus(dto2);
        if (R.isError(stringR)) {
            log.error("推送消息失败：{}", stringR.getMsg());
            log.error("【模拟接单】推送消息失败，appUserId={}, orderId={}, msg={}", appUserId, orderId, stringR.getMsg());
        }
        xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP.getCode());
        log.info("【模拟接单】更新订单状态为PICK_UP，orderId={}", orderId);
        xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP.getCode(), false);
        log.info("【模拟接单】流程完成，orderId={}", orderId);

//        PushOrderRouteDTO dto3 = new PushOrderRouteDTO();
//        dto3.setOrderId(orderId);
@@ -326,8 +608,10 @@
     */
    @GetMapping("/base/v1/order/pushStartDriverLocation")
    private void pushStartDriverLocation(Long vehicleId, Long orderId, String code){
        log.info("【推送接驾轨迹】开始，vehicleId={}, orderId={}, code={}", vehicleId, orderId, code);
        if(null == vehicleId){
            vehicleId = 1L;
            log.info("【推送接驾轨迹】vehicleId为空，使用默认 vehicleId={}", vehicleId);
        }
        XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
        XpOrder xpOrder = null;
@@ -340,31 +624,29 @@
        orderId = xpOrder.getId();
        String vin = xpVehicle.getVehicleVin();
        Long appUserId = xpOrder.getAppUserId();
//        Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId());
//        RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
        RouteVo routeVo =new RouteVo();
        ArrayList<LonLatDto> lonLatDtos = new ArrayList<>();
        LonLatDto lonLatDto1 = new LonLatDto();
        lonLatDto1.setLatitude(30.575685);
        lonLatDto1.setLongitude(104.001118);
        lonLatDtos.add(lonLatDto1);
        routeVo.setPolyline(lonLatDtos);
        log.info("【推送接驾轨迹】订单信息，orderId={}, orderNo={}, vin={}, appUserId={}", orderId, xpOrder.getOrderNumber(), vin, appUserId);
        Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId());
        RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
        log.info("【推送接驾轨迹】获取接驾导航缓存数据，orderId={}, polylineSize={}", orderId, routeVo.getPolyline() != null ? routeVo.getPolyline().size() : 0);


        ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));
        Long finalOrderId = orderId;
        Long finalOrderId1 = orderId;
        threadPoolExecutor.execute(() -> {
            //等待10秒后开始执行车子位移
        DRIVER_LOCATION_EXECUTOR.execute(() -> {
            //等待1秒后开始执行车子位移
            try {
                Thread.sleep(1000);
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
                Thread.currentThread().interrupt();
                log.error("pushStartDriverLocation 线程被中断", e);
                return;
            }
            List<LonLatDto> polyline = routeVo.getPolyline();
            log.info("【推送接驾轨迹】开始逐点推送位置，orderId={}, 总点数={}", finalOrderId, polyline.size());
            int idx = 0;
            for (LonLatDto lonLatDto : polyline) {
                Double latitude = lonLatDto.getLatitude();
                Double longitude = lonLatDto.getLongitude();
                log.info("【推送接驾轨迹】推送第{}/{}个点，orderId={}, lon={}, lat={}", ++idx, polyline.size(), finalOrderId, longitude, latitude);

                //保存车辆实时位置到redis
                redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new Point(longitude, latitude), vin);
@@ -382,6 +664,8 @@
                    vehiclePosition.setMileageRange(300f);
                    vehiclePosition.setHasOrder(0);
                    vehiclePosition.setOrderId(finalOrderId1);
                    vehiclePosition.setTotalOdometer(10000L);
                    vehiclePosition.setAddTime(System.currentTimeMillis());
                    mongoTemplate.save(vehiclePosition);
                }else{
                    vehiclePosition.setOrderId(finalOrderId1);
@@ -393,7 +677,9 @@
                            .set("currentElectricity", 80)
                            .set("mileageRange", 300f)
                            .set("hasOrder", 0)
                            .set("orderId", finalOrderId1);
                            .set("orderId", finalOrderId1)
                            .set("totalOdometer", 10000L)
                            .set("addTime", System.currentTimeMillis());;
                    mongoTemplate.updateFirst(new Query(Criteria.where("vin").is(vin)), update, VehiclePosition.class);
                }
                //调用推送服务接口
@@ -403,9 +689,10 @@
                    dto.setRouteType(1);
                    dto.setLongitude(longitude);
                    dto.setLatitude(latitude);
                    dto.setDuration(10);
                    dto.setDistance(2);
                    dto.setDuration(10.0);
                    dto.setDistance(2.0);
                    dto.setDirection(60);
                    dto.setMessageType(PushMessageTypeEnum.ORDER_ROUTE.getDesc());
                    xpPushMessageClient.pushOrderRoute(dto);
                }

@@ -413,10 +700,13 @@
                try {
                    Thread.sleep(2000);
                } catch (InterruptedException e) {
                    throw new RuntimeException(e);
                    Thread.currentThread().interrupt();
                    log.error("pushStartDriverLocation 循环线程被中断", e);
                    return;
                }
            }

            log.info("【推送接驾轨迹】所有点推送完毕，推送status=4给用户，orderId={}, appUserId={}", finalOrderId, appUserId);
            //构建推送消息
            Map<String, Object> params = new HashMap<>();
            Map<String, Object> content = new HashMap<>();
@@ -431,9 +721,11 @@
            dto2.setMessage(message);
            R<String> stringR = xpPushMessageClient.sendStatus(dto2);
            if (R.isError(stringR)) {
                log.error("推送消息失败：{}", stringR.getMsg());
                log.error("【推送接驾轨迹】推送消息失败，appUserId={}, orderId={}, msg={}", appUserId, finalOrderId, stringR.getMsg());
            }
            xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.PICK_UP_GUESTS.getCode());
            log.info("【推送接驾轨迹】更新订单状态为PICK_UP_GUESTS，orderId={}", finalOrderId);
            xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.PICK_UP_GUESTS.getCode(), false);
            log.info("【推送接驾轨迹】流程完成，orderId={}", finalOrderId);
        });

    }
@@ -447,6 +739,7 @@
     */
    @GetMapping("/base/v1/order/updateOrderStatus")
    public R updateOrderStatus(Long orderId, String code, Integer status) {
        log.info("【模拟修改订单状态】开始，orderId={}, code={}, status={}", orderId, code, status);
        XpOrder xpOrder = null;
        if(null != orderId){
            xpOrder = xpOrderClient.queryOrderById(orderId).getData();
@@ -455,6 +748,7 @@
            xpOrder = xpOrderClient.queryOrderByOrderNo(code).getData();
        }
        orderId = xpOrder.getId();
        log.info("【模拟修改订单状态】订单信息，orderId={}, orderNo={}, appUserId={}", orderId, xpOrder.getOrderNumber(), xpOrder.getAppUserId());
        //构建推送消息
        Map<String, Object> params = new HashMap<>();
        Map<String, Object> content = new HashMap<>();
@@ -467,28 +761,32 @@
        SendMessageDTO dto2 = new SendMessageDTO();
        dto2.setAppUserId(xpOrder.getAppUserId() + "");
        dto2.setMessage(message);
        log.info("【模拟修改订单状态】推送状态消息给用户，appUserId={}, orderId={}, status={}", xpOrder.getAppUserId(), orderId, status);
        R<String> stringR = xpPushMessageClient.sendStatus(dto2);
        if (R.isError(stringR)) {
            log.error("推送消息失败：{}", stringR.getMsg());
            log.error("【模拟修改订单状态】推送消息失败，appUserId={}, orderId={}, msg={}", xpOrder.getAppUserId(), orderId, stringR.getMsg());
        }
        xpOrderClient.updateOrderStatus(orderId, status);
        log.info("【模拟修改订单状态】更新订单状态，orderId={}, status={}", orderId, status);
        xpOrderClient.updateOrderStatus(orderId, status, false);
        if(5 == status){
            log.info("【模拟修改订单状态】status=5，主动推送全程轨迹，orderId={}", orderId);
            //主动推一次全程轨迹
            Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId());
            RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
            com.alibaba.fastjson2.JSONObject jsonObject = new com.alibaba.fastjson2.JSONObject();
            log.info("【模拟修改订单状态】获取送驾导航缓存，orderId={}, polylineSize={}", orderId, routeVo.getPolyline() != null ? routeVo.getPolyline().size() : 0);
            JSONObject jsonObject = new JSONObject();
            jsonObject.put("type", "ORDER_ROUTE");
            jsonObject.put("timestamp", System.currentTimeMillis());
            com.alibaba.fastjson2.JSONObject content1 = new com.alibaba.fastjson2.JSONObject();
            JSONObject content1 = new JSONObject();
            content1.put("orderId", orderId.toString());
            content1.put("routeType", 1);
            com.alibaba.fastjson2.JSONObject route = new com.alibaba.fastjson2.JSONObject();
            JSONObject route = new JSONObject();
            route.put("distance", routeVo.getDistance());
            route.put("duration", routeVo.getDuration());
            route.put("routeID", routeVo.getRouteID());

            List<com.alibaba.fastjson2.JSONObject> collect = routeVo.getPolyline().stream().map(item -> {
                com.alibaba.fastjson2.JSONObject point = new com.alibaba.fastjson2.JSONObject();
            List<JSONObject> collect = routeVo.getPolyline().stream().map(item -> {
                JSONObject point = new JSONObject();
                point.put("latitude", item.getLatitude());
                point.put("longitude", item.getLongitude());
                return point;
@@ -500,21 +798,25 @@
            SendMessageDTO messageDTO = new SendMessageDTO();
            messageDTO.setAppUserId(xpOrder.getAppUserId().toString());
            messageDTO.setMessage(jsonObject.toJSONString());
            log.info("【模拟修改订单状态】推送全程轨迹，appUserId={}, orderId={}", xpOrder.getAppUserId(), orderId);
            xpPushMessageClient.sendRoute(messageDTO);
        }
        log.info("【模拟修改订单状态】完成，orderId={}, status={}", orderId, status);
        return R.ok();
    }



    /**
     * 推送司机接驾轨迹和实时位置
     * 推送司机送驾轨迹和实时位置
     * @param orderId
     */
    @GetMapping("/base/v1/order/pushEndDriverLocation")
    private void pushEndDriverLocation(Long vehicleId, Long orderId, String code){
        log.info("【推送送驾轨迹】开始，vehicleId={}, orderId={}, code={}", vehicleId, orderId, code);
        if(null == vehicleId){
            vehicleId = 1L;
            log.info("【推送送驾轨迹】vehicleId为空，使用默认 vehicleId={}", vehicleId);
        }
        XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
        XpOrder xpOrder = null;
@@ -529,22 +831,28 @@
        Long appUserId = xpOrder.getAppUserId();
        Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId());
        RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
        log.info("开始实施推送车辆位置和剩余导航线路 {} {}", xpOrder.getOrderNumber(), JSON.toJSONString(routeVo));
        log.info("【推送送驾轨迹】获取送驾导航缓存，orderId={}, vin={}, appUserId={}, polylineSize={}", orderId, vin, appUserId, routeVo.getPolyline() != null ? routeVo.getPolyline().size() : 0);

        ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));
        Long finalOrderId = orderId;
        Long finalOrderId1 = orderId;
        threadPoolExecutor.execute(() -> {
            //等待10秒后开始执行车子位移
        DRIVER_LOCATION_EXECUTOR.execute(() -> {
            //等待1秒后开始执行车子位移
            try {
                Thread.sleep(1000);
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
                Thread.currentThread().interrupt();
                log.error("pushEndDriverLocation 线程被中断", e);
                return;
            }

            List<LonLatDto> polyline = routeVo.getPolyline();
            log.info("【推送送驾轨迹】开始逐点推送位置，orderId={}, 总点数={}", finalOrderId, polyline.size());
            int idx = 0;
            for (LonLatDto lonLatDto : polyline) {
                Double latitude = lonLatDto.getLatitude();
                Double longitude = lonLatDto.getLongitude();
                log.info("【推送送驾轨迹】推送第{}/{}个点，orderId={}, lon={}, lat={}", ++idx, polyline.size(), finalOrderId, longitude, latitude);

                //保存车辆实时位置到redis
                redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new Point(longitude, latitude), vin);
@@ -562,6 +870,8 @@
                    vehiclePosition.setMileageRange(300f);
                    vehiclePosition.setHasOrder(0);
                    vehiclePosition.setOrderId(finalOrderId1);
                    vehiclePosition.setTotalOdometer(10000L);
                    vehiclePosition.setAddTime(System.currentTimeMillis());
                    mongoTemplate.save(vehiclePosition);
                }else{
                    vehiclePosition.setOrderId(finalOrderId1);
@@ -573,7 +883,9 @@
                            .set("currentElectricity", 80)
                            .set("mileageRange", 300f)
                            .set("hasOrder", 0)
                            .set("orderId", finalOrderId1);
                            .set("orderId", finalOrderId1)
                            .set("totalOdometer", 10000L)
                            .set("addTime", System.currentTimeMillis());;
                    mongoTemplate.updateFirst(new Query(Criteria.where("vin").is(vin)), update, VehiclePosition.class);
                }
                //调用推送服务接口
@@ -583,10 +895,11 @@
                    dto.setRouteType(1);
                    dto.setLongitude(longitude);
                    dto.setLatitude(latitude);
                    dto.setDuration(20);
                    dto.setDistance(10);
                    dto.setDuration(20.0);
                    dto.setDistance(10.0);
                    dto.setDirection(60);
                    xpPushMessageClient.pushOrderRoute(dto);
                    dto.setMessageType(PushMessageTypeEnum.ORDER_ROUTE.getDesc());
                    R<String> stringR = xpPushMessageClient.pushOrderRoute(dto);

                    //存储历史轨迹
                    OrderTrajectoryVo orderTrajectory = new OrderTrajectoryVo();
@@ -599,14 +912,17 @@
                    xpOrderClient.saveVehicleLocation(orderTrajectory);
                }

                //5秒钟循环一次
                //1秒钟循环一次
                try {
                    Thread.sleep(500);
                    Thread.sleep(1000);
                } catch (InterruptedException e) {
                    throw new RuntimeException(e);
                    Thread.currentThread().interrupt();
                    log.error("pushEndDriverLocation 循环线程被中断", e);
                    return;
                }
            }

            log.info("【推送送驾轨迹】所有点推送完毕，推送status=7给用户，orderId={}, appUserId={}", finalOrderId, appUserId);
            //构建推送消息
            Map<String, Object> params = new HashMap<>();
            Map<String, Object> content = new HashMap<>();
@@ -621,11 +937,12 @@
            dto2.setMessage(message);
            R<String> stringR = xpPushMessageClient.sendStatus(dto2);
            if (R.isError(stringR)) {
                log.error("推送消息失败：{}", stringR.getMsg());
                log.error("【推送送驾轨迹】推送消息失败，appUserId={}, orderId={}, msg={}", appUserId, finalOrderId, stringR.getMsg());
            }
            xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode());
            log.info("【推送送驾轨迹】更新订单状态为SEE_OFF_GUESTS，orderId={}", finalOrderId);
            xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode(), false);
            log.info("【推送送驾轨迹】流程完成，orderId={}", finalOrderId);
        });
    }


}