From 08cc6d5cf7e93b75cfabe7dcc2aeaa9afa1117eb Mon Sep 17 00:00:00 2001
From: puzhibing <393733352@qq.com>
Date: 星期二, 12 五月 2026 15:01:47 +0800
Subject: [PATCH] Merge branch '1.0' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi into 1.1
---
xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/controller/XpMapController.java | 169 ++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 132 insertions(+), 37 deletions(-)
diff --git a/xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/controller/XpMapController.java b/xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/controller/XpMapController.java
index c08b40a..dee2018 100644
--- a/xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/controller/XpMapController.java
+++ b/xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/controller/XpMapController.java
@@ -1,18 +1,21 @@
package com.xiaopeng.map.controller;
-import com.fasterxml.jackson.databind.ObjectMapper;
+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.feignClient.order.XpOrderClient;
-import com.xiaopeng.api.dto.WeatherDTO;
+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.domain.R;
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.service.XpElectronicFenceAreaService;
import com.xiaopeng.map.utils.AmapWalkingRouteUtil;
import com.xiaopeng.map.utils.GDMapGeocodingUtil;
import com.xiaopeng.unifiedverification.interceptor.XpClientCheck;
@@ -28,15 +31,23 @@
import org.bson.Document;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
+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.*;
+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 com.alibaba.fastjson2.JSON;
+import com.alibaba.fastjson2.JSONObject;
+import com.fasterxml.jackson.databind.ObjectMapper;
@Slf4j
@RestController
@@ -50,6 +61,8 @@
private final RedisService redisService;
private final XpOrderClient xpOrderClient;
private final MongoTemplate mongoTemplate;
+ @Resource
+ private XpElectronicFenceAreaService xpElectronicFenceAreaService;
public XpMapController(GDMapGeocodingUtil gdMapGeocodingUtil, XpGeoFencingPolygonService xpGeoFencingPolygonService, RedisService redisService, XpOrderClient xpOrderClient, MongoTemplate mongoTemplate) {
this.gdMapGeocodingUtil = gdMapGeocodingUtil;
@@ -60,8 +73,8 @@
}
- @PostMapping("/base/v1/map/getDistanceAndDuration")
- public R<RouteVo> getDistanceAndDuration(@RequestBody RouteAndFareDto dto){
+ @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");
@@ -70,7 +83,7 @@
List<Document> pointsInFence = xpGeoFencingPolygonService.findPointsByParentId(fenceId, "fenceId", "prohibited_area");
// 避让区域
- ArrayList<String> pointStrParam = new ArrayList<>();
+ ArrayList<JSONObject> pointStrParam = new ArrayList<>();
try {
for (Document document : pointsInFence) {
// 获取points字段（它是GeoJSON对象）
@@ -83,25 +96,96 @@
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) {
- pointStrParam.add(point.get(0) + "," + point.get(1));
+ 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());
+// 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);
}
- if(history.size() > 10){
- history = history.subList(history.size() - 10, history.size());
+ 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");
}
- redisService.setCacheList("VEHICLE_HISTORY_POINT_LIST:" + dto.getVehicleId(), history);
+
+ 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, "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);
+ }
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");
@@ -125,30 +209,37 @@
@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");
// 避让区域
- ArrayList<String> pointStrParam = new ArrayList<>();
+ ArrayList<JSONObject> pointStrParam = new ArrayList<>();
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
- for (GeoPoint point : points) {
- pointStrParam.add(point.getLongitude()+","+point.getLatitude());
+ 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);
}
}
List<HistoryPointDto> history = new ArrayList<>();
if(null != dto.getVehicleId()){
- history = redisService.getCacheList("VEHICLE_HISTORY_POINT_LIST:" + 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);
}
- if(history.size() > 10){
- history = history.subList(history.size() - 10, history.size());
- }
- 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");
@@ -180,6 +271,7 @@
}
+
@Value("${map.urls.weather:https://restapi.amap.com/v3/weather/weatherInfo?key=%s&city=%s}")
String WEATHER_URL;
@@ -190,21 +282,24 @@
String key;
@ApiOperation(value = "获取天气信息", tags = {"内部-调价"})
- @GetMapping("/logan/inner/weatherInfo")
- public R<WeatherDTO> weather(@RequestParam String city) throws IOException {
-
- try (CloseableHttpClient httpClient = HttpClients.createDefault()) {
- HttpGet httpGet = new HttpGet(String.format(WEATHER_URL, key, city));
- try (CloseableHttpResponse response = httpClient.execute(httpGet)) {
- HttpEntity entity = response.getEntity();
- if (entity != null) {
- String resp = EntityUtils.toString(entity, StandardCharsets.UTF_8);
- System.out.println(resp);
- return R.ok(om.readValue(resp, WeatherDTO.class));
- }
- return R.fail("获取天气信息失败");
+ @PostMapping("/logan/inner/weatherInfo")
+ public R<WeatherDTO> wether(@RequestParam("cityCode") String cityCode) {
+ try{
+ CloseableHttpClient httpClient = HttpClients.createDefault();
+ HttpGet httpGet = new HttpGet(String.format(WEATHER_URL, key, 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");
}
+
}
--
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