合并代码

puzhibing

2026-02-28 ceb3960eb6c4975265b8c51368f7afe224129e75

 xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java

@@ -163,6 +163,7 @@
        destination.setLongitude(xpOrder.getStartLon());
        destination.setLatitude(xpOrder.getStartLat());
        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");
@@ -317,4 +318,92 @@
    }



    /**
     * 推送司机接驾轨迹和实时位置
     * @param orderId
     */
    @GetMapping("/base/v1/order/pushEndDriverLocation")
    private void pushEndDriverLocation(Long vehicleId, Long orderId){
        XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
        XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
        String vin = xpVehicle.getVehicleVin();
        Long appUserId = xpOrder.getAppUserId();
        Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId());
        RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);

        ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));
        threadPoolExecutor.execute(() -> {
            //等待10秒后开始执行车子位移
            try {
                Thread.sleep(10000);
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
            }

            List<LonLatDto> polyline = routeVo.getPolyline();
            for (LonLatDto lonLatDto : polyline) {
                Double latitude = lonLatDto.getLatitude();
                Double longitude = lonLatDto.getLongitude();

                //保存车辆实时位置到redis
                redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new GeoJsonPoint(longitude, latitude), vin);

                //保存车辆实时信息到mongodb
                VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
                if (null == vehiclePosition) {
                    vehiclePosition = new VehiclePosition();
                }
                vehiclePosition.setVin(vin);
                vehiclePosition.setPoint(new GeoJsonPoint(longitude, latitude));
                vehiclePosition.setCourse(60D);
                vehiclePosition.setAlt(100F);
                //车辆动态信息
                vehiclePosition.setSpeed(50F);
                vehiclePosition.setCurrentElectricity(80);
                vehiclePosition.setMileageRange(300f);
                vehiclePosition.setOrderId(orderId);
                mongoTemplate.save(vehiclePosition);
                //调用推送服务接口
                if (null != orderId) {
                    PushOrderRouteDTO dto = new PushOrderRouteDTO();
                    dto.setOrderId(orderId);
                    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);
                }

                //5秒钟循环一次
                try {
                    Thread.sleep(2000);
                } catch (InterruptedException e) {
                    throw new RuntimeException(e);
                }
            }

            //构建推送消息
            Map<String, Object> params = new HashMap<>();
            Map<String, Object> content = new HashMap<>();
            content.put("orderId", orderId);
            content.put("status", 4);
            params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
            params.put("content", JSONObject.toJSONString(content));
            params.put("timestamp", System.currentTimeMillis() + "");
            String message = JSONObject.toJSONString(params);
            SendMessageDTO dto2 = new SendMessageDTO();
            dto2.setAppUserId(appUserId + "");
            dto2.setMessage(message);
            R<String> stringR = xpPushMessageClient.sendStatus(dto2);
            if (R.isError(stringR)) {
                log.error("推送消息失败：{}", stringR.getMsg());
            }
            xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP_GUESTS.getCode());
        });
    }


}