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

liujie

2026-06-09 c96fbe6b0aeb413a17c429133ee6d81d138144b9

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

@@ -7,10 +7,10 @@
import com.xiaopeng.api.dto.operation.LonLatDto;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.common.core.utils.HttpUtils;
import com.xiaopeng.map.config.MapApiProperties;
import com.xiaopeng.map.mangodb.service.XpGeoFencingPolygonService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.context.annotation.Lazy;
import org.springframework.stereotype.Component;

@@ -29,11 +29,12 @@
@Lazy
public class GDMapGeocodingUtil {

    private String key = "66ae577f63898dae3016d599fda57221";


    @Autowired
    private XpGeoFencingPolygonService xpGeoFencingPolygonService;

    @Autowired
    private MapApiProperties mapApiProperties;


    /**
@@ -47,21 +48,17 @@
     * @return
     * @throws Exception
     */
    public RouteVo getDistanceAndTime(LonLatDto start, LonLatDto end,List<String> avoidRoads,String fenceId,Integer routePlanRule, List<HistoryPointDto> history)  {
    public RouteVo getDistanceAndTime(LonLatDto start, LonLatDto end,ArrayList<JSONObject> avoidRoads,String fenceId,Integer routePlanRule, List<HistoryPointDto> history)  {
        RouteVo routeVo = new RouteVo();

        String url = "https://tsapi.amap.com/v1/route/price?key=" + key + "&extensions=all&start=" + start.getLongitude() + "," + start.getLatitude();
        String url = mapApiProperties.getUrls().getRoutePrice() + "?key=" + mapApiProperties.getApiKey() + "&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()) {
            JSONArray avoidPolygons = new JSONArray();
            JSONObject jsonObject = new JSONObject();
            jsonObject.put("coordinates", avoidRoads);
            avoidPolygons.add(jsonObject);
            params.put("avoidPolygons", avoidPolygons);
            params.put("avoidPolygons", avoidRoads);
        }
        if (routePlanRule != null) {
            params.put("strategy", routePlanRule);
@@ -158,19 +155,81 @@
    }


    public static void main(String[] args) {
        String url = "https://tsapi.amap.com/v1/route/price?key=" + "66ae577f63898dae3016d599fda57221" + "&extensions=all&start=" + "113.384932" + "," + "23.155455";
    /**
     * 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 = mapApiProperties.getUrls().getRoutePrice() + "?key=" + mapApiProperties.getApiKey() + "&extensions=all&start=" + start.getLongitude() + "," + start.getLatitude();
        HashMap<String, Object> params = new HashMap<>();
        params.put("extensions", "all");
        params.put("start", "113.384932" + "," + "23.155455");
        params.put("end", "113.388209" + "," + "23.163455");
        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：{}", params);
        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);
        System.out.println(jsonObject);
        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;

    }


@@ -219,7 +278,7 @@
     * @return
     */
    public String routed(String routeID) {
        String url = "https://tsapi.amap.com/v1/route/query/routeid?key=" + key;
        String url = mapApiProperties.getUrls().getRouteQuery() + "?key=" + mapApiProperties.getApiKey();
        HashMap<String, Object> params = new HashMap<>();
        params.put("routeID", routeID);
        params.put("sdkVersion", "9.850.152.3.532");
@@ -240,7 +299,7 @@
     * @throws Exception
     */
    public Map<String, String> geocode(String lon, String lan) {
        String url = "https://restapi.amap.com/v3/geocode/regeo?key=" + key + "&location=" + lon + "," + lan;
        String url = mapApiProperties.getUrls().getReverseGeocode() + "?key=" + mapApiProperties.getApiKey() + "&location=" + lon + "," + lan;
        String forObject = HttpUtils.sendGet(url);
        JSONObject jsonObject = JSON.parseObject(forObject);
        Map<String, String> map = new HashMap<>();