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

liujie

2026-03-20 100f2d185dd0dabcfb2e7a0cd81aef840324238d

 xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/controller/PushOrderRouteController.java

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

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONObject;
import com.xiaopeng.api.dto.operation.LonLatDto;
import com.xiaopeng.api.dto.pushMessage.PushOrderRouteDTO;
@@ -10,11 +10,13 @@
import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.common.core.constant.CacheConstants;
import com.xiaopeng.common.core.constant.Constants;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.core.enums.PushMessageTypeEnum;
import com.xiaopeng.common.redis.service.RedisService;
import com.xiaopeng.pushMessage.utils.MapMatchingUtil;
import io.swagger.annotations.Api;
import lombok.extern.slf4j.Slf4j;
import org.powermock.core.ListMap;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.validation.annotation.Validated;
@@ -24,8 +26,11 @@
import org.springframework.web.bind.annotation.RestController;

import java.util.*;
import java.util.concurrent.LinkedBlockingQueue;
import java.util.concurrent.ThreadPoolExecutor;
import java.util.concurrent.TimeUnit;

@Slf4j
@Api(tags = "订单推送轨迹接口")
@RestController
@RequestMapping("")
@@ -51,7 +56,7 @@
        if(routeType == 2){
            routeType = 3;
        }else {
            routeType = xpOrder.getStatus() == 3 ? 1 : 2;
            routeType = xpOrder.getStatus() == 2 || xpOrder.getStatus() == 3 ? 1 : 2;
        }
        // 获取路线规划
        String key = "";
@@ -67,15 +72,13 @@
        if(Objects.nonNull(routeVo)){

            // 计算实时点位到线段的最优截取
            List<LonLatDto> lonLatDtos = MapMatchingUtil.clipBySegmentDistance(routeVo.getPolyline(), new LonLatDto(dto.getLongitude(), dto.getLatitude()));
            List<LonLatDto> lonLatDtos = MapMatchingUtil.getRemainingNavigation(routeVo.getPolyline(), dto.getLongitude(), dto.getLatitude());

            routeVo.setDistance(dto.getDistance());
            routeVo.setDuration(dto.getDuration());
            routeVo.setPolyline(lonLatDtos);

            // 存储最新路线偏离缓存，后续进行轨迹截取
//            redisService.setCacheObject(CacheConstants.ORDER_ROUTE_CAPTURE + "_" + dto.getOrderId() + "_" +routeType, routeVo);

            redisService.setCacheObject(key, JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);

            // 封装轨迹点位集合
@@ -93,7 +96,7 @@
            route.put("polyline",JSONObject.toJSONString(polyline));

            Map<String, Object> content = new HashMap<>();
            content.put("orderId",dto.getOrderId());
            content.put("orderId",dto.getOrderId().toString());
            content.put("routeType",routeType);
            content.put("direction",dto.getDirection());
            content.put("route",JSONObject.toJSONString(route));
@@ -108,7 +111,27 @@
            SendMessageDTO sendMessageDTO = new SendMessageDTO();
            sendMessageDTO.setAppUserId(String.valueOf(xpOrder.getAppUserId()));
            sendMessageDTO.setMessage(JSONObject.toJSONString(params));
            xpPushMessageClient.sendRoute(sendMessageDTO);
            R<String> stringR = xpPushMessageClient.sendRoute(sendMessageDTO);
            //推送失败，重试3次
            if(stringR.getCode() != Constants.SUCCESS){
                ThreadPoolExecutor executor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>());
                executor.execute(() -> {
                    for (int i = 0; i < 3; i++) {
                        R<String> stringR1 = xpPushMessageClient.sendStatus(sendMessageDTO);
                        if(stringR1.getCode() == Constants.SUCCESS){
                            break;
                        }
                        try {
                            Thread.sleep(1000);
                        } catch (InterruptedException e) {
                            throw new RuntimeException(e);
                        }
                        log.info("推送乘客端剩余导航数据消息失败：{} {} {}", stringR1.getMsg(), JSON.toJSONString(sendMessageDTO), xpOrder.getOrderNumber());
                    }
                });
            }

            log.info("推送剩余导航数据成功 {} {}", xpOrder.getOrderNumber(), JSON.toJSONString(routeVo));
        }
        return R.ok();
    }