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 com.alibaba.fastjson2.JSON;
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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.vo.automaticPilot.MqttPublishVo;
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import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
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import com.xiaopeng.common.core.utils.StringUtils;
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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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import javax.annotation.Resource;
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import java.util.Collections;
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import java.util.List;
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import java.util.Map;
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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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@Value("${xpu.topic.msg.prefix:Robotaxi/Msg/Xpu}")
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private String topicPrefix;
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@Resource
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private XPUClient xpuClient;
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@Resource
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private VmpOpenServiceClient vmpOpenServiceClient;
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// 查询车管绑定类型，1：XPUID，2：待扩展
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public static final String XPU_ID_TYPE = "1";
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// 查询车管 车辆xpuid信息返回字段，用于按需返回字段
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public static final List<String> TYPE_LIST = Collections.singletonList("1");
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private static final com.google.protobuf.util.JsonFormat.Printer jsonPrinter = com.google.protobuf.util.JsonFormat.printer().printingEnumsAsInts();
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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 taskList
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* @return
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*/
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public MqttPublishDto cloudCreateOrder(RtTaskList taskList, String vin, Long sequence) {
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MsgContent.Builder msgContentBuilder = MsgContent.newBuilder();
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MsgHeader.Builder headerBuilder = MsgHeader.newBuilder();
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headerBuilder.setMsgId(UUID.randomUUID().toString());
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headerBuilder.setTimestamp(System.currentTimeMillis());
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headerBuilder.setCmd(RTCmdType.CLOUD_CREATE_ORDER.getValue());
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headerBuilder.setSequence(sequence);
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headerBuilder.setType(MessageType.MESSAGE_TYPE_REQUEST);
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headerBuilder.setSource(SourceType.CLOUD);
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msgContentBuilder.setHeader(headerBuilder.build());
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msgContentBuilder.setRtTaskList(taskList);
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MqttPublishVo vo = new MqttPublishVo();
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vo.setTopic(buildTopicByVin(vin));
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try {
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vo.setPayload(jsonPrinter.print(msgContentBuilder.build()));
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} catch (Exception e) {
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log.error("Protobuf转JSON失败", e);
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throw new RuntimeException("Protobuf转JSON失败", e);
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}
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log.info("云端-->XPU 创建订单：{}", JSON.toJSONString(vo));
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try {
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MqttPublishDto dto = xpuClient.publish(vo);
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log.info("XPU返回：{}", JSON.toJSONString(dto));
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if(200 != dto.getCode()){
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dto = againPushMessage(vo);
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}
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return dto;
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}catch (Exception e){
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throw new RuntimeException("云端-->XPU 创建订单失败：", e);
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}
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}
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/**
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* 取消订单、修改途经点、终点
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* @param operation
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* @return
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*/
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public MqttPublishDto cloudOrderOperation(OrderOperation operation, String vin, Long sequence) {
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MsgContent.Builder msgContentBuilder = MsgContent.newBuilder();
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MsgHeader.Builder headerBuilder = MsgHeader.newBuilder();
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headerBuilder.setMsgId(UUID.randomUUID().toString());
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headerBuilder.setTimestamp(System.currentTimeMillis());
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headerBuilder.setCmd(RTCmdType.CLOUD_ORDER_OPERATION.getValue());
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headerBuilder.setSequence(sequence);
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headerBuilder.setType(MessageType.MESSAGE_TYPE_REQUEST);
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headerBuilder.setSource(SourceType.CLOUD);
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msgContentBuilder.setHeader(headerBuilder.build());
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msgContentBuilder.setOrderOperation(operation);
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MqttPublishVo vo = new MqttPublishVo();
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vo.setTopic(buildTopicByVin(vin));
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try {
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vo.setPayload(jsonPrinter.print(msgContentBuilder.build()));
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} catch (Exception e) {
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log.error("Protobuf转JSON失败", e);
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throw new RuntimeException("Protobuf转JSON失败", e);
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}
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log.info("云端-->XPU 修改订单：{}", vo);
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try {
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MqttPublishDto dto = xpuClient.publish(vo);
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log.info("XPU返回：{}", JSON.toJSONString(dto));
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if(200 != dto.getCode()){
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dto = againPushMessage(vo);
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}
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return dto;
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}catch (Exception e){
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throw new RuntimeException("云端-->XPU 修改订单失败：", e);
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}
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}
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/**
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* 下发导航地址到车端
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*
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* @param navigationData
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* @return
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*/
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public MqttPublishDto cloudPushNavigation(RestoreNavigationData navigationData, String xpuId, Long sequence) {
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MsgContent.Builder msgContentBuilder = MsgContent.newBuilder();
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MsgHeader.Builder headerBuilder = MsgHeader.newBuilder();
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headerBuilder.setMsgId(UUID.randomUUID().toString());
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headerBuilder.setTimestamp(System.currentTimeMillis());
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headerBuilder.setCmd(RTCmdType.CLOUD_NAVIGATION_RESPONSE.getValue());
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headerBuilder.setSequence(sequence);
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headerBuilder.setType(MessageType.MESSAGE_TYPE_RESPONSE);
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headerBuilder.setSource(SourceType.CLOUD);
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msgContentBuilder.setHeader(headerBuilder.build());
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msgContentBuilder.setRestoreNavigationData(navigationData);
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MqttPublishVo vo = new MqttPublishVo();
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vo.setTopic(buildTopicByXpuId(xpuId));
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try {
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vo.setPayload(jsonPrinter.print(msgContentBuilder.build()));
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} catch (Exception e) {
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log.error("Protobuf转JSON失败", e);
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throw new RuntimeException("Protobuf转JSON失败", e);
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}
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log.info("云端-->XPU 下发导航信息：{}", vo);
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try {
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MqttPublishDto dto = xpuClient.publish(vo);
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log.info("XPU返回：{}", JSON.toJSONString(dto));
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if(200 != dto.getCode()){
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dto = againPushMessage(vo);
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}
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return dto;
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}catch (Exception e){
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throw new RuntimeException("云端-->XPU 下发导航信息失败：", e);
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}
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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 MqttPublishDto responseMessage(ResponseMessage responseMessage, String vin) {
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MsgContent.Builder msgContentBuilder = MsgContent.newBuilder();
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MsgHeader.Builder headerBuilder = MsgHeader.newBuilder();
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headerBuilder.setMsgId(UUID.randomUUID().toString());
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headerBuilder.setTimestamp(System.currentTimeMillis());
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headerBuilder.setCmd(RTCmdType.CLOUD_TASK_CONTROL.getValue());
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Snowflake snowflake = IdUtil.getSnowflake(0, 0);
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headerBuilder.setSequence(snowflake.nextId());
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headerBuilder.setType(MessageType.MESSAGE_TYPE_RESPONSE);
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headerBuilder.setSource(SourceType.CLOUD);
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msgContentBuilder.setHeader(headerBuilder.build());
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msgContentBuilder.setResponse(responseMessage);
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MqttPublishVo vo = new MqttPublishVo();
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vo.setTopic(buildTopicByVin(vin));
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try {
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vo.setPayload(jsonPrinter.print(msgContentBuilder.build()));
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} catch (Exception e) {
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log.error("Protobuf转JSON失败", e);
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throw new RuntimeException("Protobuf转JSON失败", e);
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}
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log.info("云端-->XPU 响应消息：{}", vo);
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return xpuClient.publish(vo);
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}
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/**
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* @description: 根据vin查询xpuId
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* @param: vin
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* @return: xpuId
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*/
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public String getXpuIdByVin(String vin) {
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Map<String, String> xpuIdMapping = vmpOpenServiceClient.getVehicleBindInfoByVin(vin, TYPE_LIST);
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log.info("getMqttPublishTopic vin,{},xpuIdMapping,{}", vin, JSON.toJSONString(xpuIdMapping));
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if (xpuIdMapping == null || StringUtils.isEmpty(xpuIdMapping.get(XPU_ID_TYPE)) ) {
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log.error("根据vin查询车辆xpuid信息为空,vin={}", vin);
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throw new RuntimeException("根据vin查询车辆xpuid信息为空");
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}
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return xpuIdMapping.get(XPU_ID_TYPE);
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}
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private String buildTopicByVin(String vin) {
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String xpuId = getXpuIdByVin(vin);
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return this.buildTopicByXpuId(xpuId);
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}
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private String buildTopicByXpuId(String xpuId) {
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String prefix = topicPrefix == null ? "" : topicPrefix;
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if (!prefix.endsWith("/")) {
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prefix = prefix + "/";
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}
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String value = xpuId;
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if (xpuId.length() > 10) {
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int start = 10;
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int end = Math.min(24, xpuId.length());
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value = xpuId.substring(start, end);
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}
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return prefix + value + "00000000";
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}
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/**
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* 消息下发XPU重试机制
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* @param message
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* @return
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*/
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public MqttPublishDto againPushMessage(MqttPublishVo message) {
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log.info("云端-->XPU 消息重试：{}", message);
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MqttPublishDto dto = null;
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for (int i = 0; i < 3; i++) {
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try {
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dto = xpuClient.publish(message);
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log.info("云端-->XPU 消息重试{}次：{}", (i+1), message);
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if (dto.getCode() == 200) {
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break;
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}
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}catch (Exception e){
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log.error("云端-->XPU 推送失败：{}", message);
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}
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}
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return dto;
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}
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}
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