package com.xiaopeng.automaticPilot.controller; import cn.hutool.core.lang.Snowflake; import cn.hutool.core.util.IdUtil; import com.alibaba.fastjson2.JSON; import com.alibaba.fastjson2.JSONObject; import com.xiaopeng.api.dto.automaticPilot.MqttPublishDto; import com.xiaopeng.api.dto.automaticPilot.PushOrderDto; 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.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.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.automaticPilot.util.XPUUtil; 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; import lombok.extern.slf4j.Slf4j; 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.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.concurrent.LinkedBlockingQueue; import java.util.concurrent.ThreadPoolExecutor; import java.util.concurrent.TimeUnit; import java.util.stream.Collectors; @Slf4j @RestController @RequestMapping("") @Api(tags = "订单任务Api") public class OrderMissionController { @Resource private XPUUtil xpuUtil; @Resource private RedisService redisService; @Resource private XpVehicleClient xpVehicleClient; @PostMapping("/inner/pushOrder") public R 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); } RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder(); taskListBuilder.addTasks(taskBuilder.build()); SnowFlake snowFlake = new SnowFlake(0, 0); snowFlake.withStartTimestamp(1420041600000L); 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) { // 修改车子为接单状态 xpVehicleClient.updateVehicleStatus(new UpdateVehicleStateDto(dto.getVin(),1)); return R.ok(true); } return R.ok(false); } @PostMapping("/inner/cancelOrder") R cancelOrder(@RequestBody PushOrderDto dto) { OrderOperation.Builder operationBuilder = OrderOperation.newBuilder(); operationBuilder.setOrderId(dto.getOrderId().toString()); operationBuilder.setTaskId("CANCEL_MISSION_" + IdUtil.fastUUID()); if (dto.getOperation_type() != null) { operationBuilder.setOperationType(OrderOperationType.forNumber(dto.getOperation_type().getValue())); } 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); } //-----------------------------------------------用户测试阶段模拟车机报文调用流程接口实现业务闭环--------------------------------------// @Resource private XpOrderClient xpOrderClient; @Resource private XpMapClient xpMapClient; @Resource private MongoTemplate mongoTemplate; @Resource public RedisTemplate redisTemplate; @Resource private XpPushMessageClient xpPushMessageClient; /** * 模拟接单 * @param orderId 订单id * @param vehicleId 车辆id * @param startLon 车子当前位置经度 * @param startLat 车子当前位置维度 * @return */ @GetMapping("/base/v1/order/acceptingOrder") public R acceptingOrder(Long orderId, Long vehicleId, Double startLon, Double startLat){ XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData(); XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData(); OrderRouteAndFareDto dto = new OrderRouteAndFareDto(); dto.setOrderId(orderId); LonLatDto origin = new LonLatDto(); origin.setLongitude(startLon); origin.setLatitude(startLat); dto.setOrigin(origin); LonLatDto destination = new LonLatDto(); destination.setLongitude(xpOrder.getStartLon()); destination.setLatitude(xpOrder.getStartLat()); dto.setDestination(destination); dto.setRouteType(1); R routeVoR = xpMapClient.getOrderDistanceAndDuration(dto); if (200 != routeVoR.getCode()) { throw new RuntimeException("获取订单线路和运费失败"); } 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(), JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS); PopOrderDto dto1 = new PopOrderDto(); dto1.setOrderId(Long.valueOf(orderId)); dto1.setXpVehicleVin(xpVehicle.getVehicleVin()); dto1.setOrderType(com.xiaopeng.api.vo.OrderType.USER_ORDER); R r = xpOrderClient.popOrder(dto1); //构建推送消息 Map params = new HashMap<>(); Map content = new HashMap<>(); content.put("orderId", orderId.toString()); content.put("status", 3); params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc()); params.put("content", JSONObject.toJSONString(content)); params.put("timestamp", System.currentTimeMillis() + ""); String message = JSONObject.toJSONString(params); Long appUserId = xpOrder.getAppUserId(); SendMessageDTO dto2 = new SendMessageDTO(); dto2.setAppUserId(appUserId + ""); dto2.setMessage(message); R stringR = xpPushMessageClient.sendStatus(dto2); if (R.isError(stringR)) { 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; } /** * 推送司机接驾轨迹和实时位置 * @param orderId */ @GetMapping("/base/v1/order/pushStartDriverLocation") private void pushStartDriverLocation(Long vehicleId, Long orderId){ XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData(); XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData(); 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); ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(1, 1, 0L, TimeUnit.MILLISECONDS, new LinkedBlockingQueue<>(1000)); threadPoolExecutor.execute(() -> { //等待10秒后开始执行车子位移 try { Thread.sleep(10000); } catch (InterruptedException e) { throw new RuntimeException(e); } List polyline = routeVo.getPolyline(); for (LonLatDto lonLatDto : polyline) { Double latitude = lonLatDto.getLatitude(); Double longitude = lonLatDto.getLongitude(); //保存车辆实时位置到redis redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new Point(longitude, latitude), vin); //保存车辆实时信息到mongodb 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); //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) { PushOrderRouteDTO dto = new PushOrderRouteDTO(); dto.setOrderId(orderId); dto.setRouteType(1); dto.setLongitude(longitude); dto.setLatitude(latitude); dto.setDuration(10); dto.setDistance(2); dto.setDirection(60); xpPushMessageClient.pushOrderRoute(dto); } //2秒钟循环一次 try { Thread.sleep(2000); } catch (InterruptedException e) { throw new RuntimeException(e); } } //构建推送消息 Map params = new HashMap<>(); Map content = new HashMap<>(); content.put("orderId", orderId.toString()); content.put("status", 4); params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc()); params.put("content", JSONObject.toJSONString(content)); params.put("timestamp", System.currentTimeMillis() + ""); String message = JSONObject.toJSONString(params); SendMessageDTO dto2 = new SendMessageDTO(); dto2.setAppUserId(appUserId + ""); dto2.setMessage(message); R stringR = xpPushMessageClient.sendStatus(dto2); if (R.isError(stringR)) { log.error("推送消息失败：{}", stringR.getMsg()); } xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.PICK_UP_GUESTS.getCode()); }); } /** * 修改订单状态 * @param orderId * @param status * @return */ @GetMapping("/base/v1/order/updateOrderStatus") public R updateOrderStatus(Long orderId, Integer status) { XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData(); //构建推送消息 Map params = new HashMap<>(); Map content = new HashMap<>(); content.put("orderId", orderId.toString()); content.put("status", status); params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc()); params.put("content", JSONObject.toJSONString(content)); params.put("timestamp", System.currentTimeMillis() + ""); String message = JSONObject.toJSONString(params); SendMessageDTO dto2 = new SendMessageDTO(); dto2.setAppUserId(xpOrder.getAppUserId() + ""); dto2.setMessage(message); R stringR = xpPushMessageClient.sendStatus(dto2); if (R.isError(stringR)) { 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 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(); } /** * 推送司机接驾轨迹和实时位置 * @param orderId */ @GetMapping("/base/v1/order/pushEndDriverLocation") private void pushEndDriverLocation(Long vehicleId, Long orderId){ XpVehicle xpVehicle = xpVehicleClient.queryById(vehicleId).getData(); XpOrder xpOrder = xpOrderClient.queryOrderById(orderId).getData(); 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)); threadPoolExecutor.execute(() -> { //等待10秒后开始执行车子位移 try { Thread.sleep(10000); } catch (InterruptedException e) { throw new RuntimeException(e); } List polyline = routeVo.getPolyline(); for (LonLatDto lonLatDto : polyline) { Double latitude = lonLatDto.getLatitude(); Double longitude = lonLatDto.getLongitude(); //保存车辆实时位置到redis redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new Point(longitude, latitude), vin); //保存车辆实时信息到mongodb 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); //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) { PushOrderRouteDTO dto = new PushOrderRouteDTO(); dto.setOrderId(orderId); dto.setRouteType(1); dto.setLongitude(longitude); dto.setLatitude(latitude); dto.setDuration(20); dto.setDistance(10); dto.setDirection(60); xpPushMessageClient.pushOrderRoute(dto); } //5秒钟循环一次 try { Thread.sleep(500); } catch (InterruptedException e) { throw new RuntimeException(e); } } //构建推送消息 Map params = new HashMap<>(); Map content = new HashMap<>(); content.put("orderId", orderId.toString()); content.put("status", 7); params.put("type", PushMessageTypeEnum.ORDER_STATUS.getDesc()); params.put("content", JSONObject.toJSONString(content)); params.put("timestamp", System.currentTimeMillis() + ""); String message = JSONObject.toJSONString(params); SendMessageDTO dto2 = new SendMessageDTO(); dto2.setAppUserId(appUserId + ""); dto2.setMessage(message); R stringR = xpPushMessageClient.sendStatus(dto2); if (R.isError(stringR)) { log.error("推送消息失败：{}", stringR.getMsg()); } xpOrderClient.updateOrderStatus(orderId, OrderStatusEnum.SEE_OFF_GUESTS.getCode()); }); } }