修改部分bug,优化XPU下单点位数据补充

puzhibing

2026-03-03 2b16a4c512804ed48825d272a996f0d31eb3d1a3

 xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java

@@ -63,7 +63,6 @@
    @Resource
    private XpVehicleClient xpVehicleClient;


    @PostMapping("/inner/pushOrder")
    public R<Boolean> pushOrder(@RequestBody PushOrderDto dto) {
        RtTask.Builder taskBuilder = RtTask.newBuilder();
@@ -76,6 +75,45 @@
        }else {
            taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
        }
        //构建点位信息
        Waypoint.Builder pointBuilder = Waypoint.newBuilder();
        //巡游订单
        if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.CRUISE_ORDER)){
            pointBuilder.setPointType(PointType.CRUISE_END_POINT);
            pointBuilder.setSequence(1);
            //构建终点坐标
            GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
            geoPointBuilder.setLatitude(dto.getEndLatitude());
            geoPointBuilder.setLongitude(dto.getEndLatitude());
            // geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
            pointBuilder.setPoint(geoPointBuilder.build());
        }else{
            //用户订单
            if(dto.getStage() == 1){
                //开往上车点
                pointBuilder.setPointType(PointType.START_POINT);
                pointBuilder.setActionType(ActionType.PICK_UP);
                pointBuilder.setSequence(1);
                //构建起点坐标
                GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
                geoPointBuilder.setLatitude(dto.getStartLatitude());
                geoPointBuilder.setLongitude(dto.getStartLongitude());
                // geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
                pointBuilder.setPoint(geoPointBuilder.build());
            }else{
                //开往终点
                pointBuilder.setPointType(PointType.END_POINT);
                pointBuilder.setActionType(ActionType.PICK_UP);
                pointBuilder.setSequence(1);
                //构建起点坐标
                GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
                geoPointBuilder.setLatitude(dto.getEndLatitude());
                geoPointBuilder.setLongitude(dto.getEndLatitude());
                // geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
                pointBuilder.setPoint(geoPointBuilder.build());
            }
        }
        taskBuilder.addPoints(pointBuilder);
        RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
        taskListBuilder.addTasks(taskBuilder.build());

@@ -153,9 +191,23 @@
     * @return
     */
    @GetMapping("/base/v1/order/acceptingOrder")
    public R acceptingOrder(Long orderId, Long vehicleId, Double startLon, Double startLat){
    public R acceptingOrder(Long orderId, String code, Long vehicleId, Double startLon, Double startLat){
        if(null == vehicleId){
            vehicleId = 1L;
        }
        if(null == startLat || null == startLon){
            startLat = 23.157155D;
            startLon = 113.382373D;
        }
        XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
        XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
        XpOrder xpOrder = null;
        if(null != orderId){
            xpOrder = xpOrderClient.queryOrderById(orderId).getData();
        }
        if(StringUtils.isNotEmpty(code)){
            xpOrder = xpOrderClient.queryOrderByOrderNo(code).getData();
        }
        orderId = xpOrder.getId();
        OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
        dto.setOrderId(orderId);
        LonLatDto origin = new LonLatDto();
@@ -199,17 +251,6 @@
            log.error("推送消息失败：{}", stringR.getMsg());
        }
        xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP.getCode());

//        PushOrderRouteDTO dto3 = new PushOrderRouteDTO();
//        dto3.setOrderId(orderId);
//        dto3.setRouteType(1);
//        dto3.setLongitude(startLon);
//        dto3.setLatitude(startLat);
//        dto3.setDuration(10);
//        dto3.setDistance(2);
//        dto3.setDirection(60);
//        xpPushMessageClient.pushOrderRoute(dto3);

        return r;
    }

@@ -219,19 +260,30 @@
     * @param orderId
     */
    @GetMapping("/base/v1/order/pushStartDriverLocation")
    private void pushStartDriverLocation(Long vehicleId, Long orderId){
    private void pushStartDriverLocation(Long vehicleId, Long orderId, String code){
        if(null == vehicleId){
            vehicleId = 1L;
        }
        XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
        XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
        XpOrder xpOrder = null;
        if(null != orderId){
            xpOrder = xpOrderClient.queryOrderById(orderId).getData();
        }
        if(StringUtils.isNotEmpty(code)){
            xpOrder = xpOrderClient.queryOrderByOrderNo(code).getData();
        }
        orderId = xpOrder.getId();
        String vin = xpVehicle.getVehicleVin();
        Long appUserId = xpOrder.getAppUserId();
        Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId());
        RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);

        ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));
        Long finalOrderId = orderId;
        threadPoolExecutor.execute(() -> {
            //等待10秒后开始执行车子位移
            try {
                Thread.sleep(10000);
                Thread.sleep(1000);
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
            }
@@ -257,12 +309,12 @@
                vehiclePosition.setSpeed(50F);
                vehiclePosition.setCurrentElectricity(80);
                vehiclePosition.setMileageRange(300f);
                vehiclePosition.setOrderId(orderId);
                vehiclePosition.setOrderId(finalOrderId);
                mongoTemplate.save(vehiclePosition);
                //调用推送服务接口
                if (null != orderId) {
                if (null != finalOrderId) {
                    PushOrderRouteDTO dto = new PushOrderRouteDTO();
                    dto.setOrderId(orderId);
                    dto.setOrderId(finalOrderId);
                    dto.setRouteType(1);
                    dto.setLongitude(longitude);
                    dto.setLatitude(latitude);
@@ -283,7 +335,7 @@
            //构建推送消息
            Map<String, Object> params = new HashMap<>();
            Map<String, Object> content = new HashMap<>();
            content.put("orderId", orderId.toString());
            content.put("orderId", finalOrderId.toString());
            content.put("status", 4);
            params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
            params.put("content", JSONObject.toJSONString(content));
@@ -296,7 +348,7 @@
            if (R.isError(stringR)) {
                log.error("推送消息失败：{}", stringR.getMsg());
            }
            xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP_GUESTS.getCode());
            xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.PICK_UP_GUESTS.getCode());
        });

    }
@@ -309,8 +361,15 @@
     * @return
     */
    @GetMapping("/base/v1/order/updateOrderStatus")
    public R updateOrderStatus(Long orderId, Integer status) {
        XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
    public R updateOrderStatus(Long orderId, String code, Integer status) {
        XpOrder xpOrder = null;
        if(null != orderId){
            xpOrder = xpOrderClient.queryOrderById(orderId).getData();
        }
        if(StringUtils.isNotEmpty(code)){
            xpOrder = xpOrderClient.queryOrderByOrderNo(code).getData();
        }
        orderId = xpOrder.getId();
        //构建推送消息
        Map<String, Object> params = new HashMap<>();
        Map<String, Object> content = new HashMap<>();
@@ -368,19 +427,30 @@
     * @param orderId
     */
    @GetMapping("/base/v1/order/pushEndDriverLocation")
    private void pushEndDriverLocation(Long vehicleId, Long orderId){
    private void pushEndDriverLocation(Long vehicleId, Long orderId, String code){
        if(null == vehicleId){
            vehicleId = 1L;
        }
        XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
        XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
        XpOrder xpOrder = null;
        if(null != orderId){
            xpOrder = xpOrderClient.queryOrderById(orderId).getData();
        }
        if(StringUtils.isNotEmpty(code)){
            xpOrder = xpOrderClient.queryOrderByOrderNo(code).getData();
        }
        orderId = xpOrder.getId();
        String vin = xpVehicle.getVehicleVin();
        Long appUserId = xpOrder.getAppUserId();
        Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId());
        RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);

        ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));
        Long finalOrderId = orderId;
        threadPoolExecutor.execute(() -> {
            //等待10秒后开始执行车子位移
            try {
                Thread.sleep(10000);
                Thread.sleep(1000);
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
            }
@@ -406,12 +476,12 @@
                vehiclePosition.setSpeed(50F);
                vehiclePosition.setCurrentElectricity(80);
                vehiclePosition.setMileageRange(300f);
                vehiclePosition.setOrderId(orderId);
                vehiclePosition.setOrderId(finalOrderId);
                mongoTemplate.save(vehiclePosition);
                //调用推送服务接口
                if (null != orderId) {
                if (null != finalOrderId) {
                    PushOrderRouteDTO dto = new PushOrderRouteDTO();
                    dto.setOrderId(orderId);
                    dto.setOrderId(finalOrderId);
                    dto.setRouteType(1);
                    dto.setLongitude(longitude);
                    dto.setLatitude(latitude);
@@ -422,7 +492,7 @@

                    //存储历史轨迹
                    OrderTrajectoryVo orderTrajectory = new OrderTrajectoryVo();
                    orderTrajectory.setOrderId(orderId);
                    orderTrajectory.setOrderId(finalOrderId);
                    orderTrajectory.setLocation(longitude + "," + latitude);
                    orderTrajectory.setDirection(dto.getDirection());
                    orderTrajectory.setSpeed(0D);
@@ -442,7 +512,7 @@
            //构建推送消息
            Map<String, Object> params = new HashMap<>();
            Map<String, Object> content = new HashMap<>();
            content.put("orderId", orderId.toString());
            content.put("orderId", finalOrderId.toString());
            content.put("status", 7);
            params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
            params.put("content", JSONObject.toJSONString(content));
@@ -455,7 +525,7 @@
            if (R.isError(stringR)) {
                log.error("推送消息失败：{}", stringR.getMsg());
            }
            xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode());
            xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode());
        });
    }