Merge remote-tracking branch 'origin/master'

xuhy

2026-02-27 28bf3c845ae89f45336bf87478db314c11221bb3

 xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/controller/XpVehicleOperationsController.java

@@ -2,7 +2,9 @@

import cn.hutool.core.util.IdUtil;
import com.xiaopeng.api.dto.automaticPilot.PushOrderDto;
import com.xiaopeng.api.dto.operation.NewCruiseOrderDto;
import com.xiaopeng.api.feignClient.automaticPilot.OrderMissionClient;
import com.xiaopeng.api.feignClient.operation.XpCruisePlanClient;
import com.xiaopeng.api.feignClient.order.XpCruiseOrderClient;
import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;
import com.xiaopeng.api.model.order.XpCruiseOrder;
@@ -52,6 +54,8 @@
    private MongoTemplate mongoTemplate;
    @Resource
    private OrderMissionClient orderMissionClient;
    @Autowired
    private XpCruisePlanClient xpCruisePlanClient;

    /**
     * 车辆详情-车辆调度-发车 收车
@@ -71,43 +75,43 @@

        // 发车
        if(dto.getDepartureStatus()==1){
            // 找车辆的任务  生成巡游单子 下发命令 TODO v




            // 找车辆的任务  生成巡游单子 下发命令
            R<XpCruiseOrder> newCruiseOrder = xpCruisePlanClient.getNewCruiseOrder(new NewCruiseOrderDto(xpVehicle.getId(),xpVehicle.getVehicleVin(),xpVehicle.getFleetId()));
            if(newCruiseOrder.getData()!=null){
                // 下发命令
                orderMissionClient.pushOrder(new PushOrderDto(xpVehicle.getVehicleVin(),newCruiseOrder.getData().getId(),null));
            }


        }else if(dto.getDepartureStatus()==3){
            // 收车 关闭当前巡游单子 生成新的返程单子  找到收车站点
            xpCruiseOrderClient.updateCruiseOrder(xpVehicle.getVehicleVin());
            R<String> r = xpCruiseOrderClient.updateCruiseOrder(xpVehicle.getVehicleVin());

            // redis 获取当前最新经纬度位置
            VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(xpVehicle.getVehicleVin())), VehiclePosition.class);
            double x = vehiclePosition.getPoint().getX();
            double y = vehiclePosition.getPoint().getY();
            XpCruiseOrder xpCruiseOrder = new XpCruiseOrder();
            if(vehiclePosition!=null){
                double x = vehiclePosition.getPoint().getX();
                double y = vehiclePosition.getPoint().getY();
                xpCruiseOrder.setStartLon(x);
                xpCruiseOrder.setStartLat(y);
            }

            xpCruiseOrder.setId("XU"+ IdUtil.fastUUID());
            xpCruiseOrder.setVehicleId(xpVehicle.getId());
            xpCruiseOrder.setFleetId(xpVehicle.getFleetId());
            xpCruiseOrder.setOrderType(2);
            xpCruiseOrder.setStartLon(x);
            xpCruiseOrder.setStartLat(y);
            // TODO v 找到收车站点
            xpCruiseOrder.setStatus(1);
            xpCruiseOrder.setOrderReverse(1);
            xpCruiseOrder.setLastOrderId(r.getData());



            xpCruiseOrderClient.addCruiseOrder(xpCruiseOrder);

            // 下发命令
            orderMissionClient.pushOrder(new PushOrderDto( xpCruiseOrder.getVehicleVin(),xpCruiseOrder.getId(),null));







            // 找到收车站点
            R<XpCruiseOrder> returnCruisePoint = xpCruisePlanClient.findReturnCruisePoint(xpCruiseOrder);
            if(returnCruisePoint!=null){
                xpCruiseOrderClient.addCruiseOrder(returnCruisePoint.getData());
                // 下发命令
                orderMissionClient.pushOrder(new PushOrderDto( xpCruiseOrder.getVehicleVin(),xpCruiseOrder.getId(),null));
            }

        }
        return R.ok();