Merge remote-tracking branch 'origin/main'

2025-09-19 11:13:05 +08:00 · 2025-09-19 11:13:05 +08:00 · 8ce2e384f4
commit 8ce2e384f4
parent 47393abe1d f4e4aaa6fc
8 changed files with 266 additions and 104 deletions
--- a/src/main/demo.html
+++ b/src/main/demo.html
@ -1,89 +1,86 @@
 <!DOCTYPE html>
-<html>
+<html lang="zh-CN">
 <head>
-  <meta charset="utf-8">
-  <title>Google Map 绘制路线</title>
-  <meta name="viewport" content="width=device-width, initial-scale=1">
+  <meta charset="UTF-8">
+  <title>WS实时推送轨迹 - Google Map</title>
+  <meta name="viewport" content="width=device-width,initial-scale=1.0">
  <style>
-    html, body, #map {
-      height: 100%;
-      margin: 0;
-      padding: 0;
-      width: 100%;
-    }
-    #map {
-      height: 100vh;
-      width: 100vw;
-      max-width: 100%;
-    }
+    html, body { height: 100%; margin: 0; padding: 0; }
+    #map { width: 100vw; height: 100vh; }
  </style>
 </head>
 <body>
 <div id="map"></div>
 <script>
-  // 你的坐标点数据
-  const coordinates = [
-    [121.148362,25.007064],
-    [121.147496,25.00752],
-    [121.147192,25.007612],
-    [121.146891,25.00789],
-    [121.147089,25.008096],
-    [121.148939,25.010199],
-    [121.149814,25.01108],
-    [121.150415,25.011655],
-    [121.150568,25.011768],
-    [121.151121,25.012033],
-    [121.151473,25.012199],
-    [121.153264,25.012971],
-    [121.154028,25.013381],
-    [121.155039,25.01385],
-    [121.155173,25.013938],
-    [121.155642,25.014328],
-    [121.156141,25.01477],
-    [121.156821,25.015341],
-    [121.156284,25.015809],
-    [121.156031,25.01598],
-    [121.15582,25.016178],
-    [121.15923,25.019152],
-    [121.158644,25.019264],
-    [121.157153,25.019622]
-  ].map(([lng, lat]) => ({lat: lat, lng: lng}));
+  // 初始化轨迹
+  let path = [];
+  let map, marker, polyline;

  function initMap() {
-    // 地图居中点
-    const center = coordinates[Math.floor(coordinates.length / 2)];
-    const map = new google.maps.Map(document.getElementById('map'), {
-      zoom: 15,
-      center: center,
-      mapTypeId: 'roadmap'
+    map = new google.maps.Map(document.getElementById("map"), {
+      zoom: 14,
+      center: {lat: 23.0, lng: 121.1}
    });

-    // 绘制路线
-    const routePath = new google.maps.Polyline({
-      path: coordinates,
+    polyline = new google.maps.Polyline({
+      path: path,
      geodesic: true,
-      strokeColor: '#FF0000',
+      strokeColor: "#e53935",
      strokeOpacity: 0.8,
-      strokeWeight: 4
+      strokeWeight: 4,
+      map: map
    });

-    routePath.setMap(map);
-
-    // 起点和终点标记
-    new google.maps.Marker({
-      position: coordinates[0],
+    marker = new google.maps.Marker({
      map: map,
-      label: "起"
-    });
-    new google.maps.Marker({
-      position: coordinates[coordinates.length - 1],
-      map: map,
-      label: "终"
+      icon: {
+        url: "https://maps.gstatic.com/intl/en_us/mapfiles/markers2/measle_blue.png",
+        scaledSize: new google.maps.Size(32, 32)
+      }
    });
  }
+
+  // 连接WebSocket
+  function connectWS() {
+    // 换成你的ws地址！
+    const ws = new WebSocket("ws://127.0.0.1:8099/ws/2746/b9164a7f-f14a-4df0-ab25-e7dae9881796");
+    ws.onopen = () => console.log("WebSocket已连接");
+    ws.onmessage = (evt) => {
+      // 假设后端发过来的是一个点 [lng, lat] 或一组点 [[lng,lat],...]
+      let data = JSON.parse(evt.data);
+      if(data.cmdType==='update_path'){
+        let points = [];
+        if (Array.isArray(data[0])) {
+          // 一组点
+          points = data.map(([lng, lat]) => ({lat, lng}));
+        } else {
+          // 单个点
+          const [lng, lat] = data;
+          points = [{lat, lng}];
+        }
+        // 更新轨迹
+        points.forEach(pt => path.push(pt));
+        polyline.setPath(path);
+        if (path.length === 1) map.setCenter(path[0]);
+        marker.setPosition(path[path.length - 1]);
+        map.panTo(path[path.length - 1]);
+      }
+
+    };
+    ws.onerror = (e) => console.log("WS错误", e);
+    ws.onclose = () => {
+      console.log("WS断开，3秒后重连");
+      setTimeout(connectWS, 3000);
+    };
+  }
+
+  window.initMap = initMap;
+  window.onload = () => {
+    // 保证Google Map加载完后再连ws
+    setTimeout(connectWS, 1000);
+  };
 </script>
-<script async
-        src="https://maps.googleapis.com/maps/api/js?key=YOUR_API_KEY&callback=initMap">
-</script>
+<!-- 你的 Google Map API KEY -->
+<script src="https://maps.googleapis.com/maps/api/js?key=AIzaSyDIN8ap3znRdSCwW4p3q4ZCpxy3mjBJKNQ&callback=initMap" async defer></script>
 </body>
 </html>
--- a/src/main/java/com/hivekion/Test.java
+++ b/src/main/java/com/hivekion/Test.java
@ -1,5 +1,8 @@
 package com.hivekion;

+import java.util.NavigableMap;
+import java.util.TreeMap;
+
 /**
 * [类的简要说明]
 * <p>
@ -12,13 +15,12 @@ package com.hivekion;
 public class Test {

  public static void main(String[] args) {
-     String test = "id\n"
-         + "general_time\n"
-         + "from_resource_id\n"
-         + "supplier_type\n"
-         + "supplier_num\n"
-         + "lat\n"
-         + "lng";
-     System.out.println(test.toUpperCase());
+    TreeMap<Double, String> treeMap = new TreeMap<Double, String>();
+    treeMap.put(new Double("1"), "1");
+    treeMap.put(new Double("5"), "1");
+    treeMap.put(new Double("9"), "1");
+    treeMap.put(new Double("20"), "1");
+    treeMap.put(new Double("21"), "1");
+    System.out.println(treeMap.ceilingKey(new Double("22"))); ;
  }
 }
--- a/src/main/java/com/hivekion/common/MultiPointGeoPosition.java
+++ b/src/main/java/com/hivekion/common/MultiPointGeoPosition.java
@ -40,6 +40,7 @@ public class MultiPointGeoPosition {
  }

  public static double[] interpolate(double lat1, double lon1, double lat2, double lon2, double f) {
+
    lat1 = toRadians(lat1);
    lon1 = toRadians(lon1);
    lat2 = toRadians(lat2);
@ -118,4 +119,21 @@ public class MultiPointGeoPosition {
    PositionResult pos = getPosition(points, speed, time);
    System.out.printf("当前位置：纬度 %.6f, 经度 %.6f, 是否到达：%s\n", pos.latitude, pos.longitude, pos.reached ? "是" : "否");
  }
+  /**
+   * 沿球面大圆，从起点(lat1, lon1)出发，沿着到终点(lat2, lon2)方向，距离为d(米)的位置点
+   * 若d >= 起点到终点距离，则返回终点
+   * @param lat1 起点纬度
+   * @param lon1 起点经度
+   * @param lat2 终点纬度
+   * @param lon2 终点经度
+   * @param d 距起点的距离（米）
+   * @return double[]{纬度, 经度}
+   */
+  public static double[] pointAlong(double lat1, double lon1, double lat2, double lon2, double d) {
+    double L = haversine(lat1, lon1, lat2, lon2);
+    if (d <= 0) return new double[] {lat1, lon1};
+    if (d >= L)  return new double[] {lat2, lon2};
+    double f = d / L;
+    return interpolate(lat1, lon1, lat2, lon2, f);
+  }
 }
--- a/src/main/java/com/hivekion/enums/WsCmdTypeEnum.java
+++ b/src/main/java/com/hivekion/enums/WsCmdTypeEnum.java
@ -0,0 +1,24 @@
+package com.hivekion.enums;
+
+import lombok.Getter;
+
+/**
+ * [类的简要说明]
+ * <p>
+ * [详细描述，可选]
+ * <p>
+ *
+ * @author LiDongYU
+ * @since 2025/7/22
+ */
+public enum WsCmdTypeEnum {
+  PATH_UPDATE("path_update"),
+  PATH_FINISHED("path_finished"),
+  PATH_INIT("path_init");
+  @Getter
+  private final String code;
+
+  WsCmdTypeEnum(String code) {
+    this.code = code;
+  }
+}
--- a/src/main/java/com/hivekion/room/bean/MoveRootTask.java
+++ b/src/main/java/com/hivekion/room/bean/MoveRootTask.java
@ -7,13 +7,21 @@ import com.alibaba.fastjson2.JSONObject;
 import com.hivekion.Global;
 import com.hivekion.common.MultiPointGeoPosition;
 import com.hivekion.common.entity.ResponseCmdInfo;
+import com.hivekion.enums.WsCmdTypeEnum;
 import com.hivekion.room.func.TaskAction;
 import com.hivekion.scenario.entity.ScenarioTask;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
 import java.util.Map;
+import java.util.Map.Entry;
+import java.util.NavigableMap;
 import java.util.TreeMap;
 import java.util.concurrent.Executors;
 import java.util.concurrent.ScheduledExecutorService;
 import java.util.concurrent.TimeUnit;
+import java.util.concurrent.atomic.AtomicReference;
+import lombok.Data;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.core.env.Environment;

@ -29,12 +37,19 @@ import org.springframework.core.env.Environment;
@Slf4j
 public class MoveRootTask extends AbtParentTask implements TaskAction {

+  /**
+   * 速度 换算为100Km/小时
+   */
+  private final double SPEED = 27;
+  /**
+   * 距离和坐标的对应关系
+   */
+  private final TreeMap<Double, Coordinate> distanceInfoMap = new TreeMap<>();
+  /**
+   * 开始点坐标
+   */
+  private final AtomicReference<Double> startPoint = new AtomicReference<>();

-  private final double SPEED = 170;//速度
-  private double accumulatedDistance = 0;//累计距离
-  private final Map<Double, String> distanceInfoMap = new TreeMap<Double, String>();//距离和坐标点对应关系
-  private Double beforeLng = null;//上一次经度
-  private Double beforeLat = null; //上一次纬度

  public MoveRootTask(ScenarioTask scenarioTask, String roomId) {
    super(scenarioTask, roomId);
@ -53,9 +68,7 @@ public class MoveRootTask extends AbtParentTask implements TaskAction {
   */
  private void initPath() {
    try {
-      beforeLng = Double.parseDouble(scenarioTask.getFromLng());
-      beforeLat = Double.parseDouble(scenarioTask.getFromLat());
-      //累计距离
+
      String url = SpringUtil.getBean(Environment.class).getProperty("path.planning.url");
      String params = url + "?"
          + "profile=car"
@ -65,35 +78,56 @@ public class MoveRootTask extends AbtParentTask implements TaskAction {
          + scenarioTask.getToLng()
          + "&points_encoded=false"
          + "&algorithm=alternative_route&alternative_route.max_paths=3";
-      log.info("params::{}", params);
+      //获取路线信息
      String result = webClient.get().uri(params)
          .retrieve()
          .bodyToMono(String.class)
          .block();
-      log.info("result:{}", result);
+
      JSONObject pointJson = JSON.parseObject(result);
      //获取路径点
      if (pointJson != null) {
        JSONObject pointsObj = pointJson.getJSONArray("paths").getJSONObject(0)
            .getJSONObject("points");
-
+        JSONArray coordinates = pointsObj.getJSONArray("coordinates");
+        //组装信息
+        Map<String, Object> dataMap = new HashMap<>();
+        dataMap.put("resourceId", scenarioTask.getResourceId());
+        dataMap.put("points", coordinates);
        //推送路径任务
        Global.sendCmdInfoQueue.add(
-            ResponseCmdInfo.create("path_init", roomId, scenarioTask.getScenarioId(), pointsObj));
-
-        JSONArray coordinates = pointsObj.getJSONArray("coordinates");
-
+            ResponseCmdInfo.create(WsCmdTypeEnum.PATH_INIT.getCode(), roomId,
+                scenarioTask.getScenarioId(), dataMap));
+        log.info("init::{}", JSON.toJSONString(coordinates));
+        //计算各个点的累计距离和坐标的对应关系
+        double beforeLng = Double.parseDouble(scenarioTask.getFromLng());
+        double beforeLat = Double.parseDouble(scenarioTask.getFromLat());
+        double total = 0;
        for (int i = 0; i < coordinates.size(); i++) {
          JSONArray coordinate = coordinates.getJSONArray(i);
          Double lng = coordinate.getDouble(0);
+
          Double lat = coordinate.getDouble(1);
-          double distance = MultiPointGeoPosition.haversine(beforeLat, beforeLng, lng, lat);
-          distanceInfoMap.put(distance, lng + "," + lat);
+
+          double distance = MultiPointGeoPosition.haversine(beforeLat, beforeLng, lat, lng);
+          //当前总距离
+          total = total + distance;
+          //定义坐标对象
+          Coordinate coordinateInfo = new Coordinate();
+          coordinateInfo.setLat(lat);
+          coordinateInfo.setLng(lng);
+
+          //记录距离和数组列表直接的索引关系
+          distanceInfoMap.put(total, coordinateInfo);
+
          beforeLng = lng;
          beforeLat = lat;

        }
+        //设置第一个开始位置
+        startPoint.set(distanceInfoMap.firstKey());
      }
+
    } catch (Exception e) {
      log.error("error::", e);
    }
@ -104,14 +138,96 @@ public class MoveRootTask extends AbtParentTask implements TaskAction {
    ScheduledExecutorService schedule = Executors.newScheduledThreadPool(
        1);
    schedule.scheduleWithFixedDelay(() -> {
-      long duringTime = getDuringTime();
-      //
-      double distance = duringTime * SPEED;
-        
+
+      try {
+        if (this.getRoomStatus()) {
+
+          long duringTime = getDuringTime();
+          log.info("duringTime::{}", duringTime);
+          //跑动距离
+          double distance = duringTime * SPEED;
+          //获取大与此距离的第一个路线点key
+          Entry<Double, Coordinate> endPoint = distanceInfoMap.ceilingEntry(distance);
+          //ws数据
+          List<double[]> dataList = new ArrayList<>();
+          HashMap<Object, Object> dataMap = new HashMap<>();
+          dataMap.put("resourceId", scenarioTask.getResourceId());
+          dataMap.put("points", dataList);
+
+          if (Double.compare(distance, endPoint.getKey()) < 0) {
+            //获取小于最大值的第一个key
+            Double lowerKey = distanceInfoMap.lowerKey(endPoint.getKey());
+          //  log.info("distance::{},lowerKey::{},endPoint{}",distance,lowerKey,endPoint.getKey());
+            //获取从上一个开始节点到lowKey的数据
+            NavigableMap<Double, Coordinate> subPathMap = distanceInfoMap.subMap(startPoint.get(),
+                true, lowerKey, true);
+            for (Double key : subPathMap.keySet()) {
+              Coordinate coordinate = subPathMap.get(key);
+              dataList.add(new double[]{coordinate.getLng(), coordinate.getLat()});
+            }
+            double diff =distance -  lowerKey  ;
+
+            //插入值
+            double[] insertPoints = MultiPointGeoPosition.pointAlong(
+                distanceInfoMap.get(lowerKey).getLat(), distanceInfoMap.get(lowerKey).getLng(),
+                endPoint.getValue().getLat(), endPoint.getValue().getLng(), diff);
+
+
+
+            dataList.add(new double[]{insertPoints[1], insertPoints[0]});
+
+            Coordinate coordinate = new  Coordinate();
+            coordinate.setLat(insertPoints[0]);
+            coordinate.setLng(insertPoints[1]);
+            distanceInfoMap.put(distance, coordinate);
+            startPoint.set(distance);
+
+
+            Global.sendCmdInfoQueue.add(
+                ResponseCmdInfo.create(WsCmdTypeEnum.PATH_UPDATE.getCode(), roomId,
+                    scenarioTask.getScenarioId(), dataMap));
+
+          } else if (Double.compare(distance, endPoint.getKey()) == 0) {
+            NavigableMap<Double, Coordinate> subPathMap = distanceInfoMap.subMap(startPoint.get(),
+                true, endPoint.getKey(), true);
+            for (Double key : subPathMap.keySet()) {
+              Coordinate coordinate = subPathMap.get(key);
+              dataList.add(new double[]{coordinate.getLng(), coordinate.getLat()});
+            }
+
+            startPoint.set(endPoint.getKey());
+            Global.sendCmdInfoQueue.add(
+                ResponseCmdInfo.create(WsCmdTypeEnum.PATH_UPDATE.getCode(), roomId,
+                    scenarioTask.getScenarioId(), dataMap));
+
+          } else {
+            //完成路径
+            Global.sendCmdInfoQueue.add(
+                ResponseCmdInfo.create(WsCmdTypeEnum.PATH_FINISHED.getCode(), roomId,
+                    scenarioTask.getScenarioId(), dataMap));
+          }
+
+
+
+        }
+      } catch (Exception e) {
+        log.error("error::", e);
+      }
+

    }, 0, 1, TimeUnit.SECONDS);

    //房间统一管理定时器；房间关闭后，定时器销毁
    addScheduledExecutorServiceRefenceToRoom(schedule);
  }
+
+
+}
+
+@Data
+class Coordinate {
+
+  double lng;
+  double lat;
+
 }
--- a/src/main/java/com/hivekion/room/bean/Room.java
+++ b/src/main/java/com/hivekion/room/bean/Room.java
@ -132,7 +132,7 @@ public class Room implements AutoCloseable {
        if (magValue != null) {
          this.mag = magValue.getMag();
        }
-
+        log.info("mag:{}", mag);
        long curTime = duringTime.addAndGet(this.mag);

        sendRemainTime((totalTime.get() - curTime));
--- a/src/main/java/com/hivekion/scenario/service/impl/ScenarioTaskServiceImpl.java
+++ b/src/main/java/com/hivekion/scenario/service/impl/ScenarioTaskServiceImpl.java
@ -148,7 +148,7 @@ public class ScenarioTaskServiceImpl extends
      try {
        long diff = Duration.between(scenario.getStartTime(),task.getStartTime())
            .getSeconds();
-        log.info("diff::{},taskType::{}",diff,task.getTaskType());
+
        switch (task.getTaskType()) {
          //移动任务
          case "1":
--- a/src/main/java/com/hivekion/statistic/service/impl/StatisticServiceImpl.java
+++ b/src/main/java/com/hivekion/statistic/service/impl/StatisticServiceImpl.java
@ -66,12 +66,17 @@ public class StatisticServiceImpl implements StatisticService {
      return new StatisticBean();
    }
    //获取人员信息
-    List<Fightpowerstaff> staffList = fightpowerstaffService.queryByOrgIds(orgList);
-    int sum = staffList.stream()
-        .mapToInt(Fightpowerstaff::getNumber)
-        .sum();
-    statisticBean.getPerson().setCurrent(sum);
-    statisticBean.getPerson().setTotal(sum);
+    if(!orgList.isEmpty()){
+      List<Fightpowerstaff> staffList = fightpowerstaffService.queryByOrgIds(orgList);
+      int sum = staffList.stream()
+          .mapToInt(Fightpowerstaff::getNumber)
+          .sum();
+      statisticBean.getPerson().setCurrent(sum);
+      statisticBean.getPerson().setTotal(sum);
+    }else{
+      return statisticBean;
+    }
+
    //获取物资信息
    List<OrgSupplier> suppliers = orgSupplierService.selectByOrgIds(orgList);