修改bug

puzhibing

2026-03-05 de5f07fe1acd8d462f9c54d7a04c5c47a87264d1

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

@@ -4,6 +4,9 @@
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.feignClient.order.XpOrderClient;
import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.vo.map.PointByIpVo;
import com.xiaopeng.api.vo.map.XpDistanceAndDurationVo;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.common.core.constant.CacheConstants;
@@ -11,17 +14,19 @@
import com.xiaopeng.common.redis.service.RedisService;
import com.xiaopeng.map.mangodb.model.GeoPoint;
import com.xiaopeng.map.mangodb.service.XpGeoFencingPolygonService;
import com.xiaopeng.map.utils.AmapWalkingRouteUtil;
import com.xiaopeng.map.utils.GDMapGeocodingUtil;
import com.xiaopeng.map.utils.mangoUtils.MongoGeoFenceUtil;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import lombok.extern.slf4j.Slf4j;
import org.bson.Document;
import org.springframework.data.mongodb.core.MongoTemplate;
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.servlet.http.HttpServletRequest;
import java.io.IOException;
import java.util.ArrayList;
import java.util.List;
import java.util.stream.Collectors;
@@ -36,11 +41,15 @@
    private final GDMapGeocodingUtil gdMapGeocodingUtil;
    private final XpGeoFencingPolygonService xpGeoFencingPolygonService;
    private final RedisService redisService;
    private final XpOrderClient xpOrderClient;
    private final MongoTemplate mongoTemplate;

    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;
    }


@@ -51,28 +60,47 @@
        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());
        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);

                        // 转换为经纬度字符串
                        ArrayList<String> pointStr = new ArrayList<>();
                        for (List<Double> point : polygonPoints) {
                            if (point.size() >= 2) {
                                pointStr.add(point.get(0) + "," + point.get(1));
                            }
                        }

                        if (!pointStr.isEmpty()) {
                            pointStrParam.add(String.join(";", pointStr));
                        }
                    }
                }
            }
            if(!pointStr.isEmpty()){
                pointStrParam.add(String.join(";", pointStr));
            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");
            }

            return R.ok(routeVo);
        }catch (Exception e){
            e.printStackTrace();
        }
        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");
        }

        return R.ok(routeVo);
        return R.fail("没有找到路线");


    }
@@ -88,21 +116,25 @@
        // 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");
        // 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));
        String fenceId = null;
        if(!operatingArea.isEmpty()){
            fenceId = operatingArea.get(0);
            List<Document> pointsInFence = xpGeoFencingPolygonService.findPointsByParentId(fenceId, "parentId", "prohibited_area");
            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));
                }
            }
        }

        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");
@@ -110,10 +142,32 @@

        // 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("/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("/point/getPointByIp")
    public R<PointByIpVo> getPointByIp(HttpServletRequest request) throws IOException {
        String ip = request.getRemoteAddr();
        PointByIpVo pointByIpVo = AmapWalkingRouteUtil.ipLocation(ip);
        return R.ok(pointByIpVo);
    }

}