java/Robotaxi.git

			@@ -6,22 +6,17 @@
			import com.xiaopeng.api.dto.pushMessage.PushOrderRouteDTO;
			import com.xiaopeng.api.dto.pushMessage.SendMessageDTO;
			import com.xiaopeng.api.feignClient.order.XpOrderClient;
			import com.xiaopeng.api.feignClient.order.XpTestOrderClient;
			import com.xiaopeng.api.feignClient.pushMessage.XpPushMessageClient;
			import com.xiaopeng.api.model.order.XpOrder;
			import com.xiaopeng.api.model.order.XpTestOrder;
			import com.xiaopeng.api.vo.operation.RouteVo;
			import com.xiaopeng.common.core.constant.CacheConstants;
			import com.xiaopeng.common.core.constant.Constants;
			import com.xiaopeng.common.core.domain.R;
			import com.xiaopeng.common.core.enums.PushMessageTypeEnum;
			import com.xiaopeng.common.redis.service.RedisService;
			import com.xiaopeng.pushMessage.utils.MapMatchingUtil;
			import com.xiaopeng.pushMessage.utils.TrackPoint;
			import com.xiaopeng.pushMessage.utils.TrajectoryDensifier;
			import io.swagger.annotations.Api;
			import lombok.extern.slf4j.Slf4j;
			import org.powermock.core.ListMap;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.validation.annotation.Validated;
			import org.springframework.web.bind.annotation.PostMapping;
			@@ -29,7 +24,6 @@
			import org.springframework.web.bind.annotation.RequestMapping;
			import org.springframework.web.bind.annotation.RestController;

			import java.time.Instant;
			import java.util.*;
			import java.util.concurrent.LinkedBlockingQueue;
			import java.util.concurrent.ThreadPoolExecutor;
			@@ -58,48 +52,46 @@
			Integer routeType = dto.getRouteType();
			//正常订单
			if(routeType == 1){
			//非导航偏离才需要限频
			if(PushMessageTypeEnum.ORDER_ROUTE.getDesc().equals(dto.getMessageType())){
			Long pushTime = redisService.getCacheObject("PUSH_TIME:" + dto.getOrderId());
			if(null != pushTime && System.currentTimeMillis() - pushTime < 1500){
			return R.ok();
			}
			redisService.setCacheObject("PUSH_TIME:" + dto.getOrderId(), System.currentTimeMillis());
			}
			XpOrder xpOrder = xpOrderClient.queryOrderById(dto.getOrderId()).getData();
			if(xpOrder.getStatus() <= 1 \|\| xpOrder.getStatus() >= 8){
			return R.ok();
			}
			// 获取路线规划
			String key = "";
			//接驾情况，获取车辆位置到起点的导航
			if(xpOrder.getStatus() == 2 \|\| xpOrder.getStatus() == 3){
			if(xpOrder.getStatus() >= 2 && xpOrder.getStatus() <= 4){
			key = "ORDER_NAVIGATION_START_DATA:" + xpOrder.getAppUserId();
			}else{
			key = "ORDER_NAVIGATION_END_DATA:" + xpOrder.getAppUserId();
			}
			Object cacheObject = redisService.getCacheObject(key);
			RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
			log.info("缓存获取的轨迹 {}", JSON.toJSONString(routeVo));
			log.info("缓存获取的轨迹 {} {}", key, JSON.toJSONString(routeVo));
			if(Objects.nonNull(routeVo)){
			//开始对轨迹进行点位补全，然后更新缓存中的轨迹数据
			if(xpOrder.getStatus() == 2 \|\| xpOrder.getStatus() == 5){
			if(null == routeVo.getDensify() \|\| routeVo.getDensify() == 0){
			log.info("开始执行点位补全 {}", key);
			List<LonLatDto> polyline = routeVo.getPolyline();
			List<LonLatDto> new_polyline = new ArrayList<>();
			for (int i = 0; i < polyline.size(); i++) {
			if(i == polyline.size() - 1){
			new_polyline.add(polyline.get(i));
			break;
			}
			LonLatDto lonLatDto = polyline.get(i);
			LonLatDto lonLatDto1 = polyline.get(i + 1);
			//对两个点位进行坐标补全
			List<TrackPoint> track = new ArrayList<>();
			// 模拟数据：两个点相差 20 秒
			track.add(new TrackPoint(lonLatDto.getLatitude(), lonLatDto.getLongitude(), null));
			track.add(new TrackPoint(lonLatDto1.getLatitude(), lonLatDto1.getLongitude(), null));
			//10米补全一个点位
			List<TrackPoint> densified = TrajectoryDensifier.densifyByTime(track, 10);
			for (TrackPoint trackPoint : densified) {
			new_polyline.add(new LonLatDto(trackPoint.getLongitude(), trackPoint.getLatitude()));
			}
			}
			routeVo.setPolyline(new_polyline);
			List<LonLatDto> densify = TrajectoryDensifier.densify(polyline, 15);
			routeVo.setPolyline(densify);
			routeVo.setDensify(1);
			log.info("点位补全结束 {} {}", key, JSON.toJSONString(routeVo));
			redisService.setCacheObject(key, JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
			}
			Integer distance = dto.getDistance();
			Integer duration = dto.getDuration();

			Integer distance = dto.getDistance().intValue();
			Integer duration = dto.getDuration().intValue();
			// 计算实时点位到线段的最优截取
			Map<String, List<LonLatDto>> remainingNavigation = MapMatchingUtil.getRemainingNavigation(routeVo.getPolyline(), dto.getLongitude(), dto.getLatitude());
			log.info("remainingNavigation {}", JSON.toJSONString(remainingNavigation));
			//当订单状态为5的时候（乘客已上车）需要推送导航的距离和剩余时间
			//因为这个状态，车端推的依然是接驾的剩余里程和时间，就会导致数据和小程序的页面跳转匹配不上
			//小程序是只要乘客上车后就跳转到行程开始页面
			@@ -112,6 +104,7 @@
			}
			List<LonLatDto> lonLatDtos = remainingNavigation.get("unserved");
			List<LonLatDto> lonLatDtos1 = remainingNavigation.get("served");

			routeVo.setPolyline(lonLatDtos);
			routeVo.setServed(lonLatDtos1);
			log.info("线路截取后存储的轨迹 {}", JSON.toJSONString(routeVo));
			@@ -130,10 +123,12 @@
			content.put("routeType",routeType);
			content.put("direction",dto.getDirection());
			content.put("route",JSONObject.toJSONString(route));
			content.put("endLongitude", dto.getEndLongitude());
			content.put("endLatitude", dto.getEndLatitude());

			// 封装轨迹信息
			Map<String, Object> params = new HashMap<>();
			params.put("type", PushMessageTypeEnum.ORDER_ROUTE.getDesc());
			params.put("type", dto.getMessageType());
			params.put("content", JSONObject.toJSONString(content));
			params.put("timestamp", new Date().getTime()+"");