修改bug

puzhibing

2026-03-12 9b1d64c90a30d33eb992ab2fae5e6f547acd594e

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

@@ -839,25 +839,20 @@
                    xpOrderClient.updateOrderStatus(Long.parseLong(orderId.contains("XU") ? orderId.substring(2) : orderId), OrderStatusEnum.APPROVAL_REJECTION.getCode());

                    // 下发巡游任务
                    if(!orderId.contains("XU")){
                        R<XpOrder> xpOrderR = xpOrderClient.queryOrderById(Long.parseLong(orderId));
                        if(xpOrderR.getCode()==200){
                            XpOrder orderData = xpOrderR.getData();
                            Long vehicleId =orderData.getVehicleId();
                            R<XpVehicle> xpVehicleR = xpVehicleClient.queryById(vehicleId);
                            if(xpVehicleR.getData()!=null){
                                XpVehicle xpVehicle = xpVehicleR.getData();
                    R<XpOrder> xpOrderR = xpOrderClient.queryOrderById(Long.parseLong(orderId));
                    if(xpOrderR.getCode()==200){
                        XpOrder orderData = xpOrderR.getData();
                        Long vehicleId =orderData.getVehicleId();
                        R<XpVehicle> xpVehicleR = xpVehicleClient.queryById(vehicleId);
                        if(xpVehicleR.getData()!=null){
                            XpVehicle xpVehicle = xpVehicleR.getData();

                                AddCruiseMissionDto addCruiseMissionDto = new AddCruiseMissionDto();
                                addCruiseMissionDto.setOrder(orderData);
                                addCruiseMissionDto.setVehicle(xpVehicle);
                                xpCruiseOrderClient.addCruiseMission(addCruiseMissionDto);
                            }
                            AddCruiseMissionDto addCruiseMissionDto = new AddCruiseMissionDto();
                            addCruiseMissionDto.setOrder(orderData);
                            addCruiseMissionDto.setVehicle(xpVehicle);
                            xpCruiseOrderClient.addCruiseMission(addCruiseMissionDto);
                        }
                    }



                    break;
                case ORDER_COMPLETED:
                    //已完成
@@ -918,33 +913,10 @@
                        if(xpCruiseOrder.getOrderType()==2){
                            R<XpCruiseOrder> lastOrder = xpCruiseOrderClient.getCruiseOrder(xpCruiseOrder.getLastOrderId());
                            XpCruiseOrder lastXpCruiseOrder = lastOrder.getData();

                            // 修改一下id 加一个一样的巡游单子
                            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("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();
                            pointBuilder.setPointType(PointType.CRUISE_END_POINT);
                            pointBuilder.setSequence(1);
                            //构建终点坐标
                            GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
                            geoPointBuilder.setLatitude(lastXpCruiseOrder.getEndLat());
                            geoPointBuilder.setLongitude(lastXpCruiseOrder.getEndLat());
                            // geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
                            pointBuilder.setPoint(geoPointBuilder.build());
                            taskBuilder.addPoints(pointBuilder);

                            RtTask task = taskBuilder.build();
                            RtTaskList taskList = RtTaskList.newBuilder().addTasks(task).build();

                            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
                            // 起点
@@ -962,7 +934,6 @@
                            newXpCruiseOrder.setStatus(1);
                            newXpCruiseOrder.setLastOrderId(xpCruiseOrder.getId());


                            // 通过车找终点id
                            CruisePointDto cruisePointDto = new CruisePointDto();
                            cruisePointDto.setNewXpCruiseOrder(newXpCruiseOrder);
@@ -972,29 +943,6 @@
                            R<XpCruiseOrder> cruisePoint = xpCruisePlanClient.getCruisePoint(cruisePointDto);
                            if(cruisePoint!=null){
                                xpCruiseOrderClient.addCruiseOrder(cruisePoint.getData());
                                RtTask.Builder taskBuilder = RtTask.newBuilder();

                                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
                                Waypoint.Builder pointBuilder = Waypoint.newBuilder();
                                pointBuilder.setPointType(PointType.CRUISE_END_POINT);
                                pointBuilder.setSequence(1);
                                //构建终点坐标
                                GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
                                geoPointBuilder.setLatitude(cruisePoint.getData().getEndLat());
                                geoPointBuilder.setLongitude(cruisePoint.getData().getEndLat());
                                // geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
                                pointBuilder.setPoint(geoPointBuilder.build());
                                taskBuilder.addPoints(pointBuilder);

                                RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
                                taskListBuilder.addTasks(taskBuilder.build());

                                long sequence1 = snowflake.nextId();
                                xpuUtil.cloudCreateOrder(taskListBuilder.build(), xpVehicle.getVehicleVin(),sequence1);
                            }
                        }
                    }