package com.xiaopeng.automaticPilot.util;
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import cn.hutool.core.lang.Snowflake;
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import cn.hutool.core.util.IdUtil;
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import cn.hutool.http.HttpRequest;
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import cn.hutool.http.HttpResponse;
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import cn.hutool.http.HttpUtil;
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import com.alibaba.fastjson.JSONObject;
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import com.alibaba.fastjson2.JSON;
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import com.xiaopeng.api.vo.automaticPilot.proto.down.*;
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import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudOrderOperation.OrderOperation;
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import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.RTTask;
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import com.xiaopeng.common.core.utils.uuid.UUID;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.stereotype.Component;
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/**
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* 自动驾驶接口对接文档
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*/
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@Slf4j
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@Component
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public class XPUUtil {
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/**
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* 接口地址
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*/
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@Value("${xpu.url}")
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private String xpuUrl;
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/**
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* Robotaxi创建订单推送给XPU
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*
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* @param task
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* @return
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*/
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public ResponseMessage cloudCreateOrder(RTTask task,Long sequence) {
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MsgContent msgContent = new MsgContent();
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// 消息头
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RtMsgHeader header = new RtMsgHeader();
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header.setMsg_id(UUID.randomUUID().toString());
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header.setTimestamp(System.currentTimeMillis());
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header.setCmd(RTCmdType.CLOUD_CREATE_ORDER);
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header.setSequence(sequence);
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header.setType(MessageType.MESSAGE_TYPE_RESPONSE);
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msgContent.setHeader(header);
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// 消息内容
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JSONObject jsonObject = new JSONObject();
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jsonObject.put("task", task);
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msgContent.setContent_detail(jsonObject);
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log.info("云端-->XPU 创建订单：{}", msgContent);
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HttpRequest post = HttpUtil.createPost("");
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post.body(JSON.toJSONString(msgContent));
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HttpResponse execute = post.execute();
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int status = execute.getStatus();
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if (200 != status) {
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throw new RuntimeException("XPU 接口异常：" + execute.getStatus());
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}
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MsgContent resMsgContent = JSON.parseObject(execute.body(), MsgContent.class);
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RtMsgHeader resHeader = resMsgContent.getHeader();
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int value = resHeader.getType().getValue();
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//只处理应答消息
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if (value == MessageType.MESSAGE_TYPE_RESPONSE.getValue()) {
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JSONObject contentDetail = resMsgContent.getContent_detail();
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return contentDetail.getObject("response", ResponseMessage.class);
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}
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return null;
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}
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/**
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* 操作订单
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* 取消订单/修改途经点、终点/下发导航地址到车端
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*
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* @param operation
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* @return
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*/
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public ResponseMessage cloudOrderOperation(OrderOperation operation) {
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MsgContent msgContent = new MsgContent();
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// 消息头
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RtMsgHeader header = new RtMsgHeader();
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header.setMsg_id(UUID.randomUUID().toString());
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header.setTimestamp(System.currentTimeMillis());
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header.setCmd(RTCmdType.CLOUD_ORDER_OPERATION);
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Snowflake snowflake = IdUtil.getSnowflake(0, 0);
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header.setSequence(snowflake.nextId());
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header.setType(MessageType.MESSAGE_TYPE_REQUEST);
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msgContent.setHeader(header);
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// 消息内容
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JSONObject jsonObject = new JSONObject();
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jsonObject.put("operation", operation);
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msgContent.setContent_detail(jsonObject);
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log.info("云端-->XPU 操作订单：{}", msgContent);
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HttpRequest post = HttpUtil.createPost("");
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post.body(JSON.toJSONString(msgContent));
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HttpResponse execute = post.execute();
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int status = execute.getStatus();
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if (200 != status) {
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throw new RuntimeException("XPU 接口异常：" + execute.getStatus());
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}
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MsgContent resMsgContent = JSON.parseObject(execute.body(), MsgContent.class);
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RtMsgHeader resHeader = resMsgContent.getHeader();
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int value = resHeader.getType().getValue();
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//只处理应答消息
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if (value == MessageType.MESSAGE_TYPE_RESPONSE.getValue()) {
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JSONObject contentDetail = resMsgContent.getContent_detail();
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return contentDetail.getObject("response", ResponseMessage.class);
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}
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return null;
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}
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/**
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* 响应消息
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*
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* @param responseMessage
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* @return
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*/
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public ResponseMessage responseMessage(ResponseMessage responseMessage) {
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MsgContent msgContent = new MsgContent();
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// 消息头
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RtMsgHeader header = new RtMsgHeader();
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header.setMsg_id(UUID.randomUUID().toString());
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header.setTimestamp(System.currentTimeMillis());
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header.setCmd(RTCmdType.CLOUD_TASK_CONTROL);
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Snowflake snowflake = IdUtil.getSnowflake(0, 0);
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header.setSequence(snowflake.nextId());
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header.setType(MessageType.MESSAGE_TYPE_RESPONSE);
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msgContent.setHeader(header);
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// 消息内容
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JSONObject jsonObject = new JSONObject();
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jsonObject.put("resposne", responseMessage);
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msgContent.setContent_detail(jsonObject);
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log.info("云端-->XPU 响应消息：{}", msgContent);
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HttpRequest post = HttpUtil.createPost("");
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post.body(JSON.toJSONString(msgContent));
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HttpResponse execute = post.execute();
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int status = execute.getStatus();
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if (200 != status) {
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throw new RuntimeException("XPU 接口异常：" + execute.getStatus());
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}
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return null;
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}
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}
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