commit

src/python2/pjibot_delivery/simulation-kill.sh

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+#!/bin/bash
+ps aux | grep 'python2 simulation.py' | grep -v grep | awk '{print $2}' | xargs kill -9

src/python2/pjibot_delivery/simulation-nohup.sh

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+#!/bin/bash
+nohup python2 simulation.py > log/simulation.out 2>&1 &

src/python2/pjibot_delivery/simulation-tail.sh

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+#!/bin/bash
+tail -f log/simulation.log

src/python2/pjibot_delivery/simulation.py

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+# -*- coding: utf-8 -*-
+import os
+import time
+import oss2
+import xml.etree.ElementTree as ET
+import shutil
+import docker
+import logging
+
+key1 = 'pjibot_delivery/'
+path1 = '/scenarios3/'
+path2 = '/mnt/disk001/dcl_data_process/src/python2/pjibot_delivery/'
+path3 = '/mnt/disk001/dcl_data_process/src/python2/pjibot_delivery/resource/'
+
+logging.basicConfig(filename=path2 + 'log/simulation.log', level=logging.INFO,
+                    format='%(asctime)s - %(levelname)s - %(message)s')
+
+sleep_time = 60  # 每多少秒扫描一次
+
+
+def move_xosc_before_simulation(root_path):
+    try:
+
+        xodr = 'thq_1116.xodr'
+        osgb = 'thq_1116.opt.osgb'
+
+        tree1 = ET.parse(root_path + 'scenario_orig.xosc')
+        root1 = tree1.getroot()
+        for node0 in root1:
+            if node0.tag == 'RoadNetwork':
+                for node1 in node0:
+                    # 打印根元素的标签名
+                    src_file_prefix = path3
+                    if 'LogicFile' == node1.tag:
+                        if xodr in node1.get('filepath'):
+                            dst_file = root_path + xodr
+                            shutil.copy(src_file_prefix + xodr, dst_file)
+                            node1.set('filepath', dst_file)
+                        if xodr in node1.get('filepath'):
+                            dst_file = root_path + xodr
+                            shutil.copy(src_file_prefix + xodr, dst_file)
+                            node1.set('filepath', dst_file)
+                        if xodr in node1.get('filepath'):
+                            dst_file = root_path + xodr
+                            shutil.copy(src_file_prefix + xodr, dst_file)
+                            node1.set('filepath', dst_file)
+                    if 'SceneGraphFile' == node1.tag:
+                        if osgb in node1.get('filepath'):
+                            dst_file = root_path + osgb
+                            shutil.copy(src_file_prefix + osgb, dst_file)
+                            node1.set('filepath', dst_file)
+                        if osgb in node1.get('filepath'):
+                            dst_file = root_path + osgb
+                            shutil.copy(src_file_prefix + osgb, dst_file)
+                            node1.set('filepath', dst_file)
+                        if osgb in node1.get('filepath'):
+                            dst_file = root_path + osgb
+                            shutil.copy(src_file_prefix + osgb, dst_file)
+                            node1.set('filepath', dst_file)
+            if node0.tag == 'Entities':
+                for node1 in node0:
+                    if node1.get("name") == 'Ego':
+                        for node2 in node1:
+                            if node2.tag == 'Vehicle':
+                                node2.set('name', 'Pji_Utility_Vehicle')
+        tree1.write(root_path + 'openx0.xosc')
+
+    except Exception as e:
+        logging.exception("修改xosc报错: %s" % str(e))
+
+
+def upload_simulation(parse_prefix, mp41):
+    try:
+        bucket.put_object_from_file(parse_prefix + 'scenario_orig.mp4', mp41)
+        logging.info('上传仿真视频到 %s' % parse_prefix + 'scenario_orig.mp4')
+        shutil.rmtree(path1) # 仿真完就删除
+    except Exception as e:
+        logging.exception("上传视频报错 %s" % str(e))
+
+
+def simulation(parse_prefix, mp41):
+    try:
+        os.system("docker start vtd3")
+        # 实例化Docker客户端
+        client = docker.from_env()
+        while True:
+            time.sleep(5)
+            # 获取容器列表
+            containers = client.containers.list()
+            run = False
+            # 打印容器列表
+            for container in containers:
+                if 'vtd3' == container.name:
+                    run = True
+                    break
+            if not run:
+                break
+        time.sleep(5)
+        upload_simulation(parse_prefix, mp41)
+    except Exception as e:
+        logging.exception("生成仿真视频报错 %s" % str(e))
+
+
+def is_upload_completed(bucket, prefix):
+    target_number = str(prefix).split('_')[-1][:-1]
+    count = 0
+    for obj in oss2.ObjectIterator(bucket, prefix=prefix):
+        if obj.key != prefix:
+            count += 1
+    return int(count) == int(target_number)
+
+
+'''
+cname：http://open-bucket.oss.icvdc.com
+keyid：n8glvFGS25MrLY7j
+secret：xZ2Fozoarpfw0z28FUhtg8cu0yDc5d
+oss桶名： oss://open-bucket
+
+oss桶名： open-bucket
+内网endpoint: oss-cn-beijing-gqzl-d01-a.ops.gqzl-cloud.com
+'''
+# ------- 获取合并之后的bag包，解析出csv -------
+if __name__ == '__main__':
+    # 1 创建阿里云对象
+    auth = oss2.Auth('n8glvFGS25MrLY7j', 'xZ2Fozoarpfw0z28FUhtg8cu0yDc5d')
+    endpoint = 'oss-cn-beijing-gqzl-d01-a.ops.gqzl-cloud.com'
+    bucket = oss2.Bucket(auth, endpoint, 'open-bucket')
+    while True:
+        logging.info("开始新一轮扫描")
+        local_delete_list = []
+        oss_delete_list = []
+        prefix_list = []
+        # 2 获取已经上传完成的所有目录并分组
+        all_prefix_set = set()
+        for obj1 in oss2.ObjectIterator(bucket, prefix=key1):
+            # 获取csv
+            if 'data_parse' in str(obj1.key) and str(obj1.key).count('/') == 4:
+                all_prefix_set.add('/'.join(str(obj1.key).split('/')[:-1]) + '/')
+        for obj2_key in all_prefix_set:
+            xosc_done = False
+            mp4_done = False
+            for obj3 in oss2.ObjectIterator(bucket, prefix=obj2_key):
+                if '/scenario.xosc' in str(obj3.key):
+                    xosc_done = True
+                if '/scenario_orig.mp4' in str(obj3.key):
+                    mp4_done = True
+            if not xosc_done or mp4_done:
+                continue
+
+            logging.info("需要生成仿真视频: %s" % obj2_key)
+            parse_prefix_full = obj2_key
+            local_dir_full = path1 + parse_prefix_full
+            if not os.path.exists(local_dir_full):
+                os.makedirs(local_dir_full)
+            # 下载两个csv
+            root_path1 = local_dir_full + 'orig/'
+            if not os.path.exists(root_path1):
+                os.makedirs(root_path1)
+
+            bucket.get_object_to_file(parse_prefix_full + 'simulation.xosc', root_path1 + 'scenario_orig.xosc')
+            local_delete_list.append(root_path1 + 'scenario_orig.xosc')
+            move_xosc_before_simulation(root_path1)
+            simulation(parse_prefix_full, root_path1 + 'simulation.mp4')
+
+        # 删除本地临时文件
+        if len(local_delete_list) > 0:
+            for local_delete in local_delete_list:
+                try:
+                    os.remove(local_delete)
+                except Exception as e:
+                    logging.exception("删除本地临时文件报错: %s" % str(e))
+        time.sleep(sleep_time)