package com.xiaopeng.automaticPilot.util;
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import com.xiaopeng.api.dto.automaticPilot.MqttPublishDto;
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import com.xiaopeng.api.feignClient.automaticPilot.VmpOpenServiceClient;
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import com.xiaopeng.api.feignClient.automaticPilot.XPUClient;
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import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;
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import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
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import com.xiaopeng.api.vo.automaticPilot.MqttPublishVo;
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import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
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import com.xiaopeng.common.core.domain.R;
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import org.junit.jupiter.api.Assertions;
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import org.junit.jupiter.api.BeforeEach;
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import org.junit.jupiter.api.Test;
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import org.mockito.ArgumentCaptor;
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import org.mockito.Mockito;
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import java.lang.reflect.Field;
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import java.lang.reflect.Method;
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import java.util.HashMap;
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import java.util.Map;
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public class XPUUtilTest {
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private XPUUtil xpuUtil;
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private XPUClient xpuClient;
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private VmpOpenServiceClient vmpClient;
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private XpVehicleClient xpVehicleClient;
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@BeforeEach
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public void setUp() throws Exception {
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xpuUtil = new XPUUtil();
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// Mock VmpOpenServiceClient
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vmpClient = Mockito.mock(VmpOpenServiceClient.class);
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Map<String, String> mapping = new HashMap<>();
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mapping.put(XPUUtil.XPU_ID_TYPE, "c47b405bee79000f282a36e800000000");
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Mockito.when(vmpClient.getVehicleBindInfoByVin(Mockito.anyString(), Mockito.anyList()))
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.thenReturn(mapping);
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// Mock XPUClient
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MqttPublishDto res = new MqttPublishDto();
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res.setCode(200);
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xpuClient = Mockito.mock(XPUClient.class);
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Mockito.when(xpuClient.publish(Mockito.any(MqttPublishVo.class)))
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.thenReturn(res);
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// Inject mocks
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Field vmpField = XPUUtil.class.getDeclaredField("vmpOpenServiceClient");
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vmpField.setAccessible(true);
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vmpField.set(xpuUtil, vmpClient);
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Field xpuClientField = XPUUtil.class.getDeclaredField("xpuClient");
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xpuClientField.setAccessible(true);
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xpuClientField.set(xpuUtil, xpuClient);
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XpVehicle xpVehicle = new XpVehicle();
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xpVehicle.setXpuId("c47b405bee79000f282a36e800000000");
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xpVehicleClient = Mockito.mock(XpVehicleClient.class);
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Mockito.when(xpVehicleClient.findByVehicleVin(Mockito.anyString()))
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.thenReturn(R.ok(xpVehicle));
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// Inject mocks
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Field xpVehicleClientField = XPUUtil.class.getDeclaredField("xpVehicleClient");
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xpVehicleClientField.setAccessible(true);
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xpVehicleClientField.set(xpuUtil, xpVehicleClient);
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Field topicField = XPUUtil.class.getDeclaredField("topicPrefix");
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topicField.setAccessible(true);
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topicField.set(xpuUtil, "Robotaxi/Msg/Xpu");
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}
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@Test
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public void testBuildTopicByVin() throws Exception {
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Method buildTopic = XPUUtil.class.getDeclaredMethod("buildTopicByVin", String.class);
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buildTopic.setAccessible(true);
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String result = (String) buildTopic.invoke(xpuUtil, "VIN123");
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Assertions.assertEquals("Robotaxi/Msg/Xpu/c47b405bee79000f282a36e800000000", result);
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}
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@Test
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public void testCloudCreateOrder() {
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String orderId = "1881347710714060802";
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RtTask.Builder taskBuilder = RtTask.newBuilder();
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taskBuilder.setTaskId("task-123");
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taskBuilder.setOrderId(orderId);
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taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
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Waypoint.Builder pointBuilder = Waypoint.newBuilder();
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pointBuilder.setPointType(PointType.START_POINT);
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pointBuilder.setActionType(ActionType.PICK_UP);
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pointBuilder.setSequence(1);
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GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
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geoPointBuilder.setLatitude(30.0);
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geoPointBuilder.setLongitude(120.0);
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// geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
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pointBuilder.setPoint(geoPointBuilder.build());
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taskBuilder.addPoints(pointBuilder);
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RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
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taskListBuilder.addTasks(taskBuilder.build());
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String vin = "VIN12345678900000";
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Long sequence = 1L;
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xpuUtil.cloudCreateOrder(taskListBuilder.build(), vin, sequence);
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ArgumentCaptor<MqttPublishVo> captor = ArgumentCaptor.forClass(MqttPublishVo.class);
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Mockito.verify(xpuClient).publish(captor.capture());
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MqttPublishVo capturedVo = captor.getValue();
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Assertions.assertEquals("Robotaxi/Msg/Xpu/c47b405bee79000f282a36e800000000", capturedVo.getTopic());
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// Note: Current implementation serializes enum as ordinal.
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Assertions.assertTrue(capturedVo.getPayload().contains("\"cmd\": 10005"), "Payload should contain cmd CLOUD_CREATE_ORDER (10003), but was: " + capturedVo.getPayload());
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}
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@Test
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public void testCloudOrderOperation() {
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String orderId = "1881347710714060802";
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OrderOperation.Builder operationBuilder = OrderOperation.newBuilder();
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operationBuilder.setOrderId(orderId);
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operationBuilder.setTaskId("task-123");
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operationBuilder.setOperationType(OrderOperationType.CLOUD_CREATE_ORDER);
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operationBuilder.setOrderType(OrderType.ORDER_TYPE_ROBOTAXI);
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Waypoint.Builder waypointBuilder = Waypoint.newBuilder();
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waypointBuilder.setWaypointId("wp-1");
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waypointBuilder.setPointType(PointType.WAY_POINT);
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waypointBuilder.setActionType(ActionType.PICK_UP); // Use valid enum
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waypointBuilder.setSequence(2);
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GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
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geoPointBuilder.setLatitude(30.1);
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geoPointBuilder.setLongitude(120.1);
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// geoPointBuilder.setPoiName("Way Point");
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waypointBuilder.setPoint(geoPointBuilder.build());
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operationBuilder.addWaypoints(waypointBuilder.build());
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// TargetPoint targetPoint = new TargetPoint(); // OrderOperation uses Waypoint for target_point in proto?
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// Check proto: Waypoint target_point = 6;
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Waypoint.Builder targetPointBuilder = Waypoint.newBuilder();
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GeoPoint.Builder endGeoPointBuilder = GeoPoint.newBuilder();
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endGeoPointBuilder.setLatitude(30.2);
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endGeoPointBuilder.setLongitude(120.2);
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targetPointBuilder.setPoint(endGeoPointBuilder.build());
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operationBuilder.setTargetPoint(targetPointBuilder.build());
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String vin = "VIN12345678900000";
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Long sequence = 2L;
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xpuUtil.cloudOrderOperation(operationBuilder.build(), vin, sequence);
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ArgumentCaptor<MqttPublishVo> captor = ArgumentCaptor.forClass(MqttPublishVo.class);
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Mockito.verify(xpuClient).publish(captor.capture());
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MqttPublishVo capturedVo = captor.getValue();
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Assertions.assertEquals("Robotaxi/Msg/Xpu/c47b405bee79000f282a36e800000000", capturedVo.getTopic());
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// Note: CLOUD_ORDER_OPERATION is 10001
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Assertions.assertTrue(capturedVo.getPayload().contains("\"cmd\": 10001"), "Payload should contain cmd CLOUD_ORDER_OPERATION (10001), but was: " + capturedVo.getPayload());
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}
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@Test
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public void testResponseMessage() {
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ResponseMessage.Builder responseMessageBuilder = ResponseMessage.newBuilder();
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responseMessageBuilder.setRequestSeq(12345L);
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responseMessageBuilder.setCode(StatusCode.OK);
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responseMessageBuilder.setTimestamp(System.currentTimeMillis());
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String vin = "VIN12345678900000";
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xpuUtil.responseMessage(RTCmdType.CLOUD_TASK_CONTROL, responseMessageBuilder.build(), vin);
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ArgumentCaptor<MqttPublishVo> captor = ArgumentCaptor.forClass(MqttPublishVo.class);
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Mockito.verify(xpuClient).publish(captor.capture());
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MqttPublishVo capturedVo = captor.getValue();
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Assertions.assertEquals("Robotaxi/Msg/Xpu/c47b405bee79000f282a36e800000000", capturedVo.getTopic());
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// Note: CLOUD_TASK_CONTROL (used in responseMessage method? check code)
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// In XPUUtil.java: headerBuilder.setCmd(RTCmdType.CLOUD_TASK_CONTROL.getValue());
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// CLOUD_TASK_CONTROL is 10002
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Assertions.assertTrue(capturedVo.getPayload().contains("\"cmd\": 10002"), "Payload should contain cmd CLOUD_TASK_CONTROL (10002), but was: " + capturedVo.getPayload());
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}
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@Test
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public void testCloudPushNavigation() {
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RestoreNavigationData.Builder navigationDataBuilder = RestoreNavigationData.newBuilder();
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navigationDataBuilder.setRequestId("req-123");
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navigationDataBuilder.setRouteId("5939fa259ad6479cbdf8871ceed96b72");
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String content = "{\"startPoint\":{\"location\":\"116.481028,39.989643\"},\"endPoint\":{\"location\":\"116.465302,40.004717\"},\"routeID\":\"xxxxxxxxxxxxx\",\"strategy\":17,\"type\":1,\"ferry\":0,\"disableEndDispatch\":1,\"viaInfo\":[{},{}],\"routeUserType\":2,\"bizScene\":2,\"plate\":\"京A12345\",\"vehicleType\":1}";
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navigationDataBuilder.setContent(content);
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navigationDataBuilder.setTimestamp(System.currentTimeMillis());
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String xpuId = "c47b405bee79000f282a36e800000000";
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Long sequence = 3L;
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xpuUtil.cloudPushNavigation(navigationDataBuilder.build(), xpuId, sequence);
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ArgumentCaptor<MqttPublishVo> captor = ArgumentCaptor.forClass(MqttPublishVo.class);
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Mockito.verify(xpuClient).publish(captor.capture());
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MqttPublishVo capturedVo = captor.getValue();
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Assertions.assertEquals("Robotaxi/Msg/Xpu/c47b405bee79000f282a36e800000000", capturedVo.getTopic());
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// Note: CLOUD_NAVIGATION_RESPONSE is 10006
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Assertions.assertTrue(capturedVo.getPayload().contains("\"cmd\": 10006"), "Payload should contain cmd CLOUD_NAVIGATION_RESPONSE (10006), but was: " + capturedVo.getPayload());
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}
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}
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