合并代码

puzhibing

2026-02-12 a98b1ad3334d92aee1af5a2e5c439c742855cdeb

合并代码

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/VehicleDynamicStatus.java

@@ -23,4 +23,20 @@
     * 时间戳(毫秒)
     */
    private Long timestamp;
    /**
     * 油门开度(0-100%)
     */
    private Float throttle;
    /**
     * 刹车压力(0-100%)
     */
    private Float brake;
    /**
     * 手刹状态
     */
    private Boolean parking_brake;
    /**
     * 电池电量(0-100%)
     */
    private Float battery_level;
}

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

@@ -6,8 +6,10 @@
import com.alibaba.fastjson2.JSON;
import com.xiaopeng.api.dto.map.OrderRouteAndFareDto;
import com.xiaopeng.api.dto.operation.LonLatDto;
import com.xiaopeng.api.dto.pushMessage.SendMessageDTO;
import com.xiaopeng.api.feignClient.map.XpMapClient;
import com.xiaopeng.api.feignClient.order.XpOrderClient;
import com.xiaopeng.api.feignClient.pushMessage.XpPushMessageClient;
import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;
import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
@@ -18,20 +20,22 @@
import com.xiaopeng.api.vo.automaticPilot.proto.up.MsgContent;
import com.xiaopeng.api.vo.automaticPilot.proto.up.RTCmdType;
import com.xiaopeng.api.vo.automaticPilot.proto.up.RtMsgHeader;
import com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu.RealtimePose;
import com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu.SystemRuntimeStatus;
import com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu.VehicleStaticInfo;
import com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu.Wgs;
import com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu.*;
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.StringUtils;
import com.xiaopeng.common.core.utils.uuid.UUID;
import com.xiaopeng.common.redis.service.RedisService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.data.mongodb.core.MongoTemplate;
import org.springframework.data.mongodb.core.geo.GeoJsonPoint;
import org.springframework.data.mongodb.core.query.Criteria;
import org.springframework.data.mongodb.core.query.Query;
import org.springframework.data.redis.core.RedisTemplate;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;
@@ -61,7 +65,11 @@
    @Resource
    private XPUUtil xpuUtil;

    @Autowired
    public RedisTemplate redisTemplate;

    @Resource
    private XpPushMessageClient xpPushMessageClient;


    /**
@@ -153,6 +161,7 @@
            switch (cmd) {
                case SYSTEM_STATUS_XPU:
                    log.info("XPU发布系统运行状态 (XPU→云端)：{}", message);
                    systemStatusXpu(msgContent);
                    break;
                case XPU_NAVIGATION_REQUEST:
                    log.info("XPU向云端请求导航 (XPU→云端)：{}", message);
@@ -229,12 +238,42 @@
        //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()
        redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new GeoJsonPoint(longitude, latitude), vin);


        //保存车辆实时信息到mongodb
        VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
        if(null == vehiclePosition){
            vehiclePosition = new VehiclePosition();
        }
        vehiclePosition.setVin(vin);
        vehiclePosition.setPoint(new GeoJsonPoint(longitude, latitude));
        vehiclePosition.setCourse(course);
        vehiclePosition.setAlt(alt);
        VehicleStatus vehicleStatus = systemRuntimeStatus.getVehicle_status();
        //车辆动态信息
        VehicleDynamicStatus dynamicStatus = vehicleStatus.getDynamic_status();
        dynamicStatus.setSpeed(dynamicStatus.getSpeed());
        vehiclePosition.setCurrentElectricity(dynamicStatus.getBattery_level());
        //订单信息
        OrderStatusInfo runningOrderStatusInfo = systemRuntimeStatus.getRunning_order_status_info();
        Long orderId = null;
        String order_id = runningOrderStatusInfo.getOrder_id();
        vehiclePosition.setHasOrder(0);
        if(StringUtils.isNotEmpty(order_id)){
            if(order_id.contains("XU")){
                vehiclePosition.setHasOrder(1);
                orderId = Long.parseLong(order_id.substring(2));
            }else{
                orderId = Long.parseLong(order_id);
            }
        }
        vehiclePosition.setOrderId(orderId);
        mongoTemplate.save(vehiclePosition);
        //调用推送服务接口
        SendMessageDTO dto = new SendMessageDTO();
        dto.setAppUserId(orderId);
        dto.setMessage(JSON.toJSONString(vehiclePosition));
        xpPushMessageClient.sendVehicleLocation(dto);
    }


@@ -301,7 +340,7 @@
            //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);
                VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(xpVehicle.getVehicleVin())), VehiclePosition.class);
                if(Objects.isNull(vehiclePosition)){
                    throw new RuntimeException("车辆位置信息不存在");
                }