Merge remote-tracking branch 'origin/master'

无关风月

2026-02-28 cb7be09dc82cdc3deed507a7ae3685e81f46e814

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

@@ -30,7 +30,8 @@
import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
import com.xiaopeng.api.vo.automaticPilot.protobuf.AbnormalReason;
import com.xiaopeng.api.vo.automaticPilot.protobuf.GearLevel;
import com.xiaopeng.api.vo.automaticPilot.protobuf.OrderPhase;import com.xiaopeng.api.vo.automaticPilot.protobuf.OrderStatusInfo;
import com.xiaopeng.api.vo.automaticPilot.protobuf.OrderPhase;
import com.xiaopeng.api.vo.automaticPilot.protobuf.OrderStatusInfo;
import com.xiaopeng.api.vo.automaticPilot.protobuf.RealtimePose;
import com.xiaopeng.api.vo.automaticPilot.protobuf.ResponseMessage;
import com.xiaopeng.api.vo.automaticPilot.protobuf.RtTripInfo;
@@ -346,7 +347,7 @@
            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();
            CancelTaxiPassengerVo cancelTaxiPassengerVo = new CancelTaxiPassengerVo();
            String orderId = systemRuntimeStatus.getRunningOrderStatusInfo().getOrderId();
            XpOrder xpOrder = xpOrderClient.queryOrderById(Long.parseLong(orderId)).getData();
            XpVehicle vehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
@@ -354,17 +355,11 @@
                // 修改车辆状态
                vehicle.setOperatingStatus(4);
                xpVehicleClient.updateVehicleById(vehicle);
//                cancelTaxiPassengerVo.setVin(vehicle.getVehicleVin());
//                cancelTaxiPassengerVo.setUid(xpOrder.getAppUserId().toString());
//                cancelTaxiPassengerVo.setOrderNo(xpOrder.getOrderNumber());
//                // TODO
////            cancelTaxiPassengerVo.setAppId();
//                userVehicleClient.cancelTaxiPassenger(cancelTaxiPassengerVo);
                cancelTaxiPassengerVo.setVin(vehicle.getVehicleVin());
                cancelTaxiPassengerVo.setUid(xpOrder.getAppUserId().toString());
                cancelTaxiPassengerVo.setOrderNo(xpOrder.getOrderNumber());
                userVehicleClient.cancelTaxiPassenger(cancelTaxiPassengerVo);
            }
            // 取消订单
//            R<?> r = xpOrderClient.cancelOrder(String.valueOf(xpOrder.getId()));
//            if (r.getCode() == R.SUCCESS){
            log.info("取消订单成功");
            // TODO 重新派单
            ReassignOrderDTO reassignOrderDTO = new ReassignOrderDTO();
            reassignOrderDTO.setUid(xpOrder.getAppUserId().toString());
@@ -376,15 +371,7 @@
            Double longitude = naviPose.getLongitude();
            reassignOrderDTO.setLongitude(longitude);
            reassignOrderDTO.setLatitude(latitude);
            reassignOrderDTO.setVehicleId(xpOrder.getVehicleId());
            reassignOrderDTO.setOrderId(xpOrder.getId());
            reassignOrderDTO.setFleetId(xpOrder.getFleetId());
            reassignOrderClient.reassignOrder(reassignOrderDTO);




//            }
        }
    }

@@ -873,7 +860,7 @@



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