From 65dcb2917a3b68e19351878e1d93f0b0ecb83cb5 Mon Sep 17 00:00:00 2001
From: 无关风月 <443237572@qq.com>
Date: 星期五, 13 二月 2026 16:49:54 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/master'
---
xp-robotaxi-automaticPilot-boot/src/main/java/com/xiaopeng/automaticPilot/util/XPUUtil.java | 86 ++++++++++++++++--------------------------
1 files changed, 33 insertions(+), 53 deletions(-)
diff --git a/xp-robotaxi-automaticPilot-boot/src/main/java/com/xiaopeng/automaticPilot/util/XPUUtil.java b/xp-robotaxi-automaticPilot-boot/src/main/java/com/xiaopeng/automaticPilot/util/XPUUtil.java
index f1d348c..971dd31 100644
--- a/xp-robotaxi-automaticPilot-boot/src/main/java/com/xiaopeng/automaticPilot/util/XPUUtil.java
+++ b/xp-robotaxi-automaticPilot-boot/src/main/java/com/xiaopeng/automaticPilot/util/XPUUtil.java
@@ -7,13 +7,17 @@
import cn.hutool.http.HttpUtil;
import com.alibaba.fastjson.JSONObject;
import com.alibaba.fastjson2.JSON;
+import com.xiaopeng.api.dto.automaticPilot.MqttPublishDto;
+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.cloudOrderOperation.OrderOperation;
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.utils.uuid.UUID;
import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;
+
+import javax.annotation.Resource;
/**
* 自动驾驶接口对接文档
@@ -22,11 +26,8 @@
@Component
public class XPUUtil {
- /**
- * 接口地址
- */
- @Value("${xpu.url}")
- private String xpuUrl;
+ @Resource
+ private XPUClient xpuClient;
/**
@@ -35,14 +36,14 @@
* @param task
* @return
*/
- public ResponseMessage cloudCreateOrder(RTTask task) {
+ 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(1L);
+ header.setSequence(sequence);
header.setType(MessageType.MESSAGE_TYPE_RESPONSE);
msgContent.setHeader(header);
// 消息内容
@@ -50,22 +51,12 @@
jsonObject.put("task", task);
msgContent.setContent_detail(jsonObject);
log.info("云端-->XPU 创建订单：{}", msgContent);
- HttpRequest post = HttpUtil.createPost("");
- post.body(JSON.toJSONString(msgContent));
- HttpResponse execute = post.execute();
- int status = execute.getStatus();
- if (200 != status) {
- throw new RuntimeException("XPU 接口异常：" + execute.getStatus());
- }
- MsgContent resMsgContent = JSON.parseObject(execute.body(), MsgContent.class);
- RtMsgHeader resHeader = resMsgContent.getHeader();
- int value = resHeader.getType().getValue();
- //只处理应答消息
- if (value == MessageType.MESSAGE_TYPE_RESPONSE.getValue()) {
- JSONObject contentDetail = resMsgContent.getContent_detail();
- return contentDetail.getObject("response", ResponseMessage.class);
- }
- return null;
+
+ //组装请求消息体
+ MqttPublishVo vo = new MqttPublishVo();
+ vo.setTopic("topic-prod-xpu-robotaxi-high/" + vin);
+ vo.setPayload(JSON.toJSONString(msgContent));
+ return xpuClient.publish(vo);
}
@@ -76,15 +67,14 @@
* @param operation
* @return
*/
- public ResponseMessage cloudOrderOperation(OrderOperation operation) {
+ 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);
- Snowflake snowflake = IdUtil.getSnowflake(0, 0);
- header.setSequence(snowflake.nextId());
+ header.setSequence(sequence);
header.setType(MessageType.MESSAGE_TYPE_REQUEST);
msgContent.setHeader(header);
// 消息内容
@@ -92,22 +82,15 @@
jsonObject.put("operation", operation);
msgContent.setContent_detail(jsonObject);
log.info("云端-->XPU 操作订单：{}", msgContent);
- HttpRequest post = HttpUtil.createPost("");
- post.body(JSON.toJSONString(msgContent));
- HttpResponse execute = post.execute();
- int status = execute.getStatus();
- if (200 != status) {
- throw new RuntimeException("XPU 接口异常：" + execute.getStatus());
- }
- MsgContent resMsgContent = JSON.parseObject(execute.body(), MsgContent.class);
- RtMsgHeader resHeader = resMsgContent.getHeader();
- int value = resHeader.getType().getValue();
- //只处理应答消息
- if (value == MessageType.MESSAGE_TYPE_RESPONSE.getValue()) {
- JSONObject contentDetail = resMsgContent.getContent_detail();
- return contentDetail.getObject("response", ResponseMessage.class);
- }
- return null;
+ //组装请求消息体
+ MqttPublishVo vo = new MqttPublishVo();
+ vo.setTopic("topic-prod-xpu-robotaxi-high/" + vin);
+ vo.setPayload(JSON.toJSONString(msgContent));
+
+
+
+
+ return xpuClient.publish(vo);
}
@@ -119,7 +102,7 @@
* @param responseMessage
* @return
*/
- public ResponseMessage responseMessage(ResponseMessage responseMessage) {
+ public MqttPublishDto responseMessage(ResponseMessage responseMessage, String vin) {
MsgContent msgContent = new MsgContent();
// 消息头
RtMsgHeader header = new RtMsgHeader();
@@ -135,14 +118,11 @@
jsonObject.put("resposne", responseMessage);
msgContent.setContent_detail(jsonObject);
log.info("云端-->XPU 响应消息：{}", msgContent);
- HttpRequest post = HttpUtil.createPost("");
- post.body(JSON.toJSONString(msgContent));
- HttpResponse execute = post.execute();
- int status = execute.getStatus();
- if (200 != status) {
- throw new RuntimeException("XPU 接口异常：" + execute.getStatus());
- }
- return null;
+ //组装请求消息体
+ MqttPublishVo vo = new MqttPublishVo();
+ vo.setTopic("topic-prod-xpu-robotaxi-high/" + vin);
+ vo.setPayload(JSON.toJSONString(msgContent));
+ return xpuClient.publish(vo);
}
}
--
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