From 0bcfca6b2561d096a2ce26e2e7200cd0768b2b6d Mon Sep 17 00:00:00 2001
From: liujie <1793218484@qq.com>
Date: 星期二, 12 五月 2026 09:27:03 +0800
Subject: [PATCH] Merge branch '1.0' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi into 1.0
---
xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/utils/GDMapGeocodingUtil.java | 289 +++++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 249 insertions(+), 40 deletions(-)
diff --git a/xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/utils/GDMapGeocodingUtil.java b/xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/utils/GDMapGeocodingUtil.java
index cff811e..89118b7 100644
--- a/xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/utils/GDMapGeocodingUtil.java
+++ b/xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/utils/GDMapGeocodingUtil.java
@@ -1,35 +1,37 @@
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.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.beans.factory.annotation.Value;
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 = "66ae577f63898dae3016d599fda57221";
- @Autowired
- private RestTemplate restTemplate;
-
+
@Autowired
private XpGeoFencingPolygonService xpGeoFencingPolygonService;
@@ -37,16 +39,15 @@
/**
* 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();
@@ -54,41 +55,84 @@
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("voidPolygons", avoidRoads);
+ params.put("routeUserType", 2);
+ if (avoidRoads != null && !avoidRoads.isEmpty()) {
+ params.put("avoidPolygons", avoidRoads);
}
- if(routePlanRule!=null){
+ 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));
- 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);
+ 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);
@@ -101,31 +145,196 @@
}
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 = "https://tsapi.amap.com/v1/route/price?key=" + key + "&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;
+
+ }
+
+
+ public static void main(String[] args) {
+ String url = "https://tsapi.amap.com/v1/route/price?key=" + "66ae577f63898dae3016d599fda57221" + "&extensions=all&start=" + "113.384932" + "," + "23.155455";
+ HashMap<String, Object> params = new HashMap<>();
+ params.put("extensions", "all");
+ params.put("start", "113.384932" + "," + "23.155455");
+ params.put("end", "113.388209" + "," + "23.163455");
+ params.put("routeUserType", 2);
+ 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));
+ log.info("高德地图返回结果：" + post);
+ JSONObject jsonObject = JSON.parseObject(post);
+ System.out.println(jsonObject);
+ }
+
+
+ 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){
+ 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", "");
+ 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));
- System.out.println("高德地图返回结果："+ post);
- JSONObject jsonObject = JSON.parseObject(post);
- return jsonObject.getString("data");
+ 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 = "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;
}
}
--
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