From 9adef3dd7723930d44f72713c3cf28e50b002055 Mon Sep 17 00:00:00 2001
From: liujie <1793218484@qq.com>
Date: 星期三, 01 四月 2026 15:45:19 +0800
Subject: [PATCH] Merge branch 'master' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi
---
xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/controller/PushOrderRouteController.java | 53 +++++++++++++++++++++++++++++++++--------------------
1 files changed, 33 insertions(+), 20 deletions(-)
diff --git a/xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/controller/PushOrderRouteController.java b/xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/controller/PushOrderRouteController.java
index 1142952..b6631d2 100644
--- a/xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/controller/PushOrderRouteController.java
+++ b/xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/controller/PushOrderRouteController.java
@@ -17,6 +17,8 @@
import com.xiaopeng.common.core.enums.PushMessageTypeEnum;
import com.xiaopeng.common.redis.service.RedisService;
import com.xiaopeng.pushMessage.utils.MapMatchingUtil;
+import com.xiaopeng.pushMessage.utils.TrackPoint;
+import com.xiaopeng.pushMessage.utils.TrajectoryDensifier;
import io.swagger.annotations.Api;
import lombok.extern.slf4j.Slf4j;
import org.powermock.core.ListMap;
@@ -27,6 +29,7 @@
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
+import java.time.Instant;
import java.util.*;
import java.util.concurrent.LinkedBlockingQueue;
import java.util.concurrent.ThreadPoolExecutor;
@@ -50,7 +53,7 @@
* 给乘客端推送剩余轨迹和剩余里程时长
* @return
*/
- @PostMapping("/inner/v1/order/pushOrderRoute")
+ @PostMapping("/logan/inner/v1/order/pushOrderRoute")
public R<String> pushOrderRoute(@Validated @RequestBody PushOrderRouteDTO dto) {
Integer routeType = dto.getRouteType();
//正常订单
@@ -66,8 +69,33 @@
}
Object cacheObject = redisService.getCacheObject(key);
RouteVo routeVo = JSON.parseObject(cacheObject.toString(), RouteVo.class);
-
+ log.info("缓存获取的轨迹 {}", JSON.toJSONString(routeVo));
if(Objects.nonNull(routeVo)){
+ //开始对轨迹进行点位补全，然后更新缓存中的轨迹数据
+ if(xpOrder.getStatus() == 2 || xpOrder.getStatus() == 5){
+ List<LonLatDto> polyline = routeVo.getPolyline();
+ List<LonLatDto> new_polyline = new ArrayList<>();
+ for (int i = 0; i < polyline.size(); i++) {
+ if(i == polyline.size() - 1){
+ new_polyline.add(polyline.get(i));
+ break;
+ }
+ LonLatDto lonLatDto = polyline.get(i);
+ LonLatDto lonLatDto1 = polyline.get(i + 1);
+ //对两个点位进行坐标补全
+ List<TrackPoint> track = new ArrayList<>();
+ // 模拟数据：两个点相差 20 秒
+ track.add(new TrackPoint(lonLatDto.getLatitude(), lonLatDto.getLongitude(), null));
+ track.add(new TrackPoint(lonLatDto1.getLatitude(), lonLatDto1.getLongitude(), null));
+ //10米补全一个点位
+ List<TrackPoint> densified = TrajectoryDensifier.densifyByTime(track, 10);
+ for (TrackPoint trackPoint : densified) {
+ new_polyline.add(new LonLatDto(trackPoint.getLongitude(), trackPoint.getLatitude()));
+ }
+ }
+ routeVo.setPolyline(new_polyline);
+ redisService.setCacheObject(key, JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
+ }
Integer distance = dto.getDistance();
Integer duration = dto.getDuration();
// 计算实时点位到线段的最优截取
@@ -86,31 +114,16 @@
List<LonLatDto> lonLatDtos1 = remainingNavigation.get("served");
routeVo.setPolyline(lonLatDtos);
routeVo.setServed(lonLatDtos1);
-
+ log.info("线路截取后存储的轨迹 {}", JSON.toJSONString(routeVo));
// 存储最新路线偏离缓存，后续进行轨迹截取
redisService.setCacheObject(key, JSON.toJSONString(routeVo), 24L, TimeUnit.HOURS);
- // 封装轨迹点位集合
- List<Map<String, Object>> polyline = new ArrayList<>();
- for (LonLatDto lonLatDto : lonLatDtos) {
- Map<String, Object> polylineMap = new HashMap<>();
- polylineMap.put("longitude",lonLatDto.getLongitude());
- polylineMap.put("latitude",lonLatDto.getLatitude());
- polyline.add(polylineMap);
- }
- List<Map<String, Object>> served = new ArrayList<>();
- for (LonLatDto lonLatDto : lonLatDtos1) {
- Map<String, Object> polylineMap = new HashMap<>();
- polylineMap.put("longitude",lonLatDto.getLongitude());
- polylineMap.put("latitude",lonLatDto.getLatitude());
- served.add(polylineMap);
- }
// 封装路由详情
Map<String, Object> route = new HashMap<>();
route.put("distance",distance);
route.put("duration",duration);
- route.put("polyline",JSONObject.toJSONString(polyline));
- route.put("served",JSONObject.toJSONString(served));
+ route.put("polyline",JSONObject.toJSONString(lonLatDtos));
+ route.put("served",JSONObject.toJSONString(lonLatDtos1));
Map<String, Object> content = new HashMap<>();
content.put("orderId",dto.getOrderId().toString());
--
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