update

liujie

2026-03-02 40336cf9405d83bb045cc703e1a8f98264a1a0d5

update

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/dto/order/AddCruiseMissionDto.java

New file
@@ -0,0 +1,12 @@
package com.xiaopeng.api.dto.order;

import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import lombok.Data;

@Data
public class AddCruiseMissionDto {
    private XpVehicle vehicle;

    private XpOrder order;
}

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

@@ -1,5 +1,6 @@
package com.xiaopeng.api.factory.order;

import com.xiaopeng.api.dto.order.AddCruiseMissionDto;
import com.xiaopeng.api.dto.order.GetOrderNumDto;
import com.xiaopeng.api.dto.order.PopOrderDto;
import com.xiaopeng.api.dto.statistics.OrderStatisticsDTO;
@@ -36,6 +37,12 @@
            }

            @Override
            public R<?> addCruiseMission(AddCruiseMissionDto dto) {
                log.error("订单服务调用失败: {}", cause.getMessage());
                return null;
            }

            @Override
            public R<String> updateCruiseOrder(String vin) {
                log.error("订单服务调用失败: {}", cause.getMessage());
                return null;

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

@@ -1,5 +1,6 @@
package com.xiaopeng.api.feignClient.order;

import com.xiaopeng.api.dto.order.AddCruiseMissionDto;
import com.xiaopeng.api.dto.order.GetOrderNumDto;
import com.xiaopeng.api.dto.order.PopOrderDto;
import com.xiaopeng.api.dto.statistics.OrderStatisticsDTO;
@@ -37,6 +38,16 @@


    /**
     * 添加巡游任务 下发命令
     * @param dto
     * @return
     */
    @PostMapping("/inner/cruiseOrder/addCruiseMission")
    R<?> addCruiseMission(@RequestBody AddCruiseMissionDto dto);



    /**
     * 查询并关闭订单信息  返回id信息
     *
     * @param vin 订单信息

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

@@ -9,6 +9,7 @@
import com.xiaopeng.api.dto.operation.CruisePointDto;
import com.xiaopeng.api.dto.operation.LonLatDto;
import com.xiaopeng.api.dto.operation.ReassignOrderDTO;
import com.xiaopeng.api.dto.order.AddCruiseMissionDto;
import com.xiaopeng.api.dto.order.PopOrderDto;
import com.xiaopeng.api.dto.pushMessage.PushOrderRouteDTO;
import com.xiaopeng.api.dto.pushMessage.SendMessageDTO;
@@ -22,10 +23,16 @@
import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;
import com.xiaopeng.api.model.order.XpCruiseOrder;
import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.model.vehicleConvoy.XpFleet;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.api.vo.OrderType;
import com.xiaopeng.api.vo.SystemEventType;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudOrderOperation.ActionType;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudOrderOperation.OrderOperationType;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudOrderOperation.PointType;
import com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent.NavigationDeviationMessage;
import com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent.OrderStatusInfoEvent;
import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
import com.xiaopeng.api.vo.automaticPilot.protobuf.AbnormalReason;
import com.xiaopeng.api.vo.automaticPilot.protobuf.GearLevel;
@@ -107,6 +114,7 @@

    @Resource
    private XpCruisePlanClient xpCruisePlanClient;




@@ -785,6 +793,26 @@
                    //下车完成
                    buildPushOrderStatus(orderId, OrderStatusEnum.APPROVAL_REJECTION, sequence);
                    xpOrderClient.updateOrderStatus(Long.parseLong(orderId), OrderStatusEnum.APPROVAL_REJECTION.getCode());


                    // 下发巡游任务
                    R<XpOrder> xpOrderR = xpOrderClient.queryOrderById(Long.parseLong(orderId));
                    if(xpOrderR.getCode()==200){
                        XpOrder orderData = xpOrderR.getData();
                        Long vehicleId =orderData.getVehicleId();
                        R<XpVehicle> xpVehicleR = xpVehicleClient.queryById(vehicleId);
                        if(xpVehicleR.getData()!=null){
                            XpVehicle xpVehicle = xpVehicleR.getData();

                            AddCruiseMissionDto addCruiseMissionDto = new AddCruiseMissionDto();
                            addCruiseMissionDto.setOrder(orderData);
                            addCruiseMissionDto.setVehicle(xpVehicle);
                            xpCruiseOrderClient.addCruiseMission(addCruiseMissionDto);
                        }
                    }



                    break;
                case ORDER_COMPLETED:
                    //已完成

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

@@ -2,6 +2,7 @@

import cn.hutool.core.util.IdUtil;
import com.xiaopeng.api.dto.automaticPilot.PushOrderDto;
import com.xiaopeng.api.dto.order.AddCruiseMissionDto;
import com.xiaopeng.api.feignClient.automaticPilot.OrderMissionClient;
import com.xiaopeng.api.model.order.XpCruiseOrder;
import com.xiaopeng.common.core.domain.R;
@@ -9,6 +10,7 @@
import com.xiaopeng.order.service.IXpCruiseOrderService;
import com.xiaopeng.order.model.query.XpCruiseOrderPageQuery;
import com.xiaopeng.order.model.vo.XpCruiseOrderPageVO;
import com.xiaopeng.order.service.IXpOrderService;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import lombok.RequiredArgsConstructor;
@@ -34,6 +36,7 @@

    private final IXpCruiseOrderService xpCruiseOrderService;
    private final OrderMissionClient orderMissionClient;
    private final IXpOrderService xpOrderService;


    /**
@@ -105,4 +108,15 @@
        return R.ok(pageInfo);
    }


    /**
     * 添加巡游任务 下发命令
     * @param
     * @param
     */
    @PostMapping("/inner/cruiseOrder/addCruiseMission")
    public R<?> addCruiseMission(@RequestBody AddCruiseMissionDto dto){
        xpOrderService.addCruiseMission(dto.getVehicle(),dto.getOrder());
        return R.ok();
    }
}

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

@@ -6,6 +6,7 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.xiaopeng.api.dto.QueryOrderRouteDTO;
import com.xiaopeng.api.dto.order.AddCruiseMissionDto;
import com.xiaopeng.api.dto.order.GetOrderNumDto;
import com.xiaopeng.api.dto.order.PopOrderDto;
import com.xiaopeng.api.dto.statistics.OrderStatisticsDTO;
@@ -399,6 +400,9 @@
        return R.ok();
    }




    /**+
     * 获取行程费用明细
     */

 xp-robotaxi-order-boot/src/main/java/com/xiaopeng/order/job/jobs/EndTripJob.java

@@ -2,6 +2,8 @@

import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.model.order.XpOrderTimeoutLog;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.order.job.base.AbstractJob;
import lombok.extern.slf4j.Slf4j;
import org.quartz.JobDataMap;
@@ -34,8 +36,8 @@
            xpOrderTimeoutLog.setUserId(xpOrder.getAppUserId());
            xpOrderTimeoutLogService.save(xpOrderTimeoutLog);


            xpOrderService.endTrip(orderId,xpOrder.getAppUserId().toString());
            R<XpVehicle> xpVehicleR = xpVehicleClient.queryById(xpOrder.getVehicleId());
            xpOrderService.addCruiseMission(xpVehicleR.getData(),xpOrder);
        }catch(Exception e){
            e.printStackTrace();
        }

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

@@ -159,6 +159,14 @@

    void endTrip(Long orderId, String uid);


    /**
     * 添加巡游任务 下发命令
     * @param vehicle
     * @param order
     */
    void addCruiseMission(XpVehicle vehicle, XpOrder order);

    R<FareBreakdownVo> fareBreakdown(Long orderId, String uid);

    R payment(XpOrderPayDto dto, String uid);

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

@@ -1469,93 +1469,168 @@
            // 修改车辆状态
            vehicle.setState(0);

            // 获取配置 根据配置判断是否该收车 如果是则找到收车点位进行收车操作
            R<XpTaskRule> xpTaskRuleR = xpTaskRuleClient.queryDetail();
            XpTaskRule xpTaskRule = xpTaskRuleR.getData();

            // 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;
                //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"));
            }
            XpCruiseOrder xpCruiseOrder = new XpCruiseOrder();
            xpCruiseOrder.setVehicleId(vehicle.getId());
            xpCruiseOrder.setFleetId(vehicle.getFleetId());
            xpCruiseOrder.setVehicleVin(vehicle.getVehicleVin());
            xpCruiseOrder.setOrderType(2);
            // 返程起点是当前正常订单的终点
            xpCruiseOrder.setStartPointId(order.getEndPointId());
            xpCruiseOrder.setStartPointName(order.getEndPointName());
            xpCruiseOrder.setStartLon(order.getEndLon());
            xpCruiseOrder.setStartLat(order.getEndLat());

            // 完成的直接走终点   终止的走起点
            if(temp==0){
                xpCruiseOrder.setEndPointId(xpCruiseOrders.getStartPointId());
                xpCruiseOrder.setEndPointName(xpCruiseOrders.getStartPointName());
                xpCruiseOrder.setEndLon(xpCruiseOrders.getStartLon());
                xpCruiseOrder.setEndLat(xpCruiseOrders.getStartLat());
            }else {
                xpCruiseOrder.setEndPointId(xpCruiseOrders.getEndPointId());
                xpCruiseOrder.setEndPointName(xpCruiseOrders.getEndPointName());
                xpCruiseOrder.setEndLon(xpCruiseOrders.getEndLon());
                xpCruiseOrder.setEndLat(xpCruiseOrders.getEndLat());
            }


            xpCruiseOrder.setStatus(0);
            xpCruiseOrder.setLastOrderId(xpCruiseOrders.getId());
            xpCruiseOrder.setCreateTime(LocalDateTime.now());
            xpCruiseOrder.setId("XU"+ IdUtil.fastUUID());

            // 判断当前时分秒是否大于收车时间
            LocalTime vehicleCollectionTime = xpTaskRule.getVehicleCollectionTime();
            if (vehicleCollectionTime.isBefore(LocalTime.now())) {
                vehicle.setOperatingStatus(3);
                //找到车辆的收车点位 更新终点点位
                R<XpCruiseOrder> returnCruisePoint = xpCruisePlanClient.findReturnCruisePoint(xpCruiseOrder);
                xpCruiseOrder = returnCruisePoint.getData();
            }
            xpVehicleClient.updateVehicleById(vehicle);

            xpCruiseOrderMapper.insert(xpCruiseOrder);


            R<XpPoint> xpPointR = xpPointClient.queryById(order.getEndPointId());
            XpPoint data = xpPointR.getData();
            //下发命令
            // 添加自动结束行程定时任务job
            Map<String, ? extends Object> jobMaps =
                    new ImmutableMap.Builder<String, String>().
                            put("id", xpCruiseOrder.getId())
                            .build();
            QuartzManager.addJob(
                    AddCruiseMissionJob.class,
                    (AddCruiseMissionJob.name + xpCruiseOrder.getId()).toUpperCase(),
                    TimeJobType.ADD_CRUISE_MISSION,
                    DateUtils.localDateTimeToDate(LocalDateTime.now().plusMinutes(data.getParkingTimeLimit())),
                    jobMaps
            );
            addCruiseMission(vehicle,order);
//            // 获取配置 根据配置判断是否该收车 如果是则找到收车点位进行收车操作
//            R<XpTaskRule> xpTaskRuleR = xpTaskRuleClient.queryDetail();
//            XpTaskRule xpTaskRule = xpTaskRuleR.getData();
//
//            // 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;
//                //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"));
//            }
//            XpCruiseOrder xpCruiseOrder = new XpCruiseOrder();
//            xpCruiseOrder.setVehicleId(vehicle.getId());
//            xpCruiseOrder.setFleetId(vehicle.getFleetId());
//            xpCruiseOrder.setVehicleVin(vehicle.getVehicleVin());
//            xpCruiseOrder.setOrderType(2);
//            // 返程起点是当前正常订单的终点
//            xpCruiseOrder.setStartPointId(order.getEndPointId());
//            xpCruiseOrder.setStartPointName(order.getEndPointName());
//            xpCruiseOrder.setStartLon(order.getEndLon());
//            xpCruiseOrder.setStartLat(order.getEndLat());
//
//            // 完成的直接走终点   终止的走起点
//            if(temp==0){
//                xpCruiseOrder.setEndPointId(xpCruiseOrders.getStartPointId());
//                xpCruiseOrder.setEndPointName(xpCruiseOrders.getStartPointName());
//                xpCruiseOrder.setEndLon(xpCruiseOrders.getStartLon());
//                xpCruiseOrder.setEndLat(xpCruiseOrders.getStartLat());
//            }else {
//                xpCruiseOrder.setEndPointId(xpCruiseOrders.getEndPointId());
//                xpCruiseOrder.setEndPointName(xpCruiseOrders.getEndPointName());
//                xpCruiseOrder.setEndLon(xpCruiseOrders.getEndLon());
//                xpCruiseOrder.setEndLat(xpCruiseOrders.getEndLat());
//            }
//
//
//            xpCruiseOrder.setStatus(0);
//            xpCruiseOrder.setLastOrderId(xpCruiseOrders.getId());
//            xpCruiseOrder.setCreateTime(LocalDateTime.now());
//            xpCruiseOrder.setId("XU"+ IdUtil.fastUUID());
//
//            // 判断当前时分秒是否大于收车时间
//            LocalTime vehicleCollectionTime = xpTaskRule.getVehicleCollectionTime();
//            if (vehicleCollectionTime.isBefore(LocalTime.now())) {
//                vehicle.setOperatingStatus(3);
//                //找到车辆的收车点位 更新终点点位
//                R<XpCruiseOrder> returnCruisePoint = xpCruisePlanClient.findReturnCruisePoint(xpCruiseOrder);
//                xpCruiseOrder = returnCruisePoint.getData();
//            }
//            xpVehicleClient.updateVehicleById(vehicle);
//
//            xpCruiseOrderMapper.insert(xpCruiseOrder);
//
//
//            R<XpPoint> xpPointR = xpPointClient.queryById(order.getEndPointId());
//            XpPoint data = xpPointR.getData();
//            //下发命令
//            // 添加自动结束行程定时任务job
//            Map<String, ? extends Object> jobMaps =
//                    new ImmutableMap.Builder<String, String>().
//                            put("id", xpCruiseOrder.getId())
//                            .build();
//            QuartzManager.addJob(
//                    AddCruiseMissionJob.class,
//                    (AddCruiseMissionJob.name + xpCruiseOrder.getId()).toUpperCase(),
//                    TimeJobType.ADD_CRUISE_MISSION,
//                    DateUtils.localDateTimeToDate(LocalDateTime.now().plusMinutes(data.getParkingTimeLimit())),
//                    jobMaps
//            );


        }











    }


    /**
     * 添加巡游任务下发命令
     * @param vehicle
     * @param order
     */

    public void addCruiseMission(XpVehicle vehicle, XpOrder order) {

        if(order.getStatus()!=8){
            return;
        }

        // 获取配置 根据配置判断是否该收车 如果是则找到收车点位进行收车操作
        R<XpTaskRule> xpTaskRuleR = xpTaskRuleClient.queryDetail();
        XpTaskRule xpTaskRule = xpTaskRuleR.getData();

        // 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;
            //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"));
        }
        XpCruiseOrder xpCruiseOrder = new XpCruiseOrder();
        xpCruiseOrder.setVehicleId(vehicle.getId());
        xpCruiseOrder.setFleetId(vehicle.getFleetId());
        xpCruiseOrder.setVehicleVin(vehicle.getVehicleVin());
        xpCruiseOrder.setOrderType(2);
        // 返程起点是当前正常订单的终点
        xpCruiseOrder.setStartPointId(order.getEndPointId());
        xpCruiseOrder.setStartPointName(order.getEndPointName());
        xpCruiseOrder.setStartLon(order.getEndLon());
        xpCruiseOrder.setStartLat(order.getEndLat());

        // 完成的直接走终点   终止的走起点
        if(temp==0){
            xpCruiseOrder.setEndPointId(xpCruiseOrders.getStartPointId());
            xpCruiseOrder.setEndPointName(xpCruiseOrders.getStartPointName());
            xpCruiseOrder.setEndLon(xpCruiseOrders.getStartLon());
            xpCruiseOrder.setEndLat(xpCruiseOrders.getStartLat());
        }else {
            xpCruiseOrder.setEndPointId(xpCruiseOrders.getEndPointId());
            xpCruiseOrder.setEndPointName(xpCruiseOrders.getEndPointName());
            xpCruiseOrder.setEndLon(xpCruiseOrders.getEndLon());
            xpCruiseOrder.setEndLat(xpCruiseOrders.getEndLat());
        }


        xpCruiseOrder.setStatus(0);
        xpCruiseOrder.setLastOrderId(xpCruiseOrders.getId());
        xpCruiseOrder.setCreateTime(LocalDateTime.now());
        xpCruiseOrder.setId("XU"+ IdUtil.fastUUID());

        // 判断当前时分秒是否大于收车时间
        LocalTime vehicleCollectionTime = xpTaskRule.getVehicleCollectionTime();
        if (vehicleCollectionTime.isBefore(LocalTime.now())) {
            vehicle.setOperatingStatus(3);
            //找到车辆的收车点位 更新终点点位
            R<XpCruiseOrder> returnCruisePoint = xpCruisePlanClient.findReturnCruisePoint(xpCruiseOrder);
            xpCruiseOrder = returnCruisePoint.getData();
        }
        xpVehicleClient.updateVehicleById(vehicle);

        xpCruiseOrderMapper.insert(xpCruiseOrder);


        R<XpPoint> xpPointR = xpPointClient.queryById(order.getEndPointId());
        XpPoint data = xpPointR.getData();
        //下发命令
        // 添加自动结束行程定时任务job
        Map<String, ? extends Object> jobMaps =
                new ImmutableMap.Builder<String, String>().
                        put("id", xpCruiseOrder.getId())
                        .build();
        QuartzManager.addJob(
                AddCruiseMissionJob.class,
                (AddCruiseMissionJob.name + xpCruiseOrder.getId()).toUpperCase(),
                TimeJobType.ADD_CRUISE_MISSION,
                DateUtils.localDateTimeToDate(LocalDateTime.now().plusMinutes(data.getParkingTimeLimit())),
                jobMaps
        );
    }

    private MileageDto mileageType(MileageDto param, JSONArray startingFareJsonArray, Date mileageDate, LocalDateTime begin, String num14, String num16, String num17, String num21, String num22, String num24, String num25, String num30, String num31) {
        // 计算出是在哪个普通时间段内
        for (Object o : startingFareJsonArray) {