修改bug

puzhibing

2026-03-28 70f50f9f00a70397a336a75787ea4255f3b9ccf6

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

@@ -1,15 +1,217 @@
package com.xiaopeng.pushMessage.utils;

import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONArray;
import com.alibaba.fastjson2.JSONObject;
import com.xiaopeng.api.dto.operation.LonLatDto;
import lombok.extern.slf4j.Slf4j;
import org.gavaghan.geodesy.Ellipsoid;
import org.gavaghan.geodesy.GeodeticCalculator;
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.*;


@Slf4j
public class MapMatchingUtil {




    /**
     * 获取剩余导航数据
     * @param polyline
     * @param longitude
     * @param latitude
     * @return
     */
    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());
            GlobalCoordinates target1 = new GlobalCoordinates(latitude, longitude);
            GeodeticCurve geoCurve1 = new GeodeticCalculator().calculateGeodeticCurve(Ellipsoid.WGS84, source1, target1);
            double distance =geoCurve1.getEllipsoidalDistance();
            //判断距离小于5米，则可以返回空数据
            if(5 >= distance){
                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
            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);
    }


    /**
     * 判断点位在轨迹线路中的点位之间
     * 返回截取后的剩余轨迹
     * @param polyline
     * @param longitude
     * @param latitude
     * @return
     */
    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++) {
            if(i == polyline.size() - 1){
                break;
            }
            LonLatDto lonLatDto1 = polyline.get(i);

            GlobalCoordinates source1 = new GlobalCoordinates(lonLatDto1.getLatitude(), lonLatDto1.getLongitude());
            GlobalCoordinates target1 = new GlobalCoordinates(latitude, longitude);
            GeodeticCurve geoCurve1 = new GeodeticCalculator().calculateGeodeticCurve(Ellipsoid.WGS84, source1, target1);
            double distance1 =geoCurve1.getEllipsoidalDistance();

            LonLatDto lonLatDto2 = polyline.get(i + 1);
            GlobalCoordinates source2 = new GlobalCoordinates(lonLatDto2.getLatitude(), lonLatDto2.getLongitude());
            GlobalCoordinates target2 = new GlobalCoordinates(latitude, longitude);
            GeodeticCurve geoCurve2 = new GeodeticCalculator().calculateGeodeticCurve(Ellipsoid.WGS84, source2, target2);
            double distance2 =geoCurve2.getEllipsoidalDistance();


            GlobalCoordinates source3 = new GlobalCoordinates(lonLatDto1.getLatitude(), lonLatDto1.getLongitude());
            GlobalCoordinates target3 = new GlobalCoordinates(lonLatDto2.getLatitude(), lonLatDto2.getLongitude());
            GeodeticCurve geoCurve3 = new GeodeticCalculator().calculateGeodeticCurve(Ellipsoid.WGS84, source3, target3);
            double distance3 =geoCurve3.getEllipsoidalDistance();

            //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（创建新副本避免修改原列表）
                List<LonLatDto> lonLatDtos = new ArrayList<>(polyline.subList(i + 1, polyline.size()));
                //已经服务的点位，给到前端处理（创建新副本避免修改原列表）
                List<LonLatDto> lonLatDtos1 = new ArrayList<>(polyline.subList(0, i + 1));
                map.put("unserved", lonLatDtos);
                map.put("served", lonLatDtos1);
                return map;
            }
        }
        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;
//        }
//
//
//    }


    /**
     * 轨迹裁剪（线段版本）
     * @param polyline