From c96fbe6b0aeb413a17c429133ee6d81d138144b9 Mon Sep 17 00:00:00 2001
From: liujie <1793218484@qq.com>
Date: 星期二, 09 六月 2026 10:58:52 +0800
Subject: [PATCH] Merge branch '1.0' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi into 1.0
---
xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/schedule/VehicleCollectionScheduleTask.java | 39 ++++++++++++++++++++-------------------
1 files changed, 20 insertions(+), 19 deletions(-)
diff --git a/xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/schedule/VehicleCollectionScheduleTask.java b/xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/schedule/VehicleCollectionScheduleTask.java
index 146fc30..0cceeba 100644
--- a/xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/schedule/VehicleCollectionScheduleTask.java
+++ b/xp-robotaxi-maintenance-boot/src/main/java/com/xiaopeng/maintenance/schedule/VehicleCollectionScheduleTask.java
@@ -1,8 +1,7 @@
package com.xiaopeng.maintenance.schedule;
-import cn.hutool.core.util.IdUtil;
+import cn.hutool.core.lang.Snowflake;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.xiaopeng.api.dto.automaticPilot.PushOrderDto;
import com.xiaopeng.api.feignClient.automaticPilot.OrderMissionClient;
import com.xiaopeng.api.feignClient.operation.XpCruisePlanClient;
import com.xiaopeng.api.feignClient.order.XpCruiseOrderClient;
@@ -10,9 +9,10 @@
import com.xiaopeng.api.model.maintenance.XpTaskRule;
import com.xiaopeng.api.model.order.XpCruiseOrder;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
-import com.xiaopeng.api.vo.OrderType;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
+import com.xiaopeng.api.vo.automaticPilot.protobuf.TaskActionType;
import com.xiaopeng.common.core.domain.R;
+import com.xiaopeng.common.core.utils.SensitiveDataCryptoUtil;
import com.xiaopeng.maintenance.mapper.XpTaskRuleMapper;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
@@ -24,6 +24,7 @@
import org.springframework.stereotype.Component;
import org.springframework.util.CollectionUtils;
+import javax.annotation.Resource;
import java.time.LocalTime;
import java.util.Collections;
import java.util.List;
@@ -65,6 +66,9 @@
@Autowired
private XpCruisePlanClient xpCruisePlanClient;
+
+ @Resource(name = "hutoolSnowflake")
+ private Snowflake snowflake;
/**
* 每分钟检查一次是否需要执行收车任务
@@ -200,11 +204,12 @@
* @param xpVehicle 车辆信息
*/
private void sendCollectionCommand(XpVehicle xpVehicle) {
+ String vin = SensitiveDataCryptoUtil.decryptIfPossible(xpVehicle.getVehicleVin());
// 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<Long> r = xpCruiseOrderClient.updateCruiseOrder(xpVehicle.getVehicleVin());
+ XpCruiseOrder oldCruiseOrder = xpCruiseOrderClient.cancelCruiseOrderByVin(vin).getData();
// mongodb 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);
+ VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
XpCruiseOrder xpCruiseOrder = new XpCruiseOrder();
if(vehiclePosition!=null){
double x = vehiclePosition.getPoint().getX();
@@ -218,23 +223,19 @@
xpCruiseOrder.setOrderType(2);
xpCruiseOrder.setStatus(1);
xpCruiseOrder.setOrderReverse(1);
- xpCruiseOrder.setLastOrderId(r.getData());
+ xpCruiseOrder.setLastOrderId(oldCruiseOrder.getId());
+ xpCruiseOrder.setOrderReverse(1);
+ xpCruiseOrder.setXpuTaskId(snowflake.nextId() + "");
// 找到收车站点
R<XpCruiseOrder> returnCruisePoint = xpCruisePlanClient.findReturnCruisePoint(xpCruiseOrder);
- if (returnCruisePoint.getData() != null) {
- xpCruiseOrderClient.addCruiseOrder(returnCruisePoint.getData());
- // 下发命令
- PushOrderDto pushOrderDto = new PushOrderDto();
- pushOrderDto.setVin(returnCruisePoint.getData().getVehicleVin());
- pushOrderDto.setOrderId("XU" + returnCruisePoint.getData().getId());
- pushOrderDto.setStartLatitude(returnCruisePoint.getData().getStartLat());
- pushOrderDto.setStartLongitude(returnCruisePoint.getData().getStartLon());
- pushOrderDto.setEndLatitude(returnCruisePoint.getData().getEndLat());
- pushOrderDto.setEndLongitude(returnCruisePoint.getData().getEndLon());
- pushOrderDto.setOrderType(OrderType.CRUISE_ORDER);
- pushOrderDto.setStage(2);
- orderMissionClient.pushOrder(pushOrderDto);
+ if (returnCruisePoint.getData() != null && 200 == returnCruisePoint.getCode()) {
+ XpCruiseOrder cruiseOrder = returnCruisePoint.getData();
+ //不停车替换新任务
+ cruiseOrder.setLastOrderId1("XU" + oldCruiseOrder.getId());
+ cruiseOrder.setLastXpuTaskId(oldCruiseOrder.getXpuTaskId());
+ cruiseOrder.setTaskActionType(TaskActionType.kTerminateForNewTask);
+ xpCruiseOrderClient.addCruiseOrder(cruiseOrder);
}
log.info("向车辆[{}]发送收车指令", xpVehicle.getPlateNumber());
}
--
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