From b1f26aebe882d31df351f875d59eefc946aee295 Mon Sep 17 00:00:00 2001
From: puzhibing <393733352@qq.com>
Date: 星期五, 27 二月 2026 12:30:03 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/master'
---
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java | 47 ++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 46 insertions(+), 1 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 8d43870..114ecaa 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
@@ -7,6 +7,7 @@
import com.google.protobuf.InvalidProtocolBufferException;
import com.google.protobuf.util.JsonFormat;
import com.xiaopeng.api.dto.map.OrderRouteAndFareDto;
+import com.xiaopeng.api.dto.operation.CruisePointDto;
import com.xiaopeng.api.dto.operation.LonLatDto;
import com.xiaopeng.api.dto.operation.ReassignOrderDTO;
import com.xiaopeng.api.dto.order.PopOrderDto;
@@ -14,6 +15,7 @@
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.operation.XpCruisePlanClient;
import com.xiaopeng.api.feignClient.order.XpCruiseOrderClient;
import com.xiaopeng.api.feignClient.order.XpOrderClient;
import com.xiaopeng.api.feignClient.pushMessage.XpPushMessageClient;
@@ -93,6 +95,10 @@
@Resource
private RedisService redisService;
+
+ @Autowired
+ private XpCruisePlanClient xpCruisePlanClient;
+
/**
@@ -852,9 +858,48 @@
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 TODO v
+ // 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
+ Double endLon = xpCruiseOrder.getEndLon();
+ Double endLat = xpCruiseOrder.getEndLat();
+ XpCruiseOrder newXpCruiseOrder = new XpCruiseOrder();
+ newXpCruiseOrder.setId("XU"+ IdUtil.fastUUID());
+ newXpCruiseOrder.setVehicleId(xpCruiseOrder.getVehicleId());
+ newXpCruiseOrder.setVehicleVin(xpCruiseOrder.getVehicleVin());
+ newXpCruiseOrder.setFleetId(xpCruiseOrder.getFleetId());
+ newXpCruiseOrder.setOrderType(1);
+ newXpCruiseOrder.setStartLat(endLat);
+ newXpCruiseOrder.setStartLon(endLon);
+ newXpCruiseOrder.setStartPointId(xpCruiseOrder.getEndPointId());
+ newXpCruiseOrder.setStartPointName(xpCruiseOrder.getEndPointName());
+ newXpCruiseOrder.setStatus(1);
+ newXpCruiseOrder.setLastOrderId(xpCruiseOrder.getId());
+ // 通过车找终点id
+ CruisePointDto cruisePointDto = new CruisePointDto();
+ cruisePointDto.setNewXpCruiseOrder(newXpCruiseOrder);
+ cruisePointDto.setVehicleId(xpCruiseOrder.getVehicleId());
+ cruisePointDto.setPointId(newXpCruiseOrder.getStartPointId());
+ cruisePointDto.setOrderReverse(xpCruiseOrder.getOrderReverse());
+ R<XpCruiseOrder> cruisePoint = xpCruisePlanClient.getCruisePoint(cruisePointDto);
+ if(cruisePoint!=null){
+ xpCruiseOrderClient.addCruiseOrder(cruisePoint.getData());
+
+
+ // 下发任务
+ RTTask task = new RTTask();
+ task.setOrder_id(newXpCruiseOrder.getId());
+ task.setTask_id("MISSION_"+ IdUtil.fastUUID());
+ task.setTask_type(TaskType.CRUISE);
+ task.setStatus(TaskStatus.PENDING);
+ SnowFlake snowFlake = new SnowFlake(0, 0);
+ snowFlake.withStartTimestamp(1420041600000L);
+ long sequence1 = snowFlake.nextId();
+ xpuUtil.cloudCreateOrder(task, xpVehicle.getVehicleVin(),sequence1);
+
+ }
+
}
}
--
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