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

liujie

2026-02-28 0c738efb5ecca9727ed4b0cf01250c4c07e83b3c

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

 xp-robotaxi-account-boot/src/main/java/com/xiaopeng/account/service/impl/XpOperationsUserServiceImpl.java

@@ -1,7 +1,6 @@
package com.xiaopeng.account.service.impl;

import cn.hutool.core.bean.BeanUtil;
import cn.hutool.core.collection.CollUtil;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -159,23 +158,20 @@
        }

        // 8. 查询角色信息
        List<XpOperationsRole> xpOperationsRoles = xpOperationsRoleMapper
                .selectList(new LambdaQueryWrapper<XpOperationsRole>().eq(XpOperationsRole::getOperationsUserId, userId));
        if (CollUtil.isNotEmpty(xpOperationsRoles)) {
            List<Long> roleIds = xpOperationsRoles.stream().map(XpOperationsRole::getRoleId).collect(Collectors.toList());
            List<SysRole> sysRoles = sysRoleMapper.selectList(Wrappers.lambdaQuery(SysRole.class)
                    .in(SysRole::getId, roleIds));
            List<XpOperationsUserProfileVO.RoleInfoVO> roleVOs = sysRoles.stream()
                    .filter(r -> r.getId() != null)
        List<XpOperationsUserWithRoleVO> userWithRoles = xpOperationsRoleMapper.selectUsersWithRoleByIds(Collections.singletonList(userId));
        if (!CollectionUtils.isEmpty(userWithRoles)) {
            List<XpOperationsUserProfileVO.RoleInfoVO> roleVOs = userWithRoles.stream()
                    .filter(r -> r.getRoleId() != null)
                    .map(r -> {
                        XpOperationsUserProfileVO.RoleInfoVO roleVO = new XpOperationsUserProfileVO.RoleInfoVO();
                        roleVO.setRoleId(r.getId());
                        roleVO.setRoleId(r.getRoleId());
                        roleVO.setRoleName(r.getRoleName());
                        return roleVO;
                    })
                    .collect(Collectors.toList());
            vo.setRoles(roleVOs);
        }

        return vo;
    }

@@ -187,7 +183,6 @@
        //保存审核记录
        XpQualificationAudit xpQualificationAudit = BeanUtil.copyProperties(dto, XpQualificationAudit.class, "id");
        xpQualificationAudit.setAuditStatus(1);
        xpQualificationAudit.setOperationsUserId(dto.getId());
        xpQualificationAuditService.save(xpQualificationAudit);
    }


 xp-robotaxi-api/src/main/java/com/xiaopeng/api/dto/operation/ReassignOrderDTO.java

@@ -21,15 +21,4 @@
    @ApiModelProperty(value = "订单号")
    private String orderNo;


    @ApiModelProperty(value = "订单id")
    private Long orderId;

    @ApiModelProperty(value = "车辆id")
    private Long vehicleId;


    @ApiModelProperty(value = "车队id")
    private Long fleetId;

}

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/factory/order/XpReassignOrderClientFallbackFactory.java

File was deleted

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/feignClient/order/XpReassignOrderClient.java

File was deleted

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/model/maintenance/XpSchedulingDetail.java

@@ -1,5 +1,6 @@
package com.xiaopeng.api.model.maintenance;

import com.baomidou.mybatisplus.annotation.TableField;
import com.baomidou.mybatisplus.annotation.TableName;
import com.baomidou.mybatisplus.annotation.IdType;
import com.baomidou.mybatisplus.annotation.TableId;
@@ -48,6 +49,7 @@
    private Boolean isAllDay;

    @ApiModelProperty(value = "计划时间")
    @TableField("plan_time")
    private LocalDate planTime;

}

 xp-robotaxi-api/src/main/resources/META-INF/spring/org.springframework.boot.autoconfigure.AutoConfiguration.imports

@@ -36,6 +36,7 @@
com.xiaopeng.api.factory.maintenance.XpClockInClientFallbackFactory
com.xiaopeng.api.factory.account.SysGroupMenuClientFallbackFactory
com.xiaopeng.api.factory.order.XpCruiseOrderClientFallbackFactory
com.xiaopeng.api.factory.order.XpReassignOrderClientFallbackFactory
com.xiaopeng.api.factory.operation.SmsClientFallbackFactory
com.xiaopeng.api.factory.maintenance.XpTaskHandleDetailRoutineClientFallbackFactory
com.xiaopeng.api.factory.maintenance.XpTaskClientFallbackFactory

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

@@ -2,23 +2,49 @@

import cn.hutool.core.lang.Snowflake;
import cn.hutool.core.util.IdUtil;
import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONObject;
import com.xiaopeng.api.dto.automaticPilot.MqttPublishDto;
import com.xiaopeng.api.dto.automaticPilot.PushOrderDto;
import com.xiaopeng.api.dto.map.OrderRouteAndFareDto;
import com.xiaopeng.api.dto.operation.LonLatDto;
import com.xiaopeng.api.dto.order.PopOrderDto;
import com.xiaopeng.api.dto.pushMessage.PushOrderRouteDTO;
import com.xiaopeng.api.dto.pushMessage.SendMessageDTO;
import com.xiaopeng.api.dto.vehicleConvoy.UpdateVehicleStateDto;
import com.xiaopeng.api.feignClient.map.XpMapClient;
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.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.automaticPilot.util.XPUUtil;
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.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.redis.core.RedisTemplate;
import org.springframework.web.bind.annotation.*;

import javax.annotation.Resource;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.LinkedBlockingQueue;
import java.util.concurrent.ThreadPoolExecutor;
import java.util.concurrent.TimeUnit;

@Slf4j
@@ -83,4 +109,212 @@


    }













    //-----------------------------------------------用户测试阶段模拟车机报文调用流程接口实现业务闭环--------------------------------------//


    @Resource
    private XpOrderClient xpOrderClient;

    @Resource
    private XpMapClient xpMapClient;

    @Resource
    private MongoTemplate mongoTemplate;

    @Resource
    public RedisTemplate redisTemplate;

    @Resource
    private XpPushMessageClient xpPushMessageClient;


    /**
     * 模拟接单
     * @param orderId       订单id
     * @param vehicleId     车辆id
     * @param startLon      车子当前位置经度
     * @param startLat      车子当前位置维度
     * @return
     */
    @GetMapping("/base/v1/order/acceptingOrder")
    public R acceptingOrder(Long orderId, Long vehicleId, Double startLon, Double startLat){
        XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
        XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
        OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
        dto.setOrderId(orderId);
        LonLatDto origin = new LonLatDto();
        origin.setLongitude(startLon);
        origin.setLatitude(startLat);
        dto.setOrigin(origin);
        LonLatDto destination = new LonLatDto();
        destination.setLongitude(xpOrder.getStartLon());
        destination.setLatitude(xpOrder.getStartLat());
        dto.setDestination(destination);
        R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
        if (200 != routeVoR.getCode()) {
            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
        redisService.setCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId(), com.alibaba.fastjson.JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);

        PopOrderDto dto1 = new PopOrderDto();
        dto1.setOrderId(Long.valueOf(orderId));
        dto1.setXpVehicleVin(xpVehicle.getVehicleVin());
        dto1.setOrderType(com.xiaopeng.api.vo.OrderType.USER_ORDER);
        R<?> r = xpOrderClient.popOrder(dto1);

        //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", 3);
        params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
        params.put("content", JSONObject.toJSONString(content));
        params.put("timestamp", System.currentTimeMillis() + "");
        String message = JSONObject.toJSONString(params);
        Long appUserId = xpOrder.getAppUserId();
        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.getCode());
        return r;
    }


    /**
     * 推送司机接驾轨迹和实时位置
     * @param orderId
     */
    @GetMapping("/base/v1/order/pushStartDriverLocation")
    private void pushStartDriverLocation(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_START_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());
        });

    }


    /**
     * 修改订单状态
     * @param orderId
     * @param status
     * @return
     */
    @GetMapping("/base/v1/order/updateOrderStatus")
    public R updateOrderStatus(Long orderId, Integer status) {
        XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
        //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", status);
        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(xpOrder.getAppUserId() + "");
        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, status);
        return R.ok();
    }


}

 xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java

@@ -30,7 +30,8 @@
import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
import com.xiaopeng.api.vo.automaticPilot.protobuf.AbnormalReason;
import com.xiaopeng.api.vo.automaticPilot.protobuf.GearLevel;
import com.xiaopeng.api.vo.automaticPilot.protobuf.OrderPhase;import com.xiaopeng.api.vo.automaticPilot.protobuf.OrderStatusInfo;
import com.xiaopeng.api.vo.automaticPilot.protobuf.OrderPhase;
import com.xiaopeng.api.vo.automaticPilot.protobuf.OrderStatusInfo;
import com.xiaopeng.api.vo.automaticPilot.protobuf.RealtimePose;
import com.xiaopeng.api.vo.automaticPilot.protobuf.ResponseMessage;
import com.xiaopeng.api.vo.automaticPilot.protobuf.RtTripInfo;
@@ -346,7 +347,7 @@
            log.info("车辆故障，开始处理故障");
            // TODO 添加异常任务
            // 解绑用户与车辆关系
//            CancelTaxiPassengerVo cancelTaxiPassengerVo = new CancelTaxiPassengerVo();
            CancelTaxiPassengerVo cancelTaxiPassengerVo = new CancelTaxiPassengerVo();
            String orderId = systemRuntimeStatus.getRunningOrderStatusInfo().getOrderId();
            XpOrder xpOrder = xpOrderClient.queryOrderById(Long.parseLong(orderId)).getData();
            XpVehicle vehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
@@ -354,17 +355,11 @@
                // 修改车辆状态
                vehicle.setOperatingStatus(4);
                xpVehicleClient.updateVehicleById(vehicle);
//                cancelTaxiPassengerVo.setVin(vehicle.getVehicleVin());
//                cancelTaxiPassengerVo.setUid(xpOrder.getAppUserId().toString());
//                cancelTaxiPassengerVo.setOrderNo(xpOrder.getOrderNumber());
//                // TODO
////            cancelTaxiPassengerVo.setAppId();
//                userVehicleClient.cancelTaxiPassenger(cancelTaxiPassengerVo);
                cancelTaxiPassengerVo.setVin(vehicle.getVehicleVin());
                cancelTaxiPassengerVo.setUid(xpOrder.getAppUserId().toString());
                cancelTaxiPassengerVo.setOrderNo(xpOrder.getOrderNumber());
                userVehicleClient.cancelTaxiPassenger(cancelTaxiPassengerVo);
            }
            // 取消订单
//            R<?> r = xpOrderClient.cancelOrder(String.valueOf(xpOrder.getId()));
//            if (r.getCode() == R.SUCCESS){
            log.info("取消订单成功");
            // TODO 重新派单
            ReassignOrderDTO reassignOrderDTO = new ReassignOrderDTO();
            reassignOrderDTO.setUid(xpOrder.getAppUserId().toString());
@@ -376,15 +371,7 @@
            Double longitude = naviPose.getLongitude();
            reassignOrderDTO.setLongitude(longitude);
            reassignOrderDTO.setLatitude(latitude);
            reassignOrderDTO.setVehicleId(xpOrder.getVehicleId());
            reassignOrderDTO.setOrderId(xpOrder.getId());
            reassignOrderDTO.setFleetId(xpOrder.getFleetId());
            reassignOrderClient.reassignOrder(reassignOrderDTO);




//            }
        }
    }

@@ -873,7 +860,7 @@



                            com.xiaopeng.api.vo.automaticPilot.protobuf.RtTask.Builder taskBuilder = com.xiaopeng.api.vo.automaticPilot.protobuf.RtTask.newBuilder();
                            RtTask.Builder taskBuilder = RtTask.newBuilder();
                            taskBuilder.setOrderId(lastXpCruiseOrder.getId());
                            taskBuilder.setTaskId("MISSION_"+ IdUtil.fastUUID());
                            taskBuilder.setTaskType(com.xiaopeng.api.vo.automaticPilot.protobuf.OrderType.ORDER_TYPE_CRUISE);

 xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/controller/XpTaskController.java

@@ -125,7 +125,6 @@
        xpTaskService.saveVehicleAccident(dto, xpOperationsUser);
        return R.ok();
    }

    @ApiOperation(value = "车辆事故任务详情", tags = "运维APP-任务中心")
    @GetMapping("/api/v1/task/vehicleAccidentDetail")
    public R<TaskAccidentDetailVO> vehicleAccidentDetail(Long id) {

 xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/controller/XpTaskManagementController.java

@@ -167,9 +167,6 @@
        xpTaskService.saveTask(dto, reportUserId);
        return R.ok();
    }



    @ApiOperation(value = "任务详情")
    @GetMapping("/taskDetail")
    public R<TaskManagementDetailVO> taskDetail(Long id) {

 xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/exportExcel/XpTaskExportExcel.java

@@ -25,7 +25,7 @@
    @Excel(name = "车牌号",width = 20)
    private String plateNumber;
    @ApiModelProperty(value = "任务类别1常规 2事故")
    @Excel(name = "任务类别",width = 20,replace = {"常规_1","事故_2"})
    @Excel(name = "任务类别",width = 20)
    private Integer taskCategory;
    @ApiModelProperty(value = "类型")
    @Excel(name = "类型",width = 40)

 xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/model/vo/TaskManagementPreparationDetailVO.java

@@ -69,8 +69,6 @@

    @ApiModelProperty(value = "遗失物品")
    private String lostItems;
    @ApiModelProperty(value = "遗失物品说明")
    private String lostItemsDetail;

    @ApiModelProperty(value = "备注")
    private String remarks;

 xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/service/XpTaskService.java

@@ -91,7 +91,4 @@
     */
    XpTask queryInfoByVehicleId(Long vehicleId);

    void saveVehicleAccidentError(Long vehicleId);


}

 xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/service/impl/XpSchedulingDetailServiceImpl.java

@@ -398,7 +398,7 @@
    @Override
    public R saveSchedulingDetail(SaveSchedulingVo vo, Long userId) {
        String month = vo.getMonth();
        List<XpSchedulingDetail> list = this.list(new QueryWrapper<XpSchedulingDetail>().eq("is_deleted", 0).last(" and DATE_FORMAT(planTime,'%Y-%m') = '" + month + "'"));
        List<XpSchedulingDetail> list = this.list(new QueryWrapper<XpSchedulingDetail>().eq("is_deleted", 0).last(" and DATE_FORMAT(plan_time,'%Y-%m') = '" + month + "'"));
        //保存排班数据
        XpScheduling xpScheduling = xpSchedulingService.getOne(new QueryWrapper<XpScheduling>().eq("is_deleted", 0).last(" and DATE_FORMAT(schedulingDate,'%Y-%m') = '" + month + "'"));
        if(null == xpScheduling){

 xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/service/impl/XpTaskServiceImpl.java

@@ -4,7 +4,6 @@
import cn.hutool.core.date.DateUtil;
import com.alibaba.fastjson2.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.xiaopeng.api.dto.pushMessage.AliPushMessageDTO;
@@ -89,8 +88,6 @@
    private XpVehicleRepairMapper vehicleRepairMapper;
    @Autowired
    private XpVehiclePreparationMapper vehiclePreparationMapper;
    @Autowired
    private XpVehicleDescriptionMapper vehicleDescriptionMapper;
    @Autowired
    private XpVehicleDetectionMapper vehicleDetectionMapper;

@@ -939,151 +936,12 @@
    @Override
    public List<TaskManagementPageListVO> exportList(TaskManagementPageListQuery query) {
        List<TaskManagementPageListVO> list = this.baseMapper.exportList(query);
        for (TaskManagementPageListVO taskManagementPageListVO : list) {
            if (org.springframework.util.StringUtils.hasLength(taskManagementPageListVO.getHandleUserId())){
                String[] split = taskManagementPageListVO.getHandleUserId().split(",");
                List<XpOperationsUser> users = operationUserClient.listByIds(Arrays.stream(split).map(Long::parseLong).collect(Collectors.toList())).getData();
                if (users!=null){
                    StringBuilder handleUserName = new StringBuilder();
                    for (XpOperationsUser user : users) {
                        handleUserName.append(user.getNickName()).append(";");
                    }
                    taskManagementPageListVO.setHandleUserName(handleUserName.toString());
                }
            }
            if (taskManagementPageListVO.getTaskCategory() == 1) {
                switch (taskManagementPageListVO.getTaskTypeId()) {
                    case "1":
                        taskManagementPageListVO.setTaskTypeName("车辆检查");
                        break;
                    case "2":
                        taskManagementPageListVO.setTaskTypeName("车辆充电");
                        break;
                    case "3":
                        taskManagementPageListVO.setTaskTypeName("车辆整备");
                        break;
                    case "4":
                        taskManagementPageListVO.setTaskTypeName("整备洗车");
                        break;
                    case "5":
                        taskManagementPageListVO.setTaskTypeName("车辆维修");
                        break;
                    case "6":
                        taskManagementPageListVO.setTaskTypeName("车辆保养");
                        break;
                    case "7":
                        taskManagementPageListVO.setTaskTypeName("车辆保险到期");
                        break;
                    case "8":
                        taskManagementPageListVO.setTaskTypeName("车辆年检到期");
                        break;
                    case "9":
                        taskManagementPageListVO.setTaskTypeName("车辆运营资质到期");
                        break;
                    default:
                        taskManagementPageListVO.setTaskTypeName("");
                        break;
                }
            } else {
                StringBuilder taskTypeName = new StringBuilder();
                String[] typeIds = taskManagementPageListVO.getTaskTypeId().split(",");
                List<XpErrorType> xpErrorTypes = errorTypeMapper.selectList(new LambdaQueryWrapper<XpErrorType>()
                        .in(XpErrorType::getId, Arrays.asList(typeIds)).orderByAsc(XpErrorType::getParentId));
                List<XpErrorType> parents = new ArrayList<>();
                for (XpErrorType xpErrorType : xpErrorTypes) {
                    if (xpErrorType.getParentId() == 0) {
                        parents.add(xpErrorType);
                    }
                }
                for (XpErrorType parent : parents) {
                    List<XpErrorType> children = xpErrorTypes.stream().filter(e -> e.getParentId().equals(parent.getId())).collect(Collectors.toList());
                    taskTypeName.append(parent.getErrorName()).append(">");
                    for (XpErrorType child : children) {
                        taskTypeName.append(child.getErrorName()).append(";");
                    }
                }

                taskManagementPageListVO.setTaskTypeName(taskTypeName.substring(0, taskTypeName.length() - 1));
            }
        }
        return list;
    }

    @Override
    public XpTask queryInfoByVehicleId(Long vehicleId) {
        return this.baseMapper.queryInfoByVehicleId(vehicleId);
    }

    @Override
    public void saveVehicleAccidentError(Long vehicleId) {
        XpTask xpTask = new XpTask();
        SimpleDateFormat sdf = new SimpleDateFormat("yyyyMMddHHmmssSSS");
        String code = sdf.format(new Date()) + UUIDUtil.getNumberRandom(5);
        xpTask.setTaskCode(code);
        xpTask.setTaskCategory(2);
        // todo 事故类型待客户确定
        xpTask.setTaskTypeId("1");
        xpTask.setTaskUrgencyLevel(0);
        xpTask.setTaskDescription("车辆发生异常");
        XpVehicle vehicle = xpVehicleClient.queryById(xpTask.getVehicleId()).getData();
        if (vehicle!=null){
            VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vehicle.getVehicleVin())), VehiclePosition.class);
            if (vehiclePosition != null) {
                double x = vehiclePosition.getPoint().getX();
                double y = vehiclePosition.getPoint().getY();
                xpTask.setVehicleLon(new BigDecimal(x));
                xpTask.setVehicleLat(new BigDecimal(y));
            }
        }

        xpTask.setVehicleId(vehicleId);
        // 系统上传异常任务标识
        xpTask.setReportUserId(0L);
        xpTask.setReportTime(LocalDateTime.now());
        xpTask.setStatus(0);
        xpTask.setCreateBy("admin");
        XpTaskRule taskRule = xpTaskRuleService.lambdaQuery().last("limit 1").one();
        XpTaskRuleRole taskRuleRole = xpTaskRuleRoleService.lambdaQuery().eq(XpTaskRuleRole::getRuleType, 9).last("limit 1").one();
        if (Objects.isNull(taskRuleRole) || Objects.isNull(taskRule)) {
            throw new ServiceException("未配置车辆事故任务分配规则");
        }
        R<List<XpOperationsRole>> xpOperationsRoleResult = xpOperationUserClient.getXpOperationsRoleByRoleId(taskRuleRole.getRoleId());
        if (CollUtil.isNotEmpty(xpOperationsRoleResult.getData())) {
            List<Long> userIds = xpOperationsRoleResult.getData().stream().map(XpOperationsRole::getOperationsUserId).collect(Collectors.toList());
            xpTask.setHandleUserId(StringUtils.join(userIds, ","));
        }
        // 根据事故处理限时配置设置任务截止时间
        LocalDateTime endTime = LocalDateTime.now().plusMinutes(taskRule.getProcessingTimeLimit());
        xpTask.setEndTime(endTime);
        this.save(xpTask);

        // 发送消息通知
        List<Long> userIds = Arrays.stream(xpTask.getHandleUserId().split(",")).map(Long::valueOf).collect(Collectors.toList());
        if (CollUtil.isNotEmpty(userIds)) {
            R<List<XpOperationsUser>> xpOperationUserResult = xpOperationUserClient.listByIds(userIds);
            List<XpOperationsUser> data = xpOperationUserResult.getData();
            if (CollUtil.isNotEmpty(data)) {

                String plateNumber = Objects.nonNull(vehicle) ? vehicle.getPlateNumber() : "";
                // 车辆${车牌号}在${车辆位置信息}发生了紧急事故，请在${到达现场限时}内到达现场！${APP链接}
                String content = String.format("车辆%s在%s发生了紧急事故，请在%d分钟内到达现场！", plateNumber, xpTask.getVehicleLocation(), taskRule.getProcessingTimeLimit());
                List<XpOperationsUserNotification> notifications = data.stream().map(item -> {
                    XpOperationsUserNotification notification = new XpOperationsUserNotification();
                    notification.setOperationsUserId(item.getId());
                    notification.setNotificationContent(content);
                    notification.setReadStatus(0);
                    notification.setCreateTime(LocalDateTime.now());
                    return notification;
                }).collect(Collectors.toList());
                xpOperationUserNotificationClient.addNotificationBatch(notifications);
                // 发送阿里云推送
                Map<Integer, List<XpOperationsUser>> operationUserMap = data.stream().collect(Collectors.groupingBy(XpOperationsUser::getDeviceType));
                for (Map.Entry<Integer, List<XpOperationsUser>> integerListEntry : operationUserMap.entrySet()) {
                    List<XpOperationsUser> value = integerListEntry.getValue();
                    pushAliMessage(value, content, xpTask);
                }
            }
        }
    }

    @Override
@@ -1099,8 +957,7 @@

    @Override
    public void saveTask(SaveErrorTaskDto dto, Long reportUserId) {
        List<Long> vehicleIds = dto.getVehicleIds();
        List<XpVehicle> vehicles = xpVehicleClient.listByIds(vehicleIds).getData();

        List<XpTask> saveTask = new ArrayList<>();
        for (Long vehicleId : dto.getVehicleIds()) {
            XpTask task = new XpTask();
@@ -1116,18 +973,8 @@
                task.setEndTime(LocalDateTime.now().plusMinutes(taskRule.getProcessingTimeLimit()));
            }
            task.setTaskCategory(2);
            XpTaskRuleRole taskRuleRole = xpTaskRuleRoleService.lambdaQuery().eq(XpTaskRuleRole::getRuleType, 9).last("limit 1").one();
            if (Objects.isNull(taskRuleRole) || Objects.isNull(taskRule)) {
                throw new ServiceException("未配置车辆事故任务分配规则");
            }
            R<List<XpOperationsRole>> xpOperationsRoleResult = xpOperationUserClient.getXpOperationsRoleByRoleId(taskRuleRole.getRoleId());
            if (CollUtil.isNotEmpty(xpOperationsRoleResult.getData())) {
                List<Long> userIds = xpOperationsRoleResult.getData().stream().map(XpOperationsRole::getOperationsUserId).collect(Collectors.toList());
                task.setHandleUserId(StringUtils.join(userIds, ","));
            }
            // 根据事故处理限时配置设置任务截止时间
            LocalDateTime endTime = LocalDateTime.now().plusMinutes(taskRule.getProcessingTimeLimit());
            task.setEndTime(endTime);
            // todo 临时处理
            task.setHandleUserId("1");
            task.setTaskTypeId(dto.getTaskTypeId());
            task.setTaskUrgencyLevel(dto.getTaskUrgencyLevel());
            task.setTaskDescription(dto.getTaskDescription());
@@ -1139,39 +986,8 @@
            task.setReportUserId(reportUserId);
            task.setReportTime(LocalDateTime.now());
            saveTask.add(task);
            // 发送消息通知
            List<Long> userIds = Arrays.stream(task.getHandleUserId().split(",")).map(Long::valueOf).collect(Collectors.toList());
            if (CollUtil.isNotEmpty(userIds)) {
                XpVehicle vehicle = vehicles.stream().filter(e -> e.getId().equals(vehicleId)).findFirst().orElse(null);
                R<List<XpOperationsUser>> xpOperationUserResult = xpOperationUserClient.listByIds(userIds);
                List<XpOperationsUser> data = xpOperationUserResult.getData();
                if (CollUtil.isNotEmpty(data)) {

                    String plateNumber = Objects.nonNull(vehicle) ? vehicle.getPlateNumber() : "";
                    // 车辆${车牌号}在${车辆位置信息}发生了紧急事故，请在${到达现场限时}内到达现场！${APP链接}
                    String content = String.format("车辆%s在%s发生了紧急事故，请在%d分钟内到达现场！", plateNumber, task.getVehicleLocation(), taskRule.getProcessingTimeLimit());
                    List<XpOperationsUserNotification> notifications = data.stream().map(item -> {
                        XpOperationsUserNotification notification = new XpOperationsUserNotification();
                        notification.setOperationsUserId(item.getId());
                        notification.setNotificationContent(content);
                        notification.setReadStatus(0);
                        notification.setCreateTime(LocalDateTime.now());
                        return notification;
                    }).collect(Collectors.toList());
                    xpOperationUserNotificationClient.addNotificationBatch(notifications);
                    // 发送阿里云推送
                    Map<Integer, List<XpOperationsUser>> operationUserMap = data.stream().collect(Collectors.groupingBy(XpOperationsUser::getDeviceType));
                    for (Map.Entry<Integer, List<XpOperationsUser>> integerListEntry : operationUserMap.entrySet()) {
                        List<XpOperationsUser> value = integerListEntry.getValue();
                        pushAliMessage(value, content, task);
                    }
                }
            }

        }
        this.saveBatch(saveTask);



    }

@@ -1297,12 +1113,6 @@

                    XpVehiclePreparation vehiclePreparation = vehiclePreparationMapper.selectOne(new LambdaQueryWrapper<XpVehiclePreparation>()
                            .eq(XpVehiclePreparation::getTaskId, id).last("limit 1"));
                    XpVehicleDescription xpVehicleDescription = vehicleDescriptionMapper.selectOne(
                            new LambdaQueryWrapper<XpVehicleDescription>().eq(XpVehicleDescription::getDescriptionType, 5)
                    );
                    if (xpVehicleDescription != null)      {
                        taskManagementPreparationDetailVO.setLostItemsDetail(xpVehicleDescription.getDescriptionContent());
                    }
                    if (vehiclePreparation != null) {
                        taskManagementPreparationDetailVO.setLeftFrontWheel(vehiclePreparation.getLeftFrontWheel());
                        taskManagementPreparationDetailVO.setRightFrontWheel(vehiclePreparation.getRightFrontWheel());

 xp-robotaxi-maintenance-boot/src/main/resources/bootstrap.yml

@@ -29,6 +29,7 @@
        namespace: 5185ac4b-6369-48eb-a21b-a7cbc441c5f1
        username: nacos
        password: nacos
        ip: 192.168.110.85
      config:
        # 配置中心地址
        server-addr: 192.168.110.80:8848

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

@@ -1,8 +1,5 @@
package com.xiaopeng.operation.controller;

import com.xiaopeng.api.feignClient.order.XpOrderClient;
import com.xiaopeng.api.feignClient.order.XpReassignOrderClient;
import com.xiaopeng.api.model.order.XpOrderReassign;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.api.dto.operation.ReassignOrderDTO;
import com.xiaopeng.operation.utils.TaskOrderUtil;
@@ -11,8 +8,6 @@
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RestController;

import java.time.LocalDateTime;

/**
 * token 控制
@@ -24,21 +19,9 @@
public class ReassignOrderController {
    @Autowired
    private TaskOrderUtil taskOrderUtil;
    @Autowired
    private XpReassignOrderClient xpReassignOrderClient;


    @PostMapping("/inner/v1/order/reassignOrder")
    public R<String> reassignOrder(@RequestBody ReassignOrderDTO dto) {
        //新增改派数据
        XpOrderReassign xpOrderReassign = new XpOrderReassign();
        xpOrderReassign.setOrderId(dto.getOrderId());
        xpOrderReassign.setOperationTime(LocalDateTime.now());
        xpOrderReassign.setOldVehicleId(dto.getVehicleId());
        xpOrderReassign.setOldFleetId(dto.getFleetId());
        xpOrderReassign.setReassignReason("异常改派");
        xpReassignOrderClient.saveReassignOrder(xpOrderReassign);

        taskOrderUtil.reassignPushOrder(dto.getCount(),dto.getUid(),dto.getLongitude(),dto.getLatitude(),dto.getOrderNo());
        return R.ok();
    }

 xp-robotaxi-order-boot/src/main/java/com/xiaopeng/order/controller/XpOrderController.java

@@ -10,7 +10,6 @@
import com.xiaopeng.api.dto.statistics.OrderStatisticsDTO;
import com.xiaopeng.api.dto.statistics.StatisticsQueryDTO;
import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.model.order.XpOrderReassign;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.api.vo.order.FareBreakdownVo;
@@ -33,7 +32,6 @@
import com.xiaopeng.order.model.vo.XpOrderDetailVO;
import com.xiaopeng.order.model.vo.XpOrderHistoryVO;
import com.xiaopeng.order.model.vo.XpOrderPageVO;
import com.xiaopeng.order.service.IXpOrderReassignService;
import com.xiaopeng.order.service.IXpOrderService;
import com.xiaopeng.order.vo.OrderDetailVo;
import com.xiaopeng.unifiedverification.interceptor.XpClientCheck;
@@ -69,7 +67,6 @@

    private final IXpOrderService xpOrderService;
    private final RedisService redisService;
    private final IXpOrderReassignService   xpOrderReassignService;

    /**
     * 获取订单统计数据（内部接口）
@@ -282,18 +279,6 @@
            dto.getReassignReason()
        );
        return R.ok();
    }


    /**
     * 保存改派
     * @param xpOrderReassign
     * @return
     */
    @PostMapping("/inner/v1/order/reassignOrder")
    public R<Long> saveReassignOrder(@RequestBody XpOrderReassign xpOrderReassign){
        xpOrderReassignService.save(xpOrderReassign);
        return R.ok(xpOrderReassign.getId());
    }

    /**

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

@@ -11,7 +11,6 @@
import com.xiaopeng.api.feignClient.operation.XpSystemSettingClient;
import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;
import com.xiaopeng.api.model.account.XpAppUser;
import com.xiaopeng.api.model.operation.XpFeedbackType;
import com.xiaopeng.api.model.operation.XpInvitationCode;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.api.model.order.XpOrder;
@@ -139,26 +138,22 @@
        GetUserListByUidsVo getUserListByUidsVo = new GetUserListByUidsVo();
        getUserListByUidsVo.setUids(userIds);
        getUserListByUidsVo.setGetPreCarOwner(false);
        // todo 查不到用户信息
//        UserResourcesDto userListByUids = userResourcesClient.getUserListByUids(getUserListByUidsVo);
        UserResourcesDto userListByUids = userResourcesClient.getUserListByUids(getUserListByUidsVo);
        for (OrderEvaluateManagementPageListVO orderEvaluateManagementPageListVO : list) {
//            Object data = userListByUids.getData();
            Object data = userListByUids.getData();
            // 转化为jsonArray
//            JSONArray jsonArray = JSON.parseArray(JSON.toJSONString(data));
//            for (Object o : jsonArray) {
//                // 转化为JsonObject
//                JSONObject jsonObject = JSON.parseObject(JSON.toJSONString(o));
//                String mobile = jsonObject.getString("mobile");
//                String nickName = jsonObject.getString("nickName");
//                String headImage = jsonObject.getString("headImage");
//                orderEvaluateManagementPageListVO.setPhoneNumber(mobile);
//                orderEvaluateManagementPageListVO.setNickName(nickName);
//                orderEvaluateManagementPageListVO.setHeadImage(headImage);
//            }
            XpFeedbackType feedbackType = systemSettingClient.getFeedbackTypeById(orderEvaluateManagementPageListVO.getFeedbackTypeId()).getData();
            if (feedbackType!=null){
                orderEvaluateManagementPageListVO.setFeedbackTypeName(feedbackType.getFeedbackType());
            JSONArray jsonArray = JSON.parseArray(JSON.toJSONString(data));
            for (Object o : jsonArray) {
                // 转化为JsonObject
                JSONObject jsonObject = JSON.parseObject(JSON.toJSONString(o));
                String mobile = jsonObject.getString("mobile");
                String nickName = jsonObject.getString("nickName");
                String headImage = jsonObject.getString("headImage");
                orderEvaluateManagementPageListVO.setPhoneNumber(mobile);
                orderEvaluateManagementPageListVO.setNickName(nickName);
                orderEvaluateManagementPageListVO.setHeadImage(headImage);
            }
            systemSettingClient.getFeedbackTypeById(orderEvaluateManagementPageListVO.getFeedbackTypeId());
        }
        pageInfo.setRecords(list);
        return pageInfo;

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

@@ -870,7 +870,7 @@
        Page<XpOrderHistoryListVO> page = new Page<>(query.getPageNum(), query.getPageSize());
        List<XpOrderHistoryListVO> list = this.baseMapper.getHistoryOrderList(page, query, Long.parseLong(uid));
        XpOrderHistoryVO xpOrderHistoryVO = new XpOrderHistoryVO();
        if (list.isEmpty()) {
        if(list.isEmpty()){
            return xpOrderHistoryVO;
        }

@@ -894,7 +894,7 @@

            for (XpOrderHistoryListVO xpOrderHistoryListVO : value) {
                XpPoint xpPoint = pointList.stream().filter(e -> e.getId().equals(xpOrderHistoryListVO.getStartPointId())).findFirst().orElse(null);
                if (xpPoint != null) {
                if(xpPoint!=null){
                    xpOrderHistoryListVO.setStartPointName(xpPoint.getPointName());
                    xpOrderHistoryListVO.setStartLat(xpPoint.getPointLat());
                    xpOrderHistoryListVO.setStartLon(xpPoint.getPointLon());
@@ -903,7 +903,7 @@
                }

                xpPoint = pointList.stream().filter(e -> e.getId().equals(xpOrderHistoryListVO.getEndPointId())).findFirst().orElse(null);
                if (xpPoint != null) {
                if(xpPoint!=null){
                    xpOrderHistoryListVO.setEndPointName(xpPoint.getPointName());
                    xpOrderHistoryListVO.setEndLat(xpPoint.getPointLat());
                    xpOrderHistoryListVO.setEndLon(xpPoint.getPointLon());
@@ -933,13 +933,13 @@
    public void cancelOrder(Long orderId, String uid) {
        XpOrder order = this.getById(orderId);
        if (order == null) {
            throw new ServiceException("订单不存在", I18nKeyConstant.ORDER_NOT_EXISTS);
            throw new ServiceException("订单不存在",I18nKeyConstant.ORDER_NOT_EXISTS);
        }
        if (!order.getAppUserId().toString().equals(uid)) {
            throw new ServiceException("订单不存在", I18nKeyConstant.ORDER_NOT_EXISTS);
            throw new ServiceException("订单不存在",I18nKeyConstant.ORDER_NOT_EXISTS);
        }
        if (order.getStatus() > 5 || order.getStatus() < 1) {
            throw new ServiceException("订单状态错误", I18nKeyConstant.ORDER_STATUS_ERROR);
            throw new ServiceException("订单状态错误",I18nKeyConstant.ORDER_STATUS_ERROR);
        }
        order.setStatus(0);

@@ -949,7 +949,7 @@
        R<XpVehicle> xpVehicleR = xpVehicleClient.queryById(vehicleId);
        XpVehicle xpVehicle = xpVehicleR.getData();
        if (xpVehicle == null) {
            throw new ServiceException("车辆不存在", I18nKeyConstant.VEHICLE_NOT_EXISTS);
            throw new ServiceException("车辆不存在",I18nKeyConstant.VEHICLE_NOT_EXISTS);
        }
        cancelTaxiPassengerVo.setVin(xpVehicle.getVehicleVin());
        cancelTaxiPassengerVo.setUid(order.getAppUserId().toString());
@@ -958,7 +958,7 @@
        cancelTaxiPassengerVo.setAppId("");

        BaseVehicleUserDto baseVehicleUserDto = userVehicleClient.cancelTaxiPassenger(cancelTaxiPassengerVo);
        if (baseVehicleUserDto == null) {
        if (baseVehicleUserDto==null) {
            // TODO 本地无法调通
//            throw new RuntimeException("取消订单失败");
        }
@@ -982,7 +982,7 @@
        }

        // 下发命令
        if (order.getStatus() > 1) {
        if(order.getStatus()>1){
            PushOrderDto pushOrderDto = new PushOrderDto();
            pushOrderDto.setOrderId(order.getId().toString());
            pushOrderDto.setVin(xpVehicle.getVehicleVin());
@@ -997,7 +997,7 @@
    public void cancelOrder(String orderId) {
        XpOrder order = this.getById(orderId);
        if (order == null) {
            throw new ServiceException("订单不存在", I18nKeyConstant.ORDER_NOT_EXISTS);
            throw new ServiceException("订单不存在",I18nKeyConstant.ORDER_NOT_EXISTS);
        }
        order.setStatus(0);
        baseMapper.updateById(order);
@@ -1030,7 +1030,7 @@
        log.info("订单取消消息推送完毕");

        // 下发命令
        if (order.getStatus() > 1) {
        if(order.getStatus()>1){
            PushOrderDto pushOrderDto = new PushOrderDto();
            pushOrderDto.setOrderId(order.getId().toString());
            pushOrderDto.setVin(xpVehicle.getVehicleVin());
@@ -1051,13 +1051,13 @@
    public void comment(XpOrderCommentDto dto, String uid) {
        XpOrder xpOrder = this.getById(dto.getOrderId());
        if (xpOrder == null) {
            throw new ServiceException("订单不存在", I18nKeyConstant.ORDER_NOT_EXISTS);
            throw new ServiceException("订单不存在",I18nKeyConstant.ORDER_NOT_EXISTS);
        }
        if (!xpOrder.getAppUserId().toString().equals(uid)) {
            throw new ServiceException("订单不存在", I18nKeyConstant.ORDER_NOT_EXISTS);
            throw new ServiceException("订单不存在",I18nKeyConstant.ORDER_NOT_EXISTS);
        }
        if (xpOrder.getStatus() != 9) {
            throw new ServiceException("订单状态错误", I18nKeyConstant.ORDER_STATUS_ERROR);
            throw new ServiceException("订单状态错误",I18nKeyConstant.ORDER_STATUS_ERROR);
        }
        xpOrder.setAppUserId(null);
        xpOrder.setStatus(10);
@@ -1176,6 +1176,7 @@
        }



        // 根据订单所属开通城市id 查询定价
        R<XpPricing> pricingByCityId = xpPricingClient.getPricingByCid(order.getCityId());
        XpPricing pricing = pricingByCityId.getData();
@@ -1194,13 +1195,13 @@
//            TaxiPricingDemoService.GpsPoint point = new TaxiPricingDemoService.GpsPoint(trajectory.getDistance(), trajectory.getLocatetime());
//            gpsPoints.add(point);
//        }
        // 补充临时轨迹数据
    // 补充临时轨迹数据
        List<TaxiPricingDemoService.GpsPoint> gpsPoints = TaxiPricingDemoService.createMockGpsPoints(DateUtils.toDate(order.getCreateTime()));


        TaxiPricingDemoService.PricingConfig config = new TaxiPricingDemoService.PricingConfig();
        JSONArray startingFareJsonArray = JSONArray.parseArray(pricing.getStartingFareJson());
        if (pricing.getPricingType() == 1) {
        if(pricing.getPricingType()==1){
            JSONObject basicPricingJson = JSONObject.parseObject(pricing.getBasicPricingJson());
            config.peaks.add(new TaxiPricingDemoService.PricingRule("高峰期", basicPricingJson.getString("num21").split(" - ")[0], basicPricingJson.getString("num21").split(" - ")[1], Double.parseDouble(basicPricingJson.getString("num24")), Double.parseDouble(basicPricingJson.getString("num25")), Double.parseDouble(basicPricingJson.getString("num26")), Double.parseDouble(basicPricingJson.getString("num27")), Double.parseDouble(basicPricingJson.getString("num28"))));
            config.peaks.add(new TaxiPricingDemoService.PricingRule("高峰期", basicPricingJson.getString("num22").split(" - ")[0], basicPricingJson.getString("num22").split(" - ")[1], Double.parseDouble(basicPricingJson.getString("num24")), Double.parseDouble(basicPricingJson.getString("num25")), Double.parseDouble(basicPricingJson.getString("num26")), Double.parseDouble(basicPricingJson.getString("num27")), Double.parseDouble(basicPricingJson.getString("num28"))));
@@ -1235,7 +1236,7 @@
        System.err.println("--------------------------");
        System.err.println("应付总额: " + totalAmount + " 元");
        BigDecimal startMoney = BigDecimal.ZERO;
        // 默认费率1
         // 默认费率1
        double priceRate = 1;
        if (pricing.getIsDynamicPrice() == 1) {
            // 先判断是否已经调价过了
@@ -1383,11 +1384,11 @@
            xpOrderDetailMapper.insert(xpOrderDetail);
        }
        for (XpOrderDetail xpOrderDetail : xpOrderDetails) {
            if (xpOrderDetail.getDetailType() == 1) {
            if (xpOrderDetail.getDetailType() == 1){
                order.setDurationType(xpOrderDetail.getType());
                order.setDurationMoney(xpOrderDetail.getMoney());
                order.setDuration(Double.parseDouble(xpOrderDetail.getDuration() + ""));
            } else {
            }else{
                order.setLongDistanceType(order.getDurationType());
                order.setLongDistance(xpOrderDetail.getMileage().doubleValue());
                order.setLongDistancemoney(xpOrderDetail.getMoney());
@@ -1397,7 +1398,7 @@

        BigDecimal orderMoney = startMoney.add(mileageMoney).add(order.getDurationMoney() != null ? order.getDurationMoney() : BigDecimal.ZERO)
                .add(order.getLongDistancemoney() != null ? order.getLongDistancemoney() : BigDecimal.ZERO)
                .add(order.getWaitMoney() != null ? order.getWaitMoney() : BigDecimal.ZERO);
                .add(order.getWaitMoney()!=null?order.getWaitMoney():BigDecimal.ZERO);
        order.setOrderMoney(orderMoney);
        order.setAppUserId(null);
        baseMapper.updateById(order);
@@ -1410,7 +1411,7 @@
            useUserCouponDto.setUserCouponId(order.getCouponId());
            xpAppUserCouponClient.useUserCoupon(useUserCouponDto);
        }
        // 计算完价格后 挑选优惠券
       // 计算完价格后 挑选优惠券
        GetUserCouponDto getUserCouponDto = new GetUserCouponDto();
        getUserCouponDto.setUserId(Long.valueOf(uid));
        getUserCouponDto.setTotalAmount(order.getOrderMoney().doubleValue());
@@ -1424,8 +1425,11 @@
        baseMapper.updateById(order);





        // 结束后的车辆操作
        if (vehicle != null) {
        if(vehicle!=null){
            // 修改车辆状态
            vehicle.setState(0);

@@ -1435,11 +1439,11 @@

            // 生成新的巡游单子 回到最新巡游的初始起点位置
            XpCruiseOrder xpCruiseOrders = xpCruiseOrderMapper.selectOne(new LambdaQueryWrapper<XpCruiseOrder>().eq(XpCruiseOrder::getVehicleId, vehicle.getId()).eq(XpCruiseOrder::getStatus, 2).orderByDesc(BaseModel::getCreateTime).last("limit 1"));
            int temp = 0;
            if (xpCruiseOrders == null) {
                temp = 1;
            int temp=0;
            if(xpCruiseOrders==null){
                temp=1;
                //特殊情况 可能没有产生终止的订单  （到站点就被正常接单了）所以找正常订单
                xpCruiseOrders = xpCruiseOrderMapper.selectOne(new LambdaQueryWrapper<XpCruiseOrder>().eq(XpCruiseOrder::getVehicleId, vehicle.getId()).eq(XpCruiseOrder::getStatus, 3).orderByDesc(BaseModel::getCreateTime).last("limit 1"));
                xpCruiseOrders=xpCruiseOrderMapper.selectOne(new LambdaQueryWrapper<XpCruiseOrder>().eq(XpCruiseOrder::getVehicleId, vehicle.getId()).eq(XpCruiseOrder::getStatus, 3).orderByDesc(BaseModel::getCreateTime).last("limit 1"));
            }
            XpCruiseOrder xpCruiseOrder = new XpCruiseOrder();
            xpCruiseOrder.setVehicleId(vehicle.getId());
@@ -1453,12 +1457,12 @@
            xpCruiseOrder.setStartLat(order.getEndLat());

            // 完成的直接走终点   终止的走起点
            if (temp == 0) {
            if(temp==0){
                xpCruiseOrder.setEndPointId(xpCruiseOrders.getStartPointId());
                xpCruiseOrder.setEndPointName(xpCruiseOrders.getStartPointName());
                xpCruiseOrder.setEndLon(xpCruiseOrders.getStartLon());
                xpCruiseOrder.setEndLat(xpCruiseOrders.getStartLat());
            } else {
            }else {
                xpCruiseOrder.setEndPointId(xpCruiseOrders.getEndPointId());
                xpCruiseOrder.setEndPointName(xpCruiseOrders.getEndPointName());
                xpCruiseOrder.setEndLon(xpCruiseOrders.getEndLon());
@@ -1469,7 +1473,7 @@
            xpCruiseOrder.setStatus(1);
            xpCruiseOrder.setLastOrderId(xpCruiseOrders.getId());
            xpCruiseOrder.setCreateTime(LocalDateTime.now());
            xpCruiseOrder.setId("XU" + IdUtil.fastUUID());
            xpCruiseOrder.setId("XU"+ IdUtil.fastUUID());

            // 判断当前时分秒是否大于收车时间
            LocalTime vehicleCollectionTime = xpTaskRule.getVehicleCollectionTime();
@@ -1502,6 +1506,15 @@


        }











    }
@@ -1726,14 +1739,14 @@
            detail.setTime(xpOrderDetail.getTime());
            detail.setMileage(xpOrderDetail.getMileage());
            detail.setDuration(xpOrderDetail.getDuration());
            if (xpOrderDetail.getDetailType() == 1) {
            if (xpOrderDetail.getDetailType() == 1){
                start.add(detail);
            } else {
            }else{
                mileage.add(detail);
            }
        }
        List<FareBreakdownDetailVo> duration = new ArrayList<>();
        if (order.getDuration() != null && order.getDuration() > 0) {
        if (order.getDuration()!=null&&order.getDuration()>0){
            FareBreakdownDetailVo durationDetail = new FareBreakdownDetailVo();
            durationDetail.setType(order.getDurationType());
            durationDetail.setDuration(order.getDuration());
@@ -1742,24 +1755,24 @@
        }
        List<FareBreakdownDetailVo> longDistance = new ArrayList<>();

        if (order.getLongDistance() != null && order.getLongDistance() > 0) {
        if (order.getLongDistance()!=null&&order.getLongDistance()>0){
            FareBreakdownDetailVo longDistanceDetail = new FareBreakdownDetailVo();
            longDistanceDetail.setType(order.getLongDistanceType());
            longDistanceDetail.setMileage(BigDecimal.valueOf(order.getLongDistance()));
            longDistanceDetail.setMoney(order.getLongDistancemoney());
            longDistance.add(longDistanceDetail);
        }
        res.setStart(start);
        res.setMileage(mileage);
        res.setDuration(duration);
        res.setLongDistance(longDistance);
        res.setStart( start);
        res.setMileage( mileage);
        res.setDuration( duration);
        res.setLongDistance( longDistance);
        res.setRedPacketMoney(order.getRedPacketMoney());
        res.setCouponMoney(order.getCouponMoney());
        res.setOrderMoney(order.getOrderMoney());
        res.setKilometer(order.getMileageKilometers() == null ? BigDecimal.ZERO : BigDecimal.valueOf(order.getMileageKilometers()));
        res.setKilometer(order.getMileageKilometers()==null?BigDecimal.ZERO:BigDecimal.valueOf(order.getMileageKilometers()));
        LocalDateTime createTime = order.getCreateTime();
        LocalDateTime tripEnd = order.getTripEnd();
        if (tripEnd == null) {
        if (tripEnd==null){
            tripEnd = LocalDateTime.now();
            order.setTripEnd(tripEnd);
            this.updateById(order);
@@ -1912,7 +1925,7 @@
        XpPricing pricing = pricingByCityId.getData();
        if (pricing == null) {
            throw new ServiceException("当前城市未配置定价规则", I18nKeyConstant.ORDER_PRICING_NOT_EXISTS);
        } else {
        }else{
            return R.ok(pricing.getPriceRule());
        }
    }
@@ -1930,34 +1943,17 @@
        String orderType = dto.getOrderType();
        Long orderId = dto.getOrderId();
        //巡游单处理逻辑
        if (OrderType.CRUISE_ORDER.equals(orderType)) {
        if(OrderType.CRUISE_ORDER.equals(orderType)){
            // todo 需要处理巡游的逻辑



        }
        //乘客单处理逻辑
        if (OrderType.USER_ORDER.equals(orderType)) {
        if(OrderType.USER_ORDER.equals(orderType)){
            XpOrder order = this.getById(orderId);

            // 判断是否改派的 查看是否有车信息
            if (order.getVehicleId() != null) {
                R<XpVehicle> oldVehicleR = xpVehicleClient.queryById(order.getVehicleId());
                XpVehicle oldVehicle = oldVehicleR.getData();
                if (oldVehicle != null) {
                    // 解绑
                    CancelTaxiPassengerVo cancelTaxiPassengerVo = new CancelTaxiPassengerVo();
                    cancelTaxiPassengerVo.setVin(oldVehicle.getVehicleVin());
                    cancelTaxiPassengerVo.setUid(order.getAppUserId().toString());
                    cancelTaxiPassengerVo.setOrderNo(order.getOrderNumber());
                    // TODO
                    cancelTaxiPassengerVo.setAppId("");
                    userVehicleClient.cancelTaxiPassenger(cancelTaxiPassengerVo);
                }

            }

            //订单为待接单状态
            if (order.getStatus() == 1) {
            if(order.getStatus() == 1){
                AddTaxiPassengerVo addTaxiPassengerVo = new AddTaxiPassengerVo();
                order.setAcceptanceTime(LocalDateTime.now());
                R<XpVehicle> byVehicleVin = xpVehicleClient.findByVehicleVin(dto.getXpVehicleVin());
@@ -1992,7 +1988,7 @@
                userVehicleClient.addTaxiPassenger(addTaxiPassengerVo);
                //推送乘客车辆到达预约点的导航数据
                sendRoute(order.getAppUserId().toString(), orderId, "ORDER_NAVIGATION_START_DATA");
            } else {
            }else{
                //推送行起点到终点的驶轨迹给乘客端
                sendRoute(order.getAppUserId().toString(), orderId, "ORDER_NAVIGATION_END_DATA");
            }
@@ -2005,9 +2001,9 @@
     * @param appUserId
     * @param keyStr
     */
    public void sendRoute(String appUserId, Long orderId, String keyStr) {
    public void sendRoute(String appUserId, Long orderId, String keyStr){
        Object cacheObject = redisService.getCacheObject(keyStr + ":" + appUserId);
        if (null != cacheObject) {
        if(null != cacheObject){
            RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
            JSONObject jsonObject = new JSONObject();
            jsonObject.put("type", "ORDER_ROUTE");
@@ -2020,7 +2016,7 @@
            route.put("duration", routeVo.getDuration());
            route.put("routeID", routeVo.getRouteID());

            List<JSONObject> collect = routeVo.getPolyline().stream().map(item -> {
            List<JSONObject> collect = routeVo.getPolyline().stream().map(item->{
                JSONObject point = new JSONObject();
                point.put("latitude", item.getLatitude());
                point.put("longitude", item.getLongitude());
@@ -2038,6 +2034,8 @@
    }




    /**
     * 获取当前用户正在执行的订单
     *
@@ -2047,7 +2045,7 @@
    @Override
    public XpOrderDetailVO getActiveOrder(String uid) {
        XpOrderDetailVO xpOrderDetailVO = new XpOrderDetailVO();
        XpOrder xpOrder = this.baseMapper.selectOne(new LambdaQueryWrapper<XpOrder>().eq(XpOrder::getAppUserId, Long.parseLong(uid)).in(XpOrder::getStatus, Arrays.asList(1, 2, 3, 4, 5, 6, 7, 8)).orderByDesc(BaseModel::getCreateTime).last("LIMIT 1"));
        XpOrder xpOrder = this.baseMapper.selectOne(new LambdaQueryWrapper<XpOrder>().eq(XpOrder::getAppUserId, Long.parseLong(uid)).in(XpOrder::getStatus, Arrays.asList(1,2,3, 4, 5, 6, 7, 8)).orderByDesc(BaseModel::getCreateTime).last("LIMIT 1"));
        if (xpOrder == null) {
            return null;
        }