From 73427c7a74686bd2a16e00c2ac9c28cf1de40c4c Mon Sep 17 00:00:00 2001
From: “mitao” <“2763622819@qq.com”>
Date: 星期日, 01 三月 2026 07:41:05 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/master'
---
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java | 69 ++++++++++++++++++++++++++++------
1 files changed, 57 insertions(+), 12 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 60299bc..7f20de2 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
@@ -32,6 +32,7 @@
import com.xiaopeng.common.redis.service.RedisService;
import io.swagger.annotations.Api;
import lombok.extern.slf4j.Slf4j;
+import org.springframework.data.geo.Point;
import org.springframework.data.mongodb.core.MongoTemplate;
import org.springframework.data.mongodb.core.geo.GeoJsonPoint;
import org.springframework.data.mongodb.core.query.Criteria;
@@ -46,6 +47,7 @@
import java.util.concurrent.LinkedBlockingQueue;
import java.util.concurrent.ThreadPoolExecutor;
import java.util.concurrent.TimeUnit;
+import java.util.stream.Collectors;
@Slf4j
@RestController
@@ -170,7 +172,7 @@
}
RouteVo routeVo = routeVoR.getData();
//缓存数据，用于后续推给乘客导航线路
- redisService.setCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId(), com.alibaba.fastjson.JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
+ redisService.setCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
PopOrderDto dto1 = new PopOrderDto();
dto1.setOrderId(Long.valueOf(orderId));
@@ -181,7 +183,7 @@
//构建推送消息
Map<String, Object> params = new HashMap<>();
Map<String, Object> content = new HashMap<>();
- content.put("orderId", orderId);
+ content.put("orderId", orderId.toString());
content.put("status", 3);
params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
params.put("content", JSONObject.toJSONString(content));
@@ -196,6 +198,17 @@
log.error("推送消息失败：{}", stringR.getMsg());
}
xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP.getCode());
+
+// 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;
}
@@ -228,7 +241,7 @@
Double longitude = lonLatDto.getLongitude();
//保存车辆实时位置到redis
- redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new GeoJsonPoint(longitude, latitude), vin);
+ redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new Point(longitude, latitude), vin);
//保存车辆实时信息到mongodb
VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
@@ -254,10 +267,11 @@
dto.setLatitude(latitude);
dto.setDuration(10);
dto.setDistance(2);
+ dto.setDirection(60);
xpPushMessageClient.pushOrderRoute(dto);
}
- //5秒钟循环一次
+ //2秒钟循环一次
try {
Thread.sleep(2000);
} catch (InterruptedException e) {
@@ -268,7 +282,7 @@
//构建推送消息
Map<String, Object> params = new HashMap<>();
Map<String, Object> content = new HashMap<>();
- content.put("orderId", orderId);
+ content.put("orderId", orderId.toString());
content.put("status", 4);
params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
params.put("content", JSONObject.toJSONString(content));
@@ -299,7 +313,7 @@
//构建推送消息
Map<String, Object> params = new HashMap<>();
Map<String, Object> content = new HashMap<>();
- content.put("orderId", orderId);
+ content.put("orderId", orderId.toString());
content.put("status", status);
params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
params.put("content", JSONObject.toJSONString(content));
@@ -313,6 +327,36 @@
log.error("推送消息失败：{}", stringR.getMsg());
}
xpOrderClient.updateOrderStatus(orderId, status);
+ 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.put("type", "ORDER_ROUTE");
+ jsonObject.put("timestamp", System.currentTimeMillis());
+ com.alibaba.fastjson2.JSONObject content1 = new com.alibaba.fastjson2.JSONObject();
+ content1.put("orderId", orderId.toString());
+ content1.put("routeType", 1);
+ com.alibaba.fastjson2.JSONObject route = new com.alibaba.fastjson2.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();
+ point.put("latitude", item.getLatitude());
+ point.put("longitude", item.getLongitude());
+ return point;
+ }).collect(Collectors.toList());
+
+ route.put("polyline", JSON.toJSONString(collect));
+ content1.put("route", route.toJSONString());
+ jsonObject.put("content", content1.toJSONString());
+ SendMessageDTO messageDTO = new SendMessageDTO();
+ messageDTO.setAppUserId(xpOrder.getAppUserId().toString());
+ messageDTO.setMessage(jsonObject.toJSONString());
+ xpPushMessageClient.sendRoute(messageDTO);
+ }
return R.ok();
}
@@ -346,7 +390,7 @@
Double longitude = lonLatDto.getLongitude();
//保存车辆实时位置到redis
- redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new GeoJsonPoint(longitude, latitude), vin);
+ redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new Point(longitude, latitude), vin);
//保存车辆实时信息到mongodb
VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(vin)), VehiclePosition.class);
@@ -367,17 +411,18 @@
if (null != orderId) {
PushOrderRouteDTO dto = new PushOrderRouteDTO();
dto.setOrderId(orderId);
- dto.setRouteType(2);
+ dto.setRouteType(1);
dto.setLongitude(longitude);
dto.setLatitude(latitude);
dto.setDuration(20);
dto.setDistance(10);
+ dto.setDirection(60);
xpPushMessageClient.pushOrderRoute(dto);
}
//5秒钟循环一次
try {
- Thread.sleep(2000);
+ Thread.sleep(500);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
@@ -386,8 +431,8 @@
//构建推送消息
Map<String, Object> params = new HashMap<>();
Map<String, Object> content = new HashMap<>();
- content.put("orderId", orderId);
- content.put("status", 4);
+ content.put("orderId", orderId.toString());
+ content.put("status", 7);
params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
params.put("content", JSONObject.toJSONString(content));
params.put("timestamp", System.currentTimeMillis() + "");
@@ -399,7 +444,7 @@
if (R.isError(stringR)) {
log.error("推送消息失败：{}", stringR.getMsg());
}
- xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP_GUESTS.getCode());
+ xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode());
});
}
--
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