Merge branch 'master' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi

liujie

2026-02-25 88f182b9489cc9faed8c679f43513d8a94ebbc64

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

@@ -51,6 +51,7 @@
import com.xiaopeng.common.core.utils.SnowFlake;
import com.xiaopeng.common.core.utils.StringUtils;
import com.xiaopeng.common.core.utils.uuid.UUID;
import com.xiaopeng.common.redis.service.RedisService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.data.mongodb.core.MongoTemplate;
@@ -103,6 +104,8 @@

    @Resource
    private Snowflake snowflake;
    @Autowired
    private RedisService redisService;


    /**
@@ -476,17 +479,34 @@
        //订单类型  1：乘客订单，2=巡游订单
        LonLatDto destination = new LonLatDto();
        LonLatDto origin = new LonLatDto();
        //导航id
        String routeID = "";
        Long vehicleId = null;
        if (orderId.contains("XU")) {
            // todo 下发巡游单的导航数据
            //巡游单
            if (orderPhase.equals(OrderPhase.ROUTE_TO_CRUISE)) {
                //先响应消息
                responseMessage(sequence, "");
                //构建导航数据给到车端
                origin.setLongitude(116.40528);
                origin.setLatitude(39.90498);
                destination.setLongitude(116.40528);
                destination.setLatitude(39.90498);

                //先响应消息
                responseMessage(sequence, "");
                OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                dto.setOrderId(Long.parseLong(orderId));
                dto.setOrigin(origin);
                dto.setDestination(destination);
                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();
                routeID = routeVo.getRouteID();


//                vehicleId = xpOrder.getVehicleId();
            }
        } else {
            //正常单
@@ -510,31 +530,57 @@
                origin.setLatitude(vehiclePosition.getPoint().getY());
                destination.setLongitude(xpOrder.getStartLon());
                destination.setLatitude(xpOrder.getStartLat());

                OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                dto.setOrderId(Long.parseLong(orderId));
                dto.setOrigin(origin);
                dto.setDestination(destination);
                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();
                routeID = routeVo.getRouteID();
            }
            //驶往下车点的行程
            if (orderPhase.equals(OrderPhase.ROUTE_TO_DESTINATION)) {
                //查询起点到终点的线路
                origin.setLongitude(xpOrder.getStartLon());
                origin.setLatitude(xpOrder.getStartLat());
                destination.setLongitude(xpOrder.getEndLon());
                destination.setLatitude(xpOrder.getEndLat());
                //直接取缓存中的导航数据推送给车端和乘客
                Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_DATA:" + xpOrder.getAppUserId());
                if(null == cacheObject){
                    //没有缓存数据，重新规划线路
                    //查询起点到终点的线路
                    origin.setLongitude(xpOrder.getStartLon());
                    origin.setLatitude(xpOrder.getStartLat());
                    destination.setLongitude(xpOrder.getEndLon());
                    destination.setLatitude(xpOrder.getEndLat());
                    OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                    dto.setOrderId(Long.parseLong(orderId));
                    dto.setOrigin(origin);
                    dto.setDestination(destination);
                    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();
                    routeID = routeVo.getRouteID();
                    //缓存导航数据，用于后面的逻辑中给乘客端推送导航数据
                    redisService.setCacheObject("ORDER_NAVIGATION_DATA:" + xpOrder.getAppUserId(), com.alibaba.fastjson.JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
                }else{
                    RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
                    routeID = routeVo.getRouteID();
                }
            }
            OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
            dto.setOrderId(Long.parseLong(orderId));
            dto.setOrigin(origin);
            dto.setDestination(destination);
            R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
            if (200 != routeVoR.getCode()) {
                throw new RuntimeException("获取订单线路和运费失败");
            }
            XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
            RouteVo routeVo = routeVoR.getData();
            R<String> stringR = xpMapClient.queryRouted(routeVo.getRouteID());
            vehicleId = xpOrder.getVehicleId();
        }

        if(StringUtils.isNotEmpty(routeID)){
            XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
            R<String> stringR = xpMapClient.queryRouted(routeID);
            if (200 != stringR.getCode()) {
                throw new RuntimeException("根据导航ID获取车端需要的导航数据失败");
            }
            //构建导航下发请求对象
            cloudPushNavigationInfo(requestId, routeVo.getRouteID(), stringR.getData(), orderId, xpVehicle.getVehicleVin(), xpVehicle.getXpuId());
            cloudPushNavigationInfo(requestId, routeID, stringR.getData(), orderId, xpVehicle.getVehicleVin(), xpVehicle.getXpuId());
        }
    }