修改bug

puzhibing

2026-03-01 8d5f2e4948c9aa18e8024232e3f6dcd712be61ae

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

@@ -23,6 +23,7 @@
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.api.vo.order.OrderTrajectoryVo;
import com.xiaopeng.automaticPilot.util.XPUUtil;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.core.enums.OrderStatusEnum;
@@ -41,12 +42,13 @@
import org.springframework.web.bind.annotation.*;

import javax.annotation.Resource;
import java.util.HashMap;
import java.util.Date;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;
import java.util.stream.Collectors;

@Slf4j
@RestController
@@ -171,7 +173,7 @@
        }
        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(), com.alibaba.fastjson.JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
        redisService.setCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);

        PopOrderDto dto1 = new PopOrderDto();
        dto1.setOrderId(Long.valueOf(orderId));
@@ -197,15 +199,17 @@
            log.error("推送消息失败：{}", stringR.getMsg());
        }
        xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP.getCode());
        PushOrderRouteDTO dto3 = new PushOrderRouteDTO();
        dto3.setOrderId(orderId);
        dto3.setRouteType(1);
        dto3.setLongitude(startLon);
        dto3.setLatitude(startLat);
        dto3.setDuration(10);
        dto3.setDistance(2);
        dto3.setDirection(60);
        xpPushMessageClient.pushOrderRoute(dto3);

//        PushOrderRouteDTO dto3 = new PushOrderRouteDTO();
//        dto3.setOrderId(orderId);
//        dto3.setRouteType(1);
//        dto3.setLongitude(startLon);
//        dto3.setLatitude(startLat);
//        dto3.setDuration(10);
//        dto3.setDistance(2);
//        dto3.setDirection(60);
//        xpPushMessageClient.pushOrderRoute(dto3);

        return r;
    }

@@ -324,6 +328,36 @@
            log.error("推送消息失败：{}", stringR.getMsg());
        }
        xpOrderClient.updateOrderStatus(orderId, status);
        if(5 == status){
            //主动推一次全程轨迹
            Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId());
            RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
            com.alibaba.fastjson2.JSONObject jsonObject = new com.alibaba.fastjson2.JSONObject();
            jsonObject.put("type", "ORDER_ROUTE");
            jsonObject.put("timestamp", System.currentTimeMillis());
            com.alibaba.fastjson2.JSONObject content1 = new com.alibaba.fastjson2.JSONObject();
            content1.put("orderId", orderId.toString());
            content1.put("routeType", 1);
            com.alibaba.fastjson2.JSONObject route = new com.alibaba.fastjson2.JSONObject();
            route.put("distance", routeVo.getDistance());
            route.put("duration", routeVo.getDuration());
            route.put("routeID", routeVo.getRouteID());

            List<com.alibaba.fastjson2.JSONObject> collect = routeVo.getPolyline().stream().map(item -> {
                com.alibaba.fastjson2.JSONObject point = new com.alibaba.fastjson2.JSONObject();
                point.put("latitude", item.getLatitude());
                point.put("longitude", item.getLongitude());
                return point;
            }).collect(Collectors.toList());

            route.put("polyline", JSON.toJSONString(collect));
            content1.put("route", route.toJSONString());
            jsonObject.put("content", content1.toJSONString());
            SendMessageDTO messageDTO = new SendMessageDTO();
            messageDTO.setAppUserId(xpOrder.getAppUserId().toString());
            messageDTO.setMessage(jsonObject.toJSONString());
            xpPushMessageClient.sendRoute(messageDTO);
        }
        return R.ok();
    }

@@ -378,18 +412,28 @@
                if (null != orderId) {
                    PushOrderRouteDTO dto = new PushOrderRouteDTO();
                    dto.setOrderId(orderId);
                    dto.setRouteType(2);
                    dto.setRouteType(1);
                    dto.setLongitude(longitude);
                    dto.setLatitude(latitude);
                    dto.setDuration(20);
                    dto.setDistance(10);
                    dto.setDirection(60);
                    xpPushMessageClient.pushOrderRoute(dto);

                    //存储历史轨迹
                    OrderTrajectoryVo orderTrajectory = new OrderTrajectoryVo();
                    orderTrajectory.setOrderId(orderId);
                    orderTrajectory.setLocation(longitude + "," + latitude);
                    orderTrajectory.setDirection(dto.getDirection());
                    orderTrajectory.setSpeed(0D);
                    orderTrajectory.setLocatetime(System.currentTimeMillis());
                    orderTrajectory.setCreateTime(new Date());
                    xpOrderClient.saveVehicleLocation(orderTrajectory);
                }

                //5秒钟循环一次
                try {
                    Thread.sleep(2000);
                    Thread.sleep(500);
                } catch (InterruptedException e) {
                    throw new RuntimeException(e);
                }
@@ -399,7 +443,7 @@
            Map<String, Object> params = new HashMap<>();
            Map<String, Object> content = new HashMap<>();
            content.put("orderId", orderId.toString());
            content.put("status", 4);
            content.put("status", 7);
            params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
            params.put("content", JSONObject.toJSONString(content));
            params.put("timestamp", System.currentTimeMillis() + "");
@@ -411,7 +455,7 @@
            if (R.isError(stringR)) {
                log.error("推送消息失败：{}", stringR.getMsg());
            }
            xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP_GUESTS.getCode());
            xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode());
        });
    }