Merge branch '1.0' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi in...

liujie

2026-06-09 c96fbe6b0aeb413a17c429133ee6d81d138144b9

 xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/schedule/VehicleCollectionScheduleTask.java

@@ -1,8 +1,7 @@
package com.xiaopeng.maintenance.schedule;

import cn.hutool.core.util.IdUtil;
import cn.hutool.core.lang.Snowflake;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.xiaopeng.api.dto.automaticPilot.PushOrderDto;
import com.xiaopeng.api.feignClient.automaticPilot.OrderMissionClient;
import com.xiaopeng.api.feignClient.operation.XpCruisePlanClient;
import com.xiaopeng.api.feignClient.order.XpCruiseOrderClient;
@@ -11,7 +10,9 @@
import com.xiaopeng.api.model.order.XpCruiseOrder;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
import com.xiaopeng.api.vo.automaticPilot.protobuf.TaskActionType;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.core.utils.SensitiveDataCryptoUtil;
import com.xiaopeng.maintenance.mapper.XpTaskRuleMapper;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
@@ -23,6 +24,7 @@
import org.springframework.stereotype.Component;
import org.springframework.util.CollectionUtils;

import javax.annotation.Resource;
import java.time.LocalTime;
import java.util.Collections;
import java.util.List;
@@ -64,6 +66,9 @@

    @Autowired
    private XpCruisePlanClient xpCruisePlanClient;

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

    /**
     * 每分钟检查一次是否需要执行收车任务
@@ -195,21 +200,16 @@

    /**
     * 向车辆发送收车指令
     * <p>
     * TODO: 具体发送收车指令的实现
     * 可能需要：
     * 1. 调用车辆控制接口发送收车指令
     * 2. 更新车辆状态为"已收车"
     * </p>
     *
     * @param xpVehicle 车辆信息
     */
    private void sendCollectionCommand(XpVehicle xpVehicle) {
        String vin = SensitiveDataCryptoUtil.decryptIfPossible(xpVehicle.getVehicleVin());
        // 收车 关闭当前巡游单子 生成新的返程单子  找到收车站点
        R<String> r = xpCruiseOrderClient.updateCruiseOrder(xpVehicle.getVehicleVin());
        XpCruiseOrder oldCruiseOrder = xpCruiseOrderClient.cancelCruiseOrderByVin(vin).getData();

        // redis 获取当前最新经纬度位置
        VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(xpVehicle.getVehicleVin())), VehiclePosition.class);
        // mongodb 获取当前最新经纬度位置
        VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
        XpCruiseOrder xpCruiseOrder = new XpCruiseOrder();
        if(vehiclePosition!=null){
            double x = vehiclePosition.getPoint().getX();
@@ -218,20 +218,24 @@
            xpCruiseOrder.setStartLat(y);
        }

        xpCruiseOrder.setId("XU"+ IdUtil.fastUUID());
        xpCruiseOrder.setVehicleId(xpVehicle.getId());
        xpCruiseOrder.setFleetId(xpVehicle.getFleetId());
        xpCruiseOrder.setOrderType(2);
        xpCruiseOrder.setStatus(1);
        xpCruiseOrder.setOrderReverse(1);
        xpCruiseOrder.setLastOrderId(r.getData());
        xpCruiseOrder.setLastOrderId(oldCruiseOrder.getId());
        xpCruiseOrder.setOrderReverse(1);
        xpCruiseOrder.setXpuTaskId(snowflake.nextId() + "");

        // 找到收车站点
        R<XpCruiseOrder> returnCruisePoint = xpCruisePlanClient.findReturnCruisePoint(xpCruiseOrder);
        if(returnCruisePoint!=null){
            xpCruiseOrderClient.addCruiseOrder(returnCruisePoint.getData());
            // 下发命令
            orderMissionClient.pushOrder(new PushOrderDto( xpCruiseOrder.getVehicleVin(),xpCruiseOrder.getId(),null));
        if (returnCruisePoint.getData() != null && 200 == returnCruisePoint.getCode()) {
            XpCruiseOrder cruiseOrder = returnCruisePoint.getData();
            //不停车替换新任务
            cruiseOrder.setLastOrderId1("XU" + oldCruiseOrder.getId());
            cruiseOrder.setLastXpuTaskId(oldCruiseOrder.getXpuTaskId());
            cruiseOrder.setTaskActionType(TaskActionType.kTerminateForNewTask);
            xpCruiseOrderClient.addCruiseOrder(cruiseOrder);
        }
        log.info("向车辆[{}]发送收车指令", xpVehicle.getPlateNumber());
    }