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/utils/GDMapGeocodingUtil.java

@@ -1,89 +1,139 @@
package com.xiaopeng.map.utils;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONArray;
import com.alibaba.fastjson2.JSONObject;
import com.xiaopeng.api.dto.map.HistoryPointDto;
import com.xiaopeng.api.dto.operation.LonLatDto;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.common.core.utils.HttpUtils;
import com.xiaopeng.map.config.MapApiProperties;
import com.xiaopeng.map.mangodb.service.XpGeoFencingPolygonService;
import com.xiaopeng.map.utils.mangoUtils.MongoGeoFenceUtil;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.annotation.Lazy;
import org.springframework.stereotype.Component;
import org.springframework.web.client.RestTemplate;

import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ForkJoinPool;
import java.util.concurrent.RecursiveTask;

/**
 * 高德地图的地理编码工具类
 */
@Slf4j
@Component
@Lazy
public class GDMapGeocodingUtil {

    private String key = "f11b217cdbb08cd780919ed7398c5504";

    @Autowired
    private RestTemplate restTemplate;
    
    @Autowired
    private XpGeoFencingPolygonService xpGeoFencingPolygonService;

    @Autowired
    private MapApiProperties mapApiProperties;


    /**
     * 根据起始点获取驾车距离 和 时间  以及避让区域
     *
     * @param start 起点
     * @param end 终点
     * @param avoidRoads 避让点
     * @param fenceId mango id
     * @param start         起点
     * @param end           终点
     * @param avoidRoads    避让点
     * @param fenceId       mango id
     * @param routePlanRule 线路规划规则
     *
     * @return
     * @throws Exception
     */
    public RouteVo getDistanceAndTime(LonLatDto start, LonLatDto end,String avoidRoads,String fenceId,Integer routePlanRule)  {
    public RouteVo getDistanceAndTime(LonLatDto start, LonLatDto end,ArrayList<JSONObject> avoidRoads,String fenceId,Integer routePlanRule, List<HistoryPointDto> history)  {
        RouteVo routeVo = new RouteVo();

        String url = "https://tsapi.amap.com/v1/route/price?key=" + key + "&extensions=all&start=" + start.getLongitude() + "," + start.getLatitude();
        String url = mapApiProperties.getUrls().getRoutePrice() + "?key=" + mapApiProperties.getApiKey() + "&extensions=all&start=" + start.getLongitude() + "," + start.getLatitude();
        HashMap<String, Object> params = new HashMap<>();
        params.put("extensions", "all");
        params.put("start", start.getLongitude() + "," + start.getLatitude());
        params.put("end", end.getLongitude() + "," + end.getLatitude());
        params.put("routeUserType",2);
        params.put("voidPolygons", avoidRoads);
        if(routePlanRule!=null){
        params.put("routeUserType", 2);
        if (avoidRoads != null && !avoidRoads.isEmpty()) {
            params.put("avoidPolygons", avoidRoads);
        }
        if (routePlanRule != null) {
            params.put("strategy", routePlanRule);
        }

        String forObject = restTemplate.getForObject(url, String.class, params);
        JSONObject jsonObject = JSON.parseObject(forObject);
        if(null != history && !history.isEmpty()){
            params.put("history", history);
        }
        log.info("高德地图接口：{}", url);
        log.info("高德地图参数：{}", JSON.toJSONString(params));
        String post = HttpUtils.post(url, JSON.toJSONString(params));
        log.info("高德地图返回结果：" + post);
        JSONObject jsonObject = JSON.parseObject(post);
        String data = jsonObject.getString("data");

        JSONObject jsonObject1 = JSON.parseObject(data);
        String routeID = jsonObject1.getString("routeID");
        JSONArray path = jsonObject1.getJSONArray("path");
        JSONArray path = jsonObject1.getJSONArray("paths");
        log.info("开始判断导航路径是否在运营区域范围内 {}", fenceId);
        log.info("先判断是否有大众常选的线路，优先选择大众常选的路线");
        for (Object o : path) {
            JSONObject jsonObject2 = (JSONObject) o;

            String routeID = jsonObject2.getString("routeID");
            String points = jsonObject2.getString("points");
            String[] split = points.split(";");
            int temp=0;
            // 取5分之一的点位
            for (int i = 0; i < split.length; i++) {
                if (i % 5 == 0) {
                    String[] split1 = split[i].split(",");
                    LonLatDto lonLatDto = new LonLatDto(Double.parseDouble(split1[0]), Double.parseDouble(split1[1]));
                    if (!xpGeoFencingPolygonService.isInFence(lonLatDto.getLongitude(), lonLatDto.getLatitude(), fenceId, "operating_area")) {
                        temp++;
                        break;
            String label = jsonObject2.getString("label");
            if(label.contains("大众常选")){
                String[] split = points.split(";");
                List<LonLatDto> pointsArray = new ArrayList<>();
                for (int i = 0; i < split.length; i++) {
                    if((i % 2) == 0){
                        String[] split1 = split[i].split(",");
                        LonLatDto lonLatDto = new LonLatDto(Double.parseDouble(split1[0]), Double.parseDouble(split1[1]));
                        pointsArray.add(lonLatDto);
                    }
                }
                ForkJoinPool pool = new ForkJoinPool(); // 创建ForkJoinPool对象（默认使用处理器的核心数作为线程池大小）
                ArrayPointsTask arrayPointsTask = new ArrayPointsTask(pointsArray, fenceId); // 创建求和任务对象并传入数组作为参数（这里也可以传入数组的一部分作为参数来实现更细粒度的拆分）
                Long temp = pool.invoke(arrayPointsTask); // 提交任务并等待处理完成（也可以使用submit方法提交任务并获取一个Future对象来异步获取结果）
                pool.shutdown(); // 关闭ForkJoinPool（释放资源）
                if(temp==0){
                    Integer costTime = jsonObject2.getInteger("costTime");
                    Integer distance = jsonObject2.getInteger("distance");
                    routeVo.setDistance(distance);
                    routeVo.setDuration(costTime);
                    ArrayList<LonLatDto> lonLatDtos = new ArrayList<>(split.length);
                    for (String s : split) {
                        String[] split1 = s.split(",");
                        LonLatDto lonLatDto = new LonLatDto(Double.parseDouble(split1[0]), Double.parseDouble(split1[1]));
                        lonLatDtos.add(lonLatDto);
                    }
                    routeVo.setPolyline(lonLatDtos);
                    routeVo.setRouteID(routeID);
                    log.info("导航 {} 在 {} 运营区域内", routeVo.getRouteID(), fenceId);
                    return routeVo;
                }
            }
            if(temp==0){

        }

        for (Object o : path) {
            JSONObject jsonObject2 = (JSONObject) o;
            String routeID = jsonObject2.getString("routeID");
            String points = jsonObject2.getString("points");
            String[] split = points.split(";");
            List<LonLatDto> pointsArray = new ArrayList<>();
            for (int i = 0; i < split.length; i++) {
                if((i % 2) == 0){
                    String[] split1 = split[i].split(",");
                    LonLatDto lonLatDto = new LonLatDto(Double.parseDouble(split1[0]), Double.parseDouble(split1[1]));
                    pointsArray.add(lonLatDto);
                }
            }
            ForkJoinPool pool = new ForkJoinPool(); // 创建ForkJoinPool对象（默认使用处理器的核心数作为线程池大小）
            ArrayPointsTask arrayPointsTask = new ArrayPointsTask(pointsArray, fenceId); // 创建求和任务对象并传入数组作为参数（这里也可以传入数组的一部分作为参数来实现更细粒度的拆分）
            Long temp = pool.invoke(arrayPointsTask); // 提交任务并等待处理完成（也可以使用submit方法提交任务并获取一个Future对象来异步获取结果）
            pool.shutdown(); // 关闭ForkJoinPool（释放资源）
            if (temp == 0) {
                Integer costTime = jsonObject2.getInteger("costTime");
                Integer distance = jsonObject2.getInteger("distance");
                routeVo.setDistance(distance);
@@ -96,14 +146,180 @@
                }
                routeVo.setPolyline(lonLatDtos);
                routeVo.setRouteID(routeID);
                log.info("导航 {} 在 {} 运营区域内", routeVo.getRouteID(), fenceId);
                return routeVo;
            }
        }

        return null;

    }


    /**
     * 根据起始点获取驾车距离 和 时间  以及避让区域
     *
     * @param start         起点
     * @param end           终点
     * @param avoidRoads    避让点
     * @param fenceId       mango id
     * @param routePlanRule 线路规划规则
     * @return
     * @throws Exception
     */
    public List<RouteVo> getDistanceAndTimeList(LonLatDto start, LonLatDto end,ArrayList<JSONObject> avoidRoads,String fenceId,Integer routePlanRule, List<HistoryPointDto> history)  {
        String url = mapApiProperties.getUrls().getRoutePrice() + "?key=" + mapApiProperties.getApiKey() + "&extensions=all&start=" + start.getLongitude() + "," + start.getLatitude();
        HashMap<String, Object> params = new HashMap<>();
        params.put("extensions", "all");
        params.put("start", start.getLongitude() + "," + start.getLatitude());
        params.put("end", end.getLongitude() + "," + end.getLatitude());
        params.put("routeUserType", 2);
        if (avoidRoads != null && !avoidRoads.isEmpty()) {
            params.put("avoidPolygons", avoidRoads);
        }
        if (routePlanRule != null) {
            params.put("strategy", routePlanRule);
        }
        if(null != history && !history.isEmpty()){
            params.put("history", history);
        }
        log.info("高德地图接口：{}", url);
        log.info("高德地图参数：{}", JSON.toJSONString(params));
        String post = HttpUtils.post(url, JSON.toJSONString(params));
        log.info("高德地图返回结果：" + post);
        JSONObject jsonObject = JSON.parseObject(post);
        String data = jsonObject.getString("data");

        JSONObject jsonObject1 = JSON.parseObject(data);
        JSONArray path = jsonObject1.getJSONArray("paths");
        log.info("开始判断导航路径是否在运营区域范围内 {}", fenceId);
        List<RouteVo> list = new ArrayList<>();
        for (Object o : path) {
            RouteVo routeVo = new RouteVo();
            JSONObject jsonObject2 = (JSONObject) o;
            String routeID = jsonObject2.getString("routeID");
            String points = jsonObject2.getString("points");
            String[] split = points.split(";");
            List<LonLatDto> pointsArray = new ArrayList<>();
            for (int i = 0; i < split.length; i++) {
                if((i % 2) == 0){
                    String[] split1 = split[i].split(",");
                    LonLatDto lonLatDto = new LonLatDto(Double.parseDouble(split1[0]), Double.parseDouble(split1[1]));
                    pointsArray.add(lonLatDto);
                }
            }
            ForkJoinPool pool = new ForkJoinPool(); // 创建ForkJoinPool对象（默认使用处理器的核心数作为线程池大小）
            ArrayPointsTask arrayPointsTask = new ArrayPointsTask(pointsArray, fenceId); // 创建求和任务对象并传入数组作为参数（这里也可以传入数组的一部分作为参数来实现更细粒度的拆分）
            Long temp = pool.invoke(arrayPointsTask); // 提交任务并等待处理完成（也可以使用submit方法提交任务并获取一个Future对象来异步获取结果）
            pool.shutdown(); // 关闭ForkJoinPool（释放资源）
            if (temp == 0) {
                Integer costTime = jsonObject2.getInteger("costTime");
                Integer distance = jsonObject2.getInteger("distance");
                routeVo.setDistance(distance);
                routeVo.setDuration(costTime);
                ArrayList<LonLatDto> lonLatDtos = new ArrayList<>(split.length);
                for (String s : split) {
                    String[] split1 = s.split(",");
                    LonLatDto lonLatDto = new LonLatDto(Double.parseDouble(split1[0]), Double.parseDouble(split1[1]));
                    lonLatDtos.add(lonLatDto);
                }
                routeVo.setPolyline(lonLatDtos);
                routeVo.setRouteID(routeID);
                log.info("导航 {} 在 {} 运营区域内", routeVo.getRouteID(), fenceId);
                list.add(routeVo);
            }
        }
        return list;

    }


    class ArrayPointsTask extends RecursiveTask<Long> {
        //最大定位集合阈值
        private final int THRESHOLD = 10;
        //围栏ID
        String fenceId;
        //定位点集合
        List<LonLatDto> pointsArray;


        public ArrayPointsTask(List<LonLatDto> pointsArray, String fenceId) {
            this.pointsArray = pointsArray;
            this.fenceId = fenceId;
        }

        @Override
        protected Long compute() {
            if (this.pointsArray.size() > THRESHOLD) {
                int num = this.pointsArray.size() / 2;
                ArrayPointsTask task1 = new ArrayPointsTask(this.pointsArray.subList(0, num), fenceId);
                ArrayPointsTask task2 = new ArrayPointsTask(this.pointsArray.subList(num, this.pointsArray.size()), fenceId);
                task1.fork();
                task2.fork();
                return task1.join() + task2.join();
            } else {
                long temp = 0;
                for (LonLatDto lonLatDto : this.pointsArray) {
                    if (!xpGeoFencingPolygonService.isInFence(lonLatDto.getLongitude(), lonLatDto.getLatitude(), fenceId, "operating_area")) {
                        temp++;
                        break;
                    }
                }
                return temp;
            }
        }
    }


    /**
     * 线路还原接口
     * 车端使用的数据
     *
     * @param routeID
     * @return
     */
    public String routed(String routeID) {
        String url = mapApiProperties.getUrls().getRouteQuery() + "?key=" + mapApiProperties.getApiKey();
        HashMap<String, Object> params = new HashMap<>();
        params.put("routeID", routeID);
        params.put("sdkVersion", "9.850.152.3.532");
        params.put("encoderVersion", "5.1");
        params.put("pushDataNaviVersion", "1.0");
        String post = HttpUtils.post(url, JSON.toJSONString(params));
        log.info("高德地图: routeId:{} 结果: {}", routeID, post);
        return post;
    }


    /**
     * 根据经纬度获取行政区域信息
     *
     * @param lon
     * @param lan
     * @return
     * @throws Exception
     */
    public Map<String, String> geocode(String lon, String lan) {
        String url = mapApiProperties.getUrls().getReverseGeocode() + "?key=" + mapApiProperties.getApiKey() + "&location=" + lon + "," + lan;
        String forObject = HttpUtils.sendGet(url);
        JSONObject jsonObject = JSON.parseObject(forObject);
        Map<String, String> map = new HashMap<>();
        if (jsonObject.getString("status").equals("1")) {
            JSONObject regeocode = jsonObject.getJSONObject("regeocode");
            JSONObject addressComponent = regeocode.getJSONObject("addressComponent");
            String address = regeocode.getString("formatted_address");
            map.put("address", address);
            String code = addressComponent.getString("adcode");
            String province = addressComponent.getString("province");
            String city = addressComponent.getString("city");
            String district = addressComponent.getString("district");
            map.put("province", province);
            map.put("provinceCode", code.substring(0, 2) + "0000");
            map.put("city", city);
            map.put("cityCode", code.substring(0, 4) + "00");
            map.put("district", district);
            map.put("districtCode", code);
        }
        return map;
    }

}