dcl_data_process/src/python2/pjibot_delivery/simulation-pjibot_delivery.py

# -*- 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 = '/scenarios1/'
path2 = '/mnt/disk001/dcl_data_process/src/python2/pjibot_delivery/'
path3 = '/mnt/disk001/simulation_outdoor/'
# xodr = 'thq_1116.xodr'
# osgb = 'thq_1116.opt.osgb'
xodr = 'thq_20240706.xodr'
osgb = 'thq_20230710.osgb'

vehicle_name = 'PuJin_distribution'  # 配送 PuJin_distribution 巡检 PuJin_patrol_robot
xoscName = 'scenario.xosc'
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:
        xosc_path = root_path + 'scenario_orig.xosc'
        logging.info('仿真还原需要的 xosc 路径为：%s' % xosc_path)
        tree1 = ET.parse(xosc_path)

        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', vehicle_name)
        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:
        # 上传两次吧，对应上
        bucket.put_object_from_file(parse_prefix + 'scenario_orig.mp4', mp41)
        bucket.put_object_from_file(parse_prefix + 'scenario_hmi.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 vtd1")
        # 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 'vtd1' == 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, 'pji-bucket1')
    while True:
        try:
            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
            for obj1 in oss2.ObjectIterator(bucket, prefix=key1):
                try:
                    # 获取合并后的包
                    merged_bag_object_key = str(obj1.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] + '/'
                        xosc_done = False
                        mp4_done = False
                        for obj3 in oss2.ObjectIterator(bucket, prefix=str(parse_prefix_full)):
                            if xoscName in str(obj3.key):
                                xosc_done = True
                            if '/scenario_orig.mp4' in str(obj3.key):
                                mp4_done = True
                        if not xosc_done:
                            continue
                        if mp4_done:
                            continue
                        logging.info("需要生成仿真视频: %s" % str(parse_prefix_full))
                        parse_prefix_full = str(parse_prefix_full)
                        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 + xoscName, 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')
                except Exception as e:
                    logging.exception("局部异常处理: %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:
                        pass
            time.sleep(sleep_time)
        except Exception as e:
            logging.exception("全局异常处理: %s", str(e))