xp-robotaxi-account-boot/src/main/resources/seata.conf
@@ -1,4 +1,6 @@ # seata.conf shardingsphere.transaction.seata.at.enable = true shardingsphere.transaction.seata.tx.timeout = 60 client { application.id = "xp-robotaxi-account-boot" # 与spring.application.name一致 transaction.service.group = "seata_tx_group" xp-robotaxi-api/src/main/java/com/xiaopeng/api/factory/order/XpCruiseOrderClientFallbackFactory.java
@@ -42,6 +42,12 @@ } @Override public R<String> closeCruiseOrder(String vin) { log.error("订单服务调用失败: {}", cause.getMessage()); return null; } @Override public R<XpCruiseOrder> getCruiseOrder(String orderId) { log.error("订单服务调用失败: {}", cause.getMessage()); return null; xp-robotaxi-api/src/main/java/com/xiaopeng/api/feignClient/order/XpCruiseOrderClient.java
@@ -46,6 +46,12 @@ /** * 关闭 */ @PostMapping("/inner/cruiseOrder/closeCruiseOrder") R<String> closeCruiseOrder(@RequestParam String vin); /** * 查询订单信息 * * @param orderId 订单信息id xp-robotaxi-api/src/main/java/com/xiaopeng/api/model/operation/XpPoint.java
@@ -89,7 +89,11 @@ @TableField(exist = false) private BigDecimal distance; @ApiModelProperty(value = "0正常点位 1充电点位 2收车点位") @TableField(exist = false) private Integer type; @ApiModelProperty(value = "0否 1是充电点位") @TableField("charge_point") private Integer chargePoint; @ApiModelProperty(value = "0否 1是收车点位") @TableField("parking_point") private Integer parkingPoint; } xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java
@@ -51,6 +51,7 @@ import com.xiaopeng.common.core.utils.SnowFlake; 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; @@ -103,6 +104,8 @@ @Resource private Snowflake snowflake; @Autowired private RedisService redisService; /** @@ -476,17 +479,37 @@ //订单类型 1：乘客订单，2=巡游订单 LonLatDto destination = new LonLatDto(); LonLatDto origin = new LonLatDto(); //导航id String routeID = ""; Long vehicleId = null; if (orderId.contains("XU")) { // todo 下发巡游单的导航数据 //巡游单 if (orderPhase.equals(OrderPhase.ROUTE_TO_CRUISE)) { origin.setLongitude(116.40528); origin.setLatitude(39.90498); destination.setLongitude(116.40528); destination.setLatitude(39.90498); //先响应消息 responseMessage(sequence, ""); /* 构建导航数据给到车端 */ R<XpCruiseOrder> cruiseOrder = xpCruiseOrderClient.getCruiseOrder(orderId); XpCruiseOrder xpCruiseOrder = cruiseOrder.getData(); origin.setLongitude(xpCruiseOrder.getStartLon()); origin.setLatitude(xpCruiseOrder.getStartLat()); destination.setLongitude(xpCruiseOrder.getEndLon()); destination.setLatitude(xpCruiseOrder.getEndLat()); OrderRouteAndFareDto dto = new OrderRouteAndFareDto(); dto.setOrderId(Long.parseLong(orderId)); dto.setOrigin(origin); dto.setDestination(destination); 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 = xpOrder.getVehicleId(); } } else { //正常单 @@ -510,31 +533,57 @@ origin.setLatitude(vehiclePosition.getPoint().getY()); destination.setLongitude(xpOrder.getStartLon()); destination.setLatitude(xpOrder.getStartLat()); OrderRouteAndFareDto dto = new OrderRouteAndFareDto(); dto.setOrderId(Long.parseLong(orderId)); dto.setOrigin(origin); dto.setDestination(destination); 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(); } //驶往下车点的行程 if (orderPhase.equals(OrderPhase.ROUTE_TO_DESTINATION)) { //查询起点到终点的线路 origin.setLongitude(xpOrder.getStartLon()); origin.setLatitude(xpOrder.getStartLat()); destination.setLongitude(xpOrder.getEndLon()); destination.setLatitude(xpOrder.getEndLat()); //直接取缓存中的导航数据推送给车端和乘客 Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_DATA:" + xpOrder.getAppUserId()); if(null == cacheObject){ //没有缓存数据，重新规划线路 //查询起点到终点的线路 origin.setLongitude(xpOrder.getStartLon()); origin.setLatitude(xpOrder.getStartLat()); destination.setLongitude(xpOrder.getEndLon()); destination.setLatitude(xpOrder.getEndLat()); OrderRouteAndFareDto dto = new OrderRouteAndFareDto(); dto.setOrderId(Long.parseLong(orderId)); dto.setOrigin(origin); dto.setDestination(destination); 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_DATA:" + xpOrder.getAppUserId(), com.alibaba.fastjson.JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS); }else{ RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class); routeID = routeVo.getRouteID(); } } OrderRouteAndFareDto dto = new OrderRouteAndFareDto(); dto.setOrderId(Long.parseLong(orderId)); dto.setOrigin(origin); dto.setDestination(destination); R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto); if (200 != routeVoR.getCode()) { throw new RuntimeException("获取订单线路和运费失败"); } XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData(); RouteVo routeVo = routeVoR.getData(); R<String> stringR = xpMapClient.queryRouted(routeVo.getRouteID()); vehicleId = xpOrder.getVehicleId(); } 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"); } //构建导航下发请求对象 cloudPushNavigationInfo(requestId, routeVo.getRouteID(), stringR.getData(), orderId, xpVehicle.getVehicleVin(), xpVehicle.getXpuId()); cloudPushNavigationInfo(requestId, routeID, stringR.getData(), orderId, xpVehicle.getVehicleVin(), xpVehicle.getXpuId()); } } @@ -707,15 +756,15 @@ //到达目的地 if(OrderStatusEnum.COMPLETED.equals(status)){ // 返程找到目前的订单 -》之前的订单 查询生成一个 正常巡游 找到下一个点位 若到达最后点位 则反向找点位 每次判断是否收车状态 是则不进行处理了 // 返程找到目前的订单 -》之前的订单 查询生成一个 正常巡游 找到下一个点位 若到达最后点位 则反向找点位 每次判断是否收车状态 是则不进行处理了 // 找到这个订单 R<XpCruiseOrder> cruiseOrder = xpCruiseOrderClient.getCruiseOrder(orderId); if(cruiseOrder!=null){ XpCruiseOrder xpCruiseOrder = cruiseOrder.getData(); Long vehicleId = xpCruiseOrder.getVehicleId(); // 关闭当前巡游单子 xpCruiseOrderClient.updateCruiseOrder(xpCruiseOrder.getVehicleVin()); // 关闭当前巡游单子 已完成 xpCruiseOrderClient.closeCruiseOrder(xpCruiseOrder.getVehicleVin()); R<XpVehicle> xpVehicleR = xpVehicleClient.queryById(vehicleId); XpVehicle xpVehicle = xpVehicleR.getData(); // 运营中 继续执行 @@ -727,6 +776,7 @@ // 修改一下id 加一个一样的巡游单子 lastXpCruiseOrder.setId("XU"+ IdUtil.fastUUID()); lastXpCruiseOrder.setStatus(1); xpCruiseOrderClient.addCruiseOrder(lastXpCruiseOrder);
@@ -1,5 +1,7 @@ # seata.conf shardingsphere.transaction.seata.at.enable = true shardingsphere.transaction.seata.tx.timeout = 60 client { application.id = "xp-automaticPilot" # 与spring.application.name一致 application.id = "xp-robotaxi-automatic-pilot-boot" # 与spring.application.name一致 transaction.service.group = "seata_tx_group" } xp-robotaxi-itinerary-boot/src/main/java/com/xiaopeng/itinerary/service/impl/XpPricingServiceImpl.java
@@ -351,7 +351,8 @@ String voJsonStr = JSONObject.toJSONString(routeAndFareVo); // 进行缓存 redisService.setCacheObject(key, voJsonStr, 5l, TimeUnit.MINUTES); //缓存导航数据，用于下单后推送导航给车端和乘客端 redisService.setCacheObject("ORDER_NAVIGATION_DATA:" + userId, JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS); return routeAndFareVo; }
@@ -1,4 +1,6 @@ # seata.conf shardingsphere.transaction.seata.at.enable = true shardingsphere.transaction.seata.tx.timeout = 60 client { application.id = "xp-robotaxi-itinerary-boot" # 与spring.application.name一致 transaction.service.group = "seata_tx_group" xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/controller/XpVehicleOperationsController.java
@@ -1,9 +1,17 @@ package com.xiaopeng.maintenance.controller; import cn.hutool.core.util.IdUtil; import com.sun.xml.internal.bind.v2.TODO; import com.xiaopeng.api.dto.automaticPilot.PushOrderDto; import com.xiaopeng.api.feignClient.automaticPilot.OrderMissionClient; import com.xiaopeng.api.feignClient.order.XpCruiseOrderClient; import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient; import com.xiaopeng.api.model.order.XpCruiseOrder; import com.xiaopeng.api.model.vehicleConvoy.XpVehicle; import com.xiaopeng.api.vo.automaticPilot.VehiclePosition; import com.xiaopeng.common.core.domain.R; import com.xiaopeng.common.core.web.page.PageInfo; import com.xiaopeng.common.redis.service.RedisService; import com.xiaopeng.maintenance.dto.VehicleDispatchAcceptDTO; import com.xiaopeng.maintenance.dto.VehicleDispatchDepartureDTO; import com.xiaopeng.maintenance.model.query.OperationRecordsQuery; @@ -13,10 +21,17 @@ import io.swagger.annotations.ApiOperation; 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.validation.annotation.Validated; import org.springframework.web.bind.annotation.PostMapping; import org.springframework.web.bind.annotation.RequestBody; import org.springframework.web.bind.annotation.RestController; import java.util.List; /** * <p> @@ -35,6 +50,12 @@ private IXpVehiclePreparationService xpVehiclePreparationService; @Autowired private XpVehicleClient xpVehicleClient; @Autowired private XpCruiseOrderClient xpCruiseOrderClient; @Autowired private MongoTemplate mongoTemplate; @Autowired private OrderMissionClient orderMissionClient; /** * 车辆详情-车辆调度-发车 收车 @@ -56,7 +77,32 @@ if(dto.getDepartureStatus()==1){ // 找车辆的任务 生成巡游单子 下发命令 TODO }else if(dto.getDepartureStatus()==3){ // 收车 关闭当前巡游单子 生成新的返程单子 找到收车站点 TODO // 收车 关闭当前巡游单子 生成新的返程单子 找到收车站点 R<String> r = xpCruiseOrderClient.updateCruiseOrder(xpVehicle.getVehicleVin()); // redis 获取当前最新经纬度位置 VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(xpVehicle.getVehicleVin())), VehiclePosition.class); double x = vehiclePosition.getPoint().getX(); double y = vehiclePosition.getPoint().getY(); XpCruiseOrder xpCruiseOrder = new XpCruiseOrder(); xpCruiseOrder.setId("XU"+ IdUtil.fastUUID()); xpCruiseOrder.setVehicleId(xpVehicle.getId()); xpCruiseOrder.setOrderType(2); xpCruiseOrder.setStartLon(x); xpCruiseOrder.setStartLat(y); // TODO 找到收车站点 xpCruiseOrder.setStatus(1); // 下发命令 orderMissionClient.pushOrder(new PushOrderDto( xpCruiseOrder.getVehicleVin(),xpCruiseOrder.getId(),null)); } return R.ok(); xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/dto/VehicleDispatchDepartureDTO.java
@@ -16,4 +16,5 @@ @ApiModelProperty(value = "发车状态 1=发车 3=收车") private Integer departureStatus; } xp-robotaxi-maintenance-boot/src/main/resources/seata.conf
@@ -1,4 +1,6 @@ # seata.conf shardingsphere.transaction.seata.at.enable = true shardingsphere.transaction.seata.tx.timeout = 60 client { application.id = "xp-robotaxi-maintenance-boot" # 与spring.application.name一致 transaction.service.group = "seata_tx_group" xp-robotaxi-map-boot/src/main/resources/seata.conf
@@ -1,4 +1,6 @@ # seata.conf shardingsphere.transaction.seata.at.enable = true shardingsphere.transaction.seata.tx.timeout = 60 client { application.id = "xp-robotaxi-map-boot" # 与spring.application.name一致 transaction.service.group = "seata_tx_group" xp-robotaxi-operation-boot/src/main/java/com/xiaopeng/operation/controller/XpPointManagementController.java
@@ -120,9 +120,9 @@ @PostMapping("/setSpecialPoint") @ApiOperation(value = "设置特殊点位") public R setSpecialPoint(@RequestBody XpPointSpecialDto dto) { xpPointService.update(new LambdaUpdateWrapper<XpPoint>().set(XpPoint::getType, 0)); xpPointService.update(new LambdaUpdateWrapper<XpPoint>().in(XpPoint::getId,dto.getChargePoints()).set(XpPoint::getType,1)); xpPointService.update(new LambdaUpdateWrapper<XpPoint>().in(XpPoint::getId,dto.getParkingPoints()).set(XpPoint::getType,2)); xpPointService.update(new LambdaUpdateWrapper<XpPoint>().set(XpPoint::getChargePoint, 0).set(XpPoint::getParkingPoint,0)); xpPointService.update(new LambdaUpdateWrapper<XpPoint>().in(XpPoint::getId,dto.getChargePoints()).set(XpPoint::getChargePoint,1)); xpPointService.update(new LambdaUpdateWrapper<XpPoint>().in(XpPoint::getId,dto.getParkingPoints()).set(XpPoint::getParkingPoint,2)); return R.ok(); } } xp-robotaxi-operation-boot/src/main/resources/bootstrap.yml
@@ -160,95 +160,3 @@ - application-${spring.profiles.active}.${spring.cloud.nacos.config.file-extension} --- #--- #spring: # shardingsphere: # props: # sql-show: true # sql-simple: true # datasource: # names: xp0 # xp0: # type: com.alibaba.druid.pool.DruidDataSource # driver-class-name: com.mysql.cj.jdbc.Driver # url: jdbc:mysql://192.168.110.34:3306/xprt_operation?useUnicode=true&characterEncoding=utf8&zeroDateTimeBehavior=convertToNull&useSSL=true&serverTimezone=GMT%2B8 # username: root # password: 123456 # rules: # sharding: # tables: # sys_oper_log: # actual-data-nodes: xp0.sys_oper_log # database-strategy: # standard: # sharding-column: userId # sharding-algorithm-name: sys-oper-log-inline # key-generate-strategy: # column: oper_id # key-generator-name: snowflake # xp_agreement_app_user: # actual-data-nodes: xp0.xp_agreement_app_user # database-strategy: # standard: # sharding-column: app_user_id # sharding-algorithm-name: xp-agreement-app-user-inline # key-generate-strategy: # column: id # key-generator-name: snowflake # xp_point: # actual-data-nodes: xp0.xp_point # database-strategy: # standard: # sharding-column: id # sharding-algorithm-name: xp-point-inline # key-generate-strategy: # column: id # key-generator-name: snowflake # sharding-algorithms: # sys-oper-log-inline: # type: INLINE # props: # algorithm-expression: sys_oper_log # xp-agreement-app-user-inline: # type: INLINE # props: # algorithm-expression: xp_agreement_app_user # xp-point-inline: # type: INLINE # props: # algorithm-expression: xp_point # key-generators: # snowflake: # type: SNOWFLAKE # single-table: # tables: # - xp0.sys_config # - xp0.sys_dict_data # - xp0.sys_dict_type # - xp0.sys_logininfor # - xp0.sys_menu # - xp0.xp_acticity # - xp0.xp_acticity_coupon # - xp0.xp_agreement # - xp0.xp_banner # - xp0.xp_coupon # - xp0.xp_electronic_fence # - xp0.xp_electronic_fence_area # - xp0.xp_feedback_type # - xp0.xp_frequently_asked_questions # - xp0.xp_invitation_code # - xp0.xp_notification # - xp0.xp_open_city # - xp0.xp_pricing # - xp0.xp_pricing_item # - xp0.xp_region # - xp0.xp_ride_guide # - xp0.xp_route_plan # - xp0.xp_system_setting # - xp0.xp_trading_strategy # - xp0.xp_trading_strategy_city # - xp0.xp_user_feedback # - xp0.xp_whitelist # - xp0.xp_whitelist_operlog xp-robotaxi-operation-boot/src/main/resources/seata.conf
@@ -1,4 +1,6 @@ # seata.conf shardingsphere.transaction.seata.at.enable = true shardingsphere.transaction.seata.tx.timeout = 60 client { application.id = "xp-robotaxi-operation-boot" # 与spring.application.name一致 transaction.service.group = "seata_tx_group" xp-robotaxi-order-boot/src/main/java/com/xiaopeng/order/controller/XpCruiseOrderController.java
@@ -32,7 +32,7 @@ /** * 查询并关闭订单信息 返回id信息 * 查询并终止订单信息 返回id信息 * * @param */ @@ -41,6 +41,16 @@ String id = xpCruiseOrderService.updateCruiseOrder(vin); return R.ok(id); } /** * 查询并完成订单信息 返回id信息 * * @param */ @PostMapping("/inner/cruiseOrder/closeCruiseOrder") public R<String> closeCruiseOrder(@RequestParam String vin) { String id = xpCruiseOrderService.closeCruiseOrder(vin); return R.ok(id); } /** xp-robotaxi-order-boot/src/main/java/com/xiaopeng/order/service/IXpCruiseOrderService.java
@@ -39,4 +39,7 @@ String updateCruiseOrder(String vin); String closeCruiseOrder(String vin); } xp-robotaxi-order-boot/src/main/java/com/xiaopeng/order/service/impl/XpCruiseOrderServiceImpl.java
@@ -130,4 +130,16 @@ } return null; } @Override public String closeCruiseOrder(String vin) { LambdaQueryWrapper<XpCruiseOrder> wrapper = new LambdaQueryWrapper<XpCruiseOrder>().eq(XpCruiseOrder::getVehicleVin, vin).eq(XpCruiseOrder::getStatus, 1); XpCruiseOrder xpCruiseOrder = this.getOne(wrapper); if (xpCruiseOrder != null) { xpCruiseOrder.setStatus(3); this.update(xpCruiseOrder, wrapper); return xpCruiseOrder.getId(); } return null; } } xp-robotaxi-order-boot/src/main/java/com/xiaopeng/order/service/impl/XpOrderServiceImpl.java
@@ -1666,25 +1666,28 @@ // TODO appid addTaxiPassengerVo.setAppId(""); // Redis弹出这个队列元素 // value 订单Id_经纬度_状态_用户id_订单编号_距离_时间 String popFirstElement = redisService.popFirstElement(order.getQueueName()); XpGeoQueryEntity xpGeoQueryEntity = new XpGeoQueryEntity(); String[] split = popFirstElement.split("_"); xpGeoQueryEntity.setOrderId(split[0]); // 存mongo数据 xpPricingClient.updateXpGeoQueryEntity(split[0]); this.updateById(order); // 修改车辆信息 vehicle.setState(1); xpVehicleClient.updateVehicleById(vehicle); // 推送点位轨迹信息 // 绑定关系 BaseVehicleUserDto baseVehicleUserDto = userVehicleClient.addTaxiPassenger(addTaxiPassengerVo); if (baseVehicleUserDto.getCode() == 200) { // Redis弹出这个队列元素 // value 订单Id_经纬度_状态_用户id_订单编号_距离_时间 String popFirstElement = redisService.popFirstElement(order.getQueueName()); XpGeoQueryEntity xpGeoQueryEntity = new XpGeoQueryEntity(); String[] split = popFirstElement.split("_"); xpGeoQueryEntity.setOrderId(split[0]); // 存mongo数据 xpPricingClient.updateXpGeoQueryEntity(split[0]); this.updateById(order); // 修改车辆信息 vehicle.setState(1); xpVehicleClient.updateVehicleById(vehicle); } }
@@ -1,4 +1,6 @@ # seata.conf shardingsphere.transaction.seata.at.enable = true shardingsphere.transaction.seata.tx.timeout = 60 client { application.id = "xp-robotaxi-order-boot" # 与spring.application.name一致 transaction.service.group = "seata_tx_group" xp-robotaxi-payment-boot/src/main/resources/seata.conf
@@ -1,4 +1,6 @@ # seata.conf shardingsphere.transaction.seata.at.enable = true shardingsphere.transaction.seata.tx.timeout = 60 client { application.id = "xp-robotaxi-payment-boot" # 与spring.application.name一致 transaction.service.group = "seata_tx_group" xp-robotaxi-push-message-boot/src/main/resources/seata.conf
@@ -1,4 +1,6 @@ # seata.conf shardingsphere.transaction.seata.at.enable = true shardingsphere.transaction.seata.tx.timeout = 60 client { application.id = "xp-robotaxi-push-message-boot" # 与spring.application.name一致 transaction.service.group = "seata_tx_group" xp-robotaxi-remote-driving-boot/src/main/resources/seata.conf
@@ -1,4 +1,6 @@ # seata.conf shardingsphere.transaction.seata.at.enable = true shardingsphere.transaction.seata.tx.timeout = 60 client { application.id = "xp-robotaxi-remote-driving-boot" # 与spring.application.name一致 transaction.service.group = "seata_tx_group" xp-robotaxi-vehicle-convoy-boot/src/main/resources/seata.conf
@@ -1,4 +1,6 @@ # seata.conf shardingsphere.transaction.seata.at.enable = true shardingsphere.transaction.seata.tx.timeout = 60 client { application.id = "xp-robotaxi-vehicle-convoy-boot" # 与spring.application.name一致 transaction.service.group = "seata_tx_group"
