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 | 52 +++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 43 insertions(+), 9 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 ed1d1bb..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
@@ -6,12 +6,14 @@
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;
@@ -24,6 +26,7 @@
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.StringUtils;
@@ -59,6 +62,8 @@
private RedisService redisService;
@Resource
private XpVehicleClient xpVehicleClient;
+ @Resource
+ private VehicleBuriedPointClient vehicleBuriedPointClient;
@Resource(name = "hutoolSnowflake")
private Snowflake snowflake;
@@ -99,6 +104,7 @@
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());
@@ -157,6 +163,7 @@
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());
@@ -214,12 +221,44 @@
}
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);
//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.getOrderId().contains("XU") && mqttPublishDto.getCode()== 200) {
+ 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));
}
@@ -227,13 +266,7 @@
if(null != mqttPublishDto && mqttPublishDto.getCode() == 200){
JSONObject jsonObject = new JSONObject();
jsonObject.put("event", SystemEventType.CREATE_ORDER);
- if(dto.getOrderId().contains("XU")){
- jsonObject.put("orderType", com.xiaopeng.api.vo.OrderType.CRUISE_ORDER);
- }else if(dto.getOrderId().contains("TEST")){
- jsonObject.put("orderType", com.xiaopeng.api.vo.OrderType.TEST_ORDER);
- }else {
- jsonObject.put("orderType", com.xiaopeng.api.vo.OrderType.CRUISE_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);
@@ -244,9 +277,10 @@
@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(snowflake.nextId() + "");
+ operationBuilder.setTaskId(taskId);
if (dto.getOperation_type() != null) {
operationBuilder.setOperationType(OrderOperationType.forNumber(dto.getOperation_type().getNumber()));
}
--
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