java/Robotaxi.git

			@@ -1,18 +1,21 @@
			package com.xiaopeng.map.controller;


			import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
			import com.xiaopeng.api.dto.WeatherDTO;
			import com.xiaopeng.api.dto.map.HistoryPointDto;
			import com.xiaopeng.api.dto.map.OrderRouteAndFareDto;
			import com.xiaopeng.api.dto.map.RouteAndFareDto;
			import com.xiaopeng.api.feignClient.order.XpOrderClient;
			import com.xiaopeng.api.model.map.XpGeoFencingPolygon;
			import com.xiaopeng.api.model.operation.XpElectronicFenceArea;
			import com.xiaopeng.api.vo.map.PointByIpVo;
			import com.xiaopeng.api.vo.operation.RouteVo;
			import com.xiaopeng.common.core.domain.R;
			import com.xiaopeng.common.redis.service.RedisService;
			import com.xiaopeng.map.mangodb.model.GeoPoint;
			import com.xiaopeng.map.mangodb.service.XpGeoFencingPolygonService;
			import com.xiaopeng.map.service.XpElectronicFenceAreaService;
			import com.xiaopeng.map.utils.AmapWalkingRouteUtil;
			import com.xiaopeng.map.utils.GDMapGeocodingUtil;
			import com.xiaopeng.unifiedverification.interceptor.XpClientCheck;
			@@ -28,12 +31,15 @@
			import org.bson.Document;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.beans.factory.annotation.Value;
			import org.springframework.data.geo.Point;
			import org.springframework.data.mongodb.core.MongoTemplate;
			import org.springframework.data.mongodb.core.geo.GeoJsonPolygon;
			import org.springframework.data.mongodb.core.query.Criteria;
			import org.springframework.data.mongodb.core.query.Query;
			import org.springframework.validation.annotation.Validated;
			import org.springframework.web.bind.annotation.*;

			import javax.annotation.Resource;
			import javax.servlet.http.HttpServletRequest;
			import java.io.IOException;
			import java.nio.charset.StandardCharsets;
			@@ -55,6 +61,8 @@
			private final RedisService redisService;
			private final XpOrderClient xpOrderClient;
			private final MongoTemplate mongoTemplate;
			@Resource
			private XpElectronicFenceAreaService xpElectronicFenceAreaService;

			public XpMapController(GDMapGeocodingUtil gdMapGeocodingUtil, XpGeoFencingPolygonService xpGeoFencingPolygonService, RedisService redisService, XpOrderClient xpOrderClient, MongoTemplate mongoTemplate) {
			this.gdMapGeocodingUtil = gdMapGeocodingUtil;
			@@ -63,6 +71,71 @@
			this.xpOrderClient = xpOrderClient;
			this.mongoTemplate = mongoTemplate;
			}


			@PostMapping("/base/v1/map/getDistanceAndDurationList")
			public R<List<RouteVo>> getDistanceAndDurationList(@RequestBody RouteAndFareDto dto){
			// 获取电子围栏的禁行区域点位
			GeoPoint startPoint = new GeoPoint(dto.getOrigin().getLongitude(),dto.getOrigin().getLatitude());
			List<String> operatingArea = xpGeoFencingPolygonService.findFencesContainingPoint(startPoint, "operating_area", "points");
			String fenceId = operatingArea.get(0);

			List<Document> pointsInFence = xpGeoFencingPolygonService.findPointsByParentId(fenceId, "fenceId", "prohibited_area");

			// 避让区域
			ArrayList<JSONObject> pointStrParam = new ArrayList<>();
			try {
			for (Document document : pointsInFence) {
			// 获取points字段（它是GeoJSON对象）
			Document geoJsonDoc = document.get("points", Document.class);

			if (geoJsonDoc != null && "Polygon".equals(geoJsonDoc.getString("type"))) {
			// 获取coordinates数组
			List<List<List<Double>>> coordinates = (List<List<List<Double>>>) geoJsonDoc.get("coordinates");

			if (coordinates != null && !coordinates.isEmpty()) {
			// 获取第一个多边形环（通常只有一个）
			List<List<Double>> polygonPoints = coordinates.get(0);
			List<String> coordinatesList = new ArrayList<>();
			// 转换为经纬度字符串
			for (List<Double> point : polygonPoints) {
			if (point.size() >= 2) {
			coordinatesList.add(point.get(0) + "," + point.get(1));
			}
			}
			JSONObject jsonObject = new JSONObject();
			jsonObject.put("coordinates", coordinatesList);
			pointStrParam.add(jsonObject);
			}
			}
			}

			List<HistoryPointDto> history = new ArrayList<>();
			if(null != dto.getVehicleId()){
			// history = redisService.getCacheList("VEHICLE_HISTORY_POINT_LIST:" + dto.getVehicleId());
			// if(history.size() > 10){
			// history = history.subList(history.size() - 10, history.size());
			// }
			// history.forEach(s->{
			// s.setDirection(new BigDecimal(s.getDirection()).setScale(2, BigDecimal.ROUND_HALF_UP).doubleValue());
			// });
			// redisService.setCacheList("VEHICLE_HISTORY_POINT_LIST:" + dto.getVehicleId(), history);
			}
			List<RouteVo> routeVo = gdMapGeocodingUtil.getDistanceAndTimeList(dto.getOrigin(), dto.getDestination(), pointStrParam, fenceId,dto.getRoutePlanRule(), history);
			if(routeVo==null \|\| routeVo.isEmpty()){
			return R.fail("没有找到路线");
			}

			return R.ok(routeVo);
			}catch (Exception e){
			e.printStackTrace();
			}
			return R.fail("没有找到路线");


			}




			@PostMapping("/base/v1/map/getDistanceAndDuration")
			@@ -143,14 +216,14 @@
			String fenceId = null;
			if(!operatingArea.isEmpty()){
			fenceId = operatingArea.get(0);
			List<Document> pointsInFence = xpGeoFencingPolygonService.findPointsByParentId(fenceId, "fenceId", "prohibited_area");
			for (Document document : pointsInFence) {
			List<GeoPoint> points = document.getList("points", GeoPoint.class);
			List<XpElectronicFenceArea> list = xpElectronicFenceAreaService.list(new QueryWrapper<XpElectronicFenceArea>().eq("electronic_id", fenceId).eq("is_deleted", 0).eq("area_type", 2));
			for (XpElectronicFenceArea xpElectronicFenceArea : list) {
			String fencePoints = xpElectronicFenceArea.getFencePoints();
			List<String> coordinatesList = new ArrayList<>();
			// 一个区域的点位
			for (GeoPoint point : points) {
			coordinatesList.add(point.getLongitude()+","+point.getLatitude());
			for (String s : fencePoints.split(",")) {
			coordinatesList.add(s.replace("_", ","));
			}

			JSONObject jsonObject = new JSONObject();
			jsonObject.put("coordinates", coordinatesList);
			pointStrParam.add(jsonObject);