Merge branch 'master' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi

liujie

2026-03-13 92d63e5a4169f0337d80bb127fafcfc517e3bc93

Merge branch 'master' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi

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

@@ -1,8 +1,11 @@
package com.xiaopeng.order.job.jobs;

import com.alibaba.fastjson2.JSONObject;
import com.xiaopeng.api.dto.automaticPilot.PushOrderDto;
import com.xiaopeng.api.dto.pushMessage.SendMessageDTO;
import com.xiaopeng.api.dto.vehicleConvoy.UpdateVehicleStateDto;
import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.core.enums.OrderStatusEnum;
import com.xiaopeng.common.core.enums.PushMessageTypeEnum;
@@ -37,8 +40,23 @@
            XpOrder xpOrder = xpOrderService.getById(orderId);
            if(Objects.nonNull(xpOrder) && xpOrder.getStatus()==4){
                log.info("订单取消开始");
                xpOrderService.cancelOrder(String.valueOf(xpOrder.getId()));
                log.info("订单取消状态修改完成");
                XpOrder order = xpOrderService.cancelOrder(String.valueOf(xpOrder.getId()));
                // 下发命令
                if (null != order.getVehicleId()) {
                    R<XpVehicle> xpVehicleR = xpVehicleClient.queryById(order.getVehicleId());
                    XpVehicle xpVehicle = xpVehicleR.getData();
                    //还原车辆状态为空闲
                    xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(xpVehicle.getVehicleVin(), 0));

                    PushOrderDto pushOrderDto = new PushOrderDto();
                    pushOrderDto.setOrderId(order.getId().toString());
                    pushOrderDto.setVin(xpVehicle.getVehicleVin());
                    pushOrderDto.setOperation_type(OrderOperationType.CLOUD_CANCEL_ORDER);
                    orderMissionClient.cancelOrder(pushOrderDto);
                    //车辆继续巡游单
                    xpOrderService.addCruiseMission(xpVehicle);
                }
                log.info("订单取消状态修改完成");
            }
        }catch(Exception e){
            e.printStackTrace();

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

@@ -142,7 +142,7 @@
     * 取消订单
     * @param orderId
     */
    void cancelOrder(String orderId);
    XpOrder cancelOrder(String orderId);

    /**
     * 评价订单
@@ -169,6 +169,12 @@
     */
    void addCruiseMission(XpVehicle vehicle, XpOrder order);

    /**
     * 取消订单后的继续巡游任务
     * @param vehicle
     */
    void addCruiseMission(XpVehicle vehicle);

    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

@@ -641,6 +641,20 @@
        orderCancel.setUserId(SecurityUtils.getUserId()); // 当前登录用户ID
        orderCancel.setCancelReason("运营人员取消订单");
        xpOrderCancelService.save(orderCancel);
        // 消息推送
        Map<String, Object> params = new HashMap<>();
        Map<String, Object> content = new HashMap<>();
        content.put("orderId", order.getId().toString());
        content.put("status", OrderStatusEnum.CANCELED.getCode());
        params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
        params.put("content", com.alibaba.fastjson2.JSONObject.toJSONString(content));
        params.put("timestamp", new Date().getTime() + "");
        String message = JSONObject.toJSONString(params);
        SendMessageDTO sendMessageDTO = new SendMessageDTO();
        sendMessageDTO.setMessage(message);
        sendMessageDTO.setAppUserId(String.valueOf(order.getAppUserId()));
        xpPushMessageClient.sendStatus(sendMessageDTO);

        //查询车辆信息
        R<XpVehicle> xpVehicleR = xpVehicleClient.queryById(order.getVehicleId());
        if (xpVehicleR.getCode() == HttpStatus.SUCCESS && Objects.nonNull(xpVehicleR.getData())) {
@@ -650,9 +664,7 @@
            cancelTaxiPassengerVo.setVin(xpVehicle.getVehicleVin());
            cancelTaxiPassengerVo.setUid(order.getAppUserId().toString());
            cancelTaxiPassengerVo.setOrderNo(order.getOrderNumber());
            // TODO 加配置文件取
            cancelTaxiPassengerVo.setAppId(appid);

            BaseVehicleUserDto baseVehicleUserDto = userVehicleClient.cancelTaxiPassenger(cancelTaxiPassengerVo);
            if (baseVehicleUserDto == null) {
                // TODO 本地无法调通
@@ -660,33 +672,17 @@
            }

            //还原车辆状态
            if (1 == xpVehicle.getState()) {
                xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(xpVehicle.getVehicleVin(), 0));
            }

            // 消息推送
            Map<String, Object> params = new HashMap<>();
            Map<String, Object> content = new HashMap<>();
            content.put("orderId", order.getId().toString());
            content.put("status", OrderStatusEnum.CANCELED.getCode());
            params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
            params.put("content", com.alibaba.fastjson2.JSONObject.toJSONString(content));
            params.put("timestamp", new Date().getTime() + "");
            String message = JSONObject.toJSONString(params);
            SendMessageDTO sendMessageDTO = new SendMessageDTO();
            sendMessageDTO.setMessage(message);
            sendMessageDTO.setAppUserId(String.valueOf(order.getAppUserId()));
            xpPushMessageClient.sendStatus(sendMessageDTO);

            xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(xpVehicle.getVehicleVin(), 0));

            // 下发命令
            if (order.getStatus() > 1) {
                PushOrderDto pushOrderDto = new PushOrderDto();
                pushOrderDto.setOrderId(order.getId().toString());
                pushOrderDto.setVin(xpVehicle.getVehicleVin());
                pushOrderDto.setOperation_type(OrderOperationType.CLOUD_CANCEL_ORDER);
                orderMissionClient.cancelOrder(pushOrderDto);
            }
            PushOrderDto pushOrderDto = new PushOrderDto();
            pushOrderDto.setOrderId(order.getId().toString());
            pushOrderDto.setVin(xpVehicle.getVehicleVin());
            pushOrderDto.setOperation_type(OrderOperationType.CLOUD_CANCEL_ORDER);
            orderMissionClient.cancelOrder(pushOrderDto);
            //车辆继续巡游
            addCruiseMission(xpVehicle);

        } else {
            log.info("查询车辆信息失败，订单ID: {}, 下发取消订单命令失败", order.getId());
        }
@@ -1184,26 +1180,6 @@
            return;
        }
        order.setStatus(0);

        // 组装调用车机参数
        CancelTaxiPassengerVo cancelTaxiPassengerVo = new CancelTaxiPassengerVo();
        Long vehicleId = order.getVehicleId();
        R<XpVehicle> xpVehicleR = xpVehicleClient.queryById(vehicleId);
        XpVehicle xpVehicle = xpVehicleR.getData();
        if (xpVehicle == null) {
            throw new ServiceException("车辆不存在", I18nKeyConstant.VEHICLE_NOT_EXISTS);
        }
        cancelTaxiPassengerVo.setVin(xpVehicle.getVehicleVin());
        cancelTaxiPassengerVo.setUid(order.getAppUserId().toString());
        cancelTaxiPassengerVo.setOrderNo(order.getOrderNumber());
        // TODO 加配置文件取
        cancelTaxiPassengerVo.setAppId(appid);

        BaseVehicleUserDto baseVehicleUserDto = userVehicleClient.cancelTaxiPassenger(cancelTaxiPassengerVo);
        if (baseVehicleUserDto == null) {
            // TODO 本地无法调通
//            throw new RuntimeException("取消订单失败");
        }
        order.setAppUserId(null);
        baseMapper.updateById(order);
        XpOrderCancel xpOrderCancel = new XpOrderCancel();
@@ -1212,10 +1188,7 @@
        xpOrderCancel.setCancelSource(1);
        xpOrderCancel.setCancelReason("用户取消订单");
        xpOrderCancelService.save(xpOrderCancel);
        //还原车辆状态
        if (1 == xpVehicle.getState()) {
            xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(xpVehicle.getVehicleVin(), 0));
        }


        // 设置当天的取消次数缓存
        Object cacheObject = redisService.getCacheObject("CANCEL_ORDER_" + uid);
@@ -1246,11 +1219,37 @@

        // 下发命令
        if (null != order.getVehicleId()) {
            R<XpVehicle> xpVehicleR = xpVehicleClient.queryById(order.getVehicleId());
            // 组装调用车机参数
            CancelTaxiPassengerVo cancelTaxiPassengerVo = new CancelTaxiPassengerVo();
            XpVehicle xpVehicle = xpVehicleR.getData();
            if (xpVehicle == null) {
                throw new ServiceException("车辆不存在", I18nKeyConstant.VEHICLE_NOT_EXISTS);
            }
            cancelTaxiPassengerVo.setVin(xpVehicle.getVehicleVin());
            cancelTaxiPassengerVo.setUid(order.getAppUserId().toString());
            cancelTaxiPassengerVo.setOrderNo(order.getOrderNumber());
            cancelTaxiPassengerVo.setAppId(appid);

            BaseVehicleUserDto baseVehicleUserDto = userVehicleClient.cancelTaxiPassenger(cancelTaxiPassengerVo);
            if (baseVehicleUserDto == null) {
                // TODO 本地无法调通
//            throw new RuntimeException("取消订单失败");
            }

            //还原车辆状态
            if (1 == xpVehicle.getState()) {
                xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(xpVehicle.getVehicleVin(), 0));
            }

            //下发XPU报文
            PushOrderDto pushOrderDto = new PushOrderDto();
            pushOrderDto.setOrderId(order.getId().toString());
            pushOrderDto.setVin(xpVehicle.getVehicleVin());
            pushOrderDto.setOperation_type(OrderOperationType.CLOUD_CANCEL_ORDER);
            orderMissionClient.cancelOrder(pushOrderDto);
            //车辆继续巡游
            addCruiseMission(xpVehicle);
        }

    }
@@ -1258,7 +1257,7 @@
    @Override
    @Transactional
    @ShardingSphereTransactionType(TransactionType.BASE)
    public void cancelOrder(String orderId) {
    public XpOrder cancelOrder(String orderId) {
        XpOrder order = this.getById(orderId);
        if (order == null) {
            throw new ServiceException("订单不存在", I18nKeyConstant.ORDER_NOT_EXISTS);
@@ -1275,10 +1274,6 @@
        xpOrderCancelService.save(xpOrderCancel);

        redisService.removeByPattern(order.getQueueName(), order.getOrderNumber());


        R<XpVehicle> xpVehicleR = xpVehicleClient.queryById(order.getVehicleId());
        XpVehicle xpVehicle = xpVehicleR.getData();


        // 消息推送
@@ -1298,16 +1293,16 @@

        // 移除mongo数据
        xpPricingClient.deleteXpGeoQueryEntity(order.getId().toString());

        // 下发命令
        if (null != order.getVehicleId()) {
            PushOrderDto pushOrderDto = new PushOrderDto();
            pushOrderDto.setOrderId(order.getId().toString());
            pushOrderDto.setVin(xpVehicle.getVehicleVin());
            pushOrderDto.setOperation_type(OrderOperationType.CLOUD_CANCEL_ORDER);
            orderMissionClient.cancelOrder(pushOrderDto);
        Long uid = order.getAppUserId();
        // 设置当天的取消次数缓存
        Object cacheObject = redisService.getCacheObject("CANCEL_ORDER_" + uid);
        if (cacheObject == null) {
            redisService.setCacheCancelOrder("CANCEL_ORDER_" + uid, 1);
        } else {
            Integer i = Integer.valueOf(cacheObject.toString());
            redisService.setCacheCancelOrder("CANCEL_ORDER_" + uid, i + 1);
        }

        return order;
    }

    /**
@@ -1976,6 +1971,97 @@
        );
    }


    /**
     * 取消订单后的继续巡游任务
     * @param vehicle
     */
    public void addCruiseMission(XpVehicle vehicle) {
        if (vehicle.getState() != 0 || vehicle.getOperatingStatus() != 1) {
            return;
        }
        if (vehicle.getState() != 0 || vehicle.getOperatingStatus() != 1) {
            return;
        }
        // 判断是否有计划
        R<XpCruisePlanVehicle> xpCruisePlanR = xpCruisePlanClient.getCruisePlan(vehicle.getId());
        if (xpCruisePlanR == null || xpCruisePlanR.getData() == null) {
            return;
        }

        VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vehicle.getVehicleVin())), VehiclePosition.class);
        // 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(null);
        xpCruiseOrder.setStartPointName(null);
        xpCruiseOrder.setStartLon(vehiclePosition.getPoint().getX());
        xpCruiseOrder.setStartLat(vehiclePosition.getPoint().getY());

        // 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());

        // 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);

        //下发XPU消息报文
        PushOrderDto pushOrderDto = new PushOrderDto();
        pushOrderDto.setVin(xpCruiseOrder.getVehicleVin());
        pushOrderDto.setOrderId("XU" + xpCruiseOrder.getId());
        pushOrderDto.setStartLatitude(xpCruiseOrder.getStartLat());
        pushOrderDto.setStartLongitude(xpCruiseOrder.getStartLon());
        pushOrderDto.setEndLatitude(xpCruiseOrder.getEndLat());
        pushOrderDto.setEndLongitude(xpCruiseOrder.getEndLon());
        pushOrderDto.setOrderType(OrderType.CRUISE_ORDER);
        pushOrderDto.setStage(2);
        // 调用推送服务  orderId + carVin
        orderMissionClient.pushOrder(pushOrderDto);
    }






    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) {