Merge remote-tracking branch 'origin/master'

“mitao”

2026-02-24 1ff2fcadc268b41d44c3e5a58ce3758ff4909c6c

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

@@ -91,7 +91,6 @@
    private UserVehicleClient userVehicleClient;



    /**
     * 消费消息 - XPU上报Robotaxi云端的消息topic（高优先级）
     *
@@ -115,7 +114,7 @@
     * @param msgContent
     * @param message
     */
    public void handleXPUMessage(MsgContent msgContent, String message){
    public void handleXPUMessage(MsgContent msgContent, String message) {
        RtMsgHeader header = msgContent.getHeader();
        MessageType type = header.getType();
        //处理请求消息
@@ -186,15 +185,15 @@

        }
        //消息应答
        if(MessageType.MESSAGE_TYPE_RESPONSE == type){
        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){
            if (code == com.xiaopeng.api.vo.automaticPilot.proto.up.StatusCode.OK) {
                Object sequence = redisTemplate.opsForValue().get(requestSeq);
                if(sequence!=null){
                if (sequence != null) {
                    String[] split = sequence.toString().split("_");
                    if(split[0].equals("pushOrder")){
                    if (split[0].equals("pushOrder")) {
                        PopOrderDto dto = new PopOrderDto();
                        dto.setOrderId(Long.valueOf(split[1]));
                        dto.setXpVehicleVin(split[2]);
@@ -204,9 +203,6 @@
            }
        }
    }





    /**
@@ -314,22 +310,31 @@
                userVehicleClient.cancelTaxiPassenger(cancelTaxiPassengerVo);
            }
            // 取消订单
            R<?> r = xpOrderClient.cancelOrder(String.valueOf(xpOrder.getId()));
            if (r.getCode() == R.SUCCESS){
                log.info("取消订单成功");
                // TODO 重新派单
                ReassignOrderDTO reassignOrderDTO = new ReassignOrderDTO();
                reassignOrderDTO.setUid(xpOrder.getAppUserId().toString());
                reassignOrderDTO.setOrderNo(xpOrder.getOrderNumber());
                reassignOrderDTO.setCount(10);
                RealtimePose pose = systemRuntimeStatus.getPose();
                Wgs naviPose = pose.getNavi_pose();
                Double latitude = naviPose.getLatitude();
                Double longitude = naviPose.getLongitude();
                reassignOrderDTO.setLongitude(longitude);
                reassignOrderDTO.setLatitude(latitude);
                reassignOrderClient.reassignOrder(reassignOrderDTO);
            }
//            R<?> r = xpOrderClient.cancelOrder(String.valueOf(xpOrder.getId()));
//            if (r.getCode() == R.SUCCESS){
            log.info("取消订单成功");
            // TODO 重新派单
            ReassignOrderDTO reassignOrderDTO = new ReassignOrderDTO();
            reassignOrderDTO.setUid(xpOrder.getAppUserId().toString());
            reassignOrderDTO.setOrderNo(xpOrder.getOrderNumber());
            reassignOrderDTO.setCount(10);
            RealtimePose pose = systemRuntimeStatus.getPose();
            Wgs naviPose = pose.getNavi_pose();
            Double latitude = naviPose.getLatitude();
            Double longitude = naviPose.getLongitude();
            reassignOrderDTO.setLongitude(longitude);
            reassignOrderDTO.setLatitude(latitude);
            reassignOrderClient.reassignOrder(reassignOrderDTO);









//            }
        }
    }

@@ -556,9 +561,9 @@
        snowFlake.withStartTimestamp(1420041600000L);
        long sequence = snowFlake.nextId();
        // 处理数据
        redisTemplate.opsForValue().set(sequence,"pushOrder_"+orderId+"_"+vin,30, TimeUnit.MINUTES);
        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(orderOperation, vin, sequence);
    }


@@ -662,12 +667,13 @@
     * @param orderId
     * @param status
     */
    public void buildPushOrderStatus(String orderId, OrderStatusEnum status, Long sequence){
        if(orderId.contains("XU")){
    public void buildPushOrderStatus(String orderId, OrderStatusEnum status, Long sequence) {
        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, "");
        }else{
        } else {
            //普通单
            R<XpOrder> xpOrderR = xpOrderClient.queryOrderById(Long.parseLong(orderId));
            XpOrder xpOrder = xpOrderR.getData();