From c96fbe6b0aeb413a17c429133ee6d81d138144b9 Mon Sep 17 00:00:00 2001
From: liujie <1793218484@qq.com>
Date: 星期二, 09 六月 2026 10:58:52 +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 | 190 +++++++++++++++++++++++++++++++++++++----------
1 files changed, 149 insertions(+), 41 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 c01ba4c..e2a1925 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
@@ -3,9 +3,11 @@
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.config.MapApiProperties;
import com.xiaopeng.map.mangodb.service.XpGeoFencingPolygonService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -16,8 +18,8 @@
import java.util.HashMap;
import java.util.List;
import java.util.Map;
-import java.util.concurrent.*;
-import java.util.concurrent.atomic.AtomicInteger;
+import java.util.concurrent.ForkJoinPool;
+import java.util.concurrent.RecursiveTask;
/**
* 高德地图的地理编码工具类
@@ -27,67 +29,111 @@
@Lazy
public class GDMapGeocodingUtil {
- private String key = "66ae577f63898dae3016d599fda57221";
-
@Autowired
private XpGeoFencingPolygonService xpGeoFencingPolygonService;
+ @Autowired
+ private MapApiProperties mapApiProperties;
/**
* 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();
+ String url = mapApiProperties.getUrls().getRoutePrice() + "?key=" + mapApiProperties.getApiKey() + "&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("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：{}", params);
+ 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);
+ 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);
+ 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 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;
+ }
+ }
+
+ }
+
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 (String string : split) {
- String[] split1 = string.split(",");
- LonLatDto lonLatDto = new LonLatDto(Double.parseDouble(split1[0]), Double.parseDouble(split1[1]));
- pointsArray.add(lonLatDto);
+ 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){
+ if (temp == 0) {
Integer costTime = jsonObject2.getInteger("costTime");
Integer distance = jsonObject2.getInteger("distance");
routeVo.setDistance(distance);
@@ -109,24 +155,85 @@
}
- public static void main(String[] args) {
- String url = "https://tsapi.amap.com/v1/route/price?key=" + "66ae577f63898dae3016d599fda57221" + "&extensions=all&start=" +"113.384932" + "," + "23.155455";
+ /**
+ * 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 = mapApiProperties.getUrls().getRoutePrice() + "?key=" + mapApiProperties.getApiKey() + "&extensions=all&start=" + start.getLongitude() + "," + start.getLatitude();
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);
+ 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：{}", params);
+ 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);
+ log.info("高德地图返回结果：" + post);
JSONObject jsonObject = JSON.parseObject(post);
- System.out.println(jsonObject);
+ 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;
+
}
-
- class ArrayPointsTask extends RecursiveTask<Long>{
+ class ArrayPointsTask extends RecursiveTask<Long> {
//最大定位集合阈值
private final int THRESHOLD = 10;
//围栏ID
@@ -142,14 +249,14 @@
@Override
protected Long compute() {
- if(this.pointsArray.size() > THRESHOLD){
+ 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{
+ } else {
long temp = 0;
for (LonLatDto lonLatDto : this.pointsArray) {
if (!xpGeoFencingPolygonService.isInFence(lonLatDto.getLongitude(), lonLatDto.getLatitude(), fenceId, "operating_area")) {
@@ -163,39 +270,40 @@
}
-
/**
* 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;
+ public String routed(String routeID) {
+ String url = mapApiProperties.getUrls().getRouteQuery() + "?key=" + mapApiProperties.getApiKey();
HashMap<String, Object> params = new HashMap<>();
params.put("routeID", routeID);
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));
- log.info("高德地图返回结果："+ post);
+ 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 url = mapApiProperties.getUrls().getReverseGeocode() + "?key=" + mapApiProperties.getApiKey() + "&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")){
+ if (jsonObject.getString("status").equals("1")) {
JSONObject regeocode = jsonObject.getJSONObject("regeocode");
JSONObject addressComponent = regeocode.getJSONObject("addressComponent");
String address = regeocode.getString("formatted_address");
--
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