package com.xiaopeng.automaticPilot.util;
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import cn.hutool.core.util.StrUtil;
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import cn.hutool.http.HttpRequest;
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import cn.hutool.http.HttpResponse;
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import com.google.protobuf.util.JsonFormat;
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import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
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import java.util.UUID;
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/**
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* GPS单点位置发送测试工具
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* 用于快速测试发送单个位置信息到服务器
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*/
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public class SinglePositionTester {
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private static final JsonFormat.Printer jsonPrinter = JsonFormat.printer()
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.printingEnumsAsInts()
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.preservingProtoFieldNames();
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/**
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* 推送XPU消息的接口地址
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*/
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private static final String PUSH_MESSAGE_URL =
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"http://logan-gateway.aliyun-hd1-pre.logan.xiaopeng.inner/xp-robotaxi-automatic-pilot-boot/base/v1/pushXPUMessage";
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/**
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* 发送单个位置信息
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*
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* @param longitude 经度
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* @param latitude 纬度
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* @param course 方位角（0-360度）
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* @param speed 速度（米/秒）
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* @param uid 用户ID
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* @param xpuId XPU设备ID
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* @param orderId 订单ID
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* @return 是否发送成功
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*/
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public static boolean sendPosition(double longitude, double latitude, int course,
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double speed, long uid, String xpuId, String orderId) {
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try {
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// 创建消息
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MsgContent message = createMessage(longitude, latitude, course, speed, uid, xpuId, orderId);
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// 转换为JSON
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String json = jsonPrinter.print(message);
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System.out.println("========================================");
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System.out.println("准备发送位置信息:");
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System.out.println("----------------------------------------");
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System.out.println("经度: " + longitude);
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System.out.println("纬度: " + latitude);
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System.out.println("方位角: " + course + "°");
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System.out.println("速度: " + speed + " m/s");
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System.out.println("用户ID: " + uid);
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System.out.println("XPU ID: " + xpuId);
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System.out.println("订单ID: " + orderId);
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System.out.println("----------------------------------------");
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System.out.println("JSON消息:");
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System.out.println(json);
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System.out.println("========================================\n");
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// 发送到服务器
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HttpResponse response = HttpRequest.post(PUSH_MESSAGE_URL)
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.body(json)
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.contentType("application/json")
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.timeout(10000) // 10秒超时
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.execute();
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if (response.isOk()) {
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System.out.println("✓ 消息发送成功！");
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System.out.println("响应状态码: " + response.getStatus());
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System.out.println("响应内容: " + response.body());
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return true;
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} else {
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System.err.println("✗ 消息发送失败！");
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System.err.println("响应状态码: " + response.getStatus());
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System.err.println("响应内容: " + response.body());
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return false;
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}
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} catch (Exception e) {
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System.err.println("✗ 发送异常: " + e.getMessage());
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e.printStackTrace();
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return false;
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}
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}
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/**
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* 创建系统运行状态消息（使用Protobuf对象）
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*/
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private static MsgContent createMessage(double longitude, double latitude,
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int course, double speed,
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long uid, String xpuId, String orderId) {
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long timestamp = System.currentTimeMillis();
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// 构建 MsgContent
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MsgContent.Builder msgContentBuilder = MsgContent.newBuilder();
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// 构建 Header
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MsgHeader.Builder headerBuilder = MsgHeader.newBuilder();
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headerBuilder.setTimestamp(timestamp);
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headerBuilder.setCmd(14001); // SYSTEM_STATUS_XPU
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headerBuilder.setSequence(1);
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headerBuilder.setType(MessageType.MESSAGE_TYPE_REQUEST);
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headerBuilder.setMsgId("MSG-UUID-" + UUID.randomUUID().toString());
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headerBuilder.setSource(SourceType.XPU);
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msgContentBuilder.setHeader(headerBuilder.build());
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// 构建 Wgs (GPS坐标)
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Wgs.Builder wgsBuilder = Wgs.newBuilder();
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wgsBuilder.setLongitude(longitude);
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wgsBuilder.setLatitude(latitude);
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wgsBuilder.setCourse(course);
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wgsBuilder.setPosAcc(0.5);
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wgsBuilder.setAlt(10);
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// 构建 RealtimePose
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RealtimePose.Builder poseBuilder = RealtimePose.newBuilder();
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poseBuilder.setTimestamp(timestamp);
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poseBuilder.setNaviPose(wgsBuilder.build());
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// 构建 VehicleStaticInfo
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VehicleStaticInfo.Builder staticInfoBuilder = VehicleStaticInfo.newBuilder();
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staticInfoBuilder.setXpuId(xpuId);
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staticInfoBuilder.setTimestamp(timestamp);
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// 构建 VehicleDynamicStatus
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VehicleDynamicStatus.Builder dynamicStatusBuilder = VehicleDynamicStatus.newBuilder();
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dynamicStatusBuilder.setGearLevel(GearLevel.GEAR_D);
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dynamicStatusBuilder.setSteeringAngle(0.5f);
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dynamicStatusBuilder.setSpeed((float) speed);
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dynamicStatusBuilder.setTimestamp(timestamp);
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dynamicStatusBuilder.setBmsSocDisp(80);
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dynamicStatusBuilder.setDstBatDisp(400.5f);
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// 构建 VehicleStatus
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VehicleStatus.Builder vehicleStatusBuilder = VehicleStatus.newBuilder();
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vehicleStatusBuilder.setStaticInfo(staticInfoBuilder.build());
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vehicleStatusBuilder.setDynamicStatus(dynamicStatusBuilder.build());
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// 构建 SystemStatus
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SystemStatus.Builder systemStatusBuilder = SystemStatus.newBuilder();
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systemStatusBuilder.setPhase(SystemPhase.SYSTEM_NORMAL);
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systemStatusBuilder.setAbnormalReason(AbnormalReason.ABNORMAL_REASON_UNSPECIFIED);
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systemStatusBuilder.addAvailableServices(ServiceAvailability.ROBOTAXI_AVAILABLE);
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systemStatusBuilder.setIsEmergency(false);
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// 构建 SystemRuntimeStatus
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SystemRuntimeStatus.Builder statusBuilder = SystemRuntimeStatus.newBuilder();
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statusBuilder.setTimestamp(timestamp);
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statusBuilder.setUid(uid);
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statusBuilder.setVehicleStatus(vehicleStatusBuilder.build());
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statusBuilder.setSystemStatus(systemStatusBuilder.build());
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statusBuilder.setDrivingMode(DrivingMode.AUTONOMOUS);
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statusBuilder.setPose(poseBuilder.build());
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// 构建 OrderStatusInfo (运行中的订单状态信息)
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if (StrUtil.isNotBlank(orderId)) {
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OrderStatusInfo.Builder orderStatusInfoBuilder = OrderStatusInfo.newBuilder();
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orderStatusInfoBuilder.setOrderId(orderId);
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orderStatusInfoBuilder.setStatus(OrderStatus.ORDER_EN_ROUTE_TO_DESTINATION); // 前往目的地
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orderStatusInfoBuilder.setOrderPhase(OrderPhase.ROUTE_TO_DESTINATION);
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orderStatusInfoBuilder.setChangeSource(OrderStateChangeSource.ORDER_STATE_CHANGE_SOURCE_VEHICLE);
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orderStatusInfoBuilder.setTimestamp(timestamp);
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statusBuilder.setRunningOrderStatusInfo(orderStatusInfoBuilder.build()); // 设置运行中的订单信息
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}
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// 设置 SystemRuntimeStatus 到 MsgContent
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msgContentBuilder.setSystemRuntimeStatus(statusBuilder.build());
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return msgContentBuilder.build();
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}
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/**
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* 主方法 - 测试示例
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*/
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public static void main(String[] args) {
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// 默认测试参数
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double longitude = 113.382238; // 经度
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double latitude = 23.156917; // 纬度
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int course = 90; // 方位角（度）
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double speed = 10.5; // 速度（米/秒）
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long uid = 8107912; // 用户ID
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String xpuId = "c47b405bee79000f282a36e800000000"; // XPU设备ID
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String orderId = ""; // 订单ID
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// 解析命令行参数
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if (args.length >= 6) {
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try {
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longitude = Double.parseDouble(args[0]);
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latitude = Double.parseDouble(args[1]);
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course = Integer.parseInt(args[2]);
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speed = Double.parseDouble(args[3]);
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uid = Long.parseLong(args[4]);
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xpuId = args[5];
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if (args.length >= 7) {
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orderId = args[6];
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}
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} catch (NumberFormatException e) {
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System.err.println("❌ 参数格式错误！");
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printUsage();
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System.exit(1);
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}
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} else if (args.length > 0 && args.length < 6) {
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System.err.println("❌ 参数数量不正确！");
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printUsage();
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System.exit(1);
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}
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System.out.println("╔════════════════════════════════════════╗");
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System.out.println("║ GPS单点位置发送测试工具 ║");
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System.out.println("╚════════════════════════════════════════╝\n");
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// 发送位置信息
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boolean success = sendPosition(longitude, latitude, course, speed, uid, xpuId, orderId);
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System.out.println("\n========================================");
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if (success) {
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System.out.println("✓ 测试完成 - 发送成功");
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} else {
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System.out.println("✗ 测试完成 - 发送失败");
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}
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System.out.println("========================================");
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System.exit(success ? 0 : 1);
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}
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/**
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* 打印使用说明
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*/
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private static void printUsage() {
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System.out.println("\n使用方法:");
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System.out.println("========================================");
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System.out.println("java SinglePositionTester [参数...]");
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System.out.println();
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System.out.println("参数列表（全部可选，不提供则使用默认值）:");
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System.out.println(" 1. 经度 (longitude)");
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System.out.println(" 2. 纬度 (latitude)");
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System.out.println(" 3. 方位角 (course, 0-360度)");
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System.out.println(" 4. 速度 (speed, 米/秒)");
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System.out.println(" 5. 用户ID (uid)");
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System.out.println(" 6. XPU设备ID (xpuId)");
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System.out.println(" 7. 订单ID (orderId, 可选)");
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System.out.println();
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System.out.println("示例:");
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System.out.println(" # 使用默认参数");
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System.out.println(" java SinglePositionTester");
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System.out.println();
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System.out.println(" # 自定义参数（不含订单ID）");
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System.out.println(" java SinglePositionTester 113.3245 23.1235 90 10.5 12345678 c47b405bee79000f282a36e800000000");
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System.out.println();
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System.out.println(" # 自定义参数（含订单ID）");
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System.out.println(" java SinglePositionTester 113.3245 23.1235 90 10.5 12345678 c47b405bee79000f282a36e800000000 XU100001");
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System.out.println();
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System.out.println(" # 测试广州天河区某个位置");
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System.out.println(" java SinglePositionTester 113.3245 23.1235 45 15.0 88888888 c47b405bee79000f282a36e800000000 XU200002");
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System.out.println("========================================");
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}
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}
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