From 244228feba355b4df8e160fd4c7c353f674044f1 Mon Sep 17 00:00:00 2001
From: “mitao” <“2763622819@qq.com”>
Date: 星期六, 14 二月 2026 17:08:05 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/master'
---
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java | 50 ++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 50 insertions(+), 0 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 822c6ea..a3848ae 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
@@ -270,6 +270,56 @@
/**
+ * XPU发布系统运行状态---车辆实时位置
+ *
+ * @param msgContent
+ */
+ public void systemStatusXpuAndReassign(MsgContent msgContent) {
+ //开始处理消息对应的业务逻辑
+ SystemRuntimeStatus systemRuntimeStatus = msgContent.getContent_detail().getObject("systemRuntimeStatus", SystemRuntimeStatus.class);
+ AbnormalReason abnormalReason = systemRuntimeStatus.getSystem_status().getAbnormal_reason();
+ // 判断是否为故障状态
+ if (abnormalReason == AbnormalReason.FAULT) {
+ log.info("车辆故障，开始处理故障");
+ // TODO 添加异常任务
+ // 解绑用户与车辆关系
+ CancelTaxiPassengerVo cancelTaxiPassengerVo = new CancelTaxiPassengerVo();
+ String orderId = systemRuntimeStatus.getRunning_order_status_info().getOrder_id();
+ XpOrder xpOrder = xpOrderClient.queryOrderById(Long.parseLong(orderId)).getData();
+ XpVehicle vehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
+ if (vehicle != null) {
+ // 修改车辆状态
+ vehicle.setOperatingStatus(4);
+ xpVehicleClient.updateVehicleById(vehicle);
+ cancelTaxiPassengerVo.setVin(vehicle.getVehicleVin());
+ cancelTaxiPassengerVo.setUid(xpOrder.getAppUserId().toString());
+ cancelTaxiPassengerVo.setOrderNo(xpOrder.getOrderNumber());
+ // TODO
+// cancelTaxiPassengerVo.setAppId();
+ userVehicleClient.cancelTaxiPassenger(cancelTaxiPassengerVo);
+ }
+ // 取消订单
+ R<?> r = xpOrderClient.cancelOrder(String.valueOf(xpOrder.getId()));
+ if (r.getCode() == R.SUCCESS){
+ log.info("取消订单成功");
+ // TODO 重新派单
+ ReassignOrderDTO reassignOrderDTO = new ReassignOrderDTO();
+ reassignOrderDTO.setUid(xpOrder.getAppUserId().toString());
+ reassignOrderDTO.setOrderNo(xpOrder.getOrderNumber());
+ reassignOrderDTO.setCount(10);
+ RealtimePose pose = systemRuntimeStatus.getPose();
+ Wgs naviPose = pose.getNavi_pose();
+ Double latitude = naviPose.getLatitude();
+ Double longitude = naviPose.getLongitude();
+ reassignOrderDTO.setLongitude(longitude);
+ reassignOrderDTO.setLatitude(latitude);
+ reassignOrderClient.reassignOrder(reassignOrderDTO);
+ }
+ }
+ }
+
+
+ /**
* XPU向云端请求导航
*
* @param msgContent
--
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