Merge branch '1.0' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi in...

liujie

2026-06-09 c96fbe6b0aeb413a17c429133ee6d81d138144b9

 xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/controller/XpMapController.java

@@ -1,34 +1,57 @@
package com.xiaopeng.map.controller;


import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.xiaopeng.api.dto.WeatherDTO;
import com.xiaopeng.api.dto.map.HistoryPointDto;
import com.xiaopeng.api.dto.map.OrderRouteAndFareDto;
import com.xiaopeng.api.dto.map.RouteAndFareDto;
import com.xiaopeng.api.dto.operation.LonLatDto;
import com.xiaopeng.api.vo.map.XpDistanceAndDurationVo;
import com.xiaopeng.api.feignClient.order.XpOrderClient;
import com.xiaopeng.api.model.map.XpGeoFencingPolygon;
import com.xiaopeng.api.model.operation.XpElectronicFenceArea;
import com.xiaopeng.api.vo.map.PointByIpVo;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.common.core.constant.CacheConstants;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.redis.service.RedisService;
import com.xiaopeng.map.config.MapApiProperties;
import com.xiaopeng.map.mangodb.model.GeoPoint;
import com.xiaopeng.map.mangodb.service.XpGeoFencingPolygonService;
import com.xiaopeng.map.service.XpElectronicFenceAreaService;
import com.xiaopeng.map.utils.AmapWalkingRouteUtil;
import com.xiaopeng.map.utils.GDMapGeocodingUtil;
import com.xiaopeng.map.utils.mangoUtils.MongoGeoFenceUtil;
import com.xiaopeng.unifiedverification.interceptor.XpClientCheck;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import lombok.extern.slf4j.Slf4j;
import org.apache.http.HttpEntity;
import org.apache.http.client.methods.CloseableHttpResponse;
import org.apache.http.client.methods.HttpGet;
import org.apache.http.impl.client.CloseableHttpClient;
import org.apache.http.impl.client.HttpClients;
import org.apache.http.util.EntityUtils;
import org.bson.Document;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.data.geo.Point;
import org.springframework.data.mongodb.core.MongoTemplate;
import org.springframework.data.mongodb.core.geo.GeoJsonPolygon;
import org.springframework.data.mongodb.core.query.Criteria;
import org.springframework.data.mongodb.core.query.Query;
import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
import org.springframework.web.bind.annotation.*;

import javax.annotation.Resource;
import javax.servlet.http.HttpServletRequest;
import java.io.IOException;
import java.nio.charset.StandardCharsets;
import java.util.ArrayList;
import java.util.List;
import java.util.stream.Collectors;
import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONObject;
import com.fasterxml.jackson.databind.ObjectMapper;

@Slf4j
@RestController
@RequestMapping("/base/v1/mini-program")
@RequestMapping("")
@Api(tags = "地图调用服务")
public class XpMapController {

@@ -36,43 +59,143 @@
    private final GDMapGeocodingUtil gdMapGeocodingUtil;
    private final XpGeoFencingPolygonService xpGeoFencingPolygonService;
    private final RedisService redisService;
    private final XpOrderClient xpOrderClient;
    private final MongoTemplate mongoTemplate;
    @Resource
    private XpElectronicFenceAreaService xpElectronicFenceAreaService;

    public XpMapController(GDMapGeocodingUtil gdMapGeocodingUtil, XpGeoFencingPolygonService xpGeoFencingPolygonService, RedisService redisService) {
    public XpMapController(GDMapGeocodingUtil gdMapGeocodingUtil, XpGeoFencingPolygonService xpGeoFencingPolygonService, RedisService redisService, XpOrderClient xpOrderClient, MongoTemplate mongoTemplate) {
        this.gdMapGeocodingUtil = gdMapGeocodingUtil;
        this.xpGeoFencingPolygonService = xpGeoFencingPolygonService;
        this.redisService = redisService;
        this.xpOrderClient = xpOrderClient;
        this.mongoTemplate = mongoTemplate;
    }


    @PostMapping("/map/getDistanceAndDuration")
    @PostMapping("/base/v1/map/getDistanceAndDurationList")
    public R<List<RouteVo>> getDistanceAndDurationList(@RequestBody RouteAndFareDto dto){
        // 获取电子围栏的禁行区域点位
        GeoPoint startPoint = new GeoPoint(dto.getOrigin().getLongitude(),dto.getOrigin().getLatitude());
        List<String> operatingArea = xpGeoFencingPolygonService.findFencesContainingPoint(startPoint, "operating_area", "points");
        String fenceId = operatingArea.get(0);

        List<Document> pointsInFence = xpGeoFencingPolygonService.findPointsByParentId(fenceId, "fenceId", "prohibited_area");

        // 避让区域
        ArrayList<JSONObject> pointStrParam = new ArrayList<>();
        try {
            for (Document document : pointsInFence) {
                // 获取points字段（它是GeoJSON对象）
                Document geoJsonDoc = document.get("points", Document.class);

                if (geoJsonDoc != null && "Polygon".equals(geoJsonDoc.getString("type"))) {
                    // 获取coordinates数组
                    List<List<List<Double>>> coordinates = (List<List<List<Double>>>) geoJsonDoc.get("coordinates");

                    if (coordinates != null && !coordinates.isEmpty()) {
                        // 获取第一个多边形环（通常只有一个）
                        List<List<Double>> polygonPoints = coordinates.get(0);
                        List<String> coordinatesList = new ArrayList<>();
                        // 转换为经纬度字符串
                        for (List<Double> point : polygonPoints) {
                            if (point.size() >= 2) {
                                coordinatesList.add(point.get(0) + "," + point.get(1));
                            }
                        }
                        JSONObject jsonObject = new JSONObject();
                        jsonObject.put("coordinates", coordinatesList);
                        pointStrParam.add(jsonObject);
                    }
                }
            }

            List<HistoryPointDto> history = new ArrayList<>();
            if(null != dto.getVehicleId()){
//                history = redisService.getCacheList("VEHICLE_HISTORY_POINT_LIST:" + dto.getVehicleId());
//                if(history.size() > 10){
//                    history = history.subList(history.size() - 10, history.size());
//                }
//                history.forEach(s->{
//                    s.setDirection(new BigDecimal(s.getDirection()).setScale(2, BigDecimal.ROUND_HALF_UP).doubleValue());
//                });
//                redisService.setCacheList("VEHICLE_HISTORY_POINT_LIST:" + dto.getVehicleId(), history);
            }
            List<RouteVo> routeVo = gdMapGeocodingUtil.getDistanceAndTimeList(dto.getOrigin(), dto.getDestination(), pointStrParam, fenceId,dto.getRoutePlanRule(), history);
            if(routeVo==null || routeVo.isEmpty()){
                return R.fail("没有找到路线");
            }

            return R.ok(routeVo);
        }catch (Exception e){
            e.printStackTrace();
        }
        return R.fail("没有找到路线");


    }




    @PostMapping("/base/v1/map/getDistanceAndDuration")
    public R<RouteVo> getDistanceAndDuration(@RequestBody RouteAndFareDto dto){
        // 获取电子围栏的禁行区域点位
        GeoPoint startPoint = new GeoPoint(dto.getOrigin().getLongitude(),dto.getOrigin().getLatitude());
        List<String> operatingArea = xpGeoFencingPolygonService.findFencesContainingPoint(startPoint, "operating_area", "points");
        String fenceId = operatingArea.get(0);

        List<Document> pointsInFence = xpGeoFencingPolygonService.findPointsByParentId(fenceId, "parentId", "prohibited_area");
        List<Document> pointsInFence = xpGeoFencingPolygonService.findPointsByParentId(fenceId, "fenceId", "prohibited_area");

        // 避让区域
        ArrayList<String> pointStrParam = new ArrayList<>();
        for (Document document : pointsInFence) {
            List<GeoPoint> points = document.getList("points", GeoPoint.class);
            // 一个区域的点位
            ArrayList<String> pointStr = new ArrayList<>();
            for (GeoPoint point : points) {
                pointStr.add( point.getLongitude()+","+point.getLatitude());
            }
            if(!pointStr.isEmpty()){
                pointStrParam.add(String.join(";", pointStr));
        ArrayList<JSONObject> pointStrParam = new ArrayList<>();
        try {
            for (Document document : pointsInFence) {
                // 获取points字段（它是GeoJSON对象）
                Document geoJsonDoc = document.get("points", Document.class);

                if (geoJsonDoc != null && "Polygon".equals(geoJsonDoc.getString("type"))) {
                    // 获取coordinates数组
                    List<List<List<Double>>> coordinates = (List<List<List<Double>>>) geoJsonDoc.get("coordinates");

                    if (coordinates != null && !coordinates.isEmpty()) {
                        // 获取第一个多边形环（通常只有一个）
                        List<List<Double>> polygonPoints = coordinates.get(0);
                        List<String> coordinatesList = new ArrayList<>();
                        // 转换为经纬度字符串
                        for (List<Double> point : polygonPoints) {
                            if (point.size() >= 2) {
                                coordinatesList.add(point.get(0) + "," + point.get(1));
                            }
                        }
                        JSONObject jsonObject = new JSONObject();
                        jsonObject.put("coordinates", coordinatesList);
                        pointStrParam.add(jsonObject);
                    }
                }
            }

        }
        RouteVo routeVo = gdMapGeocodingUtil.getDistanceAndTime(dto.getOrigin(), dto.getDestination(), String.join("|", pointStrParam), fenceId,dto.getRoutePlanRule());
        if(routeVo==null){
            return R.fail("没有找到路线");
        }
            List<HistoryPointDto> history = new ArrayList<>();
            if(null != dto.getVehicleId()){
//                history = redisService.getCacheList("VEHICLE_HISTORY_POINT_LIST:" + dto.getVehicleId());
//                if(history.size() > 10){
//                    history = history.subList(history.size() - 10, history.size());
//                }
//                history.forEach(s->{
//                    s.setDirection(new BigDecimal(s.getDirection()).setScale(2, BigDecimal.ROUND_HALF_UP).doubleValue());
//                });
//                redisService.setCacheList("VEHICLE_HISTORY_POINT_LIST:" + dto.getVehicleId(), history);
            }
            RouteVo routeVo = gdMapGeocodingUtil.getDistanceAndTime(dto.getOrigin(), dto.getDestination(), pointStrParam, fenceId,dto.getRoutePlanRule(), history);
            if(routeVo==null){
                return R.fail("没有找到路线");
            }

        return R.ok(routeVo);
            return R.ok(routeVo);
        }catch (Exception e){
            e.printStackTrace();
        }
        return R.fail("没有找到路线");


    }
@@ -83,40 +206,97 @@
     * @param dto
     * @return
     */
    @PostMapping("/map/getOrderDistanceAndDuration")
    @PostMapping("/base/v1/map/getOrderDistanceAndDuration")
    public R<RouteVo> getOrderDistanceAndDuration(@Validated @RequestBody OrderRouteAndFareDto dto){
        // 获取电子围栏的禁行区域点位
        GeoPoint startPoint = new GeoPoint(dto.getOrigin().getLongitude(),dto.getOrigin().getLatitude());
        GeoPoint startPoint = new GeoPoint(dto.getOrigin().getLongitude(), dto.getOrigin().getLatitude());
        List<String> operatingArea = xpGeoFencingPolygonService.findFencesContainingPoint(startPoint, "operating_area", "points");
        String fenceId = operatingArea.get(0);
        List<Document> pointsInFence = xpGeoFencingPolygonService.findPointsByParentId(fenceId, "parentId", "prohibited_area");
        // 避让区域
        ArrayList<String> pointStrParam = new ArrayList<>();
        for (Document document : pointsInFence) {
            List<GeoPoint> points = document.getList("points", GeoPoint.class);
            // 一个区域的点位
            ArrayList<String> pointStr = new ArrayList<>();
            for (GeoPoint point : points) {
                pointStr.add( point.getLongitude()+","+point.getLatitude());
            }
            if(!pointStr.isEmpty()){
                pointStrParam.add(String.join(";", pointStr));
        ArrayList<JSONObject> pointStrParam = new ArrayList<>();
        String fenceId = null;
        if(!operatingArea.isEmpty()){
            fenceId = operatingArea.get(0);
            List<XpElectronicFenceArea> list = xpElectronicFenceAreaService.list(new QueryWrapper<XpElectronicFenceArea>().eq("electronic_id", fenceId).eq("is_deleted", 0).eq("area_type", 2));
            for (XpElectronicFenceArea xpElectronicFenceArea : list) {
                String fencePoints = xpElectronicFenceArea.getFencePoints();
                List<String> coordinatesList = new ArrayList<>();
                for (String s : fencePoints.split(",")) {
                    coordinatesList.add(s.replace("_", ","));
                }

                JSONObject jsonObject = new JSONObject();
                jsonObject.put("coordinates", coordinatesList);
                pointStrParam.add(jsonObject);
            }
        }
        RouteVo routeVo = gdMapGeocodingUtil.getDistanceAndTime(dto.getOrigin(), dto.getDestination(), String.join("|", pointStrParam), fenceId,dto.getRoutePlanRule());
        List<HistoryPointDto> history = new ArrayList<>();
        if(null != dto.getVehicleId()){
//            history = redisService.getCacheList("VEHICLE_HISTORY_POINT_LIST:" + dto.getVehicleId());
//            if(history.size() > 10){
//                history = history.subList(history.size() - 10, history.size());
//            }
//            history.forEach(s->{
//                s.setDirection(new BigDecimal(s.getDirection()).setScale(2, BigDecimal.ROUND_HALF_UP).doubleValue());
//            });
//            redisService.setCacheList("VEHICLE_HISTORY_POINT_LIST:" + dto.getVehicleId(), history);
        }
        RouteVo routeVo = gdMapGeocodingUtil.getDistanceAndTime(dto.getOrigin(), dto.getDestination(), pointStrParam, fenceId,dto.getRoutePlanRule(), history);
        if(routeVo==null){
            return R.fail("没有找到路线");
        }

        // 存储redis
        redisService.setCacheObject(CacheConstants.ORDER_ROUTE + "_" + dto.getOrderId() + "_" +dto.getRouteType(), routeVo);

        // 存储路线偏离缓存，后续进行轨迹截取
        redisService.setCacheObject(CacheConstants.ORDER_ROUTE_CAPTURE + "_" + dto.getOrderId() + "_" +dto.getRouteType(), routeVo);

        return R.ok(routeVo);
    }

    /**
     * 根据导航ID获取车端需要的导航数据
     * @param routedID
     * @return
     */
    @PostMapping("/base/v1/map/queryRouted")
    public R<String> getOrderDistanceAndDuration(@RequestParam("routedID") String routedID){
        return R.ok(gdMapGeocodingUtil.routed(routedID));
    }


    /**
     * 根据ip获取点位
     */
    @ApiOperation(value = "根据ip获取点位", tags = {"小程序-站点导航"})
    @GetMapping("/base/v1/mini-program/point/getPointByIp")
    @XpClientCheck(checkToken = false, checkOtpToken = true)
    public R<PointByIpVo> getPointByIp(HttpServletRequest request) throws IOException {
        String ip = request.getRemoteAddr();
        PointByIpVo pointByIpVo = AmapWalkingRouteUtil.ipLocation(ip);
        return R.ok(pointByIpVo);
    }



    @Autowired
    ObjectMapper om;

    @Autowired
    private MapApiProperties mapApiProperties;

    @ApiOperation(value = "获取天气信息", tags = {"内部-调价"})
    @PostMapping("/logan/inner/weatherInfo")
    public R<WeatherDTO> wether(@RequestParam("cityCode") String cityCode) {
        try{
            CloseableHttpClient httpClient = HttpClients.createDefault();
            HttpGet httpGet = new HttpGet(String.format(mapApiProperties.getUrls().getWeather(), mapApiProperties.getApiKey(), cityCode));
            CloseableHttpResponse response = httpClient.execute(httpGet);
            HttpEntity entity = response.getEntity();
            if (entity != null) {
                String resp = EntityUtils.toString(entity, StandardCharsets.UTF_8);
                log.info("天气预报查询结果：{}", resp);
                return R.ok(om.readValue(resp, WeatherDTO.class));
            }
            return R.fail("获取天气信息失败");
        }catch (Exception e){
            e.printStackTrace();
        }
        return R.fail("获取天气信息失败");
    }


}