From 4b358047c2d8b0a305c2ef9fbfe4fe7eaaea7a37 Mon Sep 17 00:00:00 2001
From: xuhy <3313886187@qq.com>
Date: 星期三, 29 四月 2026 20:10:10 +0800
Subject: [PATCH] 修改bug
---
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java | 469 ++++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 374 insertions(+), 95 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 9ccfced..21780f7 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
@@ -1,7 +1,6 @@
package com.xiaopeng.automaticPilot.controller;
import cn.hutool.core.lang.Snowflake;
-import cn.hutool.core.util.IdUtil;
import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONObject;
import com.xiaopeng.api.dto.automaticPilot.MqttPublishDto;
@@ -12,23 +11,23 @@
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.model.order.XpOrder;
+import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
+import com.xiaopeng.api.vo.SystemEventType;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
-import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.RTTask;
-import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.TaskStatus;
-import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.TaskType;
import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.api.vo.order.OrderTrajectoryVo;
import com.xiaopeng.automaticPilot.util.XPUUtil;
import com.xiaopeng.common.core.domain.R;
+import com.xiaopeng.common.core.enums.CancelOrderSceneEnum;
import com.xiaopeng.common.core.enums.OrderStatusEnum;
import com.xiaopeng.common.core.enums.PushMessageTypeEnum;
-import com.xiaopeng.common.core.utils.SnowFlake;
import com.xiaopeng.common.core.utils.StringUtils;
import com.xiaopeng.common.redis.service.RedisService;
import io.swagger.annotations.Api;
@@ -61,93 +60,316 @@
private RedisService redisService;
@Resource
private XpVehicleClient xpVehicleClient;
+ @Resource
+ private VehicleBuriedPointClient vehicleBuriedPointClient;
+ @Resource(name = "hutoolSnowflake")
+ private Snowflake snowflake;
- @PostMapping("/inner/pushOrder")
+ @PostMapping("/logan/inner/pushOrder")
public R<Boolean> pushOrder(@RequestBody PushOrderDto dto) {
- RtTask.Builder taskBuilder = RtTask.newBuilder();
- //TODO 设置目标地点信息
- taskBuilder.setOrderId(dto.getOrderId().toString());
- taskBuilder.setTaskId("MISSION_"+ IdUtil.fastUUID());
-
- if(dto.getOrderId().contains("XU")){
- taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
- }else {
- taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
- }
+ log.info("创建订单，推送XPU报文：{}", JSON.toJSONString(dto));
//构建点位信息
- Waypoint.Builder pointBuilder = Waypoint.newBuilder();
+ Waypoint.Builder pointBuilderStart = Waypoint.newBuilder();
+ Waypoint.Builder pointBuilderEnd = Waypoint.newBuilder();
+ RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
//巡游订单
if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.CRUISE_ORDER)){
- pointBuilder.setPointType(PointType.CRUISE_END_POINT);
- pointBuilder.setSequence(1);
- //构建终点坐标
+ RtTask.Builder taskBuilder = RtTask.newBuilder();
+ taskBuilder.setOrderId(dto.getOrderId().toString());
+ taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "");
+ taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
+ //构建起点坐标数据
+ pointBuilderStart.setWaypointId(dto.getOrderId() + "-001");
+ pointBuilderStart.setPointType(PointType.START_POINT);
+ pointBuilderStart.setSequence(1);
+ pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
- geoPointBuilder.setLatitude(dto.getEndLatitude());
- geoPointBuilder.setLongitude(dto.getEndLatitude());
- // geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
- pointBuilder.setPoint(geoPointBuilder.build());
- }else{
- //用户订单
- if(dto.getStage() == 1){
- //开往上车点
- pointBuilder.setPointType(PointType.START_POINT);
- pointBuilder.setActionType(ActionType.PICK_UP);
- pointBuilder.setSequence(1);
- //构建起点坐标
- GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
- geoPointBuilder.setLatitude(dto.getStartLatitude());
- geoPointBuilder.setLongitude(dto.getStartLongitude());
- // geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
- pointBuilder.setPoint(geoPointBuilder.build());
- }else{
- //开往终点
- pointBuilder.setPointType(PointType.END_POINT);
- pointBuilder.setActionType(ActionType.PICK_UP);
- pointBuilder.setSequence(1);
- //构建起点坐标
- GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
- geoPointBuilder.setLatitude(dto.getEndLatitude());
- geoPointBuilder.setLongitude(dto.getEndLatitude());
- // geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
- pointBuilder.setPoint(geoPointBuilder.build());
- }
- }
- taskBuilder.addPoints(pointBuilder);
- RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
- taskListBuilder.addTasks(taskBuilder.build());
+ geoPointBuilder.setLatitude(dto.getStartLatitude());
+ geoPointBuilder.setLongitude(dto.getStartLongitude());
+ pointBuilderStart.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderStart);
- SnowFlake snowFlake = new SnowFlake(0, 0);
- snowFlake.withStartTimestamp(1420041600000L);
- long sequence = snowFlake.nextId();
+ //构建终点数据
+ pointBuilderEnd.setWaypointId(dto.getOrderId() + "-002");
+ pointBuilderEnd.setPointType(PointType.CRUISE_END_POINT);
+ pointBuilderEnd.setSequence(2);
+ pointBuilderEnd.setActionType(ActionType.DRIVE_THROUGH);
+ geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getEndLatitude());
+ geoPointBuilder.setLongitude(dto.getEndLongitude());
+ pointBuilderEnd.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderEnd);
+ taskBuilder.setSequence(1);
+ taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_CRUISE);
+
+ //不停车替换原有任务
+ if(null != dto.getLastOrderId()){
+ TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
+ taskActionBuilder.setOrderId(dto.getLastOrderId());
+ taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
+ taskActionBuilder.setActionType(dto.getTaskActionType());
+ taskBuilder.setPreActions(0, taskActionBuilder);
+ }
+ taskListBuilder.addTasks(taskBuilder.build());
+ }else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.USER_ORDER)){
+ //乘客单
+ for (int i = 1; i < 3; i++) {
+ if(i == 1){
+ RtTask.Builder taskBuilder = RtTask.newBuilder();
+ taskBuilder.setOrderId(dto.getOrderId().toString());
+ taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getStartTaskId()) ? dto.getStartTaskId() : snowflake.nextId() + "");
+ taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
+ 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.setOrderPhase(OrderPhase.ROUTE_TO_PICKUP);
+
+ //不停车替换原有任务
+ if(null != dto.getLastOrderId()){
+ TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
+ taskActionBuilder.setOrderId(dto.getLastOrderId());
+ taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
+ taskActionBuilder.setActionType(dto.getTaskActionType());
+ taskBuilder.setPreActions(0, taskActionBuilder);
+ }
+ taskListBuilder.addTasks(taskBuilder.build());
+ }else{
+ RtTask.Builder taskBuilder = RtTask.newBuilder();
+ taskBuilder.setOrderId(dto.getOrderId().toString());
+ taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "");
+ taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
+ //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);
+ pointBuilderEnd.setPoiName(dto.getEndPoiName());
+ geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getEndLatitude());
+ geoPointBuilder.setLongitude(dto.getEndLongitude());
+ pointBuilderEnd.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderEnd);
+ taskBuilder.setSequence(i);
+ taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);
+
+ //不停车替换原有任务
+ if(null != dto.getLastOrderId()){
+ TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
+ taskActionBuilder.setOrderId(dto.getLastOrderId());
+ taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
+ taskActionBuilder.setActionType(dto.getTaskActionType());
+ taskBuilder.setPreActions(0, taskActionBuilder);
+ }
+ taskListBuilder.addTasks(taskBuilder.build());
+ }
+ }
+ }else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.TEST_ORDER)){
+ //测试单
+ for (int i = 1; i < 3; i++) {
+ if(i == 1){
+ RtTask.Builder taskBuilder = RtTask.newBuilder();
+ taskBuilder.setOrderId(dto.getOrderId().toString());
+ taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getStartTaskId()) ? dto.getStartTaskId() : snowflake.nextId() + "");
+ taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
+ 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());
+ pointBuilderEnd.setPoiName(dto.getEndPoiName());
+ taskBuilder.addPoints(pointBuilderEnd);
+ taskBuilder.setSequence(i);
+ taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_PICKUP);
+
+ //不停车替换原有任务
+ if(null != dto.getLastOrderId()){
+ TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
+ taskActionBuilder.setOrderId(dto.getLastOrderId());
+ taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
+ taskActionBuilder.setActionType(dto.getTaskActionType());
+ taskBuilder.setPreActions(0, taskActionBuilder);
+ }
+ taskListBuilder.addTasks(taskBuilder.build());
+ }else{
+ RtTask.Builder taskBuilder = RtTask.newBuilder();
+ taskBuilder.setOrderId(dto.getOrderId().toString());
+ taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "");
+ taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
+ //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.setOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);
+
+ //不停车替换原有任务
+ if(null != dto.getLastOrderId()){
+ TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
+ taskActionBuilder.setOrderId(dto.getLastOrderId());
+ taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
+ taskActionBuilder.setActionType(dto.getTaskActionType());
+ taskBuilder.setPreActions(0, taskActionBuilder);
+ }
+ taskListBuilder.addTasks(taskBuilder.build());
+ }
+ }
+ }else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.TEST_CRUISE_ORDER)){
+ //测试单巡游单
+ RtTask.Builder taskBuilder = RtTask.newBuilder();
+ taskBuilder.setOrderId(dto.getOrderId().toString());
+ taskBuilder.setTaskId(StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "");
+ taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
+ //构建起点坐标数据
+ pointBuilderStart.setWaypointId(dto.getOrderId() + "-001");
+ pointBuilderStart.setPointType(PointType.START_POINT);
+ pointBuilderStart.setSequence(1);
+ pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
+ GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getStartLatitude());
+ geoPointBuilder.setLongitude(dto.getStartLongitude());
+ pointBuilderStart.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderStart);
+
+ //构建终点数据
+ pointBuilderEnd.setWaypointId(dto.getOrderId() + "-002");
+ pointBuilderEnd.setPointType(PointType.CRUISE_END_POINT);
+ pointBuilderEnd.setSequence(2);
+ pointBuilderEnd.setActionType(ActionType.DRIVE_THROUGH);
+ geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getEndLatitude());
+ geoPointBuilder.setLongitude(dto.getEndLongitude());
+ pointBuilderEnd.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderEnd);
+ taskBuilder.setSequence(1);
+ taskBuilder.setOrderPhase(OrderPhase.ROUTE_TO_CRUISE);
+
+ //不停车替换原有任务
+ if(null != dto.getLastOrderId()){
+ TaskAction.Builder taskActionBuilder = TaskAction.newBuilder();
+ taskActionBuilder.setOrderId(dto.getLastOrderId());
+ taskActionBuilder.setTaskId(dto.getLastXpuTaskId());
+ taskActionBuilder.setActionType(dto.getTaskActionType());
+ taskBuilder.setPreActions(0, taskActionBuilder);
+ }
+ taskListBuilder.addTasks(taskBuilder.build());
+ }
+
+ long sequence = snowflake.nextId();
MqttPublishDto mqttPublishDto = xpuUtil.cloudCreateOrder(taskListBuilder.build(), dto.getVin(),sequence);
- // 正常单子才修改 巡游单子不修改状态
- if (!dto.getOrderId().contains("XU") && mqttPublishDto.getCode()== 200) {
+ //先将车辆修改状态，防止在异步通知之前被其他订单选中
+ if(!dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.CRUISE_ORDER) &&
+ !dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.TEST_CRUISE_ORDER)
+ && mqttPublishDto.getCode()== 200){
// 修改车子为接单状态
- xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(dto.getVin(),1));
+ xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(dto.getVin(), 1));
+
+ // TODO[流量接入] 通过设置的URL发送订单和导航路线给运力
+
+ }
+
+ if(null != mqttPublishDto && mqttPublishDto.getCode() == 200){
+ JSONObject jsonObject = new JSONObject();
+ jsonObject.put("event", SystemEventType.CREATE_ORDER);
+ jsonObject.put("orderType", dto.getOrderType());
+ jsonObject.put("orderId", dto.getOrderId());
+ jsonObject.put("vin", dto.getVin());
+ redisService.setCacheObject("CREATE_ORDER:" + dto.getOrderId().toString(), jsonObject.toJSONString(),30L, TimeUnit.MINUTES);
return R.ok(true);
}
return R.ok(false);
}
- @PostMapping("/inner/cancelOrder")
- R<Boolean> cancelOrder(@RequestBody PushOrderDto dto) {
+ @PostMapping("/logan/inner/cancelOrder")
+ public R<Boolean> cancelOrder(@RequestBody PushOrderDto dto) {
+ log.info("取消订单，推送XPU报文：{}", JSON.toJSONString(dto));
+ String taskId = StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "";
OrderOperation.Builder operationBuilder = OrderOperation.newBuilder();
operationBuilder.setOrderId(dto.getOrderId().toString());
- operationBuilder.setTaskId("CANCEL_MISSION_" + IdUtil.fastUUID());
+ operationBuilder.setTaskId(taskId);
if (dto.getOperation_type() != null) {
- operationBuilder.setOperationType(OrderOperationType.forNumber(dto.getOperation_type().getValue()));
+ operationBuilder.setOperationType(OrderOperationType.forNumber(dto.getOperation_type().getNumber()));
}
- SnowFlake snowFlake = new SnowFlake(0, 0);
- snowFlake.withStartTimestamp(1420041600000L);
- long sequence = snowFlake.nextId();
+ long sequence = snowflake.nextId();
MqttPublishDto mqttPublishDto = xpuUtil.cloudOrderOperation(operationBuilder.build(), dto.getVin(), sequence);
if (mqttPublishDto.getCode() == 200) {
if(!dto.getOrderId().contains("XU")){
- // 正常订单处理
- redisService.setCacheObject(String.valueOf(sequence), "cancelOrder_" + dto.getOrderId() + "_" + dto.getVin(), 30l, TimeUnit.MINUTES);
+ Map<String, Object> cancelContext = new HashMap<>();
+ cancelContext.put("orderId", dto.getOrderId());
+ cancelContext.put("vin", dto.getVin());
+ cancelContext.put("cancelScene", StringUtils.isNotEmpty(dto.getCancelScene())
+ ? dto.getCancelScene()
+ : CancelOrderSceneEnum.NORMAL_CANCEL.getCode());
+ redisService.setCacheObject("CANCEL_ORDER_CONTEXT:" + taskId,
+ JSONObject.toJSONString(cancelContext), 30L, TimeUnit.MINUTES);
+ log.info("记录取消订单上下文成功，orderId: {}, vin: {}, taskId: {}, cancelScene: {}",
+ dto.getOrderId(), dto.getVin(), taskId, cancelContext.get("cancelScene"));
}
return R.ok(true);
}
@@ -159,6 +381,48 @@
+ @PostMapping("/logan/inner/updateEndAddress")
+ public R<Boolean> updateEndAddress(@RequestBody PushOrderDto dto){
+ log.info("修改目的地，推送XPU报文：{}", JSON.toJSONString(dto));
+ String taskId = StringUtils.isNotEmpty(dto.getEndTaskId()) ? dto.getEndTaskId() : snowflake.nextId() + "";
+ OrderOperation.Builder operationBuilder = OrderOperation.newBuilder();
+ operationBuilder.setOrderId(dto.getOrderId().toString());
+ operationBuilder.setTaskId(taskId);
+ if (dto.getOperation_type() != null) {
+ operationBuilder.setOperationType(OrderOperationType.forNumber(dto.getOperation_type().getNumber()));
+ }
+ Waypoint.Builder waypointBuilder = Waypoint.newBuilder();
+ waypointBuilder.setWaypointId(dto.getOrderId() + "-002");
+ waypointBuilder.setPointType(PointType.END_POINT);
+ waypointBuilder.setActionType(ActionType.DROP_OFF);
+ waypointBuilder.setSequence(2);
+ GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getEndLatitude());
+ geoPointBuilder.setLongitude(dto.getEndLongitude());
+ waypointBuilder.setPoint(geoPointBuilder.build());
+ waypointBuilder.setPoiName(dto.getEndPoiName());
+ operationBuilder.setTargetPoint(waypointBuilder);
+ long sequence = snowflake.nextId();
+ MqttPublishDto mqttPublishDto = xpuUtil.cloudOrderOperation(operationBuilder.build(), dto.getVin(), sequence);
+
+ if (mqttPublishDto.getCode() == 200) {
+ if(!dto.getOrderId().contains("XU")){
+ Map<String, Object> cancelContext = new HashMap<>();
+ cancelContext.put("orderId", dto.getOrderId());
+ cancelContext.put("vin", dto.getVin());
+ cancelContext.put("cancelScene", StringUtils.isNotEmpty(dto.getCancelScene())
+ ? dto.getCancelScene()
+ : CancelOrderSceneEnum.NORMAL_CANCEL.getCode());
+ redisService.setCacheObject("CANCEL_ORDER_CONTEXT:" + taskId,
+ JSONObject.toJSONString(cancelContext), 30L, TimeUnit.MINUTES);
+ log.info("记录修改目的地订单上下文成功，orderId: {}, vin: {}, taskId: {}, cancelScene: {}",
+ dto.getOrderId(), dto.getVin(), taskId, cancelContext.get("cancelScene"));
+ }
+ return R.ok(true);
+ }
+
+ return R.ok(false);
+ }
@@ -202,8 +466,8 @@
vehicleId = 11L;//默认使用造的测试车辆
}
if(null == startLat || null == startLon){
- startLat = 30.583407D;
- startLon = 104.040251D;
+ startLat = 23.146815D;
+ startLon = 113.459765D;
}
XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
XpOrder xpOrder = null;
@@ -225,6 +489,7 @@
destination.setLatitude(xpOrder.getStartLat());
dto.setDestination(destination);
dto.setRouteType(1);
+ dto.setVehicleId(xpOrder.getVehicleId());
R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
if (200 != routeVoR.getCode()) {
throw new RuntimeException("获取订单线路和运费失败");
@@ -256,7 +521,18 @@
if (R.isError(stringR)) {
log.error("推送消息失败：{}", stringR.getMsg());
}
- xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP.getCode());
+ xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP.getCode(), false);
+
+// PushOrderRouteDTO dto3 = new PushOrderRouteDTO();
+// dto3.setOrderId(orderId);
+// dto3.setRouteType(1);
+// dto3.setLongitude(startLon);
+// dto3.setLatitude(startLat);
+// dto3.setDuration(10);
+// dto3.setDistance(2);
+// dto3.setDirection(60);
+// xpPushMessageClient.pushOrderRoute(dto3);
+
return r;
}
@@ -281,15 +557,15 @@
orderId = xpOrder.getId();
String vin = xpVehicle.getVehicleVin();
Long appUserId = xpOrder.getAppUserId();
-// Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId());
-// RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
- RouteVo routeVo =new RouteVo();
- ArrayList<LonLatDto> lonLatDtos = new ArrayList<>();
- LonLatDto lonLatDto1 = new LonLatDto();
- lonLatDto1.setLatitude(30.575685);
- lonLatDto1.setLongitude(104.001118);
- lonLatDtos.add(lonLatDto1);
- routeVo.setPolyline(lonLatDtos);
+ Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId());
+ RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
+// RouteVo routeVo =new RouteVo();
+// ArrayList<LonLatDto> lonLatDtos = new ArrayList<>();
+// LonLatDto lonLatDto1 = new LonLatDto();
+// lonLatDto1.setLatitude(30.575685);
+// lonLatDto1.setLongitude(104.001118);
+// lonLatDtos.add(lonLatDto1);
+// routeVo.setPolyline(lonLatDtos);
ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));
@@ -344,9 +620,10 @@
dto.setRouteType(1);
dto.setLongitude(longitude);
dto.setLatitude(latitude);
- dto.setDuration(10);
- dto.setDistance(2);
+ dto.setDuration(10.0);
+ dto.setDistance(2.0);
dto.setDirection(60);
+ dto.setMessageType(PushMessageTypeEnum.ORDER_ROUTE.getDesc());
xpPushMessageClient.pushOrderRoute(dto);
}
@@ -374,7 +651,7 @@
if (R.isError(stringR)) {
log.error("推送消息失败：{}", stringR.getMsg());
}
- xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.PICK_UP_GUESTS.getCode());
+ xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.PICK_UP_GUESTS.getCode(), false);
});
}
@@ -412,24 +689,24 @@
if (R.isError(stringR)) {
log.error("推送消息失败：{}", stringR.getMsg());
}
- xpOrderClient.updateOrderStatus(orderId, status);
+ xpOrderClient.updateOrderStatus(orderId, status, false);
if(5 == status){
//主动推一次全程轨迹
Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId());
RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
- com.alibaba.fastjson2.JSONObject jsonObject = new com.alibaba.fastjson2.JSONObject();
+ JSONObject jsonObject = new JSONObject();
jsonObject.put("type", "ORDER_ROUTE");
jsonObject.put("timestamp", System.currentTimeMillis());
- com.alibaba.fastjson2.JSONObject content1 = new com.alibaba.fastjson2.JSONObject();
+ JSONObject content1 = new JSONObject();
content1.put("orderId", orderId.toString());
content1.put("routeType", 1);
- com.alibaba.fastjson2.JSONObject route = new com.alibaba.fastjson2.JSONObject();
+ JSONObject route = new JSONObject();
route.put("distance", routeVo.getDistance());
route.put("duration", routeVo.getDuration());
route.put("routeID", routeVo.getRouteID());
- List<com.alibaba.fastjson2.JSONObject> collect = routeVo.getPolyline().stream().map(item -> {
- com.alibaba.fastjson2.JSONObject point = new com.alibaba.fastjson2.JSONObject();
+ List<JSONObject> collect = routeVo.getPolyline().stream().map(item -> {
+ JSONObject point = new JSONObject();
point.put("latitude", item.getLatitude());
point.put("longitude", item.getLongitude());
return point;
@@ -470,6 +747,7 @@
Long appUserId = xpOrder.getAppUserId();
Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId());
RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
+ log.info("开始实施推送车辆位置和剩余导航线路 {} {}", xpOrder.getOrderNumber(), JSON.toJSONString(routeVo));
ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));
Long finalOrderId = orderId;
@@ -524,10 +802,11 @@
dto.setRouteType(1);
dto.setLongitude(longitude);
dto.setLatitude(latitude);
- dto.setDuration(20);
- dto.setDistance(10);
+ dto.setDuration(20.0);
+ dto.setDistance(10.0);
dto.setDirection(60);
- xpPushMessageClient.pushOrderRoute(dto);
+ dto.setMessageType(PushMessageTypeEnum.ORDER_ROUTE.getDesc());
+ R<String> stringR = xpPushMessageClient.pushOrderRoute(dto);
//存储历史轨迹
OrderTrajectoryVo orderTrajectory = new OrderTrajectoryVo();
@@ -542,7 +821,7 @@
//5秒钟循环一次
try {
- Thread.sleep(500);
+ Thread.sleep(1000);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
@@ -564,7 +843,7 @@
if (R.isError(stringR)) {
log.error("推送消息失败：{}", stringR.getMsg());
}
- xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode());
+ xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode(), false);
});
}
--
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