From 0da19d473d89bb812610501809481fdf6c2c4756 Mon Sep 17 00:00:00 2001
From: liujie <1793218484@qq.com>
Date: 星期二, 24 三月 2026 20:53:13 +0800
Subject: [PATCH] Merge branch 'master' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi
---
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java | 74 ++++++++++++++++++++++++++++++++++++-
1 files changed, 72 insertions(+), 2 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 00bbb67..3541fc0 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
@@ -6,17 +6,20 @@
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;
import com.xiaopeng.api.dto.pushMessage.PushOrderRouteDTO;
import com.xiaopeng.api.dto.pushMessage.SendMessageDTO;
import com.xiaopeng.api.dto.vehicleConvoy.UpdateVehicleStateDto;
+import com.xiaopeng.api.feignClient.automaticPilot.VehicleBuriedPointClient;
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;
+import com.xiaopeng.api.vo.OrderType;
import com.xiaopeng.api.vo.SystemEventType;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
@@ -59,6 +62,8 @@
private RedisService redisService;
@Resource
private XpVehicleClient xpVehicleClient;
+ @Resource
+ private VehicleBuriedPointClient vehicleBuriedPointClient;
@Resource(name = "hutoolSnowflake")
private Snowflake snowflake;
@@ -98,7 +103,65 @@
taskBuilder.setSequence(1);
taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_CRUISE);
taskListBuilder.addTasks(taskBuilder.build());
- }else{
+ }else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.USER_ORDER)){
+ 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){
+ 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);
+ GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(vehiclePosition.getPoint().getY());
+ geoPointBuilder.setLongitude(vehiclePosition.getPoint().getX());
+ pointBuilderStart.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderStart);
+
+ //构建上车点位置信息
+ pointBuilderEnd.setWaypointId(dto.getOrderId() + "-JJ-002");
+ pointBuilderEnd.setPointType(PointType.PICK_UP_POINT);
+ pointBuilderEnd.setActionType(ActionType.PICK_UP);
+ pointBuilderEnd.setSequence(2);
+ geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getStartLatitude());
+ geoPointBuilder.setLongitude(dto.getStartLongitude());
+ pointBuilderEnd.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderEnd);
+ taskBuilder.setSequence(i);
+ taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_PICKUP);
+ }else{
+ //构建上车点位置信息
+ pointBuilderStart.setWaypointId(dto.getOrderId() + "-SD-001");
+ pointBuilderStart.setPointType(PointType.PICK_UP_POINT);
+ pointBuilderStart.setActionType(ActionType.PICK_UP);
+ pointBuilderStart.setSequence(1);
+ GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getStartLatitude());
+ geoPointBuilder.setLongitude(dto.getStartLongitude());
+ pointBuilderStart.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderStart);
+
+ //构建下车点位置信息
+ pointBuilderEnd.setWaypointId(dto.getOrderId() + "-SD-002");
+ pointBuilderEnd.setPointType(PointType.END_POINT);
+ pointBuilderEnd.setActionType(ActionType.DROP_OFF);
+ pointBuilderEnd.setSequence(2);
+ geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getEndLatitude());
+ geoPointBuilder.setLongitude(dto.getEndLongitude());
+ pointBuilderEnd.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderEnd);
+ taskBuilder.setSequence(i);
+ taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);
+ }
+ taskListBuilder.addTasks(taskBuilder.build());
+ }
+ }else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.TEST_ORDER)){
for (int i = 1; i < 3; i++) {
RtTask.Builder taskBuilder = RtTask.newBuilder();
taskBuilder.setOrderId(dto.getOrderId().toString());
@@ -165,10 +228,17 @@
// 修改车子为接单状态
xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(dto.getVin(), 1));
}
+
if(null != mqttPublishDto && mqttPublishDto.getCode() == 200){
JSONObject jsonObject = new JSONObject();
jsonObject.put("event", SystemEventType.CREATE_ORDER);
- jsonObject.put("orderType", dto.getOrderId().contains("XU") ? com.xiaopeng.api.vo.OrderType.CRUISE_ORDER : com.xiaopeng.api.vo.OrderType.USER_ORDER);
+ if(dto.getOrderId().contains("XU")){
+ jsonObject.put("orderType", com.xiaopeng.api.vo.OrderType.CRUISE_ORDER);
+ }else if(dto.getOrderId().contains("TEST")){
+ jsonObject.put("orderType", com.xiaopeng.api.vo.OrderType.TEST_ORDER);
+ }else {
+ jsonObject.put("orderType", com.xiaopeng.api.vo.OrderType.USER_ORDER);
+ }
jsonObject.put("orderId", dto.getOrderId());
jsonObject.put("vin", dto.getVin());
redisService.setCacheObject("CREATE_ORDER:" + dto.getOrderId().toString(), jsonObject.toJSONString(),30L, TimeUnit.MINUTES);
--
Gitblit v1.7.1