修改导航偏离报文后的导航下发逻辑

puzhibing

2026-03-11 76b7cd5eb091844e7e798dd8b497bcc48673d40f

修改导航偏离报文后的导航下发逻辑

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

@@ -478,126 +478,114 @@
     * @param msgContent
     */
    public void navigationDeviationEvent(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
        NavigationDeviationEvent deviationEvent = msgContent.getNaviDeviationEvent();
        // todo 请求id确认是否有这个参数
//        String requestId = deviationEvent.getRequestId();
        String requestId = "";
        String requestId = deviationEvent.getNavigationDeviationMessage().getNaviRecalcRequestSeq() + "";
        //导航id
        String routeID = "";
        Long vehicleId = null;
        String orderType = "";
        //偏航事件类型 1：请求导航，2：取消导航
//        if (deviationEvent.getEvent_type().equals(RtEventType.RT_EVENT_TYPE_REQUEST)) {
            NavigationDeviationMessage navigationDeviationMessage = deviationEvent.getNavigationDeviationMessage();
            String orderId = navigationDeviationMessage.getOrderId();
            String taskId = navigationDeviationMessage.getTaskId();
            Wgs wgs = navigationDeviationMessage.getPoint();
            Double longitude = wgs.getLongitude();
            Double latitude = wgs.getLatitude();
            //订单类型  1：乘客订单，2=巡游订单
            LonLatDto destination = new LonLatDto();
            LonLatDto origin = new LonLatDto();
        NavigationDeviationMessage navigationDeviationMessage = deviationEvent.getNavigationDeviationMessage();
        String orderId = navigationDeviationMessage.getOrderId();
        String taskId = navigationDeviationMessage.getTaskId();
        Wgs wgs = navigationDeviationMessage.getPoint();
        Double longitude = wgs.getLongitude();
        Double latitude = wgs.getLatitude();
        //订单类型  1：乘客订单，2=巡游订单
        LonLatDto destination = new LonLatDto();
        LonLatDto origin = new LonLatDto();

            if (orderId.contains("XU")) {
//                orderType = OrderType.CRUISE_ORDER;
        if (orderId.contains("XU")) {
            orderType = OrderType.CRUISE_ORDER;

                R<XpCruiseOrder> cruiseOrder = xpCruiseOrderClient.getCruiseOrder(Long.parseLong(orderId.substring(2)));
                XpCruiseOrder xpCruiseOrder = cruiseOrder.getData();
            R<XpCruiseOrder> cruiseOrder = xpCruiseOrderClient.getCruiseOrder(Long.parseLong(orderId.substring(2)));
            XpCruiseOrder xpCruiseOrder = cruiseOrder.getData();

                //先响应消息
                responseMessage(sequence, "");
                //构建导航数据给到车端
            //构建导航数据给到车端
            origin.setLongitude(longitude);
            origin.setLatitude(latitude);
            destination.setLongitude(xpCruiseOrder.getEndLon());
            destination.setLatitude(xpCruiseOrder.getEndLat());

            OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
            dto.setOrderId(Long.parseLong(orderId));
            dto.setOrigin(origin);
            dto.setDestination(destination);
            dto.setRouteType(3);
            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();
            routeID = routeVo.getRouteID();


            vehicleId = xpCruiseOrder.getVehicleId();
        } else {
            orderType = OrderType.USER_ORDER;
            //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();
            XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
            //驶往上车点的行程
            if (3 == xpOrder.getStatus()) {
                //查询司机当前位置到起点的线路
                origin.setLongitude(longitude);
                origin.setLatitude(latitude);
                destination.setLongitude(xpCruiseOrder.getEndLon());
                destination.setLatitude(xpCruiseOrder.getEndLat());
                destination.setLongitude(xpOrder.getStartLon());
                destination.setLatitude(xpOrder.getStartLat());

                OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                dto.setOrderId(Long.parseLong(orderId));
                dto.setOrigin(origin);
                dto.setDestination(destination);
                dto.setRouteType(3);
                dto.setRouteType(1);
                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();
//                routeID = routeVo.getRouteID();


//                vehicleId = xpCruiseOrder.getVehicleId();
            } else {
//                orderType = OrderType.USER_ORDER;
                //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();
                XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
                //响应消息
                responseMessage(sequence, xpVehicle.getVehicleVin());
                //驶往上车点的行程
                if (Arrays.asList(3).contains(xpOrder.getStatus())) {
                    //查询司机当前位置到起点的线路
                    origin.setLongitude(longitude);
                    origin.setLatitude(latitude);
                    destination.setLongitude(xpOrder.getStartLon());
                    destination.setLatitude(xpOrder.getStartLat());

                    OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                    dto.setOrderId(Long.parseLong(orderId));
                    dto.setOrigin(origin);
                    dto.setDestination(destination);
                    dto.setRouteType(1);
                    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();
//                    routeID = routeVo.getRouteID();
                    //缓存数据，用于后续推给乘客导航线路
                    redisService.setCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
                }
                //驶往下车点的行程
                if (Arrays.asList(6).contains(xpOrder.getStatus())) {
                    origin.setLongitude(longitude);
                    origin.setLatitude(latitude);
                    destination.setLongitude(xpOrder.getEndLon());
                    destination.setLatitude(xpOrder.getEndLat());

                    OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                    dto.setOrderId(Long.parseLong(orderId));
                    dto.setOrigin(origin);
                    dto.setDestination(destination);
                    dto.setRouteType(2);
                    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();
//                    routeID = routeVo.getRouteID();
                    //缓存导航数据，用于后面的逻辑中给乘客端推送导航数据
                    redisService.setCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId(), com.alibaba.fastjson.JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
                }
//                vehicleId = xpOrder.getVehicleId();
                routeID = routeVo.getRouteID();
                //缓存数据，用于后续推给乘客导航线路
                redisService.setCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
            }
            //驶往下车点的行程
            if (6 == xpOrder.getStatus()) {
                origin.setLongitude(longitude);
                origin.setLatitude(latitude);
                destination.setLongitude(xpOrder.getEndLon());
                destination.setLatitude(xpOrder.getEndLat());

            // TODO 在请求导航哪里返回导航数据
//            if(StringUtils.isNotEmpty(routeID)){
//                XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
//                R<String> stringR = xpMapClient.queryRouted(routeID);
//                if (200 != stringR.getCode()) {
//                    throw new RuntimeException("根据导航ID获取车端需要的导航数据失败");
//                }
//                //TODO 这里的逻辑不太对，收到导航偏航事件之后
//                //构建响应导航数据给车端
//                cloudPushNavigationInfo(requestId, routeID, stringR.getData(), orderType, orderId, xpVehicle.getVehicleVin(), xpVehicle.getXpuId());
//            }
//        }
                OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
                dto.setOrderId(Long.parseLong(orderId));
                dto.setOrigin(origin);
                dto.setDestination(destination);
                dto.setRouteType(2);
                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();
                routeID = routeVo.getRouteID();
                //缓存导航数据，用于后面的逻辑中给乘客端推送导航数据
                redisService.setCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId(), com.alibaba.fastjson.JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
            }
            vehicleId = xpOrder.getVehicleId();
        }
        //直接响应回最新导航数据
        if(StringUtils.isNotEmpty(routeID)){
            XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
            R<String> stringR = xpMapClient.queryRouted(routeID);
            if (200 != stringR.getCode()) {
                throw new RuntimeException("根据导航ID获取车端需要的导航数据失败");
            }
            //构建响应导航数据给车端
            cloudPushNavigationInfo(requestId, routeID, stringR.getData(), orderType, orderId, xpVehicle.getVehicleVin(), xpVehicle.getXpuId());
        }
    }