From b7bb5daa5f4ffe1764a363a051a5d6f868168cf9 Mon Sep 17 00:00:00 2001
From: puzhibing <393733352@qq.com>
Date: 星期一, 11 五月 2026 20:56:31 +0800
Subject: [PATCH] Merge branch '1.0' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi into 1.1
---
xp-robotaxi-map-boot/src/main/java/com/xiaopeng/map/controller/XpMapController.java | 85 +++++++++++++++++++++++++++++++++++++++---
1 files changed, 79 insertions(+), 6 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 929e52c..a9a0a76 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
@@ -1,18 +1,21 @@
package com.xiaopeng.map.controller;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
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.model.map.XpGeoFencingPolygon;
+import com.xiaopeng.api.model.operation.XpElectronicFenceArea;
import com.xiaopeng.api.vo.map.PointByIpVo;
import com.xiaopeng.api.vo.operation.RouteVo;
import com.xiaopeng.common.core.domain.R;
import com.xiaopeng.common.redis.service.RedisService;
import com.xiaopeng.map.mangodb.model.GeoPoint;
import com.xiaopeng.map.mangodb.service.XpGeoFencingPolygonService;
+import com.xiaopeng.map.service.XpElectronicFenceAreaService;
import com.xiaopeng.map.utils.AmapWalkingRouteUtil;
import com.xiaopeng.map.utils.GDMapGeocodingUtil;
import com.xiaopeng.unifiedverification.interceptor.XpClientCheck;
@@ -28,12 +31,15 @@
import org.bson.Document;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
+import org.springframework.data.geo.Point;
import org.springframework.data.mongodb.core.MongoTemplate;
+import org.springframework.data.mongodb.core.geo.GeoJsonPolygon;
import org.springframework.data.mongodb.core.query.Criteria;
import org.springframework.data.mongodb.core.query.Query;
import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.*;
+import javax.annotation.Resource;
import javax.servlet.http.HttpServletRequest;
import java.io.IOException;
import java.nio.charset.StandardCharsets;
@@ -55,6 +61,8 @@
private final RedisService redisService;
private final XpOrderClient xpOrderClient;
private final MongoTemplate mongoTemplate;
+ @Resource
+ private XpElectronicFenceAreaService xpElectronicFenceAreaService;
public XpMapController(GDMapGeocodingUtil gdMapGeocodingUtil, XpGeoFencingPolygonService xpGeoFencingPolygonService, RedisService redisService, XpOrderClient xpOrderClient, MongoTemplate mongoTemplate) {
this.gdMapGeocodingUtil = gdMapGeocodingUtil;
@@ -63,6 +71,71 @@
this.xpOrderClient = xpOrderClient;
this.mongoTemplate = mongoTemplate;
}
+
+
+ @PostMapping("/base/v1/map/getDistanceAndDurationList")
+ public R<List<RouteVo>> getDistanceAndDurationList(@RequestBody RouteAndFareDto dto){
+ // 获取电子围栏的禁行区域点位
+ GeoPoint startPoint = new GeoPoint(dto.getOrigin().getLongitude(),dto.getOrigin().getLatitude());
+ List<String> operatingArea = xpGeoFencingPolygonService.findFencesContainingPoint(startPoint, "operating_area", "points");
+ String fenceId = operatingArea.get(0);
+
+ List<Document> pointsInFence = xpGeoFencingPolygonService.findPointsByParentId(fenceId, "fenceId", "prohibited_area");
+
+ // 避让区域
+ ArrayList<JSONObject> pointStrParam = new ArrayList<>();
+ try {
+ for (Document document : pointsInFence) {
+ // 获取points字段（它是GeoJSON对象）
+ Document geoJsonDoc = document.get("points", Document.class);
+
+ if (geoJsonDoc != null && "Polygon".equals(geoJsonDoc.getString("type"))) {
+ // 获取coordinates数组
+ List<List<List<Double>>> coordinates = (List<List<List<Double>>>) geoJsonDoc.get("coordinates");
+
+ 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) {
+ 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());
+// 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);
+ }
+ List<RouteVo> routeVo = gdMapGeocodingUtil.getDistanceAndTimeList(dto.getOrigin(), dto.getDestination(), pointStrParam, fenceId,dto.getRoutePlanRule(), history);
+ if(routeVo==null || routeVo.isEmpty()){
+ return R.fail("没有找到路线");
+ }
+
+ return R.ok(routeVo);
+ }catch (Exception e){
+ e.printStackTrace();
+ }
+ return R.fail("没有找到路线");
+
+
+ }
+
+
@PostMapping("/base/v1/map/getDistanceAndDuration")
@@ -143,14 +216,14 @@
String fenceId = null;
if(!operatingArea.isEmpty()){
fenceId = operatingArea.get(0);
- List<Document> pointsInFence = xpGeoFencingPolygonService.findPointsByParentId(fenceId, "fenceId", "prohibited_area");
- for (Document document : pointsInFence) {
- List<GeoPoint> points = document.getList("points", GeoPoint.class);
+ List<XpElectronicFenceArea> list = xpElectronicFenceAreaService.list(new QueryWrapper<XpElectronicFenceArea>().eq("electronic_id", fenceId).eq("is_deleted", 0).eq("area_type", 2));
+ for (XpElectronicFenceArea xpElectronicFenceArea : list) {
+ String fencePoints = xpElectronicFenceArea.getFencePoints();
List<String> coordinatesList = new ArrayList<>();
- // 一个区域的点位
- for (GeoPoint point : points) {
- coordinatesList.add(point.getLongitude()+","+point.getLatitude());
+ for (String s : fencePoints.split(",")) {
+ coordinatesList.add(s.replace("_", ","));
}
+
JSONObject jsonObject = new JSONObject();
jsonObject.put("coordinates", coordinatesList);
pointStrParam.add(jsonObject);
--
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