From 2235c21db3a1fa1865706dca07423a41bcf603c0 Mon Sep 17 00:00:00 2001
From: “mitao” <“2763622819@qq.com”>
Date: 星期一, 09 三月 2026 15:05:42 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/master'
---
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java | 68 ++++++++++++++--------------------
1 files changed, 28 insertions(+), 40 deletions(-)
diff --git a/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java b/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java
index a2ebb22..b274609 100644
--- a/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java
+++ b/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java
@@ -5,6 +5,7 @@
import com.alibaba.fastjson2.JSONObject;
import com.google.protobuf.InvalidProtocolBufferException;
import com.google.protobuf.util.JsonFormat;
+import com.xiaopeng.api.dto.automaticPilot.MqttPublishDto;
import com.xiaopeng.api.dto.map.OrderRouteAndFareDto;
import com.xiaopeng.api.dto.operation.CruisePointDto;
import com.xiaopeng.api.dto.operation.LonLatDto;
@@ -242,40 +243,30 @@
log.warn("Unknown cmd value: {}", cmdValue);
return;
}
+ //云端下发订单的响应报文
if (cmd == RTCmdType.CLOUD_SEND_RT_TASK) {
RtTaskListResponse response = msgContent.getRtTaskListResponse();
try {
log.info("云端下发订单操作的响应消息 (XPU→云端)：{}", jsonPrinter.print(response));
+ Object sequence = redisTemplate.opsForValue().get("CREATE_ORDER:" + response.getResults().getOrderId());
+ if(sequence!=null){
+ JSONObject jsonObject = JSON.parseObject(sequence.toString());
+ String orderId = jsonObject.getString("orderId");
+ String vin = jsonObject.getString("vin");
+ String orderType = jsonObject.getString("orderType");
+ PopOrderDto dto = new PopOrderDto();
+ dto.setOrderId(Long.valueOf(orderId));
+ dto.setXpVehicleVin(vin);
+ dto.setOrderType(orderType);
+ xpOrderClient.popOrder(dto);
+ log.info("订单状态更新：{}", response.getResults().getOrderId());
+ }
} catch (InvalidProtocolBufferException e) {
log.error("Failed to print RtTaskListResponse: {}", response, e);
}
} else {
log.info("响应消息不在处理范围内，忽略：{}", message);
}
-// ResponseMessage response = msgContent.getResponse();
-// StatusCode code = response.getCode();
-// long requestSeq = response.getRequestSeq();
-// if(code == StatusCode.OK){
-// log.info("收到XPU消息的响应，code: {}, message: {}", code.getNumber(), message);
-// Object sequence = redisTemplate.opsForValue().get(requestSeq);
-// if(sequence!=null){
-// log.info("收到XPU消息的响应，sequence: {}", sequence);
-// JSONObject jsonObject = JSON.parseObject(sequence.toString());
-// String event = jsonObject.getString("event");
-// //推送导航的响应消息
-// if(SystemEventType.PUSH_NAVIGATION.equals(event)){
-// log.info("推送导航的响应消息，{}", jsonObject.toJSONString());
-// String orderId = jsonObject.getString("orderId");
-// String vin = jsonObject.getString("vin");
-// String orderType = jsonObject.getString("orderType");
-// PopOrderDto dto = new PopOrderDto();
-// dto.setOrderId(Long.valueOf(orderId));
-// dto.setXpVehicleVin(vin);
-// dto.setOrderType(orderType);
-// xpOrderClient.popOrder(dto);
-// }
-// }
-// }
}
}
@@ -557,16 +548,17 @@
vehicleId = xpOrder.getVehicleId();
}
- if(StringUtils.isNotEmpty(routeID)){
- XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
- R<String> stringR = xpMapClient.queryRouted(routeID);
- if (200 != stringR.getCode()) {
- throw new RuntimeException("根据导航ID获取车端需要的导航数据失败");
- }
- //TODO 这里的逻辑不太对，收到导航偏航事件之后
- //构建导航下发请求对象
- cloudPushNavigationInfo(requestId, routeID, stringR.getData(), orderType, orderId, xpVehicle.getVehicleVin(), xpVehicle.getXpuId());
- }
+ // TODO 在请求导航哪里返回导航数据
+// if(StringUtils.isNotEmpty(routeID)){
+// XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
+// R<String> stringR = xpMapClient.queryRouted(routeID);
+// if (200 != stringR.getCode()) {
+// throw new RuntimeException("根据导航ID获取车端需要的导航数据失败");
+// }
+// //TODO 这里的逻辑不太对，收到导航偏航事件之后
+// //构建响应导航数据给车端
+// cloudPushNavigationInfo(requestId, routeID, stringR.getData(), orderType, orderId, xpVehicle.getVehicleVin(), xpVehicle.getXpuId());
+// }
// }
}
@@ -586,12 +578,9 @@
Long vehicleId = null;
String orderType = "";
if (orderId.contains("XU")) {
-
orderType = OrderType.CRUISE_ORDER;
//巡游单
if (orderPhase.equals(OrderPhase.ROUTE_TO_CRUISE)) {
- //先响应消息
- responseMessage(sequence, "");
/* 构建导航数据给到车端 */
R<XpCruiseOrder> cruiseOrder = xpCruiseOrderClient.getCruiseOrder(orderId);
XpCruiseOrder xpCruiseOrder = cruiseOrder.getData();
@@ -624,8 +613,6 @@
}
XpOrder xpOrder = xpOrderR.getData();
XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
- //先响应消息
- responseMessage(sequence, xpVehicle.getVehicleVin());
//驶往上车点的行程
if (orderPhase.equals(OrderPhase.ROUTE_TO_PICKUP)) {
//查询车辆位置
@@ -1047,7 +1034,8 @@
jsonObject.put("orderId", orderId);
jsonObject.put("vin", vin);
redisTemplate.opsForValue().set(sequence, jsonObject.toJSONString(),30, TimeUnit.MINUTES);
- xpuUtil.cloudPushNavigation(navigationDataBuilder.build(), xpuId, sequence);
+ MqttPublishDto mqttPublishDto = xpuUtil.cloudPushNavigation(navigationDataBuilder.build(), xpuId, sequence);
+ log.info("推送导航的响应消息，{}", JSON.toJSONString(mqttPublishDto));
}
}
--
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