java/Robotaxi.git

			@@ -4,12 +4,18 @@
			import com.xiaopeng.api.feignClient.automaticPilot.VmpOpenServiceClient;
			import com.xiaopeng.api.feignClient.automaticPilot.XPUClient;
			import com.xiaopeng.api.vo.automaticPilot.MqttPublishVo;
			import com.xiaopeng.api.vo.automaticPilot.proto.down.GeoPoint;
			import com.xiaopeng.api.vo.automaticPilot.proto.down.ResponseMessage;
			import com.xiaopeng.api.vo.automaticPilot.proto.down.StatusCode;
			import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.*;
			import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudOrderOperation.*;
			import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudPushNavigation.RestoreNavigationData;
			import com.xiaopeng.api.vo.automaticPilot.protobuf.RtTask;
			import com.xiaopeng.api.vo.automaticPilot.protobuf.RtTaskList;
			import com.xiaopeng.api.vo.automaticPilot.protobuf.OrderType;
			import com.xiaopeng.api.vo.automaticPilot.protobuf.Waypoint;
			import com.xiaopeng.api.vo.automaticPilot.protobuf.PointType;
			import com.xiaopeng.api.vo.automaticPilot.protobuf.ActionType;
			import com.xiaopeng.api.vo.automaticPilot.protobuf.GeoPoint;
			import com.xiaopeng.api.vo.automaticPilot.protobuf.OrderOperation;
			import com.xiaopeng.api.vo.automaticPilot.protobuf.OrderOperationType;
			import com.xiaopeng.api.vo.automaticPilot.protobuf.ResponseMessage;
			import com.xiaopeng.api.vo.automaticPilot.protobuf.StatusCode;
			import com.xiaopeng.api.vo.automaticPilot.protobuf.RestoreNavigationData;
			import org.junit.jupiter.api.Assertions;
			import org.junit.jupiter.api.BeforeEach;
			import org.junit.jupiter.api.Test;
			@@ -21,6 +27,7 @@
			import java.util.Collections;
			import java.util.HashMap;
			import java.util.Map;
			import java.util.UUID;

			public class XPUUtilTest {

			@@ -70,125 +77,135 @@
			public void testCloudCreateOrder() {
			String orderId = "1881347710714060802";

			RTTask task = new RTTask();
			task.setTask_id("task-123");
			task.setOrder_id(orderId);
			task.setVin("VIN12345678900000");
			task.setTask_type(TaskType.ROBOTAXI);
			task.setStatus(TaskStatus.PENDING);
			RtTask.Builder taskBuilder = RtTask.newBuilder();
			taskBuilder.setTaskId("task-123");
			taskBuilder.setOrderId(orderId);
			// taskBuilder.setVin("VIN12345678900000"); // RtTask might not have vin, check proto if needed
			taskBuilder.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);
			// taskBuilder.setStatus(TaskStatus.PENDING); // RtTask might not have status or enum differs

			Waypoint.Builder pointBuilder = Waypoint.newBuilder();
			pointBuilder.setPointType(PointType.START_POINT);
			pointBuilder.setActionType(ActionType.PICK_UP);
			pointBuilder.setSequence(1);

			NavigationWaypoint point = new NavigationWaypoint();
			point.setType(WaypointType.START_POINT);
			point.setAction(WaypointAction.PICK_UP);
			point.setSequence(1);
			GeoPoint geoPoint = new GeoPoint();
			geoPoint.setLatitude(30.0);
			geoPoint.setLongitude(120.0);
			geoPoint.setPoi_name("Start Point");
			point.setPoint(geoPoint);
			GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
			geoPointBuilder.setLatitude(30.0);
			geoPointBuilder.setLongitude(120.0);
			// geoPointBuilder.setPoiName("Start Point"); // GeoPoint might not have poi_name
			pointBuilder.setPoint(geoPointBuilder.build());

			// taskBuilder.addPoints(pointBuilder.build()); // RtTask might use different field for points?
			// Wait, RtTask in XPUUtil.cloudCreateOrder(RtTaskList taskList...)
			// So I need to build RtTaskList

			task.setPoints(Collections.singletonList(point));
			RtTaskList.Builder taskListBuilder = RtTaskList.newBuilder();
			taskListBuilder.addTasks(taskBuilder.build());

			String vin = "VIN12345678900000";
			Long sequence = 1L;

			xpuUtil.cloudCreateOrder(task, vin, sequence);
			xpuUtil.cloudCreateOrder(taskListBuilder.build(), vin, sequence);

			ArgumentCaptor<MqttPublishVo> captor = ArgumentCaptor.forClass(MqttPublishVo.class);
			Mockito.verify(xpuClient).publish(captor.capture());
			MqttPublishVo capturedVo = captor.getValue();


			Assertions.assertEquals("Robotaxi/Msg/Xpu/ABCDEFGHIJKL00000000", capturedVo.getTopic());
			// Note: Current implementation serializes enum as ordinal. CLOUD_CREATE_ORDER is ordinal 2.
			Assertions.assertTrue(capturedVo.getPayload().contains("\"cmd\":2"), "Payload should contain cmd CLOUD_CREATE_ORDER (ordinal 2), but was: " + capturedVo.getPayload());
			// Note: Current implementation serializes enum as ordinal.
			Assertions.assertTrue(capturedVo.getPayload().contains("\"cmd\": 10003"), "Payload should contain cmd CLOUD_CREATE_ORDER (10003), but was: " + capturedVo.getPayload());
			}

			@Test
			public void testCloudOrderOperation() {
			String orderId = "1881347710714060802";

			OrderOperation operation = new OrderOperation();
			operation.setOrder_id(orderId);
			operation.setTask_id("task-123");
			operation.setOperation_type(OrderOperationType.CLOUD_CREATE_ORDER);
			operation.setOrder_type(OrderType.ROBOTAXI);
			OrderOperation.Builder operationBuilder = OrderOperation.newBuilder();
			operationBuilder.setOrderId(orderId);
			operationBuilder.setTaskId("task-123");
			operationBuilder.setOperationType(OrderOperationType.CLOUD_CREATE_ORDER);
			operationBuilder.setOrderType(OrderType.ORDER_TYPE_ROBOTAXI);

			Waypoint waypoint = new Waypoint();
			waypoint.setWaypoint_id("wp-1");
			waypoint.setPoint_type(PointType.WAY_POINT);
			waypoint.setAction_type(ActionType.WAIT);
			waypoint.setSequence(2);
			Waypoint.Builder waypointBuilder = Waypoint.newBuilder();
			waypointBuilder.setWaypointId("wp-1");
			waypointBuilder.setPointType(PointType.WAY_POINT);
			// waypointBuilder.setActionType(ActionType.WAIT); // WAIT might not exist
			waypointBuilder.setActionType(ActionType.PICK_UP); // Use valid enum
			waypointBuilder.setSequence(2);

			GeoPoint geoPoint = new GeoPoint();
			geoPoint.setLatitude(30.1);
			geoPoint.setLongitude(120.1);
			geoPoint.setPoi_name("Way Point");
			waypoint.setPoint(geoPoint);
			GeoPoint.Builder geoPointBuilder = GeoPoint.newBuilder();
			geoPointBuilder.setLatitude(30.1);
			geoPointBuilder.setLongitude(120.1);
			// geoPointBuilder.setPoiName("Way Point");
			waypointBuilder.setPoint(geoPointBuilder.build());

			operation.setWaypoints(Collections.singletonList(waypoint));
			operationBuilder.addWaypoints(waypointBuilder.build());

			TargetPoint targetPoint = new TargetPoint();
			GeoPoint endGeoPoint = new GeoPoint();
			endGeoPoint.setLatitude(30.2);
			endGeoPoint.setLongitude(120.2);
			endGeoPoint.setPoi_name("End Point");
			targetPoint.setPoint(endGeoPoint);
			operation.setTarget_point(targetPoint);
			// TargetPoint targetPoint = new TargetPoint(); // OrderOperation uses Waypoint for target_point in proto?
			// Check proto: Waypoint target_point = 6;
			Waypoint.Builder targetPointBuilder = Waypoint.newBuilder();
			GeoPoint.Builder endGeoPointBuilder = GeoPoint.newBuilder();
			endGeoPointBuilder.setLatitude(30.2);
			endGeoPointBuilder.setLongitude(120.2);
			targetPointBuilder.setPoint(endGeoPointBuilder.build());
			operationBuilder.setTargetPoint(targetPointBuilder.build());

			String vin = "VIN12345678900000";
			Long sequence = 2L;

			xpuUtil.cloudOrderOperation(operation, vin, sequence);
			xpuUtil.cloudOrderOperation(operationBuilder.build(), vin, sequence);

			ArgumentCaptor<MqttPublishVo> captor = ArgumentCaptor.forClass(MqttPublishVo.class);
			Mockito.verify(xpuClient).publish(captor.capture());
			MqttPublishVo capturedVo = captor.getValue();

			Assertions.assertEquals("Robotaxi/Msg/Xpu/ABCDEFGHIJKL00000000", capturedVo.getTopic());
			// Note: CLOUD_ORDER_OPERATION is ordinal 0.
			Assertions.assertTrue(capturedVo.getPayload().contains("\"cmd\":0"), "Payload should contain cmd CLOUD_ORDER_OPERATION (ordinal 0), but was: " + capturedVo.getPayload());
			// Note: CLOUD_ORDER_OPERATION is 10001
			Assertions.assertTrue(capturedVo.getPayload().contains("\"cmd\": 10001"), "Payload should contain cmd CLOUD_ORDER_OPERATION (10001), but was: " + capturedVo.getPayload());
			}

			@Test
			public void testResponseMessage() {
			ResponseMessage responseMessage = new ResponseMessage();
			responseMessage.setRequest_seq(12345L);
			responseMessage.setCode(StatusCode.OK);
			responseMessage.setTimestamp(System.currentTimeMillis());
			ResponseMessage.Builder responseMessageBuilder = ResponseMessage.newBuilder();
			responseMessageBuilder.setRequestSeq(12345L);
			responseMessageBuilder.setCode(StatusCode.OK);
			responseMessageBuilder.setTimestamp(System.currentTimeMillis());

			String vin = "VIN12345678900000";

			xpuUtil.responseMessage(responseMessage, vin);
			xpuUtil.responseMessage(responseMessageBuilder.build(), vin);

			ArgumentCaptor<MqttPublishVo> captor = ArgumentCaptor.forClass(MqttPublishVo.class);
			Mockito.verify(xpuClient).publish(captor.capture());
			MqttPublishVo capturedVo = captor.getValue();

			Assertions.assertEquals("Robotaxi/Msg/Xpu/ABCDEFGHIJKL00000000", capturedVo.getTopic());
			// Note: CLOUD_TASK_CONTROL is ordinal 1.
			Assertions.assertTrue(capturedVo.getPayload().contains("\"cmd\":1"), "Payload should contain cmd CLOUD_TASK_CONTROL (ordinal 1), but was: " + capturedVo.getPayload());
			// Note: CLOUD_TASK_CONTROL (used in responseMessage method? check code)
			// In XPUUtil.java: headerBuilder.setCmd(RTCmdType.CLOUD_TASK_CONTROL.getValue());
			// CLOUD_TASK_CONTROL is 10002
			Assertions.assertTrue(capturedVo.getPayload().contains("\"cmd\": 10002"), "Payload should contain cmd CLOUD_TASK_CONTROL (10002), but was: " + capturedVo.getPayload());
			}

			@Test
			public void testCloudPushNavigation() {
			RestoreNavigationData navigationData = new RestoreNavigationData();
			navigationData.setRequest_id("req-123");
			navigationData.setRoute_id("5939fa259ad6479cbdf8871ceed96b72");
			RestoreNavigationData.Builder navigationDataBuilder = RestoreNavigationData.newBuilder();
			navigationDataBuilder.setRequestId("req-123");
			navigationDataBuilder.setRouteId("5939fa259ad6479cbdf8871ceed96b72");
			String content = "{\"startPoint\":{\"location\":\"116.481028,39.989643\"},\"endPoint\":{\"location\":\"116.465302,40.004717\"},\"routeID\":\"xxxxxxxxxxxxx\",\"strategy\":17,\"type\":1,\"ferry\":0,\"disableEndDispatch\":1,\"viaInfo\":[{},{}],\"routeUserType\":2,\"bizScene\":2,\"plate\":\"京A12345\",\"vehicleType\":1}";
			navigationData.setContent(content);
			navigationData.setTimestamp(System.currentTimeMillis());
			navigationDataBuilder.setContent(content);
			navigationDataBuilder.setTimestamp(System.currentTimeMillis());

			String xpuId = "1234567890ABCDEFGHIJKL";
			Long sequence = 3L;

			xpuUtil.cloudPushNavigation(navigationData, xpuId, sequence);
			xpuUtil.cloudPushNavigation(navigationDataBuilder.build(), xpuId, sequence);

			ArgumentCaptor<MqttPublishVo> captor = ArgumentCaptor.forClass(MqttPublishVo.class);
			Mockito.verify(xpuClient).publish(captor.capture());
			MqttPublishVo capturedVo = captor.getValue();

			Assertions.assertEquals("Robotaxi/Msg/Xpu/ABCDEFGHIJKL00000000", capturedVo.getTopic());
			// Note: CLOUD_NAVIGATION_RESPONSE is ordinal 5.
			Assertions.assertTrue(capturedVo.getPayload().contains("\"cmd\":5"), "Payload should contain cmd CLOUD_NAVIGATION_RESPONSE (ordinal 5), but was: " + capturedVo.getPayload());
			// Note: CLOUD_NAVIGATION_RESPONSE is 10006
			Assertions.assertTrue(capturedVo.getPayload().contains("\"cmd\": 10006"), "Payload should contain cmd CLOUD_NAVIGATION_RESPONSE (10006), but was: " + capturedVo.getPayload());
			}
			}