引入proto文件，生成与XPU通信的报文对象

zhouhn

2026-02-25 0f5fc39356b6bff677984c33c296573bb9c8393e

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

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

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.map.OrderRouteAndFareDto;
@@ -12,25 +11,22 @@
import com.xiaopeng.api.dto.pushMessage.SendMessageDTO;
import com.xiaopeng.api.feignClient.map.XpMapClient;
import com.xiaopeng.api.feignClient.operation.ReassignOrderClient;
import com.xiaopeng.api.feignClient.order.XpCruiseOrderClient;
import com.xiaopeng.api.feignClient.order.XpOrderClient;
import com.xiaopeng.api.feignClient.pushMessage.XpPushMessageClient;
import com.xiaopeng.api.feignClient.vehicleConvoy.UserVehicleClient;
import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;
import com.xiaopeng.api.model.order.XpCruiseOrder;
import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.api.vo.OrderType;
import com.xiaopeng.api.vo.SystemEventType;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
import com.xiaopeng.api.vo.automaticPilot.proto.down.GeoPoint;
import com.xiaopeng.api.vo.automaticPilot.proto.down.ResponseMessage;
import com.xiaopeng.api.vo.automaticPilot.proto.down.StatusCode;
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.proto.down.cloudOrderOperation.*;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudPushNavigation.RestoreNavigationData;
import com.xiaopeng.api.vo.automaticPilot.protobuf.ActionType;
import com.xiaopeng.api.vo.automaticPilot.protobuf.GeoPoint;
import com.xiaopeng.api.vo.automaticPilot.protobuf.OrderOperation;
import com.xiaopeng.api.vo.automaticPilot.protobuf.OrderOperationType;
import com.xiaopeng.api.vo.automaticPilot.protobuf.PointType;
import com.xiaopeng.api.vo.automaticPilot.protobuf.ResponseMessage;
import com.xiaopeng.api.vo.automaticPilot.protobuf.RestoreNavigationData;
import com.xiaopeng.api.vo.automaticPilot.protobuf.StatusCode;
import com.xiaopeng.api.vo.automaticPilot.protobuf.Waypoint;
import com.xiaopeng.api.vo.automaticPilot.proto.up.MessageType;
import com.xiaopeng.api.vo.automaticPilot.proto.up.MsgContent;
import com.xiaopeng.api.vo.automaticPilot.proto.up.RTCmdType;
@@ -49,10 +45,8 @@
import com.xiaopeng.common.core.domain.R;
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.core.utils.uuid.UUID;
import com.xiaopeng.common.redis.service.RedisService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.data.mongodb.core.MongoTemplate;
@@ -101,12 +95,7 @@
    private UserVehicleClient userVehicleClient;

    @Resource
    private XpCruiseOrderClient xpCruiseOrderClient;

    @Resource
    private Snowflake snowflake;
    @Autowired
    private RedisService redisService;


    /**
@@ -209,17 +198,11 @@
            if(code == com.xiaopeng.api.vo.automaticPilot.proto.up.StatusCode.OK){
                Object sequence = redisTemplate.opsForValue().get(requestSeq);
                if(sequence!=null){
                    JSONObject jsonObject = JSON.parseObject(sequence.toString());
                    String event = jsonObject.getString("event");
                    //推送导航的响应消息
                    if(SystemEventType.PUSH_NAVIGATION.equals(event)){
                        String orderId = jsonObject.getString("orderId");
                        String vin = jsonObject.getString("vin");
                        String orderType = jsonObject.getString("orderType");
                    String[] split = sequence.toString().split("_");
                    if(split[0].equals("pushOrder")){
                        PopOrderDto dto = new PopOrderDto();
                        dto.setOrderId(Long.valueOf(orderId));
                        dto.setXpVehicleVin(vin);
                        dto.setOrderType(orderType);
                        dto.setOrderId(Long.valueOf(split[1]));
                        dto.setXpVehicleVin(split[2]);
                        xpOrderClient.popOrder(dto);
                    }
                }
@@ -270,8 +253,7 @@
        //车辆动态信息
        VehicleDynamicStatus dynamicStatus = vehicleStatus.getDynamic_status();
        dynamicStatus.setSpeed(dynamicStatus.getSpeed());
        vehiclePosition.setCurrentElectricity(dynamicStatus.getBms_soc_disp());
        vehiclePosition.setMileageRange(dynamicStatus.getDst_bat_disp());
        vehiclePosition.setCurrentElectricity(dynamicStatus.getBattery_level());
        //订单信息
        OrderStatusInfo runningOrderStatusInfo = systemRuntimeStatus.getRunning_order_status_info();
        Long orderId = null;
@@ -410,10 +392,6 @@
        //开始处理消息对应的业务逻辑
        NavigationDeviationEvent deviationEvent = msgContent.getContent_detail().getObject("deviationEvent", NavigationDeviationEvent.class);
        String requestId = deviationEvent.getRequest_id();
        //导航id
        String routeID = "";
        Long vehicleId = null;
        String orderType = "";
        //偏航事件类型 1：请求导航，2：取消导航
        if (deviationEvent.getEvent_type().equals(RtEventType.RT_EVENT_TYPE_REQUEST)) {
            NavigationDeviationMessage navigationDeviationMessage = deviationEvent.getNavigation_deviation_message();
@@ -425,31 +403,15 @@
            LonLatDto destination = new LonLatDto();
            LonLatDto origin = new LonLatDto();
            if (orderId.contains("XU")) {
                orderType = OrderType.CRUISE_ORDER;
                // todo 下发巡游单的导航数据
                //先响应消息
                responseMessage(sequence, "");
                //构建导航数据给到车端
                origin.setLongitude(116.40528);
                origin.setLatitude(39.90498);
                //巡游单
                origin.setLongitude(longitude);
                origin.setLatitude(latitude);
                destination.setLongitude(116.40528);
                destination.setLatitude(39.90498);

                OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                dto.setOrderId(Long.parseLong(orderId));
                dto.setOrigin(origin);
                dto.setDestination(destination);
                R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
                if (200 != routeVoR.getCode()) {
                    throw new RuntimeException("获取订单线路和运费失败");
                }
                RouteVo routeVo = routeVoR.getData();
                routeID = routeVo.getRouteID();


//                vehicleId = xpOrder.getVehicleId();
                //响应消息
                responseMessage(sequence, "");
            } else {
                orderType = OrderType.USER_ORDER;
                //正常单
                R<XpOrder> xpOrderR = xpOrderClient.queryOrderById(Long.parseLong(orderId));
                if (200 != xpOrderR.getCode()) {
@@ -466,50 +428,31 @@
                    origin.setLatitude(latitude);
                    destination.setLongitude(xpOrder.getStartLon());
                    destination.setLatitude(xpOrder.getStartLat());

                    OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                    dto.setOrderId(Long.parseLong(orderId));
                    dto.setOrigin(origin);
                    dto.setDestination(destination);
                    R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
                    if (200 != routeVoR.getCode()) {
                        throw new RuntimeException("获取订单线路和运费失败");
                    }
                    RouteVo routeVo = routeVoR.getData();
                    routeID = routeVo.getRouteID();
                    //缓存数据，用于后续推给乘客导航线路
                    redisService.setCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId(), com.alibaba.fastjson.JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
                }
                //驶往下车点的行程
                if (Arrays.asList(6).contains(xpOrder.getStatus())) {
                    //查询起点到终点的线路
                    origin.setLongitude(longitude);
                    origin.setLatitude(latitude);
                    destination.setLongitude(xpOrder.getEndLon());
                    destination.setLatitude(xpOrder.getEndLat());

                    OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                    dto.setOrderId(Long.parseLong(orderId));
                    dto.setOrigin(origin);
                    dto.setDestination(destination);
                    R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
                    if (200 != routeVoR.getCode()) {
                        throw new RuntimeException("获取订单线路和运费失败");
                    }
                    RouteVo routeVo = routeVoR.getData();
                    routeID = routeVo.getRouteID();
                    //缓存导航数据，用于后面的逻辑中给乘客端推送导航数据
                    redisService.setCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId(), com.alibaba.fastjson.JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
                }
            }

            if(StringUtils.isNotEmpty(routeID)){
                XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
                R<String> stringR = xpMapClient.queryRouted(routeID);
                OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                dto.setOrderId(Long.parseLong(orderId));
                dto.setOrigin(origin);
                dto.setDestination(destination);
                R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
                if (200 != routeVoR.getCode()) {
                    throw new RuntimeException("获取订单线路和运费失败");
                }
                RouteVo routeVo = routeVoR.getData();
                R<String> stringR = xpMapClient.queryRouted(routeVo.getRouteID());
                if (200 != stringR.getCode()) {
                    throw new RuntimeException("根据导航ID获取车端需要的导航数据失败");
                }

                //构建导航下发请求对象
                cloudPushNavigationInfo(requestId, routeID, stringR.getData(), orderType, orderId, xpVehicle.getVehicleVin(), xpVehicle.getXpuId());
                cloudPushNavigationInfo(requestId, routeVo.getRouteID(), stringR.getData(), orderId, xpVehicle.getVehicleVin(), xpVehicle.getXpuId());
            }
        }
    }
@@ -525,53 +468,30 @@
        //订单类型  1：乘客订单，2=巡游订单
        LonLatDto destination = new LonLatDto();
        LonLatDto origin = new LonLatDto();
        //导航id
        String routeID = "";
        Long vehicleId = null;
        String orderType = "";
        if (orderId.contains("XU")) {
            // todo 下发巡游单的导航数据
            orderType = OrderType.CRUISE_ORDER;
            //巡游单
            if (orderPhase.equals(OrderPhase.ROUTE_TO_CRUISE)) {
                origin.setLongitude(116.40528);
                origin.setLatitude(39.90498);
                destination.setLongitude(116.40528);
                destination.setLatitude(39.90498);

                //先响应消息
                responseMessage(sequence, "");
                /* 构建导航数据给到车端 */
                R<XpCruiseOrder> cruiseOrder = xpCruiseOrderClient.getCruiseOrder(orderId);
                XpCruiseOrder xpCruiseOrder = cruiseOrder.getData();

                origin.setLongitude(xpCruiseOrder.getStartLon());
                origin.setLatitude(xpCruiseOrder.getStartLat());
                destination.setLongitude(xpCruiseOrder.getEndLon());
                destination.setLatitude(xpCruiseOrder.getEndLat());

                OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                dto.setOrderId(Long.parseLong(orderId));
                dto.setOrigin(origin);
                dto.setDestination(destination);
                R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
                if (200 != routeVoR.getCode()) {
                    throw new RuntimeException("获取订单线路和运费失败");
                }
                RouteVo routeVo = routeVoR.getData();
                routeID = routeVo.getRouteID();


//                vehicleId = xpOrder.getVehicleId();
            }
        } else {
            orderType = OrderType.USER_ORDER;
            //正常单
            R<XpOrder> xpOrderR = xpOrderClient.queryOrderById(Long.parseLong(orderId));
            if (200 != xpOrderR.getCode()) {
                throw new RuntimeException("订单不存在");
            }
            XpOrder xpOrder = xpOrderR.getData();
            XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
            //先响应消息
            responseMessage(sequence, xpVehicle.getVehicleVin());
            //驶往上车点的行程
            if (orderPhase.equals(OrderPhase.ROUTE_TO_PICKUP)) {
                XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
                //先响应消息
                responseMessage(sequence, xpVehicle.getVehicleVin());
                //查询车辆位置
                VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(xpVehicle.getVehicleVin())), VehiclePosition.class);
                if (Objects.isNull(vehiclePosition)) {
@@ -582,59 +502,32 @@
                origin.setLatitude(vehiclePosition.getPoint().getY());
                destination.setLongitude(xpOrder.getStartLon());
                destination.setLatitude(xpOrder.getStartLat());

                OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                dto.setOrderId(Long.parseLong(orderId));
                dto.setOrigin(origin);
                dto.setDestination(destination);
                R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
                if (200 != routeVoR.getCode()) {
                    throw new RuntimeException("获取订单线路和运费失败");
                }
                RouteVo routeVo = routeVoR.getData();
                routeID = routeVo.getRouteID();
                //缓存数据，用于后续推给乘客导航线路
                redisService.setCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId(), com.alibaba.fastjson.JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
            }
            //驶往下车点的行程
            if (orderPhase.equals(OrderPhase.ROUTE_TO_DESTINATION)) {
                //直接取缓存中的导航数据推送给车端和乘客
                Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_DATA:" + xpOrder.getAppUserId());
                if(null == cacheObject){
                    //没有缓存数据，重新规划线路
                    //查询起点到终点的线路
                    origin.setLongitude(xpOrder.getStartLon());
                    origin.setLatitude(xpOrder.getStartLat());
                    destination.setLongitude(xpOrder.getEndLon());
                    destination.setLatitude(xpOrder.getEndLat());
                    OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                    dto.setOrderId(Long.parseLong(orderId));
                    dto.setOrigin(origin);
                    dto.setDestination(destination);
                    R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
                    if (200 != routeVoR.getCode()) {
                        throw new RuntimeException("获取订单线路和运费失败");
                    }
                    RouteVo routeVo = routeVoR.getData();
                    routeID = routeVo.getRouteID();
                    //缓存导航数据，用于后面的逻辑中给乘客端推送导航数据
                    redisService.setCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId(), com.alibaba.fastjson.JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
                }else{
                    RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
                    routeID = routeVo.getRouteID();
                }
                //查询起点到终点的线路
                origin.setLongitude(xpOrder.getStartLon());
                origin.setLatitude(xpOrder.getStartLat());
                destination.setLongitude(xpOrder.getEndLon());
                destination.setLatitude(xpOrder.getEndLat());
            }
            vehicleId = xpOrder.getVehicleId();
        }

        if(StringUtils.isNotEmpty(routeID)){
            XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
            R<String> stringR = xpMapClient.queryRouted(routeID);
            OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
            dto.setOrderId(Long.parseLong(orderId));
            dto.setOrigin(origin);
            dto.setDestination(destination);
            //TODO 这里的routeID不应该每次都重新生成，应该有一个缓存，调用的接口有做缓存但是没有读取缓存
            R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
            if (200 != routeVoR.getCode()) {
                throw new RuntimeException("获取订单线路和运费失败");
            }
            XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
            RouteVo routeVo = routeVoR.getData();
            R<String> stringR = xpMapClient.queryRouted(routeVo.getRouteID());
            if (200 != stringR.getCode()) {
                throw new RuntimeException("根据导航ID获取车端需要的导航数据失败");
            }
            //构建导航下发请求对象
            cloudPushNavigationInfo(requestId, routeID, stringR.getData(), orderType, orderId, xpVehicle.getVehicleVin(), xpVehicle.getXpuId());
            cloudPushNavigationInfo(requestId, routeVo.getRouteID(), stringR.getData(), orderId, xpVehicle.getVehicleVin(), xpVehicle.getXpuId());
        }
    }

@@ -646,44 +539,44 @@
     */
    public void cloudOrderOperation(Integer orderType, String orderId, String taskId, RouteVo routeVo, String vin) {
        //构建消息体
        OrderOperation orderOperation = new OrderOperation();
        orderOperation.setOrder_id(orderId);
        orderOperation.setTask_id(taskId);
        orderOperation.setOperation_type(OrderOperationType.CLOUD_UPDATE_WAYPOINTS);
        OrderOperation.Builder orderOperationBuilder = OrderOperation.newBuilder();
        orderOperationBuilder.setOrderId(orderId);
        orderOperationBuilder.setTaskId(taskId);
        orderOperationBuilder.setOperationType(OrderOperationType.CLOUD_UPDATE_WAYPOINTS);

        //构建航点
        List<Waypoint> waypoints = new ArrayList<>();
        List<LonLatDto> polyline = routeVo.getPolyline();
        for (int i = 0; i < polyline.size(); i++) {
            LonLatDto lonLatDto = polyline.get(i);
            Waypoint waypoint = new Waypoint();
            waypoint.setWaypoint_id(UUID.randomUUID().toString());
            Waypoint.Builder waypointBuilder = Waypoint.newBuilder();
            waypointBuilder.setWaypointId(UUID.randomUUID().toString());
            if (0 == i) {
                waypoint.setPoint_type(PointType.START_POINT);
                waypointBuilder.setPointType(PointType.START_POINT);
                //订单类型不同，点位的动作类型不同
                waypoint.setAction_type(1 == orderType ? ActionType.PICK_UP : ActionType.ACTION_UNSPECIFIED);
                waypointBuilder.setActionType(1 == orderType ? ActionType.PICK_UP : ActionType.ACTION_UNSPECIFIED);
            } else if (polyline.size() - 1 == i) {
                waypoint.setPoint_type(PointType.END_POINT);
                waypoint.setAction_type(1 == orderType ? ActionType.DROP_OFF : ActionType.ACTION_UNSPECIFIED);
                waypointBuilder.setPointType(PointType.END_POINT);
                waypointBuilder.setActionType(1 == orderType ? ActionType.DROP_OFF : ActionType.ACTION_UNSPECIFIED);
            } else {
                waypoint.setPoint_type(PointType.WAY_POINT);
                waypointBuilder.setPointType(PointType.WAY_POINT);
                //订单类型不同，点位的动作类型不同
                waypoint.setAction_type(ActionType.ACTION_UNSPECIFIED);
                waypointBuilder.setActionType(ActionType.ACTION_UNSPECIFIED);
            }
            //构建经纬度
            GeoPoint geoPoint = new GeoPoint();
            geoPoint.setLongitude(lonLatDto.getLongitude());
            geoPoint.setLatitude(lonLatDto.getLatitude());
            waypoint.setPoint(geoPoint);
            waypoint.setSequence(i + 1);
            waypoints.add(waypoint);
            GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
            geoPointBuilder.setLongitude(lonLatDto.getLongitude());
            geoPointBuilder.setLatitude(lonLatDto.getLatitude());
            waypointBuilder.setPoint(geoPointBuilder.build());
            waypointBuilder.setSequence(i + 1);
            waypoints.add(waypointBuilder.build());
        }
        orderOperation.setWaypoints(waypoints);
        orderOperationBuilder.addAllWaypoints(waypoints);
        long sequence = snowflake.nextId();
        // 处理数据
        redisTemplate.opsForValue().set(sequence,"pushOrder_"+orderId+"_"+vin,30, TimeUnit.MINUTES);
        //开发发送请求到XPU
        xpuUtil.cloudOrderOperation(orderOperation, vin,sequence);
        xpuUtil.cloudOrderOperation(orderOperationBuilder.build(), vin,sequence);
    }


@@ -691,11 +584,11 @@
     * 构建响应消息
     */
    public void responseMessage(Long request_seq, String vin) {
        ResponseMessage responseMessage = new ResponseMessage();
        responseMessage.setRequest_seq(request_seq);
        responseMessage.setCode(StatusCode.OK);
        responseMessage.setTimestamp(System.currentTimeMillis());
        xpuUtil.responseMessage(responseMessage, vin);
        ResponseMessage.Builder responseMessageBuilder = ResponseMessage.newBuilder();
        responseMessageBuilder.setRequestSeq(request_seq);
        responseMessageBuilder.setCode(StatusCode.OK);
        responseMessageBuilder.setTimestamp(System.currentTimeMillis());
        xpuUtil.responseMessage(responseMessageBuilder.build(), vin);
    }


@@ -799,6 +692,7 @@
        if(orderId.contains("XU")){
            //巡游单
            //响应消息
            // TODO 1.处理结束当前巡游订单  2.创建新的巡游订单 返航  3.调用xpu车机接口  （判断是返航还是正常  返航需要存储之前的订单id）
            responseMessage(sequence, "");
            //前往目的地
            if(OrderStatusEnum.IN_SERVICE.equals(status)){
@@ -807,48 +701,6 @@
            //到达目的地
            if(OrderStatusEnum.COMPLETED.equals(status)){

                // 返程找到目前的订单 -》之前的订单 查询生成一个   正常巡游 找到下一个点位   若到达最后点位  则反向找点位  每次判断是否收车状态 是则不进行处理了
                // 找到这个订单
                R<XpCruiseOrder> cruiseOrder = xpCruiseOrderClient.getCruiseOrder(orderId);
                if(cruiseOrder!=null){
                    XpCruiseOrder xpCruiseOrder = cruiseOrder.getData();
                    Long vehicleId = xpCruiseOrder.getVehicleId();

                    // 关闭当前巡游单子 已完成
                    xpCruiseOrderClient.closeCruiseOrder(xpCruiseOrder.getVehicleVin());
                    R<XpVehicle> xpVehicleR = xpVehicleClient.queryById(vehicleId);
                    XpVehicle xpVehicle = xpVehicleR.getData();
                    // 运营中 继续执行
                    if(xpVehicle.getOperatingStatus()==1 && xpVehicle.getState()==0){
                        // 创建新的巡游单子  判断是否为返程单子
                        if(xpCruiseOrder.getOrderType()==2){
                            R<XpCruiseOrder> lastOrder = xpCruiseOrderClient.getCruiseOrder(xpCruiseOrder.getLastOrderId());
                            XpCruiseOrder lastXpCruiseOrder = lastOrder.getData();

                            // 修改一下id 加一个一样的巡游单子
                            lastXpCruiseOrder.setId("XU"+ IdUtil.fastUUID());
                            lastXpCruiseOrder.setStatus(1);
                            xpCruiseOrderClient.addCruiseOrder(lastXpCruiseOrder);


                            RTTask task = new RTTask();
                            task.setOrder_id(lastXpCruiseOrder.getId());
                            task.setTask_id("MISSION_"+ IdUtil.fastUUID());
                            task.setTask_type(TaskType.CRUISE);
                            task.setStatus(TaskStatus.PENDING);
                            SnowFlake snowFlake = new SnowFlake(0, 0);
                            snowFlake.withStartTimestamp(1420041600000L);
                            long sequence1 = snowFlake.nextId();
                            xpuUtil.cloudCreateOrder(task, xpVehicle.getVehicleVin(),sequence1);
                        }else if(xpCruiseOrder.getOrderType()==1){
                           // 正常巡游 找到下一个点位   若到达最后点位  则反向找点位 TODO v


                        }

                    }

                }
            }
        }else{
            //普通单
@@ -887,22 +739,17 @@
     * @param vin                   车辆VIN
     * @param xpuId                 XPU设备id
     */
    public void cloudPushNavigationInfo(String requestId, String routeId, String routeDataContent, String orderType, String orderId, String vin, String xpuId) {
    public void cloudPushNavigationInfo(String requestId, String routeId, String routeDataContent, String orderId, String vin, String xpuId) {
        //组装报文，将routeDateContent信息推送到XPU
        RestoreNavigationData navigationData = new RestoreNavigationData();
        navigationData.setRoute_id(routeId);
        navigationData.setRequest_id(requestId);
        navigationData.setContent(routeDataContent);
        navigationData.setTimestamp(System.currentTimeMillis());
        RestoreNavigationData.Builder navigationDataBuilder = RestoreNavigationData.newBuilder();
        navigationDataBuilder.setRouteId(routeId);
        navigationDataBuilder.setRequestId(requestId);
        navigationDataBuilder.setContent(routeDataContent);
        navigationDataBuilder.setTimestamp(System.currentTimeMillis());
        long sequence = snowflake.nextId();
        // 处理数据
        JSONObject jsonObject = new JSONObject();
        jsonObject.put("event", SystemEventType.PUSH_NAVIGATION);
        jsonObject.put("orderType", orderType);
        jsonObject.put("orderId", orderId);
        jsonObject.put("vin", vin);
        redisTemplate.opsForValue().set(sequence, jsonObject.toJSONString(),30, TimeUnit.MINUTES);
        xpuUtil.cloudPushNavigation(navigationData, xpuId, sequence);
        redisTemplate.opsForValue().set(sequence,"pushOrder_"+orderId+"_"+vin,30, TimeUnit.MINUTES);
        xpuUtil.cloudPushNavigation(navigationDataBuilder.build(), xpuId, sequence);
    }

}