小鹏汽车Robotaxi
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
liujie
2026-03-09 ef213fd71b33c7bb704a5074142f90d187913a2c 
 xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java


@@ -38,6 +38,7 @@


import org.springframework.data.mongodb.core.geo.GeoJsonPoint;


import org.springframework.data.mongodb.core.query.Criteria;


import org.springframework.data.mongodb.core.query.Query;


import org.springframework.data.mongodb.core.query.Update;


import org.springframework.data.redis.core.RedisTemplate;


import org.springframework.web.bind.annotation.*;




@@ -60,7 +61,6 @@


    private RedisService redisService;


    @Resource


    private XpVehicleClient xpVehicleClient;






    @PostMapping("/inner/pushOrder")


    public R<Boolean> pushOrder(@RequestBody PushOrderDto dto) {


@@ -125,7 +125,6 @@


        if (!dto.getOrderId().contains("XU") && mqttPublishDto.getCode()== 200) {


            // 修改车子为接单状态


            xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(dto.getVin(),1));




            return R.ok(true);


        }


        return R.ok(false);


@@ -137,7 +136,7 @@


        operationBuilder.setOrderId(dto.getOrderId().toString());


        operationBuilder.setTaskId("CANCEL_MISSION_" + IdUtil.fastUUID());


        if (dto.getOperation_type() != null) {


            operationBuilder.setOperationType(OrderOperationType.forNumber(dto.getOperation_type().getValue()));


            operationBuilder.setOperationType(OrderOperationType.forNumber(dto.getOperation_type().getNumber()));


        }




        SnowFlake snowFlake = new SnowFlake(0, 0);


@@ -200,11 +199,11 @@


    @GetMapping("/base/v1/order/acceptingOrder")


    public R acceptingOrder(Long orderId, String code, Long vehicleId, Double startLon, Double startLat){


        if(null == vehicleId){


            vehicleId = 1L;


            vehicleId = 11L;//默认使用造的测试车辆


        }


        if(null == startLat || null == startLon){


            startLat = 23.157155D;


            startLon = 113.382373D;


            startLat = 30.583407D;


            startLon = 104.040251D;


        }


        XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();


        XpOrder xpOrder = null;


@@ -228,7 +227,7 @@


        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");


            throw new RuntimeException("获取订单线路和运费失败");


        }


        RouteVo routeVo = routeVoR.getData();


        //缓存数据，用于后续推给乘客导航线路


@@ -258,6 +257,17 @@


            log.error("推送消息失败：{}", stringR.getMsg());


        }


        xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP.getCode());




//        PushOrderRouteDTO dto3 = new PushOrderRouteDTO();


//        dto3.setOrderId(orderId);


//        dto3.setRouteType(1);


//        dto3.setLongitude(startLon);


//        dto3.setLatitude(startLat);


//        dto3.setDuration(10);


//        dto3.setDistance(2);


//        dto3.setDirection(60);


//        xpPushMessageClient.pushOrderRoute(dto3);




        return r;


    }




@@ -295,6 +305,7 @@




        ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));


        Long finalOrderId = orderId;


        Long finalOrderId1 = orderId;


        threadPoolExecutor.execute(() -> {


            //等待10秒后开始执行车子位移


            try {


@@ -314,17 +325,29 @@


                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);


                    vehiclePosition.setSpeed(50F);


                    vehiclePosition.setCurrentElectricity(80);


                    vehiclePosition.setMileageRange(300f);


                    vehiclePosition.setHasOrder(0);


                    vehiclePosition.setOrderId(finalOrderId1);


                    mongoTemplate.save(vehiclePosition);


                }else{


                    vehiclePosition.setOrderId(finalOrderId1);


                    Update update = new Update()


                            .set("point", new GeoJsonPoint(longitude, latitude))


                            .set("course", 60D)


                            .set("alt", 100F)


                            .set("speed", 50F)


                            .set("currentElectricity", 80)


                            .set("mileageRange", 300f)


                            .set("hasOrder", 0)


                            .set("orderId", finalOrderId1);


                    mongoTemplate.updateFirst(new Query(Criteria.where("vin").is(vin)), update, VehiclePosition.class);


                }


                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(finalOrderId);


                mongoTemplate.save(vehiclePosition);


                //调用推送服务接口


                if (null != finalOrderId) {


                    PushOrderRouteDTO dto = new PushOrderRouteDTO();


@@ -461,6 +484,7 @@




        ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));


        Long finalOrderId = orderId;


        Long finalOrderId1 = orderId;


        threadPoolExecutor.execute(() -> {


            //等待10秒后开始执行车子位移


            try {


@@ -481,17 +505,29 @@


                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);


                    vehiclePosition.setSpeed(50F);


                    vehiclePosition.setCurrentElectricity(80);


                    vehiclePosition.setMileageRange(300f);


                    vehiclePosition.setHasOrder(0);


                    vehiclePosition.setOrderId(finalOrderId1);


                    mongoTemplate.save(vehiclePosition);


                }else{


                    vehiclePosition.setOrderId(finalOrderId1);


                    Update update = new Update()


                            .set("point", new GeoJsonPoint(longitude, latitude))


                            .set("course", 60D)


                            .set("alt", 100F)


                            .set("speed", 50F)


                            .set("currentElectricity", 80)


                            .set("mileageRange", 300f)


                            .set("hasOrder", 0)


                            .set("orderId", finalOrderId1);


                    mongoTemplate.updateFirst(new Query(Criteria.where("vin").is(vin)), update, VehiclePosition.class);


                }


                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(finalOrderId);


                mongoTemplate.save(vehiclePosition);


                //调用推送服务接口


                if (null != finalOrderId) {


                    PushOrderRouteDTO dto = new PushOrderRouteDTO();