From b6f3de8451867d85242b2bd706fcfa4a65df4ff7 Mon Sep 17 00:00:00 2001
From: puzhibing <393733352@qq.com>
Date: 星期六, 11 四月 2026 02:46:30 +0800
Subject: [PATCH] Merge branch 'master' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi
---
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java | 472 +++++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 395 insertions(+), 77 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 956a7da..7806135 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
@@ -6,47 +6,49 @@
import com.alibaba.fastjson2.JSONObject;
import com.xiaopeng.api.dto.automaticPilot.MqttPublishDto;
import com.xiaopeng.api.dto.automaticPilot.PushOrderDto;
+import com.xiaopeng.api.dto.automaticPilot.VehicleEventDTO;
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.automaticPilot.VehicleBuriedPointClient;
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.SystemEventType;
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.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.CancelOrderSceneEnum;
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.beans.factory.annotation.Autowired;
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.mongodb.core.query.Update;
import org.springframework.data.redis.core.RedisTemplate;
import org.springframework.web.bind.annotation.*;
import javax.annotation.Resource;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
+import java.util.*;
import java.util.concurrent.LinkedBlockingQueue;
import java.util.concurrent.ThreadPoolExecutor;
import java.util.concurrent.TimeUnit;
+import java.util.stream.Collectors;
@Slf4j
@RestController
@@ -60,33 +62,214 @@
private RedisService redisService;
@Resource
private XpVehicleClient xpVehicleClient;
-
+ @Resource
+ private VehicleBuriedPointClient vehicleBuriedPointClient;
+ @Resource(name = "hutoolSnowflake")
+ private Snowflake snowflake;
@PostMapping("/inner/pushOrder")
public R<Boolean> pushOrder(@RequestBody PushOrderDto dto) {
- 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")){
- taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
- }else {
- taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
- }
+ //构建点位信息
+ Waypoint.Builder pointBuilderStart = Waypoint.newBuilder();
+ Waypoint.Builder pointBuilderEnd = Waypoint.newBuilder();
RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
- taskListBuilder.addTasks(taskBuilder.build());
+ //巡游订单
+ if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.CRUISE_ORDER)){
+ RtTask.Builder taskBuilder = RtTask.newBuilder();
+ taskBuilder.setOrderId(dto.getOrderId().toString());
+ taskBuilder.setTaskId(snowflake.nextId() + "");
+ taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
+ //构建起点坐标数据
+ pointBuilderStart.setWaypointId(dto.getOrderId() + "-001");
+ pointBuilderStart.setPointType(PointType.START_POINT);
+ pointBuilderStart.setSequence(1);
+ pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
+ GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getStartLatitude());
+ geoPointBuilder.setLongitude(dto.getStartLongitude());
+ pointBuilderStart.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderStart);
- SnowFlake snowFlake = new SnowFlake(0, 0);
- snowFlake.withStartTimestamp(1420041600000L);
- long sequence = snowFlake.nextId();
+ //构建终点数据
+ pointBuilderEnd.setWaypointId(dto.getOrderId() + "-002");
+ pointBuilderEnd.setPointType(PointType.CRUISE_END_POINT);
+ pointBuilderEnd.setSequence(2);
+ pointBuilderEnd.setActionType(ActionType.DRIVE_THROUGH);
+ geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getEndLatitude());
+ geoPointBuilder.setLongitude(dto.getEndLongitude());
+ pointBuilderEnd.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderEnd);
+ taskBuilder.setSequence(1);
+ taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_CRUISE);
+ taskListBuilder.addTasks(taskBuilder.build());
+ }else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.USER_ORDER)){
+ //乘客单
+ for (int i = 1; i < 3; i++) {
+ RtTask.Builder taskBuilder = RtTask.newBuilder();
+ taskBuilder.setOrderId(dto.getOrderId().toString());
+ taskBuilder.setTaskId(snowflake.nextId() + "");
+ taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
+ if(i == 1){
+ VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(dto.getVin())), VehiclePosition.class);
+ //构建车辆当前位置数据
+ pointBuilderStart.setWaypointId(dto.getOrderId() + "-JJ-001");
+ pointBuilderStart.setPointType(PointType.START_POINT);
+ pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
+ pointBuilderStart.setSequence(1);
+ GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(vehiclePosition.getPoint().getY());
+ geoPointBuilder.setLongitude(vehiclePosition.getPoint().getX());
+ pointBuilderStart.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderStart);
+
+ //构建上车点位置信息
+ pointBuilderEnd.setWaypointId(dto.getOrderId() + "-JJ-002");
+ pointBuilderEnd.setPointType(PointType.PICK_UP_POINT);
+ pointBuilderEnd.setActionType(ActionType.PICK_UP);
+ pointBuilderEnd.setSequence(2);
+ geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getStartLatitude());
+ geoPointBuilder.setLongitude(dto.getStartLongitude());
+ pointBuilderEnd.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderEnd);
+ taskBuilder.setSequence(i);
+ taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_PICKUP);
+ }else{
+ //构建上车点位置信息
+ pointBuilderStart.setWaypointId(dto.getOrderId() + "-SD-001");
+ pointBuilderStart.setPointType(PointType.PICK_UP_POINT);
+ pointBuilderStart.setActionType(ActionType.PICK_UP);
+ pointBuilderStart.setSequence(1);
+ GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getStartLatitude());
+ geoPointBuilder.setLongitude(dto.getStartLongitude());
+ pointBuilderStart.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderStart);
+
+ //构建下车点位置信息
+ pointBuilderEnd.setWaypointId(dto.getOrderId() + "-SD-002");
+ pointBuilderEnd.setPointType(PointType.END_POINT);
+ pointBuilderEnd.setActionType(ActionType.DROP_OFF);
+ pointBuilderEnd.setSequence(2);
+ geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getEndLatitude());
+ geoPointBuilder.setLongitude(dto.getEndLongitude());
+ pointBuilderEnd.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderEnd);
+ taskBuilder.setSequence(i);
+ taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);
+ }
+ taskListBuilder.addTasks(taskBuilder.build());
+ }
+ }else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.TEST_ORDER)){
+ //测试单
+ for (int i = 1; i < 3; i++) {
+ RtTask.Builder taskBuilder = RtTask.newBuilder();
+ taskBuilder.setOrderId(dto.getOrderId().toString());
+ taskBuilder.setTaskId(snowflake.nextId() + "");
+ taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
+ if(i == 1){
+ VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("vin").is(dto.getVin())), VehiclePosition.class);
+ //构建车辆当前位置数据
+ pointBuilderStart.setWaypointId(dto.getOrderId() + "-JJ-001");
+ pointBuilderStart.setPointType(PointType.START_POINT);
+ pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
+ pointBuilderStart.setSequence(1);
+ GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(vehiclePosition.getPoint().getY());
+ geoPointBuilder.setLongitude(vehiclePosition.getPoint().getX());
+ pointBuilderStart.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderStart);
+
+ //构建上车点位置信息
+ pointBuilderEnd.setWaypointId(dto.getOrderId() + "-JJ-002");
+ pointBuilderEnd.setPointType(PointType.PICK_UP_POINT);
+ pointBuilderEnd.setActionType(ActionType.PICK_UP);
+ pointBuilderEnd.setSequence(2);
+ geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getStartLatitude());
+ geoPointBuilder.setLongitude(dto.getStartLongitude());
+ pointBuilderEnd.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderEnd);
+ taskBuilder.setSequence(i);
+ taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_PICKUP);
+ }else{
+ //构建上车点位置信息
+ pointBuilderStart.setWaypointId(dto.getOrderId() + "-SD-001");
+ pointBuilderStart.setPointType(PointType.PICK_UP_POINT);
+ pointBuilderStart.setActionType(ActionType.PICK_UP);
+ pointBuilderStart.setSequence(1);
+ GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getStartLatitude());
+ geoPointBuilder.setLongitude(dto.getStartLongitude());
+ pointBuilderStart.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderStart);
+
+ //构建下车点位置信息
+ pointBuilderEnd.setWaypointId(dto.getOrderId() + "-SD-002");
+ pointBuilderEnd.setPointType(PointType.END_POINT);
+ pointBuilderEnd.setActionType(ActionType.DROP_OFF);
+ pointBuilderEnd.setSequence(2);
+ geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getEndLatitude());
+ geoPointBuilder.setLongitude(dto.getEndLongitude());
+ pointBuilderEnd.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderEnd);
+ taskBuilder.setSequence(i);
+ taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);
+ }
+ taskListBuilder.addTasks(taskBuilder.build());
+ }
+ }else if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.TEST_CRUISE_ORDER)){
+ //测试单巡游单
+ RtTask.Builder taskBuilder = RtTask.newBuilder();
+ taskBuilder.setOrderId(dto.getOrderId().toString());
+ taskBuilder.setTaskId(snowflake.nextId() + "");
+ taskBuilder.setTaskType(OrderType.ORDER_TYPE_CRUISE);
+ //构建起点坐标数据
+ pointBuilderStart.setWaypointId(dto.getOrderId() + "-001");
+ pointBuilderStart.setPointType(PointType.START_POINT);
+ pointBuilderStart.setSequence(1);
+ pointBuilderStart.setActionType(ActionType.ACTION_UNSPECIFIED);
+ GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getStartLatitude());
+ geoPointBuilder.setLongitude(dto.getStartLongitude());
+ pointBuilderStart.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderStart);
+
+ //构建终点数据
+ pointBuilderEnd.setWaypointId(dto.getOrderId() + "-002");
+ pointBuilderEnd.setPointType(PointType.CRUISE_END_POINT);
+ pointBuilderEnd.setSequence(2);
+ pointBuilderEnd.setActionType(ActionType.DRIVE_THROUGH);
+ geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getEndLatitude());
+ geoPointBuilder.setLongitude(dto.getEndLongitude());
+ pointBuilderEnd.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderEnd);
+ taskBuilder.setSequence(1);
+ taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_CRUISE);
+ taskListBuilder.addTasks(taskBuilder.build());
+ }
+
+ long sequence = snowflake.nextId();
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) {
+ //先将车辆修改状态，防止在异步通知之前被其他订单选中
+ if(!dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.CRUISE_ORDER) &&
+ !dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.TEST_CRUISE_ORDER)
+ && mqttPublishDto.getCode()== 200){
// 修改车子为接单状态
- xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(dto.getVin(),1));
+ xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(dto.getVin(), 1));
+ }
+ if(null != mqttPublishDto && mqttPublishDto.getCode() == 200){
+ JSONObject jsonObject = new JSONObject();
+ jsonObject.put("event", SystemEventType.CREATE_ORDER);
+ jsonObject.put("orderType", dto.getOrderType());
+ jsonObject.put("orderId", dto.getOrderId());
+ jsonObject.put("vin", dto.getVin());
+ redisService.setCacheObject("CREATE_ORDER:" + dto.getOrderId().toString(), jsonObject.toJSONString(),30L, TimeUnit.MINUTES);
return R.ok(true);
}
return R.ok(false);
@@ -94,19 +277,26 @@
@PostMapping("/inner/cancelOrder")
R<Boolean> cancelOrder(@RequestBody PushOrderDto dto) {
+ String taskId = StringUtils.isNotEmpty(dto.getTaskId()) ? dto.getTaskId() : snowflake.nextId() + "";
OrderOperation.Builder operationBuilder = OrderOperation.newBuilder();
operationBuilder.setOrderId(dto.getOrderId().toString());
- operationBuilder.setTaskId("CANCEL_MISSION_" + IdUtil.fastUUID());
+ operationBuilder.setTaskId(taskId);
if (dto.getOperation_type() != null) {
- operationBuilder.setOperationType(OrderOperationType.forNumber(dto.getOperation_type().getValue()));
+ operationBuilder.setOperationType(OrderOperationType.forNumber(dto.getOperation_type().getNumber()));
}
- 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);
+ long sequence = snowflake.nextId();
+ MqttPublishDto mqttPublishDto = xpuUtil.cloudOrderOperation(operationBuilder.build(), dto.getVin(), sequence);
+
+ if (mqttPublishDto.getCode() == 200) {
+ if(!dto.getOrderId().contains("XU")){
+ // 正常订单处理
+ redisService.setCacheObject(String.valueOf(sequence), "cancelOrder_" + dto.getOrderId() + "_" + dto.getVin(), 30l, TimeUnit.MINUTES);
+ }
+ return R.ok(true);
+ }
+
+ return R.ok(false);
}
@@ -151,9 +341,23 @@
* @return
*/
@GetMapping("/base/v1/order/acceptingOrder")
- public R acceptingOrder(Long orderId, Long vehicleId, Double startLon, Double startLat){
+ public R acceptingOrder(Long orderId, String code, Long vehicleId, Double startLon, Double startLat){
+ if(null == vehicleId){
+ vehicleId = 11L;//默认使用造的测试车辆
+ }
+ if(null == startLat || null == startLon){
+ startLat = 30.583407D;
+ startLon = 104.040251D;
+ }
XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
- XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
+ XpOrder xpOrder = null;
+ if(null != orderId){
+ xpOrder = xpOrderClient.queryOrderById(orderId).getData();
+ }
+ if(StringUtils.isNotEmpty(code)){
+ xpOrder = xpOrderClient.queryOrderByOrderNo(code).getData();
+ }
+ orderId = xpOrder.getId();
OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
dto.setOrderId(orderId);
LonLatDto origin = new LonLatDto();
@@ -171,7 +375,7 @@
}
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));
@@ -197,6 +401,17 @@
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;
}
@@ -206,23 +421,42 @@
* @param orderId
*/
@GetMapping("/base/v1/order/pushStartDriverLocation")
- private void pushStartDriverLocation(Long vehicleId, Long orderId){
+ private void pushStartDriverLocation(Long vehicleId, Long orderId, String code){
+ if(null == vehicleId){
+ vehicleId = 1L;
+ }
XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
- XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
+ XpOrder xpOrder = null;
+ if(null != orderId){
+ xpOrder = xpOrderClient.queryOrderById(orderId).getData();
+ }
+ if(StringUtils.isNotEmpty(code)){
+ xpOrder = xpOrderClient.queryOrderByOrderNo(code).getData();
+ }
+ orderId = xpOrder.getId();
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);
+// Object cacheObject = redisService.getCacheObject("ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId());
+// RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
+ RouteVo routeVo =new RouteVo();
+ ArrayList<LonLatDto> lonLatDtos = new ArrayList<>();
+ LonLatDto lonLatDto1 = new LonLatDto();
+ lonLatDto1.setLatitude(30.575685);
+ lonLatDto1.setLongitude(104.001118);
+ lonLatDtos.add(lonLatDto1);
+ routeVo.setPolyline(lonLatDtos);
+
ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));
+ Long finalOrderId = orderId;
+ Long finalOrderId1 = orderId;
threadPoolExecutor.execute(() -> {
//等待10秒后开始执行车子位移
try {
- Thread.sleep(10000);
+ Thread.sleep(1000);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
-
List<LonLatDto> polyline = routeVo.getPolyline();
for (LonLatDto lonLatDto : polyline) {
Double latitude = lonLatDto.getLatitude();
@@ -235,21 +469,33 @@
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);
+ vehiclePosition.setSpeed(50F);
+ vehiclePosition.setCurrentElectricity(80);
+ vehiclePosition.setMileageRange(300f);
+ vehiclePosition.setHasOrder(0);
+ vehiclePosition.setOrderId(finalOrderId1);
+ mongoTemplate.save(vehiclePosition);
+ }else{
+ vehiclePosition.setOrderId(finalOrderId1);
+ Update update = new Update()
+ .set("point", new GeoJsonPoint(longitude, latitude))
+ .set("course", 60D)
+ .set("alt", 100F)
+ .set("speed", 50F)
+ .set("currentElectricity", 80)
+ .set("mileageRange", 300f)
+ .set("hasOrder", 0)
+ .set("orderId", finalOrderId1);
+ mongoTemplate.updateFirst(new Query(Criteria.where("vin").is(vin)), update, VehiclePosition.class);
}
- 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) {
+ if (null != finalOrderId) {
PushOrderRouteDTO dto = new PushOrderRouteDTO();
- dto.setOrderId(orderId);
+ dto.setOrderId(finalOrderId);
dto.setRouteType(1);
dto.setLongitude(longitude);
dto.setLatitude(latitude);
@@ -270,7 +516,7 @@
//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("orderId", finalOrderId.toString());
content.put("status", 4);
params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
params.put("content", JSONObject.toJSONString(content));
@@ -283,7 +529,7 @@
if (R.isError(stringR)) {
log.error("推送消息失败：{}", stringR.getMsg());
}
- xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP_GUESTS.getCode());
+ xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.PICK_UP_GUESTS.getCode());
});
}
@@ -296,8 +542,15 @@
* @return
*/
@GetMapping("/base/v1/order/updateOrderStatus")
- public R updateOrderStatus(Long orderId, Integer status) {
- XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
+ public R updateOrderStatus(Long orderId, String code, Integer status) {
+ XpOrder xpOrder = null;
+ if(null != orderId){
+ xpOrder = xpOrderClient.queryOrderById(orderId).getData();
+ }
+ if(StringUtils.isNotEmpty(code)){
+ xpOrder = xpOrderClient.queryOrderByOrderNo(code).getData();
+ }
+ orderId = xpOrder.getId();
//构建推送消息
Map<String, Object> params = new HashMap<>();
Map<String, Object> content = new HashMap<>();
@@ -315,6 +568,36 @@
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();
}
@@ -325,19 +608,32 @@
* @param orderId
*/
@GetMapping("/base/v1/order/pushEndDriverLocation")
- private void pushEndDriverLocation(Long vehicleId, Long orderId){
+ private void pushEndDriverLocation(Long vehicleId, Long orderId, String code){
+ if(null == vehicleId){
+ vehicleId = 1L;
+ }
XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData();
- XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData();
+ XpOrder xpOrder = null;
+ if(null != orderId){
+ xpOrder = xpOrderClient.queryOrderById(orderId).getData();
+ }
+ if(StringUtils.isNotEmpty(code)){
+ xpOrder = xpOrderClient.queryOrderByOrderNo(code).getData();
+ }
+ orderId = xpOrder.getId();
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);
+ log.info("开始实施推送车辆位置和剩余导航线路 {} {}", xpOrder.getOrderNumber(), JSON.toJSONString(routeVo));
ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000));
+ Long finalOrderId = orderId;
+ Long finalOrderId1 = orderId;
threadPoolExecutor.execute(() -> {
//等待10秒后开始执行车子位移
try {
- Thread.sleep(10000);
+ Thread.sleep(1000);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
@@ -354,21 +650,33 @@
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);
+ vehiclePosition.setSpeed(50F);
+ vehiclePosition.setCurrentElectricity(80);
+ vehiclePosition.setMileageRange(300f);
+ vehiclePosition.setHasOrder(0);
+ vehiclePosition.setOrderId(finalOrderId1);
+ mongoTemplate.save(vehiclePosition);
+ }else{
+ vehiclePosition.setOrderId(finalOrderId1);
+ Update update = new Update()
+ .set("point", new GeoJsonPoint(longitude, latitude))
+ .set("course", 60D)
+ .set("alt", 100F)
+ .set("speed", 50F)
+ .set("currentElectricity", 80)
+ .set("mileageRange", 300f)
+ .set("hasOrder", 0)
+ .set("orderId", finalOrderId1);
+ mongoTemplate.updateFirst(new Query(Criteria.where("vin").is(vin)), update, VehiclePosition.class);
}
- 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) {
+ if (null != finalOrderId) {
PushOrderRouteDTO dto = new PushOrderRouteDTO();
- dto.setOrderId(orderId);
+ dto.setOrderId(finalOrderId);
dto.setRouteType(1);
dto.setLongitude(longitude);
dto.setLatitude(latitude);
@@ -376,11 +684,21 @@
dto.setDistance(10);
dto.setDirection(60);
xpPushMessageClient.pushOrderRoute(dto);
+
+ //存储历史轨迹
+ OrderTrajectoryVo orderTrajectory = new OrderTrajectoryVo();
+ orderTrajectory.setOrderId(finalOrderId);
+ 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(2000);
+ Thread.sleep(1000);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
@@ -389,7 +707,7 @@
//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("orderId", finalOrderId.toString());
content.put("status", 7);
params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc());
params.put("content", JSONObject.toJSONString(content));
@@ -402,7 +720,7 @@
if (R.isError(stringR)) {
log.error("推送消息失败：{}", stringR.getMsg());
}
- xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode());
+ xpOrderClient.updateOrderStatus(finalOrderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode());
});
}
--
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