Merge branch 'master' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi

liujie

2026-02-28 0c738efb5ecca9727ed4b0cf01250c4c07e83b3c

 xp-robotaxi-order-boot/src/main/java/com/xiaopeng/order/service/impl/XpOrderServiceImpl.java

@@ -870,7 +870,7 @@
        Page<XpOrderHistoryListVO> page = new Page<>(query.getPageNum(), query.getPageSize());
        List<XpOrderHistoryListVO> list = this.baseMapper.getHistoryOrderList(page, query, Long.parseLong(uid));
        XpOrderHistoryVO xpOrderHistoryVO = new XpOrderHistoryVO();
        if (list.isEmpty()) {
        if(list.isEmpty()){
            return xpOrderHistoryVO;
        }

@@ -894,7 +894,7 @@

            for (XpOrderHistoryListVO xpOrderHistoryListVO : value) {
                XpPoint xpPoint = pointList.stream().filter(e -> e.getId().equals(xpOrderHistoryListVO.getStartPointId())).findFirst().orElse(null);
                if (xpPoint != null) {
                if(xpPoint!=null){
                    xpOrderHistoryListVO.setStartPointName(xpPoint.getPointName());
                    xpOrderHistoryListVO.setStartLat(xpPoint.getPointLat());
                    xpOrderHistoryListVO.setStartLon(xpPoint.getPointLon());
@@ -903,7 +903,7 @@
                }

                xpPoint = pointList.stream().filter(e -> e.getId().equals(xpOrderHistoryListVO.getEndPointId())).findFirst().orElse(null);
                if (xpPoint != null) {
                if(xpPoint!=null){
                    xpOrderHistoryListVO.setEndPointName(xpPoint.getPointName());
                    xpOrderHistoryListVO.setEndLat(xpPoint.getPointLat());
                    xpOrderHistoryListVO.setEndLon(xpPoint.getPointLon());
@@ -933,13 +933,13 @@
    public void cancelOrder(Long orderId, String uid) {
        XpOrder order = this.getById(orderId);
        if (order == null) {
            throw new ServiceException("订单不存在", I18nKeyConstant.ORDER_NOT_EXISTS);
            throw new ServiceException("订单不存在",I18nKeyConstant.ORDER_NOT_EXISTS);
        }
        if (!order.getAppUserId().toString().equals(uid)) {
            throw new ServiceException("订单不存在", I18nKeyConstant.ORDER_NOT_EXISTS);
            throw new ServiceException("订单不存在",I18nKeyConstant.ORDER_NOT_EXISTS);
        }
        if (order.getStatus() > 5 || order.getStatus() < 1) {
            throw new ServiceException("订单状态错误", I18nKeyConstant.ORDER_STATUS_ERROR);
            throw new ServiceException("订单状态错误",I18nKeyConstant.ORDER_STATUS_ERROR);
        }
        order.setStatus(0);

@@ -949,7 +949,7 @@
        R<XpVehicle> xpVehicleR = xpVehicleClient.queryById(vehicleId);
        XpVehicle xpVehicle = xpVehicleR.getData();
        if (xpVehicle == null) {
            throw new ServiceException("车辆不存在", I18nKeyConstant.VEHICLE_NOT_EXISTS);
            throw new ServiceException("车辆不存在",I18nKeyConstant.VEHICLE_NOT_EXISTS);
        }
        cancelTaxiPassengerVo.setVin(xpVehicle.getVehicleVin());
        cancelTaxiPassengerVo.setUid(order.getAppUserId().toString());
@@ -958,7 +958,7 @@
        cancelTaxiPassengerVo.setAppId("");

        BaseVehicleUserDto baseVehicleUserDto = userVehicleClient.cancelTaxiPassenger(cancelTaxiPassengerVo);
        if (baseVehicleUserDto == null) {
        if (baseVehicleUserDto==null) {
            // TODO 本地无法调通
//            throw new RuntimeException("取消订单失败");
        }
@@ -982,7 +982,7 @@
        }

        // 下发命令
        if (order.getStatus() > 1) {
        if(order.getStatus()>1){
            PushOrderDto pushOrderDto = new PushOrderDto();
            pushOrderDto.setOrderId(order.getId().toString());
            pushOrderDto.setVin(xpVehicle.getVehicleVin());
@@ -997,7 +997,7 @@
    public void cancelOrder(String orderId) {
        XpOrder order = this.getById(orderId);
        if (order == null) {
            throw new ServiceException("订单不存在", I18nKeyConstant.ORDER_NOT_EXISTS);
            throw new ServiceException("订单不存在",I18nKeyConstant.ORDER_NOT_EXISTS);
        }
        order.setStatus(0);
        baseMapper.updateById(order);
@@ -1030,7 +1030,7 @@
        log.info("订单取消消息推送完毕");

        // 下发命令
        if (order.getStatus() > 1) {
        if(order.getStatus()>1){
            PushOrderDto pushOrderDto = new PushOrderDto();
            pushOrderDto.setOrderId(order.getId().toString());
            pushOrderDto.setVin(xpVehicle.getVehicleVin());
@@ -1051,13 +1051,13 @@
    public void comment(XpOrderCommentDto dto, String uid) {
        XpOrder xpOrder = this.getById(dto.getOrderId());
        if (xpOrder == null) {
            throw new ServiceException("订单不存在", I18nKeyConstant.ORDER_NOT_EXISTS);
            throw new ServiceException("订单不存在",I18nKeyConstant.ORDER_NOT_EXISTS);
        }
        if (!xpOrder.getAppUserId().toString().equals(uid)) {
            throw new ServiceException("订单不存在", I18nKeyConstant.ORDER_NOT_EXISTS);
            throw new ServiceException("订单不存在",I18nKeyConstant.ORDER_NOT_EXISTS);
        }
        if (xpOrder.getStatus() != 9) {
            throw new ServiceException("订单状态错误", I18nKeyConstant.ORDER_STATUS_ERROR);
            throw new ServiceException("订单状态错误",I18nKeyConstant.ORDER_STATUS_ERROR);
        }
        xpOrder.setAppUserId(null);
        xpOrder.setStatus(10);
@@ -1176,6 +1176,7 @@
        }



        // 根据订单所属开通城市id 查询定价
        R<XpPricing> pricingByCityId = xpPricingClient.getPricingByCid(order.getCityId());
        XpPricing pricing = pricingByCityId.getData();
@@ -1194,13 +1195,13 @@
//            TaxiPricingDemoService.GpsPoint point = new TaxiPricingDemoService.GpsPoint(trajectory.getDistance(), trajectory.getLocatetime());
//            gpsPoints.add(point);
//        }
        // 补充临时轨迹数据
    // 补充临时轨迹数据
        List<TaxiPricingDemoService.GpsPoint> gpsPoints = TaxiPricingDemoService.createMockGpsPoints(DateUtils.toDate(order.getCreateTime()));


        TaxiPricingDemoService.PricingConfig config = new TaxiPricingDemoService.PricingConfig();
        JSONArray startingFareJsonArray = JSONArray.parseArray(pricing.getStartingFareJson());
        if (pricing.getPricingType() == 1) {
        if(pricing.getPricingType()==1){
            JSONObject basicPricingJson = JSONObject.parseObject(pricing.getBasicPricingJson());
            config.peaks.add(new TaxiPricingDemoService.PricingRule("高峰期", basicPricingJson.getString("num21").split(" - ")[0], basicPricingJson.getString("num21").split(" - ")[1], Double.parseDouble(basicPricingJson.getString("num24")), Double.parseDouble(basicPricingJson.getString("num25")), Double.parseDouble(basicPricingJson.getString("num26")), Double.parseDouble(basicPricingJson.getString("num27")), Double.parseDouble(basicPricingJson.getString("num28"))));
            config.peaks.add(new TaxiPricingDemoService.PricingRule("高峰期", basicPricingJson.getString("num22").split(" - ")[0], basicPricingJson.getString("num22").split(" - ")[1], Double.parseDouble(basicPricingJson.getString("num24")), Double.parseDouble(basicPricingJson.getString("num25")), Double.parseDouble(basicPricingJson.getString("num26")), Double.parseDouble(basicPricingJson.getString("num27")), Double.parseDouble(basicPricingJson.getString("num28"))));
@@ -1235,7 +1236,7 @@
        System.err.println("--------------------------");
        System.err.println("应付总额: " + totalAmount + " 元");
        BigDecimal startMoney = BigDecimal.ZERO;
        // 默认费率1
         // 默认费率1
        double priceRate = 1;
        if (pricing.getIsDynamicPrice() == 1) {
            // 先判断是否已经调价过了
@@ -1383,11 +1384,11 @@
            xpOrderDetailMapper.insert(xpOrderDetail);
        }
        for (XpOrderDetail xpOrderDetail : xpOrderDetails) {
            if (xpOrderDetail.getDetailType() == 1) {
            if (xpOrderDetail.getDetailType() == 1){
                order.setDurationType(xpOrderDetail.getType());
                order.setDurationMoney(xpOrderDetail.getMoney());
                order.setDuration(Double.parseDouble(xpOrderDetail.getDuration() + ""));
            } else {
            }else{
                order.setLongDistanceType(order.getDurationType());
                order.setLongDistance(xpOrderDetail.getMileage().doubleValue());
                order.setLongDistancemoney(xpOrderDetail.getMoney());
@@ -1397,7 +1398,7 @@

        BigDecimal orderMoney = startMoney.add(mileageMoney).add(order.getDurationMoney() != null ? order.getDurationMoney() : BigDecimal.ZERO)
                .add(order.getLongDistancemoney() != null ? order.getLongDistancemoney() : BigDecimal.ZERO)
                .add(order.getWaitMoney() != null ? order.getWaitMoney() : BigDecimal.ZERO);
                .add(order.getWaitMoney()!=null?order.getWaitMoney():BigDecimal.ZERO);
        order.setOrderMoney(orderMoney);
        order.setAppUserId(null);
        baseMapper.updateById(order);
@@ -1410,7 +1411,7 @@
            useUserCouponDto.setUserCouponId(order.getCouponId());
            xpAppUserCouponClient.useUserCoupon(useUserCouponDto);
        }
        // 计算完价格后 挑选优惠券
       // 计算完价格后 挑选优惠券
        GetUserCouponDto getUserCouponDto = new GetUserCouponDto();
        getUserCouponDto.setUserId(Long.valueOf(uid));
        getUserCouponDto.setTotalAmount(order.getOrderMoney().doubleValue());
@@ -1424,8 +1425,11 @@
        baseMapper.updateById(order);





        // 结束后的车辆操作
        if (vehicle != null) {
        if(vehicle!=null){
            // 修改车辆状态
            vehicle.setState(0);

@@ -1435,11 +1439,11 @@

            // 生成新的巡游单子 回到最新巡游的初始起点位置
            XpCruiseOrder xpCruiseOrders = xpCruiseOrderMapper.selectOne(new LambdaQueryWrapper<XpCruiseOrder>().eq(XpCruiseOrder::getVehicleId, vehicle.getId()).eq(XpCruiseOrder::getStatus, 2).orderByDesc(BaseModel::getCreateTime).last("limit 1"));
            int temp = 0;
            if (xpCruiseOrders == null) {
                temp = 1;
            int temp=0;
            if(xpCruiseOrders==null){
                temp=1;
                //特殊情况 可能没有产生终止的订单  （到站点就被正常接单了）所以找正常订单
                xpCruiseOrders = xpCruiseOrderMapper.selectOne(new LambdaQueryWrapper<XpCruiseOrder>().eq(XpCruiseOrder::getVehicleId, vehicle.getId()).eq(XpCruiseOrder::getStatus, 3).orderByDesc(BaseModel::getCreateTime).last("limit 1"));
                xpCruiseOrders=xpCruiseOrderMapper.selectOne(new LambdaQueryWrapper<XpCruiseOrder>().eq(XpCruiseOrder::getVehicleId, vehicle.getId()).eq(XpCruiseOrder::getStatus, 3).orderByDesc(BaseModel::getCreateTime).last("limit 1"));
            }
            XpCruiseOrder xpCruiseOrder = new XpCruiseOrder();
            xpCruiseOrder.setVehicleId(vehicle.getId());
@@ -1453,12 +1457,12 @@
            xpCruiseOrder.setStartLat(order.getEndLat());

            // 完成的直接走终点   终止的走起点
            if (temp == 0) {
            if(temp==0){
                xpCruiseOrder.setEndPointId(xpCruiseOrders.getStartPointId());
                xpCruiseOrder.setEndPointName(xpCruiseOrders.getStartPointName());
                xpCruiseOrder.setEndLon(xpCruiseOrders.getStartLon());
                xpCruiseOrder.setEndLat(xpCruiseOrders.getStartLat());
            } else {
            }else {
                xpCruiseOrder.setEndPointId(xpCruiseOrders.getEndPointId());
                xpCruiseOrder.setEndPointName(xpCruiseOrders.getEndPointName());
                xpCruiseOrder.setEndLon(xpCruiseOrders.getEndLon());
@@ -1469,7 +1473,7 @@
            xpCruiseOrder.setStatus(1);
            xpCruiseOrder.setLastOrderId(xpCruiseOrders.getId());
            xpCruiseOrder.setCreateTime(LocalDateTime.now());
            xpCruiseOrder.setId("XU" + IdUtil.fastUUID());
            xpCruiseOrder.setId("XU"+ IdUtil.fastUUID());

            // 判断当前时分秒是否大于收车时间
            LocalTime vehicleCollectionTime = xpTaskRule.getVehicleCollectionTime();
@@ -1502,6 +1506,15 @@


        }











    }
@@ -1726,14 +1739,14 @@
            detail.setTime(xpOrderDetail.getTime());
            detail.setMileage(xpOrderDetail.getMileage());
            detail.setDuration(xpOrderDetail.getDuration());
            if (xpOrderDetail.getDetailType() == 1) {
            if (xpOrderDetail.getDetailType() == 1){
                start.add(detail);
            } else {
            }else{
                mileage.add(detail);
            }
        }
        List<FareBreakdownDetailVo> duration = new ArrayList<>();
        if (order.getDuration() != null && order.getDuration() > 0) {
        if (order.getDuration()!=null&&order.getDuration()>0){
            FareBreakdownDetailVo durationDetail = new FareBreakdownDetailVo();
            durationDetail.setType(order.getDurationType());
            durationDetail.setDuration(order.getDuration());
@@ -1742,24 +1755,24 @@
        }
        List<FareBreakdownDetailVo> longDistance = new ArrayList<>();

        if (order.getLongDistance() != null && order.getLongDistance() > 0) {
        if (order.getLongDistance()!=null&&order.getLongDistance()>0){
            FareBreakdownDetailVo longDistanceDetail = new FareBreakdownDetailVo();
            longDistanceDetail.setType(order.getLongDistanceType());
            longDistanceDetail.setMileage(BigDecimal.valueOf(order.getLongDistance()));
            longDistanceDetail.setMoney(order.getLongDistancemoney());
            longDistance.add(longDistanceDetail);
        }
        res.setStart(start);
        res.setMileage(mileage);
        res.setDuration(duration);
        res.setLongDistance(longDistance);
        res.setStart( start);
        res.setMileage( mileage);
        res.setDuration( duration);
        res.setLongDistance( longDistance);
        res.setRedPacketMoney(order.getRedPacketMoney());
        res.setCouponMoney(order.getCouponMoney());
        res.setOrderMoney(order.getOrderMoney());
        res.setKilometer(order.getMileageKilometers() == null ? BigDecimal.ZERO : BigDecimal.valueOf(order.getMileageKilometers()));
        res.setKilometer(order.getMileageKilometers()==null?BigDecimal.ZERO:BigDecimal.valueOf(order.getMileageKilometers()));
        LocalDateTime createTime = order.getCreateTime();
        LocalDateTime tripEnd = order.getTripEnd();
        if (tripEnd == null) {
        if (tripEnd==null){
            tripEnd = LocalDateTime.now();
            order.setTripEnd(tripEnd);
            this.updateById(order);
@@ -1912,7 +1925,7 @@
        XpPricing pricing = pricingByCityId.getData();
        if (pricing == null) {
            throw new ServiceException("当前城市未配置定价规则", I18nKeyConstant.ORDER_PRICING_NOT_EXISTS);
        } else {
        }else{
            return R.ok(pricing.getPriceRule());
        }
    }
@@ -1930,34 +1943,17 @@
        String orderType = dto.getOrderType();
        Long orderId = dto.getOrderId();
        //巡游单处理逻辑
        if (OrderType.CRUISE_ORDER.equals(orderType)) {
        if(OrderType.CRUISE_ORDER.equals(orderType)){
            // todo 需要处理巡游的逻辑



        }
        //乘客单处理逻辑
        if (OrderType.USER_ORDER.equals(orderType)) {
        if(OrderType.USER_ORDER.equals(orderType)){
            XpOrder order = this.getById(orderId);

            // 判断是否改派的 查看是否有车信息
            if (order.getVehicleId() != null) {
                R<XpVehicle> oldVehicleR = xpVehicleClient.queryById(order.getVehicleId());
                XpVehicle oldVehicle = oldVehicleR.getData();
                if (oldVehicle != null) {
                    // 解绑
                    CancelTaxiPassengerVo cancelTaxiPassengerVo = new CancelTaxiPassengerVo();
                    cancelTaxiPassengerVo.setVin(oldVehicle.getVehicleVin());
                    cancelTaxiPassengerVo.setUid(order.getAppUserId().toString());
                    cancelTaxiPassengerVo.setOrderNo(order.getOrderNumber());
                    // TODO
                    cancelTaxiPassengerVo.setAppId("");
                    userVehicleClient.cancelTaxiPassenger(cancelTaxiPassengerVo);
                }

            }

            //订单为待接单状态
            if (order.getStatus() == 1) {
            if(order.getStatus() == 1){
                AddTaxiPassengerVo addTaxiPassengerVo = new AddTaxiPassengerVo();
                order.setAcceptanceTime(LocalDateTime.now());
                R<XpVehicle> byVehicleVin = xpVehicleClient.findByVehicleVin(dto.getXpVehicleVin());
@@ -1992,7 +1988,7 @@
                userVehicleClient.addTaxiPassenger(addTaxiPassengerVo);
                //推送乘客车辆到达预约点的导航数据
                sendRoute(order.getAppUserId().toString(), orderId, "ORDER_NAVIGATION_START_DATA");
            } else {
            }else{
                //推送行起点到终点的驶轨迹给乘客端
                sendRoute(order.getAppUserId().toString(), orderId, "ORDER_NAVIGATION_END_DATA");
            }
@@ -2005,9 +2001,9 @@
     * @param appUserId
     * @param keyStr
     */
    public void sendRoute(String appUserId, Long orderId, String keyStr) {
    public void sendRoute(String appUserId, Long orderId, String keyStr){
        Object cacheObject = redisService.getCacheObject(keyStr + ":" + appUserId);
        if (null != cacheObject) {
        if(null != cacheObject){
            RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
            JSONObject jsonObject = new JSONObject();
            jsonObject.put("type", "ORDER_ROUTE");
@@ -2020,7 +2016,7 @@
            route.put("duration", routeVo.getDuration());
            route.put("routeID", routeVo.getRouteID());

            List<JSONObject> collect = routeVo.getPolyline().stream().map(item -> {
            List<JSONObject> collect = routeVo.getPolyline().stream().map(item->{
                JSONObject point = new JSONObject();
                point.put("latitude", item.getLatitude());
                point.put("longitude", item.getLongitude());
@@ -2038,6 +2034,8 @@
    }




    /**
     * 获取当前用户正在执行的订单
     *
@@ -2047,7 +2045,7 @@
    @Override
    public XpOrderDetailVO getActiveOrder(String uid) {
        XpOrderDetailVO xpOrderDetailVO = new XpOrderDetailVO();
        XpOrder xpOrder = this.baseMapper.selectOne(new LambdaQueryWrapper<XpOrder>().eq(XpOrder::getAppUserId, Long.parseLong(uid)).in(XpOrder::getStatus, Arrays.asList(1, 2, 3, 4, 5, 6, 7, 8)).orderByDesc(BaseModel::getCreateTime).last("LIMIT 1"));
        XpOrder xpOrder = this.baseMapper.selectOne(new LambdaQueryWrapper<XpOrder>().eq(XpOrder::getAppUserId, Long.parseLong(uid)).in(XpOrder::getStatus, Arrays.asList(1,2,3, 4, 5, 6, 7, 8)).orderByDesc(BaseModel::getCreateTime).last("LIMIT 1"));
        if (xpOrder == null) {
            return null;
        }