java/Robotaxi.git

			@@ -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;
			@@ -50,7 +53,7 @@
			* 给乘客端推送剩余轨迹和剩余里程时长
			* @return
			*/
			@PostMapping("/inner/v1/order/pushOrderRoute")
			@PostMapping("/logan/inner/v1/order/pushOrderRoute")
			public R<String> pushOrderRoute(@Validated @RequestBody PushOrderRouteDTO dto) {
			Integer routeType = dto.getRouteType();
			//正常订单
			@@ -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
			@@ -86,31 +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);

			// 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());