提交管理后台新接口，修改XPU报文相关功能，增加测试小程序状态流转接口

puzhibing

2026-02-27 ba78f764042ca15bf3f3be62e7a3fc699df56d67

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

@@ -2,16 +2,12 @@

import cn.hutool.core.lang.Snowflake;
import cn.hutool.core.util.IdUtil;
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.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.proto.down.cloudPushNavigation.RestoreNavigationData;
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;
@@ -44,32 +40,36 @@
    // 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();

    /**
     * Robotaxi创建订单推送给XPU
     *
     * @param task
     * @param taskList
     * @return
     */
    //TODO 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_REQUEST);
        header.setSource(SourceType.CLOUD);
        msgContent.setHeader(header);
        // 消息内容
        JSONObject jsonObject = new JSONObject();
        jsonObject.put("task", task);
        msgContent.setContent_detail(jsonObject);
    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_CREATE_ORDER.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();
        vo.setTopic(buildTopicByVin(vin));
        vo.setPayload(JSON.toJSONString(msgContent));

        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：{}", vo);
        return xpuClient.publish(vo);
    }
@@ -82,24 +82,26 @@
     */
    //TODO 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);
        header.setSource(SourceType.CLOUD);
        msgContent.setHeader(header);
        // 消息内容
        JSONObject jsonObject = new JSONObject();
        jsonObject.put("operation", operation);
        msgContent.setContent_detail(jsonObject);
        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(buildTopicByVin(vin));
        vo.setPayload(JSON.toJSONString(msgContent));

        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);
        return xpuClient.publish(vo);
    }
@@ -114,25 +116,25 @@
     * @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);
        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);
        header.setSequence(snowflake.nextId());
        header.setType(MessageType.MESSAGE_TYPE_RESPONSE);
        header.setSource(SourceType.CLOUD);
        msgContent.setHeader(header);
        // 消息内容
        JSONObject jsonObject = new JSONObject();
        jsonObject.put("resposne", responseMessage);
        msgContent.setContent_detail(jsonObject);
        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(buildTopicByVin(vin));
        vo.setPayload(JSON.toJSONString(msgContent));

        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);
    }
@@ -145,23 +147,26 @@
     */
    //TODO 处理feign调用的异常
    public MqttPublishDto cloudPushNavigation(RestoreNavigationData navigationData, String xpuId, 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_NAVIGATION_RESPONSE);
        header.setSequence(sequence);
        header.setType(MessageType.MESSAGE_TYPE_RESPONSE);
        header.setSource(SourceType.CLOUD);
        msgContent.setHeader(header);
        // 消息内容
        JSONObject jsonObject = new JSONObject();
        jsonObject.put("navigationData", navigationData);
        msgContent.setContent_detail(jsonObject);
        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));
        vo.setPayload(JSON.toJSONString(msgContent));
        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);
        return xpuClient.publish(vo);