Merge branch '1.0' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi in...

liujie

2026-06-09 c96fbe6b0aeb413a17c429133ee6d81d138144b9

 xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/util/XPUUtil.java

@@ -2,18 +2,15 @@

import cn.hutool.core.lang.Snowflake;
import cn.hutool.core.util.IdUtil;
import cn.hutool.http.HttpRequest;
import cn.hutool.http.HttpResponse;
import cn.hutool.http.HttpUtil;
import com.alibaba.fastjson.JSONObject;
import com.alibaba.fastjson2.JSON;
import com.xiaopeng.api.dto.automaticPilot.MqttPublishDto;
import com.xiaopeng.api.feignClient.automaticPilot.VmpOpenServiceClient;
import com.xiaopeng.api.feignClient.automaticPilot.XPUClient;
import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.api.vo.automaticPilot.MqttPublishVo;
import com.xiaopeng.api.vo.automaticPilot.proto.down.*;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudCreateOrder.RTTask;
import com.xiaopeng.api.vo.automaticPilot.proto.down.cloudOrderOperation.OrderOperation;
import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.core.exception.ServiceException;
import com.xiaopeng.common.core.utils.StringUtils;
import com.xiaopeng.common.core.utils.uuid.UUID;
@@ -22,7 +19,6 @@
import org.springframework.stereotype.Component;

import javax.annotation.Resource;
import java.util.Arrays;
import java.util.Collections;
import java.util.List;
import java.util.Map;
@@ -34,88 +30,145 @@
@Component
public class XPUUtil {

    @Value("${xpu.topic}")
    private String topic;
    @Value("${xpu.topic.msg.prefix:Robotaxi/Msg/Xpu}")
    private String topicPrefix;

    @Resource
    private XPUClient xpuClient;

    @Resource
    private VmpOpenServiceClient vmpOpenServiceClient;
    @Resource
    private XpVehicleClient xpVehicleClient;

    // 查询车管绑定类型，1：XPUID，2：待扩展
    public static final String XPU_ID_TYPE = "1";
    // 查询车管 车辆xpuid信息返回字段，用于按需返回字段
    public static final List<String> TYPE_LIST = Collections.singletonList("1");


    private static final com.google.protobuf.util.JsonFormat.Printer jsonPrinter = com.google.protobuf.util.JsonFormat.printer()
            .printingEnumsAsInts()
            .preservingProtoFieldNames();

    /**
     * Robotaxi创建订单推送给XPU
     *
     * @param task
     * @param taskList
     * @return
     */
    //TODO 没有处理feign调用的异常
    public MqttPublishDto cloudCreateOrder(RTTask task, String vin, Long sequence) {
        MsgContent msgContent = new MsgContent();
        // 消息头
        RtMsgHeader header = new RtMsgHeader();
        header.setMsg_id(UUID.randomUUID().toString());
        header.setTimestamp(System.currentTimeMillis());
        header.setCmd(RTCmdType.CLOUD_CREATE_ORDER);
        header.setSequence(sequence);
        header.setType(MessageType.MESSAGE_TYPE_RESPONSE);
        msgContent.setHeader(header);
        // 消息内容
        JSONObject jsonObject = new JSONObject();
        jsonObject.put("task", task);
        msgContent.setContent_detail(jsonObject);
        log.info("云端-->XPU 创建订单：{}", msgContent);
        //根据车辆VIN查询XPUID
        String xpuId = getXpuIdByVin(vin);
        //组装请求消息体
    public MqttPublishDto cloudCreateOrder(RtTaskList taskList, String vin, Long sequence) {
        MsgContent.Builder msgContentBuilder = MsgContent.newBuilder();
        MsgHeader.Builder headerBuilder = MsgHeader.newBuilder();
        headerBuilder.setMsgId(UUID.randomUUID().toString());
        headerBuilder.setTimestamp(System.currentTimeMillis());
        headerBuilder.setCmd(RTCmdType.CLOUD_SEND_RT_TASK.getValue());
        headerBuilder.setSequence(sequence);
        headerBuilder.setType(MessageType.MESSAGE_TYPE_REQUEST);
        headerBuilder.setSource(SourceType.CLOUD);
        msgContentBuilder.setHeader(headerBuilder.build());

        msgContentBuilder.setRtTaskList(taskList);

        MqttPublishVo vo = new MqttPublishVo();
        //TODO 这里的topic组装有问题
        vo.setTopic(topic + "/" + xpuId);
        vo.setPayload(JSON.toJSONString(msgContent));
        return xpuClient.publish(vo);
        vo.setTopic(buildTopicByVin(vin));
        try {
            vo.setPayload(jsonPrinter.print(msgContentBuilder.build()));
        } catch (Exception e) {
            log.error("Protobuf转JSON失败", e);
            throw new RuntimeException("Protobuf转JSON失败", e);
        }
        log.info("云端-->XPU 创建订单：{}", JSON.toJSONString(vo));
        try {
            MqttPublishDto dto = xpuClient.publish(vo);
            log.info("XPU返回：{}", JSON.toJSONString(dto));
            if (200 != dto.getCode()) {
                dto = againPushMessage(vo);
            }
            return dto;
        } catch (Exception e) {
            throw new RuntimeException("云端-->XPU 创建订单失败：", e);
        }
    }


    /**
     * 操作订单
     * 取消订单/修改途经点、终点/下发导航地址到车端
     * 取消订单、修改途经点、终点
     *
     * @param operation
     * @return
     */
    //TODO 没有处理feign调用的异常
    public MqttPublishDto cloudOrderOperation(OrderOperation operation, String vin,Long  sequence) {
        MsgContent msgContent = new MsgContent();
        // 消息头
        RtMsgHeader header = new RtMsgHeader();
        header.setMsg_id(UUID.randomUUID().toString());
        header.setTimestamp(System.currentTimeMillis());
        header.setCmd(RTCmdType.CLOUD_ORDER_OPERATION);
        header.setSequence(sequence);
        header.setType(MessageType.MESSAGE_TYPE_REQUEST);
        msgContent.setHeader(header);
        // 消息内容
        JSONObject jsonObject = new JSONObject();
        jsonObject.put("operation", operation);
        msgContent.setContent_detail(jsonObject);
        log.info("云端-->XPU 操作订单：{}", msgContent);
        //根据车辆VIN查询XPUID
        String xpuId = getXpuIdByVin(vin);
        //组装请求消息体
    public MqttPublishDto cloudOrderOperation(OrderOperation operation, String vin, Long sequence) {
        MsgContent.Builder msgContentBuilder = MsgContent.newBuilder();
        MsgHeader.Builder headerBuilder = MsgHeader.newBuilder();
        headerBuilder.setMsgId(UUID.randomUUID().toString());
        headerBuilder.setTimestamp(System.currentTimeMillis());
        headerBuilder.setCmd(RTCmdType.CLOUD_ORDER_OPERATION.getValue());
        headerBuilder.setSequence(sequence);
        headerBuilder.setType(MessageType.MESSAGE_TYPE_REQUEST);
        headerBuilder.setSource(SourceType.CLOUD);
        msgContentBuilder.setHeader(headerBuilder.build());

        msgContentBuilder.setOrderOperation(operation);

        MqttPublishVo vo = new MqttPublishVo();
        vo.setTopic(topic + "/" + xpuId);
        vo.setPayload(JSON.toJSONString(msgContent));
        return xpuClient.publish(vo);
        vo.setTopic(buildTopicByVin(vin));
        try {
            vo.setPayload(jsonPrinter.print(msgContentBuilder.build()));
        } catch (Exception e) {
            log.error("Protobuf转JSON失败", e);
            throw new RuntimeException("Protobuf转JSON失败", e);
        }
        log.info("云端-->XPU 修改订单：{}", vo);
        try {
            MqttPublishDto dto = xpuClient.publish(vo);
            log.info("XPU返回：{}", JSON.toJSONString(dto));
            if (200 != dto.getCode()) {
                dto = againPushMessage(vo);
            }
            return dto;
        } catch (Exception e) {
            throw new RuntimeException("云端-->XPU 修改订单失败：", e);
        }
    }


    /**
     * 下发导航地址到车端
     *
     * @param navigationData
     * @return
     */
    public MqttPublishDto cloudPushNavigation(RestoreNavigationData navigationData, String xpuId, Long sequence) {
        MsgContent.Builder msgContentBuilder = MsgContent.newBuilder();
        MsgHeader.Builder headerBuilder = MsgHeader.newBuilder();
        headerBuilder.setMsgId(UUID.randomUUID().toString());
        headerBuilder.setTimestamp(System.currentTimeMillis());
        headerBuilder.setCmd(RTCmdType.CLOUD_NAVIGATION_RESPONSE.getValue());
        headerBuilder.setSequence(sequence);
        headerBuilder.setType(MessageType.MESSAGE_TYPE_RESPONSE);
        headerBuilder.setSource(SourceType.CLOUD);
        msgContentBuilder.setHeader(headerBuilder.build());
        msgContentBuilder.setRestoreNavigationData(navigationData);
        MqttPublishVo vo = new MqttPublishVo();
        vo.setTopic(buildTopicByXpuId(xpuId));
        try {
            vo.setPayload(jsonPrinter.print(msgContentBuilder.build()));
        } catch (Exception e) {
            log.error("Protobuf转JSON失败", e);
            throw new RuntimeException("Protobuf转JSON失败", e);
        }
        log.info("云端-->XPU 下发导航信息：{}", vo);
        try {
            MqttPublishDto dto = xpuClient.publish(vo);
            log.info("XPU返回：{}", JSON.toJSONString(dto));
            if (200 != dto.getCode()) {
                dto = againPushMessage(vo);
            }
            return dto;
        } catch (Exception e) {
            throw new RuntimeException("云端-->XPU 下发导航信息失败：", e);
        }
    }


    /**
@@ -124,32 +177,29 @@
     * @param responseMessage
     * @return
     */
    public MqttPublishDto responseMessage(ResponseMessage responseMessage, String vin) {
        MsgContent msgContent = new MsgContent();
        // 消息头
        RtMsgHeader header = new RtMsgHeader();
        header.setMsg_id(UUID.randomUUID().toString());
        header.setTimestamp(System.currentTimeMillis());
        header.setCmd(RTCmdType.CLOUD_TASK_CONTROL);
    public MqttPublishDto responseMessage(RTCmdType cmd, ResponseMessage responseMessage, String vin) {
        MsgContent.Builder msgContentBuilder = MsgContent.newBuilder();
        MsgHeader.Builder headerBuilder = MsgHeader.newBuilder();
        headerBuilder.setMsgId(UUID.randomUUID().toString());
        headerBuilder.setTimestamp(System.currentTimeMillis());
        headerBuilder.setCmd(cmd.getValue());
        Snowflake snowflake = IdUtil.getSnowflake(0, 0);
        header.setSequence(snowflake.nextId());
        header.setType(MessageType.MESSAGE_TYPE_RESPONSE);
        msgContent.setHeader(header);
        // 消息内容
        JSONObject jsonObject = new JSONObject();
        jsonObject.put("resposne", responseMessage);
        msgContent.setContent_detail(jsonObject);
        log.info("云端-->XPU 响应消息：{}", msgContent);
        //根据车辆VIN查询XPUID
        String xpuId = getXpuIdByVin(vin);
        //组装请求消息体
        headerBuilder.setSequence(snowflake.nextId());
        headerBuilder.setType(MessageType.MESSAGE_TYPE_RESPONSE);
        headerBuilder.setSource(SourceType.CLOUD);
        msgContentBuilder.setHeader(headerBuilder.build());
        msgContentBuilder.setResponse(responseMessage);
        MqttPublishVo vo = new MqttPublishVo();
        vo.setTopic(topic + "/" + xpuId);
        vo.setPayload(JSON.toJSONString(msgContent));
        vo.setTopic(buildTopicByVin(vin));
        try {
            vo.setPayload(jsonPrinter.print(msgContentBuilder.build()));
        } catch (Exception e) {
            log.error("Protobuf转JSON失败", e);
            throw new RuntimeException("Protobuf转JSON失败", e);
        }
        log.info("云端-->XPU 响应消息：{}", vo);
        return xpuClient.publish(vo);
    }




    /**
@@ -157,15 +207,70 @@
     * @param: vin
     * @return: xpuId
     */
    public String getXpuIdByVin(String vin)  {
    public String getXpuIdByVin(String vin) {
        R<XpVehicle> xpVehicleR = xpVehicleClient.findByVehicleVin(vin);
        if (xpVehicleR.getCode() != 200 || xpVehicleR.getData() == null) {
            log.error("根据vin查询车辆信息失败,vin={},msg={}", vin, xpVehicleR.getMsg());
            return "";
        }
        return xpVehicleR.getData().getXpuId();
    }

    /**
     * @description: 根据vin查询xpuId
     * @param: vin
     * @return: xpuId
     */
    public String getXpuIdByVinForVehicleControl(String vin) {
        Map<String, String> xpuIdMapping = vmpOpenServiceClient.getVehicleBindInfoByVin(vin, TYPE_LIST);
        log.info("getMqttPublishTopic vin,{},xpuIdMapping,{}", vin,  JSON.toJSONString(xpuIdMapping));
        if (xpuIdMapping == null || StringUtils.isEmpty(xpuIdMapping.get(XPU_ID_TYPE)) ) {
        log.info("getMqttPublishTopic vin,{},xpuIdMapping,{}", vin, JSON.toJSONString(xpuIdMapping));
        if (xpuIdMapping == null || StringUtils.isEmpty(xpuIdMapping.get(XPU_ID_TYPE))) {
            log.error("根据vin查询车辆xpuid信息为空,vin={}", vin);
            throw new RuntimeException("根据vin查询车辆xpuid信息为空");
            throw new ServiceException("根据vin查询车辆xpuid信息为空");
        }
        return xpuIdMapping.get(XPU_ID_TYPE);
    }

    private String buildTopicByVin(String vin) {
        String xpuId = getXpuIdByVin(vin);
        return this.buildTopicByXpuId(xpuId);
    }

    private String buildTopicByXpuId(String xpuId) {
        String prefix = topicPrefix == null ? "" : topicPrefix;
        if (!prefix.endsWith("/")) {
            prefix = prefix + "/";
        }
//        String value = xpuId;
//        if (xpuId.length() > 10) {
//            int start = 10;
//            int end = Math.min(24, xpuId.length());
//            value = xpuId.substring(start, end);
//        }
        return prefix + xpuId;
    }


    /**
     * 消息下发XPU重试机制
     *
     * @param message
     * @return
     */
    public MqttPublishDto againPushMessage(MqttPublishVo message) {
        log.info("云端-->XPU 消息重试：{}", message);
        MqttPublishDto dto = null;
        for (int i = 0; i < 3; i++) {
            try {
                dto = xpuClient.publish(message);
                log.info("云端-->XPU 消息重试{}次：{}", (i + 1), message);
                if (dto.getCode() == 200) {
                    break;
                }
            } catch (Exception e) {
                log.error("云端-->XPU 推送失败：{}", message);
            }
        }
        return dto;
    }
}