From 8d5f2e4948c9aa18e8024232e3f6dcd712be61ae Mon Sep 17 00:00:00 2001
From: puzhibing <393733352@qq.com>
Date: 星期日, 01 三月 2026 07:41:43 +0800
Subject: [PATCH] 修改bug
---
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java | 438 +++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 411 insertions(+), 27 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 71497f4..6102a1f 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
@@ -2,24 +2,53 @@
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;
import com.xiaopeng.api.dto.automaticPilot.PushOrderDto;
+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.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.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.proto.down.cloudOrderOperation.OrderOperation;
-import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudOrderOperation.OrderOperationType;
+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.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.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;
+import org.springframework.data.mongodb.core.query.Query;
+import org.springframework.data.redis.core.RedisTemplate;
import org.springframework.web.bind.annotation.*;
+import javax.annotation.Resource;
+import java.util.Date;import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.LinkedBlockingQueue;
+import java.util.concurrent.ThreadPoolExecutor;
import java.util.concurrent.TimeUnit;
+import java.util.stream.Collectors;
@Slf4j
@RestController
@@ -27,31 +56,33 @@
@Api(tags = "订单任务Api")
public class OrderMissionController {
- private final XPUUtil xpuUtil;
- private final RedisService redisService;
- private final XpVehicleClient xpVehicleClient;
+ @Resource
+ private XPUUtil xpuUtil;
+ @Resource
+ private RedisService redisService;
+ @Resource
+ private XpVehicleClient xpVehicleClient;
- public OrderMissionController(XPUUtil xpuUtil, RedisService redisService, XpVehicleClient xpVehicleClient, Snowflake snowflake) {
- this.xpuUtil = xpuUtil;
- this.redisService = redisService;
- this.xpVehicleClient = xpVehicleClient;
- }
@PostMapping("/inner/pushOrder")
public R<Boolean> pushOrder(@RequestBody PushOrderDto dto) {
- RTTask task = new RTTask();
- task.setOrder_id(dto.getOrderId());
- task.setTask_id("MISSION_"+ IdUtil.fastUUID());
+ 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")){
- task.setTask_type(TaskType.CRUISE);
+ taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
}else {
- task.setTask_type(TaskType.ROBOTAXI);
+ taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
}
- task.setStatus(TaskStatus.PENDING);
+ RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
+ taskListBuilder.addTasks(taskBuilder.build());
+
SnowFlake snowFlake = new SnowFlake(0, 0);
snowFlake.withStartTimestamp(1420041600000L);
long sequence = snowFlake.nextId();
- MqttPublishDto mqttPublishDto = xpuUtil.cloudCreateOrder(task, dto.getVin(),sequence);
+ 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) {
@@ -65,15 +96,368 @@
@PostMapping("/inner/cancelOrder")
R<Boolean> cancelOrder(@RequestBody PushOrderDto dto) {
- OrderOperation operation = new OrderOperation();
- operation.setOrder_id(dto.getOrderId().toString());
- operation.setTask_id("CANCEL_MISSION_"+ IdUtil.fastUUID());
- operation.setOperation_type(dto.getOperation_type());
- SnowFlake snowFlake = new SnowFlake(0, 0);
- snowFlake.withStartTimestamp(1420041600000L);
- long sequence = snowFlake.nextId();
- xpuUtil.cloudOrderOperation(operation,dto.getVin(),sequence);
- redisService.setCacheObject(String.valueOf(sequence),"cancelOrder_"+dto.getOrderId()+"_"+ dto.getVin(),30l, TimeUnit.MINUTES);
- return R.ok(true);
+ OrderOperation.Builder operationBuilder = OrderOperation.newBuilder();
+ operationBuilder.setOrderId(dto.getOrderId().toString());
+ operationBuilder.setTaskId("CANCEL_MISSION_" + IdUtil.fastUUID());
+ if (dto.getOperation_type() != null) {
+ operationBuilder.setOperationType(OrderOperationType.forNumber(dto.getOperation_type().getValue()));
+ }
+
+ SnowFlake snowFlake = new SnowFlake(0, 0);
+ snowFlake.withStartTimestamp(1420041600000L);
+ long sequence = snowFlake.nextId();
+ xpuUtil.cloudOrderOperation(operationBuilder.build(), dto.getVin(), sequence);
+ redisService.setCacheObject(String.valueOf(sequence), "cancelOrder_" + dto.getOrderId() + "_" + dto.getVin(), 30l, TimeUnit.MINUTES);
+ return R.ok(true);
+
+
}
+
+
+
+
+
+
+
+
+
+
+
+
+
+ //-----------------------------------------------用户测试阶段模拟车机报文调用流程接口实现业务闭环--------------------------------------//
+
+
+ @Resource
+ private XpOrderClient xpOrderClient;
+
+ @Resource
+ private XpMapClient xpMapClient;
+
+ @Resource
+ private MongoTemplate mongoTemplate;
+
+ @Resource
+ public RedisTemplate redisTemplate;
+
+ @Resource
+ private XpPushMessageClient xpPushMessageClient;
+
+
+ /**
+ * 模拟接单
+ * @param orderId 订单id
+ * @param vehicleId 车辆id
+ * @param startLon 车子当前位置经度
+ * @param startLat 车子当前位置维度
+ * @return
+ */
+ @GetMapping("/base/v1/order/acceptingOrder")
+ public R acceptingOrder(Long orderId, Long vehicleId, Double startLon, Double startLat){
+ XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
+ XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
+ OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
+ dto.setOrderId(orderId);
+ LonLatDto origin = new LonLatDto();
+ origin.setLongitude(startLon);
+ origin.setLatitude(startLat);
+ dto.setOrigin(origin);
+ LonLatDto destination = new LonLatDto();
+ destination.setLongitude(xpOrder.getStartLon());
+ destination.setLatitude(xpOrder.getStartLat());
+ dto.setDestination(destination);
+ dto.setRouteType(1);
+ R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
+ if (200 != routeVoR.getCode()) {
+ throw new RuntimeException("获取订单线路和运费失败");
+ }
+ 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(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
+
+ PopOrderDto dto1 = new PopOrderDto();
+ dto1.setOrderId(Long.valueOf(orderId));
+ dto1.setXpVehicleVin(xpVehicle.getVehicleVin());
+ dto1.setOrderType(com.xiaopeng.api.vo.OrderType.USER_ORDER);
+ R<?> r = xpOrderClient.popOrder(dto1);
+
+ //构建推送消息
+ Map<String, Object> params = new HashMap<>();
+ Map<String, Object> content = new HashMap<>();
+ content.put("orderId", orderId.toString());
+ content.put("status", 3);
+ params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
+ params.put("content", JSONObject.toJSONString(content));
+ params.put("timestamp", System.currentTimeMillis() + "");
+ String message = JSONObject.toJSONString(params);
+ Long appUserId = xpOrder.getAppUserId();
+ SendMessageDTO dto2 = new SendMessageDTO();
+ dto2.setAppUserId(appUserId + "");
+ dto2.setMessage(message);
+ R<String> stringR = xpPushMessageClient.sendStatus(dto2);
+ if (R.isError(stringR)) {
+ 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;
+ }
+
+
+ /**
+ * 推送司机接驾轨迹和实时位置
+ * @param orderId
+ */
+ @GetMapping("/base/v1/order/pushStartDriverLocation")
+ private void pushStartDriverLocation(Long vehicleId, Long orderId){
+ XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
+ XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
+ 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);
+
+ ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));
+ threadPoolExecutor.execute(() -> {
+ //等待10秒后开始执行车子位移
+ try {
+ Thread.sleep(10000);
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
+
+ List<LonLatDto> polyline = routeVo.getPolyline();
+ for (LonLatDto lonLatDto : polyline) {
+ Double latitude = lonLatDto.getLatitude();
+ Double longitude = lonLatDto.getLongitude();
+
+ //保存车辆实时位置到redis
+ 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);
+ if (null == vehiclePosition) {
+ vehiclePosition = new VehiclePosition();
+ }
+ vehiclePosition.setVin(vin);
+ vehiclePosition.setPoint(new GeoJsonPoint(longitude, latitude));
+ vehiclePosition.setCourse(60D);
+ vehiclePosition.setAlt(100F);
+ //车辆动态信息
+ vehiclePosition.setSpeed(50F);
+ vehiclePosition.setCurrentElectricity(80);
+ vehiclePosition.setMileageRange(300f);
+ vehiclePosition.setOrderId(orderId);
+ mongoTemplate.save(vehiclePosition);
+ //调用推送服务接口
+ if (null != orderId) {
+ PushOrderRouteDTO dto = new PushOrderRouteDTO();
+ dto.setOrderId(orderId);
+ dto.setRouteType(1);
+ dto.setLongitude(longitude);
+ dto.setLatitude(latitude);
+ dto.setDuration(10);
+ dto.setDistance(2);
+ dto.setDirection(60);
+ xpPushMessageClient.pushOrderRoute(dto);
+ }
+
+ //2秒钟循环一次
+ try {
+ Thread.sleep(2000);
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
+ }
+
+ //构建推送消息
+ Map<String, Object> params = new HashMap<>();
+ Map<String, Object> content = new HashMap<>();
+ content.put("orderId", orderId.toString());
+ content.put("status", 4);
+ params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
+ params.put("content", JSONObject.toJSONString(content));
+ params.put("timestamp", System.currentTimeMillis() + "");
+ String message = JSONObject.toJSONString(params);
+ SendMessageDTO dto2 = new SendMessageDTO();
+ dto2.setAppUserId(appUserId + "");
+ dto2.setMessage(message);
+ R<String> stringR = xpPushMessageClient.sendStatus(dto2);
+ if (R.isError(stringR)) {
+ log.error("推送消息失败：{}", stringR.getMsg());
+ }
+ xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP_GUESTS.getCode());
+ });
+
+ }
+
+
+ /**
+ * 修改订单状态
+ * @param orderId
+ * @param status
+ * @return
+ */
+ @GetMapping("/base/v1/order/updateOrderStatus")
+ public R updateOrderStatus(Long orderId, Integer status) {
+ XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
+ //构建推送消息
+ Map<String, Object> params = new HashMap<>();
+ Map<String, Object> content = new HashMap<>();
+ content.put("orderId", orderId.toString());
+ content.put("status", status);
+ params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
+ params.put("content", JSONObject.toJSONString(content));
+ params.put("timestamp", System.currentTimeMillis() + "");
+ String message = JSONObject.toJSONString(params);
+ SendMessageDTO dto2 = new SendMessageDTO();
+ dto2.setAppUserId(xpOrder.getAppUserId() + "");
+ dto2.setMessage(message);
+ R<String> stringR = xpPushMessageClient.sendStatus(dto2);
+ if (R.isError(stringR)) {
+ 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();
+ }
+
+
+
+ /**
+ * 推送司机接驾轨迹和实时位置
+ * @param orderId
+ */
+ @GetMapping("/base/v1/order/pushEndDriverLocation")
+ private void pushEndDriverLocation(Long vehicleId, Long orderId){
+ XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
+ XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
+ String vin = xpVehicle.getVehicleVin();
+ Long appUserId = xpOrder.getAppUserId();
+ Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId());
+ RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
+
+ ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));
+ threadPoolExecutor.execute(() -> {
+ //等待10秒后开始执行车子位移
+ try {
+ Thread.sleep(10000);
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
+
+ List<LonLatDto> polyline = routeVo.getPolyline();
+ for (LonLatDto lonLatDto : polyline) {
+ Double latitude = lonLatDto.getLatitude();
+ Double longitude = lonLatDto.getLongitude();
+
+ //保存车辆实时位置到redis
+ 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);
+ if (null == vehiclePosition) {
+ vehiclePosition = new VehiclePosition();
+ }
+ vehiclePosition.setVin(vin);
+ vehiclePosition.setPoint(new GeoJsonPoint(longitude, latitude));
+ vehiclePosition.setCourse(60D);
+ vehiclePosition.setAlt(100F);
+ //车辆动态信息
+ vehiclePosition.setSpeed(50F);
+ vehiclePosition.setCurrentElectricity(80);
+ vehiclePosition.setMileageRange(300f);
+ vehiclePosition.setOrderId(orderId);
+ mongoTemplate.save(vehiclePosition);
+ //调用推送服务接口
+ if (null != orderId) {
+ PushOrderRouteDTO dto = new PushOrderRouteDTO();
+ dto.setOrderId(orderId);
+ dto.setRouteType(1);
+ dto.setLongitude(longitude);
+ dto.setLatitude(latitude);
+ dto.setDuration(20);
+ dto.setDistance(10);
+ dto.setDirection(60);
+ xpPushMessageClient.pushOrderRoute(dto);
+
+ //存储历史轨迹
+ OrderTrajectoryVo orderTrajectory = new OrderTrajectoryVo();
+ orderTrajectory.setOrderId(orderId);
+ orderTrajectory.setLocation(longitude + "," + latitude);
+ orderTrajectory.setDirection(dto.getDirection());
+ orderTrajectory.setSpeed(0D);
+ orderTrajectory.setLocatetime(System.currentTimeMillis());
+ orderTrajectory.setCreateTime(new Date());
+ xpOrderClient.saveVehicleLocation(orderTrajectory);
+ }
+
+ //5秒钟循环一次
+ try {
+ Thread.sleep(500);
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
+ }
+
+ //构建推送消息
+ Map<String, Object> params = new HashMap<>();
+ Map<String, Object> content = new HashMap<>();
+ 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() + "");
+ String message = JSONObject.toJSONString(params);
+ SendMessageDTO dto2 = new SendMessageDTO();
+ dto2.setAppUserId(appUserId + "");
+ dto2.setMessage(message);
+ R<String> stringR = xpPushMessageClient.sendStatus(dto2);
+ if (R.isError(stringR)) {
+ log.error("推送消息失败：{}", stringR.getMsg());
+ }
+ xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode());
+ });
+ }
+
+
}
--
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