From bbdd5f4f286fc593c5c30bd1bccd1f39af135dfa Mon Sep 17 00:00:00 2001
From: liujie <1793218484@qq.com>
Date: 星期一, 09 三月 2026 09:43:45 +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 | 220 ++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 170 insertions(+), 50 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 6102a1f..2668fce 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
@@ -38,13 +38,12 @@
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.Date;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;
@@ -63,7 +62,6 @@
@Resource
private XpVehicleClient xpVehicleClient;
-
@PostMapping("/inner/pushOrder")
public R<Boolean> pushOrder(@RequestBody PushOrderDto dto) {
RtTask.Builder taskBuilder = RtTask.newBuilder();
@@ -76,6 +74,45 @@
}else {
taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
}
+ //构建点位信息
+ Waypoint.Builder pointBuilder = Waypoint.newBuilder();
+ //巡游订单
+ if(dto.getOrderType().equals(com.xiaopeng.api.vo.OrderType.CRUISE_ORDER)){
+ pointBuilder.setPointType(PointType.CRUISE_END_POINT);
+ pointBuilder.setSequence(1);
+ //构建终点坐标
+ GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getEndLatitude());
+ geoPointBuilder.setLongitude(dto.getEndLatitude());
+ // geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
+ pointBuilder.setPoint(geoPointBuilder.build());
+ }else{
+ //用户订单
+ if(dto.getStage() == 1){
+ //开往上车点
+ pointBuilder.setPointType(PointType.START_POINT);
+ pointBuilder.setActionType(ActionType.PICK_UP);
+ pointBuilder.setSequence(1);
+ //构建起点坐标
+ GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getStartLatitude());
+ geoPointBuilder.setLongitude(dto.getStartLongitude());
+ // geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
+ pointBuilder.setPoint(geoPointBuilder.build());
+ }else{
+ //开往终点
+ pointBuilder.setPointType(PointType.END_POINT);
+ pointBuilder.setActionType(ActionType.PICK_UP);
+ pointBuilder.setSequence(1);
+ //构建起点坐标
+ GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
+ geoPointBuilder.setLatitude(dto.getEndLatitude());
+ geoPointBuilder.setLongitude(dto.getEndLatitude());
+ // 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());
@@ -88,7 +125,6 @@
if (!dto.getOrderId().contains("XU") && mqttPublishDto.getCode()== 200) {
// 修改车子为接单状态
xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(dto.getVin(),1));
-
return R.ok(true);
}
return R.ok(false);
@@ -106,9 +142,17 @@
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);
+ 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);
}
@@ -153,9 +197,23 @@
* @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();
@@ -219,23 +277,42 @@
* @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();
@@ -248,21 +325,33 @@
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);
@@ -283,7 +372,7 @@
//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));
@@ -296,7 +385,7 @@
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());
});
}
@@ -309,8 +398,15 @@
* @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<>();
@@ -368,19 +464,31 @@
* @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);
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);
}
@@ -397,21 +505,33 @@
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);
@@ -422,7 +542,7 @@
//存储历史轨迹
OrderTrajectoryVo orderTrajectory = new OrderTrajectoryVo();
- orderTrajectory.setOrderId(orderId);
+ orderTrajectory.setOrderId(finalOrderId);
orderTrajectory.setLocation(longitude + "," + latitude);
orderTrajectory.setDirection(dto.getDirection());
orderTrajectory.setSpeed(0D);
@@ -442,7 +562,7 @@
//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));
@@ -455,7 +575,7 @@
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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