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-push-message-boot/src/main/java/com/xiaopeng/pushMessage/controller/PushOrderRouteController.java | 211 ++++++++++++++++++++++++++++++++++++----------------
1 files changed, 146 insertions(+), 65 deletions(-)
diff --git a/xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/controller/PushOrderRouteController.java b/xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/controller/PushOrderRouteController.java
index 3be519e..3cb5a77 100644
--- a/xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/controller/PushOrderRouteController.java
+++ b/xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/controller/PushOrderRouteController.java
@@ -1,6 +1,6 @@
package com.xiaopeng.pushMessage.controller;
-import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONObject;
import com.xiaopeng.api.dto.operation.LonLatDto;
import com.xiaopeng.api.dto.pushMessage.PushOrderRouteDTO;
@@ -9,13 +9,14 @@
import com.xiaopeng.api.feignClient.pushMessage.XpPushMessageClient;
import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.vo.operation.RouteVo;
-import com.xiaopeng.common.core.constant.CacheConstants;
+import com.xiaopeng.common.core.constant.Constants;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.core.enums.PushMessageTypeEnum;
import com.xiaopeng.common.redis.service.RedisService;
import com.xiaopeng.pushMessage.utils.MapMatchingUtil;
+import com.xiaopeng.pushMessage.utils.TrajectoryDensifier;
import io.swagger.annotations.Api;
-import org.powermock.core.ListMap;
+import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.PostMapping;
@@ -24,12 +25,45 @@
import org.springframework.web.bind.annotation.RestController;
import java.util.*;
+import java.util.concurrent.LinkedBlockingQueue;
+import java.util.concurrent.ThreadFactory;
+import java.util.concurrent.ThreadPoolExecutor;
import java.util.concurrent.TimeUnit;
+import java.util.concurrent.atomic.AtomicInteger;
+@Slf4j
@Api(tags = "订单推送轨迹接口")
@RestController
@RequestMapping("")
public class PushOrderRouteController {
+
+ /**
+ * 推送轨迹重试线程池（类级别单例复用）
+ * 修复：原代码在每次 sendRoute 失败时都 new ThreadPoolExecutor 且不 shutdown，
+ * 导致核心线程在 LinkedBlockingQueue.take() 上永久 WAITING，造成线程泄漏。
+ *
+ * 参数推导（基于业务并发量估算）：
+ * - 车端上报频率 ~1次/秒/车，接口限频1.5秒，实际处理 ~0.67次/秒/车
+ * - 常态（50车 + 5%失败率）：~1.65 任务/秒，任务耗时~5秒，同时~8个任务
+ * - 突发（100车 + 20%失败率）：~13 任务/秒，同时~66个任务
+ * - corePoolSize=4 覆盖常态，maxPoolSize=16 + 队列512 覆盖突发
+ */
+ private static final ThreadPoolExecutor RETRY_EXECUTOR = new ThreadPoolExecutor(
+ 4,
+ 16,
+ 60L, TimeUnit.SECONDS,
+ new LinkedBlockingQueue<>(512),
+ new ThreadFactory() {
+ private final AtomicInteger counter = new AtomicInteger(0);
+ @Override
+ public Thread newThread(Runnable r) {
+ Thread t = new Thread(r, "route-push-retry-" + counter.incrementAndGet());
+ t.setDaemon(true);
+ return t;
+ }
+ },
+ new ThreadPoolExecutor.CallerRunsPolicy()
+ );
@Autowired
private RedisService redisService;
@@ -39,76 +73,123 @@
private XpOrderClient xpOrderClient;
/**
- * 通过定位推送订单轨迹
+ * 通过车辆实时位置
+ * 给乘客端推送剩余轨迹和剩余里程时长
* @return
*/
- @PostMapping("/inner/v1/order/pushOrderRoute")
+ @PostMapping("/logan/inner/v1/order/pushOrderRoute")
public R<String> pushOrderRoute(@Validated @RequestBody PushOrderRouteDTO dto) {
- // 查询订单信息
- XpOrder xpOrder = xpOrderClient.queryOrderById(dto.getOrderId()).getData();
- // 封装消息内容
Integer routeType = dto.getRouteType();
- if(routeType == 2){
- routeType = 3;
- }else {
- routeType = xpOrder.getStatus() == 3 ? 1 : 2;
- }
- // 获取路线规划
- String key = "";
- //接驾情况，获取车辆位置到起点的导航
- if(1 == routeType){
- key = "ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId();
- }else{
- key = "ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId();
- }
- Object cacheObject = redisService.getCacheObject(key);
- RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
-
- if(Objects.nonNull(routeVo)){
-
- // 计算实时点位到线段的最优截取
- List<LonLatDto> lonLatDtos = MapMatchingUtil.clipBySegmentDistance(routeVo.getPolyline(), new LonLatDto(dto.getLongitude(), dto.getLatitude()));
-
- routeVo.setDistance(dto.getDistance());
- routeVo.setDuration(dto.getDuration());
- routeVo.setPolyline(lonLatDtos);
-
- // 存储最新路线偏离缓存，后续进行轨迹截取
-// redisService.setCacheObject(CacheConstants.ORDER_ROUTE_CAPTURE + "_" + dto.getOrderId() + "_" +routeType, routeVo);
-
- redisService.setCacheObject(key, JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
-
- // 封装轨迹点位集合
- List<Map<String, Object>> polyline = new ArrayList<>();
- for (LonLatDto lonLatDto : lonLatDtos) {
- Map<String, Object> polylineMap = new HashMap<>();
- polylineMap.put("longitude",lonLatDto.getLongitude());
- polylineMap.put("latitude",lonLatDto.getLatitude());
- polyline.add(polylineMap);
+ //正常订单
+ if(routeType == 1){
+ //非导航偏离才需要限频
+ if(PushMessageTypeEnum.ORDER_ROUTE.getDesc().equals(dto.getMessageType())){
+ Long pushTime = redisService.getCacheObject("PUSH_TIME:" + dto.getOrderId());
+ if(null != pushTime && System.currentTimeMillis() - pushTime < 1500){
+ return R.ok();
+ }
+ redisService.setCacheObject("PUSH_TIME:" + dto.getOrderId(), System.currentTimeMillis());
}
- // 封装路由详情
- Map<String, Object> route = new HashMap<>();
- route.put("distance",dto.getDistance());
- route.put("duration",dto.getDuration());
- route.put("polyline",JSONObject.toJSONString(polyline));
+ XpOrder xpOrder = xpOrderClient.queryOrderById(dto.getOrderId()).getData();
+ if(xpOrder.getStatus() <= 1 || xpOrder.getStatus() >= 8){
+ return R.ok();
+ }
+ // 获取路线规划
+ String key = "";
+ //接驾情况，获取车辆位置到起点的导航
+ if(xpOrder.getStatus() >= 2 && xpOrder.getStatus() <= 4){
+ key = "ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId();
+ }else{
+ key = "ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId();
+ }
+ Object cacheObject = redisService.getCacheObject(key);
+ RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
+ log.info("缓存获取的轨迹 {} {}", key, JSON.toJSONString(routeVo));
+ if(Objects.nonNull(routeVo)){
+ //开始对轨迹进行点位补全，然后更新缓存中的轨迹数据
+ if(null == routeVo.getDensify() || routeVo.getDensify() == 0){
+ log.info("开始执行点位补全 {}", key);
+ List<LonLatDto> polyline = routeVo.getPolyline();
+ List<LonLatDto> densify = TrajectoryDensifier.densify(polyline, 15);
+ routeVo.setPolyline(densify);
+ routeVo.setDensify(1);
+ log.info("点位补全结束 {} {}", key, JSON.toJSONString(routeVo));
+ redisService.setCacheObject(key, JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
+ }
- Map<String, Object> content = new HashMap<>();
- content.put("orderId",dto.getOrderId());
- content.put("routeType",routeType);
- content.put("direction",dto.getDirection());
- content.put("route",JSONObject.toJSONString(route));
+ Integer distance = dto.getDistance().intValue();
+ Integer duration = dto.getDuration().intValue();
+ Integer speed = dto.getDuration().intValue();
+ // 计算实时点位到线段的最优截取
+ Map<String, List<LonLatDto>> remainingNavigation = MapMatchingUtil.getRemainingNavigation(routeVo.getPolyline(), dto.getLongitude(), dto.getLatitude());
+ log.info("remainingNavigation {}", JSON.toJSONString(remainingNavigation));
+ //当订单状态为5的时候（乘客已上车）需要推送导航的距离和剩余时间
+ //因为这个状态，车端推的依然是接驾的剩余里程和时间，就会导致数据和小程序的页面跳转匹配不上
+ //小程序是只要乘客上车后就跳转到行程开始页面
+ if(5 != xpOrder.getStatus()){
+ routeVo.setDistance(distance);
+ routeVo.setDuration(duration);
+ }else{
+ distance = routeVo.getDistance();
+ duration = routeVo.getDuration();
+ }
+ List<LonLatDto> lonLatDtos = remainingNavigation.get("unserved");
+ List<LonLatDto> lonLatDtos1 = remainingNavigation.get("served");
- // 封装轨迹信息
- Map<String, Object> params = new HashMap<>();
- params.put("type", PushMessageTypeEnum.ORDER_ROUTE.getDesc());
- params.put("content", JSONObject.toJSONString(content));
- params.put("timestamp", new Date().getTime()+"");
+ routeVo.setPolyline(lonLatDtos);
+ routeVo.setServed(lonLatDtos1);
+ log.info("线路截取后存储的轨迹 {}", JSON.toJSONString(routeVo));
+ // 存储最新路线偏离缓存，后续进行轨迹截取
+ redisService.setCacheObject(key, JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
- // 进行消息推送
- SendMessageDTO sendMessageDTO = new SendMessageDTO();
- sendMessageDTO.setAppUserId(String.valueOf(xpOrder.getAppUserId()));
- sendMessageDTO.setMessage(JSONObject.toJSONString(params));
- xpPushMessageClient.sendRoute(sendMessageDTO);
+ // 封装路由详情
+ Map<String, Object> route = new HashMap<>();
+ route.put("speed",speed);
+ route.put("distance",distance);
+ route.put("duration",duration);
+ route.put("polyline",JSONObject.toJSONString(lonLatDtos));
+ route.put("served",JSONObject.toJSONString(lonLatDtos1));
+
+ Map<String, Object> content = new HashMap<>();
+ content.put("orderId",dto.getOrderId().toString());
+ content.put("routeType",routeType);
+ content.put("direction",dto.getDirection());
+ content.put("route",JSONObject.toJSONString(route));
+ content.put("endLongitude", dto.getEndLongitude());
+ content.put("endLatitude", dto.getEndLatitude());
+
+ // 封装轨迹信息
+ Map<String, Object> params = new HashMap<>();
+ params.put("type", dto.getMessageType());
+ params.put("content", JSONObject.toJSONString(content));
+ params.put("timestamp", new Date().getTime()+"");
+
+ // 进行消息推送
+ SendMessageDTO sendMessageDTO = new SendMessageDTO();
+ sendMessageDTO.setAppUserId(String.valueOf(xpOrder.getAppUserId()));
+ sendMessageDTO.setMessage(JSONObject.toJSONString(params));
+ R<String> stringR = xpPushMessageClient.sendRoute(sendMessageDTO);
+ //推送失败，重试3次
+ if(stringR.getCode() != Constants.SUCCESS){
+ RETRY_EXECUTOR.execute(() -> {
+ for (int i = 0; i < 3; i++) {
+ R<String> stringR1 = xpPushMessageClient.sendStatus(sendMessageDTO);
+ if(stringR1.getCode() == Constants.SUCCESS){
+ break;
+ }
+ try {
+ Thread.sleep(1000);
+ } catch (InterruptedException e) {
+ Thread.currentThread().interrupt();
+ return;
+ }
+ log.info("推送乘客端剩余导航数据消息失败：{} {} {}", stringR1.getMsg(), JSON.toJSONString(sendMessageDTO), xpOrder.getOrderNumber());
+ }
+ });
+ }
+
+ log.info("推送剩余导航数据成功 {} {}", xpOrder.getOrderNumber(), JSON.toJSONString(routeVo));
+ }
}
return R.ok();
}
--
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