From 52492c65b3229425f806e16faf4fe062b8dccfe2 Mon Sep 17 00:00:00 2001
From: puzhibing <393733352@qq.com>
Date: 星期二, 10 三月 2026 11:33:37 +0800
Subject: [PATCH] 合并代码
---
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java | 98 ++++++++++++++++++++++++++++++++++++-------------
1 files changed, 72 insertions(+), 26 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 2668fce..9a68f6d 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
@@ -17,6 +17,7 @@
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.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;
@@ -65,7 +66,7 @@
@PostMapping("/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());
@@ -75,44 +76,82 @@
taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
}
//构建点位信息
- Waypoint.Builder pointBuilder = Waypoint.newBuilder();
+ Waypoint.Builder pointBuilderStart = Waypoint.newBuilder();
+ Waypoint.Builder pointBuilderEnd = Waypoint.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
+ //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.getEndLatitude());
- // geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
- pointBuilder.setPoint(geoPointBuilder.build());
+ pointBuilderEnd.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderEnd);
+ taskBuilder.setSequence(1);
}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
+ //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());
- // geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
- pointBuilder.setPoint(geoPointBuilder.build());
+ 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{
- //开往终点
- pointBuilder.setPointType(PointType.END_POINT);
- pointBuilder.setActionType(ActionType.PICK_UP);
- pointBuilder.setSequence(1);
- //构建起点坐标
+ //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());
- // geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
- pointBuilder.setPoint(geoPointBuilder.build());
+ 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);
}
}
- taskBuilder.addPoints(pointBuilder);
RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
taskListBuilder.addTasks(taskBuilder.build());
@@ -120,11 +159,18 @@
snowFlake.withStartTimestamp(1420041600000L);
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
+ //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.getOrderId().contains("XU") && 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));
+ }
+ 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("orderId", dto.getOrderId());
+ jsonObject.put("vin", dto.getVin());
+ redisTemplate.opsForValue().set("CREATE_ORDER:" + dto.getOrderId().toString(), jsonObject.toJSONString(),30, TimeUnit.MINUTES);
return R.ok(true);
}
return R.ok(false);
@@ -136,7 +182,7 @@
operationBuilder.setOrderId(dto.getOrderId().toString());
operationBuilder.setTaskId("CANCEL_MISSION_" + IdUtil.fastUUID());
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);
--
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