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

liujie

2026-03-11 8fb7dde57b835463a6786a2e038f0ecd3dba827b

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

@@ -1,6 +1,6 @@
package com.xiaopeng.automaticPilot.service;

import cn.hutool.core.util.IdUtil;
import cn.hutool.core.lang.Snowflake;
import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONObject;
import com.google.protobuf.InvalidProtocolBufferException;
@@ -14,6 +14,10 @@
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.feignClient.account.XpOperationUserClient;
import com.xiaopeng.api.feignClient.account.XpOperationUserNotificationClient;
import com.xiaopeng.api.feignClient.maintenance.XpTaskClient;
import com.xiaopeng.api.feignClient.maintenance.XpTaskRuleClient;
import com.xiaopeng.api.feignClient.map.XpMapClient;
import com.xiaopeng.api.feignClient.operation.ReassignOrderClient;
import com.xiaopeng.api.feignClient.operation.XpCruisePlanClient;
@@ -21,13 +25,13 @@
import com.xiaopeng.api.feignClient.order.XpOrderClient;
import com.xiaopeng.api.feignClient.pushMessage.XpPushMessageClient;
import com.xiaopeng.api.feignClient.vehicleConvoy.UserVehicleClient;
import com.xiaopeng.api.feignClient.vehicleConvoy.XpFleetOperationsClient;
import com.xiaopeng.api.feignClient.vehicleConvoy.XpFleetVehicleClient;
import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;
import com.xiaopeng.api.model.order.XpCruiseOrder;
import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.model.vehicleConvoy.XpFleet;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.api.vo.OrderType;
import com.xiaopeng.api.vo.SystemEventType;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
import com.xiaopeng.api.vo.operation.RouteVo;
@@ -37,18 +41,17 @@
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.core.utils.uuid.UUID;
import com.xiaopeng.common.redis.service.RedisService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Value;
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.mongodb.core.query.Update;
import org.springframework.data.mongodb.core.query.UpdateDefinition;
import org.springframework.data.redis.core.RedisTemplate;
import org.springframework.stereotype.Service;

@@ -100,6 +103,15 @@

    @Resource
    private XpCruisePlanClient xpCruisePlanClient;

    @Resource
    private Snowflake snowflake;

    @Value("${robotaxi.appId:xp_robotaxi_api}")
    private String appid;

    @Resource
    private XpTaskClient xpTaskClient;

    private static final com.google.protobuf.util.JsonFormat.Printer jsonPrinter = com.google.protobuf.util.JsonFormat.printer()
            .printingEnumsAsInts()
@@ -377,21 +389,35 @@
        int value = gearLevel.getNumber();
        redisService.setCacheObject(CacheConstants.GEAR_LEVEL + systemRuntimeStatus.getVehicleStatus().getStaticInfo().getXpuId(), value);
        // 判断是否为故障状态
        XpVehicle vehicle = null;
        if (abnormalReason == AbnormalReason.FAULT) {
            log.info("车辆故障，开始处理故障");
            // TODO 添加异常任务
            // 解绑用户与车辆关系
            CancelTaxiPassengerVo cancelTaxiPassengerVo = new CancelTaxiPassengerVo();
            String orderId = systemRuntimeStatus.getRunningOrderStatusInfo().getOrderId();
            XpOrder xpOrder = xpOrderClient.queryOrderById(Long.parseLong(orderId)).getData();
            XpVehicle vehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
            if(!orderId.contains("XU")){
                //巡游订单，需要关闭订单
                xpCruiseOrderClient.updateCruiseOrderId(Long.parseLong(orderId.substring(2)));
                XpCruiseOrder cruiseOrder = xpCruiseOrderClient.getCruiseOrder(Long.parseLong(orderId.substring(2))).getData();
                vehicle = xpVehicleClient.queryById(cruiseOrder.getVehicleId()).getData();
            if (vehicle != null) {
                // 修改车辆状态
                vehicle.setOperatingStatus(4);
                xpVehicleClient.updateVehicleById(vehicle);
                }
            }else{
                //正常订单
                XpOrder xpOrder = xpOrderClient.queryOrderById(Long.parseLong(orderId)).getData();
                vehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
                if (vehicle != null) {
                    // 修改车辆状态
                    vehicle.setState(0);
                    vehicle.setOperatingStatus(4);
                    xpVehicleClient.updateVehicleById(vehicle);
                    // 解绑用户与车辆关系
                    CancelTaxiPassengerVo cancelTaxiPassengerVo = new CancelTaxiPassengerVo();
                cancelTaxiPassengerVo.setVin(vehicle.getVehicleVin());
                cancelTaxiPassengerVo.setUid(xpOrder.getAppUserId().toString());
                cancelTaxiPassengerVo.setOrderNo(xpOrder.getOrderNumber());
                    cancelTaxiPassengerVo.setAppId(appid);
                userVehicleClient.cancelTaxiPassenger(cancelTaxiPassengerVo);
            }
            // TODO 重新派单
@@ -406,6 +432,9 @@
            reassignOrderDTO.setLongitude(longitude);
            reassignOrderDTO.setLatitude(latitude);
            reassignOrderClient.reassignOrder(reassignOrderDTO);
            }
            //添加车辆异常任务和发送消息
            xpTaskClient.saveVehicleAccidentError(vehicle.getId());
        }
    }

@@ -475,7 +504,7 @@
            if (orderId.contains("XU")) {
//                orderType = OrderType.CRUISE_ORDER;

                R<XpCruiseOrder> cruiseOrder = xpCruiseOrderClient.getCruiseOrder(orderId);
                R<XpCruiseOrder> cruiseOrder = xpCruiseOrderClient.getCruiseOrder(Long.parseLong(orderId.substring(2)));
                XpCruiseOrder xpCruiseOrder = cruiseOrder.getData();

                //先响应消息
@@ -591,7 +620,7 @@
            //巡游单
            if (orderPhase.equals(OrderPhase.ROUTE_TO_CRUISE)) {
                /* 构建导航数据给到车端 */
                R<XpCruiseOrder> cruiseOrder = xpCruiseOrderClient.getCruiseOrder(orderId);
                R<XpCruiseOrder> cruiseOrder = xpCruiseOrderClient.getCruiseOrder(Long.parseLong(orderId.substring(2)));
                XpCruiseOrder xpCruiseOrder = cruiseOrder.getData();

                origin.setLongitude(xpCruiseOrder.getStartLon());
@@ -738,9 +767,7 @@

        }
        orderOperationBuilder.addAllWaypoints(waypoints);
        SnowFlake snowFlake = new SnowFlake(0, 0);
        snowFlake.withStartTimestamp(1420041600000L);
        long sequence = snowFlake.nextId();
        long sequence = snowflake.nextId();
        // 处理数据
        redisService.setCacheObject(sequence + "","pushOrder_"+orderId+"_"+vin,30L, TimeUnit.MINUTES);
        //开发发送请求到XPU
@@ -892,7 +919,7 @@

                // 返程找到目前的订单 -》之前的订单 查询生成一个   正常巡游 找到下一个点位   若到达最后点位  则反向找点位  每次判断是否收车状态 是则不进行处理了
                // 找到这个订单
                R<XpCruiseOrder> cruiseOrder = xpCruiseOrderClient.getCruiseOrder(orderId);
                R<XpCruiseOrder> cruiseOrder = xpCruiseOrderClient.getCruiseOrder(Long.parseLong(orderId.substring(2)));
                if(cruiseOrder!=null){
                    XpCruiseOrder xpCruiseOrder = cruiseOrder.getData();
                    Long vehicleId = xpCruiseOrder.getVehicleId();
@@ -909,13 +936,13 @@
                            XpCruiseOrder lastXpCruiseOrder = lastOrder.getData();

                            // 修改一下id 加一个一样的巡游单子
                            lastXpCruiseOrder.setId("XU"+ IdUtil.fastUUID());
                            lastXpCruiseOrder.setId(null);
                            lastXpCruiseOrder.setStatus(1);
                            xpCruiseOrderClient.addCruiseOrder(lastXpCruiseOrder);
                            //构建下发XPU订单报文数据
                            RtTask.Builder taskBuilder = RtTask.newBuilder();
                            taskBuilder.setOrderId(lastXpCruiseOrder.getId());
                            taskBuilder.setTaskId("MISSION_"+ IdUtil.fastUUID());
                            taskBuilder.setOrderId("XU" + lastXpCruiseOrder.getId());
                            taskBuilder.setTaskId(snowflake.nextId() + "");
                            taskBuilder.setTaskType(com.xiaopeng.api.vo.automaticPilot.protobuf.OrderType.ORDER_TYPE_CRUISE);
                            //构建点位信息
                            Waypoint.Builder pointBuilder = Waypoint.newBuilder();
@@ -932,9 +959,7 @@
                            RtTask task = taskBuilder.build();
                            RtTaskList taskList = RtTaskList.newBuilder().addTasks(task).build();

                            SnowFlake snowFlake = new SnowFlake(0, 0);
                            snowFlake.withStartTimestamp(1420041600000L);
                            long sequence1 = snowFlake.nextId();
                            long sequence1 = snowflake.nextId();
                            xpuUtil.cloudCreateOrder(taskList, xpVehicle.getVehicleVin(),sequence1);
                        }else if(xpCruiseOrder.getOrderType()==1){
                           // 正常巡游 找到下一个点位   若到达最后点位  则反向找点位
@@ -942,7 +967,6 @@
                            Double endLon = xpCruiseOrder.getEndLon();
                            Double endLat = xpCruiseOrder.getEndLat();
                            XpCruiseOrder newXpCruiseOrder = new XpCruiseOrder();
                            newXpCruiseOrder.setId("XU"+ IdUtil.fastUUID());
                            newXpCruiseOrder.setVehicleId(xpCruiseOrder.getVehicleId());
                            newXpCruiseOrder.setVehicleVin(xpCruiseOrder.getVehicleVin());
                            newXpCruiseOrder.setFleetId(xpCruiseOrder.getFleetId());
@@ -966,8 +990,8 @@
                                xpCruiseOrderClient.addCruiseOrder(cruisePoint.getData());
                                RtTask.Builder taskBuilder = RtTask.newBuilder();

                                taskBuilder.setOrderId(newXpCruiseOrder.getId());
                                taskBuilder.setTaskId("MISSION_"+ IdUtil.fastUUID());
                                taskBuilder.setOrderId("XU" + newXpCruiseOrder.getId());
                                taskBuilder.setTaskId(snowflake.nextId() + "");
                                taskBuilder.setTaskType(com.xiaopeng.api.vo.automaticPilot.protobuf.OrderType.ORDER_TYPE_CRUISE);

                                //构建点位信息
@@ -985,9 +1009,7 @@
                                RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
                                taskListBuilder.addTasks(taskBuilder.build());

                                SnowFlake snowFlake = new SnowFlake(0, 0);
                                snowFlake.withStartTimestamp(1420041600000L);
                                long sequence1 = snowFlake.nextId();
                                long sequence1 = snowflake.nextId();
                                xpuUtil.cloudCreateOrder(taskListBuilder.build(), xpVehicle.getVehicleVin(),sequence1);
                            }
                        }
@@ -1038,9 +1060,7 @@
        navigationDataBuilder.setRequestId(requestId);
        navigationDataBuilder.setContent(routeDataContent);
        navigationDataBuilder.setTimestamp(System.currentTimeMillis());
        SnowFlake snowFlake = new SnowFlake(0, 0);
        snowFlake.withStartTimestamp(1420041600000L);
        long sequence = snowFlake.nextId();
        long sequence = snowflake.nextId();
        log.info("开始推送导航数据 {}", orderId);
        MqttPublishDto mqttPublishDto = xpuUtil.cloudPushNavigation(navigationDataBuilder.build(), xpuId, sequence);
        log.info("推送导航的响应消息，{}", JSON.toJSONString(mqttPublishDto));