package com.xiaopeng.automaticPilot.service;
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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.fastjson.JSONObject;
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import com.alibaba.fastjson2.JSON;
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import com.xiaopeng.api.dto.map.OrderRouteAndFareDto;
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import com.xiaopeng.api.dto.operation.LonLatDto;
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import com.xiaopeng.api.feignClient.map.XpMapClient;
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import com.xiaopeng.api.feignClient.order.XpOrderClient;
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import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;
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import com.xiaopeng.api.model.order.XpOrder;
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import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
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import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
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import com.xiaopeng.api.vo.automaticPilot.proto.down.GeoPoint;
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import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudOrderOperation.*;
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import com.xiaopeng.api.vo.automaticPilot.proto.up.MessageType;
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import com.xiaopeng.api.vo.automaticPilot.proto.up.MsgContent;
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import com.xiaopeng.api.vo.automaticPilot.proto.up.RTCmdType;
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import com.xiaopeng.api.vo.automaticPilot.proto.up.RtMsgHeader;
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import com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu.RealtimePose;
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import com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu.SystemRuntimeStatus;
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import com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu.VehicleStaticInfo;
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import com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu.Wgs;
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import com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest.NavigationRequest;
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import com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest.OrderPhase;
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import com.xiaopeng.api.vo.operation.RouteVo;
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import com.xiaopeng.automaticPilot.util.XPUUtil;
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import com.xiaopeng.common.core.domain.R;
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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.data.mongodb.core.MongoTemplate;
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import org.springframework.data.mongodb.core.query.Criteria;
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import org.springframework.data.mongodb.core.query.Query;
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import org.springframework.stereotype.Service;
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import javax.annotation.Resource;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.Objects;
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/**
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* Kafka 消费者服务
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*/
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@Slf4j
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@Service
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public class KafkaConsumerService {
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@Resource
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private XpMapClient xpMapClient;
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@Resource
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private XpOrderClient xpOrderClient;
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@Resource
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private MongoTemplate mongoTemplate;
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@Resource
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private XpVehicleClient xpVehicleClient;
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@Resource
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private XPUUtil xpuUtil;
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/**
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* 消费消息 - XPU上报Robotaxi云端的消息topic（高优先级）
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*
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*/
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public void topicProdRobotaxiXpuHigh(String message) {
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MsgContent msgContent = JSON.parseObject(message, MsgContent.class);
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RtMsgHeader header = msgContent.getHeader();
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MessageType type = header.getType();
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//处理请求消息
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if (MessageType.MESSAGE_TYPE_REQUEST == type) {
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//区分业务类型
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RTCmdType cmd = header.getCmd();
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switch (cmd) {
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case SYSTEM_STATUS_XPU:
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log.info("XPU发布系统运行状态 (XPU→云端)：{}", message);
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break;
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case XPU_NAVIGATION_REQUEST:
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log.info("XPU向云端请求导航 (XPU→云端)：{}", message);
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xpuNavigationRequest(msgContent);
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break;
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case TRIP_STATUS_UPDATE_EVENT:
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log.info("行程状态更新(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case PULLOVER_STATUS_EVENT:
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log.info("靠边停车状态(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case DRIVING_MODE_UPDATE_EVENT:
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log.info("驾驶模式变化(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case SYSTEM_STATUS_UPDATE_EVENT:
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log.info("系统状态变化(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case TASK_STATE_UPDATE_EVENT:
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log.info("任务状态变化(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case ORDER_STATE_UPDATE_EVENT:
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log.info("订单状态变化(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case POINT_ARRIVAL_STATUS_EVENT:
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log.info("到达目标点状态(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case PICKUP_CONFIRMATION_EVENT:
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log.info("用户上车确认(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case DROPOFF_INFO_EVENT:
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log.info("用户下车信息(XPU→云端)：{}", message);
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break;
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case NAVIGATION_DEVIATION_EVENT:
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log.info("导航偏航(XPU→云端)：{}", message);
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break;
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case EMERGENCY_STOP_EVENT:
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log.info("急停(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case NAVIGATION_UPDATE_EVENT:
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log.info("导航信息变化(XPU→云端)：{}", message);
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break;
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case TASK_QUEUE_UPDATE_EVENT:
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log.info("XPU待执行任务队列(XPU→云端)：{}", message);
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break;
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case SYSTEM_STATE_ANAPSHOT_SYNC_EVENT:
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log.info("每次MQTT连接之后触发 (XPU→云端)：{}", message);
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break;
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case ORDER_STATE_UPDATE_TO_CDU_EVENT:
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log.info("更新订单状态到CDU (XPU→云端)：{}", message);
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break;
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default:
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log.info("消息不在处理范围内，忽略：{}", message);
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}
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}
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}
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/**
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* 消费消息 - XPU上报Robotaxi云端的消息topic（低优先级）
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*/
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public void topicProdRobotaxiXpuNormal(String message) {
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MsgContent msgContent = JSON.parseObject(message, MsgContent.class);
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RtMsgHeader header = msgContent.getHeader();
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MessageType type = header.getType();
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//处理请求消息
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if (MessageType.MESSAGE_TYPE_REQUEST == type) {
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//区分业务类型
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RTCmdType cmd = header.getCmd();
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switch (cmd) {
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case SYSTEM_STATUS_XPU:
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log.info("XPU发布系统运行状态 (XPU→云端)：{}", message);
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break;
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case XPU_NAVIGATION_REQUEST:
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log.info("XPU向云端请求导航 (XPU→云端)：{}", message);
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xpuNavigationRequest(msgContent);
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break;
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case TRIP_STATUS_UPDATE_EVENT:
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log.info("行程状态更新(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case PULLOVER_STATUS_EVENT:
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log.info("靠边停车状态(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case DRIVING_MODE_UPDATE_EVENT:
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log.info("驾驶模式变化(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case SYSTEM_STATUS_UPDATE_EVENT:
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log.info("系统状态变化(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case TASK_STATE_UPDATE_EVENT:
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log.info("任务状态变化(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case ORDER_STATE_UPDATE_EVENT:
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log.info("订单状态变化(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case POINT_ARRIVAL_STATUS_EVENT:
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log.info("到达目标点状态(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case PICKUP_CONFIRMATION_EVENT:
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log.info("用户上车确认(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case DROPOFF_INFO_EVENT:
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log.info("用户下车信息(XPU→云端)：{}", message);
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break;
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case NAVIGATION_DEVIATION_EVENT:
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log.info("导航偏航(XPU→云端)：{}", message);
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break;
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case EMERGENCY_STOP_EVENT:
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log.info("急停(XPU→云端)(XPU→座舱)：{}", message);
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break;
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case NAVIGATION_UPDATE_EVENT:
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log.info("导航信息变化(XPU→云端)：{}", message);
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break;
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case TASK_QUEUE_UPDATE_EVENT:
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log.info("XPU待执行任务队列(XPU→云端)：{}", message);
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break;
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case SYSTEM_STATE_ANAPSHOT_SYNC_EVENT:
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log.info("每次MQTT连接之后触发 (XPU→云端)：{}", message);
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break;
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case ORDER_STATE_UPDATE_TO_CDU_EVENT:
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log.info("更新订单状态到CDU (XPU→云端)：{}", message);
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break;
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default:
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log.info("消息不在处理范围内，忽略：{}", message);
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}
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}
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}
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/**
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* XPU发布系统运行状态---车辆实时位置
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* @param msgContent
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*/
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public void systemStatusXpu(MsgContent msgContent){
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SystemRuntimeStatus systemRuntimeStatus = msgContent.getContent_detail().getObject("systemRuntimeStatus", SystemRuntimeStatus.class);
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//获取实时位姿
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RealtimePose pose = systemRuntimeStatus.getPose();
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Wgs naviPose = pose.getNavi_pose();
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Double latitude = naviPose.getLatitude();
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Double longitude = naviPose.getLongitude();
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Double course = naviPose.getCourse();
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Float alt = naviPose.getAlt();
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//获取车辆静态信息
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VehicleStaticInfo staticInfo = systemRuntimeStatus.getVehicle_status().getStatic_info();
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String vin = staticInfo.getVin();
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xpVehicleClient.
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VehiclePosition vehiclePosition = new VehiclePosition();
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vehiclePosition.setVehicle_id(staticInfo.getVehicle_id());
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mongoTemplate.save()
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}
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/**
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* XPU向云端请求导航
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* @param msgContent
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*/
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public void xpuNavigationRequest(MsgContent msgContent){
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NavigationRequest naviRequest = msgContent.getContent_detail().getObject("naviRequest", NavigationRequest.class);
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String orderId = naviRequest.getOrder_id();
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String taskId = naviRequest.getTask_id();
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OrderPhase orderPhase = naviRequest.getOrder_phase();
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log.info("订单ID：{}", orderId);
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log.info("任务ID：{}", taskId);
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switch (orderPhase){
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case IDLE:
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log.info("订单的任务未开始执行");
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break;
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case ROUTE_TO_PICKUP:
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log.info("驶往上车点的行程");
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buildNaviRequest(orderId, taskId, orderPhase);
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break;
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case ROUTE_TO_DESTINATION:
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log.info("驶往下车点的行程");
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break;
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case ROUTE_TO_CRUISE:
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log.info("巡游阶段路线");
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break;
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}
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}
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/**
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* 构建导航请求
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* @param orderId
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* @param taskId
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* @param orderPhase
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*/
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public void buildNaviRequest(String orderId, String taskId, OrderPhase orderPhase){
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//订单类型 1：乘客订单，2=巡游订单
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Integer orderType = 1;
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LonLatDto destination = new LonLatDto();
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LonLatDto origin = new LonLatDto();
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if(orderId.contains("XU")){
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orderType = 2;
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// todo 下发巡游单的导航数据
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//巡游单
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if(orderPhase.equals(OrderPhase.ROUTE_TO_CRUISE)){
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origin.setLongitude(116.40528);
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origin.setLatitude(39.90498);
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destination.setLongitude(116.40528);
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destination.setLatitude(39.90498);
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}
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}else{
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//正常单
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R<XpOrder> xpOrderR = xpOrderClient.queryOrderById(Long.parseLong(orderId));
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if(200 != xpOrderR.getCode()){
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throw new RuntimeException("订单不存在");
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}
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XpOrder xpOrder = xpOrderR.getData();
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//驶往上车点的行程
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if(orderPhase.equals(OrderPhase.ROUTE_TO_PICKUP)){
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XpVehicle xpVehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
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VehiclePosition vehiclePosition = mongoTemplate.findOne(new Query(Criteria.where("orderId").is(xpVehicle.getVehicleVin())), VehiclePosition.class);
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if(Objects.isNull(vehiclePosition)){
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throw new RuntimeException("车辆位置信息不存在");
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}
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//查询司机当前位置到起点的线路
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origin.setLongitude(vehiclePosition.getPoint().getX());
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origin.setLatitude(vehiclePosition.getPoint().getY());
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destination.setLongitude(xpOrder.getStartLon());
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destination.setLatitude(xpOrder.getStartLat());
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}
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//驶往下车点的行程
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if(orderPhase.equals(OrderPhase.ROUTE_TO_DESTINATION)){
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//查询起点到终点的线路
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origin.setLongitude(xpOrder.getStartLon());
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origin.setLatitude(xpOrder.getStartLat());
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destination.setLongitude(xpOrder.getEndLon());
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destination.setLatitude(xpOrder.getEndLat());
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}
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OrderRouteAndFareDto dto = new OrderRouteAndFareDto();
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dto.setOrderId(Long.parseLong(orderId));
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dto.setOrigin(origin);
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dto.setDestination(destination);
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R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
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if(200 != routeVoR.getCode()){
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throw new RuntimeException("获取订单线路和运费失败");
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}
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RouteVo routeVo = routeVoR.getData();
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//构建导航下发请求对象
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cloudOrderOperation(orderType, orderId, taskId, routeVo);
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}
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}
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/**
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* 云端订单操作----下发导航数据
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* @param routeVo
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*/
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public void cloudOrderOperation(Integer orderType, String orderId, String taskId, RouteVo routeVo){
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//构建消息体
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OrderOperation orderOperation = new OrderOperation();
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orderOperation.setOrder_id(orderId);
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orderOperation.setTask_id(taskId);
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orderOperation.setOperation_type(OrderOperationType.CLOUD_UPDATE_WAYPOINTS);
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//构建航点
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List<Waypoint> waypoints = new ArrayList<>();
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List<LonLatDto> polyline = routeVo.getPolyline();
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for (int i = 0; i < polyline.size(); i++) {
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LonLatDto lonLatDto = polyline.get(i);
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Waypoint waypoint = new Waypoint();
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waypoint.setWaypoint_id(UUID.randomUUID().toString());
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if(0 == i){
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waypoint.setPoint_type(PointType.START_POINT);
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//订单类型不同，点位的动作类型不同
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waypoint.setAction_type(1 == orderType ? ActionType.PICK_UP : ActionType.ACTION_UNSPECIFIED);
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}else if(polyline.size() - 1 == i){
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waypoint.setPoint_type(PointType.END_POINT);
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waypoint.setAction_type(1 == orderType ? ActionType.DROP_OFF : ActionType.ACTION_UNSPECIFIED);
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}else{
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waypoint.setPoint_type(PointType.WAY_POINT);
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//订单类型不同，点位的动作类型不同
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waypoint.setAction_type(ActionType.ACTION_UNSPECIFIED);
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}
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//构建经纬度
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GeoPoint geoPoint = new GeoPoint();
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geoPoint.setLongitude(lonLatDto.getLongitude());
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geoPoint.setLatitude(lonLatDto.getLatitude());
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waypoint.setPoint(geoPoint);
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waypoint.setSequence(i + 1);
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waypoints.add(waypoint);
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}
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orderOperation.setWaypoints(waypoints);
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//开发发送请求到XPU
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xpuUtil.cloudOrderOperation(orderOperation);
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}
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public void c(MsgContent msgContent){
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}
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}
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