From 4dbdb4bc373f0cb20c7aa374d8cbcadfa7c56c97 Mon Sep 17 00:00:00 2001
From: puzhibing <393733352@qq.com>
Date: 星期三, 01 四月 2026 14:59:15 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/master'
---
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java | 264 +++++++++++++++++++++++++++++++++++++---------------
1 files changed, 188 insertions(+), 76 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 8e493d9..c8612f4 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
@@ -6,12 +6,14 @@
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;
@@ -19,21 +21,19 @@
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;
import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.data.geo.Point;
import org.springframework.data.mongodb.core.MongoTemplate;
import org.springframework.data.mongodb.core.geo.GeoJsonPoint;
@@ -62,24 +62,23 @@
private RedisService redisService;
@Resource
private XpVehicleClient xpVehicleClient;
+ @Resource
+ private VehicleBuriedPointClient vehicleBuriedPointClient;
+ @Resource(name = "hutoolSnowflake")
+ private Snowflake snowflake;
@PostMapping("/inner/pushOrder")
public R<Boolean> pushOrder(@RequestBody PushOrderDto dto) {
- RtTask.Builder taskBuilder = RtTask.newBuilder();
-
- 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);
- }
//构建点位信息
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)){
+ RtTask.Builder taskBuilder = RtTask.newBuilder();
+ taskBuilder.setOrderId(dto.getOrderId().toString());
+ taskBuilder.setTaskId(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);
@@ -98,74 +97,179 @@
pointBuilderEnd.setActionType(ActionType.DRIVE_THROUGH);
geoPointBuilder = GeoPoint.newBuilder();
geoPointBuilder.setLatitude(dto.getEndLatitude());
- geoPointBuilder.setLongitude(dto.getEndLatitude());
+ geoPointBuilder.setLongitude(dto.getEndLongitude());
pointBuilderEnd.setPoint(geoPointBuilder.build());
taskBuilder.addPoints(pointBuilderEnd);
taskBuilder.setSequence(1);
- }else{
- //用户订单
- if(dto.getStage() == 1){
- //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(dto.getStartLatitude());
- geoPointBuilder.setLongitude(dto.getStartLongitude());
- pointBuilderStart.setPoint(geoPointBuilder.build());
- taskBuilder.addPoints(pointBuilderStart);
+ taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_CRUISE);
+ 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++) {
+ 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(1);
- }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.getEndLatitude());
- geoPointBuilder.setLongitude(dto.getEndLatitude());
- 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.getEndLatitude());
- pointBuilderEnd.setPoint(geoPointBuilder.build());
- taskBuilder.addPoints(pointBuilderEnd);
- taskBuilder.setSequence(2);
+ //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());
}
- }
- RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
- 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++) {
+ 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);
- SnowFlake snowFlake = new SnowFlake(0, 0);
- snowFlake.withStartTimestamp(1420041600000L);
- long sequence = snowFlake.nextId();
+ //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_CRUISE_ORDER)){
+ //测试单巡游单
+ RtTask.Builder taskBuilder = RtTask.newBuilder();
+ taskBuilder.setOrderId(dto.getOrderId().toString());
+ taskBuilder.setTaskId(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.addOrderPhase(OrderPhase.ROUTE_TO_CRUISE);
+ taskListBuilder.addTasks(taskBuilder.build());
+ }
+
+ long sequence = snowflake.nextId();
MqttPublishDto mqttPublishDto = xpuUtil.cloudCreateOrder(taskListBuilder.build(), dto.getVin(),sequence);
+ //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));
+ }
+
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);
+ jsonObject.put("orderType", dto.getOrderType());
jsonObject.put("orderId", dto.getOrderId());
jsonObject.put("vin", dto.getVin());
- redisTemplate.opsForValue().set("CREATE_ORDER:" + dto.getOrderId().toString(), jsonObject.toJSONString(),30, TimeUnit.MINUTES);
+ redisService.setCacheObject("CREATE_ORDER:" + dto.getOrderId().toString(), jsonObject.toJSONString(),30L, TimeUnit.MINUTES);
return R.ok(true);
}
return R.ok(false);
@@ -173,22 +277,29 @@
@PostMapping("/inner/cancelOrder")
R<Boolean> cancelOrder(@RequestBody PushOrderDto dto) {
+ String taskId = StringUtils.isNotEmpty(dto.getTaskId()) ? dto.getTaskId() : 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().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);
}
@@ -522,6 +633,7 @@
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;
@@ -594,7 +706,7 @@
//5秒钟循环一次
try {
- Thread.sleep(500);
+ Thread.sleep(1000);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
--
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