# -*- coding: utf-8 -*- import os import time import oss2 from resource import pcdtovideo_pji_deepcamera import logging path1 = '/mnt/disk001/dcl_data_process/src/python2/pjibot/' path2 = '/mnt/disk001/dcl_data_process/src/python2/pjibot/resource/' logging.basicConfig(filename=path1 + 'log/pcd.log', level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s') key1 = 'pjibot/' sleep_time = 60 # 每多少秒扫描一次 def parse_to_pcd_mp4(merged_bag_file_path, parse_prefix2, local_parse_dir, local_delete_list): global bucket try: # local_pcd_mp4_dir1 = pcdtovideo_pji_deepcamera.parse1('/ob_camera_01/depth/points', merged_bag_file_path, # local_parse_dir + '/depth1/') # local_pcd_mp4_dir2 = pcdtovideo_pji_deepcamera.parse2('/ob_camera_02/depth/points', merged_bag_file_path, # local_parse_dir + '/depth2/') os.chdir(path2) command1 = 'sh run.sh ' + merged_bag_file_path + ' ' + local_parse_dir logging.info("调用命令lidar视频生成命令: %s" % str(command1)) os.system(command1) file_name_with_extension = os.path.basename(merged_bag_file_path) file_name_without_extension = os.path.splitext(file_name_with_extension)[0] parent_directory = os.path.dirname(merged_bag_file_path) local_pcd_mp4_dir3 = parent_directory.replace('data_merge', 'data_parse') + '/' + file_name_without_extension + '_pcd_lidar' # local_pcd_mp4_dir3 = pcdtovideo_pji_lidar.parse(merged_bag_file_path, local_parse_dir + '/lidar/') # pcd_mp4_file_name1 = 'pcd_depthcamera' # pcd_mp4_file_name2 = 'pcd_depthcamera2' pcd_mp4_file_name3 = 'pcd_lidar' # local_delete_list.append(local_pcd_mp4_dir1 + '/' + pcd_mp4_file_name1 + '.mp4') # local_delete_list.append(local_pcd_mp4_dir2 + '/' + pcd_mp4_file_name2 + '.mp4') local_delete_list.append(local_pcd_mp4_dir3 + '/output_video_converted.mp4') # oss_csv_object_key1 = parse_prefix2 + pcd_mp4_file_name1 + '.mp4' # oss_csv_object_key2 = parse_prefix2 + pcd_mp4_file_name2 + '.mp4' oss_csv_object_key3 = parse_prefix2 + pcd_mp4_file_name3 + '.mp4' # bucket.put_object_from_file(oss_csv_object_key1, local_pcd_mp4_dir1 + '/' + pcd_mp4_file_name1 + '.mp4') # logging.info("上传点云视频到: %s", oss_csv_object_key1) # bucket.put_object_from_file(oss_csv_object_key2, local_pcd_mp4_dir2 + '/' + pcd_mp4_file_name2 + '.mp4') # logging.info("上传点云视频到: %s", oss_csv_object_key2) bucket.put_object_from_file(oss_csv_object_key3, local_pcd_mp4_dir3 + '/output_video_converted.mp4') logging.info("上传点云视频到: %s", oss_csv_object_key3) except Exception as e: logging.exception("生成点云视频报错: %s" % str(e)) # for obj in oss2.ObjectIterator(bucket, prefix=parse_prefix2): # bucket.delete_object(obj.key) ''' 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, 'pji-bucket1') while True: logging.info("开始新一轮扫描") try: 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 for obj1 in oss2.ObjectIterator(bucket, prefix=key1): try: # 获取合并后的包 merged_bag_object_key = str(obj1.key) # print(f'判断1{merged_bag_object_key}') if 'data_merge' in str(obj1.key) and str(obj1.key).endswith('.bag'): merged_bag_object_key_split = merged_bag_object_key.split('/') merged_prefix = '/'.join(merged_bag_object_key_split[:-1]) parse_prefix = merged_prefix.replace('data_merge', 'data_parse') parse_prefix_full = merged_bag_object_key.replace('data_merge', 'data_parse')[:-4] + '/' # pcd1_done = False # pcd2_done = False pcd3_done = False callback_done = False for obj2 in oss2.ObjectIterator(bucket, prefix=parse_prefix_full): if '/callback.json' in str(obj2.key): callback_done = True # if '/pcd_depthcamera.mp4' in str(obj2.key): # pcd1_done = True if '/pcd_lidar.mp4' in str(obj2.key): pcd3_done = True if pcd3_done: # logging.info( "%s 存在点云视频 pcd_depthcamera.mp4 和 pcd_lidar.mp4" % str(parse_prefix_full)) # logging.info("%s 存在点云视频 pcd_lidar.mp4 " % str(parse_prefix_full)) continue if not callback_done: # logging.info("数据已回调完成，不需要处理: %s" % str(parse_prefix_full)) continue logging.info("%s 缺少点云视频 pcd_depthcamera.mp4 和 pcd_lidar.mp4" % str(parse_prefix_full)) # print(f'需要解析{merged_bag_object_key}') local_merged_bag_path = path1 + 'pcd/' + merged_bag_object_key local_merged_dir = '/'.join(local_merged_bag_path.split('/')[:-1]) local_parse_dir = local_merged_dir.replace('data_merge', 'data_parse') if not os.path.exists(local_merged_dir): os.makedirs(local_merged_dir) if not os.path.exists(local_parse_dir): os.makedirs(local_parse_dir) merged_bag_full_name = merged_bag_object_key_split[-1] merged_bag_name = merged_bag_full_name.split('.')[0] bucket.get_object_to_file(merged_bag_object_key, local_merged_bag_path) local_delete_list.append(local_merged_bag_path) # 2 生成 pos_orig.csv 和 pos_hmi.csv parse_to_pcd_mp4(local_merged_bag_path, parse_prefix_full, local_parse_dir, local_delete_list) except Exception as e: logging.exception("报错: %s" % str(e)) # 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) except Exception as e: logging.exception("全局异常处理: %s" % str(e))