Merge remote-tracking branch 'origin/master'

“mitao”

2026-03-09 2235c21db3a1fa1865706dca07423a41bcf603c0

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

@@ -5,6 +5,7 @@
import com.alibaba.fastjson2.JSONObject;
import com.google.protobuf.InvalidProtocolBufferException;
import com.google.protobuf.util.JsonFormat;
import com.xiaopeng.api.dto.automaticPilot.MqttPublishDto;
import com.xiaopeng.api.dto.map.OrderRouteAndFareDto;
import com.xiaopeng.api.dto.operation.CruisePointDto;
import com.xiaopeng.api.dto.operation.LonLatDto;
@@ -242,40 +243,30 @@
                log.warn("Unknown cmd value: {}", cmdValue);
                return;
            }
            //云端下发订单的响应报文
            if (cmd == RTCmdType.CLOUD_SEND_RT_TASK) {
                RtTaskListResponse response = msgContent.getRtTaskListResponse();
                try {
                    log.info("云端下发订单操作的响应消息 (XPU→云端)：{}", jsonPrinter.print(response));
                    Object sequence = redisTemplate.opsForValue().get("CREATE_ORDER:" + response.getResults().getOrderId());
                    if(sequence!=null){
                        JSONObject jsonObject = JSON.parseObject(sequence.toString());
                        String orderId = jsonObject.getString("orderId");
                        String vin = jsonObject.getString("vin");
                        String orderType = jsonObject.getString("orderType");
                        PopOrderDto dto = new PopOrderDto();
                        dto.setOrderId(Long.valueOf(orderId));
                        dto.setXpVehicleVin(vin);
                        dto.setOrderType(orderType);
                        xpOrderClient.popOrder(dto);
                        log.info("订单状态更新：{}", response.getResults().getOrderId());
                    }
                } catch (InvalidProtocolBufferException e) {
                    log.error("Failed to print RtTaskListResponse: {}", response, e);
                }
            } else {
                log.info("响应消息不在处理范围内，忽略：{}", message);
            }
//            ResponseMessage response = msgContent.getResponse();
//            StatusCode code = response.getCode();
//            long requestSeq = response.getRequestSeq();
//            if(code == StatusCode.OK){
//                log.info("收到XPU消息的响应，code: {}, message: {}", code.getNumber(), message);
//                Object sequence = redisTemplate.opsForValue().get(requestSeq);
//                if(sequence!=null){
//                    log.info("收到XPU消息的响应，sequence: {}", sequence);
//                    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)){
//                        log.info("推送导航的响应消息，{}", jsonObject.toJSONString());
//                        String orderId = jsonObject.getString("orderId");
//                        String vin = jsonObject.getString("vin");
//                        String orderType = jsonObject.getString("orderType");
//                        PopOrderDto dto = new PopOrderDto();
//                        dto.setOrderId(Long.valueOf(orderId));
//                        dto.setXpVehicleVin(vin);
//                        dto.setOrderType(orderType);
//                        xpOrderClient.popOrder(dto);
//                    }
//                }
//            }
        }
    }

@@ -557,16 +548,17 @@
                vehicleId = xpOrder.getVehicleId();
            }

            if(StringUtils.isNotEmpty(routeID)){
                XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
                R<String> stringR = xpMapClient.queryRouted(routeID);
                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");
                }
                //TODO 这里的逻辑不太对，收到导航偏航事件之后
                //构建导航下发请求对象
                cloudPushNavigationInfo(requestId, routeID, stringR.getData(), orderType, orderId, xpVehicle.getVehicleVin(), xpVehicle.getXpuId());
            }
            // TODO 在请求导航哪里返回导航数据
//            if(StringUtils.isNotEmpty(routeID)){
//                XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
//                R<String> stringR = xpMapClient.queryRouted(routeID);
//                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");
//                }
//                //TODO 这里的逻辑不太对，收到导航偏航事件之后
//                //构建响应导航数据给车端
//                cloudPushNavigationInfo(requestId, routeID, stringR.getData(), orderType, orderId, xpVehicle.getVehicleVin(), xpVehicle.getXpuId());
//            }
//        }
    }

@@ -586,12 +578,9 @@
        Long vehicleId = null;
        String orderType = "";
        if (orderId.contains("XU")) {

            orderType = OrderType.CRUISE_ORDER;
            //巡游单
            if (orderPhase.equals(OrderPhase.ROUTE_TO_CRUISE)) {
                //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();
@@ -624,8 +613,6 @@
            }
            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)) {
                //查询车辆位置
@@ -1047,7 +1034,8 @@
        jsonObject.put("orderId", orderId);
        jsonObject.put("vin", vin);
        redisTemplate.opsForValue().set(sequence, jsonObject.toJSONString(),30, TimeUnit.MINUTES);
        xpuUtil.cloudPushNavigation(navigationDataBuilder.build(), xpuId, sequence);
        MqttPublishDto mqttPublishDto = xpuUtil.cloudPushNavigation(navigationDataBuilder.build(), xpuId, sequence);
        log.info("推送导航的响应消息，{}", JSON.toJSONString(mqttPublishDto));
    }

}