Merge branch 'master' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi

liujie

2026-03-13 0a0ca6125d0567ba9c07794f12ad75f05fdd8180

Merge branch 'master' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/factory/operation/XpCruisePlanClientFallbackFactory.java

@@ -6,6 +6,7 @@
import com.xiaopeng.api.dto.order.HistoryStartPointsDto;
import com.xiaopeng.api.feignClient.operation.XpCruisePlanClient;
import com.xiaopeng.api.feignClient.operation.XpPointClient;
import com.xiaopeng.api.model.operation.XpCruisePlanPoint;
import com.xiaopeng.api.model.operation.XpCruisePlanVehicle;
import com.xiaopeng.api.model.operation.XpElectronicFenceArea;
import com.xiaopeng.api.model.operation.XpPoint;
@@ -55,6 +56,12 @@
            }

            @Override
            public R<List<XpCruisePlanPoint>> getCruisePlanPointList(Long vehicleId) {
                log.error("XpCruisePlanClientFallbackFactory getCruisePlanPointList error:{}", cause.getMessage());
                return R.fail("获取巡游计划点位列表失败：" + cause.getMessage());
            }

            @Override
            public R<Boolean> existsCruisePlanPointByPointIds(List<Long> pointIds) {
                log.error("XpCruisePlanClientFallbackFactory existsCruisePlanPointByPointIds error:{}", cause.getMessage());
                return R.fail("查询巡游计划点位关联关系失败");

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/feignClient/operation/XpCruisePlanClient.java

@@ -60,6 +60,16 @@
    R<XpCruisePlanVehicle> getCruisePlan(@RequestParam Long vehicleId);

    /**
     * 获取巡游计划点位列表
     * @param vehicleId
     * @return
     */
    @PostMapping("/inner/cruise/getCruisePlanPointList")
    R<List<XpCruisePlanPoint>> getCruisePlanPointList(@RequestParam Long vehicleId);



    /**
     * 判断点位ID列表是否存在关联的巡游计划点位
     *
     * @param pointIds 点位ID列表

 xp-robotaxi-operation-boot/src/main/java/com/xiaopeng/operation/controller/XpCruisePlanController.java

@@ -165,6 +165,24 @@
        return R.ok(plan);
    }


    /**
     * 获取巡游计划点位列表
     * @param vehicleId
     * @return
     */
    @PostMapping("/inner/cruise/getCruisePlanPointList")
    public R<List<XpCruisePlanPoint>> getCruisePlanPointList(@RequestParam Long vehicleId) {
        // 先找计划
        XpCruisePlanVehicle plan = xpCruisePlanVehicleService.getOne(new LambdaQueryWrapper<XpCruisePlanVehicle>().eq(XpCruisePlanVehicle::getVehicleId, vehicleId));
        // 找对应的多个点位
        List<XpCruisePlanPoint> planPointList = xpCruisePlanPointService.list(new LambdaQueryWrapper<XpCruisePlanPoint>().eq(XpCruisePlanPoint::getCruisePlanId, plan.getCruisePlanId()).orderByAsc(XpCruisePlanPoint::getSortOrder));
        return R.ok(planPointList);
    }




    /**
     * 获取巡游订单数据
     * @return

 xp-robotaxi-order-boot/src/main/java/com/xiaopeng/order/service/impl/XpOrderServiceImpl.java

@@ -1924,21 +1924,14 @@
     */

    public void addCruiseMission(XpVehicle vehicle, XpOrder order) {

        if (vehicle.getState() != 0 || vehicle.getOperatingStatus() != 1) {
            return;
        }

        if (vehicle.getState() != 0 || vehicle.getOperatingStatus() != 1) {
            return;
        }

        // 判断是否有计划
        R<XpCruisePlanVehicle> xpCruisePlanR = xpCruisePlanClient.getCruisePlan(vehicle.getId());
        if (xpCruisePlanR == null || xpCruisePlanR.getData() == null) {
            return;
        }

        // 获取配置 根据配置判断是否该收车 如果是则找到收车点位进行收车操作
        R<XpTaskRule> xpTaskRuleR = xpTaskRuleClient.queryDetail();
        XpTaskRule xpTaskRule = xpTaskRuleR.getData();
@@ -2019,9 +2012,6 @@
        if (vehicle.getState() != 0 || vehicle.getOperatingStatus() != 1) {
            return;
        }
        if (vehicle.getState() != 0 || vehicle.getOperatingStatus() != 1) {
            return;
        }
        // 判断是否有计划
        R<XpCruisePlanVehicle> xpCruisePlanR = xpCruisePlanClient.getCruisePlan(vehicle.getId());
        if (xpCruisePlanR == null || xpCruisePlanR.getData() == null) {
@@ -2053,16 +2043,28 @@
        xpCruiseOrder.setStartLat(vehiclePosition.getPoint().getY());

        // 完成的直接走终点   终止的走起点
        if (temp == 0) {
            xpCruiseOrder.setEndPointId(xpCruiseOrders.getStartPointId());
            xpCruiseOrder.setEndPointName(xpCruiseOrders.getStartPointName());
            xpCruiseOrder.setEndLon(xpCruiseOrders.getStartLon());
            xpCruiseOrder.setEndLat(xpCruiseOrders.getStartLat());
        } else {
            xpCruiseOrder.setEndPointId(xpCruiseOrders.getEndPointId());
            xpCruiseOrder.setEndPointName(xpCruiseOrders.getEndPointName());
            xpCruiseOrder.setEndLon(xpCruiseOrders.getEndLon());
            xpCruiseOrder.setEndLat(xpCruiseOrders.getEndLat());
        if(null != xpCruiseOrders){
            if (temp == 0) {
                xpCruiseOrder.setEndPointId(xpCruiseOrders.getStartPointId());
                xpCruiseOrder.setEndPointName(xpCruiseOrders.getStartPointName());
                xpCruiseOrder.setEndLon(xpCruiseOrders.getStartLon());
                xpCruiseOrder.setEndLat(xpCruiseOrders.getStartLat());
            } else {
                xpCruiseOrder.setEndPointId(xpCruiseOrders.getEndPointId());
                xpCruiseOrder.setEndPointName(xpCruiseOrders.getEndPointName());
                xpCruiseOrder.setEndLon(xpCruiseOrders.getEndLon());
                xpCruiseOrder.setEndLat(xpCruiseOrders.getEndLat());
            }
        }else{
            // 先找计划
            List<XpCruisePlanPoint> planPointList = xpCruisePlanClient.getCruisePlanPointList(vehicle.getId()).getData();
            XpCruisePlanPoint xpCruisePlanPoint = planPointList.get(0);
            Long endPointId = xpCruisePlanPoint.getPointId();
            XpPoint endPoint = xpPointClient.queryById(endPointId).getData();
            xpCruiseOrder.setEndPointId(endPointId);
            xpCruiseOrder.setEndPointName(endPoint.getPointName());
            xpCruiseOrder.setEndLon(endPoint.getPointLon());
            xpCruiseOrder.setEndLat(endPoint.getPointLat());
        }