simulation-backend/src/main/java/com/hivekion/room/bean/MoveRootTask.java

package com.hivekion.room.bean;

import cn.hutool.extra.spring.SpringUtil;
import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONArray;
import com.alibaba.fastjson2.JSONObject;
import com.hivekion.Global;
import com.hivekion.common.MultiPointGeoPosition;
import com.hivekion.common.entity.ResponseCmdInfo;
import com.hivekion.room.func.TaskAction;
import com.hivekion.scenario.entity.ScenarioTask;
import java.util.Map;
import java.util.TreeMap;
import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.TimeUnit;
import lombok.extern.slf4j.Slf4j;
import org.springframework.core.env.Environment;

/**
 * [类的简要说明]
 * <p>
 * [详细描述，可选]
 * <p>
 *
 * @author LiDongYU
 * @since 2025/7/22
 */
@Slf4j
public class MoveRootTask extends AbtParentTask implements TaskAction {


  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);
  }


  @Override
  public void doSomeThing() {
    log.info("move task running");
    initPath(); //初始化路径
    updatePath(); //更新路径
  }

  /**
   * 初始化路径
   */
  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"
          + "&point=" + scenarioTask.getFromLat() + ","
          + scenarioTask.getFromLng()
          + "&point=" + scenarioTask.getToLat() + ","
          + scenarioTask.getToLng()
          + "&points_encoded=false"
          + "&algorithm=alternative_route&alternative_route.max_paths=3";
      log.info("params::{}", params);
      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");

        //推送路径任务
        Global.sendCmdInfoQueue.add(
            ResponseCmdInfo.create("path_init", roomId, scenarioTask.getScenarioId(), pointsObj));

        JSONArray coordinates = pointsObj.getJSONArray("coordinates");

        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);
          beforeLng = lng;
          beforeLat = lat;

        }
      }
    } catch (Exception e) {
      log.error("error::", e);
    }
  }

  private void updatePath() {

    ScheduledExecutorService schedule = Executors.newScheduledThreadPool(
        1);
    schedule.scheduleWithFixedDelay(() -> {
      long duringTime = getDuringTime();
      //
      double distance = duringTime * SPEED;
        

    }, 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);
  }
}