Merge branch '1.1' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi in...

liujie

2026-05-12 560be817c1342d4da523760ba38433c4c0f52983

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

@@ -1,13 +1,16 @@
package com.xiaopeng.map.utils;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONArray;
import com.alibaba.fastjson2.JSONObject;
import com.xiaopeng.api.dto.map.HistoryPointDto;
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.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;

@@ -15,12 +18,13 @@
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.*;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.concurrent.ForkJoinPool;
import java.util.concurrent.RecursiveTask;

/**
 * 高德地图的地理编码工具类
 */
@Slf4j
@Component
@Lazy
public class GDMapGeocodingUtil {
@@ -30,214 +34,20 @@

    @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
     *
     * @param start 起点
     * @param end 终点
     * @param avoidRoads 避让点
     * @param fenceId mango id
     * @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 RouteVo getDistanceAndTime(LonLatDto start, LonLatDto end,String avoidRoads,String fenceId,Integer routePlanRule)  {
    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();
@@ -245,40 +55,84 @@
        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);
        params.put("routeUserType", 2);
        if (avoidRoads != null && !avoidRoads.isEmpty()) {
            params.put("avoidPolygons", avoidRoads);
        }
        if(routePlanRule!=null){
        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));
        System.out.println("高德地图返回结果："+ post);
//        String forObject = restTemplate.getForObject(url, String.class, 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);
        log.info("先判断是否有大众常选的线路，优先选择大众常选的路线");
        for (Object o : path) {
            JSONObject jsonObject2 = (JSONObject) o;
            String routeID = jsonObject2.getString("routeID");
            String points = jsonObject2.getString("points");
            String label = jsonObject2.getString("label");
            if(label.contains("大众常选")){
                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);
                    return routeVo;
                }
            }

        }

        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
            List<LonLatDto> pointsArray = new ArrayList<>();
            for (int i = 0; i < split.length; i++) {
                if (i % 10 == 0) {
                if((i % 2) == 0){
                    String[] split1 = split[i].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);
                }
            }
            if(temp==0){
            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);
@@ -291,36 +145,169 @@
                }
                routeVo.setPolyline(lonLatDtos);
                routeVo.setRouteID(routeID);
                log.info("导航 {} 在 {} 运营区域内", routeVo.getRouteID(), fenceId);
                return routeVo;
            }
        }

        return null;

    }


    /**
     * 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<>();
        params.put("extensions", "all");
        params.put("start", "113.384932" + "," + "23.155455");
        params.put("end", "113.388209" + "," + "23.163455");
        params.put("routeUserType", 2);
        log.info("高德地图接口：{}", url);
        log.info("高德地图参数：{}", 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);
    }


    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
     *
     * @param routeID
     * @return
     */
    public String routed(String routeID){
    public String routed(String routeID) {
        String url = "https://tsapi.amap.com/v1/route/query/routeid?key=" + key;
        HashMap<String, Object> params = new HashMap<>();
        params.put("routeID", routeID);
        params.put("sdkVersion", "9.850.152.3.532");
        params.put("encoderVersion", "5.1");
        params.put("pushDataNaviVersion", "1.0");
        String post = HttpUtils.post(url, JSON.toJSONString(params));
        System.out.println("高德地图返回结果："+ post);
        log.info("高德地图: routeId:{} 结果: {}", routeID, post);
        return post;
    }



    /**
     * 根据经纬度获取行政区域信息
     *
     * @param lon
     * @param lan
     * @return
@@ -331,7 +318,7 @@
        String forObject = HttpUtils.sendGet(url);
        JSONObject jsonObject = JSON.parseObject(forObject);
        Map<String, String> map = new HashMap<>();
        if(jsonObject.getString("status").equals("1")){
        if (jsonObject.getString("status").equals("1")) {
            JSONObject regeocode = jsonObject.getJSONObject("regeocode");
            JSONObject addressComponent = regeocode.getJSONObject("addressComponent");
            String address = regeocode.getString("formatted_address");