From 0bcfca6b2561d096a2ce26e2e7200cd0768b2b6d Mon Sep 17 00:00:00 2001
From: liujie <1793218484@qq.com>
Date: 星期二, 12 五月 2026 09:27:03 +0800
Subject: [PATCH] Merge branch '1.0' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi into 1.0
---
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java | 332 ++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 268 insertions(+), 64 deletions(-)
diff --git a/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java b/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java
index 91f63c5..ddeff3c 100644
--- a/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java
+++ b/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java
@@ -1,12 +1,10 @@
package com.xiaopeng.automaticPilot.controller;
import cn.hutool.core.lang.Snowflake;
-import cn.hutool.core.util.IdUtil;
import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONObject;
import com.xiaopeng.api.dto.automaticPilot.MqttPublishDto;
import com.xiaopeng.api.dto.automaticPilot.PushOrderDto;
-import com.xiaopeng.api.dto.automaticPilot.VehicleEventDTO;
import com.xiaopeng.api.dto.map.OrderRouteAndFareDto;
import com.xiaopeng.api.dto.operation.LonLatDto;
import com.xiaopeng.api.dto.order.PopOrderDto;
@@ -20,7 +18,6 @@
import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;
import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
-import com.xiaopeng.api.model.order.XpOrder;import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.api.vo.SystemEventType;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
@@ -35,7 +32,6 @@
import com.xiaopeng.common.redis.service.RedisService;
import io.swagger.annotations.Api;
import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.data.geo.Point;
import org.springframework.data.mongodb.core.MongoTemplate;
import org.springframework.data.mongodb.core.geo.GeoJsonPoint;
@@ -57,6 +53,20 @@
@RequestMapping("")
@Api(tags = "订单任务Api")
public class OrderMissionController {
+
+ /**
+ * 共享线程池，用于推送司机位置轨迹，避免每次请求创建新线程池导致资源泄漏
+ */
+ private static final ThreadPoolExecutor DRIVER_LOCATION_EXECUTOR = new ThreadPoolExecutor(
+ 2, 4, 60L, TimeUnit.SECONDS,
+ new LinkedBlockingQueue<>(500),
+ r -> {
+ Thread t = new Thread(r, "driver-location-push");
+ t.setDaemon(true);
+ return t;
+ },
+ new ThreadPoolExecutor.CallerRunsPolicy()
+ );
@Resource
private XPUUtil xpuUtil;
@@ -80,10 +90,10 @@
if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.CRUISE_ORDER)){
RtTask.Builder taskBuilder = RtTask.newBuilder();
taskBuilder.setOrderId(dto.getOrderId().toString());
- taskBuilder.setTaskId(snowflake.nextId() + "");
+ taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "");
taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
//构建起点坐标数据
- pointBuilderStart.setWaypointId(dto.getOrderId() + "-001");
+ pointBuilderStart.setWaypointId(dto.getStartWaypointId() + "");
pointBuilderStart.setPointType(PointType.START_POINT);
pointBuilderStart.setSequence(1);
pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
@@ -94,7 +104,7 @@
taskBuilder.addPoints(pointBuilderStart);
//构建终点数据
- pointBuilderEnd.setWaypointId(dto.getOrderId() + "-002");
+ pointBuilderEnd.setWaypointId(dto.getEndWaypointId() + "");
pointBuilderEnd.setPointType(PointType.CRUISE_END_POINT);
pointBuilderEnd.setSequence(2);
pointBuilderEnd.setActionType(ActionType.DRIVE_THROUGH);
@@ -105,19 +115,26 @@
taskBuilder.addPoints(pointBuilderEnd);
taskBuilder.setSequence(1);
taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_CRUISE);
+
+ //不停车替换原有任务
+ if(null != dto.getLastOrderId()){
+ TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
+ taskActionBuilder.setOrderId(dto.getLastOrderId());
+ taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
+ taskActionBuilder.setActionType(dto.getTaskActionType());
+ taskBuilder.addPreActions(taskActionBuilder.build());
+ }
taskListBuilder.addTasks(taskBuilder.build());
- }
- else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.USER_ORDER)){
+ }else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.USER_ORDER)){
//乘客单
for (int i = 1; i < 3; i++) {
- RtTask.Builder taskBuilder = RtTask.newBuilder();
- taskBuilder.setOrderId(dto.getOrderId().toString());
- taskBuilder.setTaskId(snowflake.nextId() + "");
- taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
if(i == 1){
+ RtTask.Builder taskBuilder = RtTask.newBuilder();
+ taskBuilder.setOrderId(dto.getOrderId().toString());
+ taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getStartTaskId()) ? dto.getStartTaskId() : snowflake.nextId() + "");
+ taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(dto.getVin())), VehiclePosition.class);
//构建车辆当前位置数据
- pointBuilderStart.setWaypointId(dto.getOrderId() + "-JJ-001");
pointBuilderStart.setPointType(PointType.START_POINT);
pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
pointBuilderStart.setSequence(1);
@@ -128,7 +145,7 @@
taskBuilder.addPoints(pointBuilderStart);
//构建上车点位置信息
- pointBuilderEnd.setWaypointId(dto.getOrderId() + "-JJ-002");
+ pointBuilderEnd.setWaypointId(dto.getStartWaypointId() + "");
pointBuilderEnd.setPointType(PointType.PICK_UP_POINT);
pointBuilderEnd.setActionType(ActionType.PICK_UP);
pointBuilderEnd.setSequence(2);
@@ -139,9 +156,23 @@
taskBuilder.addPoints(pointBuilderEnd);
taskBuilder.setSequence(i);
taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_PICKUP);
+
+ //不停车替换原有任务
+ if(null != dto.getLastOrderId()){
+ TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
+ taskActionBuilder.setOrderId(dto.getLastOrderId());
+ taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
+ taskActionBuilder.setActionType(dto.getTaskActionType());
+ taskBuilder.addPreActions(taskActionBuilder.build());
+ }
+ taskListBuilder.addTasks(taskBuilder.build());
}else{
+ RtTask.Builder taskBuilder = RtTask.newBuilder();
+ taskBuilder.setOrderId(dto.getOrderId().toString());
+ taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "");
+ taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
//构建上车点位置信息
- pointBuilderStart.setWaypointId(dto.getOrderId() + "-SD-001");
+ pointBuilderStart.setWaypointId(dto.getStartWaypointId() + "");
pointBuilderStart.setPointType(PointType.PICK_UP_POINT);
pointBuilderStart.setActionType(ActionType.PICK_UP);
pointBuilderStart.setSequence(1);
@@ -152,7 +183,7 @@
taskBuilder.addPoints(pointBuilderStart);
//构建下车点位置信息
- pointBuilderEnd.setWaypointId(dto.getOrderId() + "-SD-002");
+ pointBuilderEnd.setWaypointId(dto.getEndWaypointId() + "");
pointBuilderEnd.setPointType(PointType.END_POINT);
pointBuilderEnd.setActionType(ActionType.DROP_OFF);
pointBuilderEnd.setSequence(2);
@@ -164,20 +195,28 @@
taskBuilder.addPoints(pointBuilderEnd);
taskBuilder.setSequence(i);
taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);
+
+ //不停车替换原有任务
+ if(null != dto.getLastOrderId()){
+ TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
+ taskActionBuilder.setOrderId(dto.getLastOrderId());
+ taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
+ taskActionBuilder.setActionType(dto.getTaskActionType());
+ taskBuilder.addPreActions(taskActionBuilder.build());
+ }
+ taskListBuilder.addTasks(taskBuilder.build());
}
- taskListBuilder.addTasks(taskBuilder.build());
}
}else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.TEST_ORDER)){
//测试单
for (int i = 1; i < 3; i++) {
- RtTask.Builder taskBuilder = RtTask.newBuilder();
- taskBuilder.setOrderId(dto.getOrderId().toString());
- taskBuilder.setTaskId(snowflake.nextId() + "");
- taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
if(i == 1){
+ RtTask.Builder taskBuilder = RtTask.newBuilder();
+ taskBuilder.setOrderId(dto.getOrderId().toString());
+ taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getStartTaskId()) ? dto.getStartTaskId() : snowflake.nextId() + "");
+ taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(dto.getVin())), VehiclePosition.class);
//构建车辆当前位置数据
- pointBuilderStart.setWaypointId(dto.getOrderId() + "-JJ-001");
pointBuilderStart.setPointType(PointType.START_POINT);
pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
pointBuilderStart.setSequence(1);
@@ -188,7 +227,7 @@
taskBuilder.addPoints(pointBuilderStart);
//构建上车点位置信息
- pointBuilderEnd.setWaypointId(dto.getOrderId() + "-JJ-002");
+ pointBuilderEnd.setWaypointId(dto.getStartWaypointId() + "");
pointBuilderEnd.setPointType(PointType.PICK_UP_POINT);
pointBuilderEnd.setActionType(ActionType.PICK_UP);
pointBuilderEnd.setSequence(2);
@@ -200,9 +239,23 @@
taskBuilder.addPoints(pointBuilderEnd);
taskBuilder.setSequence(i);
taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_PICKUP);
+
+ //不停车替换原有任务
+ if(null != dto.getLastOrderId()){
+ TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
+ taskActionBuilder.setOrderId(dto.getLastOrderId());
+ taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
+ taskActionBuilder.setActionType(dto.getTaskActionType());
+ taskBuilder.addPreActions(taskActionBuilder.build());
+ }
+ taskListBuilder.addTasks(taskBuilder.build());
}else{
+ RtTask.Builder taskBuilder = RtTask.newBuilder();
+ taskBuilder.setOrderId(dto.getOrderId().toString());
+ taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "");
+ taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
//构建上车点位置信息
- pointBuilderStart.setWaypointId(dto.getOrderId() + "-SD-001");
+ pointBuilderStart.setWaypointId(dto.getStartWaypointId() + "");
pointBuilderStart.setPointType(PointType.PICK_UP_POINT);
pointBuilderStart.setActionType(ActionType.PICK_UP);
pointBuilderStart.setSequence(1);
@@ -213,7 +266,7 @@
taskBuilder.addPoints(pointBuilderStart);
//构建下车点位置信息
- pointBuilderEnd.setWaypointId(dto.getOrderId() + "-SD-002");
+ pointBuilderEnd.setWaypointId(dto.getEndWaypointId() + "");
pointBuilderEnd.setPointType(PointType.END_POINT);
pointBuilderEnd.setActionType(ActionType.DROP_OFF);
pointBuilderEnd.setSequence(2);
@@ -224,17 +277,26 @@
taskBuilder.addPoints(pointBuilderEnd);
taskBuilder.setSequence(i);
taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);
+
+ //不停车替换原有任务
+ if(null != dto.getLastOrderId()){
+ TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
+ taskActionBuilder.setOrderId(dto.getLastOrderId());
+ taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
+ taskActionBuilder.setActionType(dto.getTaskActionType());
+ taskBuilder.addPreActions(taskActionBuilder.build());
+ }
+ taskListBuilder.addTasks(taskBuilder.build());
}
- taskListBuilder.addTasks(taskBuilder.build());
}
}else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.TEST_CRUISE_ORDER)){
//测试单巡游单
RtTask.Builder taskBuilder = RtTask.newBuilder();
taskBuilder.setOrderId(dto.getOrderId().toString());
- taskBuilder.setTaskId(snowflake.nextId() + "");
+ taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "");
taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
//构建起点坐标数据
- pointBuilderStart.setWaypointId(dto.getOrderId() + "-001");
+ pointBuilderStart.setWaypointId(dto.getStartWaypointId() + "");
pointBuilderStart.setPointType(PointType.START_POINT);
pointBuilderStart.setSequence(1);
pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
@@ -245,7 +307,7 @@
taskBuilder.addPoints(pointBuilderStart);
//构建终点数据
- pointBuilderEnd.setWaypointId(dto.getOrderId() + "-002");
+ pointBuilderEnd.setWaypointId(dto.getEndWaypointId() + "");
pointBuilderEnd.setPointType(PointType.CRUISE_END_POINT);
pointBuilderEnd.setSequence(2);
pointBuilderEnd.setActionType(ActionType.DRIVE_THROUGH);
@@ -256,11 +318,21 @@
taskBuilder.addPoints(pointBuilderEnd);
taskBuilder.setSequence(1);
taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_CRUISE);
+
+ //不停车替换原有任务
+ if(null != dto.getLastOrderId()){
+ TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
+ taskActionBuilder.setOrderId(dto.getLastOrderId());
+ taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
+ taskActionBuilder.setActionType(dto.getTaskActionType());
+ taskBuilder.addPreActions(taskActionBuilder.build());
+ }
taskListBuilder.addTasks(taskBuilder.build());
}
long sequence = snowflake.nextId();
MqttPublishDto mqttPublishDto = xpuUtil.cloudCreateOrder(taskListBuilder.build(), dto.getVin(),sequence);
+
//先将车辆修改状态，防止在异步通知之前被其他订单选中
if(!dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.CRUISE_ORDER) &&
!dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.TEST_CRUISE_ORDER)
@@ -282,9 +354,9 @@
}
@PostMapping("/logan/inner/cancelOrder")
- R<Boolean> cancelOrder(@RequestBody PushOrderDto dto) {
+ public R<Boolean> cancelOrder(@RequestBody PushOrderDto dto) {
log.info("取消订单，推送XPU报文：{}", JSON.toJSONString(dto));
- String taskId = StringUtils.isNotEmpty(dto.getTaskId()) ? dto.getTaskId() : snowflake.nextId() + "";
+ String taskId = StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "";
OrderOperation.Builder operationBuilder = OrderOperation.newBuilder();
operationBuilder.setOrderId(dto.getOrderId().toString());
operationBuilder.setTaskId(taskId);
@@ -318,6 +390,48 @@
+ @PostMapping("/logan/inner/updateEndAddress")
+ public R<Boolean> updateEndAddress(@RequestBody PushOrderDto dto){
+ log.info("修改目的地，推送XPU报文：{}", JSON.toJSONString(dto));
+ String taskId = StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "";
+ OrderOperation.Builder operationBuilder = OrderOperation.newBuilder();
+ operationBuilder.setOrderId(dto.getOrderId().toString());
+ operationBuilder.setTaskId(taskId);
+ if (dto.getOperation_type() != null) {
+ operationBuilder.setOperationType(OrderOperationType.forNumber(dto.getOperation_type().getNumber()));
+ }
+ Waypoint.Builder waypointBuilder = Waypoint.newBuilder();
+ waypointBuilder.setWaypointId(dto.getOrderId() + "-002");
+ waypointBuilder.setPointType(PointType.END_POINT);
+ waypointBuilder.setActionType(ActionType.DROP_OFF);
+ waypointBuilder.setSequence(2);
+ GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getEndLatitude());
+ geoPointBuilder.setLongitude(dto.getEndLongitude());
+ waypointBuilder.setPoint(geoPointBuilder.build());
+ waypointBuilder.setPoiName(dto.getEndPoiName());
+ operationBuilder.setTargetPoint(waypointBuilder);
+ long sequence = snowflake.nextId();
+ MqttPublishDto mqttPublishDto = xpuUtil.cloudOrderOperation(operationBuilder.build(), dto.getVin(), sequence);
+
+ if (mqttPublishDto.getCode() == 200) {
+ if(!dto.getOrderId().contains("XU")){
+ Map<String, Object> cancelContext = new HashMap<>();
+ cancelContext.put("orderId", dto.getOrderId());
+ cancelContext.put("vin", dto.getVin());
+ cancelContext.put("cancelScene", StringUtils.isNotEmpty(dto.getCancelScene())
+ ? dto.getCancelScene()
+ : CancelOrderSceneEnum.NORMAL_CANCEL.getCode());
+ redisService.setCacheObject("CANCEL_ORDER_CONTEXT:" + taskId,
+ JSONObject.toJSONString(cancelContext), 30L, TimeUnit.MINUTES);
+ log.info("记录修改目的地订单上下文成功，orderId: {}, vin: {}, taskId: {}, cancelScene: {}",
+ dto.getOrderId(), dto.getVin(), taskId, cancelContext.get("cancelScene"));
+ }
+ return R.ok(true);
+ }
+
+ return R.ok(false);
+ }
@@ -357,47 +471,100 @@
*/
@GetMapping("/base/v1/order/acceptingOrder")
public R acceptingOrder(Long orderId, String code, Long vehicleId, Double startLon, Double startLat){
+ log.info("【模拟接单】开始，orderId={}, code={}, vehicleId={}, startLon={}, startLat={}", orderId, code, vehicleId, startLon, startLat);
if(null == vehicleId){
vehicleId = 11L;//默认使用造的测试车辆
+ log.info("【模拟接单】vehicleId为空，使用默认测试车辆 vehicleId={}", vehicleId);
}
if(null == startLat || null == startLon){
startLat = 23.146815D;
startLon = 113.459765D;
+ log.info("【模拟接单】起点坐标为空，使用默认坐标 startLon={}, startLat={}", startLon, startLat);
}
XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
+ log.info("【模拟接单】查询车辆信息，vehicleId={}, vin={}", vehicleId, xpVehicle != null ? xpVehicle.getVehicleVin() : "null");
XpOrder xpOrder = null;
if(null != orderId){
xpOrder = xpOrderClient.queryOrderById(orderId).getData();
+ log.info("【模拟接单】按orderId查询订单，orderId={}, orderNo={}", orderId, xpOrder != null ? xpOrder.getOrderNumber() : "null");
}
if(StringUtils.isNotEmpty(code)){
xpOrder = xpOrderClient.queryOrderByOrderNo(code).getData();
+ log.info("【模拟接单】按orderNo查询订单，code={}, orderId={}", code, xpOrder != null ? xpOrder.getId() : "null");
}
+
orderId = xpOrder.getId();
+ log.info("【模拟接单】订单信息，orderId={}, appUserId={}, startLon={}, startLat={}", orderId, xpOrder.getAppUserId(), xpOrder.getStartLon(), xpOrder.getStartLat());
OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
dto.setOrderId(orderId);
LonLatDto origin = new LonLatDto();
origin.setLongitude(startLon);
origin.setLatitude(startLat);
dto.setOrigin(origin);
+
+ //保存车辆实时位置到redis
+ redisTemplate.opsForGeo().add("vehiclePosition:" + xpVehicle.getVehicleVin(), new Point(startLon, startLat), xpVehicle.getVehicleVin());
+ log.info("【模拟接单】保存车辆位置到Redis，vin={}, lon={}, lat={}", xpVehicle.getVehicleVin(), startLon, startLat);
+
+ //保存车辆实时信息到mongodb
+ VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(xpVehicle.getVehicleVin())), VehiclePosition.class);
+ if (null == vehiclePosition) {
+ log.info("【模拟接单】MongoDB无车辆位置记录，新建，vin={}", xpVehicle.getVehicleVin());
+ vehiclePosition = new VehiclePosition();
+ vehiclePosition.setVin(xpVehicle.getVehicleVin());
+ vehiclePosition.setPoint(new GeoJsonPoint(startLon, startLat));
+ vehiclePosition.setCourse(60D);
+ vehiclePosition.setAlt(100F);
+ vehiclePosition.setSpeed(50F);
+ vehiclePosition.setCurrentElectricity(80);
+ vehiclePosition.setMileageRange(300f);
+ vehiclePosition.setHasOrder(0);
+ vehiclePosition.setOrderId(orderId);
+ vehiclePosition.setTotalOdometer(10000L);
+ vehiclePosition.setAddTime(System.currentTimeMillis());
+ mongoTemplate.save(vehiclePosition);
+ }else{
+ log.info("【模拟接单】更新MongoDB车辆位置记录，vin={}", xpVehicle.getVehicleVin());
+ vehiclePosition.setOrderId(orderId);
+ Update update = new Update()
+ .set("point", new GeoJsonPoint(startLon, startLat))
+ .set("course", 60D)
+ .set("alt", 100F)
+ .set("speed", 50F)
+ .set("currentElectricity", 80)
+ .set("mileageRange", 300f)
+ .set("hasOrder", 0)
+ .set("orderId", orderId)
+ .set("totalOdometer", 10000L)
+ .set("addTime", System.currentTimeMillis());
+ mongoTemplate.updateFirst(new Query(Criteria.where("vin").is(xpVehicle.getVehicleVin())), update, VehiclePosition.class);
+ }
+
LonLatDto destination = new LonLatDto();
destination.setLongitude(xpOrder.getStartLon());
destination.setLatitude(xpOrder.getStartLat());
dto.setDestination(destination);
dto.setRouteType(1);
dto.setVehicleId(xpOrder.getVehicleId());
+ log.info("【模拟接单】请求规划接驾路线，origin=[{},{}], destination=[{},{}]", startLon, startLat, xpOrder.getStartLon(), xpOrder.getStartLat());
R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
if (200 != routeVoR.getCode()) {
+ log.error("【模拟接单】获取订单线路和运费失败，orderId={}, code={}, msg={}", orderId, routeVoR.getCode(), routeVoR.getMsg());
throw new RuntimeException("获取订单线路和运费失败");
}
RouteVo routeVo = routeVoR.getData();
+ log.info("【模拟接单】获取接驾路线成功，orderId={}, distance={}, duration={}, polylineSize={}", orderId, routeVo.getDistance(), routeVo.getDuration(), routeVo.getPolyline() != null ? routeVo.getPolyline().size() : 0);
//缓存数据，用于后续推给乘客导航线路
redisService.setCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
+ log.info("【模拟接单】缓存接驾导航数据成功，key=ORDER_NAVIGATION_START_DATA:{}", xpOrder.getAppUserId());
PopOrderDto dto1 = new PopOrderDto();
dto1.setOrderId(Long.valueOf(orderId));
dto1.setXpVehicleVin(xpVehicle.getVehicleVin());
dto1.setOrderType(com.xiaopeng.api.vo.OrderType.USER_ORDER);
+ log.info("【模拟接单】调用popOrder，orderId={}, vin={}", orderId, xpVehicle.getVehicleVin());
R<?> r = xpOrderClient.popOrder(dto1);
+ log.info("【模拟接单】popOrder结果，orderId={}, code={}", orderId, r.getCode());
//构建推送消息
Map<String, Object> params = new HashMap<>();
@@ -412,11 +579,14 @@
SendMessageDTO dto2 = new SendMessageDTO();
dto2.setAppUserId(appUserId + "");
dto2.setMessage(message);
+ log.info("【模拟接单】推送订单状态(status=3)给用户，appUserId={}, orderId={}", appUserId, orderId);
R<String> stringR = xpPushMessageClient.sendStatus(dto2);
if (R.isError(stringR)) {
- log.error("推送消息失败：{}", stringR.getMsg());
+ log.error("【模拟接单】推送消息失败，appUserId={}, orderId={}, msg={}", appUserId, orderId, stringR.getMsg());
}
- xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP.getCode());
+ log.info("【模拟接单】更新订单状态为PICK_UP，orderId={}", orderId);
+ xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP.getCode(), false);
+ log.info("【模拟接单】流程完成，orderId={}", orderId);
// PushOrderRouteDTO dto3 = new PushOrderRouteDTO();
// dto3.setOrderId(orderId);
@@ -438,8 +608,10 @@
*/
@GetMapping("/base/v1/order/pushStartDriverLocation")
private void pushStartDriverLocation(Long vehicleId, Long orderId, String code){
+ log.info("【推送接驾轨迹】开始，vehicleId={}, orderId={}, code={}", vehicleId, orderId, code);
if(null == vehicleId){
vehicleId = 1L;
+ log.info("【推送接驾轨迹】vehicleId为空，使用默认 vehicleId={}", vehicleId);
}
XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
XpOrder xpOrder = null;
@@ -452,31 +624,29 @@
orderId = xpOrder.getId();
String vin = xpVehicle.getVehicleVin();
Long appUserId = xpOrder.getAppUserId();
+ log.info("【推送接驾轨迹】订单信息，orderId={}, orderNo={}, vin={}, appUserId={}", orderId, xpOrder.getOrderNumber(), vin, appUserId);
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);
+ log.info("【推送接驾轨迹】获取接驾导航缓存数据，orderId={}, polylineSize={}", orderId, routeVo.getPolyline() != null ? routeVo.getPolyline().size() : 0);
-
- ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));
Long finalOrderId = orderId;
Long finalOrderId1 = orderId;
- threadPoolExecutor.execute(() -> {
- //等待10秒后开始执行车子位移
+ DRIVER_LOCATION_EXECUTOR.execute(() -> {
+ //等待1秒后开始执行车子位移
try {
Thread.sleep(1000);
} catch (InterruptedException e) {
- throw new RuntimeException(e);
+ Thread.currentThread().interrupt();
+ log.error("pushStartDriverLocation 线程被中断", e);
+ return;
}
List<LonLatDto> polyline = routeVo.getPolyline();
+ log.info("【推送接驾轨迹】开始逐点推送位置，orderId={}, 总点数={}", finalOrderId, polyline.size());
+ int idx = 0;
for (LonLatDto lonLatDto : polyline) {
Double latitude = lonLatDto.getLatitude();
Double longitude = lonLatDto.getLongitude();
+ log.info("【推送接驾轨迹】推送第{}/{}个点，orderId={}, lon={}, lat={}", ++idx, polyline.size(), finalOrderId, longitude, latitude);
//保存车辆实时位置到redis
redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new Point(longitude, latitude), vin);
@@ -494,6 +664,8 @@
vehiclePosition.setMileageRange(300f);
vehiclePosition.setHasOrder(0);
vehiclePosition.setOrderId(finalOrderId1);
+ vehiclePosition.setTotalOdometer(10000L);
+ vehiclePosition.setAddTime(System.currentTimeMillis());
mongoTemplate.save(vehiclePosition);
}else{
vehiclePosition.setOrderId(finalOrderId1);
@@ -505,7 +677,9 @@
.set("currentElectricity", 80)
.set("mileageRange", 300f)
.set("hasOrder", 0)
- .set("orderId", finalOrderId1);
+ .set("orderId", finalOrderId1)
+ .set("totalOdometer", 10000L)
+ .set("addTime", System.currentTimeMillis());;
mongoTemplate.updateFirst(new Query(Criteria.where("vin").is(vin)), update, VehiclePosition.class);
}
//调用推送服务接口
@@ -518,6 +692,7 @@
dto.setDuration(10.0);
dto.setDistance(2.0);
dto.setDirection(60);
+ dto.setMessageType(PushMessageTypeEnum.ORDER_ROUTE.getDesc());
xpPushMessageClient.pushOrderRoute(dto);
}
@@ -525,10 +700,13 @@
try {
Thread.sleep(2000);
} catch (InterruptedException e) {
- throw new RuntimeException(e);
+ Thread.currentThread().interrupt();
+ log.error("pushStartDriverLocation 循环线程被中断", e);
+ return;
}
}
+ log.info("【推送接驾轨迹】所有点推送完毕，推送status=4给用户，orderId={}, appUserId={}", finalOrderId, appUserId);
//构建推送消息
Map<String, Object> params = new HashMap<>();
Map<String, Object> content = new HashMap<>();
@@ -543,9 +721,11 @@
dto2.setMessage(message);
R<String> stringR = xpPushMessageClient.sendStatus(dto2);
if (R.isError(stringR)) {
- log.error("推送消息失败：{}", stringR.getMsg());
+ log.error("【推送接驾轨迹】推送消息失败，appUserId={}, orderId={}, msg={}", appUserId, finalOrderId, stringR.getMsg());
}
- xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.PICK_UP_GUESTS.getCode());
+ log.info("【推送接驾轨迹】更新订单状态为PICK_UP_GUESTS，orderId={}", finalOrderId);
+ xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.PICK_UP_GUESTS.getCode(), false);
+ log.info("【推送接驾轨迹】流程完成，orderId={}", finalOrderId);
});
}
@@ -559,6 +739,7 @@
*/
@GetMapping("/base/v1/order/updateOrderStatus")
public R updateOrderStatus(Long orderId, String code, Integer status) {
+ log.info("【模拟修改订单状态】开始，orderId={}, code={}, status={}", orderId, code, status);
XpOrder xpOrder = null;
if(null != orderId){
xpOrder = xpOrderClient.queryOrderById(orderId).getData();
@@ -567,6 +748,7 @@
xpOrder = xpOrderClient.queryOrderByOrderNo(code).getData();
}
orderId = xpOrder.getId();
+ log.info("【模拟修改订单状态】订单信息，orderId={}, orderNo={}, appUserId={}", orderId, xpOrder.getOrderNumber(), xpOrder.getAppUserId());
//构建推送消息
Map<String, Object> params = new HashMap<>();
Map<String, Object> content = new HashMap<>();
@@ -579,15 +761,19 @@
SendMessageDTO dto2 = new SendMessageDTO();
dto2.setAppUserId(xpOrder.getAppUserId() + "");
dto2.setMessage(message);
+ log.info("【模拟修改订单状态】推送状态消息给用户，appUserId={}, orderId={}, status={}", xpOrder.getAppUserId(), orderId, status);
R<String> stringR = xpPushMessageClient.sendStatus(dto2);
if (R.isError(stringR)) {
- log.error("推送消息失败：{}", stringR.getMsg());
+ log.error("【模拟修改订单状态】推送消息失败，appUserId={}, orderId={}, msg={}", xpOrder.getAppUserId(), orderId, stringR.getMsg());
}
- xpOrderClient.updateOrderStatus(orderId, status);
+ log.info("【模拟修改订单状态】更新订单状态，orderId={}, status={}", orderId, status);
+ xpOrderClient.updateOrderStatus(orderId, status, false);
if(5 == status){
+ log.info("【模拟修改订单状态】status=5，主动推送全程轨迹，orderId={}", orderId);
//主动推一次全程轨迹
Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId());
RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
+ log.info("【模拟修改订单状态】获取送驾导航缓存，orderId={}, polylineSize={}", orderId, routeVo.getPolyline() != null ? routeVo.getPolyline().size() : 0);
JSONObject jsonObject = new JSONObject();
jsonObject.put("type", "ORDER_ROUTE");
jsonObject.put("timestamp", System.currentTimeMillis());
@@ -612,21 +798,25 @@
SendMessageDTO messageDTO = new SendMessageDTO();
messageDTO.setAppUserId(xpOrder.getAppUserId().toString());
messageDTO.setMessage(jsonObject.toJSONString());
+ log.info("【模拟修改订单状态】推送全程轨迹，appUserId={}, orderId={}", xpOrder.getAppUserId(), orderId);
xpPushMessageClient.sendRoute(messageDTO);
}
+ log.info("【模拟修改订单状态】完成，orderId={}, status={}", orderId, status);
return R.ok();
}
/**
- * 推送司机接驾轨迹和实时位置
+ * 推送司机送驾轨迹和实时位置
* @param orderId
*/
@GetMapping("/base/v1/order/pushEndDriverLocation")
private void pushEndDriverLocation(Long vehicleId, Long orderId, String code){
+ log.info("【推送送驾轨迹】开始，vehicleId={}, orderId={}, code={}", vehicleId, orderId, code);
if(null == vehicleId){
vehicleId = 1L;
+ log.info("【推送送驾轨迹】vehicleId为空，使用默认 vehicleId={}", vehicleId);
}
XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
XpOrder xpOrder = null;
@@ -642,22 +832,27 @@
Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId());
RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
log.info("开始实施推送车辆位置和剩余导航线路 {} {}", xpOrder.getOrderNumber(), JSON.toJSONString(routeVo));
+ log.info("【推送送驾轨迹】获取送驾导航缓存，orderId={}, vin={}, appUserId={}, polylineSize={}", orderId, vin, appUserId, routeVo.getPolyline() != null ? routeVo.getPolyline().size() : 0);
- ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));
Long finalOrderId = orderId;
Long finalOrderId1 = orderId;
- threadPoolExecutor.execute(() -> {
- //等待10秒后开始执行车子位移
+ DRIVER_LOCATION_EXECUTOR.execute(() -> {
+ //等待1秒后开始执行车子位移
try {
Thread.sleep(1000);
} catch (InterruptedException e) {
- throw new RuntimeException(e);
+ Thread.currentThread().interrupt();
+ log.error("pushEndDriverLocation 线程被中断", e);
+ return;
}
List<LonLatDto> polyline = routeVo.getPolyline();
+ log.info("【推送送驾轨迹】开始逐点推送位置，orderId={}, 总点数={}", finalOrderId, polyline.size());
+ int idx = 0;
for (LonLatDto lonLatDto : polyline) {
Double latitude = lonLatDto.getLatitude();
Double longitude = lonLatDto.getLongitude();
+ log.info("【推送送驾轨迹】推送第{}/{}个点，orderId={}, lon={}, lat={}", ++idx, polyline.size(), finalOrderId, longitude, latitude);
//保存车辆实时位置到redis
redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new Point(longitude, latitude), vin);
@@ -675,6 +870,8 @@
vehiclePosition.setMileageRange(300f);
vehiclePosition.setHasOrder(0);
vehiclePosition.setOrderId(finalOrderId1);
+ vehiclePosition.setTotalOdometer(10000L);
+ vehiclePosition.setAddTime(System.currentTimeMillis());
mongoTemplate.save(vehiclePosition);
}else{
vehiclePosition.setOrderId(finalOrderId1);
@@ -686,7 +883,9 @@
.set("currentElectricity", 80)
.set("mileageRange", 300f)
.set("hasOrder", 0)
- .set("orderId", finalOrderId1);
+ .set("orderId", finalOrderId1)
+ .set("totalOdometer", 10000L)
+ .set("addTime", System.currentTimeMillis());;
mongoTemplate.updateFirst(new Query(Criteria.where("vin").is(vin)), update, VehiclePosition.class);
}
//调用推送服务接口
@@ -699,7 +898,8 @@
dto.setDuration(20.0);
dto.setDistance(10.0);
dto.setDirection(60);
- xpPushMessageClient.pushOrderRoute(dto);
+ dto.setMessageType(PushMessageTypeEnum.ORDER_ROUTE.getDesc());
+ R<String> stringR = xpPushMessageClient.pushOrderRoute(dto);
//存储历史轨迹
OrderTrajectoryVo orderTrajectory = new OrderTrajectoryVo();
@@ -712,14 +912,17 @@
xpOrderClient.saveVehicleLocation(orderTrajectory);
}
- //5秒钟循环一次
+ //1秒钟循环一次
try {
Thread.sleep(1000);
} catch (InterruptedException e) {
- throw new RuntimeException(e);
+ Thread.currentThread().interrupt();
+ log.error("pushEndDriverLocation 循环线程被中断", e);
+ return;
}
}
+ log.info("【推送送驾轨迹】所有点推送完毕，推送status=7给用户，orderId={}, appUserId={}", finalOrderId, appUserId);
//构建推送消息
Map<String, Object> params = new HashMap<>();
Map<String, Object> content = new HashMap<>();
@@ -734,11 +937,12 @@
dto2.setMessage(message);
R<String> stringR = xpPushMessageClient.sendStatus(dto2);
if (R.isError(stringR)) {
- log.error("推送消息失败：{}", stringR.getMsg());
+ log.error("【推送送驾轨迹】推送消息失败，appUserId={}, orderId={}, msg={}", appUserId, finalOrderId, stringR.getMsg());
}
- xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode());
+ log.info("【推送送驾轨迹】更新订单状态为SEE_OFF_GUESTS，orderId={}", finalOrderId);
+ xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode(), false);
+ log.info("【推送送驾轨迹】流程完成，orderId={}", finalOrderId);
});
}
-
}
--
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