dcl_data_process/archive/python2-pjibot-single-camera-module/pjibot_merge.py

# -*- coding: utf-8 -*-
import os
import time
import oss2
from rosbag import Bag, Compression

key1 = 'pji/'
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


def merge(local_bags, merged_prefix, local_merged_dir, merged_bag_name):
    try:
        output_bag_file = local_merged_dir + merged_bag_name
        with Bag(output_bag_file, '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, output_bag_file)
        return output_bag_file
    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 = []
        for obj1 in oss2.ObjectIterator(bucket, prefix=key1, delimiter='/'):
            bag_list = []
            target_path = ''
            if str(obj1.key).count('/') == 2:  # pujin/robot-01/
                # 6 校验bag包个数
                for obj2 in oss2.ObjectIterator(bucket, prefix=str(obj1.key) + key2, delimiter='/'):
                    if str(obj2.key).count('/') == 4:  # pujin/robot-01/data/2023-12-20-02-16-56_obstacledetection_10/
                        bag_need = str(obj2.key).split('_')[-1][:-1]
                        count_bag = 0
                        for obj3 in oss2.ObjectIterator(bucket, prefix=str(obj2.key)):
                            if obj3.key[-3:] == 'bag':
                                count_bag = count_bag + 1
                        if bag_need == str(count_bag):
                            upload_completed_prefix_list.append(obj2.key)
        # 处理
        for prefix in upload_completed_prefix_list:
            local_delete_list = []
            oss_delete_list = []
            # 获取要处理的包
            oss_bags = []
            local_bags = []
            for obj in oss2.ObjectIterator(bucket, prefix=prefix):
                if str(obj.key).endswith('.bag'):
                    oss_bags.append(str(obj.key))
            split_list = prefix.replace(key2, key3).split('/')
            merged_prefix = '/'.join(split_list[0:-2]) + '/'
            local_merged_dir = path1 + merged_prefix
            print '合并文件上传key前缀为：', 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
            print '解析文件上传key前缀为：', 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
            merged_bag_file_path = merge(local_bags, merged_prefix, local_merged_dir, merged_bag_full_name)
            local_delete_list.append(merged_bag_file_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)