From 912a4cfecbc4f0783e2045fb2287c5110ec64767 Mon Sep 17 00:00:00 2001
From: 无关风月 <443237572@qq.com>
Date: 星期五, 13 二月 2026 22:01:45 +0800
Subject: [PATCH] bug修改,计算费用工具类
---
xp-robotaxi-automaticPilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java | 162 ++++++++++++++++++++++++++++-------------------------
1 files changed, 85 insertions(+), 77 deletions(-)
diff --git a/xp-robotaxi-automaticPilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java b/xp-robotaxi-automaticPilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java
index 44f658b..865ca65 100644
--- a/xp-robotaxi-automaticPilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java
+++ b/xp-robotaxi-automaticPilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java
@@ -6,12 +6,15 @@
import com.alibaba.fastjson2.JSONObject;
import com.xiaopeng.api.dto.map.OrderRouteAndFareDto;
import com.xiaopeng.api.dto.operation.LonLatDto;
+import com.xiaopeng.api.dto.operation.ReassignOrderDTO;
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.feignClient.map.XpMapClient;
+import com.xiaopeng.api.feignClient.operation.ReassignOrderClient;
import com.xiaopeng.api.feignClient.order.XpOrderClient;
import com.xiaopeng.api.feignClient.pushMessage.XpPushMessageClient;
+import com.xiaopeng.api.feignClient.vehicleConvoy.UserVehicleClient;
import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;
import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
@@ -32,6 +35,7 @@
import com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest.NavigationRequest;
import com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest.OrderPhase;
import com.xiaopeng.api.vo.operation.RouteVo;
+import com.xiaopeng.api.vo.vehicleConvoy.CancelTaxiPassengerVo;
import com.xiaopeng.automaticPilot.util.XPUUtil;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.core.enums.OrderStatusEnum;
@@ -52,6 +56,9 @@
import javax.annotation.Resource;
import java.util.*;
import java.util.concurrent.TimeUnit;
+
+import static org.bouncycastle.asn1.x500.style.RFC4519Style.l;
+import static org.bouncycastle.asn1.x500.style.RFC4519Style.uid;
/**
* Kafka 消费者服务
@@ -77,9 +84,13 @@
@Autowired
public RedisTemplate redisTemplate;
+ @Autowired
+ private UserVehicleClient userVehicleClient;
@Resource
private XpPushMessageClient xpPushMessageClient;
+ @Autowired
+ private ReassignOrderClient reassignOrderClient;
@@ -89,6 +100,24 @@
*/
public void topicProdRobotaxiXpuHigh(String message) {
MsgContent msgContent = JSON.parseObject(message, MsgContent.class);
+ handleXPUMessage(msgContent, message);
+ }
+
+ /**
+ * 消费消息 - XPU上报Robotaxi云端的消息topic（低优先级）
+ */
+ public void topicProdRobotaxiXpuNormal(String message) {
+ MsgContent msgContent = JSON.parseObject(message, MsgContent.class);
+ handleXPUMessage(msgContent, message);
+ }
+
+
+ /**
+ * 处理XPU消息
+ * @param msgContent
+ * @param message
+ */
+ public void handleXPUMessage(MsgContent msgContent, String message){
RtMsgHeader header = msgContent.getHeader();
MessageType type = header.getType();
//处理请求消息
@@ -166,94 +195,21 @@
Object sequence = redisTemplate.opsForValue().get(requestSeq);
if(sequence!=null){
String[] split = sequence.toString().split("_");
- if(split[0].equals("pushOrder")){
+ String typeStr = split[0];
+ // 推单处理
+ if(typeStr.equals("pushOrder")){
PopOrderDto dto = new PopOrderDto();
dto.setOrderId(Long.valueOf(split[1]));
dto.setXpVehicleVin(split[2]);
xpOrderClient.popOrder(dto);
}
}
-
-
}
}
}
- /**
- * 消费消息 - XPU上报Robotaxi云端的消息topic（低优先级）
- */
- public void topicProdRobotaxiXpuNormal(String message) {
- MsgContent msgContent = JSON.parseObject(message, MsgContent.class);
- RtMsgHeader header = msgContent.getHeader();
- MessageType type = header.getType();
- //处理请求消息
- if (MessageType.MESSAGE_TYPE_REQUEST == type) {
- //区分业务类型
- RTCmdType cmd = header.getCmd();
- switch (cmd) {
- case SYSTEM_STATUS_XPU:
- log.info("XPU发布系统运行状态 (XPU→云端)：{}", message);
- systemStatusXpu(msgContent);
- break;
- case XPU_NAVIGATION_REQUEST:
- log.info("XPU向云端请求导航 (XPU→云端)：{}", message);
- xpuNavigationRequest(msgContent);
- break;
- case TRIP_STATUS_UPDATE_EVENT:
- log.info("行程状态更新(XPU→云端)(XPU→座舱)：{}", message);
- break;
- case PULLOVER_STATUS_EVENT:
- log.info("靠边停车状态(XPU→云端)(XPU→座舱)：{}", message);
- break;
- case DRIVING_MODE_UPDATE_EVENT:
- log.info("驾驶模式变化(XPU→云端)(XPU→座舱)：{}", message);
- break;
- case SYSTEM_STATUS_UPDATE_EVENT:
- log.info("系统状态变化(XPU→云端)(XPU→座舱)：{}", message);
- break;
- case TASK_STATE_UPDATE_EVENT:
- log.info("任务状态变化(XPU→云端)(XPU→座舱)：{}", message);
- break;
- case ORDER_STATE_UPDATE_EVENT:
- log.info("订单状态变化(XPU→云端)(XPU→座舱)：{}", message);
- orderStateUpdateEvent(msgContent);
- break;
- case POINT_ARRIVAL_STATUS_EVENT:
- log.info("到达目标点状态(XPU→云端)(XPU→座舱)：{}", message);
- break;
- case PICKUP_CONFIRMATION_EVENT:
- log.info("用户上车确认(XPU→云端)(XPU→座舱)：{}", message);
- break;
- case DROPOFF_INFO_EVENT:
- log.info("用户下车信息(XPU→云端)：{}", message);
- break;
- case NAVIGATION_DEVIATION_EVENT:
- log.info("导航偏航(XPU→云端)：{}", message);
- navigationDeviationEvent(msgContent);
- break;
- case EMERGENCY_STOP_EVENT:
- log.info("急停(XPU→云端)(XPU→座舱)：{}", message);
- break;
- case NAVIGATION_UPDATE_EVENT:
- log.info("导航信息变化(XPU→云端)：{}", message);
- break;
- case TASK_QUEUE_UPDATE_EVENT:
- log.info("XPU待执行任务队列(XPU→云端)：{}", message);
- break;
- case SYSTEM_STATE_ANAPSHOT_SYNC_EVENT:
- log.info("每次MQTT连接之后触发 (XPU→云端)：{}", message);
- break;
- case ORDER_STATE_UPDATE_TO_CDU_EVENT:
- log.info("更新订单状态到CDU (XPU→云端)：{}", message);
- break;
- default:
- log.info("消息不在处理范围内，忽略：{}", message);
- }
- }
-
- }
/**
@@ -273,7 +229,9 @@
Float alt = naviPose.getAlt();
//获取车辆静态信息
VehicleStaticInfo staticInfo = systemRuntimeStatus.getVehicle_status().getStatic_info();
- String vin = staticInfo.getVin();
+ String xpuId = staticInfo.getXpu_id();
+ XpVehicle xpVehicle = xpVehicleClient.findByVehicleXpuId(xpuId).getData();
+ String vin = xpVehicle.getVehicleVin();
//先响应消息
Long sequence = msgContent.getHeader().getSequence();
responseMessage(sequence, vin);
@@ -325,6 +283,56 @@
/**
+ * XPU发布系统运行状态---车辆实时位置
+ *
+ * @param msgContent
+ */
+ public void systemStatusXpuAndReassign(MsgContent msgContent) {
+ //开始处理消息对应的业务逻辑
+ SystemRuntimeStatus systemRuntimeStatus = msgContent.getContent_detail().getObject("systemRuntimeStatus", SystemRuntimeStatus.class);
+ AbnormalReason abnormalReason = systemRuntimeStatus.getSystem_status().getAbnormal_reason();
+ // 判断是否为故障状态
+ if (abnormalReason == AbnormalReason.FAULT) {
+ log.info("车辆故障，开始处理故障");
+ // TODO 添加异常任务
+ // 解绑用户与车辆关系
+ CancelTaxiPassengerVo cancelTaxiPassengerVo = new CancelTaxiPassengerVo();
+ String orderId = systemRuntimeStatus.getRunning_order_status_info().getOrder_id();
+ XpOrder xpOrder = xpOrderClient.queryOrderById(Long.parseLong(orderId)).getData();
+ XpVehicle vehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
+ if (vehicle != null) {
+ // 修改车辆状态
+ vehicle.setOperatingStatus(4);
+ xpVehicleClient.updateVehicleById(vehicle);
+ cancelTaxiPassengerVo.setVin(vehicle.getVehicleVin());
+ cancelTaxiPassengerVo.setUid(xpOrder.getAppUserId().toString());
+ cancelTaxiPassengerVo.setOrderNo(xpOrder.getOrderNumber());
+ // TODO
+// cancelTaxiPassengerVo.setAppId();
+ userVehicleClient.cancelTaxiPassenger(cancelTaxiPassengerVo);
+ }
+ // 取消订单
+ R<?> r = xpOrderClient.cancelOrder(String.valueOf(xpOrder.getId()));
+ if (r.getCode() == R.SUCCESS){
+ log.info("取消订单成功");
+ // 重新派单
+ ReassignOrderDTO reassignOrderDTO = new ReassignOrderDTO();
+ reassignOrderDTO.setUid(xpOrder.getAppUserId().toString());
+ reassignOrderDTO.setOrderNo(xpOrder.getOrderNumber());
+ reassignOrderDTO.setCount(10);
+ RealtimePose pose = systemRuntimeStatus.getPose();
+ Wgs naviPose = pose.getNavi_pose();
+ Double latitude = naviPose.getLatitude();
+ Double longitude = naviPose.getLongitude();
+ reassignOrderDTO.setLongitude(longitude);
+ reassignOrderDTO.setLatitude(latitude);
+ reassignOrderClient.reassignOrder(reassignOrderDTO);
+ }
+ }
+ }
+
+
+ /**
* XPU向云端请求导航
*
* @param msgContent
--
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