提交管理后台新接口，修改XPU报文相关功能，增加测试小程序状态流转接口

puzhibing

2026-02-27 ba78f764042ca15bf3f3be62e7a3fc699df56d67

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

@@ -4,7 +4,10 @@
import cn.hutool.core.util.IdUtil;
import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONObject;
import com.google.protobuf.InvalidProtocolBufferException;
import com.google.protobuf.util.JsonFormat;
import com.xiaopeng.api.dto.map.OrderRouteAndFareDto;
import com.xiaopeng.api.dto.operation.CruisePointDto;
import com.xiaopeng.api.dto.operation.LonLatDto;
import com.xiaopeng.api.dto.operation.ReassignOrderDTO;
import com.xiaopeng.api.dto.order.PopOrderDto;
@@ -12,6 +15,7 @@
import com.xiaopeng.api.dto.pushMessage.SendMessageDTO;
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.pushMessage.XpPushMessageClient;
@@ -23,25 +27,7 @@
import com.xiaopeng.api.vo.OrderType;
import com.xiaopeng.api.vo.SystemEventType;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
import com.xiaopeng.api.vo.automaticPilot.proto.down.GeoPoint;
import com.xiaopeng.api.vo.automaticPilot.proto.down.ResponseMessage;
import com.xiaopeng.api.vo.automaticPilot.proto.down.StatusCode;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.RTTask;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.TaskStatus;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.TaskType;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudOrderOperation.*;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudPushNavigation.RestoreNavigationData;
import com.xiaopeng.api.vo.automaticPilot.proto.up.MessageType;
import com.xiaopeng.api.vo.automaticPilot.proto.up.MsgContent;
import com.xiaopeng.api.vo.automaticPilot.proto.up.RTCmdType;
import com.xiaopeng.api.vo.automaticPilot.proto.up.RtMsgHeader;
import com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent.NavigationDeviationEvent;
import com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent.NavigationDeviationMessage;
import com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent.RtEventType;
import com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent.OrderStatusInfoEvent;
import com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu.*;
import com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest.NavigationRequest;
import com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest.OrderPhase;
import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.api.vo.vehicleConvoy.CancelTaxiPassengerVo;
import com.xiaopeng.automaticPilot.util.XPUUtil;
@@ -54,7 +40,6 @@
import com.xiaopeng.common.core.utils.uuid.UUID;
import com.xiaopeng.common.redis.service.RedisService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.data.mongodb.core.MongoTemplate;
import org.springframework.data.mongodb.core.geo.GeoJsonPoint;
import org.springframework.data.mongodb.core.query.Criteria;
@@ -65,6 +50,8 @@
import javax.annotation.Resource;
import java.util.*;
import java.util.concurrent.TimeUnit;

;

/**
 * Kafka 消费者服务
@@ -105,8 +92,13 @@

    @Resource
    private Snowflake snowflake;
    @Autowired

    @Resource
    private RedisService redisService;

    @Resource
    private XpCruisePlanClient xpCruisePlanClient;



    /**
@@ -114,16 +106,33 @@
     *
     */
    public void topicProdRobotaxiXpuHigh(String message) {
        MsgContent msgContent = JSON.parseObject(message, MsgContent.class);
        handleXPUMessage(msgContent, message);
        MsgContent msgContent = parseMsgContent(message);
        if (msgContent != null) {
            handleXPUMessage(msgContent, message);
        }

    }

    /**
     * 消费消息 - XPU上报Robotaxi云端的消息topic（低优先级）
     */
    public void topicProdRobotaxiXpuNormal(String message) {
        MsgContent msgContent = JSON.parseObject(message, MsgContent.class);
        handleXPUMessage(msgContent, message);
        MsgContent msgContent = parseMsgContent(message);
        if (msgContent != null) {
            handleXPUMessage(msgContent, message);
        }

    }

    private MsgContent parseMsgContent(String message) {
        try {
            MsgContent.Builder builder = MsgContent.newBuilder();
            JsonFormat.parser().ignoringUnknownFields().merge(message, builder);
            return builder.build();
        } catch (InvalidProtocolBufferException e) {
            log.error("Failed to parse message: {}", message, e);
            return null;
        }
    }


@@ -133,12 +142,17 @@
     * @param message
     */
    public void handleXPUMessage(MsgContent msgContent, String message){
        RtMsgHeader header = msgContent.getHeader();
        MsgHeader header = msgContent.getHeader();
        MessageType type = header.getType();
        //处理请求消息
        if (MessageType.MESSAGE_TYPE_REQUEST == type) {
            //区分业务类型
            RTCmdType cmd = header.getCmd();
            int cmdValue = header.getCmd();
            RTCmdType cmd = RTCmdType.getByValue(cmdValue);
            if (cmd == null) {
                log.warn("Unknown cmd value: {}", cmdValue);
                return;
            }
            switch (cmd) {
                case SYSTEM_STATUS_XPU:
                    log.info("XPU发布系统运行状态 (XPU→云端)：{}", message);
@@ -203,10 +217,10 @@
        //TODO 这里的逻辑要再确认下
        //消息应答
        if(MessageType.MESSAGE_TYPE_RESPONSE == type){
            com.xiaopeng.api.vo.automaticPilot.proto.up.ResponseMessage resposne = msgContent.getContent_detail().getObject("resposne", com.xiaopeng.api.vo.automaticPilot.proto.up.ResponseMessage.class);
            com.xiaopeng.api.vo.automaticPilot.proto.up.StatusCode code = resposne.getCode();
            Long requestSeq = resposne.getRequest_seq();
            if(code == com.xiaopeng.api.vo.automaticPilot.proto.up.StatusCode.OK){
            ResponseMessage response = msgContent.getResponse();
            StatusCode code = response.getCode();
            long requestSeq = response.getRequestSeq();
            if(code == StatusCode.OK){
                Object sequence = redisTemplate.opsForValue().get(requestSeq);
                if(sequence!=null){
                    JSONObject jsonObject = JSON.parseObject(sequence.toString());
@@ -238,21 +252,21 @@
     */
    public void systemStatusXpu(MsgContent msgContent) {
        //开始处理消息对应的业务逻辑
        SystemRuntimeStatus systemRuntimeStatus = msgContent.getContent_detail().getObject("systemRuntimeStatus", SystemRuntimeStatus.class);
        SystemRuntimeStatus systemRuntimeStatus = msgContent.getSystemRuntimeStatus();
        //获取实时位置
        RealtimePose pose = systemRuntimeStatus.getPose();
        Wgs naviPose = pose.getNavi_pose();
        Double latitude = naviPose.getLatitude();
        Double longitude = naviPose.getLongitude();
        Wgs naviPose = pose.getNaviPose();
        double latitude = naviPose.getLatitude();
        double longitude = naviPose.getLongitude();
        Double course = naviPose.getCourse();
        Float alt = naviPose.getAlt();
        //获取车辆静态信息
        VehicleStaticInfo staticInfo = systemRuntimeStatus.getVehicle_status().getStatic_info();
        String xpuId = staticInfo.getXpu_id();
        VehicleStaticInfo staticInfo = systemRuntimeStatus.getVehicleStatus().getStaticInfo();
        String xpuId = staticInfo.getXpuId();
        XpVehicle xpVehicle = xpVehicleClient.findByVehicleXpuId(xpuId).getData();
        String vin = xpVehicle.getVehicleVin();
        //先响应消息
        Long sequence = msgContent.getHeader().getSequence();
        long sequence = msgContent.getHeader().getSequence();
        responseMessage(sequence, vin);
        //保存车辆实时位置到redis
        redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new GeoJsonPoint(longitude, latitude), vin);
@@ -266,16 +280,16 @@
        vehiclePosition.setPoint(new GeoJsonPoint(longitude, latitude));
        vehiclePosition.setCourse(course);
        vehiclePosition.setAlt(alt);
        VehicleStatus vehicleStatus = systemRuntimeStatus.getVehicle_status();
        VehicleStatus vehicleStatus = systemRuntimeStatus.getVehicleStatus();
        //车辆动态信息
        VehicleDynamicStatus dynamicStatus = vehicleStatus.getDynamic_status();
        dynamicStatus.setSpeed(dynamicStatus.getSpeed());
        vehiclePosition.setCurrentElectricity(dynamicStatus.getBms_soc_disp());
        vehiclePosition.setMileageRange(dynamicStatus.getDst_bat_disp());
        VehicleDynamicStatus dynamicStatus = vehicleStatus.getDynamicStatus();
        vehiclePosition.setSpeed(dynamicStatus.getSpeed());
        vehiclePosition.setCurrentElectricity(dynamicStatus.getBmsSocDisp());
        vehiclePosition.setMileageRange(dynamicStatus.getDstBatDisp());
        //订单信息
        OrderStatusInfo runningOrderStatusInfo = systemRuntimeStatus.getRunning_order_status_info();
        OrderStatusInfo runningOrderStatusInfo = systemRuntimeStatus.getRunningOrderStatusInfo();
        Long orderId = null;
        String order_id = runningOrderStatusInfo.getOrder_id();
        String order_id = runningOrderStatusInfo.getOrderId();
        vehiclePosition.setHasOrder(0);
        if (StringUtils.isNotEmpty(order_id)) {
            if (order_id.contains("XU")) {
@@ -289,14 +303,15 @@
        mongoTemplate.save(vehiclePosition);
        //调用推送服务接口
        if (null != orderId) {
            RtTripInfo rtTripInfo = systemRuntimeStatus.getRt_trip_info();
            RtTripInfo rtTripInfo = systemRuntimeStatus.getRtTripInfo();
            PushOrderRouteDTO dto = new PushOrderRouteDTO();
            dto.setOrderId(orderId);
            dto.setRouteType(order_id.contains("XU") ? 2 : 1);
            dto.setLongitude(longitude);
            dto.setLatitude(latitude);
            dto.setDuration(rtTripInfo.getRemaining_time());
            dto.setDistance(rtTripInfo.getRemaining_distance().intValue());
            //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);
        }
    }
@@ -309,20 +324,19 @@
     */
    public void systemStatusXpuAndReassign(MsgContent msgContent) {
        //开始处理消息对应的业务逻辑
        SystemRuntimeStatus systemRuntimeStatus = msgContent.getContent_detail().getObject("systemRuntimeStatus", SystemRuntimeStatus.class);
        AbnormalReason abnormalReason = systemRuntimeStatus.getSystem_status().getAbnormal_reason();
        SystemRuntimeStatus systemRuntimeStatus = msgContent.getSystemRuntimeStatus();
        AbnormalReason abnormalReason = systemRuntimeStatus.getSystemStatus().getAbnormalReason();
        // 存储车辆挡位
        GearLevel gearLevel = systemRuntimeStatus.getVehicle_status().getDynamic_status().getGear_level();
        int value = gearLevel.getValue();
        redisTemplate.opsForValue().set(CacheConstants.GEAR_LEVEL + systemRuntimeStatus.getVehicle_status().getStatic_info().getVin(), value);

        GearLevel gearLevel = systemRuntimeStatus.getVehicleStatus().getDynamicStatus().getGearLevel();
        int value = gearLevel.getNumber();
        redisTemplate.opsForValue().set(CacheConstants.GEAR_LEVEL + systemRuntimeStatus.getVehicleStatus().getStaticInfo().getXpuId(), value);
        // 判断是否为故障状态
        if (abnormalReason == AbnormalReason.FAULT) {
            log.info("车辆故障，开始处理故障");
            // TODO 添加异常任务
            // 解绑用户与车辆关系
            CancelTaxiPassengerVo cancelTaxiPassengerVo = new CancelTaxiPassengerVo();
            String orderId = systemRuntimeStatus.getRunning_order_status_info().getOrder_id();
            String orderId = systemRuntimeStatus.getRunningOrderStatusInfo().getOrderId();
            XpOrder xpOrder = xpOrderClient.queryOrderById(Long.parseLong(orderId)).getData();
            XpVehicle vehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
            if (vehicle != null) {
@@ -346,21 +360,12 @@
            reassignOrderDTO.setOrderNo(xpOrder.getOrderNumber());
            reassignOrderDTO.setCount(10);
            RealtimePose pose = systemRuntimeStatus.getPose();
            Wgs naviPose = pose.getNavi_pose();
            Wgs naviPose = pose.getNaviPose();
            Double latitude = naviPose.getLatitude();
            Double longitude = naviPose.getLongitude();
            reassignOrderDTO.setLongitude(longitude);
            reassignOrderDTO.setLatitude(latitude);
            reassignOrderClient.reassignOrder(reassignOrderDTO);









//            }
        }
    }
@@ -372,11 +377,11 @@
     */
    public void xpuNavigationRequest(MsgContent msgContent) {
        //开始处理消息对应的业务逻辑
        NavigationRequest naviRequest = msgContent.getContent_detail().getObject("naviRequest", NavigationRequest.class);
        String requestId = naviRequest.getRequest_id();
        String orderId = naviRequest.getOrder_id();
        String taskId = naviRequest.getTask_id();
        OrderPhase orderPhase = naviRequest.getOrder_phase();
        NavigationRequest naviRequest = msgContent.getNavigationRequset();
        String requestId = naviRequest.getRequestId();
        String orderId = naviRequest.getOrderId();
        String taskId = naviRequest.getTaskId();
        OrderPhase orderPhase = naviRequest.getOrderPhase();
        log.info("订单ID：{}", orderId);
        log.info("任务ID：{}", taskId);
        switch (orderPhase) {
@@ -406,27 +411,30 @@
     */
    public void navigationDeviationEvent(MsgContent msgContent) {
        //先响应消息
        Long sequence = msgContent.getHeader().getSequence();
        long sequence = msgContent.getHeader().getSequence();
        //开始处理消息对应的业务逻辑
        NavigationDeviationEvent deviationEvent = msgContent.getContent_detail().getObject("deviationEvent", NavigationDeviationEvent.class);
        String requestId = deviationEvent.getRequest_id();
        NavigationDeviationEvent deviationEvent = msgContent.getNaviDeviationEvent();
        // todo 请求id确认是否有这个参数
//        String requestId = deviationEvent.getRequestId();
        String requestId = "";
        //导航id
        String routeID = "";
        Long vehicleId = null;
        String orderType = "";
        //偏航事件类型 1：请求导航，2：取消导航
        if (deviationEvent.getEvent_type().equals(RtEventType.RT_EVENT_TYPE_REQUEST)) {
            NavigationDeviationMessage navigationDeviationMessage = deviationEvent.getNavigation_deviation_message();
            String orderId = navigationDeviationMessage.getOrder_id();
            String taskId = navigationDeviationMessage.getTask_id();
            Double longitude = navigationDeviationMessage.getLongitude();
            Double latitude = navigationDeviationMessage.getLatitude();
//        if (deviationEvent.getEvent_type().equals(RtEventType.RT_EVENT_TYPE_REQUEST)) {
            NavigationDeviationMessage navigationDeviationMessage = deviationEvent.getNavigationDeviationMessage();
            String orderId = navigationDeviationMessage.getOrderId();
            String taskId = navigationDeviationMessage.getTaskId();
            Wgs wgs = navigationDeviationMessage.getPoint();
            Double longitude = wgs.getLongitude();
            Double latitude = wgs.getLatitude();
            //订单类型  1：乘客订单，2=巡游订单
            LonLatDto destination = new LonLatDto();
            LonLatDto origin = new LonLatDto();

            if (orderId.contains("XU")) {
                orderType = OrderType.CRUISE_ORDER;


                R<XpCruiseOrder> cruiseOrder = xpCruiseOrderClient.getCruiseOrder(orderId);
                XpCruiseOrder xpCruiseOrder = cruiseOrder.getData();
@@ -512,10 +520,11 @@
                if (200 != stringR.getCode()) {
                    throw new RuntimeException("根据导航ID获取车端需要的导航数据失败");
                }
                //TODO 这里的逻辑不太对，收到导航偏航事件之后
                //构建导航下发请求对象
                cloudPushNavigationInfo(requestId, routeID, stringR.getData(), orderType, orderId, xpVehicle.getVehicleVin(), xpVehicle.getXpuId());
            }
        }
//        }
    }


@@ -650,44 +659,46 @@
     */
    public void cloudOrderOperation(Integer orderType, String orderId, String taskId, RouteVo routeVo, String vin) {
        //构建消息体
        OrderOperation orderOperation = new OrderOperation();
        orderOperation.setOrder_id(orderId);
        orderOperation.setTask_id(taskId);
        orderOperation.setOperation_type(OrderOperationType.CLOUD_UPDATE_WAYPOINTS);
        OrderOperation.Builder orderOperationBuilder = OrderOperation.newBuilder();
        orderOperationBuilder.setOrderId(orderId);
        orderOperationBuilder.setTaskId(taskId);
        orderOperationBuilder.setOperationType(OrderOperationType.CLOUD_UPDATE_WAYPOINTS);


        //构建航点
        List<Waypoint> waypoints = new ArrayList<>();
        List<LonLatDto> polyline = routeVo.getPolyline();
        for (int i = 0; i < polyline.size(); i++) {
            LonLatDto lonLatDto = polyline.get(i);
            Waypoint waypoint = new Waypoint();
            waypoint.setWaypoint_id(UUID.randomUUID().toString());
            Waypoint.Builder waypointBuilder = Waypoint.newBuilder();
            waypointBuilder.setWaypointId(UUID.randomUUID().toString());
            if (0 == i) {
                waypoint.setPoint_type(PointType.START_POINT);
                waypointBuilder.setPointType(PointType.START_POINT);
                //订单类型不同，点位的动作类型不同
                waypoint.setAction_type(1 == orderType ? ActionType.PICK_UP : ActionType.ACTION_UNSPECIFIED);
                waypointBuilder.setActionType(1 == orderType ? ActionType.PICK_UP : ActionType.ACTION_UNSPECIFIED);
            } else if (polyline.size() - 1 == i) {
                waypoint.setPoint_type(PointType.END_POINT);
                waypoint.setAction_type(1 == orderType ? ActionType.DROP_OFF : ActionType.ACTION_UNSPECIFIED);
                waypointBuilder.setPointType(PointType.END_POINT);
                waypointBuilder.setActionType(1 == orderType ? ActionType.DROP_OFF : ActionType.ACTION_UNSPECIFIED);
            } else {
                waypoint.setPoint_type(PointType.WAY_POINT);
                waypointBuilder.setPointType(PointType.WAY_POINT);
                //订单类型不同，点位的动作类型不同
                waypoint.setAction_type(ActionType.ACTION_UNSPECIFIED);
                waypointBuilder.setActionType(ActionType.ACTION_UNSPECIFIED);
            }
            //构建经纬度
            GeoPoint geoPoint = new GeoPoint();
            geoPoint.setLongitude(lonLatDto.getLongitude());
            geoPoint.setLatitude(lonLatDto.getLatitude());
            waypoint.setPoint(geoPoint);
            waypoint.setSequence(i + 1);
            waypoints.add(waypoint);
            GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
            geoPointBuilder.setLongitude(lonLatDto.getLongitude());
            geoPointBuilder.setLatitude(lonLatDto.getLatitude());
            waypointBuilder.setPoint(geoPointBuilder.build());
            waypointBuilder.setSequence(i + 1);
            waypoints.add(waypointBuilder.build());

        }
        orderOperation.setWaypoints(waypoints);
        orderOperationBuilder.addAllWaypoints(waypoints);
        long sequence = snowflake.nextId();
        // 处理数据
        redisTemplate.opsForValue().set(sequence,"pushOrder_"+orderId+"_"+vin,30, TimeUnit.MINUTES);
        //开发发送请求到XPU
        xpuUtil.cloudOrderOperation(orderOperation, vin,sequence);
        xpuUtil.cloudOrderOperation(orderOperationBuilder.build(), vin,sequence);
    }


@@ -695,11 +706,12 @@
     * 构建响应消息
     */
    public void responseMessage(Long request_seq, String vin) {
        ResponseMessage responseMessage = new ResponseMessage();
        responseMessage.setRequest_seq(request_seq);
        responseMessage.setCode(StatusCode.OK);
        responseMessage.setTimestamp(System.currentTimeMillis());
        xpuUtil.responseMessage(responseMessage, vin);
        ResponseMessage.Builder responseMessageBuilder = ResponseMessage.newBuilder();
        responseMessageBuilder.setRequestSeq(request_seq);
        responseMessageBuilder.setCode(StatusCode.OK);
        responseMessageBuilder.setTimestamp(System.currentTimeMillis());
        xpuUtil.responseMessage(responseMessageBuilder.build(), vin);

    }


@@ -709,15 +721,15 @@
     */
    public void orderStateUpdateEvent(MsgContent msgContent) {
        //先响应消息
        Long sequence = msgContent.getHeader().getSequence();
        long sequence = msgContent.getHeader().getSequence();
        //开始处理消息对应的业务逻辑
        OrderStatusInfoEvent orderStatusInfoEvent = msgContent.getContent_detail().getObject("orderStatusInfoEvent", OrderStatusInfoEvent.class);
        OrderStatusInfoEvent orderStatusInfoEvent = msgContent.getOrderStatusInfoEvent();
        //只处理请求消息
        if (orderStatusInfoEvent.getEvent_type().equals(RtEventType.RT_EVENT_TYPE_REQUEST)) {
            com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent.OrderStatusInfo orderStatusInfo = orderStatusInfoEvent.getOrder_status_info();
            String orderId = orderStatusInfo.getOrder_id();
        if (orderStatusInfoEvent.getEventType().equals(RtEventType.kEventOrderStateUpdate)) {
            OrderStatusInfo orderStatusInfo = orderStatusInfoEvent.getOrderStatusInfo();
            String orderId = orderStatusInfo.getOrderId();
            //普通单
            com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent.OrderStatus status = orderStatusInfo.getStatus();
            OrderStatus status = orderStatusInfo.getStatus();
            switch (status) {
                case ORDER_STATUS_UNSPECIFIED:
                    //订单状态未知
@@ -834,24 +846,62 @@
                            lastXpCruiseOrder.setStatus(1);
                            xpCruiseOrderClient.addCruiseOrder(lastXpCruiseOrder);

                            com.xiaopeng.api.vo.automaticPilot.protobuf.RtTask.Builder taskBuilder = com.xiaopeng.api.vo.automaticPilot.protobuf.RtTask.newBuilder();
                            taskBuilder.setOrderId(lastXpCruiseOrder.getId());
                            taskBuilder.setTaskId("MISSION_"+ IdUtil.fastUUID());
                            taskBuilder.setTaskType(com.xiaopeng.api.vo.automaticPilot.protobuf.OrderType.ORDER_TYPE_CRUISE);

                            RTTask task = new RTTask();
                            task.setOrder_id(lastXpCruiseOrder.getId());
                            task.setTask_id("MISSION_"+ IdUtil.fastUUID());
                            task.setTask_type(TaskType.CRUISE);
                            task.setStatus(TaskStatus.PENDING);
                            com.xiaopeng.api.vo.automaticPilot.protobuf.RtTask task = taskBuilder.build();
                            com.xiaopeng.api.vo.automaticPilot.protobuf.RtTaskList taskList = com.xiaopeng.api.vo.automaticPilot.protobuf.RtTaskList.newBuilder().addTasks(task).build();


                            SnowFlake snowFlake = new SnowFlake(0, 0);
                            snowFlake.withStartTimestamp(1420041600000L);
                            long sequence1 = snowFlake.nextId();
                            xpuUtil.cloudCreateOrder(task, xpVehicle.getVehicleVin(),sequence1);
                            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 TODO v
                           // 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.setId("XU"+ IdUtil.fastUUID());
                            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();
                                //TODO 设置目标地点信息
                                taskBuilder.setOrderId(newXpCruiseOrder.getId());
                                taskBuilder.setTaskId("MISSION_"+ IdUtil.fastUUID());
                                taskBuilder.setTaskType(com.xiaopeng.api.vo.automaticPilot.protobuf.OrderType.ORDER_TYPE_CRUISE);
                                RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
                                taskListBuilder.addTasks(taskBuilder.build());

                                SnowFlake snowFlake = new SnowFlake(0, 0);
                                snowFlake.withStartTimestamp(1420041600000L);
                                long sequence1 = snowFlake.nextId();
                                xpuUtil.cloudCreateOrder(taskListBuilder.build(), xpVehicle.getVehicleVin(),sequence1);
                            }
                        }

                    }

                }
            }
        }else{
@@ -893,11 +943,11 @@
     */
    public void cloudPushNavigationInfo(String requestId, String routeId, String routeDataContent, String orderType, String orderId, String vin, String xpuId) {
        //组装报文，将routeDateContent信息推送到XPU
        RestoreNavigationData navigationData = new RestoreNavigationData();
        navigationData.setRoute_id(routeId);
        navigationData.setRequest_id(requestId);
        navigationData.setContent(routeDataContent);
        navigationData.setTimestamp(System.currentTimeMillis());
        RestoreNavigationData.Builder navigationDataBuilder = RestoreNavigationData.newBuilder();
        navigationDataBuilder.setRouteId(routeId);
        navigationDataBuilder.setRequestId(requestId);
        navigationDataBuilder.setContent(routeDataContent);
        navigationDataBuilder.setTimestamp(System.currentTimeMillis());
        long sequence = snowflake.nextId();
        // 处理数据
        JSONObject jsonObject = new JSONObject();
@@ -906,7 +956,7 @@
        jsonObject.put("orderId", orderId);
        jsonObject.put("vin", vin);
        redisTemplate.opsForValue().set(sequence, jsonObject.toJSONString(),30, TimeUnit.MINUTES);
        xpuUtil.cloudPushNavigation(navigationData, xpuId, sequence);
        xpuUtil.cloudPushNavigation(navigationDataBuilder.build(), xpuId, sequence);
    }

}