修改bug

liujie

2026-03-06 413a30c66c022488a0145835d3149c54db27e1c5

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

@@ -23,6 +23,7 @@
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;
import com.xiaopeng.automaticPilot.util.XPUUtil;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.core.enums.OrderStatusEnum;
@@ -37,16 +38,16 @@
import org.springframework.data.mongodb.core.geo.GeoJsonPoint;
import org.springframework.data.mongodb.core.query.Criteria;
import org.springframework.data.mongodb.core.query.Query;
import org.springframework.data.mongodb.core.query.Update;
import org.springframework.data.redis.core.RedisTemplate;
import org.springframework.web.bind.annotation.*;

import javax.annotation.Resource;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.*;
import java.util.concurrent.LinkedBlockingQueue;
import java.util.concurrent.ThreadPoolExecutor;
import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;

@Slf4j
@RestController
@@ -61,7 +62,6 @@
    @Resource
    private XpVehicleClient xpVehicleClient;


    @PostMapping("/inner/pushOrder")
    public R<Boolean> pushOrder(@RequestBody PushOrderDto dto) {
        RtTask.Builder taskBuilder = RtTask.newBuilder();
@@ -74,6 +74,45 @@
        }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());

@@ -86,7 +125,6 @@
        if (!dto.getOrderId().contains("XU") && mqttPublishDto.getCode()== 200) {
            // 修改车子为接单状态
            xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(dto.getVin(),1));

            return R.ok(true);
        }
        return R.ok(false);
@@ -104,9 +142,17 @@
        SnowFlake snowFlake = new SnowFlake(0, 0);
        snowFlake.withStartTimestamp(1420041600000L);
        long sequence = snowFlake.nextId();
        xpuUtil.cloudOrderOperation(operationBuilder.build(), dto.getVin(), sequence);
        redisService.setCacheObject(String.valueOf(sequence), "cancelOrder_" + dto.getOrderId() + "_" + dto.getVin(), 30l, TimeUnit.MINUTES);
        return R.ok(true);
        MqttPublishDto mqttPublishDto = xpuUtil.cloudOrderOperation(operationBuilder.build(), dto.getVin(), sequence);

        if (mqttPublishDto.getCode() == 200) {
            if(!dto.getOrderId().contains("XU")){
                // 正常订单处理
                redisService.setCacheObject(String.valueOf(sequence), "cancelOrder_" + dto.getOrderId() + "_" + dto.getVin(), 30l, TimeUnit.MINUTES);
            }
            return R.ok(true);
        }

        return R.ok(false);


    }
@@ -151,9 +197,23 @@
     * @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 = 11L;//默认使用造的测试车辆
        }
        if(null == startLat || null == startLon){
            startLat = 30.583407D;
            startLon = 104.040251D;
        }
        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();
@@ -167,11 +227,11 @@
        dto.setRouteType(1);
        R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
        if (200 != routeVoR.getCode()) {
            throw new RuntimeException("获取订单线路和运费失败");
//            throw new RuntimeException("获取订单线路和运费失败");
        }
        RouteVo routeVo = routeVoR.getData();
        //缓存数据，用于后续推给乘客导航线路
        redisService.setCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId(), com.alibaba.fastjson.JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
        redisService.setCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);

        PopOrderDto dto1 = new PopOrderDto();
        dto1.setOrderId(Long.valueOf(orderId));
@@ -197,6 +257,17 @@
            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;
    }

@@ -206,23 +277,42 @@
     * @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);
//        Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId());
//        RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
        RouteVo routeVo =new RouteVo();
        ArrayList<LonLatDto> lonLatDtos = new ArrayList<>();
        LonLatDto lonLatDto1 = new LonLatDto();
        lonLatDto1.setLatitude(30.575685);
        lonLatDto1.setLongitude(104.001118);
        lonLatDtos.add(lonLatDto1);
        routeVo.setPolyline(lonLatDtos);


        ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));
        Long finalOrderId = orderId;
        Long finalOrderId1 = 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);
            }

            List<LonLatDto> polyline = routeVo.getPolyline();
            for (LonLatDto lonLatDto : polyline) {
                Double latitude = lonLatDto.getLatitude();
@@ -235,21 +325,33 @@
                VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
                if (null == vehiclePosition) {
                    vehiclePosition = new VehiclePosition();
                    vehiclePosition.setVin(vin);
                    vehiclePosition.setPoint(new GeoJsonPoint(longitude, latitude));
                    vehiclePosition.setCourse(60D);
                    vehiclePosition.setAlt(100F);
                    vehiclePosition.setSpeed(50F);
                    vehiclePosition.setCurrentElectricity(80);
                    vehiclePosition.setMileageRange(300f);
                    vehiclePosition.setHasOrder(0);
                    vehiclePosition.setOrderId(finalOrderId1);
                    mongoTemplate.save(vehiclePosition);
                }else{
                    vehiclePosition.setOrderId(finalOrderId1);
                    Update update = new Update()
                            .set("point", new GeoJsonPoint(longitude, latitude))
                            .set("course", 60D)
                            .set("alt", 100F)
                            .set("speed", 50F)
                            .set("currentElectricity", 80)
                            .set("mileageRange", 300f)
                            .set("hasOrder", 0)
                            .set("orderId", finalOrderId1);
                    mongoTemplate.updateFirst(new Query(Criteria.where("vin").is(vin)), update, VehiclePosition.class);
                }
                vehiclePosition.setVin(vin);
                vehiclePosition.setPoint(new GeoJsonPoint(longitude, latitude));
                vehiclePosition.setCourse(60D);
                vehiclePosition.setAlt(100F);
                //车辆动态信息
                vehiclePosition.setSpeed(50F);
                vehiclePosition.setCurrentElectricity(80);
                vehiclePosition.setMileageRange(300f);
                vehiclePosition.setOrderId(orderId);
                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);
@@ -270,7 +372,7 @@
            //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));
@@ -283,7 +385,7 @@
            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());
        });

    }
@@ -296,8 +398,15 @@
     * @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<>();
@@ -315,6 +424,36 @@
            log.error("推送消息失败：{}", stringR.getMsg());
        }
        xpOrderClient.updateOrderStatus(orderId, status);
        if(5 == status){
            //主动推一次全程轨迹
            Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId());
            RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
            com.alibaba.fastjson2.JSONObject jsonObject = new com.alibaba.fastjson2.JSONObject();
            jsonObject.put("type", "ORDER_ROUTE");
            jsonObject.put("timestamp", System.currentTimeMillis());
            com.alibaba.fastjson2.JSONObject content1 = new com.alibaba.fastjson2.JSONObject();
            content1.put("orderId", orderId.toString());
            content1.put("routeType", 1);
            com.alibaba.fastjson2.JSONObject route = new com.alibaba.fastjson2.JSONObject();
            route.put("distance", routeVo.getDistance());
            route.put("duration", routeVo.getDuration());
            route.put("routeID", routeVo.getRouteID());

            List<com.alibaba.fastjson2.JSONObject> collect = routeVo.getPolyline().stream().map(item -> {
                com.alibaba.fastjson2.JSONObject point = new com.alibaba.fastjson2.JSONObject();
                point.put("latitude", item.getLatitude());
                point.put("longitude", item.getLongitude());
                return point;
            }).collect(Collectors.toList());

            route.put("polyline", JSON.toJSONString(collect));
            content1.put("route", route.toJSONString());
            jsonObject.put("content", content1.toJSONString());
            SendMessageDTO messageDTO = new SendMessageDTO();
            messageDTO.setAppUserId(xpOrder.getAppUserId().toString());
            messageDTO.setMessage(jsonObject.toJSONString());
            xpPushMessageClient.sendRoute(messageDTO);
        }
        return R.ok();
    }

@@ -325,19 +464,31 @@
     * @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;
        Long finalOrderId1 = 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);
            }
@@ -354,21 +505,33 @@
                VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
                if (null == vehiclePosition) {
                    vehiclePosition = new VehiclePosition();
                    vehiclePosition.setVin(vin);
                    vehiclePosition.setPoint(new GeoJsonPoint(longitude, latitude));
                    vehiclePosition.setCourse(60D);
                    vehiclePosition.setAlt(100F);
                    vehiclePosition.setSpeed(50F);
                    vehiclePosition.setCurrentElectricity(80);
                    vehiclePosition.setMileageRange(300f);
                    vehiclePosition.setHasOrder(0);
                    vehiclePosition.setOrderId(finalOrderId1);
                    mongoTemplate.save(vehiclePosition);
                }else{
                    vehiclePosition.setOrderId(finalOrderId1);
                    Update update = new Update()
                            .set("point", new GeoJsonPoint(longitude, latitude))
                            .set("course", 60D)
                            .set("alt", 100F)
                            .set("speed", 50F)
                            .set("currentElectricity", 80)
                            .set("mileageRange", 300f)
                            .set("hasOrder", 0)
                            .set("orderId", finalOrderId1);
                    mongoTemplate.updateFirst(new Query(Criteria.where("vin").is(vin)), update, VehiclePosition.class);
                }
                vehiclePosition.setVin(vin);
                vehiclePosition.setPoint(new GeoJsonPoint(longitude, latitude));
                vehiclePosition.setCourse(60D);
                vehiclePosition.setAlt(100F);
                //车辆动态信息
                vehiclePosition.setSpeed(50F);
                vehiclePosition.setCurrentElectricity(80);
                vehiclePosition.setMileageRange(300f);
                vehiclePosition.setOrderId(orderId);
                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);
@@ -376,11 +539,21 @@
                    dto.setDistance(10);
                    dto.setDirection(60);
                    xpPushMessageClient.pushOrderRoute(dto);

                    //存储历史轨迹
                    OrderTrajectoryVo orderTrajectory = new OrderTrajectoryVo();
                    orderTrajectory.setOrderId(finalOrderId);
                    orderTrajectory.setLocation(longitude + "," + latitude);
                    orderTrajectory.setDirection(dto.getDirection());
                    orderTrajectory.setSpeed(0D);
                    orderTrajectory.setLocatetime(System.currentTimeMillis());
                    orderTrajectory.setCreateTime(new Date());
                    xpOrderClient.saveVehicleLocation(orderTrajectory);
                }

                //5秒钟循环一次
                try {
                    Thread.sleep(2000);
                    Thread.sleep(500);
                } catch (InterruptedException e) {
                    throw new RuntimeException(e);
                }
@@ -389,7 +562,7 @@
            //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));
@@ -402,7 +575,7 @@
            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());
        });
    }