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

puzhibing

2026-04-11 b6f3de8451867d85242b2bd706fcfa4a65df4ff7

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

@@ -6,6 +6,8 @@
import com.google.protobuf.InvalidProtocolBufferException;
import com.google.protobuf.util.JsonFormat;
import com.xiaopeng.api.dto.automaticPilot.MqttPublishDto;
import com.xiaopeng.api.dto.automaticPilot.PushOrderDto;
import com.xiaopeng.api.dto.automaticPilot.VehicleEventDTO;
import com.xiaopeng.api.dto.map.OrderRouteAndFareDto;
import com.xiaopeng.api.dto.operation.CruisePointDto;
import com.xiaopeng.api.dto.operation.LonLatDto;
@@ -15,17 +17,20 @@
import com.xiaopeng.api.dto.pushMessage.PushOrderRouteDTO;
import com.xiaopeng.api.dto.pushMessage.SendMessageDTO;
import com.xiaopeng.api.dto.vehicleConvoy.UpdateVehicleStateDto;
import com.xiaopeng.api.feignClient.automaticPilot.VehicleBuriedPointClient;
import com.xiaopeng.api.feignClient.maintenance.XpTaskClient;
import com.xiaopeng.api.feignClient.map.XpMapClient;
import com.xiaopeng.api.feignClient.operation.ReassignOrderClient;
import com.xiaopeng.api.feignClient.operation.XpCruisePlanClient;
import com.xiaopeng.api.feignClient.order.XpCruiseOrderClient;
import com.xiaopeng.api.feignClient.order.XpOrderClient;
import com.xiaopeng.api.feignClient.order.XpTestOrderClient;
import com.xiaopeng.api.feignClient.pushMessage.XpPushMessageClient;
import com.xiaopeng.api.feignClient.vehicleConvoy.UserVehicleClient;
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.order.XpTestOrder;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.api.vo.OrderType;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
@@ -37,6 +42,7 @@
import com.xiaopeng.common.core.constant.CacheConstants;
import com.xiaopeng.common.core.constant.Constants;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.core.enums.CancelOrderSceneEnum;
import com.xiaopeng.common.core.enums.OrderStatusEnum;
import com.xiaopeng.common.core.enums.PushMessageTypeEnum;
import com.xiaopeng.common.core.utils.StringUtils;
@@ -66,6 +72,8 @@
@Slf4j
@Service
public class KafkaConsumerService {
    private static final String REASSIGN_CANCEL_CONTEXT_PREFIX = "REASSIGN_CANCEL_CONTEXT:";


    @Resource
    private XpMapClient xpMapClient;
@@ -111,6 +119,11 @@

    @Resource
    private XpTaskClient xpTaskClient;
    @Resource
    private VehicleBuriedPointClient vehicleBuriedPointClient;

    @Resource
    private XpTestOrderClient testOrderClient;

    private static final JsonFormat.Printer jsonPrinter = JsonFormat.printer()
            .printingEnumsAsInts()
@@ -265,7 +278,13 @@
                        String vin = jsonObject.getString("vin");
                        String orderType = jsonObject.getString("orderType");
                        PopOrderDto dto = new PopOrderDto();
                        dto.setOrderId(Long.valueOf(orderId.contains("XU") ? orderId.substring(2) : orderId));
                        if(orderId.contains("XU")){
                            dto.setOrderId(Long.valueOf(orderId.substring(2)));
                        }else if(orderId.contains("TEST")){
                            dto.setOrderId(Long.valueOf(orderId.substring(4)));
                        }else{
                            dto.setOrderId(Long.valueOf(orderId));
                        }
                        dto.setXpVehicleVin(vin);
                        dto.setOrderType(orderType);
                        xpOrderClient.popOrder(dto);
@@ -323,7 +342,9 @@
            if (order_id.contains("XU")) {
                hasOrder = 1;
                orderId = Long.parseLong(order_id.substring(2));
            } else {
            } else if(order_id.contains("TEST")) {
                orderId = Long.parseLong(order_id.substring(4));
            }else{
                orderId = Long.parseLong(order_id);
            }
        }
@@ -340,6 +361,8 @@
                vehiclePosition.setCurrentElectricity(dynamicStatus.getBmsSocDisp());
                vehiclePosition.setMileageRange(dynamicStatus.getDstBatDisp());
                vehiclePosition.setOrderId(orderId);
                vehiclePosition.setTotalOdometer(dynamicStatus.getTotalOdometer());
                vehiclePosition.setAddTime(System.currentTimeMillis());
                mongoTemplate.save(vehiclePosition);
            }else{
                vehiclePosition.setOrderId(orderId);
@@ -351,10 +374,12 @@
                        .set("currentElectricity", dynamicStatus.getBmsSocDisp())
                        .set("mileageRange", dynamicStatus.getDstBatDisp())
                        .set("hasOrder", hasOrder)
                        .set("orderId", orderId);
                        .set("orderId", orderId)
                        .set("totalOdometer", dynamicStatus.getTotalOdometer()
                        .set("addTime", System.currentTimeMillis()));
                mongoTemplate.updateFirst(new Query(Criteria.where("vin").is(vin)), update, VehiclePosition.class);
            }
            //调用推送服务接口
            //调用推送服务接口，给乘客推送剩余轨迹和里程时长
            if (null != orderId && !order_id.contains("XU")) {
                RtTripInfo rtTripInfo = systemRuntimeStatus.getRtTripInfo();
                PushOrderRouteDTO dto = new PushOrderRouteDTO();
@@ -366,7 +391,10 @@
//            dto.setDuration(rtTripInfo.getRemaining_time());
//            dto.setDistance(rtTripInfo.getRemaining_distance().intValue());
//            dto.setDirection();
                xpPushMessageClient.pushOrderRoute(dto);
                //只有乘客订单需要推送剩余导航数据
                if(!order_id.contains("TEST")){
                    xpPushMessageClient.pushOrderRoute(dto);
                }

                //存储历史轨迹
                OrderTrajectoryVo orderTrajectory = new OrderTrajectoryVo();
@@ -402,25 +430,43 @@
        if (abnormalReason == AbnormalReason.FAULT) {
            log.info("车辆故障，开始处理故障");
            String orderId = systemRuntimeStatus.getRunningOrderStatusInfo().getOrderId();
            if(!orderId.contains("XU")){
            if(orderId.contains("XU")){
                //巡游订单，需要关闭订单
                xpCruiseOrderClient.cancelCruiseOrderById(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);
                    XpVehicle vehicle1 = new XpVehicle();
                    vehicle1.setOperatingStatus(4);
                    vehicle1.setId(vehicle.getId());
                    xpVehicleClient.updateVehicleById(vehicle1);
                }
            }else{
            }else if(orderId.contains("TEST")){
                //测试订单故障则取消订单
                testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), 0);
                XpTestOrder testOrder = testOrderClient.queryOrderById(Long.parseLong(orderId.substring(4))).getData();
                vehicle = xpVehicleClient.queryById(testOrder.getVehicleId()).getData();
                if (vehicle != null) {
                    // 修改车辆状态
                    XpVehicle vehicle1 = new XpVehicle();
                    vehicle1.setOperatingStatus(4);
                    vehicle1.setId(vehicle.getId());
                    xpVehicleClient.updateVehicleById(vehicle1);
                    log.info("车辆故障，车辆状态修改0 {}", vehicle.getPlateNumber());
                }
            }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);
                    XpVehicle vehicle1 = new XpVehicle();
                    vehicle1.setState(0);
                    vehicle1.setOperatingStatus(4);
                    vehicle1.setId(vehicle.getId());
                    xpVehicleClient.updateVehicleById(vehicle1);
                    log.info("车辆故障，车辆状态修改0 {}", vehicle.getPlateNumber());
                    // 解绑用户与车辆关系
                    CancelTaxiPassengerVo cancelTaxiPassengerVo = new CancelTaxiPassengerVo();
                    cancelTaxiPassengerVo.setVin(vehicle.getVehicleVin());
@@ -444,6 +490,24 @@
            }
            //添加车辆异常任务和发送消息
            xpTaskClient.saveVehicleAccidentError(vehicle.getId());

            // 封装埋点消息实体
            VehicleEventDTO vehicleEventDTO = new VehicleEventDTO();
            vehicleEventDTO.setVin(vehicle.getVehicleVin());
            vehicleEventDTO.setXpuId("");
            vehicleEventDTO.setOrderId("");
            vehicleEventDTO.setEventKey("RT_web_vehicle_status_changed");
            vehicleEventDTO.setEventTime(System.currentTimeMillis());
            Map<String,Object> attributes = new HashMap<>();
            attributes.put("vin",vehicle.getVehicleVin());
            attributes.put("order_id","");
            attributes.put("timestamp",vehicleEventDTO.getEventTime());
            attributes.put("main_status","OFFLINE");
            // TODO 预留位置 目前无状态
            attributes.put("sub_status","");
            attributes.put("prev_sub_status","");
            vehicleEventDTO.setAttributes(attributes);
            vehicleBuriedPointClient.sendVehicleEvent(vehicleEventDTO);
        }
    }

@@ -531,6 +595,79 @@


            vehicleId = xpCruiseOrder.getVehicleId();
        } else if(orderId.contains("TEST")){
            R<XpTestOrder> cruiseOrder = testOrderClient.queryOrderById(Long.parseLong(orderId.substring(4)));
            XpTestOrder testOrder = cruiseOrder.getData();
            //区分测试单和测试巡游单
            if(1 == testOrder.getOrderType()){
                orderType = OrderType.TEST_ORDER;
                //驶往上车点的行程
                if (3 == testOrder.getStatus()) {
                    //查询司机当前位置到起点的线路
                    origin.setLongitude(longitude);
                    origin.setLatitude(latitude);
                    destination.setLongitude(testOrder.getStartLon());
                    destination.setLatitude(testOrder.getStartLat());

                    OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                    dto.setOrderId(Long.parseLong(orderId.substring(4)));
                    dto.setOrigin(origin);
                    dto.setDestination(destination);
                    dto.setRouteType(1);
                    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();
                    //缓存数据，用于后续推给乘客导航线路
                    redisService.setCacheObject("TEST_ORDER_NAVIGATION_START_DATA:" + testOrder.getVehicleId(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
                }
                //驶往下车点的行程
                if (6 == testOrder.getStatus()) {
                    origin.setLongitude(longitude);
                    origin.setLatitude(latitude);
                    destination.setLongitude(testOrder.getEndLon());
                    destination.setLatitude(testOrder.getEndLat());

                    OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                    dto.setOrderId(Long.parseLong(orderId.substring(4)));
                    dto.setOrigin(origin);
                    dto.setDestination(destination);
                    dto.setRouteType(2);
                    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("TEST_ORDER_NAVIGATION_END_DATA:" + testOrder.getVehicleId(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
                }

            }else{
                orderType = OrderType.TEST_CRUISE_ORDER;

                //构建导航数据给到车端
                origin.setLongitude(longitude);
                origin.setLatitude(latitude);
                destination.setLongitude(testOrder.getEndLon());
                destination.setLatitude(testOrder.getEndLat());

                OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                dto.setOrderId(Long.parseLong(orderId.substring(4)));
                dto.setOrigin(origin);
                dto.setDestination(destination);
                dto.setRouteType(3);
                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 = testOrder.getVehicleId();
            }
        } else {
            orderType = OrderType.USER_ORDER;
            //正常单
@@ -640,7 +777,102 @@

                vehicleId = xpCruiseOrder.getVehicleId();
            }
        } else {
        } else if(orderId.contains("TEST")){
            R<XpTestOrder> cruiseOrder = testOrderClient.queryOrderById(Long.parseLong(orderId.substring(4)));
            XpTestOrder testOrder = cruiseOrder.getData();
            XpVehicle xpVehicle = xpVehicleClient.queryById(testOrder.getVehicleId()).getData();
            //区分测试单和测试巡游单
            if(1 == testOrder.getOrderType()){
                orderType = OrderType.TEST_ORDER;
                //驶往上车点的行程
                if (orderPhase.equals(OrderPhase.ROUTE_TO_PICKUP)) {
                    //直接取缓存中的导航数据推送给车端和乘客
                    Object cacheObject = redisService.getCacheObject("TEST_ORDER_NAVIGATION_START_DATA:" + testOrder.getVehicleId());
                    if(null == cacheObject){
                        //没有缓存数据，重新规划线路
                        //查询车辆位置
                        VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(xpVehicle.getVehicleVin())), VehiclePosition.class);
                        if (Objects.isNull(vehiclePosition)) {
                            throw new RuntimeException("车辆位置信息不存在");
                        }
                        origin.setLongitude(vehiclePosition.getPoint().getX());
                        origin.setLatitude(vehiclePosition.getPoint().getY());
                        destination.setLongitude(testOrder.getStartLon());
                        destination.setLatitude(testOrder.getStartLat());
                        OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                        dto.setOrderId(Long.parseLong(orderId.substring(4)));
                        dto.setOrigin(origin);
                        dto.setDestination(destination);
                        dto.setRouteType(2);
                        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("TEST_ORDER_NAVIGATION_START_DATA:" + testOrder.getVehicleId(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
                    }else{
                        RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
                        routeID = routeVo.getRouteID();
                    }
                }
                //驶往下车点的行程
                if (orderPhase.equals(OrderPhase.ROUTE_TO_DESTINATION)) {
                    //直接取缓存中的导航数据推送给车端和乘客
                    Object cacheObject = redisService.getCacheObject("TEST_ORDER_NAVIGATION_END_DATA:" + testOrder.getVehicleId());
                    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(testOrder.getStartLon());
                        origin.setLatitude(testOrder.getStartLat());
                        destination.setLongitude(testOrder.getEndLon());
                        destination.setLatitude(testOrder.getEndLat());
                        OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                        dto.setOrderId(Long.parseLong(orderId.substring(4)));
                        dto.setOrigin(origin);
                        dto.setDestination(destination);
                        dto.setRouteType(2);
                        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("TEST_ORDER_NAVIGATION_END_DATA:" + testOrder.getVehicleId(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
                    }else{
                        RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
                        routeID = routeVo.getRouteID();
                    }
                }

            }else{
                orderType = OrderType.TEST_CRUISE_ORDER;

                //巡游单
                if (orderPhase.equals(OrderPhase.ROUTE_TO_CRUISE)) {
                    /* 构建导航数据给到车端 */
                    origin.setLongitude(testOrder.getStartLon());
                    origin.setLatitude(testOrder.getStartLat());
                    destination.setLongitude(testOrder.getEndLon());
                    destination.setLatitude(testOrder.getEndLat());

                    OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                    dto.setOrderId(Long.parseLong(orderId.substring(4)));
                    dto.setOrigin(origin);
                    dto.setDestination(destination);
                    dto.setRouteType(3);
                    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 = testOrder.getVehicleId();
        }else{
            orderType = OrderType.USER_ORDER;
            //正常单
            R<XpOrder> xpOrderR = xpOrderClient.queryOrderById(Long.parseLong(orderId));
@@ -651,30 +883,36 @@
            XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
            //驶往上车点的行程
            if (orderPhase.equals(OrderPhase.ROUTE_TO_PICKUP)) {
                //查询车辆位置
                VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(xpVehicle.getVehicleVin())), VehiclePosition.class);
                if (Objects.isNull(vehiclePosition)) {
                    throw new RuntimeException("车辆位置信息不存在");
                }
                //查询司机当前位置到起点的线路
                origin.setLongitude(vehiclePosition.getPoint().getX());
                origin.setLatitude(vehiclePosition.getPoint().getY());
                destination.setLongitude(xpOrder.getStartLon());
                destination.setLatitude(xpOrder.getStartLat());
                Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId());
                if(null == cacheObject){
                    //查询车辆位置
                    VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(xpVehicle.getVehicleVin())), VehiclePosition.class);
                    if (Objects.isNull(vehiclePosition)) {
                        throw new RuntimeException("车辆位置信息不存在");
                    }
                    //查询司机当前位置到起点的线路
                    origin.setLongitude(vehiclePosition.getPoint().getX());
                    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);
                dto.setRouteType(1);
                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();
                //缓存数据，用于后续推给乘客导航线路
                redisService.setCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
                    OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                    dto.setOrderId(Long.parseLong(orderId));
                    dto.setOrigin(origin);
                    dto.setDestination(destination);
                    dto.setRouteType(1);
                    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();
                    //缓存数据，用于后续推给乘客导航线路
                    redisService.setCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
                }else{
                    RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
                    routeID = routeVo.getRouteID();
                };
            }
            //驶往下车点的行程
            if (orderPhase.equals(OrderPhase.ROUTE_TO_DESTINATION)) {
@@ -808,8 +1046,12 @@
                case ORDER_RECEIVED:
                    //收到订单
                    if(!orderId.contains("XU")){
                        buildPushOrderStatus(orderId, OrderStatusEnum.READY_DEPART, sequence);
                        xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.READY_DEPART.getCode());
                        if(orderId.contains("TEST")){
                            testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.READY_DEPART.getCode());
                        }else{
                            buildPushOrderStatus(orderId, OrderStatusEnum.READY_DEPART, sequence);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.READY_DEPART.getCode());
                        }
                    }
                    break;
                case ORDER_STARTED:
@@ -819,8 +1061,12 @@
                case ORDER_EN_ROUTE_TO_PICKUP:
                    //前往上车点
                    if(!orderId.contains("XU")){
                        buildPushOrderStatus(orderId, OrderStatusEnum.PICK_UP, sequence);
                        xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PICK_UP.getCode());
                        if(orderId.contains("TEST")){
                            testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.PICK_UP.getCode());
                        }else{
                            buildPushOrderStatus(orderId, OrderStatusEnum.PICK_UP, sequence);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PICK_UP.getCode());
                        }
                    }
                    break;
                case ORDER_ARRIVED_AT_PICKUP:
@@ -830,22 +1076,34 @@
                case ORDER_WAITING_FOR_PICKUP:
                    //等待乘客上车
                    if(!orderId.contains("XU")){
                        buildPushOrderStatus(orderId, OrderStatusEnum.PICK_UP_GUESTS, sequence);
                        xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PICK_UP_GUESTS.getCode());
                        if(orderId.contains("TEST")){
                            testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.PICK_UP_GUESTS.getCode());
                        }else{
                            buildPushOrderStatus(orderId, OrderStatusEnum.PICK_UP_GUESTS, sequence);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PICK_UP_GUESTS.getCode());
                        }
                    }
                    break;
                case ORDER_PASSENGER_ONBOARD:
                    //乘客已上车
                    if(!orderId.contains("XU")){
                        buildPushOrderStatus(orderId, OrderStatusEnum.PASSENGER_BOARDED, sequence);
                        xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PASSENGER_BOARDED.getCode());
                        if(orderId.contains("TEST")){
                            testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.PASSENGER_BOARDED.getCode());
                        }else{
                            buildPushOrderStatus(orderId, OrderStatusEnum.PASSENGER_BOARDED, sequence);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PASSENGER_BOARDED.getCode());
                        }
                    }
                    break;
                case ORDER_EN_ROUTE_TO_DESTINATION:
                    //前往目的地
                    if(!orderId.contains("XU")){
                        buildPushOrderStatus(orderId, OrderStatusEnum.IN_SERVICE, sequence);
                        xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.IN_SERVICE.getCode());
                        if(orderId.contains("TEST")){
                            testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.IN_SERVICE.getCode());
                        }else{
                            buildPushOrderStatus(orderId, OrderStatusEnum.IN_SERVICE, sequence);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.IN_SERVICE.getCode());
                        }
                    }
                    break;
                case ORDER_ARRIVED_AT_DESTINATION:
@@ -855,34 +1113,167 @@
                case ORDER_WAITING_FOR_DROPOFF:
                    //等待乘客下车，开始倒计时发下巡游单
                    if(!orderId.contains("XU")){
                        buildPushOrderStatus(orderId, OrderStatusEnum.SEE_OFF_GUESTS, sequence);
                        xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.SEE_OFF_GUESTS.getCode());
                        if(orderId.contains("TEST")){
                            testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.SEE_OFF_GUESTS.getCode());
                        }else{
                            buildPushOrderStatus(orderId, OrderStatusEnum.SEE_OFF_GUESTS, sequence);
                            xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.SEE_OFF_GUESTS.getCode());
                        }
                    }
                    break;
                case ORDER_DROPOFF_COMPLETED:
                    //下车完成，不需要处理状态，由后续的乘客主动触发或者定时任务触发
                    log.info("乘客已下车，不做任何处理：{}", orderId);
//                    if(!orderId.contains("XU")){
//                        buildPushOrderStatus(orderId, OrderStatusEnum.APPROVAL_REJECTION, sequence);
//                        xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.APPROVAL_REJECTION.getCode());
//                    }
                    break;
                case ORDER_COMPLETED:
                    //已完成
                    log.info("已完成，不做任何处理：{}", orderId);
                    if(!orderId.contains("XU")){
                        XpOrder xpOrder = xpOrderClient.queryOrderById(Long.valueOf(orderId)).getData();
                        if (Objects.nonNull(xpOrder)){
                            // 查询车辆
                            XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
                            if (Objects.nonNull(xpVehicle)){
                                String vin = xpVehicle.getVehicleVin();
                                // 封装埋点消息实体
                                VehicleEventDTO vehicleEventDTO = new VehicleEventDTO();
                                vehicleEventDTO.setVin(vin);
                                vehicleEventDTO.setXpuId("");
                                vehicleEventDTO.setOrderId(orderId);
                                vehicleEventDTO.setEventKey("RT_xpu_vehicle_trace_upload");
                                vehicleEventDTO.setEventTime(System.currentTimeMillis());
                                Map<String,Object> attributes = new HashMap<>();
                                attributes.put("vin",vin);
                                attributes.put("order_id",vehicleEventDTO.getOrderId());
                                attributes.put("order_type","user_order");
                                attributes.put("timestamp",vehicleEventDTO.getEventTime());
                                attributes.put("current_main_status",OrderStatus.ORDER_COMPLETED);
                                attributes.put("current_sub_status","");
                                VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
                                if(Objects.nonNull(vehiclePosition)){
                                    attributes.put("odometer_km",vehiclePosition.getTotalOdometer());
                                }else {
                                    attributes.put("odometer_km","");
                                }
                                vehicleEventDTO.setAttributes(attributes);
                                vehicleBuriedPointClient.sendVehicleEvent(vehicleEventDTO);
                                log.info("已完成，推送埋点：{}", orderId);
                            }
                        }
                    }
                    break;
                case ORDER_CANCELLED:
                    //已取消
                    if(!orderId.contains("XU")){
                        //行程中取消订单，按照行程结束处理
                        buildPushOrderStatus(orderId, OrderStatusEnum.SEE_OFF_GUESTS, sequence);
                        xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.SEE_OFF_GUESTS.getCode());
                        String taskId = orderStatusInfo.getTaskId();
                        JSONObject reassignCancelContext = resolveReassignCancelContext(orderId, orderStatusInfo);
                        if (Objects.nonNull(reassignCancelContext)) {
                            log.info("改派旧车取消回调，跳过订单取消处理，orderId: {}, taskId: {}, cancelScene: {}, context: {}",
                                    orderId, taskId, reassignCancelContext.getString("cancelScene"), reassignCancelContext);
                            //响应消息
                            String responseVin = resolveReassignCancelResponseVin(reassignCancelContext);
                            if (StringUtils.isNotEmpty(responseVin)) {
                                responseMessage(sequence, responseVin);
                            } else {
                                log.warn("改派旧车取消回调未找到响应VIN，orderId: {}, taskId: {}, context: {}",
                                        orderId, taskId, reassignCancelContext);
                            }
                            return;
                        }
                        if(orderId.contains("TEST")){
                            //判断订单状态，已经取消的不作处理
                            Object cacheObject = redisService.getCacheObject("TEST_ORDER_STATUS:" + orderId.substring(4));
                            if(null != cacheObject){
                                int order_status = Integer.parseInt(cacheObject.toString());
                                if(0 == order_status){
                                    return;
                                }
                            }
                            XpTestOrder testOrder = testOrderClient.queryOrderById(Long.valueOf(orderId.substring(4))).getData();
                            if(testOrder.getStatus() == 0 || testOrder.getStatus() >= 8){
                                return;
                            }
                            //行程中取消订单，按照行程结束处理
                            if(testOrder.getStatus() > 5 && testOrder.getStatus() < 8){
                                testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.SEE_OFF_GUESTS.getCode());
                                redisService.setCacheObject("TEST_ORDER_STATUS:" + orderId.substring(4), OrderStatusEnum.SEE_OFF_GUESTS.getCode(), 24L, TimeUnit.HOURS);
                            }else{
                                testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.CANCELED.getCode());
                                redisService.setCacheObject("TEST_ORDER_STATUS:" + orderId.substring(4), OrderStatusEnum.CANCELED.getCode(), 24L, TimeUnit.HOURS);
                            }
                        }else{
                            //判断订单状态，已经取消的不作处理
                            Object cacheObject = redisService.getCacheObject("ORDER_STATUS:" + orderId);
                            if(null != cacheObject){
                                int order_status = Integer.parseInt(cacheObject.toString());
                                if(0 == order_status){
                                    return;
                                }
                            }
                            XpOrder xpOrder = xpOrderClient.queryOrderById(Long.parseLong(orderId)).getData();
                            if(xpOrder.getStatus() == 0 || xpOrder.getStatus() >= 8){
                                return;
                            }
                            if(xpOrder.getStatus() > 5 && xpOrder.getStatus() < 8){
                                //行程中取消订单，按照行程结束处理
                                buildPushOrderStatus(orderId, OrderStatusEnum.SEE_OFF_GUESTS, sequence);
                                xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.SEE_OFF_GUESTS.getCode());
                                redisService.setCacheObject("ORDER_STATUS:" + orderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode(), 24L, TimeUnit.HOURS);
                            }else{
                                buildPushOrderStatus(orderId, OrderStatusEnum.CANCELED, sequence);
                                xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.CANCELED.getCode());
                                redisService.setCacheObject("ORDER_STATUS:" + orderId, OrderStatusEnum.CANCELED.getCode(), 24L, TimeUnit.HOURS);
                            }
                        }
                    }
                    break;
                case ORDER_ARRIVED_AT_CRUISE_DESTINATION:
                    //到达巡游终点
                    if(orderId.contains("XU")){
                        buildPushOrderStatus(orderId, OrderStatusEnum.COMPLETED, sequence);
                        String cruiseOrderId = orderId.substring(2);
                        XpCruiseOrder xpCruiseOrder = xpCruiseOrderClient.getCruiseOrder(Long.parseLong(cruiseOrderId)).getData();
                        if (Objects.nonNull(xpCruiseOrder)){
                            // 查询车辆
                            XpVehicle xpVehicle = xpVehicleClient.queryById(xpCruiseOrder.getVehicleId()).getData();
                            if (Objects.nonNull(xpVehicle)){
                                String vin = xpVehicle.getVehicleVin();
                                // 封装埋点消息实体
                                VehicleEventDTO vehicleEventDTO = new VehicleEventDTO();
                                vehicleEventDTO.setVin(vin);
                                vehicleEventDTO.setXpuId("");
                                vehicleEventDTO.setOrderId(cruiseOrderId);
                                vehicleEventDTO.setEventKey("RT_xpu_vehicle_trace_upload");
                                vehicleEventDTO.setEventTime(System.currentTimeMillis());
                                Map<String,Object> attributes = new HashMap<>();
                                attributes.put("vin",vin);
                                attributes.put("order_id",vehicleEventDTO.getOrderId());
                                attributes.put("order_type","cruise_order");
                                attributes.put("timestamp",vehicleEventDTO.getEventTime());
                                attributes.put("current_main_status",OrderStatus.ORDER_ARRIVED_AT_CRUISE_DESTINATION);
                                attributes.put("current_sub_status","");
                                VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
                                if(Objects.nonNull(vehiclePosition)){
                                    attributes.put("odometer_km",vehiclePosition.getTotalOdometer());
                                }else {
                                    attributes.put("odometer_km","");
                                }
                                vehicleEventDTO.setAttributes(attributes);
                                vehicleBuriedPointClient.sendVehicleEvent(vehicleEventDTO);
                                log.info("到达巡游终点，推送埋点：{}", orderId);
                            }
                        }
                    }else if(orderId.contains("TEST")){
                        //测试巡游单完成状态
                        XpTestOrder testOrder = testOrderClient.queryOrderById(Long.parseLong(orderId.substring(4))).getData();
                        if(testOrder.getOrderType() == 2){
                            XpVehicle xpVehicle = xpVehicleClient.queryById(testOrder.getVehicleId()).getData();
                            //响应消息
                            responseMessage(sequence, xpVehicle.getVehicleVin());
                            //测试巡游单处理逻辑
                            testOrderClient.updateOrderStatus(Long.parseLong(orderId.substring(4)), OrderStatusEnum.COMPLETED.getCode());
                            redisService.setCacheObject("TEST_ORDER_STATUS:" + orderId.substring(4), OrderStatusEnum.COMPLETED.getCode(), 24L, TimeUnit.HOURS);
                        }
                    }
                    break;
                case ORDER_PAUSED:
@@ -996,6 +1387,64 @@
        }
    }

    private JSONObject getReassignCancelContext(String orderId) {
        if (StringUtils.isEmpty(orderId)) {
            return null;
        }
        Object cacheObject = redisService.getCacheObject(REASSIGN_CANCEL_CONTEXT_PREFIX + orderId);
        if (cacheObject == null) {
            return null;
        }
        return JSON.parseObject(cacheObject.toString());
    }

    private JSONObject resolveReassignCancelContext(String orderId, OrderStatusInfo orderStatusInfo) {
        if (OrderStateChangeSource.ORDER_STATE_CHANGE_SOURCE_VEHICLE != orderStatusInfo.getChangeSource()) {
            return null;
        }
        JSONObject cancelContext = getReassignCancelContext(orderId);
        if (cancelContext == null) {
            return null;
        }
        if (CancelOrderSceneEnum.REASSIGN_OLD_VEHICLE != CancelOrderSceneEnum.fromCode(
                cancelContext.getString("cancelScene"))) {
            return null;
        }
        R<XpOrder> orderResult = xpOrderClient.queryOrderById(Long.parseLong(orderId));
        XpOrder xpOrder = orderResult == null ? null : orderResult.getData();
        if (xpOrder == null) {
            log.warn("改派取消回调识别失败，订单不存在，orderId: {}, context: {}", orderId, cancelContext);
            return null;
        }
        Long newVehicleId = cancelContext.getLong("newVehicleId");
        Integer currentStatus = xpOrder.getStatus();
        boolean vehicleMatched = Objects.nonNull(newVehicleId) && Objects.equals(newVehicleId, xpOrder.getVehicleId());
        boolean statusMatched = Objects.nonNull(currentStatus) && currentStatus > 0 && currentStatus < 8;
        if (vehicleMatched && statusMatched) {
            return cancelContext;
        }
        log.info("改派取消回调未命中专用上下文，orderId: {}, currentVehicleId: {}, newVehicleId: {}, currentStatus: {}",
                orderId, xpOrder.getVehicleId(), newVehicleId, currentStatus);
        return null;
    }

    private String resolveReassignCancelResponseVin(JSONObject cancelContext) {
        if (cancelContext == null) {
            return null;
        }
        String oldVehicleVin = cancelContext.getString("oldVehicleVin");
        if (StringUtils.isNotEmpty(oldVehicleVin)) {
            return oldVehicleVin;
        }
        Long oldVehicleId = cancelContext.getLong("oldVehicleId");
        if (Objects.isNull(oldVehicleId)) {
            return null;
        }
        R<XpVehicle> vehicleResult = xpVehicleClient.queryById(oldVehicleId);
        XpVehicle xpVehicle = vehicleResult == null ? null : vehicleResult.getData();
        return xpVehicle == null ? null : xpVehicle.getVehicleVin();
    }

    /**
     * 云端下发导航到XPU
     * @param requestId             XPU请求id