# -*- coding: utf-8 -*-
import os
import time
import oss2
import xml.etree.ElementTree as ET
from rosbag import Bag, Compression
import shutil
import docker
import bagtocsv_orig
import bagtocsv_hmi
import get_drive
import parse_jinlong_image
import pcdtovideo_jilong_overlook
import pcdtovideo_jilong_forwardlook
key1 = 'kinglong/'
path1 = '/scenarios/'
sleep_time = 5 # 每多少秒扫描一次
def move_xosc_before_simulation(root_path1, root_path2):
try:
xodr1 = 'thq.xodr'
xodr2 = 'OpenDRIVE.xodr'
xodr3 = 'gelan.xodr'
osgb1 = 'thq.opt.osgb'
osgb2 = 'GJBM_20km_0822.opt.osgb'
osgb3 = 'gelan.opt.osgb'
tree1 = ET.parse(root_path1 + '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 = '/root/rosmerge/resource/'
if 'LogicFile' == node1.tag:
if xodr1 in node1.get('filepath'):
dst_file = root_path1 + xodr1
shutil.copy(src_file_prefix + xodr1, dst_file)
node1.set('filepath', dst_file)
if xodr2 in node1.get('filepath'):
dst_file = root_path1 + xodr2
shutil.copy(src_file_prefix + xodr2, dst_file)
node1.set('filepath', dst_file)
if xodr3 in node1.get('filepath'):
dst_file = root_path1 + xodr3
shutil.copy(src_file_prefix + xodr3, dst_file)
node1.set('filepath', dst_file)
if 'SceneGraphFile' == node1.tag:
if osgb1 in node1.get('filepath'):
dst_file = root_path1 + osgb1
shutil.copy(src_file_prefix + osgb1, dst_file)
node1.set('filepath', dst_file)
if osgb2 in node1.get('filepath'):
dst_file = root_path1 + osgb2
shutil.copy(src_file_prefix + osgb2, dst_file)
node1.set('filepath', dst_file)
if osgb3 in node1.get('filepath'):
dst_file = root_path1 + osgb3
shutil.copy(src_file_prefix + osgb3, 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', 'KingLong_snow white')
tree1.write(root_path1 + 'openx0.xosc')
tree2 = ET.parse(root_path2 + 'scenario_hmi.xosc')
root2 = tree2.getroot()
for node0 in root2:
if node0.tag == 'RoadNetwork':
for node1 in node0:
# 打印根元素的标签名
src_file_prefix = '/root/rosmerge/resource/'
if 'LogicFile' == node1.tag:
if xodr1 in node1.get('filepath'):
dst_file = root_path2 + xodr1
shutil.copy(src_file_prefix + xodr1, dst_file)
node1.set('filepath', dst_file)
if xodr2 in node1.get('filepath'):
dst_file = root_path2 + xodr2
shutil.copy(src_file_prefix + xodr2, dst_file)
node1.set('filepath', dst_file)
if xodr3 in node1.get('filepath'):
dst_file = root_path2 + xodr3
shutil.copy(src_file_prefix + xodr3, dst_file)
node1.set('filepath', dst_file)
if 'SceneGraphFile' == node1.tag:
if osgb1 in node1.get('filepath'):
dst_file = root_path2 + osgb1
shutil.copy(src_file_prefix + osgb1, dst_file)
node1.set('filepath', dst_file)
if osgb2 in node1.get('filepath'):
dst_file = root_path2 + osgb2
shutil.copy(src_file_prefix + osgb2, dst_file)
node1.set('filepath', dst_file)
if osgb3 in node1.get('filepath'):
dst_file = root_path2 + osgb3
shutil.copy(src_file_prefix + osgb3, 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', 'KingLong_snow white')
tree2.write(root_path2 + 'openx0.xosc')
except Exception as e:
print "修改xosc报错: %s" % str(e)
# print(f'修改xosc报错：{e}')
def delete_files_in_dir(dir_path):
# 遍历目录下的所有文件和子目录
for root, dirs, files in os.walk(dir_path):
for file in files:
file_path = os.path.join(root, file)
try:
os.remove(file_path)
except OSError as e:
print("删除文件时出错：", file_path, "-", e.strerror)
# 扫描目录上传mp4
def upload_simulation(parse_prefix, mp41, mp42):
try:
bucket.put_object_from_file(parse_prefix + 'scenario_orig.mp4', mp41)
print '上传仿真视频到 %s' % parse_prefix + 'scenario_orig.mp4'
bucket.put_object_from_file(parse_prefix + 'scenario_hmi.mp4', mp42)
print '上传仿真视频到 %s' % parse_prefix + 'scenario_hmi.mp4'
shutil.rmtree(path1)
except Exception as e:
print "上传视频报错: %s" % str(e)
# print(f'上传视频报错{e}')
def simulation(parse_prefix, mp41, mp42):
try:
os.system("docker start vtd")
# 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 'vtd' == container.name:
run = True
break
if not run:
break
time.sleep(5)
upload_simulation(parse_prefix, mp41, mp42)
except Exception as e:
print "生成仿真视频报错: %s" % str(e)
# print(f'生成仿真视频报错{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
内网endpoint: oss-cn-beijing-gqzl-d01-a.ops.gqzl-cloud.com
oss桶名： open-bucket
keyid：n8glvFGS25MrLY7j
secret：xZ2Fozoarpfw0z28FUhtg8cu0yDc5d
'''
# ------- 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')
# cname = 'http://open-bucket.oss.icvdc.com'
# bucket = oss2.Bucket(auth, cname, 'open-bucket', is_cname=True)
endpoint = 'oss-cn-beijing-gqzl-d01-a.ops.gqzl-cloud.com'
bucket = oss2.Bucket(auth, endpoint, 'open-bucket')
while True:
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:
xosc1_done = False
xosc2_done = False
mp41_done = False
mp42_done = False
for obj3 in oss2.ObjectIterator(bucket, prefix=obj2_key):
if '/scenario_orig.xosc' in str(obj3.key):
xosc1_done = True
if '/scenario_hmi.xosc' in str(obj3.key):
xosc2_done = True
if '/scenario_orig.mp4' in str(obj3.key):
mp41_done = True
if '/scenario_hmi.mp4' in str(obj3.key):
mp42_done = True
if not xosc1_done or not xosc2_done:
continue
if mp41_done and mp42_done:
continue
# print(f'需要生成xosc：{obj2_key}')
print "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/'
root_path2 = local_dir_full + 'hmi/'
if not os.path.exists(root_path1):
os.makedirs(root_path1)
if not os.path.exists(root_path2):
os.makedirs(root_path2)
bucket.get_object_to_file(parse_prefix_full + 'scenario_orig.xosc', root_path1 + 'scenario_orig.xosc')
bucket.get_object_to_file(parse_prefix_full + 'scenario_hmi.xosc', root_path2 + 'scenario_hmi.xosc')
local_delete_list.append(root_path1 + 'scenario_orig.xosc')
local_delete_list.append(root_path2 + 'scenario_hmi.xosc')
move_xosc_before_simulation(root_path1, root_path2)
simulation(parse_prefix_full, root_path1 + 'simulation.mp4', root_path2 + '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:
print "删除本地临时文件报错: %s" % str(e)
# print(f'删除本地临时文件报错{e}')
time.sleep(sleep_time)