From 9b1d64c90a30d33eb992ab2fae5e6f547acd594e Mon Sep 17 00:00:00 2001
From: puzhibing <393733352@qq.com>
Date: 星期四, 12 三月 2026 18:32:24 +0800
Subject: [PATCH] 修改bug
---
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java | 74 +++++-------------------------------
1 files changed, 11 insertions(+), 63 deletions(-)
diff --git a/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java b/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java
index 06b3853..23d6d71 100644
--- a/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java
+++ b/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java
@@ -839,25 +839,20 @@
xpOrderClient.updateOrderStatus(Long.parseLong(orderId.contains("XU") ? orderId.substring(2) : orderId), OrderStatusEnum.APPROVAL_REJECTION.getCode());
// 下发巡游任务
- if(!orderId.contains("XU")){
- R<XpOrder> xpOrderR = xpOrderClient.queryOrderById(Long.parseLong(orderId));
- if(xpOrderR.getCode()==200){
- XpOrder orderData = xpOrderR.getData();
- Long vehicleId =orderData.getVehicleId();
- R<XpVehicle> xpVehicleR = xpVehicleClient.queryById(vehicleId);
- if(xpVehicleR.getData()!=null){
- XpVehicle xpVehicle = xpVehicleR.getData();
+ R<XpOrder> xpOrderR = xpOrderClient.queryOrderById(Long.parseLong(orderId));
+ if(xpOrderR.getCode()==200){
+ XpOrder orderData = xpOrderR.getData();
+ Long vehicleId =orderData.getVehicleId();
+ R<XpVehicle> xpVehicleR = xpVehicleClient.queryById(vehicleId);
+ if(xpVehicleR.getData()!=null){
+ XpVehicle xpVehicle = xpVehicleR.getData();
- AddCruiseMissionDto addCruiseMissionDto = new AddCruiseMissionDto();
- addCruiseMissionDto.setOrder(orderData);
- addCruiseMissionDto.setVehicle(xpVehicle);
- xpCruiseOrderClient.addCruiseMission(addCruiseMissionDto);
- }
+ AddCruiseMissionDto addCruiseMissionDto = new AddCruiseMissionDto();
+ addCruiseMissionDto.setOrder(orderData);
+ addCruiseMissionDto.setVehicle(xpVehicle);
+ xpCruiseOrderClient.addCruiseMission(addCruiseMissionDto);
}
}
-
-
-
break;
case ORDER_COMPLETED:
//已完成
@@ -918,33 +913,10 @@
if(xpCruiseOrder.getOrderType()==2){
R<XpCruiseOrder> lastOrder = xpCruiseOrderClient.getCruiseOrder(xpCruiseOrder.getLastOrderId());
XpCruiseOrder lastXpCruiseOrder = lastOrder.getData();
-
// 修改一下id 加一个一样的巡游单子
lastXpCruiseOrder.setId(null);
lastXpCruiseOrder.setStatus(1);
xpCruiseOrderClient.addCruiseOrder(lastXpCruiseOrder);
- //构建下发XPU订单报文数据
- RtTask.Builder taskBuilder = RtTask.newBuilder();
- taskBuilder.setOrderId("XU" + lastXpCruiseOrder.getId());
- taskBuilder.setTaskId(snowflake.nextId() + "");
- taskBuilder.setTaskType(com.xiaopeng.api.vo.automaticPilot.protobuf.OrderType.ORDER_TYPE_CRUISE);
- //构建点位信息
- Waypoint.Builder pointBuilder = Waypoint.newBuilder();
- pointBuilder.setPointType(PointType.CRUISE_END_POINT);
- pointBuilder.setSequence(1);
- //构建终点坐标
- GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
- geoPointBuilder.setLatitude(lastXpCruiseOrder.getEndLat());
- geoPointBuilder.setLongitude(lastXpCruiseOrder.getEndLat());
- // geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
- pointBuilder.setPoint(geoPointBuilder.build());
- taskBuilder.addPoints(pointBuilder);
-
- RtTask task = taskBuilder.build();
- RtTaskList taskList = RtTaskList.newBuilder().addTasks(task).build();
-
- long sequence1 = snowflake.nextId();
- xpuUtil.cloudCreateOrder(taskList, xpVehicle.getVehicleVin(),sequence1);
}else if(xpCruiseOrder.getOrderType()==1){
// 正常巡游 找到下一个点位 若到达最后点位 则反向找点位
// 起点
@@ -962,7 +934,6 @@
newXpCruiseOrder.setStatus(1);
newXpCruiseOrder.setLastOrderId(xpCruiseOrder.getId());
-
// 通过车找终点id
CruisePointDto cruisePointDto = new CruisePointDto();
cruisePointDto.setNewXpCruiseOrder(newXpCruiseOrder);
@@ -972,29 +943,6 @@
R<XpCruiseOrder> cruisePoint = xpCruisePlanClient.getCruisePoint(cruisePointDto);
if(cruisePoint!=null){
xpCruiseOrderClient.addCruiseOrder(cruisePoint.getData());
- RtTask.Builder taskBuilder = RtTask.newBuilder();
-
- taskBuilder.setOrderId("XU" + newXpCruiseOrder.getId());
- taskBuilder.setTaskId(snowflake.nextId() + "");
- taskBuilder.setTaskType(com.xiaopeng.api.vo.automaticPilot.protobuf.OrderType.ORDER_TYPE_CRUISE);
-
- //构建点位信息
- Waypoint.Builder pointBuilder = Waypoint.newBuilder();
- pointBuilder.setPointType(PointType.CRUISE_END_POINT);
- pointBuilder.setSequence(1);
- //构建终点坐标
- GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
- geoPointBuilder.setLatitude(cruisePoint.getData().getEndLat());
- geoPointBuilder.setLongitude(cruisePoint.getData().getEndLat());
- // geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
- pointBuilder.setPoint(geoPointBuilder.build());
- taskBuilder.addPoints(pointBuilder);
-
- RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
- taskListBuilder.addTasks(taskBuilder.build());
-
- long sequence1 = snowflake.nextId();
- xpuUtil.cloudCreateOrder(taskListBuilder.build(), xpVehicle.getVehicleVin(),sequence1);
}
}
}
--
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