Merge remote-tracking branch 'origin/1.0' into 1.0

yyy

2026-04-21 6f55da80d19cba61bd23cd302b76bbb23038f7bd

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

@@ -80,7 +80,7 @@
        if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.CRUISE_ORDER)){
            RtTask.Builder taskBuilder = RtTask.newBuilder();
            taskBuilder.setOrderId(dto.getOrderId().toString());
            taskBuilder.setTaskId(snowflake.nextId() + "");
            taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getTaskId()) ? dto.getTaskId() : snowflake.nextId() + "");
            taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
            //构建起点坐标数据
            pointBuilderStart.setWaypointId(dto.getOrderId() + "-001");
@@ -111,7 +111,7 @@
            for (int i = 1; i < 3; i++) {
                RtTask.Builder taskBuilder = RtTask.newBuilder();
                taskBuilder.setOrderId(dto.getOrderId().toString());
                taskBuilder.setTaskId(snowflake.nextId() + "");
                taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getTaskId()) ? dto.getTaskId() : 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);
@@ -171,7 +171,7 @@
            for (int i = 1; i < 3; i++) {
                RtTask.Builder taskBuilder = RtTask.newBuilder();
                taskBuilder.setOrderId(dto.getOrderId().toString());
                taskBuilder.setTaskId(snowflake.nextId() + "");
                taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getTaskId()) ? dto.getTaskId() : 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);
@@ -230,7 +230,7 @@
            //测试单巡游单
            RtTask.Builder taskBuilder = RtTask.newBuilder();
            taskBuilder.setOrderId(dto.getOrderId().toString());
            taskBuilder.setTaskId(snowflake.nextId() + "");
            taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getTaskId()) ? dto.getTaskId() : snowflake.nextId() + "");
            taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
            //构建起点坐标数据
            pointBuilderStart.setWaypointId(dto.getOrderId() + "-001");
@@ -281,7 +281,7 @@
    }

    @PostMapping("/logan/inner/cancelOrder")
    R<Boolean> cancelOrder(@RequestBody PushOrderDto dto) {
    public R<Boolean> cancelOrder(@RequestBody PushOrderDto dto) {
        log.info("取消订单，推送XPU报文：{}", JSON.toJSONString(dto));
        String taskId = StringUtils.isNotEmpty(dto.getTaskId()) ? dto.getTaskId() : snowflake.nextId() + "";
        OrderOperation.Builder operationBuilder = OrderOperation.newBuilder();
@@ -317,6 +317,48 @@



    @PostMapping("/logan/inner/updateEndAddress")
    public R<Boolean> updateEndAddress(@RequestBody PushOrderDto dto){
        log.info("修改目的地，推送XPU报文：{}", JSON.toJSONString(dto));
        String taskId = StringUtils.isNotEmpty(dto.getTaskId()) ? dto.getTaskId() : snowflake.nextId() + "";
        OrderOperation.Builder operationBuilder = OrderOperation.newBuilder();
        operationBuilder.setOrderId(dto.getOrderId().toString());
        operationBuilder.setTaskId(taskId);
        if (dto.getOperation_type() != null) {
            operationBuilder.setOperationType(OrderOperationType.forNumber(dto.getOperation_type().getNumber()));
        }
        Waypoint.Builder waypointBuilder = Waypoint.newBuilder();
        waypointBuilder.setWaypointId(dto.getOrderId() + "-002");
        waypointBuilder.setPointType(PointType.END_POINT);
        waypointBuilder.setActionType(ActionType.DROP_OFF);
        waypointBuilder.setSequence(2);
        GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
        geoPointBuilder.setLatitude(dto.getStartLatitude());
        geoPointBuilder.setLongitude(dto.getStartLongitude());
        waypointBuilder.setPoint(geoPointBuilder.build());
        waypointBuilder.setPoiName(dto.getEndPoiName());
        operationBuilder.setTargetPoint(waypointBuilder);
        long sequence = snowflake.nextId();
        MqttPublishDto mqttPublishDto = xpuUtil.cloudOrderOperation(operationBuilder.build(), dto.getVin(), sequence);

        if (mqttPublishDto.getCode() == 200) {
            if(!dto.getOrderId().contains("XU")){
                Map<String, Object> cancelContext = new HashMap<>();
                cancelContext.put("orderId", dto.getOrderId());
                cancelContext.put("vin", dto.getVin());
                cancelContext.put("cancelScene", StringUtils.isNotEmpty(dto.getCancelScene())
                        ? dto.getCancelScene()
                        : CancelOrderSceneEnum.NORMAL_CANCEL.getCode());
                redisService.setCacheObject("CANCEL_ORDER_CONTEXT:" + taskId,
                        JSONObject.toJSONString(cancelContext), 30L, TimeUnit.MINUTES);
                log.info("记录修改目的地订单上下文成功，orderId: {}, vin: {}, taskId: {}, cancelScene: {}",
                        dto.getOrderId(), dto.getVin(), taskId, cancelContext.get("cancelScene"));
            }
            return R.ok(true);
        }

        return R.ok(false);
    }