package com.xiaopeng.automaticPilot.controller;
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import com.xiaopeng.api.feignClient.map.AdcFencePushClient;
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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.automaticPilot.dto.CheckL4AvailableRequest;
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import com.xiaopeng.automaticPilot.dto.L4CapabilityVO;
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import com.xiaopeng.automaticPilot.dto.XpCommonResponse;
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import com.xiaopeng.automaticPilot.dto.XpuInitStatusRequest;
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import com.xiaopeng.automaticPilot.config.AutopilotProperties;
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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 lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.web.bind.annotation.*;
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import javax.annotation.Resource;
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import javax.validation.Valid;
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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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@Slf4j
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@RestController
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@RequestMapping("")
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public class XpuVinController {
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@Resource
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private XPUUtil xpuUtil;
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@Resource
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private XpVehicleClient xpVehicleClient;
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@Resource
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private AutopilotProperties autopilotProperties;
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@Autowired
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private AdcFencePushClient adcFencePushClient;
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/**
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* 根据车辆VIN查询XPUID
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* @param vin
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* @return
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*/
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@GetMapping("/logan/xpu/getXpuIdByVin")
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public R<String> getXpuIdByVin(@RequestParam("vin") String vin){
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String xpuId = xpuUtil.getXpuIdByVinForVehicleControl(vin);
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return R.ok(xpuId);
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}
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/**
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* 判断车辆是否能启动L4自动驾驶能力
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*/
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@PostMapping("/xpu/v1/autopilot/L4/checkAvailable")
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public XpCommonResponse<L4CapabilityVO> checkL4Available(@RequestBody @Valid CheckL4AvailableRequest request) {
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log.info("Check L4 available request: {}", request);
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L4CapabilityVO vo = new L4CapabilityVO();
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vo.setVin(request.getVin());
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vo.setUid(request.getUserId());
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List<String> capabilities = new ArrayList<>();
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capabilities.add("VPD");
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L4CapabilityVO.Config config = new L4CapabilityVO.Config();
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config.setOrderArrivalTriggerDistance(autopilotProperties.getOrderArrivalTriggerDistance());
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try {
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R<XpVehicle> vehicleR = xpVehicleClient.findByVehicleVin(request.getVin());
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if (vehicleR != null && vehicleR.getCode() == 200 && vehicleR.getData() != null) {
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XpVehicle vehicle = vehicleR.getData();
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if (Objects.equals(vehicle.getVehicleType(), 2)) {
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capabilities.add("RT");
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}
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if (Objects.equals(vehicle.getAcceptOrTest(), 2)) {
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config.setTestMode(1);
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L4CapabilityVO.TestModeFeatures features = new L4CapabilityVO.TestModeFeatures();
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features.setAutoChainNextOrderAtDest(autopilotProperties.getAutoChainNextOrderAtDest());
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features.setAutoConfirmDropoff(autopilotProperties.getTestModeAutoConfirmDropoff());
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config.setTestModeFeatures(features);
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}
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// 测试车辆处理
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if (Objects.equals(vehicle.getVehicleAttribute(), 1)) {
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config.setTestMode(1);
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L4CapabilityVO.TestModeFeatures features = new L4CapabilityVO.TestModeFeatures();
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features.setAutoChainNextOrderAtDest(autopilotProperties.getAutoChainNextOrderAtDest());
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features.setAutoConfirmDropoff(autopilotProperties.getTestModeAutoConfirmDropoff());
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config.setTestModeFeatures(features);
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}
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} else {
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log.warn("Vehicle not found for vin: {}", request.getVin());
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}
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} catch (Exception e) {
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log.error("Error querying vehicle info", e);
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}
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vo.setL4Capability(capabilities);
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vo.setConfig(config);
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return XpCommonResponse.ok(vo);
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}
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/**
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* XPU初始化状态上报
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*/
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@PostMapping("/xpu/v1/autopilot/L4/init")
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public XpCommonResponse<Void> initXpuStatus(@RequestBody @Valid XpuInitStatusRequest request) {
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log.info("XPU init status report: {}", request);
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// 校验车端地图版本是否最新，版本不一致或未下载均设置运营状态为4（异常），但始终返回成功
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try {
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R<String> versionR = adcFencePushClient.getMapVersion(request.getVin());
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if (versionR != null && versionR.getCode() == 200 && versionR.getData() != null) {
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String serverVersion = versionR.getData();
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String clientVersion = request.getRobotaxiAreaInfo().getMapVersion();
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if (!serverVersion.equals(clientVersion)) {
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log.warn("车端地图版本不一致, vin={}, clientVersion={}, serverVersion={}",
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request.getVin(), clientVersion, serverVersion);
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setVehicleAbnormal(request.getVin());
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return XpCommonResponse.ok(null);
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}
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}
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} catch (Exception e) {
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log.error("查询地图版本失败, vin={}", request.getVin(), e);
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}
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if (Boolean.FALSE.equals(request.getRobotaxiAreaInfo().getDownloaded())) {
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setVehicleAbnormal(request.getVin());
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}
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return XpCommonResponse.ok(null);
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}
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private void setVehicleAbnormal(String vin) {
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try {
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R<XpVehicle> vehicleR = xpVehicleClient.findByVehicleVin(vin);
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if (vehicleR != null && vehicleR.getCode() == 200 && vehicleR.getData() != null) {
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XpVehicle vehicle = vehicleR.getData();
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vehicle.setOperatingStatus(4);
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xpVehicleClient.updateVehicleById(vehicle);
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log.info("Vehicle operatingStatus set to 4 (abnormal), vin: {}", vin);
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} else {
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log.warn("Vehicle not found when updating operatingStatus, vin: {}", vin);
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}
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} catch (Exception e) {
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log.error("Failed to update vehicle operatingStatus, vin: {}", vin, e);
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}
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}
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}
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