From dde1bed7ceaa288aa7d52d468d6f1eafe50db115 Mon Sep 17 00:00:00 2001
From: zhouhn <zhouhn@xiaopeng.com>
Date: 星期六, 07 三月 2026 20:59:19 +0800
Subject: [PATCH] KafkaConsumerService的报文传输改成proto生成的文件
---
/dev/null | 30 -------
xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/protobuf/RTCmdType.java | 11 +-
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/util/XPUUtil.java | 3
xp-robotaxi-automatic-pilot-boot/src/main/java/com/xiaopeng/automaticPilot/service/KafkaConsumerService.java | 171 ++++++++++++++++++++----------------------
4 files changed, 88 insertions(+), 127 deletions(-)
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/MessageType.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/MessageType.java
deleted file mode 100644
index 1e372be..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/MessageType.java
+++ /dev/null
@@ -1,25 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up;
-
-/**
- * 消息类型枚举
- */
-public enum MessageType {
-
- MESSAGE_TYPE_UNKNOWN(0),
- MESSAGE_TYPE_RESPONSE(1), // 应答
- MESSAGE_TYPE_REQUEST(2); // 请求
-
- private int value;
-
- MessageType(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/MsgContent.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/MsgContent.java
deleted file mode 100644
index ad95467..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/MsgContent.java
+++ /dev/null
@@ -1,19 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up;
-
-import com.alibaba.fastjson.JSONObject;
-import lombok.Data;
-
-/**
- * 消息内容
- */
-@Data
-public class MsgContent {
- /**
- * 消息头
- */
- private RtMsgHeader header;
- /**
- * 应答消息
- */
- private JSONObject content_detail;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/RTCmdType.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/RTCmdType.java
deleted file mode 100644
index 8909145..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/RTCmdType.java
+++ /dev/null
@@ -1,60 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up;
-
-/**
- * RT命令类型枚举
- */
-public enum RTCmdType {
- // RT CMD 云端发起CMD范围：10001~12000
- CLOUD_ORDER_OPERATION(10001), // 云端操作订单 (云端→XPU)
- CLOUD_TASK_CONTROL(10003), // 云端任务操作 (云端→XPU)
- CLOUD_CREATE_ORDER(10004), // 云端新增订单 (云端→XPU)
-
- // RT CMD 座舱发起CMD范围：12001~14000
- VEHICLE_ORDER_OPERATION(12001), // 车端操作订单 (座舱→XPU)
- VEHICLE_TASK_CONTROL(12002), // 车端任务操作 (座舱→XPU)
- SYSTEM_STATUS_CDU(12003), // CDU发布系统运行状态 (座舱→XPU)
- CDU_PULL_OVER_REQUEST(12004), // 座舱发起靠边停车 (座舱→XPU)
- EMERGENCY_STOP(12005), // 座舱触发急停 (座舱→XPU)
- CDU_PICKUP_CONFIRMATION(12006), // 用户上车确认 (座舱→XPU)
- CDU_DROPOFF_INFO(12007), // 用户下车信息 (座舱→XPU)
- CDU_NAVIGATION_DEVIATION(12008), // 导航偏航 (座舱→XPU)
- CDU_UPDATE_REALTIME_NAVI_POSE(12009), // 实时更新位置 (座舱→XPU)
-
- // RT CMD XPU发起CMD范围：14001~18000
- SYSTEM_STATUS_XPU(14001), // XPU发布系统运行状态 (XPU→云端)
- XPU_NAVIGATION_REQUEST(14002), // XPU向云端请求导航 (XPU→云端)
- XPU_REQ_CDU_START_NAVIGATION(14003), // XPU向座舱请求还原云端导航 (XPU→座舱)
- PULLOVER_STATUS(14004), // XPU向CDU周期发送靠边停车状态 (XPU→座舱)
- XPU_TO_CDU_NEW_ORDER(14005), // XPU通知座舱收到新订单 (XPU→座舱)
-
- // RT EVENT CMD从16001开始
- TRIP_STATUS_UPDATE_EVENT(16001), // 行程状态更新 (XPU→云端)(XPU→座舱)
- PULLOVER_STATUS_EVENT(16002), // 靠边停车状态 (XPU→云端)(XPU→座舱)
- DRIVING_MODE_UPDATE_EVENT(16003), // 驾驶模式变化 (XPU→云端)(XPU→座舱)
- SYSTEM_STATUS_UPDATE_EVENT(16004), // 系统状态变化 (XPU→云端)(XPU→座舱)
- TASK_STATE_UPDATE_EVENT(16005), // 任务状态变化 (XPU→云端)(XPU→座舱)
- ORDER_STATE_UPDATE_EVENT(16006), // 订单状态变化 (XPU→云端)(XPU→座舱)
- POINT_ARRIVAL_STATUS_EVENT(16007), // 到达目标点状态 (XPU→云端)(XPU→座舱)
- PICKUP_CONFIRMATION_EVENT(16008), // 用户上车确认 (XPU→云端)(XPU→座舱)
- DROPOFF_INFO_EVENT(16009), // 用户下车信息 (XPU→云端)
- NAVIGATION_DEVIATION_EVENT(16010), // 导航偏航 (XPU→云端)
- EMERGENCY_STOP_EVENT(16011), // 急停 (XPU→云端)(XPU→座舱)
- NAVIGATION_UPDATE_EVENT(16012), // 导航信息变化 (XPU→云端)
- TASK_QUEUE_UPDATE_EVENT(16013), // XPU待执行任务队列 (XPU→云端)
- SYSTEM_STATE_ANAPSHOT_SYNC_EVENT(16014),// 每次MQTT连接之后触发 (XPU→云端)
- ORDER_STATE_UPDATE_TO_CDU_EVENT(16015); // 更新订单状态到CDU (XPU→云端)
-
- private int value;
-
- RTCmdType(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/ResponseMessage.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/ResponseMessage.java
deleted file mode 100644
index 78b00e8..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/ResponseMessage.java
+++ /dev/null
@@ -1,22 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up;
-
-import lombok.Data;
-
-/**
- * 应答消息
- */
-@Data
-public class ResponseMessage {
- /**
- * 对应请求seq
- */
- private Long request_seq;
- /**
- * 响应码
- */
- private StatusCode code;
- /**
- * 时间戳(毫秒)
- */
- private Long timestamp;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/RtMsgHeader.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/RtMsgHeader.java
deleted file mode 100644
index 1dd2054..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/RtMsgHeader.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up;
-
-import lombok.Data;
-
-/**
- * 消息头
- */
-@Data
-public class RtMsgHeader {
- /**
- * 消息唯一ID（UUID）
- */
- private String msg_id;
- /**
- * 发送时间戳，单位ms
- */
- private Long timestamp;
- /**
- * 消息命令类型
- */
- private RTCmdType cmd;
- /**
- * 序列号
- */
- private Long sequence;
- /**
- * 请求或应答
- */
- private MessageType type;
- /**
- * 消息来源 {cloud,cdu,xpu}
- */
- private SourceType source;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/SourceType.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/SourceType.java
deleted file mode 100644
index ca68618..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/SourceType.java
+++ /dev/null
@@ -1,23 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up;
-
-/**
- * 消息来源类型
- */
-public enum SourceType {
-
- SOURCE_UNKNOWN(0),
- CLOUD(1),
- CDU(2),
- XPU(3);
-
- private final int value;
-
- SourceType(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-}
-
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/StatusCode.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/StatusCode.java
deleted file mode 100644
index 9b18095..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/StatusCode.java
+++ /dev/null
@@ -1,29 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up;
-
-/**
- * HTTP状态码枚举
- */
-public enum StatusCode {
-
- HTTP_STATUS_CODE_UNSPECIFIED(0),
- OK(200), // 成功
- BAD_REQUEST(400), // 请求参数错误
- FORBIDDEN(403),
- NOT_FOUND(404),
- REQUEST_TIMEOUT(408), // 请求超时
- INTERNAL_SERVER_ERROR(500); // 失败
-
- private int value;
-
- StatusCode(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/NavigationDeviationEvent.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/NavigationDeviationEvent.java
deleted file mode 100644
index 105068a..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/NavigationDeviationEvent.java
+++ /dev/null
@@ -1,27 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent;
-
-
-import lombok.Data;
-
-/**
- * 导航偏航信息
- */
-@Data
-public class NavigationDeviationEvent {
- /**
- * 请求唯一ID
- */
- private String request_id;
- /**
- * 事件类型
- */
- private RtEventType event_type;
- /**
- * 导航偏航消息
- */
- private NavigationDeviationMessage navigation_deviation_message;
- /**
- * 时间戳（毫秒）
- */
- private Long timestamp;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/NavigationDeviationMessage.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/NavigationDeviationMessage.java
deleted file mode 100644
index d0e33cc..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/NavigationDeviationMessage.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent;
-
-import lombok.Data;
-
-/**
- * 导航偏航消息
- */
-@Data
-public class NavigationDeviationMessage {
- /**
- * 任务ID
- */
- private String task_id;
- /**
- * 订单ID
- */
- private String order_id;
- /**
- * 当前位置经度
- */
- private Double longitude;
- /**
- * 当前位置纬度
- */
- private Double latitude;
- /**
- * 偏航原因
- */
- private String reason;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/ResponseMessage.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/ResponseMessage.java
deleted file mode 100644
index f3669f0..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/ResponseMessage.java
+++ /dev/null
@@ -1,22 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent;
-
-import lombok.Data;
-
-/**
- * 应答消息
- */
-@Data
-public class ResponseMessage {
- /**
- * 对应请求seq
- */
- private Long request_seq;
- /**
- * 响应码
- */
- private StatusCode code;
- /**
- * 时间戳(毫秒)
- */
- private Long timestamp;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/RtEventType.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/RtEventType.java
deleted file mode 100644
index 6ffd211..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/RtEventType.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent;
-
-/**
- * RT事件类型枚举
- */
-public enum RtEventType {
-
- RT_EVENT_TYPE_UNSPECIFIED(0), // 未指定
- RT_EVENT_TYPE_REQUEST(1), // 请求
- RT_EVENT_TYPE_RESPONSE(2), // 应答
- RT_EVENT_TYPE_EVENT(3); // 事件
-
- private int value;
-
- RtEventType(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/StatusCode.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/StatusCode.java
deleted file mode 100644
index d722a0d..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationDeviationEvent/StatusCode.java
+++ /dev/null
@@ -1,29 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent;
-
-/**
- * HTTP状态码枚举
- */
-public enum StatusCode {
-
- HTTP_STATUS_CODE_UNSPECIFIED(0),
- OK(200), // 成功
- BAD_REQUEST(400), // 请求参数错误
- FORBIDDEN(403),
- NOT_FOUND(404),
- REQUEST_TIMEOUT(408), // 请求超时
- INTERNAL_SERVER_ERROR(500); // 失败
-
- private int value;
-
- StatusCode(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/GeoPoint.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/GeoPoint.java
deleted file mode 100644
index e3c67e9..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/GeoPoint.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.navigationUpdateEvent;
-
-import lombok.Data;
-
-/**
- * 高德地图坐标点
- */
-@Data
-public class GeoPoint {
- /**
- * 经度
- */
- private Double longitude;
- /**
- * 纬度
- */
- private Double latitude;
- /**
- * 高德POI ID（可选）
- */
- private String poi_id;
- /**
- * 地址描述（可选）
- */
- private String address;
- /**
- * 地点名称（可选）
- */
- private String poi_name;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NaviPosition.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NaviPosition.java
deleted file mode 100644
index 5d40f7d..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NaviPosition.java
+++ /dev/null
@@ -1,22 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.navigationUpdateEvent;
-
-import lombok.Data;
-
-/**
- * 导航位置信息
- */
-@Data
-public class NaviPosition {
- /**
- * 当前路段索引
- */
- private Integer cur_seg_idx;
- /**
- * 当前Link索引
- */
- private Integer cur_link_idx;
- /**
- * 当前Link剩余距离，单位米
- */
- private Integer link_remain_dist;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NaviProgressInfo.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NaviProgressInfo.java
deleted file mode 100644
index 5bce484..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NaviProgressInfo.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.navigationUpdateEvent;
-
-import lombok.Data;
-
-/**
- * 导航进度信息
- */
-@Data
-public class NaviProgressInfo {
- /**
- * 导航ID
- */
- private Long navigation_id;
- /**
- * 剩余导航距离，单位米
- */
- private Double route_remain_dist;
- /**
- * 剩余导航时间
- */
- private Double route_remain_time;
- /**
- * 当前导航位置
- */
- private NaviPosition position;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NaviStatus.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NaviStatus.java
deleted file mode 100644
index 337da6e..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NaviStatus.java
+++ /dev/null
@@ -1,25 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.navigationUpdateEvent;
-
-/**
- * 导航状态
- */
-public enum NaviStatus {
-
- NAVI_STATUS_INVALID(0),
- NAVI_STATUS_START(1),
- NAVI_STATUS_FINISH(2);
-
- private int value;
-
- NaviStatus(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NavigationInfo.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NavigationInfo.java
deleted file mode 100644
index 1a090cc..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NavigationInfo.java
+++ /dev/null
@@ -1,39 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.navigationUpdateEvent;
-
-import lombok.Data;
-
-/**
- * 导航信息
- */
-@Data
-public class NavigationInfo {
- /**
- * 订单ID
- */
- private String order_id;
- /**
- * 任务ID
- */
- private String task_id;
- /**
- * 订单阶段
- */
- private OrderPhase order_phase;
- /**
- * 导航ID
- */
- private Long navigation_id;
- /**
- * 导航状态
- */
- private NaviStatus navigation_status;
- /**
- * 导航进度信息
- */
- private NaviProgressInfo navi_progress_info;
- /**
- * 时间戳（毫秒）
- */
- private Long timestamp;
-}
-
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NavigationInfoUpdateEvent.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NavigationInfoUpdateEvent.java
deleted file mode 100644
index 1ec15d9..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/NavigationInfoUpdateEvent.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.navigationUpdateEvent;
-
-
-import lombok.Data;
-
-/**
- * 导航信息更新事件
- */
-@Data
-public class NavigationInfoUpdateEvent {
- /**
- * 事件类型
- */
- private RtEventType event_type;
- /**
- * 导航信息
- */
- private NavigationInfo navigation_info;
- /**
- * 事件发生的点位
- */
- private Waypoint point;
- /**
- * 时间戳（毫秒）
- */
- private Long timestamp;
-}
-
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/OrderPhase.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/OrderPhase.java
deleted file mode 100644
index d434c34..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/OrderPhase.java
+++ /dev/null
@@ -1,27 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.navigationUpdateEvent;
-
-/**
- * 订单阶段枚举
- */
-public enum OrderPhase {
-
- IDLE(0), // 订单的任务未开始执行
- ROUTE_TO_PICKUP(1), // 驶往上车点的行程
- ROUTE_TO_DESTINATION(2), // 驶往下车点的行程
- ROUTE_TO_CRUISE(3); // 巡游阶段路线
-
- private int value;
-
- OrderPhase(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
-
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/ResponseMessage.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/ResponseMessage.java
deleted file mode 100644
index c2aff0d..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/ResponseMessage.java
+++ /dev/null
@@ -1,22 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.navigationUpdateEvent;
-
-import lombok.Data;
-
-/**
- * 应答消息
- */
-@Data
-public class ResponseMessage {
- /**
- * 对应请求seq
- */
- private Long request_seq;
- /**
- * 响应码
- */
- private StatusCode code;
- /**
- * 时间戳(毫秒)
- */
- private Long timestamp;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/RtEventType.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/RtEventType.java
deleted file mode 100644
index 26248c7..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/RtEventType.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.navigationUpdateEvent;
-
-/**
- * RT事件类型枚举
- */
-public enum RtEventType {
-
- RT_EVENT_TYPE_UNSPECIFIED(0), // 未指定
- RT_EVENT_TYPE_REQUEST(1), // 请求
- RT_EVENT_TYPE_RESPONSE(2), // 应答
- RT_EVENT_TYPE_EVENT(3); // 事件
-
- private int value;
-
- RtEventType(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/StatusCode.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/StatusCode.java
deleted file mode 100644
index b3ada9d..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/StatusCode.java
+++ /dev/null
@@ -1,29 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.navigationUpdateEvent;
-
-/**
- * HTTP状态码枚举
- */
-public enum StatusCode {
-
- HTTP_STATUS_CODE_UNSPECIFIED(0),
- OK(200), // 成功
- BAD_REQUEST(400), // 请求参数错误
- FORBIDDEN(403),
- NOT_FOUND(404),
- REQUEST_TIMEOUT(408), // 请求超时
- INTERNAL_SERVER_ERROR(500); // 失败
-
- private int value;
-
- StatusCode(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/Waypoint.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/Waypoint.java
deleted file mode 100644
index 2194214..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/navigationUpdateEvent/Waypoint.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.navigationUpdateEvent;
-
-import lombok.Data;
-
-/**
- * 途经点信息
- */
-@Data
-public class Waypoint {
- /**
- * 途经点ID
- */
- private String waypoint_id;
- /**
- * 点类型
- */
- private Integer point_type;
- /**
- * 在该点执行的动作
- */
- private Integer action_type;
- /**
- * 经纬度
- */
- private GeoPoint point;
- /**
- * 顺序序号（在路线中的位置）
- */
- private Integer sequence;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/GeoPoint.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/GeoPoint.java
deleted file mode 100644
index 03eac0c..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/GeoPoint.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent;
-
-import lombok.Data;
-
-/**
- * 高德地图坐标点
- */
-@Data
-public class GeoPoint {
- /**
- * 经度
- */
- private Double longitude;
- /**
- * 纬度
- */
- private Double latitude;
- /**
- * 高德POI ID（可选）
- */
- private String poi_id;
- /**
- * 地址描述（可选）
- */
- private String address;
- /**
- * 地点名称（可选）
- */
- private String poi_name;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderPhase.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderPhase.java
deleted file mode 100644
index 0d28a39..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderPhase.java
+++ /dev/null
@@ -1,27 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent;
-
-/**
- * 订单阶段枚举
- */
-public enum OrderPhase {
-
- IDLE(0), // 订单的任务未开始执行
- ROUTE_TO_PICKUP(1), // 驶往上车点的行程
- ROUTE_TO_DESTINATION(2), // 驶往下车点的行程
- ROUTE_TO_CRUISE(3); // 巡游阶段路线
-
- private int value;
-
- OrderPhase(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
-
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderStateChangeSource.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderStateChangeSource.java
deleted file mode 100644
index 4eb6698..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderStateChangeSource.java
+++ /dev/null
@@ -1,25 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent;
-
-/**
- * 订单状态变化来源
- */
-public enum OrderStateChangeSource {
-
- ORDER_STATE_CHANGE_SOURCE_UNSPECIFIED(0), // 未指定
- ORDER_STATE_CHANGE_SOURCE_CLOUD(1), // 云端系统
- ORDER_STATE_CHANGE_SOURCE_VEHICLE(2); // 车端
-
- private int value;
-
- OrderStateChangeSource(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderStatus.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderStatus.java
deleted file mode 100644
index 98f6f08..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderStatus.java
+++ /dev/null
@@ -1,37 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent;
-
-/**
- * 订单状态枚举
- */
-public enum OrderStatus {
-
- ORDER_STATUS_UNSPECIFIED(0), // 未指定
- ORDER_RECEIVED(1), // 收到订单
- ORDER_STARTED(2), // 开始执行订单
- ORDER_EN_ROUTE_TO_PICKUP(3), // 前往上车点
- ORDER_ARRIVED_AT_PICKUP(4), // 到达上车点
- ORDER_WAITING_FOR_PICKUP(5), // 等待乘客上车
- ORDER_PASSENGER_ONBOARD(6), // 乘客已上车
- ORDER_EN_ROUTE_TO_DESTINATION(7), // 前往目的地
- ORDER_ARRIVED_AT_DESTINATION(8), // 到达目的地
- ORDER_WAITING_FOR_DROPOFF(9), // 等待乘客下车
- ORDER_DROPOFF_COMPLETED(10), // 下车完成
- ORDER_COMPLETED(11), // 已完成
- ORDER_CANCELLED(12), // 已取消
- ORDER_ARRIVED_AT_CRUISE_DESTINATION(13), // 到达巡游终点
- ORDER_PAUSED(14); // 订单暂停
-
- private int value;
-
- OrderStatus(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderStatusInfo.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderStatusInfo.java
deleted file mode 100644
index b1ce69b..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderStatusInfo.java
+++ /dev/null
@@ -1,42 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent;
-
-import lombok.Data;
-
-/**
- * 订单状态信息
- */
-@Data
-public class OrderStatusInfo {
- /**
- * 订单ID
- */
- private String order_id;
- /**
- * 关联任务ID
- */
- private String task_id;
- /**
- * 订单当前状态
- */
- private OrderStatus status;
- /**
- * 订单阶段
- */
- private OrderPhase order_phase;
- /**
- * 状态变化来源
- */
- private OrderStateChangeSource change_source;
- /**
- * 车端操作填写车端登录用户ID
- */
- private String operator_id;
- /**
- * RT行程信息
- */
- private RtTripInfo trip_info;
- /**
- * 状态更新时间戳（毫秒）
- */
- private Long timestamp;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderStatusInfoEvent.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderStatusInfoEvent.java
deleted file mode 100644
index 3ea0ae5..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/OrderStatusInfoEvent.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent;
-
-import lombok.Data;
-
-/**
- * 更新订单状态信息消息
- */
-@Data
-public class OrderStatusInfoEvent {
- /**
- * 事件类型
- */
- private RtEventType event_type;
- /**
- * 订单状态信息
- */
- private OrderStatusInfo order_status_info;
- /**
- * 事件发生的点位
- */
- private Waypoint point;
- /**
- * RT行程信息事件
- */
- private RtTripInfoEvent trip_info_event;
- /**
- * 状态更新时间戳（毫秒）
- */
- private Long timestamp;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/ResponseMessage.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/ResponseMessage.java
deleted file mode 100644
index 61748b8..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/ResponseMessage.java
+++ /dev/null
@@ -1,22 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent;
-
-import lombok.Data;
-
-/**
- * 应答消息
- */
-@Data
-public class ResponseMessage {
- /**
- * 对应请求seq
- */
- private Long request_seq;
- /**
- * 响应码
- */
- private StatusCode code;
- /**
- * 时间戳(毫秒)
- */
- private Long timestamp;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/RtEventType.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/RtEventType.java
deleted file mode 100644
index cf7e885..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/RtEventType.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent;
-
-/**
- * RT事件类型枚举
- */
-public enum RtEventType {
-
- RT_EVENT_TYPE_UNSPECIFIED(0), // 未指定
- RT_EVENT_TYPE_REQUEST(1), // 请求
- RT_EVENT_TYPE_RESPONSE(2), // 应答
- RT_EVENT_TYPE_EVENT(3); // 事件
-
- private int value;
-
- RtEventType(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/RtTripInfo.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/RtTripInfo.java
deleted file mode 100644
index c80a794..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/RtTripInfo.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent;
-
-import lombok.Data;
-
-/**
- * RT行程信息
- */
-@Data
-public class RtTripInfo {
- /**
- * 任务ID
- */
- private String task_id;
- /**
- * 订单ID
- */
- private String order_id;
- /**
- * 行程总距离（米）
- */
- private Double total_distance;
- /**
- * 行程总时间（秒）
- */
- private Integer total_duration;
- /**
- * 剩余距离（米）
- */
- private Double remaining_distance;
- /**
- * 剩余时间（秒）
- */
- private Integer remaining_time;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/RtTripInfoEvent.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/RtTripInfoEvent.java
deleted file mode 100644
index 0bbc42c..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/RtTripInfoEvent.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent;
-
-import lombok.Data;
-
-/**
- * RT行程信息事件
- */
-@Data
-public class RtTripInfoEvent {
- /**
- * 任务ID
- */
- private String task_id;
- /**
- * 订单ID
- */
- private String order_id;
- /**
- * 行程距离（米）
- */
- private Double distance;
- /**
- * 预计剩余时间（秒）
- */
- private Integer estimated_time_remaining;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/StatusCode.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/StatusCode.java
deleted file mode 100644
index 6a4bdb8..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/StatusCode.java
+++ /dev/null
@@ -1,29 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent;
-
-/**
- * HTTP状态码枚举
- */
-public enum StatusCode {
-
- HTTP_STATUS_CODE_UNSPECIFIED(0),
- OK(200), // 成功
- BAD_REQUEST(400), // 请求参数错误
- FORBIDDEN(403),
- NOT_FOUND(404),
- REQUEST_TIMEOUT(408), // 请求超时
- INTERNAL_SERVER_ERROR(500); // 失败
-
- private int value;
-
- StatusCode(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/Waypoint.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/Waypoint.java
deleted file mode 100644
index a5c1561..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/orderStateUpdateEvent/Waypoint.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent;
-
-import lombok.Data;
-
-/**
- * 途经点信息
- */
-@Data
-public class Waypoint {
- /**
- * 途经点ID
- */
- private String waypoint_id;
- /**
- * 点类型
- */
- private Integer point_type;
- /**
- * 在该点执行的动作
- */
- private Integer action_type;
- /**
- * 经纬度
- */
- private GeoPoint point;
- /**
- * 顺序序号（在路线中的位置）
- */
- private Integer sequence;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/AbnormalReason.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/AbnormalReason.java
deleted file mode 100644
index c373479..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/AbnormalReason.java
+++ /dev/null
@@ -1,27 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-/**
- * 异常原因（Abnormal状态使用）
- */
-public enum AbnormalReason {
-
- ABNORMAL_REASON_UNSPECIFIED(0),
- REMOTE_CONTROL_MODE(1), // 远程控车模式
- MRM(2), // MRM（Minimal Risk Maneuver，最小风险机动）
- E_STOP(3), // E-Stop（Emergency Stop，紧急停止）
- FAULT(4); // 故障
-
- private int value;
-
- AbnormalReason(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/DrivingMode.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/DrivingMode.java
deleted file mode 100644
index cba4711..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/DrivingMode.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-/**
- * 车辆驾驶模式枚举
- */
-public enum DrivingMode {
-
- DRIVING_MODE_UNSPECIFIED(0), // 未指定
- AUTONOMOUS(1), // L4自动驾驶模式
- REMOTE_DRIVING(2), // 云代驾远程控车模式
- MANUAL_DRIVING(3); // 手动驾驶模式
-
- private int value;
-
- DrivingMode(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/GearLevel.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/GearLevel.java
deleted file mode 100644
index 42ed7e5..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/GearLevel.java
+++ /dev/null
@@ -1,27 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-/**
- * 档位枚举
- */
-public enum GearLevel {
-
- GEAR_Invalid(0),
- GEAR_D(1),
- GEAR_N(2),
- GEAR_R(3),
- GEAR_P(4);
-
- private int value;
-
- GearLevel(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/NaviPosition.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/NaviPosition.java
deleted file mode 100644
index af3ab81..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/NaviPosition.java
+++ /dev/null
@@ -1,22 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-import lombok.Data;
-
-/**
- * 导航位置信息
- */
-@Data
-public class NaviPosition {
- /**
- * 当前路段索引
- */
- private Integer cur_seg_idx;
- /**
- * 当前Link索引
- */
- private Integer cur_link_idx;
- /**
- * 当前Link剩余距离，单位米
- */
- private Integer link_remain_dist;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/NaviProgressInfo.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/NaviProgressInfo.java
deleted file mode 100644
index 658fef2..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/NaviProgressInfo.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-import lombok.Data;
-
-/**
- * 导航进度信息
- */
-@Data
-public class NaviProgressInfo {
- /**
- * 导航ID
- */
- private Long navigation_id;
- /**
- * 剩余导航距离，单位米
- */
- private Double route_remain_dist;
- /**
- * 剩余导航时间
- */
- private Double route_remain_time;
- /**
- * 当前导航位置
- */
- private NaviPosition position;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/NaviStatus.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/NaviStatus.java
deleted file mode 100644
index 1b2e340..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/NaviStatus.java
+++ /dev/null
@@ -1,25 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-/**
- * 导航状态
- */
-public enum NaviStatus {
-
- NAVI_STATUS_INVALID(0),
- NAVI_STATUS_START(1),
- NAVI_STATUS_FINISH(2);
-
- private int value;
-
- NaviStatus(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/NavigationInfo.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/NavigationInfo.java
deleted file mode 100644
index b30eec5..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/NavigationInfo.java
+++ /dev/null
@@ -1,39 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-import lombok.Data;
-
-/**
- * 导航信息
- */
-@Data
-public class NavigationInfo {
- /**
- * 订单ID
- */
- private String order_id;
- /**
- * 任务ID
- */
- private String task_id;
- /**
- * 订单阶段
- */
- private OrderPhase order_phase;
- /**
- * 导航ID
- */
- private Long navigation_id;
- /**
- * 导航状态
- */
- private NaviStatus navigation_status;
- /**
- * 导航进度信息
- */
- private NaviProgressInfo navi_progress_info;
- /**
- * 时间戳（毫秒）
- */
- private Long timestamp;
-}
-
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/OrderPhase.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/OrderPhase.java
deleted file mode 100644
index fbb0aab..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/OrderPhase.java
+++ /dev/null
@@ -1,27 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-/**
- * 订单阶段枚举
- */
-public enum OrderPhase {
-
- IDLE(0), // 订单的任务未开始执行
- ROUTE_TO_PICKUP(1), // 驶往上车点的行程
- ROUTE_TO_DESTINATION(2), // 驶往下车点的行程
- ROUTE_TO_CRUISE(3); // 巡游阶段路线
-
- private int value;
-
- OrderPhase(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
-
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/OrderStateChangeSource.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/OrderStateChangeSource.java
deleted file mode 100644
index 70406ab..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/OrderStateChangeSource.java
+++ /dev/null
@@ -1,25 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-/**
- * 订单状态变化来源
- */
-public enum OrderStateChangeSource {
-
- ORDER_STATE_CHANGE_SOURCE_UNSPECIFIED(0), // 未指定
- ORDER_STATE_CHANGE_SOURCE_CLOUD(1), // 云端系统
- ORDER_STATE_CHANGE_SOURCE_VEHICLE(2); // 车端
-
- private int value;
-
- OrderStateChangeSource(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/OrderStatus.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/OrderStatus.java
deleted file mode 100644
index 5d70e10..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/OrderStatus.java
+++ /dev/null
@@ -1,37 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-/**
- * 订单状态枚举
- */
-public enum OrderStatus {
-
- ORDER_STATUS_UNSPECIFIED(0), // 未指定
- ORDER_RECEIVED(1), // 收到订单
- ORDER_STARTED(2), // 开始执行订单
- ORDER_EN_ROUTE_TO_PICKUP(3), // 前往上车点
- ORDER_ARRIVED_AT_PICKUP(4), // 到达上车点
- ORDER_WAITING_FOR_PICKUP(5), // 等待乘客上车
- ORDER_PASSENGER_ONBOARD(6), // 乘客已上车
- ORDER_EN_ROUTE_TO_DESTINATION(7), // 前往目的地
- ORDER_ARRIVED_AT_DESTINATION(8), // 到达目的地
- ORDER_WAITING_FOR_DROPOFF(9), // 等待乘客下车
- ORDER_DROPOFF_COMPLETED(10), // 下车完成
- ORDER_COMPLETED(11), // 已完成
- ORDER_CANCELLED(12), // 已取消
- ORDER_ARRIVED_AT_CRUISE_DESTINATION(13), // 到达巡游终点
- ORDER_PAUSED(14); // 订单暂停
-
- private int value;
-
- OrderStatus(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/OrderStatusInfo.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/OrderStatusInfo.java
deleted file mode 100644
index 4d36746..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/OrderStatusInfo.java
+++ /dev/null
@@ -1,42 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-import lombok.Data;
-
-/**
- * 订单状态信息
- */
-@Data
-public class OrderStatusInfo {
- /**
- * 订单ID
- */
- private String order_id;
- /**
- * 关联任务ID
- */
- private String task_id;
- /**
- * 订单当前状态
- */
- private OrderStatus status;
- /**
- * 订单阶段
- */
- private OrderPhase order_phase;
- /**
- * 状态变化来源
- */
- private OrderStateChangeSource change_source;
- /**
- * 车端操作填写车端登录用户ID
- */
- private String operator_id;
- /**
- * RT行程信息
- */
- private RtTripInfo trip_info;
- /**
- * 状态更新时间戳（毫秒）
- */
- private Long timestamp;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/RealtimePose.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/RealtimePose.java
deleted file mode 100644
index 3c03b08..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/RealtimePose.java
+++ /dev/null
@@ -1,18 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-import lombok.Data;
-
-/**
- * 实时位姿
- */
-@Data
-public class RealtimePose {
- /**
- * 时间戳(毫秒)
- */
- private Long timestamp;
- /**
- * 高德导航pose,WGS加偏之后的GCJ-02
- */
- private Wgs navi_pose;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/ResponseMessage.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/ResponseMessage.java
deleted file mode 100644
index 9dc2855..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/ResponseMessage.java
+++ /dev/null
@@ -1,22 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-import lombok.Data;
-
-/**
- * 应答消息
- */
-@Data
-public class ResponseMessage {
- /**
- * 对应请求seq
- */
- private Long request_seq;
- /**
- * 响应码
- */
- private StatusCode code;
- /**
- * 时间戳(毫秒)
- */
- private Long timestamp;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/RtTripInfo.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/RtTripInfo.java
deleted file mode 100644
index c3fdb4a..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/RtTripInfo.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-import lombok.Data;
-
-/**
- * RT行程信息
- */
-@Data
-public class RtTripInfo {
- /**
- * 任务ID
- */
- private String task_id;
- /**
- * 订单ID
- */
- private String order_id;
- /**
- * 行程总距离（米）
- */
- private Double total_distance;
- /**
- * 行程总时间（秒）
- */
- private Integer total_duration;
- /**
- * 剩余距离（米）
- */
- private Double remaining_distance;
- /**
- * 剩余时间（秒）
- */
- private Integer remaining_time;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/ServiceAvailability.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/ServiceAvailability.java
deleted file mode 100644
index 260c4e0..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/ServiceAvailability.java
+++ /dev/null
@@ -1,25 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-/**
- * 服务可用性（Normal状态使用）
- */
-public enum ServiceAvailability {
-
- SERVICE_AVAILABILITY_UNSPECIFIED(0),
- ROBOTAXI_AVAILABLE(1), // Robotaxi可用
- VPD_AVAILABLE(2); // VPD可用
-
- private int value;
-
- ServiceAvailability(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/StatusCode.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/StatusCode.java
deleted file mode 100644
index 0bedae1..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/StatusCode.java
+++ /dev/null
@@ -1,29 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-/**
- * HTTP状态码枚举
- */
-public enum StatusCode {
-
- HTTP_STATUS_CODE_UNSPECIFIED(0),
- OK(200), // 成功
- BAD_REQUEST(400), // 请求参数错误
- FORBIDDEN(403),
- NOT_FOUND(404),
- REQUEST_TIMEOUT(408), // 请求超时
- INTERNAL_SERVER_ERROR(500); // 失败
-
- private int value;
-
- StatusCode(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/SystemPhase.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/SystemPhase.java
deleted file mode 100644
index 5f8657f..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/SystemPhase.java
+++ /dev/null
@@ -1,27 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-/**
- * 系统初始化阶段枚举
- */
-public enum SystemPhase {
-
- SYSTEM_STATUS_UNSPECIFIED(0), // 未指定状态
- SYSTEM_INITIALIZING(1), // 系统初始化中
- SYSTEM_SELF_CHECKING(2), // 系统自检中
- SYSTEM_NORMAL(3), // 系统处于normal态
- SYSTEM_ABNORMAL(4); // 系统处于abnormal态
-
- private int value;
-
- SystemPhase(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/SystemRuntimeStatus.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/SystemRuntimeStatus.java
deleted file mode 100644
index c1a444a..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/SystemRuntimeStatus.java
+++ /dev/null
@@ -1,47 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-import lombok.Data;
-
-/**
- * 系统运行状态消息
- */
-@Data
-public class SystemRuntimeStatus {
- /**
- * 时间戳(毫秒)
- */
- private Long timestamp;
- /**
- * 当前登录用户ID
- */
- private Long uid;
- /**
- * 车辆状态
- */
- private VehicleStatus vehicle_status;
- /**
- * 系统状态
- */
- private SystemStatus system_status;
- /**
- * 驾驶模式
- */
- private DrivingMode driving_mode;
- /**
- * 正在运行订单信息
- */
- private OrderStatusInfo running_order_status_info;
- /**
- * RT行程信息
- */
- private RtTripInfo rt_trip_info;
- /**
- * 实时位姿
- */
- private RealtimePose pose;
- /**
- * 实时导航信息
- */
- private NavigationInfo navigation_info;
-}
-
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/SystemStatus.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/SystemStatus.java
deleted file mode 100644
index 1beb286..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/SystemStatus.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-import lombok.Data;
-
-import java.util.List;
-
-/**
- * 系统状态
- */
-@Data
-public class SystemStatus {
- /**
- * 系统阶段
- */
- private SystemPhase system_phase;
- /**
- * Abnormal状态时的原因
- */
- private AbnormalReason abnormal_reason;
- /**
- * 可用服务列表
- */
- private List<ServiceAvailability> available_services;
- /**
- * 是否紧急状态
- */
- private Boolean is_emergency;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/VehicleDynamicStatus.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/VehicleDynamicStatus.java
deleted file mode 100644
index e3a516f..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/VehicleDynamicStatus.java
+++ /dev/null
@@ -1,46 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-import lombok.Data;
-
-/**
- * 车辆动态状态（实时变化）
- */
-@Data
-public class VehicleDynamicStatus {
- /**
- * 档位
- */
- private GearLevel gear_level;
- /**
- * 方向盘转向角(度)
- */
- private Float steering_angle;
- /**
- * 仪表显示车速(m/s)
- */
- private Float speed;
- /**
- * 时间戳(毫秒)
- */
- private Long timestamp;
- /**
- * 油门开度(0-100%)
- */
- private Float throttle;
- /**
- * 刹车压力(0-100%)
- */
- private Float brake;
- /**
- * 手刹状态
- */
- private Boolean parking_brake;
- /**
- * 电池电量(0-100%)
- */
- private Float bms_soc_disp;
- /**
- * 综合续航 单位KM
- */
- private Float dst_bat_disp;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/VehicleStaticInfo.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/VehicleStaticInfo.java
deleted file mode 100644
index 04d920b..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/VehicleStaticInfo.java
+++ /dev/null
@@ -1,22 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-import lombok.Data;
-
-/**
- * 车辆静态信息（固定或很少变化）
- */
-@Data
-public class VehicleStaticInfo {
- /**
- * XPU设备ID
- */
- private String xpu_id;
- /**
- * 需要信息安全确认
- */
- private String vin;
- /**
- * 时间戳(毫秒)
- */
- private Long timestamp;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/VehicleStatus.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/VehicleStatus.java
deleted file mode 100644
index 9facb65..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/VehicleStatus.java
+++ /dev/null
@@ -1,18 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-import lombok.Data;
-
-/**
- * 车辆状态
- */
-@Data
-public class VehicleStatus {
- /**
- * 静态信息
- */
- private VehicleStaticInfo static_info;
- /**
- * 动态状态
- */
- private VehicleDynamicStatus dynamic_status;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/Wgs.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/Wgs.java
deleted file mode 100644
index b94c0e4..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/systemStatusXpu/Wgs.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu;
-
-import lombok.Data;
-
-/**
- * WGS坐标
- */
-@Data
-public class Wgs {
- /**
- * 经度
- */
- private Double longitude;
- /**
- * 纬度
- */
- private Double latitude;
- /**
- * 航向，单位：度，北零顺时针。范围：[0-360)。0 => 北, 90 => 东, 180 => 南, 270 => 西
- */
- private Double course;
- /**
- * 位置精度
- */
- private Double pos_acc;
- /**
- * 海拔 单位米
- */
- private Float alt;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/GeoPoint.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/GeoPoint.java
deleted file mode 100644
index e4e78cf..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/GeoPoint.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest;
-
-import lombok.Data;
-
-/**
- * 高德地图坐标点
- */
-@Data
-public class GeoPoint {
- /**
- * 经度
- */
- private Double longitude;
- /**
- * 纬度
- */
- private Double latitude;
- /**
- * 高德POI ID（可选）
- */
- private String poi_id;
- /**
- * 地址描述（可选）
- */
- private String address;
- /**
- * 地点名称（可选）
- */
- private String poi_name;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/NavigationRequest.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/NavigationRequest.java
deleted file mode 100644
index 5b33c27..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/NavigationRequest.java
+++ /dev/null
@@ -1,42 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest;
-
-import lombok.Data;
-
-/**
- * 请求导航消息
- */
-@Data
-public class NavigationRequest {
- /**
- * 请求唯一ID
- */
- private String request_id;
- /**
- * 订单ID
- */
- private String order_id;
- /**
- * 任务ID
- */
- private String task_id;
- /**
- * 当前订单阶段
- */
- private OrderPhase order_phase;
- /**
- * 请求原因
- */
- private NavigationType navigation_type;
- /**
- * 当前位姿
- */
- private RealtimePose current_pose;
- /**
- * 目标点（经纬度）
- */
- private GeoPoint target_point;
- /**
- * 请求时间戳（毫秒）
- */
- private Long timestamp;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/NavigationType.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/NavigationType.java
deleted file mode 100644
index f2434db..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/NavigationType.java
+++ /dev/null
@@ -1,27 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest;
-
-/**
- * 导航类型枚举
- */
-public enum NavigationType {
-
- NAVIGATION_TYPE_UNSPECIFIED(0), // 未指定
- NAVIGATION_TYPE_DEVIATION(1), // 偏航（车辆偏离原路线）
- NAVIGATION_TYPE_TO_PICKUP(2), // 接驾行程（前往上车点）
- NAVIGATION_TYPE_TO_DESTINATION(3), // 送驾行程（前往目的地）
- NAVIGATION_TYPE_CRUISE(4); // 巡游
-
- private int value;
-
- NavigationType(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/OrderPhase.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/OrderPhase.java
deleted file mode 100644
index d7b31dd..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/OrderPhase.java
+++ /dev/null
@@ -1,27 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest;
-
-/**
- * 订单阶段枚举
- */
-public enum OrderPhase {
-
- IDLE(0), // 订单的任务未开始执行
- ROUTE_TO_PICKUP(1), // 驶往上车点的行程
- ROUTE_TO_DESTINATION(2), // 驶往下车点的行程
- ROUTE_TO_CRUISE(3); // 巡游阶段路线
-
- private int value;
-
- OrderPhase(int value) {
- this.value = value;
- }
-
- public int getValue() {
- return value;
- }
-
- public void setValue(int value) {
- this.value = value;
- }
-}
-
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/RealtimePose.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/RealtimePose.java
deleted file mode 100644
index cfe5c64..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/RealtimePose.java
+++ /dev/null
@@ -1,18 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest;
-
-import lombok.Data;
-
-/**
- * 实时位姿
- */
-@Data
-public class RealtimePose {
- /**
- * 时间戳(毫秒)
- */
- private Long timestamp;
- /**
- * 高德导航pose,WGS加偏之后的GCJ-02
- */
- private Wgs navi_pose;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/Wgs.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/Wgs.java
deleted file mode 100644
index f2c422c..0000000
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/proto/up/xpuNavigationRequest/Wgs.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest;
-
-import lombok.Data;
-
-/**
- * WGS坐标
- */
-@Data
-public class Wgs {
- /**
- * 经度
- */
- private Double longitude;
- /**
- * 纬度
- */
- private Double latitude;
- /**
- * 航向，单位：度，北零顺时针。范围：[0-360)。0 => 北, 90 => 东, 180 => 南, 270 => 西
- */
- private Double course;
- /**
- * 位置精度
- */
- private Double pos_acc;
- /**
- * 海拔 单位米
- */
- private Float alt;
-}
diff --git a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/protobuf/RTCmdType.java b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/protobuf/RTCmdType.java
index b552845..53e72ef 100644
--- a/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/protobuf/RTCmdType.java
+++ b/xp-robotaxi-api/src/main/java/com/xiaopeng/api/vo/automaticPilot/protobuf/RTCmdType.java
@@ -1,13 +1,13 @@
package com.xiaopeng.api.vo.automaticPilot.protobuf;
+/**
+ * RT命令类型枚举
+ */
public enum RTCmdType {
// RT CMD 云端发起CMD范围：10001~12000
CLOUD_ORDER_OPERATION(10001), // 云端操作订单 (云端→XPU)
- CLOUD_TASK_CONTROL(10002), // 云端任务操作 (云端→XPU)
- CLOUD_CREATE_ORDER(10003), // 云端新增订单 (云端→XPU)
- CLOUD_CANCEL_ORDER(10004), // 云端取消订单 (云端→XPU)
- CLOUD_SEND_RT_TASK(10005), // 云端发送新RT任务 (云端→XPU)
- CLOUD_NAVIGATION_RESPONSE(10006), // 云端下发导航信息 (云端→XPU)
+ CLOUD_TASK_CONTROL(10003), // 云端任务操作 (云端→XPU)
+ CLOUD_CREATE_ORDER(10004), // 云端新增订单 (云端→XPU)
// RT CMD 座舱发起CMD范围：12001~14000
VEHICLE_ORDER_OPERATION(12001), // 车端操作订单 (座舱→XPU)
@@ -66,5 +66,4 @@
public void setValue(int value) {
this.value = value;
}
-
}
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 a0fec39..85d2979 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
@@ -1,7 +1,6 @@
package com.xiaopeng.automaticPilot.service;
import cn.hutool.core.lang.Snowflake;
-import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONObject;
import com.xiaopeng.api.dto.map.OrderRouteAndFareDto;
import com.xiaopeng.api.dto.operation.LonLatDto;
@@ -18,37 +17,19 @@
import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.model.vehicleConvoy.XpVehicle;
import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
-import com.xiaopeng.api.vo.automaticPilot.protobuf.ActionType;
-import com.xiaopeng.api.vo.automaticPilot.protobuf.GeoPoint;
-import com.xiaopeng.api.vo.automaticPilot.protobuf.OrderOperation;
-import com.xiaopeng.api.vo.automaticPilot.protobuf.OrderOperationType;
-import com.xiaopeng.api.vo.automaticPilot.protobuf.PointType;
-import com.xiaopeng.api.vo.automaticPilot.protobuf.ResponseMessage;
-import com.xiaopeng.api.vo.automaticPilot.protobuf.RestoreNavigationData;
-import com.xiaopeng.api.vo.automaticPilot.protobuf.StatusCode;
-import com.xiaopeng.api.vo.automaticPilot.protobuf.Waypoint;
-import com.xiaopeng.api.vo.automaticPilot.proto.up.MessageType;
-import com.xiaopeng.api.vo.automaticPilot.proto.up.MsgContent;
-import com.xiaopeng.api.vo.automaticPilot.proto.up.RTCmdType;
-import com.xiaopeng.api.vo.automaticPilot.proto.up.RtMsgHeader;
-import com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent.NavigationDeviationEvent;
-import com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent.NavigationDeviationMessage;
-import com.xiaopeng.api.vo.automaticPilot.proto.up.navigationDeviationEvent.RtEventType;
-import com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent.OrderStatusInfoEvent;
-import com.xiaopeng.api.vo.automaticPilot.proto.up.systemStatusXpu.*;
-import com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest.NavigationRequest;
-import com.xiaopeng.api.vo.automaticPilot.proto.up.xpuNavigationRequest.OrderPhase;
+import com.xiaopeng.api.vo.automaticPilot.protobuf.*;
+import com.xiaopeng.api.vo.automaticPilot.protobuf.RTCmdType;
+import com.google.protobuf.util.JsonFormat;
+import com.google.protobuf.InvalidProtocolBufferException;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.api.vo.vehicleConvoy.CancelTaxiPassengerVo;
import com.xiaopeng.automaticPilot.util.XPUUtil;
-import com.xiaopeng.common.core.constant.CacheConstants;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.core.enums.OrderStatusEnum;
import com.xiaopeng.common.core.enums.PushMessageTypeEnum;
import com.xiaopeng.common.core.utils.StringUtils;
import com.xiaopeng.common.core.utils.uuid.UUID;
import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.data.mongodb.core.MongoTemplate;
import org.springframework.data.mongodb.core.geo.GeoJsonPoint;
import org.springframework.data.mongodb.core.query.Criteria;
@@ -103,16 +84,31 @@
*
*/
public void topicProdRobotaxiXpuHigh(String message) {
- MsgContent msgContent = JSON.parseObject(message, MsgContent.class);
- handleXPUMessage(msgContent, message);
+ MsgContent msgContent = parseMsgContent(message);
+ if (msgContent != null) {
+ 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);
+ MsgContent msgContent = parseMsgContent(message);
+ if (msgContent != null) {
+ handleXPUMessage(msgContent, message);
+ }
+ }
+
+ private MsgContent parseMsgContent(String message) {
+ try {
+ MsgContent.Builder builder = MsgContent.newBuilder();
+ JsonFormat.parser().ignoringUnknownFields().merge(message, builder);
+ return builder.build();
+ } catch (InvalidProtocolBufferException e) {
+ log.error("Failed to parse message: {}", message, e);
+ return null;
+ }
}
@@ -122,12 +118,17 @@
* @param message
*/
public void handleXPUMessage(MsgContent msgContent, String message){
- RtMsgHeader header = msgContent.getHeader();
+ MsgHeader 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();
+ int cmdValue = header.getCmd();
+ RTCmdType cmd = RTCmdType.getByValue(cmdValue);
+ if (cmd == null) {
+ log.warn("Unknown cmd value: {}", cmdValue);
+ return;
+ }
switch (cmd) {
case SYSTEM_STATUS_XPU:
log.info("XPU发布系统运行状态 (XPU→云端)：{}", message);
@@ -192,10 +193,10 @@
//TODO 这里的逻辑要再确认下
//消息应答
if(MessageType.MESSAGE_TYPE_RESPONSE == type){
- com.xiaopeng.api.vo.automaticPilot.proto.up.ResponseMessage resposne = msgContent.getContent_detail().getObject("resposne", com.xiaopeng.api.vo.automaticPilot.proto.up.ResponseMessage.class);
- com.xiaopeng.api.vo.automaticPilot.proto.up.StatusCode code = resposne.getCode();
- Long requestSeq = resposne.getRequest_seq();
- if(code == com.xiaopeng.api.vo.automaticPilot.proto.up.StatusCode.OK){
+ ResponseMessage response = msgContent.getResponse();
+ StatusCode code = response.getCode();
+ long requestSeq = response.getRequestSeq();
+ if(code == StatusCode.OK){
Object sequence = redisTemplate.opsForValue().get(requestSeq);
if(sequence!=null){
String[] split = sequence.toString().split("_");
@@ -210,10 +211,6 @@
}
}
-
-
-
-
/**
* XPU发布系统运行状态---车辆实时位置
*
@@ -221,21 +218,21 @@
*/
public void systemStatusXpu(MsgContent msgContent) {
//开始处理消息对应的业务逻辑
- SystemRuntimeStatus systemRuntimeStatus = msgContent.getContent_detail().getObject("systemRuntimeStatus", SystemRuntimeStatus.class);
+ SystemRuntimeStatus systemRuntimeStatus = msgContent.getSystemRuntimeStatus();
//获取实时位置
RealtimePose pose = systemRuntimeStatus.getPose();
- Wgs naviPose = pose.getNavi_pose();
+ Wgs naviPose = pose.getNaviPose();
Double latitude = naviPose.getLatitude();
Double longitude = naviPose.getLongitude();
Double course = naviPose.getCourse();
Float alt = naviPose.getAlt();
//获取车辆静态信息
- VehicleStaticInfo staticInfo = systemRuntimeStatus.getVehicle_status().getStatic_info();
- String xpuId = staticInfo.getXpu_id();
+ VehicleStaticInfo staticInfo = systemRuntimeStatus.getVehicleStatus().getStaticInfo();
+ String xpuId = staticInfo.getXpuId();
XpVehicle xpVehicle = xpVehicleClient.findByVehicleXpuId(xpuId).getData();
String vin = xpVehicle.getVehicleVin();
//先响应消息
- Long sequence = msgContent.getHeader().getSequence();
+ long sequence = msgContent.getHeader().getSequence();
responseMessage(sequence, vin);
//保存车辆实时位置到redis
redisTemplate.opsForGeo().add("vehiclePosition:" + vin, new GeoJsonPoint(longitude, latitude), vin);
@@ -249,15 +246,15 @@
vehiclePosition.setPoint(new GeoJsonPoint(longitude, latitude));
vehiclePosition.setCourse(course);
vehiclePosition.setAlt(alt);
- VehicleStatus vehicleStatus = systemRuntimeStatus.getVehicle_status();
+ VehicleStatus vehicleStatus = systemRuntimeStatus.getVehicleStatus();
//车辆动态信息
- VehicleDynamicStatus dynamicStatus = vehicleStatus.getDynamic_status();
- dynamicStatus.setSpeed(dynamicStatus.getSpeed());
- vehiclePosition.setCurrentElectricity(dynamicStatus.getBattery_level());
+ VehicleDynamicStatus dynamicStatus = vehicleStatus.getDynamicStatus();
+ vehiclePosition.setSpeed(dynamicStatus.getSpeed());
+ vehiclePosition.setCurrentElectricity(dynamicStatus.getDstBatDisp());
//订单信息
- OrderStatusInfo runningOrderStatusInfo = systemRuntimeStatus.getRunning_order_status_info();
+ OrderStatusInfo runningOrderStatusInfo = systemRuntimeStatus.getRunningOrderStatusInfo();
Long orderId = null;
- String order_id = runningOrderStatusInfo.getOrder_id();
+ String order_id = runningOrderStatusInfo.getOrderId();
vehiclePosition.setHasOrder(0);
if (StringUtils.isNotEmpty(order_id)) {
if (order_id.contains("XU")) {
@@ -271,14 +268,15 @@
mongoTemplate.save(vehiclePosition);
//调用推送服务接口
if (null != orderId) {
- RtTripInfo rtTripInfo = systemRuntimeStatus.getRt_trip_info();
+ RtTripInfo rtTripInfo = systemRuntimeStatus.getRtTripInfo();
PushOrderRouteDTO dto = new PushOrderRouteDTO();
dto.setOrderId(orderId);
dto.setRouteType(order_id.contains("XU") ? 2 : 1);
dto.setLongitude(longitude);
dto.setLatitude(latitude);
- dto.setDuration(rtTripInfo.getRemaining_time());
- dto.setDistance(rtTripInfo.getRemaining_distance().intValue());
+ //TODO 这两个字段现在拿不到
+// dto.setDuration(rtTripInfo.getRemaining_time());
+// dto.setDistance(rtTripInfo.getRemaining_distance().intValue());
xpPushMessageClient.pushOrderRoute(dto);
}
}
@@ -291,12 +289,13 @@
*/
public void systemStatusXpuAndReassign(MsgContent msgContent) {
//开始处理消息对应的业务逻辑
- SystemRuntimeStatus systemRuntimeStatus = msgContent.getContent_detail().getObject("systemRuntimeStatus", SystemRuntimeStatus.class);
- AbnormalReason abnormalReason = systemRuntimeStatus.getSystem_status().getAbnormal_reason();
+ SystemRuntimeStatus systemRuntimeStatus = msgContent.getSystemRuntimeStatus();
+ AbnormalReason abnormalReason = systemRuntimeStatus.getSystemStatus().getAbnormalReason();
// 存储车辆挡位
- GearLevel gearLevel = systemRuntimeStatus.getVehicle_status().getDynamic_status().getGear_level();
- int value = gearLevel.getValue();
- redisTemplate.opsForValue().set(CacheConstants.GEAR_LEVEL + systemRuntimeStatus.getVehicle_status().getStatic_info().getVin(), value);
+ GearLevel gearLevel = systemRuntimeStatus.getVehicleStatus().getDynamicStatus().getGearLevel();
+ int value = gearLevel.getNumber();
+ //TODO 这里拿不到车架号，只有XPU-ID
+// redisTemplate.opsForValue().set(CacheConstants.GEAR_LEVEL + systemRuntimeStatus.getVehicleStatus().getStaticInfo().getVin(), value);
// 判断是否为故障状态
if (abnormalReason == AbnormalReason.FAULT) {
@@ -304,7 +303,7 @@
// TODO 添加异常任务
// 解绑用户与车辆关系
CancelTaxiPassengerVo cancelTaxiPassengerVo = new CancelTaxiPassengerVo();
- String orderId = systemRuntimeStatus.getRunning_order_status_info().getOrder_id();
+ String orderId = systemRuntimeStatus.getRunningOrderStatusInfo().getOrderId();
XpOrder xpOrder = xpOrderClient.queryOrderById(Long.parseLong(orderId)).getData();
XpVehicle vehicle = xpVehicleClient.queryById(xpOrder.getVehicleId()).getData();
if (vehicle != null) {
@@ -328,21 +327,12 @@
reassignOrderDTO.setOrderNo(xpOrder.getOrderNumber());
reassignOrderDTO.setCount(10);
RealtimePose pose = systemRuntimeStatus.getPose();
- Wgs naviPose = pose.getNavi_pose();
+ Wgs naviPose = pose.getNaviPose();
Double latitude = naviPose.getLatitude();
Double longitude = naviPose.getLongitude();
reassignOrderDTO.setLongitude(longitude);
reassignOrderDTO.setLatitude(latitude);
reassignOrderClient.reassignOrder(reassignOrderDTO);
-
-
-
-
-
-
-
-
-
// }
}
}
@@ -354,11 +344,11 @@
*/
public void xpuNavigationRequest(MsgContent msgContent) {
//开始处理消息对应的业务逻辑
- NavigationRequest naviRequest = msgContent.getContent_detail().getObject("naviRequest", NavigationRequest.class);
- String requestId = naviRequest.getRequest_id();
- String orderId = naviRequest.getOrder_id();
- String taskId = naviRequest.getTask_id();
- OrderPhase orderPhase = naviRequest.getOrder_phase();
+ NavigationRequest naviRequest = msgContent.getNavigationRequset();
+ String requestId = naviRequest.getRequestId();
+ String orderId = naviRequest.getOrderId();
+ String taskId = naviRequest.getTaskId();
+ OrderPhase orderPhase = naviRequest.getOrderPhase();
log.info("订单ID：{}", orderId);
log.info("任务ID：{}", taskId);
switch (orderPhase) {
@@ -388,17 +378,19 @@
*/
public void navigationDeviationEvent(MsgContent msgContent) {
//先响应消息
- Long sequence = msgContent.getHeader().getSequence();
+ long sequence = msgContent.getHeader().getSequence();
//开始处理消息对应的业务逻辑
- NavigationDeviationEvent deviationEvent = msgContent.getContent_detail().getObject("deviationEvent", NavigationDeviationEvent.class);
- String requestId = deviationEvent.getRequest_id();
+ NavigationDeviationEvent deviationEvent = msgContent.getNaviDeviationEvent();
+
+// String requestId = deviationEvent.getRequestId();
//偏航事件类型 1：请求导航，2：取消导航
- if (deviationEvent.getEvent_type().equals(RtEventType.RT_EVENT_TYPE_REQUEST)) {
- NavigationDeviationMessage navigationDeviationMessage = deviationEvent.getNavigation_deviation_message();
- String orderId = navigationDeviationMessage.getOrder_id();
- String taskId = navigationDeviationMessage.getTask_id();
- Double longitude = navigationDeviationMessage.getLongitude();
- Double latitude = navigationDeviationMessage.getLatitude();
+// if (deviationEvent.getEventType().equals(RtEventType.RT_EVENT_TYPE_REQUEST)) {
+ NavigationDeviationMessage navigationDeviationMessage = deviationEvent.getNavigationDeviationMessage();
+ String orderId = navigationDeviationMessage.getOrderId();
+ String taskId = navigationDeviationMessage.getTaskId();
+ Wgs wgs = navigationDeviationMessage.getPoint();
+ Double longitude = wgs.getLongitude();
+ Double latitude = wgs.getLatitude();
//订单类型 1：乘客订单，2=巡游订单
LonLatDto destination = new LonLatDto();
LonLatDto origin = new LonLatDto();
@@ -451,10 +443,11 @@
throw new RuntimeException("根据导航ID获取车端需要的导航数据失败");
}
+ //TODO 这里的逻辑不太对，收到导航偏航事件之后
//构建导航下发请求对象
- cloudPushNavigationInfo(requestId, routeVo.getRouteID(), stringR.getData(), orderId, xpVehicle.getVehicleVin(), xpVehicle.getXpuId());
+// cloudPushNavigationInfo(requestId, routeVo.getRouteID(), stringR.getData(), orderId, xpVehicle.getVehicleVin(), xpVehicle.getXpuId());
}
- }
+// }
}
@@ -598,15 +591,15 @@
*/
public void orderStateUpdateEvent(MsgContent msgContent) {
//先响应消息
- Long sequence = msgContent.getHeader().getSequence();
+ long sequence = msgContent.getHeader().getSequence();
//开始处理消息对应的业务逻辑
- OrderStatusInfoEvent orderStatusInfoEvent = msgContent.getContent_detail().getObject("orderStatusInfoEvent", OrderStatusInfoEvent.class);
+ OrderStatusInfoEvent orderStatusInfoEvent = msgContent.getOrderStatusInfoEvent();
//只处理请求消息
- if (orderStatusInfoEvent.getEvent_type().equals(RtEventType.RT_EVENT_TYPE_REQUEST)) {
- com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent.OrderStatusInfo orderStatusInfo = orderStatusInfoEvent.getOrder_status_info();
- String orderId = orderStatusInfo.getOrder_id();
+ if (orderStatusInfoEvent.getEventType().equals(RtEventType.kEventOrderStateUpdate)) {
+ OrderStatusInfo orderStatusInfo = orderStatusInfoEvent.getOrderStatusInfo();
+ String orderId = orderStatusInfo.getOrderId();
//普通单
- com.xiaopeng.api.vo.automaticPilot.proto.up.orderStateUpdateEvent.OrderStatus status = orderStatusInfo.getStatus();
+ OrderStatus status = orderStatusInfo.getStatus();
switch (status) {
case ORDER_STATUS_UNSPECIFIED:
//订单状态未知
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 76e226d..106389a 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
@@ -2,13 +2,12 @@
import cn.hutool.core.lang.Snowflake;
import cn.hutool.core.util.IdUtil;
-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.up.RTCmdType;
+import com.xiaopeng.api.vo.automaticPilot.protobuf.RTCmdType;
import com.xiaopeng.api.vo.automaticPilot.protobuf.RtTaskList;
import com.xiaopeng.common.core.utils.StringUtils;
import com.xiaopeng.common.core.utils.uuid.UUID;
--
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