修改bug

puzhibing

2026-03-28 70f50f9f00a70397a336a75787ea4255f3b9ccf6

 xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/controller/PushOrderRouteController.java

@@ -17,6 +17,8 @@
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;
@@ -27,6 +29,7 @@
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;
@@ -66,8 +69,33 @@
            }
            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));
            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){
                    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);
                    redisService.setCacheObject(key, JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
                }
                Integer distance = dto.getDistance();
                Integer duration = dto.getDuration();
                // 计算实时点位到线段的最优截取
@@ -86,33 +114,16 @@
                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));
                // 存储最新路线偏离缓存，后续进行轨迹截取
                redisService.setCacheObject(key, JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);

                //将车辆的当前位置加入到第一个轨迹点位集合中
                lonLatDtos.add(0, new LonLatDto(dto.getLongitude(), dto.getLatitude()));
                // 封装轨迹点位集合
                List<Map<String, Object>> polyline = new ArrayList<>();
                for (LonLatDto lonLatDto : lonLatDtos) {
                    Map<String, Object> polylineMap = new HashMap<>();
                    polylineMap.put("longitude",lonLatDto.getLongitude());
                    polylineMap.put("latitude",lonLatDto.getLatitude());
                    polyline.add(polylineMap);
                }
                List<Map<String, Object>> served = new ArrayList<>();
                for (LonLatDto lonLatDto : lonLatDtos1) {
                    Map<String, Object> polylineMap = new HashMap<>();
                    polylineMap.put("longitude",lonLatDto.getLongitude());
                    polylineMap.put("latitude",lonLatDto.getLatitude());
                    served.add(polylineMap);
                }
                // 封装路由详情
                Map<String, Object> route = new HashMap<>();
                route.put("distance",distance);
                route.put("duration",duration);
                route.put("polyline",JSONObject.toJSONString(polyline));
                route.put("served",JSONObject.toJSONString(served));
                route.put("polyline",JSONObject.toJSONString(lonLatDtos));
                route.put("served",JSONObject.toJSONString(lonLatDtos1));

                Map<String, Object> content = new HashMap<>();
                content.put("orderId",dto.getOrderId().toString());