开发测试demo接口

puzhibing

2026-03-24 faae742fccc00d629ede627819cdc9d8a4ec25d3

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

@@ -17,10 +17,8 @@
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.vo.SystemEventType;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.RTTask;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.TaskStatus;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.TaskType;
import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.api.vo.order.OrderTrajectoryVo;
@@ -28,23 +26,22 @@
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.core.enums.OrderStatusEnum;
import com.xiaopeng.common.core.enums.PushMessageTypeEnum;
import com.xiaopeng.common.core.utils.SnowFlake;
import com.xiaopeng.common.core.utils.StringUtils;
import com.xiaopeng.common.redis.service.RedisService;
import io.swagger.annotations.Api;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.data.geo.Point;
import org.springframework.data.mongodb.core.MongoTemplate;
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.*;

import javax.annotation.Resource;
import java.util.Date;import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.*;
import java.util.concurrent.LinkedBlockingQueue;
import java.util.concurrent.ThreadPoolExecutor;
import java.util.concurrent.TimeUnit;
@@ -62,33 +59,184 @@
    private RedisService redisService;
    @Resource
    private XpVehicleClient xpVehicleClient;

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

    @PostMapping("/inner/pushOrder")
    public R<Boolean> pushOrder(@RequestBody PushOrderDto dto) {
        RtTask.Builder taskBuilder = RtTask.newBuilder();
        //TODO 设置目标地点信息
        taskBuilder.setOrderId(dto.getOrderId().toString());
        taskBuilder.setTaskId("MISSION_"+ IdUtil.fastUUID());

        if(dto.getOrderId().contains("XU")){
            taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
        }else {
            taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
        }
        //构建点位信息
        Waypoint.Builder pointBuilderStart = Waypoint.newBuilder();
        Waypoint.Builder pointBuilderEnd = Waypoint.newBuilder();
        RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
        taskListBuilder.addTasks(taskBuilder.build());
        //巡游订单
        if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.CRUISE_ORDER)){
            RtTask.Builder taskBuilder = RtTask.newBuilder();
            taskBuilder.setOrderId(dto.getOrderId().toString());
            taskBuilder.setTaskId(snowflake.nextId() + "");
            taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
            //构建起点坐标数据
            pointBuilderStart.setWaypointId(dto.getOrderId() + "-001");
            pointBuilderStart.setPointType(PointType.START_POINT);
            pointBuilderStart.setSequence(1);
            pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
            GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
            geoPointBuilder.setLatitude(dto.getStartLatitude());
            geoPointBuilder.setLongitude(dto.getStartLongitude());
            pointBuilderStart.setPoint(geoPointBuilder.build());
            taskBuilder.addPoints(pointBuilderStart);

        SnowFlake snowFlake = new SnowFlake(0, 0);
        snowFlake.withStartTimestamp(1420041600000L);
        long sequence = snowFlake.nextId();
            //构建终点数据
            pointBuilderEnd.setWaypointId(dto.getOrderId() + "-002");
            pointBuilderEnd.setPointType(PointType.CRUISE_END_POINT);
            pointBuilderEnd.setSequence(2);
            pointBuilderEnd.setActionType(ActionType.DRIVE_THROUGH);
            geoPointBuilder = GeoPoint.newBuilder();
            geoPointBuilder.setLatitude(dto.getEndLatitude());
            geoPointBuilder.setLongitude(dto.getEndLongitude());
            pointBuilderEnd.setPoint(geoPointBuilder.build());
            taskBuilder.addPoints(pointBuilderEnd);
            taskBuilder.setSequence(1);
            taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_CRUISE);
            taskListBuilder.addTasks(taskBuilder.build());
        }else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.USER_ORDER)){
            for (int i = 1; i < 3; i++) {
                RtTask.Builder taskBuilder = RtTask.newBuilder();
                taskBuilder.setOrderId(dto.getOrderId().toString());
                taskBuilder.setTaskId(snowflake.nextId() + "");
                taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
                if(i == 1){
                    VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(dto.getVin())), VehiclePosition.class);
                    //构建车辆当前位置数据
                    pointBuilderStart.setWaypointId(dto.getOrderId() + "-JJ-001");
                    pointBuilderStart.setPointType(PointType.START_POINT);
                    pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
                    pointBuilderStart.setSequence(1);
                    GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(vehiclePosition.getPoint().getY());
                    geoPointBuilder.setLongitude(vehiclePosition.getPoint().getX());
                    pointBuilderStart.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderStart);

                    //构建上车点位置信息
                    pointBuilderEnd.setWaypointId(dto.getOrderId() + "-JJ-002");
                    pointBuilderEnd.setPointType(PointType.PICK_UP_POINT);
                    pointBuilderEnd.setActionType(ActionType.PICK_UP);
                    pointBuilderEnd.setSequence(2);
                    geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(dto.getStartLatitude());
                    geoPointBuilder.setLongitude(dto.getStartLongitude());
                    pointBuilderEnd.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderEnd);
                    taskBuilder.setSequence(i);
                    taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_PICKUP);
                }else{
                    //构建上车点位置信息
                    pointBuilderStart.setWaypointId(dto.getOrderId() + "-SD-001");
                    pointBuilderStart.setPointType(PointType.PICK_UP_POINT);
                    pointBuilderStart.setActionType(ActionType.PICK_UP);
                    pointBuilderStart.setSequence(1);
                    GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(dto.getStartLatitude());
                    geoPointBuilder.setLongitude(dto.getStartLongitude());
                    pointBuilderStart.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderStart);

                    //构建下车点位置信息
                    pointBuilderEnd.setWaypointId(dto.getOrderId() + "-SD-002");
                    pointBuilderEnd.setPointType(PointType.END_POINT);
                    pointBuilderEnd.setActionType(ActionType.DROP_OFF);
                    pointBuilderEnd.setSequence(2);
                    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);
                }
                taskListBuilder.addTasks(taskBuilder.build());
            }
        }else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.TEST_ORDER)){
            for (int i = 1; i < 3; i++) {
                RtTask.Builder taskBuilder = RtTask.newBuilder();
                taskBuilder.setOrderId(dto.getOrderId().toString());
                taskBuilder.setTaskId(snowflake.nextId() + "");
                taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
                if(i == 1){
                    VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(dto.getVin())), VehiclePosition.class);
                    //构建车辆当前位置数据
                    pointBuilderStart.setWaypointId(dto.getOrderId() + "-JJ-001");
                    pointBuilderStart.setPointType(PointType.START_POINT);
                    pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
                    pointBuilderStart.setSequence(1);
                    GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(vehiclePosition.getPoint().getY());
                    geoPointBuilder.setLongitude(vehiclePosition.getPoint().getX());
                    pointBuilderStart.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderStart);

                    //构建上车点位置信息
                    pointBuilderEnd.setWaypointId(dto.getOrderId() + "-JJ-002");
                    pointBuilderEnd.setPointType(PointType.PICK_UP_POINT);
                    pointBuilderEnd.setActionType(ActionType.PICK_UP);
                    pointBuilderEnd.setSequence(2);
                    geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(dto.getStartLatitude());
                    geoPointBuilder.setLongitude(dto.getStartLongitude());
                    pointBuilderEnd.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderEnd);
                    taskBuilder.setSequence(i);
                    taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_PICKUP);
                }else{
                    //构建上车点位置信息
                    pointBuilderStart.setWaypointId(dto.getOrderId() + "-SD-001");
                    pointBuilderStart.setPointType(PointType.PICK_UP_POINT);
                    pointBuilderStart.setActionType(ActionType.PICK_UP);
                    pointBuilderStart.setSequence(1);
                    GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
                    geoPointBuilder.setLatitude(dto.getStartLatitude());
                    geoPointBuilder.setLongitude(dto.getStartLongitude());
                    pointBuilderStart.setPoint(geoPointBuilder.build());
                    taskBuilder.addPoints(pointBuilderStart);

                    //构建下车点位置信息
                    pointBuilderEnd.setWaypointId(dto.getOrderId() + "-SD-002");
                    pointBuilderEnd.setPointType(PointType.END_POINT);
                    pointBuilderEnd.setActionType(ActionType.DROP_OFF);
                    pointBuilderEnd.setSequence(2);
                    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);
                }
                taskListBuilder.addTasks(taskBuilder.build());
            }
        }

        long sequence = snowflake.nextId();
        MqttPublishDto mqttPublishDto = xpuUtil.cloudCreateOrder(taskListBuilder.build(), dto.getVin(),sequence);

        // 正常单子才修改  巡游单子不修改状态
        //先将车辆修改状态，防止在异步通知之前被其他订单选中
        if (!dto.getOrderId().contains("XU") && mqttPublishDto.getCode()== 200) {
            // 修改车子为接单状态
            xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(dto.getVin(),1));
            xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(dto.getVin(), 1));
        }

        if(null != mqttPublishDto && mqttPublishDto.getCode() == 200){
            JSONObject jsonObject = new JSONObject();
            jsonObject.put("event", SystemEventType.CREATE_ORDER);
            if(dto.getOrderId().contains("XU")){
                jsonObject.put("orderType",  com.xiaopeng.api.vo.OrderType.CRUISE_ORDER);
            }else if(dto.getOrderId().contains("TEST")){
                jsonObject.put("orderType",  com.xiaopeng.api.vo.OrderType.TEST_ORDER);
            }else {
                jsonObject.put("orderType",  com.xiaopeng.api.vo.OrderType.CRUISE_ORDER);
            }
            jsonObject.put("orderId", dto.getOrderId());
            jsonObject.put("vin", dto.getVin());
            redisService.setCacheObject("CREATE_ORDER:" + dto.getOrderId().toString(), jsonObject.toJSONString(),30L, TimeUnit.MINUTES);
            return R.ok(true);
        }
        return R.ok(false);
@@ -98,17 +246,23 @@
    R<Boolean> cancelOrder(@RequestBody PushOrderDto dto) {
        OrderOperation.Builder operationBuilder = OrderOperation.newBuilder();
        operationBuilder.setOrderId(dto.getOrderId().toString());
        operationBuilder.setTaskId("CANCEL_MISSION_" + IdUtil.fastUUID());
        operationBuilder.setTaskId(snowflake.nextId() + "");
        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);
        snowFlake.withStartTimestamp(1420041600000L);
        long sequence = snowFlake.nextId();
        xpuUtil.cloudOrderOperation(operationBuilder.build(), dto.getVin(), sequence);
        redisService.setCacheObject(String.valueOf(sequence), "cancelOrder_" + dto.getOrderId() + "_" + dto.getVin(), 30l, TimeUnit.MINUTES);
        return R.ok(true);
        long sequence = snowflake.nextId();
        MqttPublishDto mqttPublishDto = xpuUtil.cloudOrderOperation(operationBuilder.build(), dto.getVin(), sequence);

        if (mqttPublishDto.getCode() == 200) {
            if(!dto.getOrderId().contains("XU")){
                // 正常订单处理
                redisService.setCacheObject(String.valueOf(sequence), "cancelOrder_" + dto.getOrderId() + "_" + dto.getVin(), 30l, TimeUnit.MINUTES);
            }
            return R.ok(true);
        }

        return R.ok(false);


    }
@@ -153,9 +307,23 @@
     * @return
     */
    @GetMapping("/base/v1/order/acceptingOrder")
    public R acceptingOrder(Long orderId, Long vehicleId, Double startLon, Double startLat){
    public R acceptingOrder(Long orderId, String code, Long vehicleId, Double startLon, Double startLat){
        if(null == vehicleId){
            vehicleId = 11L;//默认使用造的测试车辆
        }
        if(null == startLat || null == startLon){
            startLat = 30.583407D;
            startLon = 104.040251D;
        }
        XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
        XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
        XpOrder xpOrder = null;
        if(null != orderId){
            xpOrder = xpOrderClient.queryOrderById(orderId).getData();
        }
        if(StringUtils.isNotEmpty(code)){
            xpOrder = xpOrderClient.queryOrderByOrderNo(code).getData();
        }
        orderId = xpOrder.getId();
        OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
        dto.setOrderId(orderId);
        LonLatDto origin = new LonLatDto();
@@ -219,23 +387,42 @@
     * @param orderId
     */
    @GetMapping("/base/v1/order/pushStartDriverLocation")
    private void pushStartDriverLocation(Long vehicleId, Long orderId){
    private void pushStartDriverLocation(Long vehicleId, Long orderId, String code){
        if(null == vehicleId){
            vehicleId = 1L;
        }
        XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
        XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
        XpOrder xpOrder = null;
        if(null != orderId){
            xpOrder = xpOrderClient.queryOrderById(orderId).getData();
        }
        if(StringUtils.isNotEmpty(code)){
            xpOrder = xpOrderClient.queryOrderByOrderNo(code).getData();
        }
        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);
//        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));
        Long finalOrderId = orderId;
        Long finalOrderId1 = orderId;
        threadPoolExecutor.execute(() -> {
            //等待10秒后开始执行车子位移
            try {
                Thread.sleep(10000);
                Thread.sleep(1000);
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
            }

            List<LonLatDto> polyline = routeVo.getPolyline();
            for (LonLatDto lonLatDto : polyline) {
                Double latitude = lonLatDto.getLatitude();
@@ -248,21 +435,33 @@
                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(orderId);
                mongoTemplate.save(vehiclePosition);
                //调用推送服务接口
                if (null != orderId) {
                if (null != finalOrderId) {
                    PushOrderRouteDTO dto = new PushOrderRouteDTO();
                    dto.setOrderId(orderId);
                    dto.setOrderId(finalOrderId);
                    dto.setRouteType(1);
                    dto.setLongitude(longitude);
                    dto.setLatitude(latitude);
@@ -283,7 +482,7 @@
            //构建推送消息
            Map<String, Object> params = new HashMap<>();
            Map<String, Object> content = new HashMap<>();
            content.put("orderId", orderId.toString());
            content.put("orderId", finalOrderId.toString());
            content.put("status", 4);
            params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
            params.put("content", JSONObject.toJSONString(content));
@@ -296,7 +495,7 @@
            if (R.isError(stringR)) {
                log.error("推送消息失败：{}", stringR.getMsg());
            }
            xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP_GUESTS.getCode());
            xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.PICK_UP_GUESTS.getCode());
        });

    }
@@ -309,8 +508,15 @@
     * @return
     */
    @GetMapping("/base/v1/order/updateOrderStatus")
    public R updateOrderStatus(Long orderId, Integer status) {
        XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
    public R updateOrderStatus(Long orderId, String code, Integer status) {
        XpOrder xpOrder = null;
        if(null != orderId){
            xpOrder = xpOrderClient.queryOrderById(orderId).getData();
        }
        if(StringUtils.isNotEmpty(code)){
            xpOrder = xpOrderClient.queryOrderByOrderNo(code).getData();
        }
        orderId = xpOrder.getId();
        //构建推送消息
        Map<String, Object> params = new HashMap<>();
        Map<String, Object> content = new HashMap<>();
@@ -368,19 +574,32 @@
     * @param orderId
     */
    @GetMapping("/base/v1/order/pushEndDriverLocation")
    private void pushEndDriverLocation(Long vehicleId, Long orderId){
    private void pushEndDriverLocation(Long vehicleId, Long orderId, String code){
        if(null == vehicleId){
            vehicleId = 1L;
        }
        XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
        XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
        XpOrder xpOrder = null;
        if(null != orderId){
            xpOrder = xpOrderClient.queryOrderById(orderId).getData();
        }
        if(StringUtils.isNotEmpty(code)){
            xpOrder = xpOrderClient.queryOrderByOrderNo(code).getData();
        }
        orderId = xpOrder.getId();
        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);
        log.info("开始实施推送车辆位置和剩余导航线路 {} {}", xpOrder.getOrderNumber(), JSON.toJSONString(routeVo));

        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 {
                Thread.sleep(10000);
                Thread.sleep(1000);
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
            }
@@ -397,21 +616,33 @@
                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(orderId);
                mongoTemplate.save(vehiclePosition);
                //调用推送服务接口
                if (null != orderId) {
                if (null != finalOrderId) {
                    PushOrderRouteDTO dto = new PushOrderRouteDTO();
                    dto.setOrderId(orderId);
                    dto.setOrderId(finalOrderId);
                    dto.setRouteType(1);
                    dto.setLongitude(longitude);
                    dto.setLatitude(latitude);
@@ -422,7 +653,7 @@

                    //存储历史轨迹
                    OrderTrajectoryVo orderTrajectory = new OrderTrajectoryVo();
                    orderTrajectory.setOrderId(orderId);
                    orderTrajectory.setOrderId(finalOrderId);
                    orderTrajectory.setLocation(longitude + "," + latitude);
                    orderTrajectory.setDirection(dto.getDirection());
                    orderTrajectory.setSpeed(0D);
@@ -433,7 +664,7 @@

                //5秒钟循环一次
                try {
                    Thread.sleep(500);
                    Thread.sleep(1000);
                } catch (InterruptedException e) {
                    throw new RuntimeException(e);
                }
@@ -442,7 +673,7 @@
            //构建推送消息
            Map<String, Object> params = new HashMap<>();
            Map<String, Object> content = new HashMap<>();
            content.put("orderId", orderId.toString());
            content.put("orderId", finalOrderId.toString());
            content.put("status", 7);
            params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
            params.put("content", JSONObject.toJSONString(content));
@@ -455,7 +686,7 @@
            if (R.isError(stringR)) {
                log.error("推送消息失败：{}", stringR.getMsg());
            }
            xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode());
            xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode());
        });
    }