From 7bdd2edfec84ad02dbb6cb59e6e9fde8e6a802b0 Mon Sep 17 00:00:00 2001
From: zhouhn <zhouhn@xiaopeng.com>
Date: 星期六, 07 三月 2026 20:58:29 +0800
Subject: [PATCH] 更新XPUUtil的单元测试
---
xp-robotaxi-automatic-pilot-boot/src/test/java/com/xiaopeng/automaticPilot/util/XPUUtilTest.java | 155 +++++++++++++++++++++++++++++++++++++++++++++++++++
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/util/XPUUtil.java | 2
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java | 1
xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/utils/GDMapGeocodingUtil.java | 1
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java | 1
5 files changed, 157 insertions(+), 3 deletions(-)
diff --git a/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java b/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java
index d77f751..ce9d724 100644
--- a/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java
+++ b/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/controller/OrderMissionController.java
@@ -40,6 +40,7 @@
@PostMapping("/inner/pushOrder")
public R<Boolean> pushOrder(@RequestBody PushOrderDto dto) {
RTTask task = new RTTask();
+ //TODO 设置目标地点信息
task.setOrder_id(dto.getOrderId().toString());
task.setTask_id("MISSION_"+ IdUtil.fastUUID());
task.setTask_type(TaskType.ROBOTAXI);
diff --git a/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java b/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java
index d52dcaf..2eebd64 100644
--- a/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java
+++ b/xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java
@@ -511,6 +511,7 @@
dto.setOrderId(Long.parseLong(orderId));
dto.setOrigin(origin);
dto.setDestination(destination);
+ //TODO 这里的routeID不应该每次都重新生成，应该有一个缓存，调用的接口有做缓存但是没有读取缓存
R<RouteVo> routeVoR = xpMapClient.getOrderDistanceAndDuration(dto);
if (200 != routeVoR.getCode()) {
throw new RuntimeException("获取订单线路和运费失败");
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 e718051..7187e2f 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
@@ -59,7 +59,7 @@
header.setTimestamp(System.currentTimeMillis());
header.setCmd(RTCmdType.CLOUD_CREATE_ORDER);
header.setSequence(sequence);
- header.setType(MessageType.MESSAGE_TYPE_RESPONSE);
+ header.setType(MessageType.MESSAGE_TYPE_REQUEST);
header.setSource(SourceType.CLOUD);
msgContent.setHeader(header);
// 消息内容
diff --git a/xp-robotaxi-automatic-pilot-boot/src/test/java/com/xiaopeng/automaticPilot/util/XPUUtilTest.java b/xp-robotaxi-automatic-pilot-boot/src/test/java/com/xiaopeng/automaticPilot/util/XPUUtilTest.java
index 176cb0b..e9f9fe0 100644
--- a/xp-robotaxi-automatic-pilot-boot/src/test/java/com/xiaopeng/automaticPilot/util/XPUUtilTest.java
+++ b/xp-robotaxi-automatic-pilot-boot/src/test/java/com/xiaopeng/automaticPilot/util/XPUUtilTest.java
@@ -1,9 +1,19 @@
package com.xiaopeng.automaticPilot.util;
+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.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 org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
+import org.mockito.ArgumentCaptor;
import org.mockito.Mockito;
import java.lang.reflect.Field;
@@ -15,18 +25,34 @@
public class XPUUtilTest {
private XPUUtil xpuUtil;
+ private XPUClient xpuClient;
+ private VmpOpenServiceClient vmpClient;
@BeforeEach
public void setUp() throws Exception {
xpuUtil = new XPUUtil();
- VmpOpenServiceClient vmpClient = Mockito.mock(VmpOpenServiceClient.class);
+
+ // Mock VmpOpenServiceClient
+ vmpClient = Mockito.mock(VmpOpenServiceClient.class);
Map<String, String> mapping = new HashMap<>();
mapping.put(XPUUtil.XPU_ID_TYPE, "1234567890ABCDEFGHIJKL");
Mockito.when(vmpClient.getVehicleBindInfoByVin(Mockito.anyString(), Mockito.anyList()))
.thenReturn(mapping);
+
+ // Mock XPUClient
+ xpuClient = Mockito.mock(XPUClient.class);
+ Mockito.when(xpuClient.publish(Mockito.any(MqttPublishVo.class)))
+ .thenReturn(new MqttPublishDto());
+
+ // Inject mocks
Field vmpField = XPUUtil.class.getDeclaredField("vmpOpenServiceClient");
vmpField.setAccessible(true);
vmpField.set(xpuUtil, vmpClient);
+
+ Field xpuClientField = XPUUtil.class.getDeclaredField("xpuClient");
+ xpuClientField.setAccessible(true);
+ xpuClientField.set(xpuUtil, xpuClient);
+
Field topicField = XPUUtil.class.getDeclaredField("topicPrefix");
topicField.setAccessible(true);
topicField.set(xpuUtil, "Robotaxi/Msg/Xpu");
@@ -39,5 +65,130 @@
String result = (String) buildTopic.invoke(xpuUtil, "VIN123");
Assertions.assertEquals("Robotaxi/Msg/Xpu/ABCDEFGHIJKL00000000", result);
}
-}
+ @Test
+ 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);
+
+ 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);
+
+ task.setPoints(Collections.singletonList(point));
+
+ String vin = "VIN12345678900000";
+ Long sequence = 1L;
+
+ xpuUtil.cloudCreateOrder(task, 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());
+ }
+
+ @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);
+
+ Waypoint waypoint = new Waypoint();
+ waypoint.setWaypoint_id("wp-1");
+ waypoint.setPoint_type(PointType.WAY_POINT);
+ waypoint.setAction_type(ActionType.WAIT);
+ waypoint.setSequence(2);
+
+ GeoPoint geoPoint = new GeoPoint();
+ geoPoint.setLatitude(30.1);
+ geoPoint.setLongitude(120.1);
+ geoPoint.setPoi_name("Way Point");
+ waypoint.setPoint(geoPoint);
+
+ operation.setWaypoints(Collections.singletonList(waypoint));
+
+ 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);
+
+ String vin = "VIN12345678900000";
+ Long sequence = 2L;
+
+ xpuUtil.cloudOrderOperation(operation, 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());
+ }
+
+ @Test
+ public void testResponseMessage() {
+ ResponseMessage responseMessage = new ResponseMessage();
+ responseMessage.setRequest_seq(12345L);
+ responseMessage.setCode(StatusCode.OK);
+ responseMessage.setTimestamp(System.currentTimeMillis());
+
+ String vin = "VIN12345678900000";
+
+ xpuUtil.responseMessage(responseMessage, 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());
+ }
+
+ @Test
+ public void testCloudPushNavigation() {
+ RestoreNavigationData navigationData = new RestoreNavigationData();
+ navigationData.setRequest_id("req-123");
+ navigationData.setRoute_id("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());
+
+ String xpuId = "1234567890ABCDEFGHIJKL";
+ Long sequence = 3L;
+
+ xpuUtil.cloudPushNavigation(navigationData, 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());
+ }
+}
diff --git a/xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/utils/GDMapGeocodingUtil.java b/xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/utils/GDMapGeocodingUtil.java
index e09217c..f290cd1 100644
--- a/xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/utils/GDMapGeocodingUtil.java
+++ b/xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/utils/GDMapGeocodingUtil.java
@@ -69,6 +69,7 @@
String data = jsonObject.getString("data");
JSONObject jsonObject1 = JSON.parseObject(data);
+ //TODO routeId的逻辑提取逻辑还没改
String routeID = jsonObject1.getString("routeID");
JSONArray path = jsonObject1.getJSONArray("paths");
for (Object o : path) {
--
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