修改bug

puzhibing

2026-03-12 2b73d5cfaa57aee00ff41c37a136c764f5c8194b

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

@@ -17,10 +17,8 @@
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.SystemEventType;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.RTTask;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.TaskStatus;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.TaskType;
import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.api.vo.order.OrderTrajectoryVo;
@@ -28,11 +26,11 @@
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.redis.service.RedisService;
import io.swagger.annotations.Api;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.data.geo.Point;
import org.springframework.data.mongodb.core.MongoTemplate;
import org.springframework.data.mongodb.core.geo.GeoJsonPoint;
@@ -61,70 +59,119 @@
    private RedisService redisService;
    @Resource
    private XpVehicleClient xpVehicleClient;
    @Resource(name = "hutoolSnowflake")
    private Snowflake snowflake;

    @PostMapping("/inner/pushOrder")
    public R<Boolean> pushOrder(@RequestBody PushOrderDto dto) {
        RtTask.Builder taskBuilder = RtTask.newBuilder();
        //TODO 设置目标地点信息
        taskBuilder.setOrderId(dto.getOrderId().toString());
        taskBuilder.setTaskId("MISSION_"+ IdUtil.fastUUID());

        if(dto.getOrderId().contains("XU")){
            taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
        }else {
            taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
        }
        //构建点位信息
        Waypoint.Builder pointBuilder = Waypoint.newBuilder();
        Waypoint.Builder pointBuilderStart = Waypoint.newBuilder();
        Waypoint.Builder pointBuilderEnd = Waypoint.newBuilder();
        RtTaskList.Builder taskListBuilder = RtTaskList.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
            RtTask.Builder taskBuilder = RtTask.newBuilder();
            taskBuilder.setOrderId(dto.getOrderId().toString());
            taskBuilder.setTaskId(snowflake.nextId() + "");
            taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
            //构建起点坐标数据
            pointBuilderStart.setWaypointId(dto.getOrderId() + "-001");
            pointBuilderStart.setPointType(PointType.START_POINT);
            pointBuilderStart.setSequence(1);
            pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
            GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
            geoPointBuilder.setLatitude(dto.getStartLatitude());
            geoPointBuilder.setLongitude(dto.getStartLongitude());
            pointBuilderStart.setPoint(geoPointBuilder.build());
            taskBuilder.addPoints(pointBuilderStart);

            //构建终点数据
            pointBuilderEnd.setWaypointId(dto.getOrderId() + "-002");
            pointBuilderEnd.setPointType(PointType.CRUISE_END_POINT);
            pointBuilderEnd.setSequence(2);
            pointBuilderEnd.setActionType(ActionType.DRIVE_THROUGH);
            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());
            geoPointBuilder.setLongitude(dto.getEndLongitude());
            pointBuilderEnd.setPoint(geoPointBuilder.build());
            taskBuilder.addPoints(pointBuilderEnd);
            taskBuilder.setSequence(1);
            taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_CRUISE);
            taskListBuilder.addTasks(taskBuilder.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());
            for (int i = 1; i < 3; i++) {
                RtTask.Builder taskBuilder = RtTask.newBuilder();
                taskBuilder.setOrderId(dto.getOrderId().toString());
                taskBuilder.setTaskId(snowflake.nextId() + "");
                taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
                if(i == 1){
                    VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(dto.getVin())), VehiclePosition.class);
                    //构建车辆当前位置数据
                    pointBuilderStart.setWaypointId(dto.getOrderId() + "-JJ-001");
                    pointBuilderStart.setPointType(PointType.START_POINT);
                    pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
                    pointBuilderStart.setSequence(1);
                    GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(vehiclePosition.getPoint().getY());
                    geoPointBuilder.setLongitude(vehiclePosition.getPoint().getX());
                    pointBuilderStart.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderStart);

                    //构建上车点位置信息
                    pointBuilderEnd.setWaypointId(dto.getOrderId() + "-JJ-002");
                    pointBuilderEnd.setPointType(PointType.PICK_UP_POINT);
                    pointBuilderEnd.setActionType(ActionType.PICK_UP);
                    pointBuilderEnd.setSequence(2);
                    geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(dto.getStartLatitude());
                    geoPointBuilder.setLongitude(dto.getStartLongitude());
                    pointBuilderEnd.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderEnd);
                    taskBuilder.setSequence(i);
                    taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_PICKUP);
                }else{
                    //构建上车点位置信息
                    pointBuilderStart.setWaypointId(dto.getOrderId() + "-SD-001");
                    pointBuilderStart.setPointType(PointType.PICK_UP_POINT);
                    pointBuilderStart.setActionType(ActionType.PICK_UP);
                    pointBuilderStart.setSequence(1);
                    GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(dto.getStartLatitude());
                    geoPointBuilder.setLongitude(dto.getStartLongitude());
                    pointBuilderStart.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderStart);

                    //构建下车点位置信息
                    pointBuilderEnd.setWaypointId(dto.getOrderId() + "-SD-002");
                    pointBuilderEnd.setPointType(PointType.END_POINT);
                    pointBuilderEnd.setActionType(ActionType.DROP_OFF);
                    pointBuilderEnd.setSequence(2);
                    geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(dto.getEndLatitude());
                    geoPointBuilder.setLongitude(dto.getEndLongitude());
                    pointBuilderEnd.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderEnd);
                    taskBuilder.setSequence(i);
                    taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);
                }
                taskListBuilder.addTasks(taskBuilder.build());
            }
        }
        taskBuilder.addPoints(pointBuilder);
        RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
        taskListBuilder.addTasks(taskBuilder.build());

        SnowFlake snowFlake = new SnowFlake(0, 0);
        snowFlake.withStartTimestamp(1420041600000L);
        long sequence = snowFlake.nextId();
        long sequence = snowflake.nextId();
        MqttPublishDto mqttPublishDto = xpuUtil.cloudCreateOrder(taskListBuilder.build(), dto.getVin(),sequence);

        // 正常单子才修改  巡游单子不修改状态
        //先将车辆修改状态，防止在异步通知之前被其他订单选中
        if (!dto.getOrderId().contains("XU") && mqttPublishDto.getCode()== 200) {
            // 修改车子为接单状态
            xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(dto.getVin(),1));
            xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(dto.getVin(), 1));
        }
        if(null != mqttPublishDto && mqttPublishDto.getCode() == 200){
            JSONObject jsonObject = new JSONObject();
            jsonObject.put("event", SystemEventType.CREATE_ORDER);
            jsonObject.put("orderType", dto.getOrderId().contains("XU") ? com.xiaopeng.api.vo.OrderType.CRUISE_ORDER : com.xiaopeng.api.vo.OrderType.USER_ORDER);
            jsonObject.put("orderId", dto.getOrderId());
            jsonObject.put("vin", dto.getVin());
            redisService.setCacheObject("CREATE_ORDER:" + dto.getOrderId().toString(), jsonObject.toJSONString(),30L, TimeUnit.MINUTES);
            return R.ok(true);
        }
        return R.ok(false);
@@ -134,14 +181,12 @@
    R<Boolean> cancelOrder(@RequestBody PushOrderDto dto) {
        OrderOperation.Builder operationBuilder = OrderOperation.newBuilder();
        operationBuilder.setOrderId(dto.getOrderId().toString());
        operationBuilder.setTaskId("CANCEL_MISSION_" + IdUtil.fastUUID());
        operationBuilder.setTaskId(snowflake.nextId() + "");
        if (dto.getOperation_type() != null) {
            operationBuilder.setOperationType(OrderOperationType.forNumber(dto.getOperation_type().getValue()));
            operationBuilder.setOperationType(OrderOperationType.forNumber(dto.getOperation_type().getNumber()));
        }

        SnowFlake snowFlake = new SnowFlake(0, 0);
        snowFlake.withStartTimestamp(1420041600000L);
        long sequence = snowFlake.nextId();
        long sequence = snowflake.nextId();
        MqttPublishDto mqttPublishDto = xpuUtil.cloudOrderOperation(operationBuilder.build(), dto.getVin(), sequence);

        if (mqttPublishDto.getCode() == 200) {
@@ -257,6 +302,17 @@
            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;
    }