和客户同步1.0版本

puzhibing

2026-04-10 ed838e62602c0a63a64ff4bd144a0d16cc9a7cf8

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

@@ -18,6 +18,8 @@
import com.xiaopeng.api.feignClient.order.XpOrderClient;
import com.xiaopeng.api.feignClient.pushMessage.XpPushMessageClient;
import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;
import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.api.model.order.XpOrder;import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.api.vo.SystemEventType;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
@@ -67,8 +69,9 @@
    @Resource(name = "hutoolSnowflake")
    private Snowflake snowflake;

    @PostMapping("/inner/pushOrder")
    @PostMapping("/logan/inner/pushOrder")
    public R<Boolean> pushOrder(@RequestBody PushOrderDto dto) {
        log.info("创建订单，推送XPU报文：{}", JSON.toJSONString(dto));
        //构建点位信息
        Waypoint.Builder pointBuilderStart = Waypoint.newBuilder();
        Waypoint.Builder pointBuilderEnd = Waypoint.newBuilder();
@@ -101,7 +104,7 @@
            pointBuilderEnd.setPoint(geoPointBuilder.build());
            taskBuilder.addPoints(pointBuilderEnd);
            taskBuilder.setSequence(1);
            taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_CRUISE);
            taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_CRUISE);
            taskListBuilder.addTasks(taskBuilder.build());
        }else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.USER_ORDER)){
            //乘客单
@@ -134,7 +137,7 @@
                    pointBuilderEnd.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderEnd);
                    taskBuilder.setSequence(i);
                    taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_PICKUP);
                    taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_PICKUP);
                }else{
                    //构建上车点位置信息
                    pointBuilderStart.setWaypointId(dto.getOrderId() + "-SD-001");
@@ -152,13 +155,14 @@
                    pointBuilderEnd.setPointType(PointType.END_POINT);
                    pointBuilderEnd.setActionType(ActionType.DROP_OFF);
                    pointBuilderEnd.setSequence(2);
                    pointBuilderEnd.setPoiName(dto.getEndPoiName());
                    geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(dto.getEndLatitude());
                    geoPointBuilder.setLongitude(dto.getEndLongitude());
                    pointBuilderEnd.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderEnd);
                    taskBuilder.setSequence(i);
                    taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);
                    taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);
                }
                taskListBuilder.addTasks(taskBuilder.build());
            }
@@ -191,9 +195,10 @@
                    geoPointBuilder.setLatitude(dto.getStartLatitude());
                    geoPointBuilder.setLongitude(dto.getStartLongitude());
                    pointBuilderEnd.setPoint(geoPointBuilder.build());
                    pointBuilderEnd.setPoiName(dto.getEndPoiName());
                    taskBuilder.addPoints(pointBuilderEnd);
                    taskBuilder.setSequence(i);
                    taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_PICKUP);
                    taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_PICKUP);
                }else{
                    //构建上车点位置信息
                    pointBuilderStart.setWaypointId(dto.getOrderId() + "-SD-001");
@@ -217,7 +222,7 @@
                    pointBuilderEnd.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderEnd);
                    taskBuilder.setSequence(i);
                    taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);
                    taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);
                }
                taskListBuilder.addTasks(taskBuilder.build());
            }
@@ -249,7 +254,7 @@
            pointBuilderEnd.setPoint(geoPointBuilder.build());
            taskBuilder.addPoints(pointBuilderEnd);
            taskBuilder.setSequence(1);
            taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_CRUISE);
            taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_CRUISE);
            taskListBuilder.addTasks(taskBuilder.build());
        }

@@ -275,8 +280,9 @@
        return R.ok(false);
    }

    @PostMapping("/inner/cancelOrder")
    @PostMapping("/logan/inner/cancelOrder")
    R<Boolean> cancelOrder(@RequestBody PushOrderDto dto) {
        log.info("取消订单，推送XPU报文：{}", JSON.toJSONString(dto));
        String taskId = StringUtils.isNotEmpty(dto.getTaskId()) ? dto.getTaskId() : snowflake.nextId() + "";
        OrderOperation.Builder operationBuilder = OrderOperation.newBuilder();
        operationBuilder.setOrderId(dto.getOrderId().toString());
@@ -354,8 +360,8 @@
            vehicleId = 11L;//默认使用造的测试车辆
        }
        if(null == startLat || null == startLon){
            startLat = 30.583407D;
            startLon = 104.040251D;
            startLat = 23.146815D;
            startLon = 113.459765D;
        }
        XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
        XpOrder xpOrder = null;
@@ -377,6 +383,7 @@
        destination.setLatitude(xpOrder.getStartLat());
        dto.setDestination(destination);
        dto.setRouteType(1);
        dto.setVehicleId(xpOrder.getVehicleId());
        R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
        if (200 != routeVoR.getCode()) {
            throw new RuntimeException("获取订单线路和运费失败");
@@ -444,15 +451,15 @@
        orderId = xpOrder.getId();
        String vin = xpVehicle.getVehicleVin();
        Long appUserId = xpOrder.getAppUserId();
//        Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId());
//        RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
        RouteVo routeVo =new RouteVo();
        ArrayList<LonLatDto> lonLatDtos = new ArrayList<>();
        LonLatDto lonLatDto1 = new LonLatDto();
        lonLatDto1.setLatitude(30.575685);
        lonLatDto1.setLongitude(104.001118);
        lonLatDtos.add(lonLatDto1);
        routeVo.setPolyline(lonLatDtos);
        Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId());
        RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
//        RouteVo routeVo =new RouteVo();
//        ArrayList<LonLatDto> lonLatDtos = new ArrayList<>();
//        LonLatDto lonLatDto1 = new LonLatDto();
//        lonLatDto1.setLatitude(30.575685);
//        lonLatDto1.setLongitude(104.001118);
//        lonLatDtos.add(lonLatDto1);
//        routeVo.setPolyline(lonLatDtos);


        ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));
@@ -507,8 +514,8 @@
                    dto.setRouteType(1);
                    dto.setLongitude(longitude);
                    dto.setLatitude(latitude);
                    dto.setDuration(10);
                    dto.setDistance(2);
                    dto.setDuration(10.0);
                    dto.setDistance(2.0);
                    dto.setDirection(60);
                    xpPushMessageClient.pushOrderRoute(dto);
                }
@@ -580,19 +587,19 @@
            //主动推一次全程轨迹
            Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId());
            RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
            com.alibaba.fastjson2.JSONObject jsonObject = new com.alibaba.fastjson2.JSONObject();
            JSONObject jsonObject = new JSONObject();
            jsonObject.put("type", "ORDER_ROUTE");
            jsonObject.put("timestamp", System.currentTimeMillis());
            com.alibaba.fastjson2.JSONObject content1 = new com.alibaba.fastjson2.JSONObject();
            JSONObject content1 = new JSONObject();
            content1.put("orderId", orderId.toString());
            content1.put("routeType", 1);
            com.alibaba.fastjson2.JSONObject route = new com.alibaba.fastjson2.JSONObject();
            JSONObject route = new JSONObject();
            route.put("distance", routeVo.getDistance());
            route.put("duration", routeVo.getDuration());
            route.put("routeID", routeVo.getRouteID());

            List<com.alibaba.fastjson2.JSONObject> collect = routeVo.getPolyline().stream().map(item -> {
                com.alibaba.fastjson2.JSONObject point = new com.alibaba.fastjson2.JSONObject();
            List<JSONObject> collect = routeVo.getPolyline().stream().map(item -> {
                JSONObject point = new JSONObject();
                point.put("latitude", item.getLatitude());
                point.put("longitude", item.getLongitude());
                return point;
@@ -688,8 +695,8 @@
                    dto.setRouteType(1);
                    dto.setLongitude(longitude);
                    dto.setLatitude(latitude);
                    dto.setDuration(20);
                    dto.setDistance(10);
                    dto.setDuration(20.0);
                    dto.setDistance(10.0);
                    dto.setDirection(60);
                    xpPushMessageClient.pushOrderRoute(dto);