Merge remote-tracking branch 'origin/master'

“mitao”

2026-03-27 6b7d9d7cff3704e048ee09b32f49d3d6a2358847

 xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/utils/MapMatchingUtil.java

@@ -10,9 +10,7 @@
import org.gavaghan.geodesy.GeodeticCurve;
import org.gavaghan.geodesy.GlobalCoordinates;

import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.*;
import java.util.concurrent.*;


@@ -29,8 +27,9 @@
     * @param latitude
     * @return
     */
    public static List<LonLatDto> getRemainingNavigation(List<LonLatDto> polyline, Double longitude, Double latitude){
    public static Map<String, List<LonLatDto>> getRemainingNavigation(List<LonLatDto> polyline, Double longitude, Double latitude){
        //导航数据只有一个点的情况
        Map<String, List<LonLatDto>> map = new HashMap<>();
        if(polyline.size() == 1){
            LonLatDto lonLatDto = polyline.get(0);
            GlobalCoordinates source1 = new GlobalCoordinates(lonLatDto.getLatitude(), lonLatDto.getLongitude());
@@ -39,12 +38,16 @@
            double distance =geoCurve1.getEllipsoidalDistance();
            //判断距离小于5米，则可以返回空数据
            if(5 >= distance){
                return Collections.emptyList();
                map.put("unserved", Collections.emptyList());
                map.put("served", Collections.emptyList());
                return map;
            }
            //大于5米的情况，将车子当前位置添加进结果中
            lonLatDto = new LonLatDto(longitude, latitude);
            polyline.add(0, lonLatDto);
            return polyline;
            map.put("unserved", polyline);
            map.put("served", Collections.emptyList());
            return map;
        }
        //多个点位的情况，需要找出当前点位处于那两个点位之间，然后截取掉超出的部分轨迹
        return getRecentlyPoint(polyline, longitude, latitude);
@@ -59,7 +62,8 @@
     * @param latitude
     * @return
     */
    public static List<LonLatDto> getRecentlyPoint(List<LonLatDto> polyline, Double longitude, Double latitude){
    public static Map<String, List<LonLatDto>> getRecentlyPoint(List<LonLatDto> polyline, Double longitude, Double latitude){
        Map<String, List<LonLatDto>> map = new HashMap<>();
        for (int i = 0; i < polyline.size(); i++) {
            LonLatDto lonLatDto1 = polyline.get(i);

@@ -82,124 +86,131 @@

            //判断当前位置是否处于两个点位之间
            if((distance1 + distance2) == distance3 || (distance1 + distance2) <= distance3 + 5){
                //剩余未服务的点位
                List<LonLatDto> lonLatDtos = polyline.subList(i + 1, polyline.size());
                lonLatDtos.add(0, new LonLatDto(longitude, latitude));
                return lonLatDtos;
                //已经服务的点位，给到前端处理
                List<LonLatDto> lonLatDtos1 = polyline.subList(0, i + 1);
                map.put("unserved", lonLatDtos);
                map.put("served", lonLatDtos1);
                return map;
            }
        }
        polyline.add(0, new LonLatDto(longitude, latitude));
        return polyline;
        map.put("unserved", polyline);
        map.put("served", Collections.emptyList());
        return map;
    }


    public static void main(String[] args) {
        JSONArray objects = JSON.parseArray("[{\n" +
                "\t\t\"latitude\": 30.58549,\n" +
                "\t\t\"longitude\": 104.054501\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.585938,\n" +
                "\t\t\"longitude\": 104.054501\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.586522,\n" +
                "\t\t\"longitude\": 104.054501\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.587026,\n" +
                "\t\t\"longitude\": 104.054507\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.587922,\n" +
                "\t\t\"longitude\": 104.054518\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.588062,\n" +
                "\t\t\"longitude\": 104.054518\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.588292,\n" +
                "\t\t\"longitude\": 104.054528\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.588292,\n" +
                "\t\t\"longitude\": 104.0544\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.588292,\n" +
                "\t\t\"longitude\": 104.0544\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.587949,\n" +
                "\t\t\"longitude\": 104.054384\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.587311,\n" +
                "\t\t\"longitude\": 104.054389\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.587118,\n" +
                "\t\t\"longitude\": 104.054394\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.586704,\n" +
                "\t\t\"longitude\": 104.054394\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.586125,\n" +
                "\t\t\"longitude\": 104.0544\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.585938,\n" +
                "\t\t\"longitude\": 104.054405\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.585476,\n" +
                "\t\t\"longitude\": 104.054405\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.584693,\n" +
                "\t\t\"longitude\": 104.054405\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.584403,\n" +
                "\t\t\"longitude\": 104.054416\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.584312,\n" +
                "\t\t\"longitude\": 104.054416\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.583593,\n" +
                "\t\t\"longitude\": 104.054416\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.583486,\n" +
                "\t\t\"longitude\": 104.054416\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.583116,\n" +
                "\t\t\"longitude\": 104.054421\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.582391,\n" +
                "\t\t\"longitude\": 104.054426\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.582397,\n" +
                "\t\t\"longitude\": 104.054577\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.582397,\n" +
                "\t\t\"longitude\": 104.054577\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.582815,\n" +
                "\t\t\"longitude\": 104.054561\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.58311,\n" +
                "\t\t\"longitude\": 104.05455\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.58311,\n" +
                "\t\t\"longitude\": 104.05455\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.58311,\n" +
                "\t\t\"longitude\": 104.054899\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.583143,\n" +
                "\t\t\"longitude\": 104.054931\n" +
                "\t}, {\n" +
                "\t\t\"latitude\": 30.583148,\n" +
                "\t\t\"longitude\": 104.054973\n" +
                "\t}]");
        List<LonLatDto> lonLatDtoList = new ArrayList<>();
        for (int i = 0; i < objects.size(); i++) {
            JSONObject object = objects.getJSONObject(i);
            LonLatDto lonLatDto = new LonLatDto(object.getDouble("longitude"), object.getDouble("latitude"));
            lonLatDtoList.add(lonLatDto);
        }
        for (int i = 0; i < 20; i++) {
            List<LonLatDto> remainingNavigation = getRemainingNavigation(lonLatDtoList, 104.054503, 30.58549);
            lonLatDtoList = remainingNavigation;
        }


    }
//    public static void main(String[] args) {
//        JSONArray objects = JSON.parseArray("[{\n" +
//                "\t\t\"latitude\": 30.58549,\n" +
//                "\t\t\"longitude\": 104.054501\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.585938,\n" +
//                "\t\t\"longitude\": 104.054501\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.586522,\n" +
//                "\t\t\"longitude\": 104.054501\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.587026,\n" +
//                "\t\t\"longitude\": 104.054507\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.587922,\n" +
//                "\t\t\"longitude\": 104.054518\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.588062,\n" +
//                "\t\t\"longitude\": 104.054518\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.588292,\n" +
//                "\t\t\"longitude\": 104.054528\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.588292,\n" +
//                "\t\t\"longitude\": 104.0544\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.588292,\n" +
//                "\t\t\"longitude\": 104.0544\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.587949,\n" +
//                "\t\t\"longitude\": 104.054384\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.587311,\n" +
//                "\t\t\"longitude\": 104.054389\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.587118,\n" +
//                "\t\t\"longitude\": 104.054394\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.586704,\n" +
//                "\t\t\"longitude\": 104.054394\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.586125,\n" +
//                "\t\t\"longitude\": 104.0544\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.585938,\n" +
//                "\t\t\"longitude\": 104.054405\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.585476,\n" +
//                "\t\t\"longitude\": 104.054405\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.584693,\n" +
//                "\t\t\"longitude\": 104.054405\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.584403,\n" +
//                "\t\t\"longitude\": 104.054416\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.584312,\n" +
//                "\t\t\"longitude\": 104.054416\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.583593,\n" +
//                "\t\t\"longitude\": 104.054416\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.583486,\n" +
//                "\t\t\"longitude\": 104.054416\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.583116,\n" +
//                "\t\t\"longitude\": 104.054421\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.582391,\n" +
//                "\t\t\"longitude\": 104.054426\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.582397,\n" +
//                "\t\t\"longitude\": 104.054577\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.582397,\n" +
//                "\t\t\"longitude\": 104.054577\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.582815,\n" +
//                "\t\t\"longitude\": 104.054561\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.58311,\n" +
//                "\t\t\"longitude\": 104.05455\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.58311,\n" +
//                "\t\t\"longitude\": 104.05455\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.58311,\n" +
//                "\t\t\"longitude\": 104.054899\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.583143,\n" +
//                "\t\t\"longitude\": 104.054931\n" +
//                "\t}, {\n" +
//                "\t\t\"latitude\": 30.583148,\n" +
//                "\t\t\"longitude\": 104.054973\n" +
//                "\t}]");
//        List<LonLatDto> lonLatDtoList = new ArrayList<>();
//        for (int i = 0; i < objects.size(); i++) {
//            JSONObject object = objects.getJSONObject(i);
//            LonLatDto lonLatDto = new LonLatDto(object.getDouble("longitude"), object.getDouble("latitude"));
//            lonLatDtoList.add(lonLatDto);
//        }
//        for (int i = 0; i < 20; i++) {
//            List<LonLatDto> remainingNavigation = getRemainingNavigation(lonLatDtoList, 104.054503, 30.58549);
//            lonLatDtoList = remainingNavigation;
//        }
//
//
//    }


    /**