Merge branch '1.0' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi in...

liujie

2026-05-12 0bcfca6b2561d096a2ce26e2e7200cd0768b2b6d

 xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/utils/GDMapGeocodingUtil.java

@@ -154,6 +154,84 @@
    }


    /**
     * 根据起始点获取驾车距离 和 时间  以及避让区域
     *
     * @param start         起点
     * @param end           终点
     * @param avoidRoads    避让点
     * @param fenceId       mango id
     * @param routePlanRule 线路规划规则
     * @return
     * @throws Exception
     */
    public List<RouteVo> getDistanceAndTimeList(LonLatDto start, LonLatDto end,ArrayList<JSONObject> avoidRoads,String fenceId,Integer routePlanRule, List<HistoryPointDto> history)  {
        String url = "https://tsapi.amap.com/v1/route/price?key=" + key + "&extensions=all&start=" + start.getLongitude() + "," + start.getLatitude();
        HashMap<String, Object> params = new HashMap<>();
        params.put("extensions", "all");
        params.put("start", start.getLongitude() + "," + start.getLatitude());
        params.put("end", end.getLongitude() + "," + end.getLatitude());
        params.put("routeUserType", 2);
        if (avoidRoads != null && !avoidRoads.isEmpty()) {
            params.put("avoidPolygons", avoidRoads);
        }
        if (routePlanRule != null) {
            params.put("strategy", routePlanRule);
        }
        if(null != history && !history.isEmpty()){
            params.put("history", history);
        }
        log.info("高德地图接口：{}", url);
        log.info("高德地图参数：{}", JSON.toJSONString(params));
        String post = HttpUtils.post(url, JSON.toJSONString(params));
        log.info("高德地图返回结果：" + post);
        JSONObject jsonObject = JSON.parseObject(post);
        String data = jsonObject.getString("data");

        JSONObject jsonObject1 = JSON.parseObject(data);
        JSONArray path = jsonObject1.getJSONArray("paths");
        log.info("开始判断导航路径是否在运营区域范围内 {}", fenceId);
        List<RouteVo> list = new ArrayList<>();
        for (Object o : path) {
            RouteVo routeVo = new RouteVo();
            JSONObject jsonObject2 = (JSONObject) o;
            String routeID = jsonObject2.getString("routeID");
            String points = jsonObject2.getString("points");
            String[] split = points.split(";");
            List<LonLatDto> pointsArray = new ArrayList<>();
            for (int i = 0; i < split.length; i++) {
                if((i % 2) == 0){
                    String[] split1 = split[i].split(",");
                    LonLatDto lonLatDto = new LonLatDto(Double.parseDouble(split1[0]), Double.parseDouble(split1[1]));
                    pointsArray.add(lonLatDto);
                }
            }
            ForkJoinPool pool = new ForkJoinPool(); // 创建ForkJoinPool对象（默认使用处理器的核心数作为线程池大小）
            ArrayPointsTask arrayPointsTask = new ArrayPointsTask(pointsArray, fenceId); // 创建求和任务对象并传入数组作为参数（这里也可以传入数组的一部分作为参数来实现更细粒度的拆分）
            Long temp = pool.invoke(arrayPointsTask); // 提交任务并等待处理完成（也可以使用submit方法提交任务并获取一个Future对象来异步获取结果）
            pool.shutdown(); // 关闭ForkJoinPool（释放资源）
            if (temp == 0) {
                Integer costTime = jsonObject2.getInteger("costTime");
                Integer distance = jsonObject2.getInteger("distance");
                routeVo.setDistance(distance);
                routeVo.setDuration(costTime);
                ArrayList<LonLatDto> lonLatDtos = new ArrayList<>(split.length);
                for (String s : split) {
                    String[] split1 = s.split(",");
                    LonLatDto lonLatDto = new LonLatDto(Double.parseDouble(split1[0]), Double.parseDouble(split1[1]));
                    lonLatDtos.add(lonLatDto);
                }
                routeVo.setPolyline(lonLatDtos);
                routeVo.setRouteID(routeID);
                log.info("导航 {} 在 {} 运营区域内", routeVo.getRouteID(), fenceId);
                list.add(routeVo);
            }
        }
        return list;

    }


    public static void main(String[] args) {
        String url = "https://tsapi.amap.com/v1/route/price?key=" + "66ae577f63898dae3016d599fda57221" + "&extensions=all&start=" + "113.384932" + "," + "23.155455";
        HashMap<String, Object> params = new HashMap<>();