147 lines
4.0 KiB
Python
147 lines
4.0 KiB
Python
# -- coding: utf-8 --
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import time
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import os
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import paramiko
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from scp import SCPClient
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import threading
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from os import abort
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HOST = "192.168.100.254"
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PORT = 22
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USERNAME = "root"
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PASSWORD = "ebaina"
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def ssh_execute_command(host, port, username, password, command):
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ret = False
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# 创建SSH客户端
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client = paramiko.SSHClient()
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client.set_missing_host_key_policy(paramiko.AutoAddPolicy())
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client.connect(host, port, username, password)
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# 执行命令
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stdin, stdout, stderr = client.exec_command(command)
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print(stdout.read().decode())
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print(stderr.read().decode())
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# 关闭连接
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client.close()
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return True
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def scp_get_file(host, port, username, password, remote_path, local_path):
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ret = False
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# 创建SSH客户端
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client = paramiko.Transport((host, port))
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client.connect(username=username, password=password)
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# 创建SCP客户端
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scp_client = SCPClient(client)
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# 拉取文件
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try:
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scp_client.get(remote_path, local_path)
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except Exception as e:
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print(e)
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return False
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# 关闭连接
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scp_client.close()
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client.close()
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return True
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def cameraCap():
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start_time = time.time()
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ret = ssh_execute_command(
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host = HOST,
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port = PORT,
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username = USERNAME,
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password = PASSWORD,
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command = "cd /root/calibration_tools \n" +
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"./camera_driver 240000 \n"
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)
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end_time = time.time() # 记录结束时间
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execution_time = end_time - start_time # 计算执行时间
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print(f"ssh_execute_command 程序执行时间：{execution_time}秒")
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time.sleep(1) # 等待操作系统保存图像完毕
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ret = scp_get_file(
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host = HOST,
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port = PORT,
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username = USERNAME,
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password = PASSWORD,
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remote_path = "/root/calibration_tools/output.png",
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local_path = os.path.dirname(__file__) + "\\ssh_tmp\\1\\output.png"
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)
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if not ret:
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return False
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ret = ssh_execute_command(
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host = HOST,
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port = PORT,
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username = USERNAME,
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password = PASSWORD,
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command = "cd /root/calibration_tools \n " +
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"rm output.png \n"
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)
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end_time = time.time() # 记录结束时间
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execution_time = end_time - start_time # 计算执行时间
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print(f"cameraCap 程序执行时间：{execution_time}秒")
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def lidarCap():
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start_time = time.time()
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ret = ssh_execute_command(
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host = HOST,
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port = PORT,
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username = USERNAME,
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password = PASSWORD,
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command = "cd /root/calibration_tools \n" +
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"./lidar_driver \n"
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)
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ret = scp_get_file(
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host = HOST,
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port = PORT,
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username = USERNAME,
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password = PASSWORD,
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remote_path = "/root/calibration_tools/output.ply",
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local_path = os.path.dirname(__file__) + ".\\ssh_tmp\\1\\output.ply"
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)
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ret = ssh_execute_command(
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host = HOST,
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port = PORT,
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username = USERNAME,
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password = PASSWORD,
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command = "cd /root/calibration_tools \n " +
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"rm output.ply \n"
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)
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end_time = time.time() # 记录结束时间
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execution_time = end_time - start_time # 计算执行时间
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print(f"lidarCap 程序执行时间：{execution_time}秒")
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def cap():
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directory = os.path.dirname(__file__) + ".\\ssh_tmp\\"
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files_and_directories = os.listdir(directory)
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for file in files_and_directories:
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file_path = os.path.join(directory, file)
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if os.path.isfile(file_path):
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os.unlink(file_path)
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t_lidar = threading.Thread(target=lidarCap)
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t_lidar.start()
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cameraCap()
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# t_camera.join()
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t_lidar.join()
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if __name__ == '__main__':
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# 1 设置条件
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# 2 cap
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cap()
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# 3 修改 config.ini
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# 4 启动 image_framework.py
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# 5 接收 回调，把结果保存下来
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