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@@ -42,5 +42,36 @@ public class sceneGrpcServer extends SceneGrpcServiceGrpc.SceneGrpcServiceImplBa
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log.info("回复{}",res);
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}
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+ @Override
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+ public void getRoute(RouteRequest request, StreamObserver<RouteReply> responseObserver) {
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+ // grpc服务端获取调用端请求参数
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+ String sceneCode = request.getSceneCode();
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+ Point sLocation = request.getSLocation();
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+ Point eLocation = request.getELocation();
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+ RouteDto po=new RouteDto();
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+ PointPO s=new PointPO();
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+ s.setX(Double.parseDouble(sLocation.getX()));
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+ s.setY(Double.parseDouble(sLocation.getY()));
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+ s.setZ(Double.parseDouble(sLocation.getY()));
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+ PointPO e=new PointPO();
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+ e.setX(Double.parseDouble(eLocation.getX()));
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+ e.setY(Double.parseDouble(eLocation.getY()));
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+ e.setZ(Double.parseDouble(eLocation.getY()));
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+ po.setE_location(e);
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+ po.setS_location(s);
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+ po.setSceneCode(sceneCode);
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+ JSONArray maps = GetRoute.getRoute(metaConfig.getFreespacePath()+ File.separator +"target_freespace.json", po);
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+ // 这里可以有自己的业务代码，只需要按照porto中的返回类型返回参数即可
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+ RouteReply.Builder builder = RouteReply.newBuilder();
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+ if (ArrayUtil.isNotEmpty(maps)) {
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+ for (int i = 0; i < maps.size(); i++) {
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+ RouteArray.Builder addInBuilder = builder.addInBuilder();
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+ ProtoJsonUtils.toProtoBean(addInBuilder, maps.get(i).toString());
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+ }
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+
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+ }
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+ responseObserver.onNext(builder.build());
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+ responseObserver.onCompleted();
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+ }
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}
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xushiting