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 | 424 ++++++++++++++++++++++++----------------------------
1 files changed, 197 insertions(+), 227 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 0eb8c08..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
@@ -1,11 +1,13 @@
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.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
@@ -27,260 +29,111 @@
@Lazy
public class GDMapGeocodingUtil {
- private String key = "66ae577f63898dae3016d599fda57221";
-
@Autowired
private XpGeoFencingPolygonService xpGeoFencingPolygonService;
- // 自定义线程池配置
- private static final int CORE_POOL_SIZE = 5; // 核心线程数
- private static final int MAX_POOL_SIZE = 10; // 最大线程数
- private static final long KEEP_ALIVE_TIME = 60L; // 线程空闲存活时间
- private static final int QUEUE_CAPACITY = 100; // 阻塞队列容量
- // 创建自定义线程池
- private final ExecutorService customThreadPool = new ThreadPoolExecutor(
- CORE_POOL_SIZE,
- MAX_POOL_SIZE,
- KEEP_ALIVE_TIME,
- TimeUnit.SECONDS,
- new LinkedBlockingQueue<>(QUEUE_CAPACITY),
- new ThreadFactory() {
- private final AtomicInteger threadNumber = new AtomicInteger(1);
- @Override
- public Thread newThread(Runnable r) {
- Thread t = new Thread(r, "route-check-thread-" + threadNumber.getAndIncrement());
- t.setDaemon(true); // 设置为守护线程，避免应用关闭时线程未停止
- return t;
- }
- },
- new ThreadPoolExecutor.CallerRunsPolicy() // 拒绝策略：调用线程执行
- );
+ @Autowired
+ private MapApiProperties mapApiProperties;
-// public RouteVo getDistanceAndTime(LonLatDto start, LonLatDto end, String avoidRoads, String fenceId, Integer routePlanRule) {
-// RouteVo routeVo = new RouteVo();
-//
-// 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("voidPolygons", avoidRoads);
-// }
-// if (routePlanRule != null) {
-// params.put("strategy", routePlanRule);
-// }
-//
-// 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);
-// String data = jsonObject.getString("data");
-// JSONObject jsonObject1 = JSON.parseObject(data);
-// JSONArray path = jsonObject1.getJSONArray("paths");
-//
-// if (path == null || path.isEmpty()) {
-// return null;
-// }
-//
-// // 使用自定义线程池并行处理每个路径的围栏检查
-// List<Future<PathCheckResult>> futures = new ArrayList<>();
-// CountDownLatch latch = new CountDownLatch(path.size()); // 用于等待所有任务完成
-//
-// // 提交每个路径的处理任务
-// for (int j = 0; j < path.size(); j++) {
-// final int index = j;
-// JSONObject pathObject = path.getJSONObject(index);
-//
-// Future<PathCheckResult> future = customThreadPool.submit(() -> {
-// try {
-// PathCheckResult result = new PathCheckResult();
-// result.setIndex(index);
-// result.setPathObject(pathObject);
-//
-// String points = pathObject.getString("points");
-// String[] split = points.split(";");
-//
-// // 检查点位是否在围栏内
-// boolean inFence = checkPointsInFence(split, fenceId);
-// result.setInFence(inFence);
-//
-// return result;
-// } finally {
-// latch.countDown(); // 任务完成，计数器减1
-// }
-// });
-//
-// futures.add(future);
-// }
-//
-// try {
-// // 等待所有任务完成，设置超时时间
-// if (!latch.await(10, TimeUnit.SECONDS)) {
-// System.out.println("路径检查任务超时");
-// // 取消所有未完成的任务
-// for (Future<PathCheckResult> future : futures) {
-// if (!future.isDone()) {
-// future.cancel(true);
-// }
-// }
-// }
-// } catch (InterruptedException e) {
-// Thread.currentThread().interrupt();
-// System.out.println("路径检查任务被中断");
-// return null;
-// }
-//
-// // 收集处理结果，找到第一个不在围栏内的路径
-// PathCheckResult validPathResult = null;
-//
-// for (Future<PathCheckResult> future : futures) {
-// try {
-// if (future.isDone() && !future.isCancelled()) {
-// PathCheckResult result = future.get();
-// if (!result.isInFence()) {
-// validPathResult = result;
-// break; // 找到有效的就停止
-// }
-// }
-// } catch (InterruptedException | ExecutionException e) {
-// System.out.println("获取路径检查结果失败: " + e.getMessage());
-// e.printStackTrace();
-// }
-// }
-//
-// // 如果找到了有效路径，处理该路径数据
-// if (validPathResult != null) {
-// JSONObject validPath = validPathResult.getPathObject();
-// String routeID = validPath.getString("routeID");
-// String points = validPath.getString("points");
-// String[] split = points.split(";");
-//
-// Integer costTime = validPath.getInteger("costTime");
-// Integer distance = validPath.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);
-//
-// return routeVo;
-// }
-//
-// return null;
-// }
- /**
- * 路径检查结果内部类
- */
- private static class PathCheckResult {
- private int index;
- private JSONObject pathObject;
- private boolean inFence; // true: 所有点都在围栏内, false: 有点不在围栏内
-
- public int getIndex() {
- return index;
- }
-
- public void setIndex(int index) {
- this.index = index;
- }
-
- public JSONObject getPathObject() {
- return pathObject;
- }
-
- public void setPathObject(JSONObject pathObject) {
- this.pathObject = pathObject;
- }
-
- public boolean isInFence() {
- return inFence;
- }
-
- public void setInFence(boolean inFence) {
- this.inFence = inFence;
- }
- }
- /**
- * 检查路径点位是否在围栏内
- */
- private boolean checkPointsInFence(String[] points, String fenceId) {
- // 取5分之一的点位进行检查
- for (int i = 0; i < points.length; i++) {
- if (i % 5 == 0) {
- String[] split1 = points[i].split(",");
- LonLatDto lonLatDto = new LonLatDto(Double.parseDouble(split1[0]), Double.parseDouble(split1[1]));
- if (!xpGeoFencingPolygonService.isInFence(lonLatDto.getLongitude(), lonLatDto.getLatitude(), fenceId, "operating_area")) {
- return false; // 有点位不在围栏内
- }
- }
- }
- return true; // 所有检查的点都在围栏内
- }
/**
* 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(";");
- int temp=0;
- // 取5分之一的点位
+ List<LonLatDto> pointsArray = new ArrayList<>();
for (int i = 0; i < split.length; i++) {
- if (i % 10 == 0) {
+ if((i % 2) == 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;
- }
+ pointsArray.add(lonLatDto);
}
}
- if(temp==0){
+ 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);
@@ -293,47 +146,164 @@
}
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 = 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("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;
+
+ }
+
+
+ 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;
+ 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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