修改登录签名秘钥

puzhibing

2026-03-24 6441b8f5ba7276edf9d495706dc79c2943da7a68

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

@@ -6,17 +6,20 @@
import com.alibaba.fastjson2.JSONObject;
import com.xiaopeng.api.dto.automaticPilot.MqttPublishDto;
import com.xiaopeng.api.dto.automaticPilot.PushOrderDto;
import com.xiaopeng.api.dto.automaticPilot.VehicleEventDTO;
import com.xiaopeng.api.dto.map.OrderRouteAndFareDto;
import com.xiaopeng.api.dto.operation.LonLatDto;
import com.xiaopeng.api.dto.order.PopOrderDto;
import com.xiaopeng.api.dto.pushMessage.PushOrderRouteDTO;
import com.xiaopeng.api.dto.pushMessage.SendMessageDTO;
import com.xiaopeng.api.dto.vehicleConvoy.UpdateVehicleStateDto;
import com.xiaopeng.api.feignClient.automaticPilot.VehicleBuriedPointClient;
import com.xiaopeng.api.feignClient.map.XpMapClient;
import com.xiaopeng.api.feignClient.order.XpOrderClient;
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.OrderType;
import com.xiaopeng.api.vo.SystemEventType;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
@@ -30,6 +33,7 @@
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;
@@ -59,6 +63,8 @@
    @Resource
    private XpVehicleClient xpVehicleClient;
    @Resource
    private VehicleBuriedPointClient vehicleBuriedPointClient;
    @Resource(name = "hutoolSnowflake")
    private Snowflake snowflake;

    @PostMapping("/inner/pushOrder")
@@ -91,13 +97,13 @@
            pointBuilderEnd.setActionType(ActionType.DRIVE_THROUGH);
            geoPointBuilder = GeoPoint.newBuilder();
            geoPointBuilder.setLatitude(dto.getEndLatitude());
            geoPointBuilder.setLongitude(dto.getEndLatitude());
            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{
        }else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.USER_ORDER)){
            for (int i = 1; i < 3; i++) {
                RtTask.Builder taskBuilder = RtTask.newBuilder();
                taskBuilder.setOrderId(dto.getOrderId().toString());
@@ -147,7 +153,65 @@
                    pointBuilderEnd.setSequence(2);
                    geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(dto.getEndLatitude());
                    geoPointBuilder.setLongitude(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());
            }
        }else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.TEST_ORDER)){
            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);
@@ -164,10 +228,17 @@
            // 修改车子为接单状态
            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);
            if(dto.getOrderId().contains("XU")){
                jsonObject.put("orderType",  com.xiaopeng.api.vo.OrderType.CRUISE_ORDER);
            }else if(dto.getOrderId().contains("TEST")){
                jsonObject.put("orderType",  com.xiaopeng.api.vo.OrderType.TEST_ORDER);
            }else {
                jsonObject.put("orderType",  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);
@@ -525,6 +596,7 @@
        Long appUserId = xpOrder.getAppUserId();
        Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId());
        RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
        log.info("开始实施推送车辆位置和剩余导航线路 {} {}", xpOrder.getOrderNumber(), JSON.toJSONString(routeVo));

        ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));
        Long finalOrderId = orderId;
@@ -597,7 +669,7 @@

                //5秒钟循环一次
                try {
                    Thread.sleep(500);
                    Thread.sleep(1000);
                } catch (InterruptedException e) {
                    throw new RuntimeException(e);
                }