# -*- 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)