From 0f5fc39356b6bff677984c33c296573bb9c8393e Mon Sep 17 00:00:00 2001
From: zhouhn <zhouhn@xiaopeng.com>
Date: 星期六, 07 三月 2026 20:58:52 +0800
Subject: [PATCH] 引入proto文件，生成与XPU通信的报文对象
---
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/util/XPUUtil.java | 137 +++++++++++++++++++++++++--------------------
1 files changed, 77 insertions(+), 60 deletions(-)
diff --git a/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/util/XPUUtil.java b/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/util/XPUUtil.java
index 7187e2f..7b288da 100644
--- a/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/util/XPUUtil.java
+++ b/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/util/XPUUtil.java
@@ -12,6 +12,7 @@
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.RtTaskList;
import com.xiaopeng.common.core.utils.StringUtils;
import com.xiaopeng.common.core.utils.uuid.UUID;
import lombok.extern.slf4j.Slf4j;
@@ -51,24 +52,28 @@
* @return
*/
//TODO 处理feign调用的异常
- public MqttPublishDto cloudCreateOrder(RTTask task, String vin, Long sequence) {
- MsgContent msgContent = new MsgContent();
+ 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();
// 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);
+ com.xiaopeng.api.vo.automaticPilot.protobuf.MsgHeader.Builder headerBuilder = com.xiaopeng.api.vo.automaticPilot.protobuf.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);
+ msgContentBuilder.setHeader(headerBuilder.build());
+
+ msgContentBuilder.setRtTaskList(taskList);
+
MqttPublishVo vo = new MqttPublishVo();
vo.setTopic(buildTopicByVin(vin));
- vo.setPayload(JSON.toJSONString(msgContent));
+ try {
+ vo.setPayload(com.google.protobuf.util.JsonFormat.printer().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);
@@ -81,24 +86,28 @@
* @return
*/
//TODO 处理feign调用的异常
- public MqttPublishDto cloudOrderOperation(OrderOperation operation, String vin, Long sequence) {
- MsgContent msgContent = new MsgContent();
+ 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();
// 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);
+ com.xiaopeng.api.vo.automaticPilot.protobuf.MsgHeader.Builder headerBuilder = com.xiaopeng.api.vo.automaticPilot.protobuf.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);
+ msgContentBuilder.setHeader(headerBuilder.build());
+
+ msgContentBuilder.setOrderOperation(operation);
+
MqttPublishVo vo = new MqttPublishVo();
vo.setTopic(buildTopicByVin(vin));
- vo.setPayload(JSON.toJSONString(msgContent));
+ try {
+ vo.setPayload(com.google.protobuf.util.JsonFormat.printer().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);
@@ -113,25 +122,29 @@
* @param responseMessage
* @return
*/
- public MqttPublishDto responseMessage(ResponseMessage responseMessage, String vin) {
- MsgContent msgContent = new MsgContent();
+ 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();
// 消息头
- RtMsgHeader header = new RtMsgHeader();
- header.setMsg_id(UUID.randomUUID().toString());
- header.setTimestamp(System.currentTimeMillis());
- header.setCmd(RTCmdType.CLOUD_TASK_CONTROL);
+ com.xiaopeng.api.vo.automaticPilot.protobuf.MsgHeader.Builder headerBuilder = com.xiaopeng.api.vo.automaticPilot.protobuf.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(com.xiaopeng.api.vo.automaticPilot.protobuf.MessageType.MESSAGE_TYPE_RESPONSE);
+ headerBuilder.setSource(com.xiaopeng.api.vo.automaticPilot.protobuf.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(com.google.protobuf.util.JsonFormat.printer().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);
@@ -144,24 +157,28 @@
* @return
*/
//TODO 处理feign调用的异常
- public MqttPublishDto cloudPushNavigation(RestoreNavigationData navigationData, String xpuId, Long sequence) {
- MsgContent msgContent = new MsgContent();
+ 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();
// 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);
+ com.xiaopeng.api.vo.automaticPilot.protobuf.MsgHeader.Builder headerBuilder = com.xiaopeng.api.vo.automaticPilot.protobuf.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);
+ msgContentBuilder.setHeader(headerBuilder.build());
+
+ msgContentBuilder.setRestoreNavigationData(navigationData);
+
MqttPublishVo vo = new MqttPublishVo();
vo.setTopic(buildTopicByXpuId(xpuId));
- vo.setPayload(JSON.toJSONString(msgContent));
+ try {
+ vo.setPayload(com.google.protobuf.util.JsonFormat.printer().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);
--
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