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 | 240 ++++++++++++++++++++++++++++++++++++++++--------------------
1 files changed, 160 insertions(+), 80 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 1735027..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
@@ -17,10 +17,8 @@
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;
@@ -28,7 +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;
@@ -38,6 +35,7 @@
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.*;
@@ -60,72 +58,119 @@
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();
- //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 pointBuilder = Waypoint.newBuilder();
+ 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)){
- pointBuilder.setPointType(PointType.CRUISE_END_POINT);
- pointBuilder.setSequence(1);
- //构建终点坐标
+ 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.getEndLatitude());
- // geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
- pointBuilder.setPoint(geoPointBuilder.build());
+ pointBuilderEnd.setPoint(geoPointBuilder.build());
+ 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){
- //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());
+ 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.getEndLatitude());
+ pointBuilderEnd.setPoint(geoPointBuilder.build());
+ taskBuilder.addPoints(pointBuilderEnd);
+ taskBuilder.setSequence(i);
+ taskBuilder.addOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);
+ }
+ taskListBuilder.addTasks(taskBuilder.build());
}
}
- taskBuilder.addPoints(pointBuilder);
- RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
- taskListBuilder.addTasks(taskBuilder.build());
- SnowFlake snowFlake = new SnowFlake(0, 0);
- snowFlake.withStartTimestamp(1420041600000L);
- long sequence = snowFlake.nextId();
+ 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
+ //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) {
// 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.getOrderId().contains("XU") ? com.xiaopeng.api.vo.OrderType.CRUISE_ORDER : com.xiaopeng.api.vo.OrderType.USER_ORDER);
+ 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);
@@ -135,14 +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().getValue()));
+ 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) {
@@ -200,7 +243,7 @@
@GetMapping("/base/v1/order/acceptingOrder")
public R acceptingOrder(Long orderId, String code, Long vehicleId, Double startLon, Double startLat){
if(null == vehicleId){
- vehicleId = 1L;
+ vehicleId = 11L;//默认使用造的测试车辆
}
if(null == startLat || null == startLon){
startLat = 30.583407D;
@@ -258,6 +301,17 @@
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;
}
@@ -295,6 +349,7 @@
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 {
@@ -314,17 +369,29 @@
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(finalOrderId);
- mongoTemplate.save(vehiclePosition);
//调用推送服务接口
if (null != finalOrderId) {
PushOrderRouteDTO dto = new PushOrderRouteDTO();
@@ -461,6 +528,7 @@
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 {
@@ -481,17 +549,29 @@
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(finalOrderId);
- mongoTemplate.save(vehiclePosition);
//调用推送服务接口
if (null != finalOrderId) {
PushOrderRouteDTO dto = new PushOrderRouteDTO();
--
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