java/Robotaxi.git

parent: 98a17279 | 补丁 | 提交 | ignore whitespace

puzhibing

2026-04-17 7adc1e5089f8d9bca903a345a2eaad2afbd52589

合并代码

4个文件已修改

	xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/KafkaTestController.java	128 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	xp-robotaxi-itinerary-boot/src/main/java/com/xiaopeng/itinerary/service/impl/ActiveOrderServiceImpl.java	5 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	xp-robotaxi-order-boot/src/main/java/com/xiaopeng/order/config/MiniprogramConfigurer.java	2 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	xp-robotaxi-order-boot/src/main/java/com/xiaopeng/order/controller/ActiveOrderController.java	33 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史

 xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/KafkaTestController.java

@@ -1,64 +1,64 @@
//package com.xiaopeng.automaticPilot.controller;
//
//import com.alibaba.fastjson2.JSONObject;
//import com.xiaopeng.api.vo.automaticPilot.MqttPublishVo;
//import com.xiaopeng.automaticPilot.service.KafkaConsumerService;
//import com.xiaopeng.common.core.domain.R;
//import lombok.extern.slf4j.Slf4j;
//import org.springframework.beans.factory.annotation.Autowired;
//import org.springframework.kafka.annotation.KafkaListener;
//import org.springframework.web.bind.annotation.PostMapping;
//import org.springframework.web.bind.annotation.PostMapping;
//import org.springframework.web.bind.annotation.RequestBody;
//import org.springframework.web.bind.annotation.RestController;
//
//@Slf4j
//@RestController
//public class KafkaTestController {
//
//    @Autowired
//    private KafkaConsumerService kafkaConsumerService;
//
//    //TODO 少了factory属性声明
//
//    /**
//     * 消费消息 - XPU上报Robotaxi云端的消息topic（高优先级）
//     *
//     * @param message 消息内容
//     */
//    @PostMapping("/test/kafka/xpu-high")
//    @KafkaListener(topics = "topic-prod-robotaxi-xpu-high", groupId = "group-robotaxi-xpu")
//    public void topicProdRobotaxiXpuHigh(@RequestBody String message) {
//        log.info("收到XPU上报高优先级主题消息: {}", message);
//        kafkaConsumerService.topicProdRobotaxiXpuHigh(message);
//    }
//
//    //TODO 少了factory属性声明
//
//    /**
//     * 消费消息 - XPU上报Robotaxi云端的消息topic（低优先级）
//     *
//     * @param message 消息内容
//     */
//    @PostMapping("/test/kafka/xpu-normal")
//    @KafkaListener(topics = "topic-prod-robotaxi-xpu-normal", groupId = "group-robotaxi-xpu")
//    public void topicProdRobotaxiXpuNormal(String message) {
//        log.info("收到XPU上报低优先级主题消息: {}", message);
//        kafkaConsumerService.topicProdRobotaxiXpuNormal(message);
//    }
//
//    /**
//     * 模拟推送XPU消息
//     * @param message
//     * @return
//     */
//    @PostMapping("/base/v1/pushXPUMessage")
//    public R pushXPUMessage(@RequestBody String message) {
//        log.info("收到XPU推送消息: {}", message);
//        JSONObject json = new JSONObject();
//        json.put("ts", System.currentTimeMillis());
//        json.put("payload", message);
//        kafkaConsumerService.topicProdRobotaxiXpuHigh(json.toJSONString());
//        return R.ok();
//    }
//}
package com.xiaopeng.automaticPilot.controller;

import com.alibaba.fastjson2.JSONObject;
import com.xiaopeng.api.vo.automaticPilot.MqttPublishVo;
import com.xiaopeng.automaticPilot.service.KafkaConsumerService;
import com.xiaopeng.common.core.domain.R;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.kafka.annotation.KafkaListener;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RestController;

@Slf4j
@RestController
public class KafkaTestController {

    @Autowired
    private KafkaConsumerService kafkaConsumerService;

    //TODO 少了factory属性声明

    /**
     * 消费消息 - XPU上报Robotaxi云端的消息topic（高优先级）
     *
     * @param message 消息内容
     */
    @PostMapping("/test/kafka/xpu-high")
    @KafkaListener(topics = "topic-prod-robotaxi-xpu-high", groupId = "group-robotaxi-xpu")
    public void topicProdRobotaxiXpuHigh(@RequestBody String message) {
        log.info("收到XPU上报高优先级主题消息: {}", message);
        kafkaConsumerService.topicProdRobotaxiXpuHigh(message);
    }

    //TODO 少了factory属性声明

    /**
     * 消费消息 - XPU上报Robotaxi云端的消息topic（低优先级）
     *
     * @param message 消息内容
     */
    @PostMapping("/test/kafka/xpu-normal")
    @KafkaListener(topics = "topic-prod-robotaxi-xpu-normal", groupId = "group-robotaxi-xpu")
    public void topicProdRobotaxiXpuNormal(String message) {
        log.info("收到XPU上报低优先级主题消息: {}", message);
        kafkaConsumerService.topicProdRobotaxiXpuNormal(message);
    }

    /**
     * 模拟推送XPU消息
     * @param message
     * @return
     */
    @PostMapping("/base/v1/pushXPUMessage")
    public R pushXPUMessage(@RequestBody String message) {
        log.info("收到XPU推送消息: {}", message);
        JSONObject json = new JSONObject();
        json.put("ts", System.currentTimeMillis());
        json.put("payload", message);
        kafkaConsumerService.topicProdRobotaxiXpuHigh(json.toJSONString());
        return R.ok();
    }
}

 xp-robotaxi-itinerary-boot/src/main/java/com/xiaopeng/itinerary/service/impl/ActiveOrderServiceImpl.java

@@ -156,11 +156,8 @@
        //将修改信息存入到redis，
        // 获取起点经纬度
        XpPoint xpPoint = xpPointService.getById(order.getStartPointId());
        XpRoutePlan xpRoutePlan = xpRoutePlanMapper.selectOne(new LambdaQueryWrapper<XpRoutePlan>().eq(XpRoutePlan::getAuditStatus, 2).eq(XpRoutePlan::getCityCode, order.getCityCode()));
        final Integer planRuleForQueue = dto.getSelectedRoutePlanRule() != null ? dto.getSelectedRoutePlanRule()
                : (xpRoutePlan != null ? xpRoutePlan.getRoutePlanRule() : null);
        final Integer planRuleForQueue = dto.getSelectedRoutePlanRule();

//        order.getId() + "_" + xpPoint.getPointLon() + "," + xpPoint.getPointLat() + "_0" + "_" + uid + "_" + order.getOrderNumber() + "_" + dto.getDistance() + "_" + dto.getDuration() + "_" + null
        StringJoiner points = new StringJoiner("_");
        points.add(order.getId().toString());
        points.add(xpPoint.getPointLon() + "," + xpPoint.getPointLat());

 xp-robotaxi-order-boot/src/main/java/com/xiaopeng/order/config/MiniprogramConfigurer.java

@@ -10,7 +10,7 @@
import javax.annotation.Resource;

@Slf4j
@Configuration
//@Configuration
public class MiniprogramConfigurer extends WebMvcConfigurerAdapter {

    @Resource

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

@@ -1,13 +1,16 @@
package com.xiaopeng.order.controller;

import com.alibaba.fastjson2.JSON;
import com.xiaopeng.api.dto.QueryOrderRouteDTO;
import com.xiaopeng.api.feignClient.operation.XpPointClient;
import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;
import com.xiaopeng.api.model.operation.XpPoint;
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.operation.RouteVo;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.redis.service.RedisService;
import com.xiaopeng.order.model.vo.XpOrderDetailVO;
import com.xiaopeng.order.service.IXpOrderService;
import com.xiaopeng.unifiedverification.interceptor.XpClientCheck;
@@ -20,7 +23,10 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.annotation.Lazy;
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.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PathVariable;
import org.springframework.web.bind.annotation.RequestParam;
import org.springframework.web.bind.annotation.RestController;

@@ -46,6 +52,8 @@
    private final XpPointClient xpPointClient;
    @Resource
    private final XpVehicleClient xpVehicleClient;
    @Resource
    private RedisService redisService;

    @Nullable
    private R<XpOrder> getOrderTripEnd(String orderId) {
@@ -67,9 +75,9 @@
     * 分享行程接口1-订单查询实时轨迹路线
     */
    @ApiOperation(value = "分享行程接口1 订单查询实时轨迹路线")
    @GetMapping("/base/v1/mini-program/orderActive/share/queryOrderRoute")
    @GetMapping("/base/v1/mini-program/orderActive/share/queryOrderRoute/{orderId}")
    @XpClientCheck(checkToken = false, checkOtpToken = false)
    public R<RouteVo> queryOrderRoute(@RequestParam String orderId, HttpServletRequest request) {
    public R<RouteVo> queryOrderRoute(@PathVariable("orderId") String orderId, HttpServletRequest request) {
        // 查询订单信息
        if(StringUtils.isBlank(orderId) ){
            return R.fail("参数不能为空");
@@ -78,8 +86,25 @@
        if (r != null && r.getCode() != 200) {
            return r;
        }
        QueryOrderRouteDTO dto = new QueryOrderRouteDTO();
        return xpOrderController.queryOrderRoute(dto,request);

        // 查询订单信息
        XpOrder xpOrder = xpOrderService.getById(orderId);

        String key = "";
        //接驾情况，获取车辆位置到起点的导航
        if (xpOrder.getStatus() < 5) {
            key = "ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId();
        }
        //服务中，获取起点到终点的导航数据
        if (xpOrder.getStatus() >= 5) {
            key = "ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId();
        }
        Object cacheObject = redisService.getCacheObject(key);
        RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
        XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
        VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(xpVehicle.getVehicleVin())), VehiclePosition.class);
        routeVo.setDirection(null != vehiclePosition ? vehiclePosition.getCourse() : 90);
        return R.ok(routeVo);
    }

    /**

			@@ -1,64 +1,64 @@
			//package com.xiaopeng.automaticPilot.controller;
			//
			//import com.alibaba.fastjson2.JSONObject;
			//import com.xiaopeng.api.vo.automaticPilot.MqttPublishVo;
			//import com.xiaopeng.automaticPilot.service.KafkaConsumerService;
			//import com.xiaopeng.common.core.domain.R;
			//import lombok.extern.slf4j.Slf4j;
			//import org.springframework.beans.factory.annotation.Autowired;
			//import org.springframework.kafka.annotation.KafkaListener;
			//import org.springframework.web.bind.annotation.PostMapping;
			//import org.springframework.web.bind.annotation.PostMapping;
			//import org.springframework.web.bind.annotation.RequestBody;
			//import org.springframework.web.bind.annotation.RestController;
			//
			//@Slf4j
			//@RestController
			//public class KafkaTestController {
			//
			// @Autowired
			// private KafkaConsumerService kafkaConsumerService;
			//
			// //TODO 少了factory属性声明
			//
			// /**
			// * 消费消息 - XPU上报Robotaxi云端的消息topic（高优先级）
			// *
			// * @param message 消息内容
			// */
			// @PostMapping("/test/kafka/xpu-high")
			// @KafkaListener(topics = "topic-prod-robotaxi-xpu-high", groupId = "group-robotaxi-xpu")
			// public void topicProdRobotaxiXpuHigh(@RequestBody String message) {
			// log.info("收到XPU上报高优先级主题消息: {}", message);
			// kafkaConsumerService.topicProdRobotaxiXpuHigh(message);
			// }
			//
			// //TODO 少了factory属性声明
			//
			// /**
			// * 消费消息 - XPU上报Robotaxi云端的消息topic（低优先级）
			// *
			// * @param message 消息内容
			// */
			// @PostMapping("/test/kafka/xpu-normal")
			// @KafkaListener(topics = "topic-prod-robotaxi-xpu-normal", groupId = "group-robotaxi-xpu")
			// public void topicProdRobotaxiXpuNormal(String message) {
			// log.info("收到XPU上报低优先级主题消息: {}", message);
			// kafkaConsumerService.topicProdRobotaxiXpuNormal(message);
			// }
			//
			// /**
			// * 模拟推送XPU消息
			// * @param message
			// * @return
			// */
			// @PostMapping("/base/v1/pushXPUMessage")
			// public R pushXPUMessage(@RequestBody String message) {
			// log.info("收到XPU推送消息: {}", message);
			// JSONObject json = new JSONObject();
			// json.put("ts", System.currentTimeMillis());
			// json.put("payload", message);
			// kafkaConsumerService.topicProdRobotaxiXpuHigh(json.toJSONString());
			// return R.ok();
			// }
			//}
			package com.xiaopeng.automaticPilot.controller;

			import com.alibaba.fastjson2.JSONObject;
			import com.xiaopeng.api.vo.automaticPilot.MqttPublishVo;
			import com.xiaopeng.automaticPilot.service.KafkaConsumerService;
			import com.xiaopeng.common.core.domain.R;
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.kafka.annotation.KafkaListener;
			import org.springframework.web.bind.annotation.PostMapping;
			import org.springframework.web.bind.annotation.PostMapping;
			import org.springframework.web.bind.annotation.RequestBody;
			import org.springframework.web.bind.annotation.RestController;

			@Slf4j
			@RestController
			public class KafkaTestController {

			@Autowired
			private KafkaConsumerService kafkaConsumerService;

			//TODO 少了factory属性声明

			/**
			* 消费消息 - XPU上报Robotaxi云端的消息topic（高优先级）
			*
			* @param message 消息内容
			*/
			@PostMapping("/test/kafka/xpu-high")
			@KafkaListener(topics = "topic-prod-robotaxi-xpu-high", groupId = "group-robotaxi-xpu")
			public void topicProdRobotaxiXpuHigh(@RequestBody String message) {
			log.info("收到XPU上报高优先级主题消息: {}", message);
			kafkaConsumerService.topicProdRobotaxiXpuHigh(message);
			}

			//TODO 少了factory属性声明

			/**
			* 消费消息 - XPU上报Robotaxi云端的消息topic（低优先级）
			*
			* @param message 消息内容
			*/
			@PostMapping("/test/kafka/xpu-normal")
			@KafkaListener(topics = "topic-prod-robotaxi-xpu-normal", groupId = "group-robotaxi-xpu")
			public void topicProdRobotaxiXpuNormal(String message) {
			log.info("收到XPU上报低优先级主题消息: {}", message);
			kafkaConsumerService.topicProdRobotaxiXpuNormal(message);
			}

			/**
			* 模拟推送XPU消息
			* @param message
			* @return
			*/
			@PostMapping("/base/v1/pushXPUMessage")
			public R pushXPUMessage(@RequestBody String message) {
			log.info("收到XPU推送消息: {}", message);
			JSONObject json = new JSONObject();
			json.put("ts", System.currentTimeMillis());
			json.put("payload", message);
			kafkaConsumerService.topicProdRobotaxiXpuHigh(json.toJSONString());
			return R.ok();
			}
			}

			@@ -156,11 +156,8 @@
			//将修改信息存入到redis，
			// 获取起点经纬度
			XpPoint xpPoint = xpPointService.getById(order.getStartPointId());
			XpRoutePlan xpRoutePlan = xpRoutePlanMapper.selectOne(new LambdaQueryWrapper<XpRoutePlan>().eq(XpRoutePlan::getAuditStatus, 2).eq(XpRoutePlan::getCityCode, order.getCityCode()));
			final Integer planRuleForQueue = dto.getSelectedRoutePlanRule() != null ? dto.getSelectedRoutePlanRule()
			: (xpRoutePlan != null ? xpRoutePlan.getRoutePlanRule() : null);
			final Integer planRuleForQueue = dto.getSelectedRoutePlanRule();

			// order.getId() + "_" + xpPoint.getPointLon() + "," + xpPoint.getPointLat() + "_0" + "_" + uid + "_" + order.getOrderNumber() + "_" + dto.getDistance() + "_" + dto.getDuration() + "_" + null
			StringJoiner points = new StringJoiner("_");
			points.add(order.getId().toString());
			points.add(xpPoint.getPointLon() + "," + xpPoint.getPointLat());

			@@ -10,7 +10,7 @@
			import javax.annotation.Resource;

			@Slf4j
			@Configuration
			//@Configuration
			public class MiniprogramConfigurer extends WebMvcConfigurerAdapter {

			@Resource

			@@ -1,13 +1,16 @@
			package com.xiaopeng.order.controller;

			import com.alibaba.fastjson2.JSON;
			import com.xiaopeng.api.dto.QueryOrderRouteDTO;
			import com.xiaopeng.api.feignClient.operation.XpPointClient;
			import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;
			import com.xiaopeng.api.model.operation.XpPoint;
			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.operation.RouteVo;
			import com.xiaopeng.common.core.domain.R;
			import com.xiaopeng.common.redis.service.RedisService;
			import com.xiaopeng.order.model.vo.XpOrderDetailVO;
			import com.xiaopeng.order.service.IXpOrderService;
			import com.xiaopeng.unifiedverification.interceptor.XpClientCheck;
			@@ -20,7 +23,10 @@
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.context.annotation.Lazy;
			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.web.bind.annotation.GetMapping;
			import org.springframework.web.bind.annotation.PathVariable;
			import org.springframework.web.bind.annotation.RequestParam;
			import org.springframework.web.bind.annotation.RestController;

			@@ -46,6 +52,8 @@
			private final XpPointClient xpPointClient;
			@Resource
			private final XpVehicleClient xpVehicleClient;
			@Resource
			private RedisService redisService;

			@Nullable
			private R<XpOrder> getOrderTripEnd(String orderId) {
			@@ -67,9 +75,9 @@
			* 分享行程接口1-订单查询实时轨迹路线
			*/
			@ApiOperation(value = "分享行程接口1 订单查询实时轨迹路线")
			@GetMapping("/base/v1/mini-program/orderActive/share/queryOrderRoute")
			@GetMapping("/base/v1/mini-program/orderActive/share/queryOrderRoute/{orderId}")
			@XpClientCheck(checkToken = false, checkOtpToken = false)
			public R<RouteVo> queryOrderRoute(@RequestParam String orderId, HttpServletRequest request) {
			public R<RouteVo> queryOrderRoute(@PathVariable("orderId") String orderId, HttpServletRequest request) {
			// 查询订单信息
			if(StringUtils.isBlank(orderId) ){
			return R.fail("参数不能为空");
			@@ -78,8 +86,25 @@
			if (r != null && r.getCode() != 200) {
			return r;
			}
			QueryOrderRouteDTO dto = new QueryOrderRouteDTO();
			return xpOrderController.queryOrderRoute(dto,request);

			// 查询订单信息
			XpOrder xpOrder = xpOrderService.getById(orderId);

			String key = "";
			//接驾情况，获取车辆位置到起点的导航
			if (xpOrder.getStatus() < 5) {
			key = "ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId();
			}
			//服务中，获取起点到终点的导航数据
			if (xpOrder.getStatus() >= 5) {
			key = "ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId();
			}
			Object cacheObject = redisService.getCacheObject(key);
			RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
			XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
			VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(xpVehicle.getVehicleVin())), VehiclePosition.class);
			routeVo.setDirection(null != vehiclePosition ? vehiclePosition.getCourse() : 90);
			return R.ok(routeVo);
			}

			/**