107 lines
3.0 KiB
Java
107 lines
3.0 KiB
Java
package com.hivekion.room.bean;
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import cn.hutool.extra.spring.SpringUtil;
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import com.alibaba.fastjson2.JSON;
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import com.alibaba.fastjson2.JSONArray;
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import com.alibaba.fastjson2.JSONObject;
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import com.hivekion.Global;
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import com.hivekion.common.MultiPointGeoPosition;
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import com.hivekion.common.entity.ResponseCmdInfo;
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import com.hivekion.room.func.TaskAction;
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import com.hivekion.scenario.entity.ScenarioTask;
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import java.util.Map;
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import java.util.TreeMap;
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import java.util.concurrent.Executors;
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import java.util.concurrent.ScheduledExecutorService;
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import java.util.concurrent.ScheduledFuture;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.core.env.Environment;
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/**
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* [类的简要说明]
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* <p>
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* [详细描述，可选]
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* <p>
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*
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* @author LiDongYU
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* @since 2025/7/22
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*/
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@Slf4j
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public class MoveRootTask extends AbtParentTask implements TaskAction {
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protected final ScheduledExecutorService schedule = Executors.newScheduledThreadPool(
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1);
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protected ScheduledFuture<?> scheduledFuture;
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private final double SPEED = 170;
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private double accumulatedDistance = 0;
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public MoveRootTask(ScenarioTask scenarioTask, String roomId) {
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super(scenarioTask, roomId);
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}
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private final Map<Double, String> distanceInfoMap = new TreeMap<Double, String>();
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@Override
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public void doSomeThing() {
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log.info("move task running");
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//累计距离
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String url = SpringUtil.getBean(Environment.class).getProperty("path.planning.url");
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String params = url + "?"
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+ "profile=car"
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+ "&point=" + scenarioTask.getFromLat() + ","
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+ scenarioTask.getFromLng()
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+ "&point=" + scenarioTask.getToLat() + ","
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+ scenarioTask.getToLng()
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+ "points_encoded=false"
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+ "&algorithm=alternative_route&alternative_route.max_paths=3";
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String result = webClient.get().uri(params)
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.retrieve()
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.bodyToMono(String.class)
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.block();
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JSONObject pointJson = JSON.parseObject(result);
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//获取路径点
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if (pointJson != null) {
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JSONObject pointsObj = pointJson.getJSONArray("paths").getJSONObject(0)
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.getJSONObject("points");
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//推送路径任务
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Global.sendCmdInfoQueue.add(
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ResponseCmdInfo.create("path_init", roomId, scenarioTask.getScenarioId(), pointsObj));
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JSONArray coordinates = pointsObj.getJSONArray("coordinates");
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Double beforeLng = null;
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Double beforeLat = null;
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for (int i = 0; i < coordinates.size(); i++) {
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JSONArray coordinate = coordinates.getJSONArray(i);
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Double lng = coordinate.getDouble(0);
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Double lat = coordinate.getDouble(1);
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if (beforeLng == null && beforeLat == null) {
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distanceInfoMap.put((double) 0, lng + "," + lat);
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} else {
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double distance = MultiPointGeoPosition.haversine(beforeLat, beforeLng, lng, lat);
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distanceInfoMap.put(distance, lng + "," + lat);
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}
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beforeLng = lng;
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beforeLat = lat;
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}
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}
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}
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@Override
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protected void finished() {
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}
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@Override
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protected void setMag(int mag) {
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}
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}
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