合并代码

puzhibing

2026-02-13 1be79cd717d4b3c7a85e0a87badcab78fde3d69c

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

@@ -1,633 +0,0 @@
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;
import com.xiaopeng.api.dto.operation.LonLatDto;
import com.xiaopeng.api.dto.order.PopOrderDto;
import com.xiaopeng.api.dto.pushMessage.PushOrderRouteDTO;
import com.xiaopeng.api.dto.pushMessage.SendMessageDTO;
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.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.cloudOrderOperation.*;
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;
import com.xiaopeng.api.vo.automaticPilot.proto.up.RtMsgHeader;
import com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent.NavigationDeviationEvent;
import com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent.NavigationDeviationMessage;
import com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent.RtEventType;
import com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent.OrderStatusInfoEvent;
import com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu.*;
import com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest.NavigationRequest;
import com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest.OrderPhase;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.automaticPilot.util.XPUUtil;
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;
import org.springframework.data.mongodb.core.geo.GeoJsonPoint;
import org.springframework.data.mongodb.core.query.Criteria;
import org.springframework.data.mongodb.core.query.Query;
import org.springframework.data.redis.core.RedisTemplate;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;
import java.util.*;
import java.util.concurrent.TimeUnit;

/**
 * Kafka 消费者服务
 */
@Slf4j
@Service
public class KafkaConsumerService {

    @Resource
    private XpMapClient xpMapClient;

    @Resource
    private XpOrderClient xpOrderClient;

    @Resource
    private MongoTemplate mongoTemplate;

    @Resource
    private XpVehicleClient xpVehicleClient;

    @Resource
    private XPUUtil xpuUtil;

    @Autowired
    public RedisTemplate redisTemplate;

    @Resource
    private XpPushMessageClient xpPushMessageClient;



    /**
     * 消费消息 - XPU上报Robotaxi云端的消息topic（高优先级）
     *
     */
    public void topicProdRobotaxiXpuHigh(String message) {
        MsgContent msgContent = JSON.parseObject(message, MsgContent.class);
        handleXPUMessage(msgContent, message);
    }

    /**
     * 消费消息 - XPU上报Robotaxi云端的消息topic（低优先级）
     */
    public void topicProdRobotaxiXpuNormal(String message) {
        MsgContent msgContent = JSON.parseObject(message, MsgContent.class);
        handleXPUMessage(msgContent, message);
    }


    /**
     * 处理XPU消息
     * @param msgContent
     * @param message
     */
    public void handleXPUMessage(MsgContent msgContent, String message){
        RtMsgHeader header = msgContent.getHeader();
        MessageType type = header.getType();
        //处理请求消息
        if (MessageType.MESSAGE_TYPE_REQUEST == type) {
            //区分业务类型
            RTCmdType cmd = header.getCmd();
            switch (cmd) {
                case SYSTEM_STATUS_XPU:
                    log.info("XPU发布系统运行状态 (XPU→云端)：{}", message);
                    systemStatusXpu(msgContent);
                    break;
                case XPU_NAVIGATION_REQUEST:
                    log.info("XPU向云端请求导航 (XPU→云端)：{}", message);
                    xpuNavigationRequest(msgContent);
                    break;
                case TRIP_STATUS_UPDATE_EVENT:
                    log.info("行程状态更新(XPU→云端)(XPU→座舱)：{}", message);
                    break;
                case PULLOVER_STATUS_EVENT:
                    log.info("靠边停车状态(XPU→云端)(XPU→座舱)：{}", message);
                    break;
                case DRIVING_MODE_UPDATE_EVENT:
                    log.info("驾驶模式变化(XPU→云端)(XPU→座舱)：{}", message);
                    break;
                case SYSTEM_STATUS_UPDATE_EVENT:
                    log.info("系统状态变化(XPU→云端)(XPU→座舱)：{}", message);
                    break;
                case TASK_STATE_UPDATE_EVENT:
                    log.info("任务状态变化(XPU→云端)(XPU→座舱)：{}", message);
                    break;
                case ORDER_STATE_UPDATE_EVENT:
                    log.info("订单状态变化(XPU→云端)(XPU→座舱)：{}", message);
                    orderStateUpdateEvent(msgContent);
                    break;
                case POINT_ARRIVAL_STATUS_EVENT:
                    log.info("到达目标点状态(XPU→云端)(XPU→座舱)：{}", message);
                    break;
                case PICKUP_CONFIRMATION_EVENT:
                    log.info("用户上车确认(XPU→云端)(XPU→座舱)：{}", message);
                    break;
                case DROPOFF_INFO_EVENT:
                    log.info("用户下车信息(XPU→云端)：{}", message);
                    break;
                case NAVIGATION_DEVIATION_EVENT:
                    log.info("导航偏航(XPU→云端)：{}", message);
                    navigationDeviationEvent(msgContent);
                    break;
                case EMERGENCY_STOP_EVENT:
                    log.info("急停(XPU→云端)(XPU→座舱)：{}", message);
                    break;
                case NAVIGATION_UPDATE_EVENT:
                    log.info("导航信息变化(XPU→云端)：{}", message);
                    break;
                case TASK_QUEUE_UPDATE_EVENT:
                    log.info("XPU待执行任务队列(XPU→云端)：{}", message);
                    break;
                case SYSTEM_STATE_ANAPSHOT_SYNC_EVENT:
                    log.info("每次MQTT连接之后触发 (XPU→云端)：{}", message);
                    break;
                case ORDER_STATE_UPDATE_TO_CDU_EVENT:
                    log.info("更新订单状态到CDU (XPU→云端)：{}", message);
                    break;
                default:
                    log.info("消息不在处理范围内，忽略：{}", message);
            }


        }
        //消息应答
        if(MessageType.MESSAGE_TYPE_RESPONSE == type){
            com.xiaopeng.api.vo.automaticPilot.proto.up.ResponseMessage resposne = msgContent.getContent_detail().getObject("resposne", com.xiaopeng.api.vo.automaticPilot.proto.up.ResponseMessage.class);
            com.xiaopeng.api.vo.automaticPilot.proto.up.StatusCode code = resposne.getCode();
            Long requestSeq = resposne.getRequest_seq();
            if(code == com.xiaopeng.api.vo.automaticPilot.proto.up.StatusCode.OK){
                Object sequence = redisTemplate.opsForValue().get(requestSeq);
                if(sequence!=null){
                    String[] split = sequence.toString().split("_");
                    if(split[0].equals("pushOrder")){
                        PopOrderDto dto = new PopOrderDto();
                        dto.setOrderId(Long.valueOf(split[1]));
                        dto.setXpVehicleVin(split[2]);
                        xpOrderClient.popOrder(dto);
                    }
                }
            }
        }
    }





    /**
     * XPU发布系统运行状态---车辆实时位置
     *
     * @param msgContent
     */
    public void systemStatusXpu(MsgContent msgContent) {
        //开始处理消息对应的业务逻辑
        SystemRuntimeStatus systemRuntimeStatus = msgContent.getContent_detail().getObject("systemRuntimeStatus", SystemRuntimeStatus.class);
        //获取实时位姿
        RealtimePose pose = systemRuntimeStatus.getPose();
        Wgs naviPose = pose.getNavi_pose();
        Double latitude = naviPose.getLatitude();
        Double longitude = naviPose.getLongitude();
        Double course = naviPose.getCourse();
        Float alt = naviPose.getAlt();
        //获取车辆静态信息
        VehicleStaticInfo staticInfo = systemRuntimeStatus.getVehicle_status().getStatic_info();
        String xpuId = staticInfo.getXpu_id();
        XpVehicle xpVehicle = xpVehicleClient.findByVehicleXpuId(xpuId).getData();
        String vin = xpVehicle.getVehicleVin();
        //先响应消息
        Long sequence = msgContent.getHeader().getSequence();
        responseMessage(sequence, vin);
        //保存车辆实时位置到redis
        redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new GeoJsonPoint(longitude, latitude), vin);

        //保存车辆实时信息到mongodb
        VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
        if (null == vehiclePosition) {
            vehiclePosition = new VehiclePosition();
        }
        vehiclePosition.setVin(vin);
        vehiclePosition.setPoint(new GeoJsonPoint(longitude, latitude));
        vehiclePosition.setCourse(course);
        vehiclePosition.setAlt(alt);
        VehicleStatus vehicleStatus = systemRuntimeStatus.getVehicle_status();
        //车辆动态信息
        VehicleDynamicStatus dynamicStatus = vehicleStatus.getDynamic_status();
        dynamicStatus.setSpeed(dynamicStatus.getSpeed());
        vehiclePosition.setCurrentElectricity(dynamicStatus.getBattery_level());
        //订单信息
        OrderStatusInfo runningOrderStatusInfo = systemRuntimeStatus.getRunning_order_status_info();
        Long orderId = null;
        String order_id = runningOrderStatusInfo.getOrder_id();
        vehiclePosition.setHasOrder(0);
        if (StringUtils.isNotEmpty(order_id)) {
            if (order_id.contains("XU")) {
                vehiclePosition.setHasOrder(1);
                orderId = Long.parseLong(order_id.substring(2));
            } else {
                orderId = Long.parseLong(order_id);
            }
        }
        vehiclePosition.setOrderId(orderId);
        mongoTemplate.save(vehiclePosition);
        //调用推送服务接口
        if (null != orderId) {
            RtTripInfo rtTripInfo = systemRuntimeStatus.getRt_trip_info();
            PushOrderRouteDTO dto = new PushOrderRouteDTO();
            dto.setOrderId(orderId);
            dto.setRouteType(order_id.contains("XU") ? 2 : 1);
            dto.setLongitude(longitude);
            dto.setLatitude(latitude);
            dto.setDuration(rtTripInfo.getRemaining_time());
            dto.setDistance(rtTripInfo.getRemaining_distance().intValue());
            xpPushMessageClient.pushOrderRoute(dto);
        }
    }


    /**
     * XPU向云端请求导航
     *
     * @param msgContent
     */
    public void xpuNavigationRequest(MsgContent msgContent) {
        //开始处理消息对应的业务逻辑
        NavigationRequest naviRequest = msgContent.getContent_detail().getObject("naviRequest", NavigationRequest.class);
        String orderId = naviRequest.getOrder_id();
        String taskId = naviRequest.getTask_id();
        OrderPhase orderPhase = naviRequest.getOrder_phase();
        log.info("订单ID：{}", orderId);
        log.info("任务ID：{}", taskId);
        switch (orderPhase) {
            case IDLE:
                log.info("订单的任务未开始执行");
                break;
            case ROUTE_TO_PICKUP:
                log.info("驶往上车点的行程");
                buildNaviRequest(orderId, taskId, orderPhase, msgContent.getHeader().getSequence());
                break;
            case ROUTE_TO_DESTINATION:
                log.info("驶往下车点的行程");
                buildNaviRequest(orderId, taskId, orderPhase, msgContent.getHeader().getSequence());
                break;
            case ROUTE_TO_CRUISE:
                log.info("巡游阶段路线");
                buildNaviRequest(orderId, taskId, orderPhase, msgContent.getHeader().getSequence());
                break;
        }
    }


    /**
     * 车辆偏航后重新规划线路
     *
     * @param msgContent
     */
    public void navigationDeviationEvent(MsgContent msgContent) {
        //先响应消息
        Long sequence = msgContent.getHeader().getSequence();
        //开始处理消息对应的业务逻辑
        NavigationDeviationEvent deviationEvent = msgContent.getContent_detail().getObject("deviationEvent", NavigationDeviationEvent.class);
        //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();
            String orderId = navigationDeviationMessage.getOrder_id();
            String taskId = navigationDeviationMessage.getTask_id();
            Double longitude = navigationDeviationMessage.getLongitude();
            Double latitude = navigationDeviationMessage.getLatitude();
            //订单类型  1：乘客订单，2=巡游订单
            Integer orderType = 1;
            LonLatDto destination = new LonLatDto();
            LonLatDto origin = new LonLatDto();
            if (orderId.contains("XU")) {
                orderType = 2;
                // todo 下发巡游单的导航数据
                //巡游单
                origin.setLongitude(longitude);
                origin.setLatitude(latitude);
                destination.setLongitude(116.40528);
                destination.setLatitude(39.90498);
                //响应消息
                responseMessage(sequence, "");
            } else {
                //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();
                //响应消息
                responseMessage(sequence, xpVehicle.getVehicleVin());
                //驶往上车点的行程
                if (Arrays.asList(3).contains(xpOrder.getStatus())) {
                    //查询司机当前位置到起点的线路
                    origin.setLongitude(longitude);
                    origin.setLatitude(latitude);
                    destination.setLongitude(xpOrder.getStartLon());
                    destination.setLatitude(xpOrder.getStartLat());
                }
                //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();
                //构建导航下发请求对象
                cloudOrderOperation(orderType, orderId, taskId, routeVo, xpVehicle.getVehicleVin());
            }
        }
    }


    /**
     * 构建导航请求
     *
     * @param orderId
     * @param taskId
     * @param orderPhase
     */
    public void buildNaviRequest(String orderId, String taskId, OrderPhase orderPhase, Long sequence) {
        //订单类型  1：乘客订单，2=巡游订单
        Integer orderType = 1;
        LonLatDto destination = new LonLatDto();
        LonLatDto origin = new LonLatDto();
        if (orderId.contains("XU")) {
            orderType = 2;
            // todo 下发巡游单的导航数据
            //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, "");
            }
        } else {
            //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();
            //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)) {
                    throw new RuntimeException("车辆位置信息不存在");
                }
                //查询司机当前位置到起点的线路
                origin.setLongitude(vehiclePosition.getPoint().getX());
                origin.setLatitude(vehiclePosition.getPoint().getY());
                destination.setLongitude(xpOrder.getStartLon());
                destination.setLatitude(xpOrder.getStartLat());
            }
            //驶往下车点的行程
            if (orderPhase.equals(OrderPhase.ROUTE_TO_DESTINATION)) {
                //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");
            }
            XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
            RouteVo routeVo = routeVoR.getData();
            //构建导航下发请求对象
            cloudOrderOperation(orderType, orderId, taskId, routeVo, xpVehicle.getVehicleVin());
        }
    }


    /**
     * 云端订单操作----下发导航数据
     *
     * @param routeVo
     */
    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);

        //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());
            if (0 == i) {
                waypoint.setPoint_type(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);
            } else if (polyline.size() - 1 == i) {
                waypoint.setPoint_type(PointType.END_POINT);
                waypoint.setAction_type(1 == orderType ? ActionType.DROP_OFF : ActionType.ACTION_UNSPECIFIED);
            } else {
                waypoint.setPoint_type(PointType.WAY_POINT);
                //订单类型不同，点位的动作类型不同
                waypoint.setAction_type(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);
        }
        orderOperation.setWaypoints(waypoints);
        SnowFlake snowFlake = new SnowFlake(0, 0);
        snowFlake.withStartTimestamp(1420041600000L);
        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);
    }


    /**
     * 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);
    }


    /**
     * 订单状态更新事件
     * @param msgContent
     */
    public void orderStateUpdateEvent(MsgContent msgContent) {
        //先响应消息
        Long sequence = msgContent.getHeader().getSequence();
        //开始处理消息对应的业务逻辑
        OrderStatusInfoEvent orderStatusInfoEvent = msgContent.getContent_detail().getObject("orderStatusInfoEvent", OrderStatusInfoEvent.class);
        //只处理请求消息
        if (orderStatusInfoEvent.getEvent_type().equals(RtEventType.RT_EVENT_TYPE_REQUEST)) {
            com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent.OrderStatusInfo orderStatusInfo = orderStatusInfoEvent.getOrder_status_info();
            String orderId = orderStatusInfo.getOrder_id();
            //普通单
            com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent.OrderStatus status = orderStatusInfo.getStatus();
            switch (status) {
                case ORDER_STATUS_UNSPECIFIED:
                    //订单状态未知
                    log.info("订单状态未知，不做任何处理：{}", orderId);
                    break;
                case ORDER_RECEIVED:
                    //收到订单
                    buildPushOrderStatus(orderId, OrderStatusEnum.READY_DEPART, sequence);
                    break;
                case ORDER_STARTED:
                    //开始执行订单
                    log.info("开始执行订单，不做任何处理：{}", orderId);
                    break;
                case ORDER_EN_ROUTE_TO_PICKUP:
                    //前往上车点
                    buildPushOrderStatus(orderId, OrderStatusEnum.PICK_UP, sequence);
                    break;
                case ORDER_ARRIVED_AT_PICKUP:
                    //到达上车点
                    log.info("到达上车点，不做任何处理：{}", orderId);
                    break;
                case ORDER_WAITING_FOR_PICKUP:
                    //等待乘客上车
                    buildPushOrderStatus(orderId, OrderStatusEnum.PICK_UP_GUESTS, sequence);
                    break;
                case ORDER_PASSENGER_ONBOARD:
                    //乘客已上车
                    buildPushOrderStatus(orderId, OrderStatusEnum.PASSENGER_BOARDED, sequence);
                    break;
                case ORDER_EN_ROUTE_TO_DESTINATION:
                    //前往目的地
                    buildPushOrderStatus(orderId, OrderStatusEnum.IN_SERVICE, sequence);
                    break;
                case ORDER_ARRIVED_AT_DESTINATION:
                    //到达目的地
                    log.info("到达目的地，不做任何处理：{}", orderId);
                    break;
                case ORDER_WAITING_FOR_DROPOFF:
                    //等待乘客下车
                    buildPushOrderStatus(orderId, OrderStatusEnum.SEE_OFF_GUESTS, sequence);
                    break;
                case ORDER_DROPOFF_COMPLETED:
                    //下车完成
                    buildPushOrderStatus(orderId, OrderStatusEnum.APPROVAL_REJECTION, sequence);
                    break;
                case ORDER_COMPLETED:
                    //已完成
                    log.info("已完成，不做任何处理：{}", orderId);
                    break;
                case ORDER_CANCELLED:
                    //已取消
                    buildPushOrderStatus(orderId, OrderStatusEnum.CANCELED, sequence);
                    break;
                case ORDER_ARRIVED_AT_CRUISE_DESTINATION:
                    //到达巡游终点
                    buildPushOrderStatus(orderId, null, sequence);
                    break;
                case ORDER_PAUSED:
                    //订单暂停
                    log.info("订单暂停，不做任何处理：{}", orderId);
                    break;
                default:
                    break;
            }
        }
    }


    /**
     * 构建订单状态推送消息
     * @param orderId
     * @param status
     */
    public void buildPushOrderStatus(String orderId, OrderStatusEnum status, Long sequence){
        if(orderId.contains("XU")){
            //巡游单
            //响应消息
            responseMessage(sequence, "");
        }else{
            //普通单
            R<XpOrder> xpOrderR = xpOrderClient.queryOrderById(Long.parseLong(orderId));
            XpOrder xpOrder = xpOrderR.getData();
            XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
            //响应消息
            responseMessage(sequence, xpVehicle.getVehicleVin());

            //构建推送消息
            Map<String, Object> params = new HashMap<>();
            Map<String, Object> content = new HashMap<>();
            content.put("orderId", orderId);
            content.put("status", status.getCode());
            params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
            params.put("content", com.alibaba.fastjson2.JSONObject.toJSONString(content));
            params.put("timestamp", System.currentTimeMillis() + "");
            String message = JSONObject.toJSONString(params);
            Long appUserId = xpOrder.getAppUserId();
            SendMessageDTO dto = new SendMessageDTO();
            dto.setAppUserId(appUserId + "");
            dto.setMessage(message);
            R<String> stringR = xpPushMessageClient.sendStatus(dto);
            if (R.isError(stringR)) {
                log.error("推送消息失败：{}", stringR.getMsg());
            }
        }
    }

}