小鹏汽车Robotaxi
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
puzhibing
2026-03-01 70a2c7c255c440fd1df4ae5a2c7d1c20edffd475 
 xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java


@@ -2,23 +2,50 @@




import cn.hutool.core.lang.Snowflake;


import cn.hutool.core.util.IdUtil;


import com.alibaba.fastjson2.JSON;


import com.alibaba.fastjson2.JSONObject;


import com.xiaopeng.api.dto.automaticPilot.MqttPublishDto;


import com.xiaopeng.api.dto.automaticPilot.PushOrderDto;


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.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.automaticPilot.VehiclePosition;


import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.RTTask;


import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.TaskStatus;


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.automaticPilot.util.XPUUtil;


import com.xiaopeng.common.core.domain.R;


import com.xiaopeng.common.core.enums.OrderStatusEnum;


import com.xiaopeng.common.core.enums.PushMessageTypeEnum;


import com.xiaopeng.common.core.utils.SnowFlake;


import com.xiaopeng.common.core.utils.StringUtils;


import com.xiaopeng.common.redis.service.RedisService;


import io.swagger.annotations.Api;


import lombok.extern.slf4j.Slf4j;


import org.springframework.data.geo.Point;


import org.springframework.data.mongodb.core.MongoTemplate;


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.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.concurrent.LinkedBlockingQueue;


import java.util.concurrent.ThreadPoolExecutor;


import java.util.concurrent.TimeUnit;




@Slf4j


@@ -83,4 +110,301 @@






    }




























    //-----------------------------------------------用户测试阶段模拟车机报文调用流程接口实现业务闭环--------------------------------------//






    @Resource


    private XpOrderClient xpOrderClient;




    @Resource


    private XpMapClient xpMapClient;




    @Resource


    private MongoTemplate mongoTemplate;




    @Resource


    public RedisTemplate redisTemplate;




    @Resource


    private XpPushMessageClient xpPushMessageClient;






    /**


     * 模拟接单


     * @param orderId       订单id


     * @param vehicleId     车辆id


     * @param startLon      车子当前位置经度


     * @param startLat      车子当前位置维度


     * @return


     */


    @GetMapping("/base/v1/order/acceptingOrder")


    public R acceptingOrder(Long orderId, Long vehicleId, Double startLon, Double startLat){


        XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();


        XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();


        OrderRouteAndFareDto dto = new OrderRouteAndFareDto();


        dto.setOrderId(orderId);


        LonLatDto origin = new LonLatDto();


        origin.setLongitude(startLon);


        origin.setLatitude(startLat);


        dto.setOrigin(origin);


        LonLatDto destination = new LonLatDto();


        destination.setLongitude(xpOrder.getStartLon());


        destination.setLatitude(xpOrder.getStartLat());


        dto.setDestination(destination);


        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");


        }


        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(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);




        PopOrderDto dto1 = new PopOrderDto();


        dto1.setOrderId(Long.valueOf(orderId));


        dto1.setXpVehicleVin(xpVehicle.getVehicleVin());


        dto1.setOrderType(com.xiaopeng.api.vo.OrderType.USER_ORDER);


        R<?> r = xpOrderClient.popOrder(dto1);




        //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("status", 3);


        params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());


        params.put("content", JSONObject.toJSONString(content));


        params.put("timestamp", System.currentTimeMillis() + "");


        String message = JSONObject.toJSONString(params);


        Long appUserId = xpOrder.getAppUserId();


        SendMessageDTO dto2 = new SendMessageDTO();


        dto2.setAppUserId(appUserId + "");


        dto2.setMessage(message);


        R<String> stringR = xpPushMessageClient.sendStatus(dto2);


        if (R.isError(stringR)) {


            log.error("推送消息失败：{}", stringR.getMsg());


        }


        xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP.getCode());


        return r;


    }






    /**


     * 推送司机接驾轨迹和实时位置


     * @param orderId


     */


    @GetMapping("/base/v1/order/pushStartDriverLocation")


    private void pushStartDriverLocation(Long vehicleId, Long orderId){


        XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();


        XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();


        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);




        ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));


        threadPoolExecutor.execute(() -> {


            //等待10秒后开始执行车子位移


            try {


                Thread.sleep(10000);


            } catch (InterruptedException e) {


                throw new RuntimeException(e);


            }




            List<LonLatDto> polyline = routeVo.getPolyline();


            for (LonLatDto lonLatDto : polyline) {


                Double latitude = lonLatDto.getLatitude();


                Double longitude = lonLatDto.getLongitude();




                //保存车辆实时位置到redis


                redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new Point(longitude, latitude), vin);




                //保存车辆实时信息到mongodb


                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);


                //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) {


                    PushOrderRouteDTO dto = new PushOrderRouteDTO();


                    dto.setOrderId(orderId);


                    dto.setRouteType(1);


                    dto.setLongitude(longitude);


                    dto.setLatitude(latitude);


                    dto.setDuration(10);


                    dto.setDistance(2);


                    dto.setDirection(60);


                    xpPushMessageClient.pushOrderRoute(dto);


                }




                //2秒钟循环一次


                try {


                    Thread.sleep(2000);


                } catch (InterruptedException e) {


                    throw new RuntimeException(e);


                }


            }




            //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("status", 4);


            params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());


            params.put("content", JSONObject.toJSONString(content));


            params.put("timestamp", System.currentTimeMillis() + "");


            String message = JSONObject.toJSONString(params);


            SendMessageDTO dto2 = new SendMessageDTO();


            dto2.setAppUserId(appUserId + "");


            dto2.setMessage(message);


            R<String> stringR = xpPushMessageClient.sendStatus(dto2);


            if (R.isError(stringR)) {


                log.error("推送消息失败：{}", stringR.getMsg());


            }


            xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP_GUESTS.getCode());


        });




    }






    /**


     * 修改订单状态


     * @param orderId


     * @param status


     * @return


     */


    @GetMapping("/base/v1/order/updateOrderStatus")


    public R updateOrderStatus(Long orderId, Integer status) {


        XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();


        //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("status", status);


        params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());


        params.put("content", JSONObject.toJSONString(content));


        params.put("timestamp", System.currentTimeMillis() + "");


        String message = JSONObject.toJSONString(params);


        SendMessageDTO dto2 = new SendMessageDTO();


        dto2.setAppUserId(xpOrder.getAppUserId() + "");


        dto2.setMessage(message);


        R<String> stringR = xpPushMessageClient.sendStatus(dto2);


        if (R.isError(stringR)) {


            log.error("推送消息失败：{}", stringR.getMsg());


        }


        xpOrderClient.updateOrderStatus(orderId, status);


        return R.ok();


    }








    /**


     * 推送司机接驾轨迹和实时位置


     * @param orderId


     */


    @GetMapping("/base/v1/order/pushEndDriverLocation")


    private void pushEndDriverLocation(Long vehicleId, Long orderId){


        XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();


        XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();


        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));


        threadPoolExecutor.execute(() -> {


            //等待10秒后开始执行车子位移


            try {


                Thread.sleep(10000);


            } catch (InterruptedException e) {


                throw new RuntimeException(e);


            }




            List<LonLatDto> polyline = routeVo.getPolyline();


            for (LonLatDto lonLatDto : polyline) {


                Double latitude = lonLatDto.getLatitude();


                Double longitude = lonLatDto.getLongitude();




                //保存车辆实时位置到redis


                redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new Point(longitude, latitude), vin);




                //保存车辆实时信息到mongodb


                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);


                //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) {


                    PushOrderRouteDTO dto = new PushOrderRouteDTO();


                    dto.setOrderId(orderId);


                    dto.setRouteType(1);


                    dto.setLongitude(longitude);


                    dto.setLatitude(latitude);


                    dto.setDuration(20);


                    dto.setDistance(10);


                    dto.setDirection(60);


                    xpPushMessageClient.pushOrderRoute(dto);


                }




                //5秒钟循环一次


                try {


                    Thread.sleep(2000);


                } catch (InterruptedException e) {


                    throw new RuntimeException(e);


                }


            }




            //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("status", 7);


            params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());


            params.put("content", JSONObject.toJSONString(content));


            params.put("timestamp", System.currentTimeMillis() + "");


            String message = JSONObject.toJSONString(params);


            SendMessageDTO dto2 = new SendMessageDTO();


            dto2.setAppUserId(appUserId + "");


            dto2.setMessage(message);


            R<String> stringR = xpPushMessageClient.sendStatus(dto2);


            if (R.isError(stringR)) {


                log.error("推送消息失败：{}", stringR.getMsg());


            }


            xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode());


        });


    }






}