java/Robotaxi.git

			@@ -7,31 +7,32 @@
			import com.xiaopeng.api.vo.operation.RouteVo;
			import com.xiaopeng.common.core.utils.HttpUtils;
			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.*;
			import java.util.concurrent.atomic.AtomicInteger;

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

			private String key = "66ae577f63898dae3016d599fda57221";

			@Autowired
			private RestTemplate restTemplate;


			@Autowired
			private XpGeoFencingPolygonService xpGeoFencingPolygonService;



			/**
			@@ -61,33 +62,31 @@
			if(routePlanRule!=null){
			params.put("strategy", routePlanRule);
			}

			log.info("高德地图接口：{}", url);
			log.info("高德地图参数：{}", params);
			String post = HttpUtils.post(url, JSON.toJSONString(params));
			System.out.println("高德地图返回结果："+ post);
			// String forObject = restTemplate.getForObject(url, String.class, 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("paths");
			log.info("开始判断导航路径是否在运营区域范围内 {}", fenceId);
			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;
			}
			}
			List<LonLatDto> pointsArray = new ArrayList<>();
			for (String string : split) {
			String[] split1 = string.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");
			@@ -101,14 +100,102 @@
			}
			routeVo.setPolyline(lonLatDtos);
			routeVo.setRouteID(routeID);
			log.info("导航 {} 在 {} 运营区域内", routeVo.getRouteID(), fenceId);
			return routeVo;
			}
			}

			return null;

			}



			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 = "https://tsapi.amap.com/v1/route/query/routeid?key=" + key;
			HashMap<String, Object> params = new HashMap<>();
			params.put("routeID", routeID);
			params.put("sdkVersion", "9.850.152.3.532");
			params.put("encoderVersion", "5.1");
			String post = HttpUtils.post(url, JSON.toJSONString(params));
			log.info("高德地图返回结果："+ 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 = "https://restapi.amap.com/v3/geocode/regeo?key=" + key + "&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;
			}

			}