小鹏汽车Robotaxi
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
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;


@@ -32,6 +33,7 @@


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;


@@ -40,12 +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


@@ -170,7 +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));


@@ -181,7 +184,7 @@


        //构建推送消息


        Map<String, Object> params = new HashMap<>();


        Map<String, Object> content = new HashMap<>();


        content.put("orderId", orderId);


        content.put("orderId", orderId.toString());


        content.put("status", 3);


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


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


@@ -196,6 +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);




        return r;


    }




@@ -228,7 +242,7 @@


                Double longitude = lonLatDto.getLongitude();




                //保存车辆实时位置到redis


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


                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);


@@ -254,10 +268,11 @@


                    dto.setLatitude(latitude);


                    dto.setDuration(10);


                    dto.setDistance(2);


                    dto.setDirection(60);


                    xpPushMessageClient.pushOrderRoute(dto);


                }




                //5秒钟循环一次


                //2秒钟循环一次


                try {


                    Thread.sleep(2000);


                } catch (InterruptedException e) {


@@ -268,7 +283,7 @@


            //构建推送消息


            Map<String, Object> params = new HashMap<>();


            Map<String, Object> content = new HashMap<>();


            content.put("orderId", orderId);


            content.put("orderId", orderId.toString());


            content.put("status", 4);


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


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


@@ -299,7 +314,7 @@


        //构建推送消息


        Map<String, Object> params = new HashMap<>();


        Map<String, Object> content = new HashMap<>();


        content.put("orderId", orderId);


        content.put("orderId", orderId.toString());


        content.put("status", status);


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


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


@@ -313,6 +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();


    }




@@ -346,7 +391,7 @@


                Double longitude = lonLatDto.getLongitude();




                //保存车辆实时位置到redis


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


                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);


@@ -367,17 +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);


                }


@@ -386,8 +442,8 @@


            //构建推送消息


            Map<String, Object> params = new HashMap<>();


            Map<String, Object> content = new HashMap<>();


            content.put("orderId", orderId);


            content.put("status", 4);


            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() + "");


@@ -399,7 +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());


        });


    }