From 4edaaf570a2cd8af8a9c35694a46289cdf9278b3 Mon Sep 17 00:00:00 2001
From: xuhy <3313886187@qq.com>
Date: 星期五, 17 四月 2026 11:58:16 +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/controller/XpMapController.java | 49 ++++++++++++++++++++++++++++++++-----------------
1 files changed, 32 insertions(+), 17 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..23e0be2 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
@@ -1,12 +1,11 @@
package com.xiaopeng.map.controller;
-import com.fasterxml.jackson.databind.ObjectMapper;
+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.vo.map.PointByIpVo;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.common.core.domain.R;
@@ -37,6 +36,9 @@
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
@@ -70,7 +72,7 @@
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 +85,31 @@
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());
- }
- 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");
@@ -128,27 +136,34 @@
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);
+ List<String> coordinatesList = new ArrayList<>();
// 一个区域的点位
for (GeoPoint point : points) {
- pointStrParam.add(point.getLongitude()+","+point.getLatitude());
+ coordinatesList.add(point.getLongitude()+","+point.getLatitude());
}
+ 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");
--
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