From c98d3f2fc620b3f5d699e2be34eaabc1033b42b2 Mon Sep 17 00:00:00 2001
From: puzhibing <393733352@qq.com>
Date: 星期三, 11 三月 2026 16:17:32 +0800
Subject: [PATCH] 修改巡游订单部分逻辑
---
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java | 131 +++++++++++++++++++++----------------------
1 files changed, 65 insertions(+), 66 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 6e12f34..d465fb7 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
@@ -26,7 +26,6 @@
import com.xiaopeng.common.core.domain.R;
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;
@@ -59,25 +58,21 @@
private RedisService redisService;
@Resource
private XpVehicleClient xpVehicleClient;
+ @Resource
+ private Snowflake snowflake;
@PostMapping("/inner/pushOrder")
public R<Boolean> pushOrder(@RequestBody PushOrderDto dto) {
- RtTask.Builder taskBuilder = RtTask.newBuilder();
- SnowFlake snowFlake = new SnowFlake(0, 0);
- snowFlake.withStartTimestamp(1420041600000L);
- taskBuilder.setOrderId(dto.getOrderId().toString());
- taskBuilder.setTaskId(snowFlake.nextId() + "");
-
- 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();
//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);
@@ -101,62 +96,68 @@
taskBuilder.addPoints(pointBuilderEnd);
taskBuilder.setSequence(1);
taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_CRUISE);
+ taskListBuilder.addTasks(taskBuilder.build());
}else{
- //用户订单
- if(dto.getStage() == 1){
- //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(dto.getStartLatitude());
- geoPointBuilder.setLongitude(dto.getStartLongitude());
- pointBuilderStart.setPoint(geoPointBuilder.build());
- taskBuilder.addPoints(pointBuilderStart);
+ 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(1);
- 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.getEndLatitude());
- geoPointBuilder.setLongitude(dto.getEndLatitude());
- 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.getEndLatitude());
- pointBuilderEnd.setPoint(geoPointBuilder.build());
- taskBuilder.addPoints(pointBuilderEnd);
- taskBuilder.setSequence(2);
- taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);
+ //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.getEndLatitude());
+ pointBuilderEnd.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderEnd);
+ taskBuilder.setSequence(i);
+ taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);
+ }
+ taskListBuilder.addTasks(taskBuilder.build());
}
}
- RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
- taskListBuilder.addTasks(taskBuilder.build());
- long sequence = snowFlake.nextId();
+ 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) {
@@ -179,14 +180,12 @@
R<Boolean> cancelOrder(@RequestBody PushOrderDto dto) {
OrderOperation.Builder operationBuilder = OrderOperation.newBuilder();
operationBuilder.setOrderId(dto.getOrderId().toString());
- operationBuilder.setTaskId("CANCEL_MISSION_" + IdUtil.fastUUID());
+ operationBuilder.setTaskId(snowflake.nextId() + "");
if (dto.getOperation_type() != null) {
operationBuilder.setOperationType(OrderOperationType.forNumber(dto.getOperation_type().getNumber()));
}
- SnowFlake snowFlake = new SnowFlake(0, 0);
- snowFlake.withStartTimestamp(1420041600000L);
- long sequence = snowFlake.nextId();
+ long sequence = snowflake.nextId();
MqttPublishDto mqttPublishDto = xpuUtil.cloudOrderOperation(operationBuilder.build(), dto.getVin(), sequence);
if (mqttPublishDto.getCode() == 200) {
--
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