小鹏汽车Robotaxi
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puzhibing
2026-02-27 ba78f764042ca15bf3f3be62e7a3fc699df56d67 
 xp-robotaxi-automatic-pilot-boot/src/test/java/com/xiaopeng/automaticPilot/util/XPUUtilTest.java


@@ -4,12 +4,7 @@


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.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.*;


import org.junit.jupiter.api.Assertions;


import org.junit.jupiter.api.BeforeEach;


import org.junit.jupiter.api.Test;


@@ -18,7 +13,6 @@




import java.lang.reflect.Field;


import java.lang.reflect.Method;


import java.util.Collections;


import java.util.HashMap;


import java.util.Map;




@@ -70,125 +64,131 @@


    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.setTaskType(OrderType.ORDER_TYPE_ROBOTAXI);


        


        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);


        Waypoint.Builder pointBuilder = Waypoint.newBuilder();


        pointBuilder.setPointType(PointType.START_POINT);


        pointBuilder.setActionType(ActionType.PICK_UP);


        pointBuilder.setSequence(1);


        


        task.setPoints(Collections.singletonList(point));


        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);




        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.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());


    }


}