java/Robotaxi.git

			@@ -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;
			@@ -14,31 +16,33 @@
			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.dto.vehicleConvoy.UpdateVehicleStateDto;
			import com.xiaopeng.api.feignClient.automaticPilot.VehicleBuriedPointClient;
			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;
			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.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.order.XpTestOrder;
			import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
			import com.xiaopeng.api.vo.OrderType;
			import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
			import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
			import com.xiaopeng.api.vo.operation.RouteVo;
			import com.xiaopeng.api.vo.order.OrderTrajectoryVo;
			import com.xiaopeng.api.vo.vehicleConvoy.CancelTaxiPassengerVo;
			import com.xiaopeng.automaticPilot.util.XPUUtil;
			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;
			@@ -57,9 +61,10 @@

			import javax.annotation.Resource;
			import java.util.*;
			import java.util.concurrent.LinkedBlockingQueue;
			import java.util.concurrent.ThreadPoolExecutor;
			import java.util.concurrent.TimeUnit;

			;

			/**
			* Kafka 消费者服务
			@@ -67,6 +72,8 @@
			@Slf4j
			@Service
			public class KafkaConsumerService {
			private static final String REASSIGN_CANCEL_CONTEXT_PREFIX = "REASSIGN_CANCEL_CONTEXT:";


			@Resource
			private XpMapClient xpMapClient;
			@@ -104,7 +111,7 @@
			@Resource
			private XpCruisePlanClient xpCruisePlanClient;

			@Resource
			@Resource(name = "hutoolSnowflake")
			private Snowflake snowflake;

			@Value("${robotaxi.appId:xp_robotaxi_api}")
			@@ -112,8 +119,13 @@

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

			private static final com.google.protobuf.util.JsonFormat.Printer jsonPrinter = com.google.protobuf.util.JsonFormat.printer()
			@Resource
			private XpTestOrderClient testOrderClient;

			private static final JsonFormat.Printer jsonPrinter = JsonFormat.printer()
			.printingEnumsAsInts()
			.preservingProtoFieldNames();

			@@ -245,7 +257,6 @@
			log.info("消息不在处理范围内，忽略：{}", message);
			}
			}
			//TODO 这里的逻辑要再确认下
			//消息应答
			if(MessageType.MESSAGE_TYPE_RESPONSE == type) {
			//区分业务类型
			@@ -267,7 +278,13 @@
			String vin = jsonObject.getString("vin");
			String orderType = jsonObject.getString("orderType");
			PopOrderDto dto = new PopOrderDto();
			dto.setOrderId(Long.valueOf(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);
			@@ -325,7 +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);
			}
			}
			@@ -342,6 +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);
			@@ -353,26 +374,42 @@
			.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
			if (null != orderId) {
			//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();
			dto.setOrderId(orderId);
			dto.setRouteType(order_id.contains("XU") ? 2 : 1);
			dto.setRouteType(1);
			dto.setLongitude(longitude);
			dto.setLatitude(latitude);
			//TODO 这两个字段现在拿不到
			// dto.setDuration(rtTripInfo.getRemaining_time());
			// dto.setDistance(rtTripInfo.getRemaining_distance().intValue());
			xpPushMessageClient.pushOrderRoute(dto);
			// dto.setDirection();
			//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();
			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);
			}
			}


			}




			/**
			@@ -393,25 +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.updateCruiseOrderId(Long.parseLong(orderId.substring(2)));
			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());
			@@ -435,6 +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);
			}
			}

			@@ -509,7 +582,7 @@
			destination.setLatitude(xpCruiseOrder.getEndLat());

			OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
			dto.setOrderId(Long.parseLong(orderId));
			dto.setOrderId(Long.parseLong(orderId.substring(2)));
			dto.setOrigin(origin);
			dto.setDestination(destination);
			dto.setRouteType(3);
			@@ -522,6 +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
			@@ -572,7 +718,7 @@
			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("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId(), com.alibaba.fastjson.JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
			redisService.setCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
			}
			vehicleId = xpOrder.getVehicleId();
			}
			@@ -617,7 +763,7 @@
			destination.setLatitude(xpCruiseOrder.getEndLat());

			OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
			dto.setOrderId(Long.parseLong(orderId));
			dto.setOrderId(Long.parseLong(orderId.substring(2)));
			dto.setOrigin(origin);
			dto.setDestination(destination);
			dto.setRouteType(3);
			@@ -631,7 +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));
			@@ -642,30 +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)) {
			@@ -690,7 +937,7 @@
			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("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId(), com.alibaba.fastjson.JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
			redisService.setCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
			}else{
			RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
			routeID = routeVo.getRouteID();
			@@ -798,8 +1045,14 @@
			break;
			case ORDER_RECEIVED:
			//收到订单
			buildPushOrderStatus(orderId, OrderStatusEnum.READY_DEPART, sequence);
			xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.READY_DEPART.getCode());
			if(!orderId.contains("XU")){
			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:
			//开始执行订单
			@@ -807,8 +1060,14 @@
			break;
			case ORDER_EN_ROUTE_TO_PICKUP:
			//前往上车点
			buildPushOrderStatus(orderId, OrderStatusEnum.PICK_UP, sequence);
			xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PICK_UP.getCode());
			if(!orderId.contains("XU")){
			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:
			//到达上车点
			@@ -816,65 +1075,206 @@
			break;
			case ORDER_WAITING_FOR_PICKUP:
			//等待乘客上车
			buildPushOrderStatus(orderId, OrderStatusEnum.PICK_UP_GUESTS, sequence);
			xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PICK_UP_GUESTS.getCode());
			if(!orderId.contains("XU")){
			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
			buildPushOrderStatus(orderId, OrderStatusEnum.PASSENGER_BOARDED, sequence);
			xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.PASSENGER_BOARDED.getCode());
			if(!orderId.contains("XU")){
			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
			buildPushOrderStatus(orderId, OrderStatusEnum.IN_SERVICE, sequence);
			xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.IN_SERVICE.getCode());
			if(!orderId.contains("XU")){
			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:
			//到达目的地
			log.info("到达目的地，不做任何处理：{}", orderId);
			break;
			case ORDER_WAITING_FOR_DROPOFF:
			//等待乘客下车
			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
			buildPushOrderStatus(orderId, OrderStatusEnum.APPROVAL_REJECTION, sequence);
			xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.APPROVAL_REJECTION.getCode());


			// 下发巡游任务
			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);
			//等待乘客下车，开始倒计时发下巡游单
			if(!orderId.contains("XU")){
			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);
			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
			buildPushOrderStatus(orderId, OrderStatusEnum.CANCELED, sequence);
			xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.CANCELED.getCode());
			if(!orderId.contains("XU")){
			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
			buildPushOrderStatus(orderId, OrderStatusEnum.COMPLETED, sequence);
			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:
			//订单暂停
			@@ -895,111 +1295,49 @@
			public void buildPushOrderStatus(String orderId, OrderStatusEnum status, Long sequence){
			if(orderId.contains("XU")){
			//巡游单
			//响应消息
			// TODO 1.处理结束当前巡游订单 2.创建新的巡游订单返航 3.调用xpu车机接口（判断是返航还是正常返航需要存储之前的订单id）
			responseMessage(sequence, "");
			//前往目的地
			if(OrderStatusEnum.IN_SERVICE.equals(status)){

			}
			//到达目的地
			if(OrderStatusEnum.COMPLETED.equals(status)){

			// 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(Long.parseLong(orderId.substring(2)));
			if(cruiseOrder!=null){
			XpCruiseOrder xpCruiseOrder = cruiseOrder.getData();
			Long vehicleId = xpCruiseOrder.getVehicleId();

			// 完成当前巡游单子已完成
			xpCruiseOrderClient.closeCruiseOrder(xpCruiseOrder.getVehicleVin());
			xpCruiseOrderClient.completeCruiseOrder(Long.parseLong(orderId.substring(2)));
			R<XpVehicle> xpVehicleR = xpVehicleClient.queryById(vehicleId);
			XpVehicle xpVehicle = xpVehicleR.getData();
			//响应消息
			responseMessage(sequence, xpVehicle.getVehicleVin());
			// 运营中继续执行
			if(xpVehicle.getOperatingStatus()==1 && xpVehicle.getState()==0){
			log.info("巡游单到达终点，继续执行下一笔巡游单");
			// 创建新的巡游单子判断是否为返程单子
			if(xpCruiseOrder.getOrderType()==2){
			R<XpCruiseOrder> lastOrder = xpCruiseOrderClient.getCruiseOrder(xpCruiseOrder.getLastOrderId());
			XpCruiseOrder lastXpCruiseOrder = lastOrder.getData();
			// 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
			Double endLon = xpCruiseOrder.getEndLon();
			Double endLat = xpCruiseOrder.getEndLat();
			XpCruiseOrder newXpCruiseOrder = new XpCruiseOrder();
			newXpCruiseOrder.setVehicleId(xpCruiseOrder.getVehicleId());
			newXpCruiseOrder.setVehicleVin(xpCruiseOrder.getVehicleVin());
			newXpCruiseOrder.setFleetId(xpCruiseOrder.getFleetId());
			newXpCruiseOrder.setOrderType(1);
			newXpCruiseOrder.setStartLat(endLat);
			newXpCruiseOrder.setStartLon(endLon);
			newXpCruiseOrder.setStartPointId(xpCruiseOrder.getEndPointId());
			newXpCruiseOrder.setStartPointName(xpCruiseOrder.getEndPointName());
			newXpCruiseOrder.setStatus(1);
			newXpCruiseOrder.setLastOrderId(xpCruiseOrder.getId());

			// 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
			Double endLon = xpCruiseOrder.getEndLon();
			Double endLat = xpCruiseOrder.getEndLat();
			XpCruiseOrder newXpCruiseOrder = new XpCruiseOrder();
			newXpCruiseOrder.setVehicleId(xpCruiseOrder.getVehicleId());
			newXpCruiseOrder.setVehicleVin(xpCruiseOrder.getVehicleVin());
			newXpCruiseOrder.setFleetId(xpCruiseOrder.getFleetId());
			newXpCruiseOrder.setOrderType(1);
			newXpCruiseOrder.setStartLat(endLat);
			newXpCruiseOrder.setStartLon(endLon);
			newXpCruiseOrder.setStartPointId(xpCruiseOrder.getEndPointId());
			newXpCruiseOrder.setStartPointName(xpCruiseOrder.getEndPointName());
			newXpCruiseOrder.setStatus(1);
			newXpCruiseOrder.setLastOrderId(xpCruiseOrder.getId());


			// 通过车找终点id
			CruisePointDto cruisePointDto = new CruisePointDto();
			cruisePointDto.setNewXpCruiseOrder(newXpCruiseOrder);
			cruisePointDto.setVehicleId(xpCruiseOrder.getVehicleId());
			cruisePointDto.setPointId(newXpCruiseOrder.getStartPointId());
			cruisePointDto.setOrderReverse(xpCruiseOrder.getOrderReverse());
			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);
			}
			// 通过车找终点id
			CruisePointDto cruisePointDto = new CruisePointDto();
			cruisePointDto.setNewXpCruiseOrder(newXpCruiseOrder);
			cruisePointDto.setVehicleId(xpCruiseOrder.getVehicleId());
			cruisePointDto.setPointId(newXpCruiseOrder.getStartPointId());
			cruisePointDto.setOrderReverse(xpCruiseOrder.getOrderReverse());
			R<XpCruiseOrder> cruisePoint = xpCruisePlanClient.getCruisePoint(cruisePointDto);
			if(cruisePoint!=null){
			xpCruiseOrderClient.addCruiseOrder(cruisePoint.getData());
			}
			}
			}
			@@ -1026,12 +1364,87 @@
			dto.setAppUserId(appUserId + "");
			dto.setMessage(message);
			R<String> stringR = xpPushMessageClient.sendStatus(dto);
			if (R.isError(stringR)) {
			log.error("推送消息失败：{}", stringR.getMsg());

			//推送失败，重试3次
			if(stringR.getCode() != Constants.SUCCESS){
			ThreadPoolExecutor executor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>());
			executor.execute(() -> {
			for (int i = 0; i < 3; i++) {
			R<String> stringR1 = xpPushMessageClient.sendStatus(dto);
			if(stringR1.getCode() == Constants.SUCCESS){
			break;
			}
			try {
			Thread.sleep(1000);
			} catch (InterruptedException e) {
			throw new RuntimeException(e);
			}
			log.info("推送订单状态消息失败：{} {} {}", stringR1.getMsg(), JSON.toJSONString(dto), xpOrder.getOrderNumber());
			}
			});
			}

			}
			}

			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