Merge remote-tracking branch 'origin/master'

xuhy

2026-03-06 e00bb855b266c7eec9499ba06aa78ea22dcec257

Merge remote-tracking branch 'origin/master'

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/factory/operation/XpPricingClientFallbackFactory.java

@@ -39,6 +39,12 @@
                return R.fail();
            }

            @Override
            public R<?> deleteXpGeoQueryEntity(String orderId) {
                log.error("删除XpGeoQueryEntity失败", cause);
                return null;
            }

        };
    }
}

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/feignClient/operation/XpPricingClient.java

@@ -31,4 +31,14 @@
    R<?> updateXpGeoQueryEntity(@RequestParam String orderId);


    /**
     * 删除XpGeoQueryEntity
     * @param orderId
     * @return
     */
    @PostMapping("/inner/deleteXpGeoQueryEntity")
    R<?> deleteXpGeoQueryEntity(@RequestParam String orderId);



}

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/model/operation/XpGeoQueryEntity.java

@@ -48,6 +48,9 @@
    private String time;


    /**
     * 0待接单 1已处理 2取消
     */
    @Field("status")
    private Integer status;


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

@@ -42,9 +42,7 @@
import org.springframework.web.bind.annotation.*;

import javax.annotation.Resource;
import java.util.Date;import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.*;
import java.util.concurrent.LinkedBlockingQueue;
import java.util.concurrent.ThreadPoolExecutor;
import java.util.concurrent.TimeUnit;
@@ -222,7 +220,7 @@
        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");
//            throw new RuntimeException("获取订单线路和运费失败");
        }
        RouteVo routeVo = routeVoR.getData();
        //缓存数据，用于后续推给乘客导航线路
@@ -276,8 +274,16 @@
        orderId = xpOrder.getId();
        String vin = xpVehicle.getVehicleVin();
        Long appUserId = xpOrder.getAppUserId();
        Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId());
        RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
//        Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId());
//        RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
        RouteVo routeVo =new RouteVo();
        ArrayList<LonLatDto> lonLatDtos = new ArrayList<>();
        LonLatDto lonLatDto1 = new LonLatDto();
        lonLatDto1.setLatitude(30.575685);
        lonLatDto1.setLongitude(104.001118);
        lonLatDtos.add(lonLatDto1);
        routeVo.setPolyline(lonLatDtos);


        ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));
        Long finalOrderId = orderId;
@@ -288,7 +294,6 @@
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
            }

            List<LonLatDto> polyline = routeVo.getPolyline();
            for (LonLatDto lonLatDto : polyline) {
                Double latitude = lonLatDto.getLatitude();

 xp-robotaxi-automatic-pilot-boot/src/main/resources/bootstrap.yml

@@ -29,7 +29,7 @@
        namespace: 5185ac4b-6369-48eb-a21b-a7cbc441c5f1
        username: nacos
        password: nacos
        ip: 192.168.110.85
#        ip: 192.168.110.85
      config:
        # 配置中心地址
        server-addr: 192.168.110.80:8848

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

@@ -407,13 +407,15 @@
        } else {
            // 已完成接单的数据
            List<XpGeoQueryEntity> validEntities = entities.stream().filter(e -> e.getStatus() == 1).collect(Collectors.toList());
            long waitNum = entities.stream().filter(e -> e.getStatus() == 0).count();


            // 计算平均等待时间
            OptionalDouble averageOptional = validEntities.stream().mapToDouble(XpGeoQueryEntity::getSeconds).average();
            if (averageOptional.isPresent()) {
                double average = averageOptional.getAsDouble();
                // 未完成接单的数量
                int count = entities.size() - validEntities.size();
                int count = (int) waitNum;
                if (count == 0) {
                    return 1;
                } else {

 xp-robotaxi-operation-boot/src/main/java/com/xiaopeng/operation/controller/XpPricingController.java

@@ -143,6 +143,12 @@
    }


    @PostMapping("/inner/deleteXpGeoQueryEntity")
    public R<?> deleteXpGeoQueryEntity(@RequestParam String orderId){
        xpGeoQueryEntityService.deleteXpGeoQueryEntity(orderId);
        return R.ok();
    }

    /**
     * 播单
     */

 xp-robotaxi-operation-boot/src/main/java/com/xiaopeng/operation/service/IXpGeoQueryEntityService.java

@@ -54,4 +54,12 @@
     * @return 实体列表
     */
    List<XpGeoQueryEntity> findAll();

    /**
     * 删除
     * @param orderId
     */
    void deleteXpGeoQueryEntity(String orderId);


}

 xp-robotaxi-operation-boot/src/main/java/com/xiaopeng/operation/service/impl/XpGeoQueryEntityServiceImpl.java

@@ -40,7 +40,7 @@
     */
    @Override
    public List<XpGeoQueryEntity> findByLocationWithin500MetersAndLastWeekAndStatusGreater(
            double longitude, 
            double longitude,
            double latitude,
            String time
    ) {
@@ -105,7 +105,6 @@
    }



    @Override
    public XpGeoQueryEntity updateByOrderId(String orderId) {
        Query query = new Query(Criteria.where("orderId").is(orderId));
@@ -114,9 +113,9 @@
        Long timestamp = xpGeoQueryEntity.getTimestamp();
        long time = new Date().getTime();
        // 计算2个时间的秒数差
        long seconds = (time- timestamp) / 1000;
        long seconds = (time - timestamp) / 1000;
        Update update = new Update().set("seconds", seconds).set("status", 1);
        if(xpGeoQueryEntity.getStatus()==0){
        if (xpGeoQueryEntity.getStatus() == 0) {
            mongoTemplate.findAndModify(query, update, XpGeoQueryEntity.class);
        }
        return null;
@@ -150,4 +149,11 @@
    public List<XpGeoQueryEntity> findAll() {
        return repository.findAll();
    }

    @Override
    public void deleteXpGeoQueryEntity(String orderId) {
        Query query = new Query(Criteria.where("orderId").is(orderId));
        Update update = new Update().set("status", 2);
        mongoTemplate.findAndModify(query, update, XpGeoQueryEntity.class);
    }
}

 xp-robotaxi-operation-boot/src/main/java/com/xiaopeng/operation/utils/TaskOrderUtil.java

@@ -1,6 +1,7 @@
package com.xiaopeng.operation.utils;

import cn.hutool.core.bean.BeanUtil;
import com.alibaba.fastjson.JSON;
import com.xiaopeng.api.dto.automaticPilot.PushOrderDto;
import com.xiaopeng.api.dto.map.RouteAndFareDto;
import com.xiaopeng.api.dto.operation.LonLatDto;
@@ -234,8 +235,7 @@
     */
    @SneakyThrows
    private void processPushOrder(String quoteName, int count, String uid, String[] split, String orderNo, XpTradingStrategy xpTradingStrategy, String distance, String duration, String planRule) {
        // 卡住3秒
        Thread.sleep(3000);

        System.out.println("进入推单环环节");
        if (count == 0) {
            count = 1;
@@ -256,6 +256,8 @@
        XpElectronicFence xpElectronicFence = xpElectronicFenceMapper.selectById(electronicId);

        for (int i = 0; i < count; i++) {
            // 卡住3秒
            Thread.sleep(3000);
            System.out.println("进入找车环节");
            // 根据距离找车
            // 车多则根据配置找具体车数量 根据距离最近
@@ -271,7 +273,7 @@

            // 获取车辆的信息 筛选出可用车辆
            R<List<String>> vehiclePositionVos = xpVehicleClient.queryVehiclePositionByVin(new VehiclePositionByVinDto(xpElectronicFence.getId(), vinList, xpTradingStrategy.getSimultaneouslyOrderCount()));
            log.info("筛选可用车辆结果 {}", vehiclePositionVos);
            log.info("筛选可用车辆结果 {}", JSON.toJSONString(vehiclePositionVos));
            if (vehiclePositionVos.getCode() != 200) {
                continue;
            }
@@ -285,7 +287,7 @@

            if (!availableVehiclesNearby.isEmpty()) {
                if (availableVehiclesNearby.size() > 1) {
                    log.info("附近有 {} 辆车，进入权重按断流程", availableVehiclesNearby.size());
                    log.info("附近有 {} 辆车，进入权重判断流程", availableVehiclesNearby.size());
                    // 走权重

                    // 订单价值
@@ -822,8 +824,8 @@
                        }
                        XpVehicle vehicleId1 = vehicleR.getData();
                        log.info("附近只有一个车辆 {} ，直接推单XPU", vehicleId1.getPlateNumber());
                        log.info("当前车辆状态 {}", vehicleId1.getStatus());
                        if (vehicleId1.getStatus() != 1 || vehicleId1.getState() != 0 || vehicleId1.getVehicleType()==1) {
                        log.info("当前车辆状态 {} 运营状态 {}", vehicleId1.getOperatingStatus(), vehicleId1.getState());
                        if (vehicleId1.getOperatingStatus() != 1 || vehicleId1.getState() != 0 || vehicleId1.getVehicleType()==1) {
                            lock.unlock();
                            continue;
                        }
@@ -847,7 +849,7 @@
                        return;

                    } catch (Exception e) {

                        e.printStackTrace();
                    } finally {
                        lock.unlock();
                    }

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

@@ -130,6 +130,8 @@
        if (xpCruiseOrder != null) {
            xpCruiseOrder.setStatus(2);
            this.update(xpCruiseOrder, wrapper);
            // todo 给XPU下发订单取消报文，如果取消不成功需要重试。两次不成功，则需要换车

            return xpCruiseOrder.getId();
        }
        return null;

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

@@ -1034,6 +1034,24 @@
            redisService.setCacheCancelOrder("CANCEL_ORDER_" + uid, i + 1);
        }

        // 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);
        log.info("订单取消消息推送完毕");

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

        // 下发命令
        if(order.getStatus()>1){
            PushOrderDto pushOrderDto = new PushOrderDto();
@@ -1083,6 +1101,9 @@
        xpPushMessageClient.sendStatus(sendMessageDTO);
        log.info("订单取消消息推送完毕");

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

        // 下发命令
        if(order.getStatus()>1){
            PushOrderDto pushOrderDto = new PushOrderDto();

 xp-robotaxi-vehicle-convoy-boot/src/main/java/com/xiaopeng/vehicleConvoy/controller/XpVehicleController.java

@@ -505,7 +505,7 @@
     */
    @PostMapping("/inner/vehicle/queryVehiclePositionByVin")
    public R<List<String>> queryVehiclePositionByVin(@RequestBody VehiclePositionByVinDto dto){
        List<XpVehicle> list = xpVehicleService.list(new LambdaQueryWrapper<XpVehicle>().eq(XpVehicle::getState, 0).eq(XpVehicle::getStatus, 1).eq(XpVehicle::getElectronicId, dto.getFenceId()).in(XpVehicle::getVehicleVin,
        List<XpVehicle> list = xpVehicleService.list(new LambdaQueryWrapper<XpVehicle>().eq(XpVehicle::getState, 0).eq(XpVehicle::getOperatingStatus, 1).eq(XpVehicle::getElectronicId, dto.getFenceId()).in(XpVehicle::getVehicleVin,
                dto.getVinList()));
        if(list.isEmpty()){
            return R.ok(new ArrayList<>());
@@ -729,4 +729,17 @@
    public R<PageInfo<XpVehicleVO>> getVehiclePageList(@RequestBody VehicleSelectPageQuery query) {
        return R.ok(xpVehicleService.getVehiclePageList(query));
    }


    /**
     * 临时用于修改车辆接单状态
     * @param updateVehicleStateDto
     * @return
     */
    @PostMapping("/base/vi/vehicle/updateVehicleStatus")
    public R<?> testUpdateVehicleStatus(@RequestBody UpdateVehicleStateDto updateVehicleStateDto){
        xpVehicleService.update(new LambdaUpdateWrapper<XpVehicle>().eq(XpVehicle::getVehicleVin, updateVehicleStateDto.getVin()).set(XpVehicle::getState, updateVehicleStateDto.getState()));
        return R.ok();
    }

}