Merge remote-tracking branch 'origin/master'

无关风月

2026-02-27 4e1f4e7ce26bc0c506797dfc35cb2d0fb6366034

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

@@ -7,8 +7,7 @@
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.protobuf.RTCmdType;
import com.xiaopeng.api.vo.automaticPilot.protobuf.RtTaskList;
import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
import com.xiaopeng.common.core.utils.StringUtils;
import com.xiaopeng.common.core.utils.uuid.UUID;
import lombok.extern.slf4j.Slf4j;
@@ -51,14 +50,14 @@
     */
    //TODO 处理feign调用的异常
    public MqttPublishDto cloudCreateOrder(RtTaskList taskList, String vin, Long sequence) {
        com.xiaopeng.api.vo.automaticPilot.protobuf.MsgContent.Builder msgContentBuilder = com.xiaopeng.api.vo.automaticPilot.protobuf.MsgContent.newBuilder();
        com.xiaopeng.api.vo.automaticPilot.protobuf.MsgHeader.Builder headerBuilder = com.xiaopeng.api.vo.automaticPilot.protobuf.MsgHeader.newBuilder();
        MsgContent.Builder msgContentBuilder = MsgContent.newBuilder();
        MsgHeader.Builder headerBuilder = MsgHeader.newBuilder();
        headerBuilder.setMsgId(UUID.randomUUID().toString());
        headerBuilder.setTimestamp(System.currentTimeMillis());
        headerBuilder.setCmd(RTCmdType.CLOUD_CREATE_ORDER.getValue());
        headerBuilder.setSequence(sequence);
        headerBuilder.setType(com.xiaopeng.api.vo.automaticPilot.protobuf.MessageType.MESSAGE_TYPE_REQUEST);
        headerBuilder.setSource(com.xiaopeng.api.vo.automaticPilot.protobuf.SourceType.CLOUD);
        headerBuilder.setType(MessageType.MESSAGE_TYPE_REQUEST);
        headerBuilder.setSource(SourceType.CLOUD);
        msgContentBuilder.setHeader(headerBuilder.build());

        msgContentBuilder.setRtTaskList(taskList);
@@ -82,15 +81,15 @@
     * @return
     */
    //TODO 处理feign调用的异常
    public MqttPublishDto cloudOrderOperation(com.xiaopeng.api.vo.automaticPilot.protobuf.OrderOperation operation, String vin, Long sequence) {
        com.xiaopeng.api.vo.automaticPilot.protobuf.MsgContent.Builder msgContentBuilder = com.xiaopeng.api.vo.automaticPilot.protobuf.MsgContent.newBuilder();
        com.xiaopeng.api.vo.automaticPilot.protobuf.MsgHeader.Builder headerBuilder = com.xiaopeng.api.vo.automaticPilot.protobuf.MsgHeader.newBuilder();
    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(com.xiaopeng.api.vo.automaticPilot.protobuf.MessageType.MESSAGE_TYPE_REQUEST);
        headerBuilder.setSource(com.xiaopeng.api.vo.automaticPilot.protobuf.SourceType.CLOUD);
        headerBuilder.setType(MessageType.MESSAGE_TYPE_REQUEST);
        headerBuilder.setSource(SourceType.CLOUD);
        msgContentBuilder.setHeader(headerBuilder.build());

        msgContentBuilder.setOrderOperation(operation);
@@ -116,16 +115,16 @@
     * @param responseMessage
     * @return
     */
    public MqttPublishDto responseMessage(com.xiaopeng.api.vo.automaticPilot.protobuf.ResponseMessage responseMessage, String vin) {
        com.xiaopeng.api.vo.automaticPilot.protobuf.MsgContent.Builder msgContentBuilder = com.xiaopeng.api.vo.automaticPilot.protobuf.MsgContent.newBuilder();
        com.xiaopeng.api.vo.automaticPilot.protobuf.MsgHeader.Builder headerBuilder = com.xiaopeng.api.vo.automaticPilot.protobuf.MsgHeader.newBuilder();
    public MqttPublishDto responseMessage(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(RTCmdType.CLOUD_TASK_CONTROL.getValue());
        Snowflake snowflake = IdUtil.getSnowflake(0, 0);
        headerBuilder.setSequence(snowflake.nextId());
        headerBuilder.setType(com.xiaopeng.api.vo.automaticPilot.protobuf.MessageType.MESSAGE_TYPE_RESPONSE);
        headerBuilder.setSource(com.xiaopeng.api.vo.automaticPilot.protobuf.SourceType.CLOUD);
        headerBuilder.setType(MessageType.MESSAGE_TYPE_RESPONSE);
        headerBuilder.setSource(SourceType.CLOUD);
        msgContentBuilder.setHeader(headerBuilder.build());
        msgContentBuilder.setResponse(responseMessage);
        MqttPublishVo vo = new MqttPublishVo();
@@ -147,15 +146,15 @@
     * @return
     */
    //TODO 处理feign调用的异常
    public MqttPublishDto cloudPushNavigation(com.xiaopeng.api.vo.automaticPilot.protobuf.RestoreNavigationData navigationData, String xpuId, Long sequence) {
        com.xiaopeng.api.vo.automaticPilot.protobuf.MsgContent.Builder msgContentBuilder = com.xiaopeng.api.vo.automaticPilot.protobuf.MsgContent.newBuilder();
        com.xiaopeng.api.vo.automaticPilot.protobuf.MsgHeader.Builder headerBuilder = com.xiaopeng.api.vo.automaticPilot.protobuf.MsgHeader.newBuilder();
    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(com.xiaopeng.api.vo.automaticPilot.protobuf.MessageType.MESSAGE_TYPE_RESPONSE);
        headerBuilder.setSource(com.xiaopeng.api.vo.automaticPilot.protobuf.SourceType.CLOUD);
        headerBuilder.setType(MessageType.MESSAGE_TYPE_RESPONSE);
        headerBuilder.setSource(SourceType.CLOUD);
        msgContentBuilder.setHeader(headerBuilder.build());

        msgContentBuilder.setRestoreNavigationData(navigationData);