# -*- coding: utf-8 -*-
import os
import time
import oss2
from rosbag import Bag, Compression
import subprocess
key1 = 'kinglong/'
key2 = 'data/'
key3 = 'data_merge/'
key4 = 'data_parse/'
path1 = '/root/'
sleep_time = 5 # 每多少秒扫描一次
compress_way = Compression.BZ2
camera_topics = ['/camera_image', '/cam_res']
fusion_topics = ['/fusion/vis/velocity', '/cicv/lidartracking_moving_objects', '/cicv_location',
'/cicv/lidarfusionmovingobject', '/cicv/lidardeeplearning_moving_objects',
'/cicv/lidarcluster_moving_objects', '/cam_objects', '/points_concat', '/f_radar_objects',
'/fusion/vis/box']
plan_topics = ['/cicv_amr_trajectory', '/cicv_location', '/map_polygon', '/reference_trajectory', '/tpperception',
'/tprouteplan', '/jinlong_control_pub', '/vehicle_info ', '/tftrafficlight']
control_topics = ['/cicv_location_JL', '/jinlong_flag_pub', '/car_wheel', '/nodefault_info', '/AutoModeStatus',
'/vehicle_info']
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)
def merge(local_bags, merged_prefix, local_merged_dir, merged_bag_name):
try:
parse_prefix = str(merged_prefix).replace('data_merge', 'data_parse')
all_bag_path = local_merged_dir + merged_bag_name
camera_bag_path = local_merged_dir + 'camera.bag'
fusion_bag_path = local_merged_dir + 'fusion.bag'
plan_bag_path = local_merged_dir + 'plan.bag'
control_bag_path = local_merged_dir + 'control.bag'
with Bag(all_bag_path, 'w', compression=compress_way) as o:
for i in range(len(local_bags)):
with Bag(local_bags[i], 'r') as ib:
for topic, msg, t in ib:
o.write(topic, msg, t)
bucket.put_object_from_file(merged_prefix + merged_bag_name, all_bag_path)
with Bag(camera_bag_path, 'w', compression=compress_way) as o:
for i in range(len(local_bags)):
with Bag(local_bags[i], 'r') as ib:
for topic, msg, t in ib:
if topic in camera_topics:
o.write(topic, msg, t)
bucket.put_object_from_file(parse_prefix + 'camera.bag', camera_bag_path)
with Bag(fusion_bag_path, 'w', compression=compress_way) as o:
for i in range(len(local_bags)):
with Bag(local_bags[i], 'r') as ib:
for topic, msg, t in ib:
if topic in fusion_topics:
o.write(topic, msg, t)
bucket.put_object_from_file(parse_prefix + 'fusion.bag', fusion_bag_path)
with Bag(plan_bag_path, 'w', compression=compress_way) as o:
for i in range(len(local_bags)):
with Bag(local_bags[i], 'r') as ib:
for topic, msg, t in ib:
if topic in plan_topics:
o.write(topic, msg, t)
bucket.put_object_from_file(parse_prefix + 'plan.bag', plan_bag_path)
with Bag(control_bag_path, 'w', compression=compress_way) as o:
for i in range(len(local_bags)):
with Bag(local_bags[i], 'r') as ib:
for topic, msg, t in ib:
if topic in control_topics:
o.write(topic, msg, t)
bucket.put_object_from_file(parse_prefix + 'control.bag', control_bag_path)
return all_bag_path, camera_bag_path, fusion_bag_path, plan_bag_path, control_bag_path
except Exception as e:
print "bag包合并报错: %s" % str(e)
# print(f'bag包合并报错{e}')
'''
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
'''
# ------- 获取未合并的bag包，合并 -------
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')
turn = 1
while True:
# print(f'当前轮次{turn}扫描开始。')
prefix_list = []
# 2 获取已经上传完成的所有目录并分组
upload_completed_prefix_list_node1 = []
upload_completed_prefix_list_node2 = []
for obj1 in oss2.ObjectIterator(bucket, prefix=key1, delimiter='/'):
if str(obj1.key).count('/') == 2: # pujin/robot-01/
# print(f'{obj1.key}')
for obj2 in oss2.ObjectIterator(bucket, prefix=str(obj1.key) + key2, delimiter='/'):
if str(obj2.key).count('/') == 4: # pujin/robot-01/data/node1_2023-12-20-02-16-56_obction_10/
if is_upload_completed(bucket, obj2.key):
if 'node1' in obj2.key:
upload_completed_prefix_list_node1.append(obj2.key)
if 'node2' in obj2.key:
upload_completed_prefix_list_node2.append(obj2.key)
# 3 如果两个节点都上传完成则进行后续处理
for prefix_node1 in upload_completed_prefix_list_node1:
local_delete_list = []
oss_delete_list = []
prefix_node2 = prefix_node1.replace('node1', 'node2')
if prefix_node2 in upload_completed_prefix_list_node2:
# print(f'需要合并{prefix_node1}和{prefix_node2}')
# 获取要处理的包
oss_bags = []
local_bags = []
for obj in oss2.ObjectIterator(bucket, prefix=prefix_node1):
if str(obj.key).endswith('.bag'):
oss_bags.append(str(obj.key))
for obj in oss2.ObjectIterator(bucket, prefix=prefix_node2):
if str(obj.key).endswith('.bag'):
oss_bags.append(str(obj.key))
split_list = prefix_node1.replace(key2, key3).replace("node1_", "").split('/')
merged_prefix = '/'.join(split_list[0:-2]) + '/'
local_merged_dir = path1 + merged_prefix
if not os.path.exists(local_merged_dir):
os.makedirs(local_merged_dir)
parse_prefix = ('/'.join(split_list[0:-2]) + '/').replace(key3, key4)
local_parse_dir = path1 + parse_prefix
if not os.path.exists(local_parse_dir):
os.makedirs(local_parse_dir)
merged_bag_name = split_list[-2]
parse_prefix = parse_prefix + merged_bag_name + '/'
merged_bag_full_name = merged_bag_name + '.bag'
local_bag_dir = path1 + '/'.join(split_list[0:-1]) + '/'
if not os.path.exists(local_bag_dir):
os.makedirs(local_bag_dir)
# 下载
for oss_bag in oss_bags:
bag_name = str(oss_bag).split('/')[-1]
local_bag_path = local_bag_dir + bag_name
bucket.get_object_to_file(oss_bag, local_bag_path)
local_bags.append(local_bag_path)
local_delete_list.append(local_bag_path)
oss_delete_list.append(oss_bag)
# 1 合并bag
all_bag_path, camera_bag_path, fusion_bag_path, plan_bag_path, control_bag_path = merge(local_bags,
merged_prefix,
local_merged_dir,
merged_bag_full_name)
local_delete_list = local_delete_list + [all_bag_path, camera_bag_path, fusion_bag_path, plan_bag_path,
control_bag_path]
# 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: %s" % str(e)
# print(f'删除本地临时文件{e}')
# 删除oss原始文件
if len(oss_delete_list) > 0:
bucket.batch_delete_objects(oss_delete_list)
turn = turn + 1
time.sleep(sleep_time)