合并代码

puzhibing

2026-02-12 4c750639a9dbc10988397803c04644c13aa5e5a4

合并代码

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudPushAddress/ActionType.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudPushAddress/OrderOperation.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudPushAddress/OrderOperationState.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudPushAddress/OrderOperationStatus.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudPushAddress/OrderOperationType.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudPushAddress/OrderType.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudPushAddress/PointType.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudPushAddress/TargetPoint.java

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 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/down/cloudPushAddress/Waypoint.java

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

@@ -1,6 +1,19 @@
package com.xiaopeng.automaticPilot.service;

import cn.hutool.core.lang.Snowflake;
import cn.hutool.core.util.IdUtil;
import com.alibaba.fastjson.JSONObject;
import com.alibaba.fastjson2.JSON;
import com.xiaopeng.api.dto.map.OrderRouteAndFareDto;
import com.xiaopeng.api.dto.operation.LonLatDto;
import com.xiaopeng.api.feignClient.map.XpMapClient;
import com.xiaopeng.api.feignClient.order.XpOrderClient;
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.GeoPoint;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudOrderOperation.*;
import com.xiaopeng.api.vo.automaticPilot.proto.up.MessageType;
import com.xiaopeng.api.vo.automaticPilot.proto.up.MsgContent;
import com.xiaopeng.api.vo.automaticPilot.proto.up.RTCmdType;
@@ -11,9 +24,20 @@
import com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu.Wgs;
import com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest.NavigationRequest;
import com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest.OrderPhase;
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.utils.uuid.UUID;
import lombok.extern.slf4j.Slf4j;
import org.springframework.kafka.annotation.KafkaListener;
import org.springframework.data.mongodb.core.MongoTemplate;
import org.springframework.data.mongodb.core.query.Criteria;
import org.springframework.data.mongodb.core.query.Query;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.List;
import java.util.Objects;

/**
 * Kafka 消费者服务
@@ -21,6 +45,21 @@
@Slf4j
@Service
public class KafkaConsumerService {

    @Resource
    private XpMapClient xpMapClient;

    @Resource
    private XpOrderClient xpOrderClient;

    @Resource
    private MongoTemplate mongoTemplate;

    @Resource
    private XpVehicleClient xpVehicleClient;

    @Resource
    private XPUUtil xpuUtil;



@@ -174,6 +213,10 @@
    }


    /**
     * XPU发布系统运行状态---车辆实时位置
     * @param msgContent
     */
    public void systemStatusXpu(MsgContent msgContent){
        SystemRuntimeStatus systemRuntimeStatus = msgContent.getContent_detail().getObject("systemRuntimeStatus", SystemRuntimeStatus.class);
        //获取实时位姿
@@ -186,7 +229,10 @@
        //获取车辆静态信息
        VehicleStaticInfo staticInfo = systemRuntimeStatus.getVehicle_status().getStatic_info();
        String vin = staticInfo.getVin();

        xpVehicleClient.
        VehiclePosition vehiclePosition = new VehiclePosition();
        vehiclePosition.setVehicle_id(staticInfo.getVehicle_id());
        mongoTemplate.save()


    }
@@ -212,7 +258,7 @@
                break;
            case ROUTE_TO_PICKUP:
                log.info("驶往上车点的行程");

                buildNaviRequest(orderId, taskId, orderPhase);
                break;
            case ROUTE_TO_DESTINATION:
                log.info("驶往下车点的行程");
@@ -224,6 +270,113 @@
    }


    /**
     * 构建导航请求
     * @param orderId
     * @param taskId
     * @param orderPhase
     */
    public void buildNaviRequest(String orderId, String taskId, OrderPhase orderPhase){
        //订单类型  1：乘客订单，2=巡游订单
        Integer orderType = 1;
        LonLatDto destination = new LonLatDto();
        LonLatDto origin = new LonLatDto();
        if(orderId.contains("XU")){
            orderType = 2;
            // todo 下发巡游单的导航数据
            //巡游单
            if(orderPhase.equals(OrderPhase.ROUTE_TO_CRUISE)){
                origin.setLongitude(116.40528);
                origin.setLatitude(39.90498);
                destination.setLongitude(116.40528);
                destination.setLatitude(39.90498);
            }
        }else{
            //正常单
            R<XpOrder> xpOrderR = xpOrderClient.queryOrderById(Long.parseLong(orderId));
            if(200 != xpOrderR.getCode()){
                throw new RuntimeException("订单不存在");
            }
            XpOrder xpOrder = xpOrderR.getData();
            //驶往上车点的行程
            if(orderPhase.equals(OrderPhase.ROUTE_TO_PICKUP)){
                XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
                VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("orderId").is(xpVehicle.getVehicleVin())), VehiclePosition.class);
                if(Objects.isNull(vehiclePosition)){
                    throw new RuntimeException("车辆位置信息不存在");
                }
                //查询司机当前位置到起点的线路
                origin.setLongitude(vehiclePosition.getPoint().getX());
                origin.setLatitude(vehiclePosition.getPoint().getY());
                destination.setLongitude(xpOrder.getStartLon());
                destination.setLatitude(xpOrder.getStartLat());
            }
            //驶往下车点的行程
            if(orderPhase.equals(OrderPhase.ROUTE_TO_DESTINATION)){
                //查询起点到终点的线路
                origin.setLongitude(xpOrder.getStartLon());
                origin.setLatitude(xpOrder.getStartLat());
                destination.setLongitude(xpOrder.getEndLon());
                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);
        }
    }


    /**
     * 云端订单操作----下发导航数据
     * @param routeVo
     */
    public void cloudOrderOperation(Integer orderType, String orderId, String taskId, RouteVo routeVo){
        //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);
        //开发发送请求到XPU
        xpuUtil.cloudOrderOperation(orderOperation);
    }


    public void c(MsgContent msgContent){


 xp-robotaxi-automaticPilot-boot/src/main/java/com/xiaopeng/automaticPilot/util/XPUUtil.java

@@ -1,5 +1,7 @@
package com.xiaopeng.automaticPilot.util;

import cn.hutool.core.lang.Snowflake;
import cn.hutool.core.util.IdUtil;
import cn.hutool.http.HttpRequest;
import cn.hutool.http.HttpResponse;
import cn.hutool.http.HttpUtil;
@@ -81,8 +83,9 @@
        header.setMsg_id(UUID.randomUUID().toString());
        header.setTimestamp(System.currentTimeMillis());
        header.setCmd(RTCmdType.CLOUD_ORDER_OPERATION);
        header.setSequence(1L);
        header.setType(MessageType.MESSAGE_TYPE_RESPONSE);
        Snowflake snowflake = IdUtil.getSnowflake(0, 0);
        header.setSequence(snowflake.nextId());
        header.setType(MessageType.MESSAGE_TYPE_REQUEST);
        msgContent.setHeader(header);
        // 消息内容
        JSONObject jsonObject = new JSONObject();

 xp-robotaxi-order-boot/pom.xml

@@ -15,19 +15,18 @@
    </description>

    <dependencies>
        <!--        <dependency>-->
        <!--            <groupId>com.alibaba.cloud</groupId>-->
        <!--            <artifactId>spring-cloud-starter-alibaba-nacos-discovery</artifactId>-->
        <!--        </dependency>-->
        <!--        <dependency>-->
        <!--            <groupId>com.alibaba.cloud</groupId>-->
        <!--            <artifactId>spring-cloud-starter-alibaba-nacos-config</artifactId>-->
        <!--        </dependency>-->
        <dependency>
            <groupId>com.alibaba.cloud</groupId>
            <artifactId>spring-cloud-starter-alibaba-nacos-discovery</artifactId>
        </dependency>
        <dependency>
            <groupId>com.alibaba.cloud</groupId>
            <artifactId>spring-cloud-starter-alibaba-nacos-config</artifactId>
        </dependency>
        <dependency>
            <groupId>com.alibaba.cloud</groupId>
            <artifactId>spring-cloud-starter-alibaba-sentinel</artifactId>
        </dependency>

        <dependency>
            <groupId>com.alibaba.cloud</groupId>
            <artifactId>spring-cloud-starter-alibaba-seata</artifactId>
@@ -120,21 +119,21 @@
        </dependency>


        <dependency>
            <groupId>com.xiaopeng.logan</groupId>
            <artifactId>logan-starter-core</artifactId>
            <version>2.3.5</version>
        </dependency>
        <dependency>
            <groupId>com.xiaopeng.logan</groupId>
            <artifactId>logan-commons-legacy</artifactId>
            <version>2.3.5</version>
        </dependency>
        <dependency>
            <groupId>com.xiaopeng.logan</groupId>
            <artifactId>logan2-namor-client</artifactId>
            <version>1.16.0</version>
        </dependency>
<!--        <dependency>-->
<!--            <groupId>com.xiaopeng.logan</groupId>-->
<!--            <artifactId>logan-starter-core</artifactId>-->
<!--            <version>2.3.5</version>-->
<!--        </dependency>-->
<!--        <dependency>-->
<!--            <groupId>com.xiaopeng.logan</groupId>-->
<!--            <artifactId>logan-commons-legacy</artifactId>-->
<!--            <version>2.3.5</version>-->
<!--        </dependency>-->
<!--        <dependency>-->
<!--            <groupId>com.xiaopeng.logan</groupId>-->
<!--            <artifactId>logan2-namor-client</artifactId>-->
<!--            <version>1.16.0</version>-->
<!--        </dependency>-->
    </dependencies>

    <build>