Merge remote-tracking branch 'origin/master'

“mitao”

2026-03-14 4e6453cc91184f149530a22c3015085a04c74b30

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

@@ -32,200 +32,8 @@

    @Autowired
    private XpGeoFencingPolygonService xpGeoFencingPolygonService;
    // 自定义线程池配置
    private static final int CORE_POOL_SIZE = 5;  // 核心线程数
    private static final int MAX_POOL_SIZE = 10;  // 最大线程数
    private static final long KEEP_ALIVE_TIME = 60L; // 线程空闲存活时间
    private static final int QUEUE_CAPACITY = 100; // 阻塞队列容量

    // 创建自定义线程池
    private final ExecutorService customThreadPool = new ThreadPoolExecutor(
            CORE_POOL_SIZE,
            MAX_POOL_SIZE,
            KEEP_ALIVE_TIME,
            TimeUnit.SECONDS,
            new LinkedBlockingQueue<>(QUEUE_CAPACITY),
            new ThreadFactory() {
                private final AtomicInteger threadNumber = new AtomicInteger(1);
                @Override
                public Thread newThread(Runnable r) {
                    Thread t = new Thread(r, "route-check-thread-" + threadNumber.getAndIncrement());
                    t.setDaemon(true); // 设置为守护线程，避免应用关闭时线程未停止
                    return t;
                }
            },
            new ThreadPoolExecutor.CallerRunsPolicy() // 拒绝策略：调用线程执行
    );

//    public RouteVo getDistanceAndTime(LonLatDto start, LonLatDto end, String avoidRoads, String fenceId, Integer routePlanRule) {
//        RouteVo routeVo = new RouteVo();
//
//        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("voidPolygons", avoidRoads);
//        }
//        if (routePlanRule != null) {
//            params.put("strategy", routePlanRule);
//        }
//
//        String post = HttpUtils.post(url, JSON.toJSONString(params));
//        System.out.println("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");
//
//        if (path == null || path.isEmpty()) {
//            return null;
//        }
//
//        // 使用自定义线程池并行处理每个路径的围栏检查
//        List<Future<PathCheckResult>> futures = new ArrayList<>();
//        CountDownLatch latch = new CountDownLatch(path.size()); // 用于等待所有任务完成
//
//        // 提交每个路径的处理任务
//        for (int j = 0; j < path.size(); j++) {
//            final int index = j;
//            JSONObject pathObject = path.getJSONObject(index);
//
//            Future<PathCheckResult> future = customThreadPool.submit(() -> {
//                try {
//                    PathCheckResult result = new PathCheckResult();
//                    result.setIndex(index);
//                    result.setPathObject(pathObject);
//
//                    String points = pathObject.getString("points");
//                    String[] split = points.split(";");
//
//                    // 检查点位是否在围栏内
//                    boolean inFence = checkPointsInFence(split, fenceId);
//                    result.setInFence(inFence);
//
//                    return result;
//                } finally {
//                    latch.countDown(); // 任务完成，计数器减1
//                }
//            });
//
//            futures.add(future);
//        }
//
//        try {
//            // 等待所有任务完成，设置超时时间
//            if (!latch.await(10, TimeUnit.SECONDS)) {
//                System.out.println("路径检查任务超时");
//                // 取消所有未完成的任务
//                for (Future<PathCheckResult> future : futures) {
//                    if (!future.isDone()) {
//                        future.cancel(true);
//                    }
//                }
//            }
//        } catch (InterruptedException e) {
//            Thread.currentThread().interrupt();
//            System.out.println("路径检查任务被中断");
//            return null;
//        }
//
//        // 收集处理结果，找到第一个不在围栏内的路径
//        PathCheckResult validPathResult = null;
//
//        for (Future<PathCheckResult> future : futures) {
//            try {
//                if (future.isDone() && !future.isCancelled()) {
//                    PathCheckResult result = future.get();
//                    if (!result.isInFence()) {
//                        validPathResult = result;
//                        break; // 找到有效的就停止
//                    }
//                }
//            } catch (InterruptedException | ExecutionException e) {
//                System.out.println("获取路径检查结果失败: " + e.getMessage());
//                e.printStackTrace();
//            }
//        }
//
//        // 如果找到了有效路径，处理该路径数据
//        if (validPathResult != null) {
//            JSONObject validPath = validPathResult.getPathObject();
//            String routeID = validPath.getString("routeID");
//            String points = validPath.getString("points");
//            String[] split = points.split(";");
//
//            Integer costTime = validPath.getInteger("costTime");
//            Integer distance = validPath.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);
//
//            return routeVo;
//        }
//
//        return null;
//    }
    /**
     * 路径检查结果内部类
     */
    private static class PathCheckResult {
        private int index;
        private JSONObject pathObject;
        private boolean inFence; // true: 所有点都在围栏内, false: 有点不在围栏内

        public int getIndex() {
            return index;
        }

        public void setIndex(int index) {
            this.index = index;
        }

        public JSONObject getPathObject() {
            return pathObject;
        }

        public void setPathObject(JSONObject pathObject) {
            this.pathObject = pathObject;
        }

        public boolean isInFence() {
            return inFence;
        }

        public void setInFence(boolean inFence) {
            this.inFence = inFence;
        }
    }
    /**
     * 检查路径点位是否在围栏内
     */
    private boolean checkPointsInFence(String[] points, String fenceId) {
        // 取5分之一的点位进行检查
        for (int i = 0; i < points.length; i++) {
            if (i % 5 == 0) {
                String[] split1 = points[i].split(",");
                LonLatDto lonLatDto = new LonLatDto(Double.parseDouble(split1[0]), Double.parseDouble(split1[1]));
                if (!xpGeoFencingPolygonService.isInFence(lonLatDto.getLongitude(), lonLatDto.getLatitude(), fenceId, "operating_area")) {
                    return false; // 有点位不在围栏内
                }
            }
        }
        return true; // 所有检查的点都在围栏内
    }

    /**
     * 根据起始点获取驾车距离 和 时间  以及避让区域
@@ -263,23 +71,22 @@

        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);
        for (Object o : path) {
            JSONObject jsonObject2 = (JSONObject) o;
            String routeID = jsonObject2.getString("routeID");
            String points = jsonObject2.getString("points");
            String[] split = points.split(";");
            int temp=0;
            // 取5分之一的点位
            for (int i = 0; i < split.length; i++) {
                if (i % 10 == 0) {
                    String[] split1 = split[i].split(",");
            List<LonLatDto> pointsArray = new ArrayList<>();
            for (String string : split) {
                String[] split1 = string.split(",");
                    LonLatDto lonLatDto = new LonLatDto(Double.parseDouble(split1[0]), Double.parseDouble(split1[1]));
                    if (!xpGeoFencingPolygonService.isInFence(lonLatDto.getLongitude(), lonLatDto.getLatitude(), fenceId, "operating_area")) {
                        temp++;
                        break;
                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");
@@ -293,15 +100,54 @@
                }
                routeVo.setPolyline(lonLatDtos);
                routeVo.setRouteID(routeID);
                log.info("导航 {} 在 {} 运营区域内", routeVo.getRouteID(), fenceId);
                return routeVo;
            }
        }

        return null;

    }



    class ArrayPointsTask extends RecursiveTask<Long>{
        //最大定位集合阈值
        private final int THRESHOLD = 10;
        //围栏ID
        String fenceId;
        //定位点集合
        List<LonLatDto> pointsArray;


        public ArrayPointsTask(List<LonLatDto> pointsArray, String fenceId) {
            this.pointsArray = pointsArray;
            this.fenceId = fenceId;
        }

        @Override
        protected Long compute() {
            if(this.pointsArray.size() > THRESHOLD){
                int num = this.pointsArray.size() / 2;
                ArrayPointsTask task1 = new ArrayPointsTask(this.pointsArray.subList(0, num), fenceId);
                ArrayPointsTask task2 = new ArrayPointsTask(this.pointsArray.subList(num, this.pointsArray.size()), fenceId);
                task1.fork();
                task2.fork();
                return task1.join() + task2.join();
            }else{
                long temp = 0;
                for (LonLatDto lonLatDto : this.pointsArray) {
                    if (!xpGeoFencingPolygonService.isInFence(lonLatDto.getLongitude(), lonLatDto.getLatitude(), fenceId, "operating_area")) {
                        temp++;
                        break;
                    }
                }
                return temp;
            }
        }
    }



    /**
     * 线路还原接口
     * 车端使用的数据