合并代码

puzhibing

2026-05-11 43f10a422efd983a5f806db2f20520ebe1414cae

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

@@ -445,6 +445,7 @@
                    dto.setRouteType(1);
                    dto.setLongitude(longitude);
                    dto.setLatitude(latitude);
                    dto.setSpeed(dynamicStatus.getSpeed());
                    if (rtTripInfo.hasCurrentTask() && rtTripInfo.getCurrentTask().hasNaviProgressInfo()) {
                        dto.setDuration(rtTripInfo.getCurrentTask().getNaviProgressInfo().getRouteRemainTime());
                        dto.setDistance(rtTripInfo.getCurrentTask().getNaviProgressInfo().getRouteRemainDist());
@@ -661,7 +662,7 @@
        LonLatDto origin = new LonLatDto();
        RouteVo routeVo = null;
        String key = "";

        Float speed = 0f;

        //添加redis锁，用于在发生偏航后重新规划线路与正常推送剩余导航数据之间的冲突
        RLock lock = redissonClient.getLock("PUSH_ORDER_ROUTE_LOCK:" + orderId);
@@ -700,6 +701,13 @@
            } else if(orderId.contains("TEST")){
                R<XpTestOrder> cruiseOrder = testOrderClient.queryOrderById(Long.parseLong(orderId.substring(4)));
                XpTestOrder testOrder = cruiseOrder.getData();

                XpVehicle xpVehicle = xpVehicleClient.queryById(testOrder.getVehicleId()).getData();
                VehiclePosition vehiclePosition = mongoTemplate.findOne(Query.query(Criteria.where("vin").is(xpVehicle.getVehicleVin())), VehiclePosition.class);
                if(null != vehiclePosition){
                    speed = vehiclePosition.getSpeed();
                }

                //区分测试单和测试巡游单
                if(1 == testOrder.getOrderType()){
                    orderType = OrderType.TEST_ORDER;
@@ -778,6 +786,10 @@
                }
                XpOrder xpOrder = xpOrderR.getData();
                XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
                VehiclePosition vehiclePosition = mongoTemplate.findOne(Query.query(Criteria.where("vin").is(xpVehicle.getVehicleVin())), VehiclePosition.class);
                if(null != vehiclePosition){
                    speed = vehiclePosition.getSpeed();
                }
                //驶往上车点的行程
                if (3 == xpOrder.getStatus()) {
                    //查询司机当前位置到起点的线路
@@ -833,6 +845,7 @@
                    dto.setRouteType(1);
                    dto.setLongitude(longitude);
                    dto.setLatitude(latitude);
                    dto.setSpeed(speed);
                    if (null != routeVo) {
                        dto.setDuration(null == routeVo.getDuration() ? 0 : routeVo.getDuration().doubleValue());
                        dto.setDistance(null == routeVo.getDistance() ? 0 : routeVo.getDistance().doubleValue());