Merge remote-tracking branch 'origin/master'

“mitao”

2026-03-14 4e6453cc91184f149530a22c3015085a04c74b30

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

@@ -793,8 +793,10 @@
                    break;
                case ORDER_RECEIVED:
                    //收到订单
                    buildPushOrderStatus(orderId, OrderStatusEnum.READY_DEPART, sequence);
                    xpOrderClient.updateOrderStatus(Long.parseLong(orderId.contains("XU") ? orderId.substring(2) : orderId), OrderStatusEnum.READY_DEPART.getCode());
                    if(!orderId.contains("XU")){
                        buildPushOrderStatus(orderId, OrderStatusEnum.READY_DEPART, sequence);
                        xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.READY_DEPART.getCode());
                    }
                    break;
                case ORDER_STARTED:
                    //开始执行订单
@@ -802,8 +804,10 @@
                    break;
                case ORDER_EN_ROUTE_TO_PICKUP:
                    //前往上车点
                    buildPushOrderStatus(orderId, OrderStatusEnum.PICK_UP, sequence);
                    xpOrderClient.updateOrderStatus(Long.parseLong(orderId.contains("XU") ? orderId.substring(2) : orderId), OrderStatusEnum.PICK_UP.getCode());
                    if(!orderId.contains("XU")){
                        buildPushOrderStatus(orderId, OrderStatusEnum.PICK_UP, sequence);
                        xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PICK_UP.getCode());
                    }
                    break;
                case ORDER_ARRIVED_AT_PICKUP:
                    //到达上车点
@@ -811,49 +815,41 @@
                    break;
                case ORDER_WAITING_FOR_PICKUP:
                    //等待乘客上车
                    buildPushOrderStatus(orderId, OrderStatusEnum.PICK_UP_GUESTS, sequence);
                    xpOrderClient.updateOrderStatus(Long.parseLong(orderId.contains("XU") ? orderId.substring(2) : orderId), OrderStatusEnum.PICK_UP_GUESTS.getCode());
                    if(!orderId.contains("XU")){
                        buildPushOrderStatus(orderId, OrderStatusEnum.PICK_UP_GUESTS, sequence);
                        xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PICK_UP_GUESTS.getCode());
                    }
                    break;
                case ORDER_PASSENGER_ONBOARD:
                    //乘客已上车
                    buildPushOrderStatus(orderId, OrderStatusEnum.PASSENGER_BOARDED, sequence);
                    xpOrderClient.updateOrderStatus(Long.parseLong(orderId.contains("XU") ? orderId.substring(2) : orderId), OrderStatusEnum.PASSENGER_BOARDED.getCode());
                    if(!orderId.contains("XU")){
                        buildPushOrderStatus(orderId, OrderStatusEnum.PASSENGER_BOARDED, sequence);
                        xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PASSENGER_BOARDED.getCode());
                    }
                    break;
                case ORDER_EN_ROUTE_TO_DESTINATION:
                    //前往目的地
                    buildPushOrderStatus(orderId, OrderStatusEnum.IN_SERVICE, sequence);
                    xpOrderClient.updateOrderStatus(Long.parseLong(orderId.contains("XU") ? orderId.substring(2) : orderId), OrderStatusEnum.IN_SERVICE.getCode());
                    if(!orderId.contains("XU")){
                        buildPushOrderStatus(orderId, OrderStatusEnum.IN_SERVICE, sequence);
                        xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.IN_SERVICE.getCode());
                    }
                    break;
                case ORDER_ARRIVED_AT_DESTINATION:
                    //到达目的地
                    log.info("到达目的地，不做任何处理：{}", orderId);
                    break;
                case ORDER_WAITING_FOR_DROPOFF:
                    //等待乘客下车
                    buildPushOrderStatus(orderId, OrderStatusEnum.SEE_OFF_GUESTS, sequence);
                    xpOrderClient.updateOrderStatus(Long.parseLong(orderId.contains("XU") ? orderId.substring(2) : orderId), OrderStatusEnum.SEE_OFF_GUESTS.getCode());
                    //等待乘客下车，开始倒计时发下巡游单
                    if(!orderId.contains("XU")){
                        buildPushOrderStatus(orderId, OrderStatusEnum.SEE_OFF_GUESTS, sequence);
                        xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.SEE_OFF_GUESTS.getCode());
                    }
                    break;
                case ORDER_DROPOFF_COMPLETED:
                    //下车完成
                    buildPushOrderStatus(orderId, OrderStatusEnum.APPROVAL_REJECTION, sequence);
                    xpOrderClient.updateOrderStatus(Long.parseLong(orderId.contains("XU") ? orderId.substring(2) : orderId), OrderStatusEnum.APPROVAL_REJECTION.getCode());
                    // 下发巡游任务
                    R<XpOrder> xpOrderR = xpOrderClient.queryOrderById(Long.parseLong(orderId));
                    if(xpOrderR.getCode()==200){
                        XpOrder orderData = xpOrderR.getData();
                        Long vehicleId =orderData.getVehicleId();
                        R<XpVehicle> xpVehicleR = xpVehicleClient.queryById(vehicleId);
                        if(xpVehicleR.getData()!=null){
                            XpVehicle xpVehicle = xpVehicleR.getData();
                            //订单结束，在添加导航数据之前先将车辆状态修改为空闲
                            xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(xpVehicle.getVehicleVin(), 0));
                            xpVehicle = xpVehicleClient.queryById(vehicleId).getData();

                            AddCruiseMissionDto addCruiseMissionDto = new AddCruiseMissionDto();
                            addCruiseMissionDto.setOrder(orderData);
                            addCruiseMissionDto.setVehicle(xpVehicle);
                            xpCruiseOrderClient.addCruiseMission(addCruiseMissionDto);
                        }
                    if(!orderId.contains("XU")){
                        buildPushOrderStatus(orderId, OrderStatusEnum.APPROVAL_REJECTION, sequence);
                        xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.APPROVAL_REJECTION.getCode());
                    }
                    break;
                case ORDER_COMPLETED:
@@ -862,12 +858,16 @@
                    break;
                case ORDER_CANCELLED:
                    //已取消
                    buildPushOrderStatus(orderId, OrderStatusEnum.CANCELED, sequence);
                    xpOrderClient.updateOrderStatus(Long.parseLong(orderId.contains("XU") ? orderId.substring(2) : orderId), OrderStatusEnum.CANCELED.getCode());
                    if(!orderId.contains("XU")){
                        buildPushOrderStatus(orderId, OrderStatusEnum.CANCELED, sequence);
                        xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.CANCELED.getCode());
                    }
                    break;
                case ORDER_ARRIVED_AT_CRUISE_DESTINATION:
                    //到达巡游终点
                    buildPushOrderStatus(orderId, OrderStatusEnum.COMPLETED, sequence);
                    if(orderId.contains("XU")){
                        buildPushOrderStatus(orderId, OrderStatusEnum.COMPLETED, sequence);
                    }
                    break;
                case ORDER_PAUSED:
                    //订单暂停