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

liujie

2026-05-12 0bcfca6b2561d096a2ce26e2e7200cd0768b2b6d

 xp-robotaxi-operation-boot/src/main/java/com/xiaopeng/operation/utils/TaskOrderUtil.java

@@ -57,6 +57,7 @@

import javax.annotation.Resource;
import java.time.LocalDateTime;
import java.time.ZoneOffset;
import java.time.format.DateTimeFormatter;
import java.util.*;
import java.util.concurrent.LinkedBlockingQueue;
@@ -406,6 +407,8 @@
                                        PushOrderDto pushOrderDto = new PushOrderDto();
                                        pushOrderDto.setVin(priorityVin);
                                        pushOrderDto.setOrderId(orderCheck.getData().getId().toString());
                                        pushOrderDto.setStartWaypointId(orderCheck.getData().getStartPointId());
                                        pushOrderDto.setEndWaypointId(orderCheck.getData().getEndPointId());
                                        pushOrderDto.setStartLatitude(orderCheck.getData().getStartLat());
                                        pushOrderDto.setStartLongitude(orderCheck.getData().getStartLon());
                                        pushOrderDto.setEndLatitude(orderCheck.getData().getEndLat());
@@ -1091,6 +1094,8 @@
                            PushOrderDto pushOrderDto = new PushOrderDto();
                            pushOrderDto.setVin(vehiclePosition.getVehicleVin());
                            pushOrderDto.setOrderId(xpOrder.getId().toString());
                            pushOrderDto.setStartWaypointId(xpOrder.getStartPointId());
                            pushOrderDto.setEndWaypointId(xpOrder.getEndPointId());
                            pushOrderDto.setStartLatitude(xpOrder.getStartLat());
                            pushOrderDto.setStartLongitude(xpOrder.getStartLon());
                            pushOrderDto.setEndLatitude(xpOrder.getEndLat());
@@ -1156,6 +1161,8 @@
                            PushOrderDto pushOrderDto = new PushOrderDto();
                            pushOrderDto.setVin(vehiclePosition.getVin());
                            pushOrderDto.setOrderId(xpOrder.getId().toString());
                            pushOrderDto.setStartWaypointId(xpOrder.getStartPointId());
                            pushOrderDto.setEndWaypointId(xpOrder.getEndPointId());
                            pushOrderDto.setStartLatitude(xpOrder.getStartLat());
                            pushOrderDto.setStartLongitude(xpOrder.getStartLon());
                            pushOrderDto.setEndLatitude(xpOrder.getEndLat());
@@ -1188,79 +1195,76 @@
            if (servingVehicles.getCode() != 200) {
                continue;
            }

            LonLatDto userPostion = new LonLatDto(Double.parseDouble(split[0]), Double.parseDouble(split[1]));
            log.info("连环派单查询车辆结果 {} {}", orderNo, JSON.toJSONString(servingVehicles.getData()));

            XpTradingStrategyDetailVO strategyDetailVO = tradingStrategyClient.queryById().getData();

            log.info("连环排查推单逻辑 {} {}", orderNo, JSON.toJSONString(strategyDetailVO));
            Integer distanceRegardAsEnding = strategyDetailVO.getDistanceRegardAsEnding();
            Integer timeRegardAsEnding = strategyDetailVO.getTimeRegardAsEnding();

            Integer backupPower = strategyDetailVO.getBackupPower();
            Integer destToPassenger = strategyDetailVO.getDestToPassenger();
            Integer endingTimeToUseTime = strategyDetailVO.getEndingTimeToUseTime();
            LocalDateTime rideTime = xpOrder.getRideTime();
            LocalDateTime now = LocalDateTime.now();
            Optional<XpOrder> luckyOrderOpt = servingVehicles.getData().stream()
                    //获取位置
                    .map(vin -> mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class))
                    .map(VehiclePosition::getOrderId)
                    .map(xpOrderClient::queryOrderById)
                    .filter(R::isSuccess)
                    .map(R::getData)
                    .filter(o -> {
                        XpVehicle xpVehicle = xpVehicleClient.queryById(o.getVehicleId()).getData();
                        Object cacheObject = redisService.getCacheObject(CacheConstants.navigationEnd(o.getAppUserId().toString()));
                        RouteVo routeRemain = JSON.parseObject(cacheObject.toString(), RouteVo.class);
                        if (routeRemain.getDuration() / 60 > timeRegardAsEnding) {
                            return false;
                        }
                        if (routeRemain.getDistance() > distanceRegardAsEnding) {
                            return false;
                        }
                        RouteAndFareDto next = new RouteAndFareDto();
                        next.setOrigin(new LonLatDto(o.getStartLon(),o.getStartLat()));
                        next.setDestination(new LonLatDto(o.getEndLon(),o.getEndLat()));
                        RouteVo route = xpMapClient.getDistanceAndDuration(next).getData();
                        if (route.getDistance() > backupPower + xpVehicle.getMileageRange())
                            return false;
                        return routeRemain.getDistance() < destToPassenger
                                || now.plusSeconds(routeRemain.getDuration())
                                .plusMinutes(endingTimeToUseTime)
                                .isBefore(rideTime);
                    })
                    .findAny();

            if (luckyOrderOpt.isPresent()) {
                XpOrder luckyOder = luckyOrderOpt.get();
                log.info("有空闲车辆 {} 订单 {}", luckyOder.getOrderNumber(), orderNo);
                XpVehicle xpVehicle = xpVehicleClient.queryById(luckyOder.getVehicleId()).getData();
                // 设置路线信息
                RouteAndFareDto routeAndFareDto = new RouteAndFareDto();
                routeAndFareDto.setDestination(userPostion);
                routeAndFareDto.setOrigin(new LonLatDto(luckyOder.getEndLon(),luckyOder.getEndLat()));
                RouteVo routeToOrigin = xpMapClient.getDistanceAndDuration(routeAndFareDto).getData();
                Object cacheObject = redisService.getCacheObject(CacheConstants.navigationEnd(luckyOder.getAppUserId().toString()));
            for (String vin : servingVehicles.getData()) {
                VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
                if(null == vehiclePosition){
                    log.info("连环派单 {} 车辆查询定位数据失败 {}", vin, orderNo);
                    continue;
                }
                XpOrder xpOrder1 = xpOrderClient.queryOrderById(vehiclePosition.getOrderId()).getData();
                Object cacheObject = redisService.getCacheObject(CacheConstants.navigationEnd(xpOrder1.getAppUserId().toString()));
                RouteVo routeRemain = JSON.parseObject(cacheObject.toString(), RouteVo.class);
                routeToOrigin.getPolyline().addAll(0, routeRemain.getPolyline());
                routeToOrigin.setDuration(routeToOrigin.getDuration() + routeRemain.getDuration());
                routeToOrigin.setDistance(routeToOrigin.getDistance() + routeRemain.getDistance());
                if (routeRemain.getDuration() / 60 > timeRegardAsEnding && routeRemain.getDistance() / 1000 > distanceRegardAsEnding) {
                    log.info("连环派单 {} 车辆订单结束时间不满足条件 {} 秒 {} 米 {}", vin, routeRemain.getDuration(), routeRemain.getDistance(), orderNo);
                    continue;
                }

                //此处找到车后先不忙给车推送接单消息，先修改订单上的车辆信息
                xpOrder.setVehicleId(xpVehicle.getId());
                xpOrder.setAcceptanceTime(LocalDateTime.now());
                xpOrder.setStatus(2);
                xpOrderClient.updateOrder(xpOrder);
                //剩余里程》=下一单预估里程+50
                //预估接驾行程+送驾行程
                RouteAndFareDto next = new RouteAndFareDto();
                next.setOrigin(new LonLatDto(xpOrder1.getEndLon(),xpOrder1.getEndLat()));
                next.setDestination(new LonLatDto(xpOrder.getStartLon(),xpOrder.getStartLat()));
                RouteVo route = xpMapClient.getDistanceAndDuration(next).getData();
                Object new_cacheObject = redisService.getCacheObject(CacheConstants.navigationEnd(xpOrder.getAppUserId().toString()));
                RouteVo new_routeRemain = JSON.parseObject(new_cacheObject.toString(), RouteVo.class);
                long xh = (new_routeRemain.getDistance() + route.getDistance()) / 1000 + backupPower;
                if(vehiclePosition.getMileageRange() < xh){
                    log.info("连环派单 {} 车辆剩余续航不满足派车条件 {} KM {}", vin, xh, orderNo);
                    continue;
                }

                JSONObject jsonObject = new JSONObject();
                jsonObject.put("orderId", xpOrder.getId());
                jsonObject.put("endLongitude", xpOrder.getEndLat());
                jsonObject.put("endLatitude", xpOrder.getEndLat());
                redisService.setCacheObject(CacheConstants.nextOrder(luckyOder.getId().toString()), jsonObject.toJSONString());
                redisService.setCacheObject(CacheConstants.navigationStart(xpOrder.getAppUserId().toString()), routeToOrigin);
                redisService.removeByPattern(quoteName,xpOrder.getOrderNumber());
                log.info("将订单 {} 从队列 {} 弹出去", orderNo, quoteName);
                break;
                //下一单的起点距离本单终点小于X公里，或者下一单的用车时间与本单的预计结束时间偏差小于X分钟
                next = new RouteAndFareDto();
                next.setOrigin(new LonLatDto(xpOrder1.getEndLon(),xpOrder1.getEndLat()));
                next.setDestination(new LonLatDto(xpOrder.getStartLon(),xpOrder.getStartLat()));
                route = xpMapClient.getDistanceAndDuration(next).getData();
                //相差秒时间
                long time = routeRemain.getDuration() - xpOrder.getCreateTime().toEpochSecond(ZoneOffset.of("+8"));
                if(route.getDistance() / 1000 <= destToPassenger || time / 60 <= endingTimeToUseTime){
                    log.info("连环派单 {} 找到满足条件的车辆 {}", vin, orderNo);
                    // 设置接驾导航数据
                    //将上一单的剩余导航添加到接驾导航中
                    route.getPolyline().addAll(0, routeRemain.getPolyline());
                    route.setDuration(route.getDuration() + routeRemain.getDuration());
                    route.setDistance(route.getDistance() + routeRemain.getDistance());

                    //此处找到车后先不忙给车推送接单消息，先修改订单上的车辆信息
                    xpOrder.setVehicleId(xpOrder1.getVehicleId());
                    xpOrder.setAcceptanceTime(LocalDateTime.now());
                    xpOrder.setStatus(2);
                    xpOrderClient.updateOrder(xpOrder);

                    JSONObject jsonObject = new JSONObject();
                    jsonObject.put("orderId", xpOrder.getId());
                    jsonObject.put("endLongitude", xpOrder.getEndLat());
                    jsonObject.put("endLatitude", xpOrder.getEndLat());
                    redisService.setCacheObject(CacheConstants.nextOrder(xpOrder1.getId().toString()), jsonObject.toJSONString());
                    redisService.setCacheObject(CacheConstants.navigationStart(xpOrder.getAppUserId().toString()), JSON.toJSONString(route));
                    redisService.removeByPattern(quoteName,xpOrder.getOrderNumber());
                    log.info("将订单 {} 从队列 {} 弹出去", orderNo, quoteName);
                    return true;
                }
            }
        }
        return false;
@@ -1349,6 +1353,8 @@
                                        pushOrderDto.setStartTaskId(orderCheck.getData().getXpuStartTaskId());
                                        pushOrderDto.setEndTaskId(orderCheck.getData().getXpuEndTaskId());
                                        pushOrderDto.setOrderId(orderCheck.getData().getId().toString());
                                        pushOrderDto.setStartWaypointId(orderCheck.getData().getStartPointId());
                                        pushOrderDto.setEndWaypointId(orderCheck.getData().getEndPointId());
                                        pushOrderDto.setStartLatitude(orderCheck.getData().getStartLat());
                                        pushOrderDto.setStartLongitude(orderCheck.getData().getStartLon());
                                        pushOrderDto.setEndLatitude(orderCheck.getData().getEndLat());
@@ -2027,6 +2033,8 @@
                        pushOrderDto.setEndTaskId(xpOrder.getXpuEndTaskId());
                        pushOrderDto.setVin(vehiclePosition.getVehicleVin());
                        pushOrderDto.setOrderId(xpOrder.getId().toString());
                        pushOrderDto.setStartWaypointId(xpOrder.getStartPointId());
                        pushOrderDto.setEndWaypointId(xpOrder.getEndPointId());
                        pushOrderDto.setStartLatitude(xpOrder.getStartLat());
                        pushOrderDto.setStartLongitude(xpOrder.getStartLon());
                        pushOrderDto.setEndLatitude(xpOrder.getEndLat());
@@ -2095,6 +2103,8 @@
                        pushOrderDto.setEndTaskId(xpOrder.getXpuEndTaskId());
                        pushOrderDto.setVin(vehiclePosition.getVin());
                        pushOrderDto.setOrderId(xpOrder.getId().toString());
                        pushOrderDto.setStartWaypointId(xpOrder.getStartPointId());
                        pushOrderDto.setEndWaypointId(xpOrder.getEndPointId());
                        pushOrderDto.setStartLatitude(xpOrder.getStartLat());
                        pushOrderDto.setStartLongitude(xpOrder.getStartLon());
                        pushOrderDto.setEndLatitude(xpOrder.getEndLat());
@@ -2218,6 +2228,8 @@
    private static PushOrderDto buildPushOrderDto(XpOrder xpOrder) {
        PushOrderDto pushOrderDto = new PushOrderDto();
        pushOrderDto.setOrderId(xpOrder.getId().toString());
        pushOrderDto.setStartWaypointId(xpOrder.getStartPointId());
        pushOrderDto.setEndWaypointId(xpOrder.getEndPointId());
        pushOrderDto.setStartLatitude(xpOrder.getStartLat());
        pushOrderDto.setStartLongitude(xpOrder.getStartLon());
        pushOrderDto.setEndLatitude(xpOrder.getEndLat());
@@ -2401,6 +2413,8 @@
                pushOrderDto.setEndTaskId(data.getXpuEndTaskId());
                pushOrderDto.setVin(vehiclePosition.getVin());
                pushOrderDto.setOrderId(data.getId().toString());
                pushOrderDto.setStartWaypointId(data.getStartPointId());
                pushOrderDto.setEndWaypointId(data.getEndPointId());
                pushOrderDto.setStartLatitude(data.getStartLat());
                pushOrderDto.setStartLongitude(data.getStartLon());
                pushOrderDto.setEndLatitude(data.getEndLat());