ymj_data_collect/capture_img_ply_txt.py

# -- coding: utf-8 --
import sys
import time
import os
import paramiko
from scp import SCPClient
import threading
from os import abort
from pathlib import Path
from clog import logger, set_logger_file_handler

HOST = "192.168.100.254"
PORT = 22
USERNAME = "root"
PASSWORD = "ebaina"

# CLOUD_COUNTS = [600000,800000,1000000,1500000,2000000]
CLOUD_COUNTS = []
DEFAULT_COUNT = 300000
EXPS = [4500000*1000]
# EXPS = [100 * 1000]
DEFAULT_EXP = 0
PARENT_DIR_NAME = "测试2"
# PARENT_DIR_NAME = "test_1"
SAVE_DIR_NAME = ""
TEST_CLOUD = False
TEST_EXP = True


def ssh_execute_command(host, port, username, password, command):
    ret = False
    # 创建SSH客户端
    client = paramiko.SSHClient()
    client.set_missing_host_key_policy(paramiko.AutoAddPolicy())
    client.connect(host, port, username, password)

    # 执行命令
    stdin, stdout, stderr = client.exec_command(command)
    # 实时读取标准输出
    for line in iter(stdout.readline, ""):
        print(line, end="")  # 实时打印
        sys.stdout.flush()  # 刷新缓冲区，确保立即输出到终端

    # 实时读取标准错误（如果有）
    for line in iter(stderr.readline, ""):
        print(f"ERROR: {line}", end="")
        sys.stdout.flush()

    # 关闭连接
    client.close()
    return True


def scp_get_file(host, port, username, password, remote_path, local_path):
    ret = False
    # 创建SSH客户端
    client = paramiko.Transport((host, port))
    client.connect(username=username, password=password)

    # 创建SCP客户端
    scp_client = SCPClient(client)

    # 拉取文件
    try:
        scp_client.get(remote_path, local_path)
    except Exception as e:
        print(e)
        return False

    # 关闭连接
    scp_client.close()
    client.close()

    return True


def scp_get_multi_file(host, port, username, password, remote_path, local_path):
    ret = False
    # 创建SSH客户端
    client = paramiko.Transport((host, port))
    client.connect(username=username, password=password)

    # 创建SCP客户端
    scp_client = SCPClient(client)

    # 拉取文件
    try:
        for rp in remote_path:
            scp_client.get(rp, local_path)
    except Exception as e:
        logger.error(f"拉取文件失败：{e}")
        return False

    # 关闭连接
    scp_client.close()
    client.close()

    return True


def cap(exp=DEFAULT_EXP, cloud_count=DEFAULT_COUNT):
    global SAVE_DIR_NAME
    logger.debug(f"===================开处理============================")
    # 先删除旧数据
    logger.debug("删除旧数据")
    ssh_execute_command(
        host=HOST,
        port=PORT,
        username=USERNAME,
        password=PASSWORD,
        command="cd /root/app/detect-gui/ \n " +
                "rm output.jpg \n" +
                "rm output.ply \n" +
                "rm roi_conners.txt \n"
    )
    logger.debug("删除旧数据完成")

    logger.debug(f"曝光时间设置为：{exp}")
    logger.debug(f"点云数量设置为：{cloud_count}")
    SAVE_DIR_NAME = f"exp_{exp}_cn_{cloud_count}"
    logger.debug(f"保存路径为：{SAVE_DIR_NAME}")

    # 如果文件夹不存在则创建
    if not os.path.exists(Path(__file__).parent / "result" / PARENT_DIR_NAME / SAVE_DIR_NAME):
        os.makedirs(Path(__file__).parent / "result" / PARENT_DIR_NAME / SAVE_DIR_NAME)

    # ssh调用远程 borad_image_framework_tmp.py 进行拍摄图片，雷达点云数据采集，角点ROI数据生成
    start_time = time.time()
    # command = (
    #     "export LD_LIBRARY_PATH=/root/app/ss928_codec/mpp/out/lib:"
    #     "/root/app/detect-gui/vendors/image-framework/linux_arm64:"
    #     "/root/app/detect-gui/vendors/image-framework/linux_arm64/lib:"
    #     "/root/app/detect-gui/vendors/image-framework/linux_arm64/lib/npu:"
    #     "/root/app/detect-gui/vendors/image-framework/linux_arm64/lib/svp_npu:"
    #     "/lib/aarch64-linux-gnu:$LD_LIBRARY_PATH \n"
    #     "cd /root/app/detect-gui/ \n"
    #     f"/root/miniconda3/bin/python borad_image_framework_tmp.py --exp={exp} --count={cloud_count}\n"
    # )
    command = (
        "bash -l -c '"
        "export LD_LIBRARY_PATH=/root/app/ss928_codec/mpp/out/lib:"
        "/root/app/detect-gui/vendors/image-framework/linux_arm64:"
        "/root/app/detect-gui/vendors/image-framework/linux_arm64/lib:"
        "/root/app/detect-gui/vendors/image-framework/linux_arm64/lib/npu:"
        "/root/app/detect-gui/vendors/image-framework/linux_arm64/lib/svp_npu:"
        "/lib/aarch64-linux-gnu:$LD_LIBRARY_PATH; "
        "cd /root/app/detect-gui/ && "
        f"/root/miniconda3/bin/python borad_image_framework_tmp.py --exp={exp} --count={cloud_count}'"
    )

    logger.debug(f"ssh_execute_command 命令：{command}")
    ssh_execute_command(
        host=HOST,
        port=PORT,
        username=USERNAME,
        password=PASSWORD,
        command=command,
    )
    end_time = time.time()  # 记录结束时间
    execution_time = end_time - start_time  # 计算执行时间
    logger.debug(f"borad_image_framework_tmp.py 程序执行时间：{execution_time}秒")
    time.sleep(1)  # 等待操作系统保存数据完毕

    logger.debug("开始保存文件到本地")
    start_time2 = time.time()
    local_path = Path(__file__).parent / "result" / PARENT_DIR_NAME / SAVE_DIR_NAME
    logger.debug(f"本地文件保存路径为：{local_path}")
    scp_get_multi_file(
        host=HOST,
        port=PORT,
        username=USERNAME,
        password=PASSWORD,
        remote_path=[
            "/root/app/detect-gui/output.jpg",
            "/root/app/detect-gui/output.ply",
            "/root/app/detect-gui/roi_conners.txt",
        ],
        local_path=local_path
    )
    end_time2 = time.time()  # 记录结束时间
    execution_time2 = end_time2 - start_time2
    logger.debug("文件到本地结束")
    logger.debug(f"scp_get_file获取文件到本地 程序执行时间：{execution_time2}秒")
    logger.debug(f"===================开处理结束============================")


def cap_wide():
    logger.debug(f"===================广角开始处理============================")

    # 先删除旧数据
    logger.debug("删除旧数据")
    ssh_execute_command(
        host=HOST,
        port=PORT,
        username=USERNAME,
        password=PASSWORD,
        command="cd /root/app/detect-gui/ \n " +
                "rm wide_image_processed.png \n" +
                "rm wide_image.png \n" +
                "rm wide_image_roi.json \n"
    )
    logger.debug("删除旧数据完成")

    start_time = time.time()
    # command = "export LD_LIBRARY_PATH=/root/app/ss928_codec/mpp/out/lib:/root/app/detect-gui/vendors/image-framework/linux_arm64:/root/app/detect-gui/vendors/image-framework/linux_arm64/lib:/root/app/detect-gui/vendors/image-framework/linux_arm64/lib/npu:/root/app/detect-gui/vendors/image-framework/linux_arm64/lib/svp_npu:$LD_LIBRARY_PATH \n" + \
    #           "cd /root/app/detect-gui/ \n" + \
    #           f"/root/miniconda3/bin/python cap_wide_camera.py \n"

    command = (
        "bash -l -c '"
        "export LD_LIBRARY_PATH=/root/app/ss928_codec/mpp/out/lib:"
        "/root/app/detect-gui/vendors/image-framework/linux_arm64:"
        "/root/app/detect-gui/vendors/image-framework/linux_arm64/lib:"
        "/root/app/detect-gui/vendors/image-framework/linux_arm64/lib/npu:"
        "/root/app/detect-gui/vendors/image-framework/linux_arm64/lib/svp_npu:"
        "/lib/aarch64-linux-gnu:$LD_LIBRARY_PATH; "
        "cd /root/app/detect-gui/ && "
        f"/root/miniconda3/bin/python cap_wide_camera.py'"
    )
    logger.debug(f"ssh_execute_command 命令：{command}")
    ssh_execute_command(
        host=HOST,
        port=PORT,
        username=USERNAME,
        password=PASSWORD,
        command=command,
    )
    end_time = time.time()  # 记录结束时间
    execution_time = end_time - start_time  # 计算执行时间
    logger.debug(f"cap_wide_camera.py 程序执行时间：{execution_time}秒")
    time.sleep(1)  # 等待操作系统保存数据完毕

    logger.debug("开始保存文件到本地")
    start_time2 = time.time()
    local_path = Path(__file__).parent / "result" / PARENT_DIR_NAME
    logger.debug(f"本地文件保存路径为：{local_path}")
    scp_get_multi_file(
        host=HOST,
        port=PORT,
        username=USERNAME,
        password=PASSWORD,
        remote_path=[
            "/root/app/detect-gui/wide_image_processed.png",
            "/root/app/detect-gui/wide_image.png",
            "/root/app/detect-gui/wide_image_roi.json",
        ],
        local_path=local_path
    )
    end_time2 = time.time()  # 记录结束时间
    execution_time2 = end_time2 - start_time2
    logger.debug("文件到本地结束")
    logger.debug(f"scp_get_file获取文件到本地 程序执行时间：{execution_time2}秒")
    logger.debug(f"===================广角开处理结束============================")


if __name__ == '__main__':


    # 如果路径不存在则创建
    if not os.path.exists(Path(__file__).parent / "result" / PARENT_DIR_NAME):
        os.makedirs(Path(__file__).parent / "result" / PARENT_DIR_NAME)
    # 设置日志保存路径
    set_logger_file_handler(Path(__file__).parent / "result" / PARENT_DIR_NAME)
    # 加载驱动
    ssh_execute_command(
        host=HOST,
        port=PORT,
        username=USERNAME,
        password=PASSWORD,
        command="/opt/HuarayTech/MVviewer/module/loadAllDrv.sh \n"
    )

    if (TEST_CLOUD):
        for cloud_count in CLOUD_COUNTS:
            logger.debug("开始采集")
            start_time = time.time()  # 记录开始时间
            cap(cloud_count=cloud_count)
            end_time = time.time()  # 记录结束时间
            elapsed_time = end_time - start_time  # 计算总时间
            logger.success(f"采集完毕=========== 耗时: {elapsed_time:.2f} 秒")
    if (TEST_EXP):
        for exp in EXPS:
            logger.debug("开始采集")
            start_time = time.time()  # 记录开始时间
            cap(exp=exp)
            end_time = time.time()  # 记录结束时间
            elapsed_time = end_time - start_time  # 计算总时间
            logger.success(f"采集完毕=========== 耗时: {elapsed_time:.2f} 秒")
    cap_wide()