Merge branch 'master' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi

liujie

2026-02-13 3963419240d589661e54d64fe17f6efab5ccb254

Merge branch 'master' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/dto/automaticPilot/VehicleBaseRespDto.java

New file
@@ -0,0 +1,83 @@
package com.xiaopeng.api.dto.automaticPilot;

import lombok.AllArgsConstructor;
import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;

import java.io.Serializable;

@Data
@Builder
@AllArgsConstructor
@NoArgsConstructor
public class VehicleBaseRespDto implements Serializable {

    private static final long serialVersionUID = -1251766408952592117L;

    /**
     * 车架号
     */
    private String vin;

    /**
     * 大屏虚拟id（兼容旧接口）
     */
    private String vid;

    /**
     * 大屏硬件id
     */
    private String cduId;

    /**
     * sim卡id
     */
    private String iccid;

    /**
     * 物料编码id
     */
    private String vehicleMaterielId;

    /**
     * 车型code.
     * DB, DC, DE就是G3
     * ED 就是 P7
     * VehicleTypeType
     */
    private String vehicleTypeCode;

    /**
     * 车型名称，eg：D10，D20，D21..
     */
    private String vehicleTypeName;

    /**
     * 对外名称，eg：1.0，G3，P5...
     */
    private String vehicleSaleName;


    /**
     * 车牌信息(车牌号)
     */
    private String plateNo;

    /**
     * 车辆用途
     */
    private Integer usage;

    /**
     * 公告车型code
     */
    private String proclamationCode;


    /***
     * 给实时流
     */
    private String batchNo;

}

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/factory/automaticPilot/XpuVimClientFallbackFactory.java

New file
@@ -0,0 +1,21 @@
package com.xiaopeng.api.factory.automaticPilot;

import com.xiaopeng.api.feignClient.automaticPilot.XpuVinClient;
import com.xiaopeng.common.core.domain.R;
import lombok.extern.slf4j.Slf4j;
import org.springframework.cloud.openfeign.FallbackFactory;


@Slf4j
public class XpuVimClientFallbackFactory implements FallbackFactory<XpuVinClient> {
    @Override
    public XpuVinClient create(Throwable cause) {
        return new XpuVinClient() {
            @Override
            public R<String> getXpuIdByVin(String vin) {
                log.error("查询XPUID失败: {}", cause.getMessage());
                return null;
            }
        };
    }
}

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/feignClient/automaticPilot/VmpOpenServiceClient.java

New file
@@ -0,0 +1,46 @@
package com.xiaopeng.api.feignClient.automaticPilot;

import com.xiaopeng.api.dto.automaticPilot.VehicleBaseRespDto;
import org.springframework.cloud.openfeign.FeignClient;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.RequestParam;

import java.util.List;
import java.util.Map;

@FeignClient(name = "xp-vmp-open-boot")
public interface VmpOpenServiceClient {

    /**
     * 通过vin获取车辆基本信息
     *
     * @param vin
     * @return
     */
    @GetMapping("/logan/vehicleInfo/vin")
    VehicleBaseRespDto getVehicleInfoByVin(@RequestParam("vin") String vin, @RequestParam("respList") List<String> respList);

    /**
     * 查询车辆绑定信息， 通过vin获取车辆xpu id
     * typeList类型，1：XPUID，2：待扩展
     * 参数示例：?vin=TESTE290000000000&typeList=1,2
     * 返回示例：{
     *     "1": "01010101010101010101010101010101",
     *     "2": "xxx"
     * }
     */
    @GetMapping("/logan/vehicle/bind/info/query")
    Map<String, String> getVehicleBindInfoByVin(@RequestParam("vin") String vin, @RequestParam("typeList") List<String> typeList);

    /**
     * 通过车辆绑定信息获取车架号， 通过xpu id获取车辆vin
     * type类型，1：XPUID，2：待扩展
     * 参数示例：?value=00000000000000000000000000000001&type=1
     * 返回示例：{
     *     L1NSPGHB9RB900099
     * }
     */
    @GetMapping("/logan/vehicle/bind/info/getVin")
    String getVinByXpuId(@RequestParam("value") String xpuId, @RequestParam("type") Integer type);

}

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/feignClient/automaticPilot/XpuVinClient.java

New file
@@ -0,0 +1,24 @@
package com.xiaopeng.api.feignClient.automaticPilot;


import com.xiaopeng.api.factory.automaticPilot.XpuVimClientFallbackFactory;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.core.dto.ServiceNameConstantsEnum;
import org.springframework.cloud.openfeign.FeignClient;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.RequestParam;

@FeignClient(contextId = "XpuVinClient",
        value = ServiceNameConstantsEnum.XP_AUTOMATIC_PILOT_SERVICE,
        fallbackFactory = XpuVimClientFallbackFactory.class)
public interface XpuVinClient {


    /**
     * 根据车辆VIN查询XPUID
     * @param vin
     * @return
     */
    @GetMapping("/xpu/getXpuIdByVin")
    R<String> getXpuIdByVin(@RequestParam("vin") String vin);
}

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/feignClient/vehicleConvoy/XpVehicleClient.java

@@ -79,4 +79,16 @@
     */
    @GetMapping("/inner/vehicle/findByVehicleVin")
    R<XpVehicle> findByVehicleVin(@RequestParam("vehicleVin") String vehicleVin);




    /**
     * 根据车辆xpuid查询车辆信息
     *
     * @param xpuid
     * @return
     */
    @GetMapping("/inner/vehicle/findByVehicleXpuId")
    R<XpVehicle> findByVehicleXpuId(@RequestParam("xpuid") String xpuid);
}

 xp-robotaxi-api/src/main/java/com/xiaopeng/api/model/vehicleConvoy/XpVehicle.java

@@ -40,6 +40,9 @@
    @ApiModelProperty(value = "车辆vin码")
    private String vehicleVin;

    @ApiModelProperty(value = "车辆xpuid")
    private String xpuId;

    @ApiModelProperty(value = "车牌号")
    private String plateNumber;


 xp-robotaxi-api/src/main/resources/META-INF/spring/org.springframework.boot.autoconfigure.AutoConfiguration.imports

@@ -23,4 +23,5 @@
com.xiaopeng.api.factory.account.UserResourcesClientFallbackFactory
com.xiaopeng.api.factory.vehicleConvoy.VehicleControlClientFallbackFactory
com.xiaopeng.api.factory.automaticPilot.XPUClientFallbackFactory
com.xiaopeng.api.factory.automaticPilot.XpuVimClientFallbackFactory
com.xiaopeng.api.factory.maintenance.XpCheckLocationClientFallbackFactory

 xp-robotaxi-automaticPilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/KafkaTestController.java

@@ -1,21 +1,14 @@
package com.xiaopeng.automaticPilot.controller;

import com.alibaba.fastjson2.JSON;
import com.xiaopeng.api.vo.automaticPilot.proto.up.MsgContent;
import com.xiaopeng.automaticPilot.service.KafkaConsumerService;
import io.swagger.annotations.Api;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.kafka.annotation.KafkaListener;
import org.springframework.web.bind.annotation.*;
import org.springframework.web.bind.annotation.RestController;

/**
 * Kafka 测试控制器
 */

@Slf4j
@RestController
@RequestMapping("/kafka")
@Api(tags = "Kafka 测试接口")
public class KafkaTestController {

    @Autowired
@@ -31,13 +24,8 @@
     */
    @KafkaListener(topics = "topic-prod-robotaxi-xpu-high", groupId = "group-robotaxi-xpu")
    public void topicProdRobotaxiXpuHigh(String message) {
        try {
            log.info("收到XPU上报高优先级主题消息: {}", message);
            kafkaConsumerService.topicProdRobotaxiXpuHigh(message);
        } catch (Exception e) {
            log.error("处理XPU上报高优先级主题消息失败: {}", message, e);
            throw e;
        }
        log.info("收到XPU上报高优先级主题消息: {}", message);
        kafkaConsumerService.topicProdRobotaxiXpuHigh(message);
    }

    /**
@@ -47,12 +35,7 @@
     */
    @KafkaListener(topics = "topic-prod-robotaxi-xpu-normal", groupId = "group-robotaxi-xpu")
    public void topicProdRobotaxiXpuNormal(String message) {
        try {
            log.info("收到XPU上报低优先级主题消息: {}", message);
            kafkaConsumerService.topicProdRobotaxiXpuNormal(message);
        } catch (Exception e) {
            log.error("处理XPU上报低优先级主题消息失败: {}", message, e);
            throw e;
        }
        log.info("收到XPU上报低优先级主题消息: {}", message);
        kafkaConsumerService.topicProdRobotaxiXpuNormal(message);
    }
}

 xp-robotaxi-automaticPilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/XpuVinController.java

New file
@@ -0,0 +1,31 @@
package com.xiaopeng.automaticPilot.controller;


import com.xiaopeng.automaticPilot.util.XPUUtil;
import com.xiaopeng.common.core.domain.R;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RequestParam;
import org.springframework.web.bind.annotation.RestController;

import javax.annotation.Resource;

@RestController
@RequestMapping("")
public class XpuVinController {

    @Resource
    private XPUUtil xpuUtil;


    /**
     * 根据车辆VIN查询XPUID
     * @param vin
     * @return
     */
    @GetMapping("/xpu/getXpuIdByVin")
    public R<String> getXpuIdByVin(@RequestParam("vin") String vin){
        String xpuId = xpuUtil.getXpuIdByVin(vin);
        return R.ok(xpuId);
    }
}

 xp-robotaxi-automaticPilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java

@@ -89,6 +89,24 @@
     */
    public void topicProdRobotaxiXpuHigh(String message) {
        MsgContent msgContent = JSON.parseObject(message, MsgContent.class);
        handleXPUMessage(msgContent, message);
    }

    /**
     * 消费消息 - XPU上报Robotaxi云端的消息topic（低优先级）
     */
    public void topicProdRobotaxiXpuNormal(String message) {
        MsgContent msgContent = JSON.parseObject(message, MsgContent.class);
        handleXPUMessage(msgContent, message);
    }


    /**
     * 处理XPU消息
     * @param msgContent
     * @param message
     */
    public void handleXPUMessage(MsgContent msgContent, String message){
        RtMsgHeader header = msgContent.getHeader();
        MessageType type = header.getType();
        //处理请求消息
@@ -173,87 +191,12 @@
                        xpOrderClient.popOrder(dto);
                    }
                }


            }
        }
    }

    /**
     * 消费消息 - XPU上报Robotaxi云端的消息topic（低优先级）
     */
    public void topicProdRobotaxiXpuNormal(String message) {
        MsgContent msgContent = JSON.parseObject(message, MsgContent.class);
        RtMsgHeader header = msgContent.getHeader();
        MessageType type = header.getType();
        //处理请求消息
        if (MessageType.MESSAGE_TYPE_REQUEST == type) {
            //区分业务类型
            RTCmdType cmd = header.getCmd();
            switch (cmd) {
                case SYSTEM_STATUS_XPU:
                    log.info("XPU发布系统运行状态 (XPU→云端)：{}", message);
                    systemStatusXpu(msgContent);
                    break;
                case XPU_NAVIGATION_REQUEST:
                    log.info("XPU向云端请求导航 (XPU→云端)：{}", message);
                    xpuNavigationRequest(msgContent);
                    break;
                case TRIP_STATUS_UPDATE_EVENT:
                    log.info("行程状态更新(XPU→云端)(XPU→座舱)：{}", message);
                    break;
                case PULLOVER_STATUS_EVENT:
                    log.info("靠边停车状态(XPU→云端)(XPU→座舱)：{}", message);
                    break;
                case DRIVING_MODE_UPDATE_EVENT:
                    log.info("驾驶模式变化(XPU→云端)(XPU→座舱)：{}", message);
                    break;
                case SYSTEM_STATUS_UPDATE_EVENT:
                    log.info("系统状态变化(XPU→云端)(XPU→座舱)：{}", message);
                    break;
                case TASK_STATE_UPDATE_EVENT:
                    log.info("任务状态变化(XPU→云端)(XPU→座舱)：{}", message);
                    break;
                case ORDER_STATE_UPDATE_EVENT:
                    log.info("订单状态变化(XPU→云端)(XPU→座舱)：{}", message);
                    orderStateUpdateEvent(msgContent);
                    break;
                case POINT_ARRIVAL_STATUS_EVENT:
                    log.info("到达目标点状态(XPU→云端)(XPU→座舱)：{}", message);
                    break;
                case PICKUP_CONFIRMATION_EVENT:
                    log.info("用户上车确认(XPU→云端)(XPU→座舱)：{}", message);
                    break;
                case DROPOFF_INFO_EVENT:
                    log.info("用户下车信息(XPU→云端)：{}", message);
                    break;
                case NAVIGATION_DEVIATION_EVENT:
                    log.info("导航偏航(XPU→云端)：{}", message);
                    navigationDeviationEvent(msgContent);
                    break;
                case EMERGENCY_STOP_EVENT:
                    log.info("急停(XPU→云端)(XPU→座舱)：{}", message);
                    break;
                case NAVIGATION_UPDATE_EVENT:
                    log.info("导航信息变化(XPU→云端)：{}", message);
                    break;
                case TASK_QUEUE_UPDATE_EVENT:
                    log.info("XPU待执行任务队列(XPU→云端)：{}", message);
                    break;
                case SYSTEM_STATE_ANAPSHOT_SYNC_EVENT:
                    log.info("每次MQTT连接之后触发 (XPU→云端)：{}", message);
                    break;
                case ORDER_STATE_UPDATE_TO_CDU_EVENT:
                    log.info("更新订单状态到CDU (XPU→云端)：{}", message);
                    break;
                default:
                    log.info("消息不在处理范围内，忽略：{}", message);
            }


        }

    }


    /**
@@ -273,7 +216,9 @@
        Float alt = naviPose.getAlt();
        //获取车辆静态信息
        VehicleStaticInfo staticInfo = systemRuntimeStatus.getVehicle_status().getStatic_info();
        String vin = staticInfo.getVin();
        String xpuId = staticInfo.getXpu_id();
        XpVehicle xpVehicle = xpVehicleClient.findByVehicleXpuId(xpuId).getData();
        String vin = xpVehicle.getVehicleVin();
        //先响应消息
        Long sequence = msgContent.getHeader().getSequence();
        responseMessage(sequence, vin);

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

@@ -8,16 +8,23 @@
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.common.core.exception.ServiceException;
import com.xiaopeng.common.core.utils.StringUtils;
import com.xiaopeng.common.core.utils.uuid.UUID;
import lombok.extern.slf4j.Slf4j;
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;

/**
 * 自动驾驶接口对接文档
@@ -28,6 +35,15 @@

    @Resource
    private XPUClient xpuClient;

    @Resource
    private VmpOpenServiceClient vmpOpenServiceClient;

    // 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");



    /**
@@ -51,10 +67,11 @@
        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
        MqttPublishVo vo = new MqttPublishVo();
        vo.setTopic("topic-prod-xpu-robotaxi-high/" + vin);
        vo.setTopic("topic-prod-xpu-robotaxi-high/" + xpuId);
        vo.setPayload(JSON.toJSONString(msgContent));
        return xpuClient.publish(vo);
    }
@@ -82,14 +99,12 @@
        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
        MqttPublishVo vo = new MqttPublishVo();
        vo.setTopic("topic-prod-xpu-robotaxi-high/" + vin);
        vo.setTopic("topic-prod-xpu-robotaxi-high/" + xpuId);
        vo.setPayload(JSON.toJSONString(msgContent));




        return xpuClient.publish(vo);
    }

@@ -118,11 +133,32 @@
        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
        MqttPublishVo vo = new MqttPublishVo();
        vo.setTopic("topic-prod-xpu-robotaxi-high/" + vin);
        vo.setTopic("topic-prod-xpu-robotaxi-high/" + xpuId);
        vo.setPayload(JSON.toJSONString(msgContent));
        return xpuClient.publish(vo);
    }




    /**
     * @description: 根据vin查询xpuId
     * @param: vin
     * @return: xpuId
     */
    public String getXpuIdByVin(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.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");
        }
        return xpuIdMapping.get(XPU_ID_TYPE);
    }


}

 xp-robotaxi-vehicleConvoy-boot/src/main/java/com/xiaopeng/vehicleConvoy/controller/XpVehicleController.java

@@ -404,6 +404,20 @@
        XpVehicle xpVehicle = xpVehicleService.getOne(new LambdaQueryWrapper<XpVehicle>().eq(XpVehicle::getVehicleVin, vehicleVin));
        return R.ok(xpVehicle);
    }


    /**
     * 根据XPUID查询车辆信息
     * @param xpuid
     * @return
     */
    @GetMapping("/inner/vehicle/findByVehicleXpuId")
    public R<XpVehicle> findByVehicleXpuId(@RequestParam("xpuid") String xpuid){
        XpVehicle xpVehicle = xpVehicleService.getOne(new LambdaQueryWrapper<XpVehicle>().eq(XpVehicle::getXpuId, xpuid));
        return R.ok(xpVehicle);
    }


    /**
     * 查询可改派的车辆列表
     *

 xp-robotaxi-vehicleConvoy-boot/src/main/java/com/xiaopeng/vehicleConvoy/service/impl/XpVehicleServiceImpl.java

@@ -7,6 +7,7 @@
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.xiaopeng.api.dto.vehicleConvoy.VehicleTemperatureDto;
import com.xiaopeng.api.feignClient.automaticPilot.XpuVinClient;
import com.xiaopeng.api.feignClient.operation.XpElectronicClient;
import com.xiaopeng.api.feignClient.order.XpOrderClient;
import com.xiaopeng.api.model.operation.XpElectronicFence;
@@ -37,6 +38,7 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.util.CollectionUtils;

import javax.annotation.Resource;
import java.time.LocalDateTime;
import java.time.LocalTime;
import java.util.*;
@@ -65,6 +67,9 @@

    @Autowired
    private IXpVehicleAnnualRecordService xpVehicleAnnualRecordService;

    @Resource
    private XpuVinClient xpuVinClient;

    @Override
    public List<XpVehicle> listByIds(List<Long> ids) {
@@ -191,6 +196,10 @@
        xpVehicle.setStatus(1);
        // 设置入库时间
        xpVehicle.setWarehousingTime(LocalDateTime.now());
        //绑定XPUID
        String vin = xpVehicle.getVehicleVin();
        String xpuid = xpuVinClient.getXpuIdByVin(vin).getData();
        xpVehicle.setXpuId(xpuid);
        this.save(xpVehicle);
    }

@@ -200,6 +209,10 @@
        // DTO转实体
        XpVehicle xpVehicle = new XpVehicle();
        BeanUtil.copyProperties(dto, xpVehicle);
        //绑定XPUID
        String vin = xpVehicle.getVehicleVin();
        String xpuid = xpuVinClient.getXpuIdByVin(vin).getData();
        xpVehicle.setXpuId(xpuid);
        this.updateById(xpVehicle);
    }