和客户同步1.0版本

puzhibing

2026-04-10 ed838e62602c0a63a64ff4bd144a0d16cc9a7cf8

 xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/controller/PushOrderRouteController.java

@@ -6,12 +6,9 @@
import com.xiaopeng.api.dto.pushMessage.PushOrderRouteDTO;
import com.xiaopeng.api.dto.pushMessage.SendMessageDTO;
import com.xiaopeng.api.feignClient.order.XpOrderClient;
import com.xiaopeng.api.feignClient.order.XpTestOrderClient;
import com.xiaopeng.api.feignClient.pushMessage.XpPushMessageClient;
import com.xiaopeng.api.model.order.XpOrder;
import com.xiaopeng.api.model.order.XpTestOrder;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.common.core.constant.CacheConstants;
import com.xiaopeng.common.core.constant.Constants;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.core.enums.PushMessageTypeEnum;
@@ -21,7 +18,6 @@
import com.xiaopeng.pushMessage.utils.TrajectoryDensifier;
import io.swagger.annotations.Api;
import lombok.extern.slf4j.Slf4j;
import org.powermock.core.ListMap;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.PostMapping;
@@ -58,7 +54,15 @@
        Integer routeType = dto.getRouteType();
        //正常订单
        if(routeType == 1){
            Long pushTime = redisService.getCacheObject("PUSH_TIME:" + dto.getOrderId());
            if(null != pushTime && System.currentTimeMillis() - pushTime < 1500){
                return R.ok();
            }
            redisService.setCacheObject("PUSH_TIME:" + dto.getOrderId(), System.currentTimeMillis());
            XpOrder xpOrder = xpOrderClient.queryOrderById(dto.getOrderId()).getData();
            if(xpOrder.getStatus() <= 1 || xpOrder.getStatus() >= 8){
                return R.ok();
            }
            // 获取路线规划
            String key = "";
            //接驾情况，获取车辆位置到起点的导航
@@ -69,37 +73,24 @@
            }
            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));
            log.info("缓存获取的轨迹 {} {}", key, 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){
                if(null == routeVo.getDensify() || routeVo.getDensify() == 0){
                    log.info("开始执行点位补全 {}", key);
                    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);
                    List<LonLatDto> densify = TrajectoryDensifier.densify(polyline, 15);
                    routeVo.setPolyline(densify);
                    routeVo.setDensify(1);
                    log.info("点位补全结束 {} {}", key, JSON.toJSONString(routeVo));
                    redisService.setCacheObject(key, JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
                }
                Integer distance = dto.getDistance();
                Integer duration = dto.getDuration();

                Integer distance = dto.getDistance().intValue();
                Integer duration = dto.getDuration().intValue();
                // 计算实时点位到线段的最优截取
                Map<String, List<LonLatDto>> remainingNavigation = MapMatchingUtil.getRemainingNavigation(routeVo.getPolyline(), dto.getLongitude(), dto.getLatitude());
                log.info("remainingNavigation {}", JSON.toJSONString(remainingNavigation));
                //当订单状态为5的时候（乘客已上车）需要推送导航的距离和剩余时间
                //因为这个状态，车端推的依然是接驾的剩余里程和时间，就会导致数据和小程序的页面跳转匹配不上
                //小程序是只要乘客上车后就跳转到行程开始页面
@@ -112,6 +103,7 @@
                }
                List<LonLatDto> lonLatDtos = remainingNavigation.get("unserved");
                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));