Merge remote-tracking branch 'origin/master'

“mitao”

2026-03-26 52d7a440b10e244c5242738540f1b61fc957363b

Merge remote-tracking branch 'origin/master'

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/dto/pushMessage/PushOrderRouteDTO.java

@@ -32,7 +32,7 @@
    private Integer duration;

    @NotNull(message = "订单类型不能为空")
    @ApiModelProperty(value = "订单类型 1=实时订单 2=巡游订单")
    @ApiModelProperty(value = "订单类型 1=实时订单 2=巡游订单 3=测试单")
    private Integer routeType;

    @NotNull(message = "方向角不能为空")

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

@@ -376,8 +376,8 @@
                        .set("addTime", System.currentTimeMillis()));
                mongoTemplate.updateFirst(new Query(Criteria.where("vin").is(vin)), update, VehiclePosition.class);
            }
            //调用推送服务接口
            if (null != orderId && !order_id.contains("XU") && !order_id.contains("TEST")) {
            //调用推送服务接口，给乘客推送剩余轨迹和里程时长
            if (null != orderId && !order_id.contains("XU")) {
                RtTripInfo rtTripInfo = systemRuntimeStatus.getRtTripInfo();
                PushOrderRouteDTO dto = new PushOrderRouteDTO();
                dto.setOrderId(orderId);
@@ -388,7 +388,10 @@
//            dto.setDuration(rtTripInfo.getRemaining_time());
//            dto.setDistance(rtTripInfo.getRemaining_distance().intValue());
//            dto.setDirection();
                xpPushMessageClient.pushOrderRoute(dto);
                //只有乘客订单需要推送剩余导航数据
                if(!order_id.contains("TEST")){
                    xpPushMessageClient.pushOrderRoute(dto);
                }

                //存储历史轨迹
                OrderTrajectoryVo orderTrajectory = new OrderTrajectoryVo();

 xp-robotaxi-map-boot/pom.xml

@@ -247,6 +247,12 @@
            <artifactId>xp-evi-oss-sdk</artifactId>
            <version>1.0.1-SNAPSHOT</version>
            <scope>compile</scope>
            <exclusions>
                <exclusion>
                    <groupId>org.redisson</groupId>
                    <artifactId>redisson-spring-boot-starter</artifactId>
                </exclusion>
            </exclusions>
        </dependency>
    </dependencies>


 xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/controller/XpTestPointManagementController.java

@@ -77,12 +77,6 @@
        return R.ok(pageList);
    }

    @PostMapping("/api/v1/testPoint/getByIds")
    public R<List<XpTestPoint>> getByIds(@RequestBody XpPointExportExcelQuery query) {
        List<XpTestPoint> list = xpTestPointService.lambdaQuery().in(XpTestPoint::getId, query.getPointIds()).list();
        return R.ok(list);
    }

    /**
     * 新增点位
     */

 xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/utils/GDMapGeocodingUtil.java

@@ -78,10 +78,12 @@
            String points = jsonObject2.getString("points");
            String[] split = points.split(";");
            List<LonLatDto> pointsArray = new ArrayList<>();
            for (String string : split) {
                String[] split1 = string.split(",");
                LonLatDto lonLatDto = new LonLatDto(Double.parseDouble(split1[0]), Double.parseDouble(split1[1]));
                pointsArray.add(lonLatDto);
            for (int i = 0; i < split.length; i++) {
                if((i % 2) == 0){
                    String[] split1 = split[i].split(",");
                    LonLatDto lonLatDto = new LonLatDto(Double.parseDouble(split1[0]), Double.parseDouble(split1[1]));
                    pointsArray.add(lonLatDto);
                }
            }
            ForkJoinPool pool = new ForkJoinPool(); // 创建ForkJoinPool对象（默认使用处理器的核心数作为线程池大小）
            ArrayPointsTask arrayPointsTask = new ArrayPointsTask(pointsArray, fenceId); // 创建求和任务对象并传入数组作为参数（这里也可以传入数组的一部分作为参数来实现更细粒度的拆分）

 xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/controller/PushOrderRouteController.java

@@ -6,8 +6,10 @@
import com.xiaopeng.api.dto.pushMessage.PushOrderRouteDTO;
import com.xiaopeng.api.dto.pushMessage.SendMessageDTO;
import com.xiaopeng.api.feignClient.order.XpOrderClient;
import com.xiaopeng.api.feignClient.order.XpTestOrderClient;
import com.xiaopeng.api.feignClient.pushMessage.XpPushMessageClient;
import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.model.order.XpTestOrder;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.common.core.constant.CacheConstants;
import com.xiaopeng.common.core.constant.Constants;
@@ -44,94 +46,99 @@
    private XpOrderClient xpOrderClient;

    /**
     * 通过定位推送订单轨迹
     * 通过车辆实时位置
     * 给乘客端推送剩余轨迹和剩余里程时长
     * @return
     */
    @PostMapping("/inner/v1/order/pushOrderRoute")
    public R<String> pushOrderRoute(@Validated @RequestBody PushOrderRouteDTO dto) {
        // 查询订单信息
        XpOrder xpOrder = xpOrderClient.queryOrderById(dto.getOrderId()).getData();
        // 封装消息内容
        Integer routeType = dto.getRouteType();
        if(routeType == 2){
            routeType = 3;
        }else {
            routeType = xpOrder.getStatus() == 2 || xpOrder.getStatus() == 3 ? 1 : 2;
        }
        // 获取路线规划
        String key = "";
        //接驾情况，获取车辆位置到起点的导航
        if(1 == routeType){
            key = "ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId();
        }else{
            key = "ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId();
        }
        Object cacheObject = redisService.getCacheObject(key);
        RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);

        if(Objects.nonNull(routeVo)){

            // 计算实时点位到线段的最优截取
            List<LonLatDto> lonLatDtos = MapMatchingUtil.getRemainingNavigation(routeVo.getPolyline(), dto.getLongitude(), dto.getLatitude());

            routeVo.setDistance(dto.getDistance());
            routeVo.setDuration(dto.getDuration());
            routeVo.setPolyline(lonLatDtos);

            // 存储最新路线偏离缓存，后续进行轨迹截取
            redisService.setCacheObject(key, JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);

            // 封装轨迹点位集合
            List<Map<String, Object>> polyline = new ArrayList<>();
            for (LonLatDto lonLatDto : lonLatDtos) {
                Map<String, Object> polylineMap = new HashMap<>();
                polylineMap.put("longitude",lonLatDto.getLongitude());
                polylineMap.put("latitude",lonLatDto.getLatitude());
                polyline.add(polylineMap);
        //正常订单
        if(routeType == 1){
            XpOrder xpOrder = xpOrderClient.queryOrderById(dto.getOrderId()).getData();
            // 获取路线规划
            String key = "";
            //接驾情况，获取车辆位置到起点的导航
            if(xpOrder.getStatus() == 2 || xpOrder.getStatus() == 3){
                key = "ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId();
            }else{
                key = "ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId();
            }
            // 封装路由详情
            Map<String, Object> route = new HashMap<>();
            route.put("distance",dto.getDistance());
            route.put("duration",dto.getDuration());
            route.put("polyline",JSONObject.toJSONString(polyline));
            Object cacheObject = redisService.getCacheObject(key);
            RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);

            Map<String, Object> content = new HashMap<>();
            content.put("orderId",dto.getOrderId().toString());
            content.put("routeType",routeType);
            content.put("direction",dto.getDirection());
            content.put("route",JSONObject.toJSONString(route));
            if(Objects.nonNull(routeVo)){
                Integer distance = dto.getDistance();
                Integer duration = dto.getDuration();
                // 计算实时点位到线段的最优截取
                List<LonLatDto> lonLatDtos = MapMatchingUtil.getRemainingNavigation(routeVo.getPolyline(), dto.getLongitude(), dto.getLatitude());
                //当订单状态为5的时候（乘客已上车）需要推送导航的距离和剩余时间
                //因为这个状态，车端推的依然是接驾的剩余里程和时间，就会导致数据和小程序的页面跳转匹配不上
                //小程序是只要乘客上车后就跳转到行程开始页面
                if(5 != xpOrder.getStatus()){
                    routeVo.setDistance(distance);
                    routeVo.setDuration(duration);
                }else{
                    distance = routeVo.getDistance();
                    duration = routeVo.getDuration();
                }
                routeVo.setPolyline(lonLatDtos);

            // 封装轨迹信息
            Map<String, Object> params = new HashMap<>();
            params.put("type", PushMessageTypeEnum.ORDER_ROUTE.getDesc());
            params.put("content", JSONObject.toJSONString(content));
            params.put("timestamp", new Date().getTime()+"");
                // 存储最新路线偏离缓存，后续进行轨迹截取
                redisService.setCacheObject(key, JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);

            // 进行消息推送
            SendMessageDTO sendMessageDTO = new SendMessageDTO();
            sendMessageDTO.setAppUserId(String.valueOf(xpOrder.getAppUserId()));
            sendMessageDTO.setMessage(JSONObject.toJSONString(params));
            R<String> stringR = xpPushMessageClient.sendRoute(sendMessageDTO);
            //推送失败，重试3次
            if(stringR.getCode() != Constants.SUCCESS){
                ThreadPoolExecutor executor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>());
                executor.execute(() -> {
                    for (int i = 0; i < 3; i++) {
                        R<String> stringR1 = xpPushMessageClient.sendStatus(sendMessageDTO);
                        if(stringR1.getCode() == Constants.SUCCESS){
                            break;
                // 封装轨迹点位集合
                List<Map<String, Object>> polyline = new ArrayList<>();
                for (LonLatDto lonLatDto : lonLatDtos) {
                    Map<String, Object> polylineMap = new HashMap<>();
                    polylineMap.put("longitude",lonLatDto.getLongitude());
                    polylineMap.put("latitude",lonLatDto.getLatitude());
                    polyline.add(polylineMap);
                }
                // 封装路由详情
                Map<String, Object> route = new HashMap<>();
                route.put("distance",distance);
                route.put("duration",duration);
                route.put("polyline",JSONObject.toJSONString(polyline));

                Map<String, Object> content = new HashMap<>();
                content.put("orderId",dto.getOrderId().toString());
                content.put("routeType",routeType);
                content.put("direction",dto.getDirection());
                content.put("route",JSONObject.toJSONString(route));

                // 封装轨迹信息
                Map<String, Object> params = new HashMap<>();
                params.put("type", PushMessageTypeEnum.ORDER_ROUTE.getDesc());
                params.put("content", JSONObject.toJSONString(content));
                params.put("timestamp", new Date().getTime()+"");

                // 进行消息推送
                SendMessageDTO sendMessageDTO = new SendMessageDTO();
                sendMessageDTO.setAppUserId(String.valueOf(xpOrder.getAppUserId()));
                sendMessageDTO.setMessage(JSONObject.toJSONString(params));
                R<String> stringR = xpPushMessageClient.sendRoute(sendMessageDTO);
                //推送失败，重试3次
                if(stringR.getCode() != Constants.SUCCESS){
                    ThreadPoolExecutor executor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>());
                    executor.execute(() -> {
                        for (int i = 0; i < 3; i++) {
                            R<String> stringR1 = xpPushMessageClient.sendStatus(sendMessageDTO);
                            if(stringR1.getCode() == Constants.SUCCESS){
                                break;
                            }
                            try {
                                Thread.sleep(1000);
                            } catch (InterruptedException e) {
                                throw new RuntimeException(e);
                            }
                            log.info("推送乘客端剩余导航数据消息失败：{} {} {}", stringR1.getMsg(), JSON.toJSONString(sendMessageDTO), xpOrder.getOrderNumber());
                        }
                        try {
                            Thread.sleep(1000);
                        } catch (InterruptedException e) {
                            throw new RuntimeException(e);
                        }
                        log.info("推送乘客端剩余导航数据消息失败：{} {} {}", stringR1.getMsg(), JSON.toJSONString(sendMessageDTO), xpOrder.getOrderNumber());
                    }
                });
                    });
                }

                log.info("推送剩余导航数据成功 {} {}", xpOrder.getOrderNumber(), JSON.toJSONString(routeVo));
            }

            log.info("推送剩余导航数据成功 {} {}", xpOrder.getOrderNumber(), JSON.toJSONString(routeVo));
        }
        return R.ok();
    }

 xp-robotaxi-vehicle-convoy-boot/src/main/java/com/xiaopeng/vehicleConvoy/service/impl/XpVehicleServiceImpl.java

@@ -273,7 +273,7 @@
                Map<String, Double> distance = GeodesyUtil.getDistance(dto.getLongitude()+ "," + dto.getLatitude(), point.getX()+","+point.getY());
                if (null != distance) {
                    Double distance1 = distance.get("WGS84");
                    if (distance1 > 10) {
                    if (distance1 > 50) {
                        throw new ServiceException("距离过远，无法打开", I18nKeyConstant.VEHICLE_DISTANCE_TOO_LONG);
                    }
                }else {