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| | | package com.xiaopeng.automaticPilot.service; |
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| | | |
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| | | import cn.hutool.core.lang.Snowflake; |
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| | | import cn.hutool.core.util.IdUtil; |
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| | | import com.alibaba.fastjson2.JSON; |
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| | | import com.alibaba.fastjson2.JSONObject; |
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| | | import com.xiaopeng.api.dto.map.OrderRouteAndFareDto; |
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| | | import com.xiaopeng.api.dto.operation.LonLatDto; |
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| | | import com.xiaopeng.api.dto.order.PopOrderDto; |
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| | | import com.xiaopeng.api.dto.pushMessage.PushOrderRouteDTO; |
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| | | import com.xiaopeng.api.dto.pushMessage.SendMessageDTO; |
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| | | import com.xiaopeng.api.feignClient.map.XpMapClient; |
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| | | import com.xiaopeng.api.feignClient.order.XpOrderClient; |
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| | | import com.xiaopeng.api.feignClient.pushMessage.XpPushMessageClient; |
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| | | import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient; |
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| | | import com.xiaopeng.api.model.order.XpOrder; |
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| | | import com.xiaopeng.api.model.vehicleConvoy.XpVehicle; |
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| | | import com.xiaopeng.api.vo.automaticPilot.VehiclePosition; |
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| | | import com.xiaopeng.api.vo.automaticPilot.proto.down.GeoPoint; |
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| | | import com.xiaopeng.api.vo.automaticPilot.proto.down.ResponseMessage; |
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| | | import com.xiaopeng.api.vo.automaticPilot.proto.down.StatusCode; |
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| | | import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudOrderOperation.*; |
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| | | import com.xiaopeng.api.vo.automaticPilot.proto.up.MessageType; |
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| | | import com.xiaopeng.api.vo.automaticPilot.proto.up.MsgContent; |
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| | | import com.xiaopeng.api.vo.automaticPilot.proto.up.RTCmdType; |
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| | | import com.xiaopeng.api.vo.automaticPilot.proto.up.RtMsgHeader; |
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| | | import com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent.NavigationDeviationEvent; |
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| | | import com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent.NavigationDeviationMessage; |
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| | | import com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent.RtEventType; |
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| | | import com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent.OrderStatusInfoEvent; |
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| | | import com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu.*; |
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| | | import com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest.NavigationRequest; |
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| | | import com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest.OrderPhase; |
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| | | import com.xiaopeng.api.vo.operation.RouteVo; |
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| | | import com.xiaopeng.automaticPilot.util.XPUUtil; |
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| | | import com.xiaopeng.common.core.domain.R; |
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| | | import com.xiaopeng.common.core.enums.OrderStatusEnum; |
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| | | import com.xiaopeng.common.core.enums.PushMessageTypeEnum; |
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| | | import com.xiaopeng.common.core.utils.SnowFlake; |
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| | | import com.xiaopeng.common.core.utils.StringUtils; |
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| | | import com.xiaopeng.common.core.utils.uuid.UUID; |
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| | | import com.xiaopeng.common.redis.service.RedisService; |
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| | | import lombok.extern.slf4j.Slf4j; |
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| | | import org.springframework.beans.factory.annotation.Autowired; |
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| | | import org.springframework.data.mongodb.core.MongoTemplate; |
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| | | import org.springframework.data.mongodb.core.geo.GeoJsonPoint; |
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| | | import org.springframework.data.mongodb.core.query.Criteria; |
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| | | import org.springframework.data.mongodb.core.query.Query; |
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| | | import org.springframework.data.redis.core.RedisTemplate; |
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| | | import org.springframework.stereotype.Service; |
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| | | |
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| | | import javax.annotation.Resource; |
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| | | import java.util.*; |
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| | | import java.util.concurrent.TimeUnit; |
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| | | |
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| | | /** |
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| | | * Kafka 消费者服务 |
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| | | */ |
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| | | @Slf4j |
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| | | @Service |
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| | | public class KafkaConsumerService { |
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| | | |
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| | | @Resource |
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| | | private XpMapClient xpMapClient; |
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| | | |
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| | | @Resource |
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| | | private XpOrderClient xpOrderClient; |
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| | | |
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| | | @Resource |
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| | | private MongoTemplate mongoTemplate; |
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| | | |
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| | | @Resource |
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| | | private XpVehicleClient xpVehicleClient; |
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| | | |
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| | | @Resource |
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| | | private XPUUtil xpuUtil; |
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| | | |
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| | | @Autowired |
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| | | public RedisTemplate redisTemplate; |
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| | | |
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| | | @Resource |
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| | | private XpPushMessageClient xpPushMessageClient; |
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| | | |
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| | | |
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| | | /** |
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| | | * 消费消息 - XPU上报Robotaxi云端的消息topic（高优先级） |
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| | | * |
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| | | */ |
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| | | public void topicProdRobotaxiXpuHigh(String message) { |
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| | | MsgContent msgContent = JSON.parseObject(message, MsgContent.class); |
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| | | handleXPUMessage(msgContent, message); |
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| | | } |
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| | | |
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| | | /** |
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| | | * 消费消息 - XPU上报Robotaxi云端的消息topic（低优先级） |
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| | | */ |
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| | | public void topicProdRobotaxiXpuNormal(String message) { |
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| | | MsgContent msgContent = JSON.parseObject(message, MsgContent.class); |
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| | | handleXPUMessage(msgContent, message); |
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| | | } |
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| | | |
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| | | |
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| | | /** |
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| | | * 处理XPU消息 |
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| | | * @param msgContent |
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| | | * @param message |
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| | | */ |
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| | | public void handleXPUMessage(MsgContent msgContent, String message){ |
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| | | RtMsgHeader header = msgContent.getHeader(); |
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| | | MessageType type = header.getType(); |
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| | | //处理请求消息 |
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| | | if (MessageType.MESSAGE_TYPE_REQUEST == type) { |
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| | | //区分业务类型 |
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| | | RTCmdType cmd = header.getCmd(); |
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| | | switch (cmd) { |
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| | | case SYSTEM_STATUS_XPU: |
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| | | log.info("XPU发布系统运行状态 (XPU→云端)：{}", message); |
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| | | systemStatusXpu(msgContent); |
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| | | break; |
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| | | case XPU_NAVIGATION_REQUEST: |
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| | | log.info("XPU向云端请求导航 (XPU→云端)：{}", message); |
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| | | xpuNavigationRequest(msgContent); |
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| | | break; |
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| | | case TRIP_STATUS_UPDATE_EVENT: |
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| | | log.info("行程状态更新(XPU→云端)(XPU→座舱)：{}", message); |
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| | | break; |
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| | | case PULLOVER_STATUS_EVENT: |
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| | | log.info("靠边停车状态(XPU→云端)(XPU→座舱)：{}", message); |
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| | | break; |
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| | | case DRIVING_MODE_UPDATE_EVENT: |
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| | | log.info("驾驶模式变化(XPU→云端)(XPU→座舱)：{}", message); |
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| | | break; |
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| | | case SYSTEM_STATUS_UPDATE_EVENT: |
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| | | log.info("系统状态变化(XPU→云端)(XPU→座舱)：{}", message); |
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| | | break; |
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| | | case TASK_STATE_UPDATE_EVENT: |
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| | | log.info("任务状态变化(XPU→云端)(XPU→座舱)：{}", message); |
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| | | break; |
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| | | case ORDER_STATE_UPDATE_EVENT: |
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| | | log.info("订单状态变化(XPU→云端)(XPU→座舱)：{}", message); |
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| | | orderStateUpdateEvent(msgContent); |
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| | | break; |
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| | | case POINT_ARRIVAL_STATUS_EVENT: |
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| | | log.info("到达目标点状态(XPU→云端)(XPU→座舱)：{}", message); |
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| | | break; |
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| | | case PICKUP_CONFIRMATION_EVENT: |
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| | | log.info("用户上车确认(XPU→云端)(XPU→座舱)：{}", message); |
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| | | break; |
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| | | case DROPOFF_INFO_EVENT: |
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| | | log.info("用户下车信息(XPU→云端)：{}", message); |
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| | | break; |
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| | | case NAVIGATION_DEVIATION_EVENT: |
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| | | log.info("导航偏航(XPU→云端)：{}", message); |
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| | | navigationDeviationEvent(msgContent); |
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| | | break; |
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| | | case EMERGENCY_STOP_EVENT: |
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| | | log.info("急停(XPU→云端)(XPU→座舱)：{}", message); |
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| | | break; |
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| | | case NAVIGATION_UPDATE_EVENT: |
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| | | log.info("导航信息变化(XPU→云端)：{}", message); |
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| | | break; |
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| | | case TASK_QUEUE_UPDATE_EVENT: |
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| | | log.info("XPU待执行任务队列(XPU→云端)：{}", message); |
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| | | break; |
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| | | case SYSTEM_STATE_ANAPSHOT_SYNC_EVENT: |
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| | | log.info("每次MQTT连接之后触发 (XPU→云端)：{}", message); |
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| | | break; |
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| | | case ORDER_STATE_UPDATE_TO_CDU_EVENT: |
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| | | log.info("更新订单状态到CDU (XPU→云端)：{}", message); |
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| | | break; |
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| | | default: |
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| | | log.info("消息不在处理范围内，忽略：{}", message); |
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| | | } |
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| | | |
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| | | } |
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| | | //消息应答 |
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| | | if(MessageType.MESSAGE_TYPE_RESPONSE == type){ |
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| | | com.xiaopeng.api.vo.automaticPilot.proto.up.ResponseMessage resposne = msgContent.getContent_detail().getObject("resposne", com.xiaopeng.api.vo.automaticPilot.proto.up.ResponseMessage.class); |
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| | | com.xiaopeng.api.vo.automaticPilot.proto.up.StatusCode code = resposne.getCode(); |
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| | | Long requestSeq = resposne.getRequest_seq(); |
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| | | if(code == com.xiaopeng.api.vo.automaticPilot.proto.up.StatusCode.OK){ |
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| | | Object sequence = redisTemplate.opsForValue().get(requestSeq); |
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| | | if(sequence!=null){ |
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| | | String[] split = sequence.toString().split("_"); |
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| | | if(split[0].equals("pushOrder")){ |
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| | | PopOrderDto dto = new PopOrderDto(); |
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| | | dto.setOrderId(Long.valueOf(split[1])); |
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| | | dto.setXpVehicleVin(split[2]); |
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| | | xpOrderClient.popOrder(dto); |
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| | | } |
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| | | } |
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| | | } |
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| | | } |
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| | | } |
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| | | |
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| | | |
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| | | /** |
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| | | * XPU发布系统运行状态---车辆实时位置 |
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| | | * |
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| | | * @param msgContent |
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| | | */ |
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| | | public void systemStatusXpu(MsgContent msgContent) { |
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| | | //开始处理消息对应的业务逻辑 |
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| | | SystemRuntimeStatus systemRuntimeStatus = msgContent.getContent_detail().getObject("systemRuntimeStatus", SystemRuntimeStatus.class); |
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| | | //获取实时位姿 |
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| | | RealtimePose pose = systemRuntimeStatus.getPose(); |
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| | | Wgs naviPose = pose.getNavi_pose(); |
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| | | Double latitude = naviPose.getLatitude(); |
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| | | Double longitude = naviPose.getLongitude(); |
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| | | Double course = naviPose.getCourse(); |
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| | | Float alt = naviPose.getAlt(); |
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| | | //获取车辆静态信息 |
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| | | VehicleStaticInfo staticInfo = systemRuntimeStatus.getVehicle_status().getStatic_info(); |
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| | | String xpuId = staticInfo.getXpu_id(); |
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| | | XpVehicle xpVehicle = xpVehicleClient.findByVehicleXpuId(xpuId).getData(); |
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| | | String vin = xpVehicle.getVehicleVin(); |
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| | | //先响应消息 |
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| | | Long sequence = msgContent.getHeader().getSequence(); |
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| | | responseMessage(sequence, vin); |
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| | | //保存车辆实时位置到redis |
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| | | redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new GeoJsonPoint(longitude, latitude), vin); |
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| | | |
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| | | //保存车辆实时信息到mongodb |
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| | | VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class); |
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| | | if (null == vehiclePosition) { |
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| | | vehiclePosition = new VehiclePosition(); |
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| | | } |
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| | | vehiclePosition.setVin(vin); |
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| | | vehiclePosition.setPoint(new GeoJsonPoint(longitude, latitude)); |
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| | | vehiclePosition.setCourse(course); |
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| | | vehiclePosition.setAlt(alt); |
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| | | VehicleStatus vehicleStatus = systemRuntimeStatus.getVehicle_status(); |
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| | | //车辆动态信息 |
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| | | VehicleDynamicStatus dynamicStatus = vehicleStatus.getDynamic_status(); |
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| | | dynamicStatus.setSpeed(dynamicStatus.getSpeed()); |
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| | | vehiclePosition.setCurrentElectricity(dynamicStatus.getBattery_level()); |
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| | | //订单信息 |
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| | | OrderStatusInfo runningOrderStatusInfo = systemRuntimeStatus.getRunning_order_status_info(); |
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| | | Long orderId = null; |
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| | | String order_id = runningOrderStatusInfo.getOrder_id(); |
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| | | vehiclePosition.setHasOrder(0); |
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| | | if (StringUtils.isNotEmpty(order_id)) { |
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| | | if (order_id.contains("XU")) { |
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| | | vehiclePosition.setHasOrder(1); |
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| | | orderId = Long.parseLong(order_id.substring(2)); |
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| | | } else { |
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| | | orderId = Long.parseLong(order_id); |
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| | | } |
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| | | } |
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| | | vehiclePosition.setOrderId(orderId); |
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| | | mongoTemplate.save(vehiclePosition); |
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| | | //调用推送服务接口 |
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| | | if (null != orderId) { |
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| | | RtTripInfo rtTripInfo = systemRuntimeStatus.getRt_trip_info(); |
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| | | PushOrderRouteDTO dto = new PushOrderRouteDTO(); |
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| | | dto.setOrderId(orderId); |
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| | | dto.setRouteType(order_id.contains("XU") ? 2 : 1); |
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| | | dto.setLongitude(longitude); |
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| | | dto.setLatitude(latitude); |
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| | | dto.setDuration(rtTripInfo.getRemaining_time()); |
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| | | dto.setDistance(rtTripInfo.getRemaining_distance().intValue()); |
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| | | xpPushMessageClient.pushOrderRoute(dto); |
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| | | } |
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| | | } |
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| | | |
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| | | |
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| | | /** |
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| | | * XPU向云端请求导航 |
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| | | * |
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| | | * @param msgContent |
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| | | */ |
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| | | public void xpuNavigationRequest(MsgContent msgContent) { |
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| | | //开始处理消息对应的业务逻辑 |
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| | | NavigationRequest naviRequest = msgContent.getContent_detail().getObject("naviRequest", NavigationRequest.class); |
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| | | String orderId = naviRequest.getOrder_id(); |
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| | | String taskId = naviRequest.getTask_id(); |
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| | | OrderPhase orderPhase = naviRequest.getOrder_phase(); |
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| | | log.info("订单ID：{}", orderId); |
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| | | log.info("任务ID：{}", taskId); |
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| | | switch (orderPhase) { |
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| | | case IDLE: |
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| | | log.info("订单的任务未开始执行"); |
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| | | break; |
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| | | case ROUTE_TO_PICKUP: |
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| | | log.info("驶往上车点的行程"); |
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| | | buildNaviRequest(orderId, taskId, orderPhase, msgContent.getHeader().getSequence()); |
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| | | break; |
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| | | case ROUTE_TO_DESTINATION: |
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| | | log.info("驶往下车点的行程"); |
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| | | buildNaviRequest(orderId, taskId, orderPhase, msgContent.getHeader().getSequence()); |
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| | | break; |
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| | | case ROUTE_TO_CRUISE: |
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| | | log.info("巡游阶段路线"); |
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| | | buildNaviRequest(orderId, taskId, orderPhase, msgContent.getHeader().getSequence()); |
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| | | break; |
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| | | } |
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| | | } |
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| | | |
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| | | |
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| | | /** |
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| | | * 车辆偏航后重新规划线路 |
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| | | * |
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| | | * @param msgContent |
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| | | */ |
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| | | public void navigationDeviationEvent(MsgContent msgContent) { |
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| | | //先响应消息 |
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| | | Long sequence = msgContent.getHeader().getSequence(); |
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| | | //开始处理消息对应的业务逻辑 |
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| | | NavigationDeviationEvent deviationEvent = msgContent.getContent_detail().getObject("deviationEvent", NavigationDeviationEvent.class); |
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| | | //偏航事件类型 1：请求导航，2：取消导航 |
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| | | if (deviationEvent.getEvent_type().equals(RtEventType.RT_EVENT_TYPE_REQUEST)) { |
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| | | NavigationDeviationMessage navigationDeviationMessage = deviationEvent.getNavigation_deviation_message(); |
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| | | String orderId = navigationDeviationMessage.getOrder_id(); |
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| | | String taskId = navigationDeviationMessage.getTask_id(); |
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| | | Double longitude = navigationDeviationMessage.getLongitude(); |
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| | | Double latitude = navigationDeviationMessage.getLatitude(); |
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| | | //订单类型 1：乘客订单，2=巡游订单 |
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| | | Integer orderType = 1; |
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| | | LonLatDto destination = new LonLatDto(); |
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| | | LonLatDto origin = new LonLatDto(); |
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| | | if (orderId.contains("XU")) { |
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| | | orderType = 2; |
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| | | // todo 下发巡游单的导航数据 |
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| | | //巡游单 |
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| | | origin.setLongitude(longitude); |
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| | | origin.setLatitude(latitude); |
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| | | destination.setLongitude(116.40528); |
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| | | destination.setLatitude(39.90498); |
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| | | //响应消息 |
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| | | responseMessage(sequence, ""); |
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| | | } else { |
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| | | //正常单 |
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| | | R<XpOrder> xpOrderR = xpOrderClient.queryOrderById(Long.parseLong(orderId)); |
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| | | if (200 != xpOrderR.getCode()) { |
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| | | throw new RuntimeException("订单不存在"); |
|---|
| | | } |
|---|
| | | XpOrder xpOrder = xpOrderR.getData(); |
|---|
| | | XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData(); |
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| | | //响应消息 |
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| | | responseMessage(sequence, xpVehicle.getVehicleVin()); |
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| | | //驶往上车点的行程 |
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| | | if (Arrays.asList(3).contains(xpOrder.getStatus())) { |
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| | | //查询司机当前位置到起点的线路 |
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| | | origin.setLongitude(longitude); |
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| | | origin.setLatitude(latitude); |
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| | | destination.setLongitude(xpOrder.getStartLon()); |
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| | | destination.setLatitude(xpOrder.getStartLat()); |
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| | | } |
|---|
| | | //驶往下车点的行程 |
|---|
| | | if (Arrays.asList(6).contains(xpOrder.getStatus())) { |
|---|
| | | //查询起点到终点的线路 |
|---|
| | | origin.setLongitude(longitude); |
|---|
| | | origin.setLatitude(latitude); |
|---|
| | | destination.setLongitude(xpOrder.getEndLon()); |
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| | | destination.setLatitude(xpOrder.getEndLat()); |
|---|
| | | } |
|---|
| | | OrderRouteAndFareDto dto = new OrderRouteAndFareDto(); |
|---|
| | | dto.setOrderId(Long.parseLong(orderId)); |
|---|
| | | dto.setOrigin(origin); |
|---|
| | | 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(); |
|---|
| | | //构建导航下发请求对象 |
|---|
| | | cloudOrderOperation(orderType, orderId, taskId, routeVo, xpVehicle.getVehicleVin()); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
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| | | |
|---|
| | | |
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| | | /** |
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| | | * 构建导航请求 |
|---|
| | | * |
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| | | * @param orderId |
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| | | * @param taskId |
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| | | * @param orderPhase |
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| | | */ |
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| | | public void buildNaviRequest(String orderId, String taskId, OrderPhase orderPhase, Long sequence) { |
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| | | //订单类型 1：乘客订单，2=巡游订单 |
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| | | Integer orderType = 1; |
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| | | LonLatDto destination = new LonLatDto(); |
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| | | LonLatDto origin = new LonLatDto(); |
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| | | if (orderId.contains("XU")) { |
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| | | orderType = 2; |
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| | | // todo 下发巡游单的导航数据 |
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| | | //巡游单 |
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| | | if (orderPhase.equals(OrderPhase.ROUTE_TO_CRUISE)) { |
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| | | origin.setLongitude(116.40528); |
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| | | origin.setLatitude(39.90498); |
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| | | destination.setLongitude(116.40528); |
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| | | destination.setLatitude(39.90498); |
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| | | |
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| | | //先响应消息 |
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| | | responseMessage(sequence, ""); |
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| | | } |
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| | | } else { |
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| | | //正常单 |
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| | | R<XpOrder> xpOrderR = xpOrderClient.queryOrderById(Long.parseLong(orderId)); |
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| | | if (200 != xpOrderR.getCode()) { |
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| | | throw new RuntimeException("订单不存在"); |
|---|
| | | } |
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| | | XpOrder xpOrder = xpOrderR.getData(); |
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| | | //驶往上车点的行程 |
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| | | if (orderPhase.equals(OrderPhase.ROUTE_TO_PICKUP)) { |
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| | | XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData(); |
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| | | //先响应消息 |
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| | | responseMessage(sequence, xpVehicle.getVehicleVin()); |
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| | | //查询车辆位置 |
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| | | VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(xpVehicle.getVehicleVin())), VehiclePosition.class); |
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| | | if (Objects.isNull(vehiclePosition)) { |
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| | | throw new RuntimeException("车辆位置信息不存在"); |
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| | | } |
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| | | //查询司机当前位置到起点的线路 |
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| | | origin.setLongitude(vehiclePosition.getPoint().getX()); |
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| | | origin.setLatitude(vehiclePosition.getPoint().getY()); |
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| | | destination.setLongitude(xpOrder.getStartLon()); |
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| | | destination.setLatitude(xpOrder.getStartLat()); |
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| | | } |
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| | | //驶往下车点的行程 |
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| | | if (orderPhase.equals(OrderPhase.ROUTE_TO_DESTINATION)) { |
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| | | //查询起点到终点的线路 |
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| | | origin.setLongitude(xpOrder.getStartLon()); |
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| | | origin.setLatitude(xpOrder.getStartLat()); |
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| | | destination.setLongitude(xpOrder.getEndLon()); |
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| | | destination.setLatitude(xpOrder.getEndLat()); |
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| | | } |
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| | | OrderRouteAndFareDto dto = new OrderRouteAndFareDto(); |
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| | | dto.setOrderId(Long.parseLong(orderId)); |
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| | | dto.setOrigin(origin); |
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| | | dto.setDestination(destination); |
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| | | R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto); |
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| | | if (200 != routeVoR.getCode()) { |
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| | | throw new RuntimeException("获取订单线路和运费失败"); |
|---|
| | | } |
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| | | XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData(); |
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| | | RouteVo routeVo = routeVoR.getData(); |
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| | | //构建导航下发请求对象 |
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| | | cloudOrderOperation(orderType, orderId, taskId, routeVo, xpVehicle.getVehicleVin()); |
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| | | } |
|---|
| | | } |
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| | | |
|---|
| | | |
|---|
| | | /** |
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| | | * 云端订单操作----下发导航数据 |
|---|
| | | * |
|---|
| | | * @param routeVo |
|---|
| | | */ |
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| | | public void cloudOrderOperation(Integer orderType, String orderId, String taskId, RouteVo routeVo, String vin) { |
|---|
| | | //构建消息体 |
|---|
| | | OrderOperation orderOperation = new OrderOperation(); |
|---|
| | | orderOperation.setOrder_id(orderId); |
|---|
| | | orderOperation.setTask_id(taskId); |
|---|
| | | orderOperation.setOperation_type(OrderOperationType.CLOUD_UPDATE_WAYPOINTS); |
|---|
| | | |
|---|
| | | //构建航点 |
|---|
| | | List<Waypoint> waypoints = new ArrayList<>(); |
|---|
| | | List<LonLatDto> polyline = routeVo.getPolyline(); |
|---|
| | | for (int i = 0; i < polyline.size(); i++) { |
|---|
| | | LonLatDto lonLatDto = polyline.get(i); |
|---|
| | | Waypoint waypoint = new Waypoint(); |
|---|
| | | waypoint.setWaypoint_id(UUID.randomUUID().toString()); |
|---|
| | | if (0 == i) { |
|---|
| | | waypoint.setPoint_type(PointType.START_POINT); |
|---|
| | | //订单类型不同，点位的动作类型不同 |
|---|
| | | waypoint.setAction_type(1 == orderType ? ActionType.PICK_UP : ActionType.ACTION_UNSPECIFIED); |
|---|
| | | } else if (polyline.size() - 1 == i) { |
|---|
| | | waypoint.setPoint_type(PointType.END_POINT); |
|---|
| | | waypoint.setAction_type(1 == orderType ? ActionType.DROP_OFF : ActionType.ACTION_UNSPECIFIED); |
|---|
| | | } else { |
|---|
| | | waypoint.setPoint_type(PointType.WAY_POINT); |
|---|
| | | //订单类型不同，点位的动作类型不同 |
|---|
| | | waypoint.setAction_type(ActionType.ACTION_UNSPECIFIED); |
|---|
| | | } |
|---|
| | | //构建经纬度 |
|---|
| | | GeoPoint geoPoint = new GeoPoint(); |
|---|
| | | geoPoint.setLongitude(lonLatDto.getLongitude()); |
|---|
| | | geoPoint.setLatitude(lonLatDto.getLatitude()); |
|---|
| | | waypoint.setPoint(geoPoint); |
|---|
| | | waypoint.setSequence(i + 1); |
|---|
| | | waypoints.add(waypoint); |
|---|
| | | } |
|---|
| | | orderOperation.setWaypoints(waypoints); |
|---|
| | | SnowFlake snowFlake = new SnowFlake(0, 0); |
|---|
| | | snowFlake.withStartTimestamp(1420041600000L); |
|---|
| | | long sequence = snowFlake.nextId(); |
|---|
| | | // 处理数据 |
|---|
| | | redisTemplate.opsForValue().set(sequence,"pushOrder_"+orderId+"_"+vin,30, TimeUnit.MINUTES); |
|---|
| | | //开发发送请求到XPU |
|---|
| | | xpuUtil.cloudOrderOperation(orderOperation, vin,sequence); |
|---|
| | | } |
|---|
| | | |
|---|
| | | |
|---|
| | | /** |
|---|
| | | * 构建响应消息 |
|---|
| | | */ |
|---|
| | | public void responseMessage(Long request_seq, String vin) { |
|---|
| | | ResponseMessage responseMessage = new ResponseMessage(); |
|---|
| | | responseMessage.setRequest_seq(request_seq); |
|---|
| | | responseMessage.setCode(StatusCode.OK); |
|---|
| | | responseMessage.setTimestamp(System.currentTimeMillis()); |
|---|
| | | xpuUtil.responseMessage(responseMessage, vin); |
|---|
| | | } |
|---|
| | | |
|---|
| | | |
|---|
| | | /** |
|---|
| | | * 订单状态更新事件 |
|---|
| | | * @param msgContent |
|---|
| | | */ |
|---|
| | | public void orderStateUpdateEvent(MsgContent msgContent) { |
|---|
| | | //先响应消息 |
|---|
| | | Long sequence = msgContent.getHeader().getSequence(); |
|---|
| | | //开始处理消息对应的业务逻辑 |
|---|
| | | OrderStatusInfoEvent orderStatusInfoEvent = msgContent.getContent_detail().getObject("orderStatusInfoEvent", OrderStatusInfoEvent.class); |
|---|
| | | //只处理请求消息 |
|---|
| | | if (orderStatusInfoEvent.getEvent_type().equals(RtEventType.RT_EVENT_TYPE_REQUEST)) { |
|---|
| | | com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent.OrderStatusInfo orderStatusInfo = orderStatusInfoEvent.getOrder_status_info(); |
|---|
| | | String orderId = orderStatusInfo.getOrder_id(); |
|---|
| | | //普通单 |
|---|
| | | com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent.OrderStatus status = orderStatusInfo.getStatus(); |
|---|
| | | switch (status) { |
|---|
| | | case ORDER_STATUS_UNSPECIFIED: |
|---|
| | | //订单状态未知 |
|---|
| | | log.info("订单状态未知，不做任何处理：{}", orderId); |
|---|
| | | break; |
|---|
| | | case ORDER_RECEIVED: |
|---|
| | | //收到订单 |
|---|
| | | buildPushOrderStatus(orderId, OrderStatusEnum.READY_DEPART, sequence); |
|---|
| | | break; |
|---|
| | | case ORDER_STARTED: |
|---|
| | | //开始执行订单 |
|---|
| | | log.info("开始执行订单，不做任何处理：{}", orderId); |
|---|
| | | break; |
|---|
| | | case ORDER_EN_ROUTE_TO_PICKUP: |
|---|
| | | //前往上车点 |
|---|
| | | buildPushOrderStatus(orderId, OrderStatusEnum.PICK_UP, sequence); |
|---|
| | | break; |
|---|
| | | case ORDER_ARRIVED_AT_PICKUP: |
|---|
| | | //到达上车点 |
|---|
| | | log.info("到达上车点，不做任何处理：{}", orderId); |
|---|
| | | break; |
|---|
| | | case ORDER_WAITING_FOR_PICKUP: |
|---|
| | | //等待乘客上车 |
|---|
| | | buildPushOrderStatus(orderId, OrderStatusEnum.PICK_UP_GUESTS, sequence); |
|---|
| | | break; |
|---|
| | | case ORDER_PASSENGER_ONBOARD: |
|---|
| | | //乘客已上车 |
|---|
| | | buildPushOrderStatus(orderId, OrderStatusEnum.PASSENGER_BOARDED, sequence); |
|---|
| | | break; |
|---|
| | | case ORDER_EN_ROUTE_TO_DESTINATION: |
|---|
| | | //前往目的地 |
|---|
| | | buildPushOrderStatus(orderId, OrderStatusEnum.IN_SERVICE, sequence); |
|---|
| | | break; |
|---|
| | | case ORDER_ARRIVED_AT_DESTINATION: |
|---|
| | | //到达目的地 |
|---|
| | | log.info("到达目的地，不做任何处理：{}", orderId); |
|---|
| | | break; |
|---|
| | | case ORDER_WAITING_FOR_DROPOFF: |
|---|
| | | //等待乘客下车 |
|---|
| | | buildPushOrderStatus(orderId, OrderStatusEnum.SEE_OFF_GUESTS, sequence); |
|---|
| | | break; |
|---|
| | | case ORDER_DROPOFF_COMPLETED: |
|---|
| | | //下车完成 |
|---|
| | | buildPushOrderStatus(orderId, OrderStatusEnum.APPROVAL_REJECTION, sequence); |
|---|
| | | break; |
|---|
| | | case ORDER_COMPLETED: |
|---|
| | | //已完成 |
|---|
| | | log.info("已完成，不做任何处理：{}", orderId); |
|---|
| | | break; |
|---|
| | | case ORDER_CANCELLED: |
|---|
| | | //已取消 |
|---|
| | | buildPushOrderStatus(orderId, OrderStatusEnum.CANCELED, sequence); |
|---|
| | | break; |
|---|
| | | case ORDER_ARRIVED_AT_CRUISE_DESTINATION: |
|---|
| | | //到达巡游终点 |
|---|
| | | buildPushOrderStatus(orderId, null, sequence); |
|---|
| | | break; |
|---|
| | | case ORDER_PAUSED: |
|---|
| | | //订单暂停 |
|---|
| | | log.info("订单暂停，不做任何处理：{}", orderId); |
|---|
| | | break; |
|---|
| | | default: |
|---|
| | | break; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | |
|---|
| | | /** |
|---|
| | | * 构建订单状态推送消息 |
|---|
| | | * @param orderId |
|---|
| | | * @param status |
|---|
| | | */ |
|---|
| | | public void buildPushOrderStatus(String orderId, OrderStatusEnum status, Long sequence){ |
|---|
| | | if(orderId.contains("XU")){ |
|---|
| | | //巡游单 |
|---|
| | | //响应消息 |
|---|
| | | responseMessage(sequence, ""); |
|---|
| | | }else{ |
|---|
| | | //普通单 |
|---|
| | | R<XpOrder> xpOrderR = xpOrderClient.queryOrderById(Long.parseLong(orderId)); |
|---|
| | | XpOrder xpOrder = xpOrderR.getData(); |
|---|
| | | XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData(); |
|---|
| | | //响应消息 |
|---|
| | | responseMessage(sequence, xpVehicle.getVehicleVin()); |
|---|
| | | |
|---|
| | | //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.getCode()); |
|---|
| | | params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc()); |
|---|
| | | params.put("content", com.alibaba.fastjson2.JSONObject.toJSONString(content)); |
|---|
| | | params.put("timestamp", System.currentTimeMillis() + ""); |
|---|
| | | String message = JSONObject.toJSONString(params); |
|---|
| | | Long appUserId = xpOrder.getAppUserId(); |
|---|
| | | SendMessageDTO dto = new SendMessageDTO(); |
|---|
| | | dto.setAppUserId(appUserId + ""); |
|---|
| | | dto.setMessage(message); |
|---|
| | | R<String> stringR = xpPushMessageClient.sendStatus(dto); |
|---|
| | | if (R.isError(stringR)) { |
|---|
| | | log.error("推送消息失败：{}", stringR.getMsg()); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | } |
|---|
