168 lines
4.8 KiB
Python
168 lines
4.8 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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from pathlib import Path
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from clog import logger
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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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CLOUD_COUNTS = [400000, 500000, 600000]
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DEFAULT_COUNT = 300000
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EXPS = [200 * 1000, 300 * 1000, 400 * 1000]
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DEFAULT_EXP = 100 * 1000
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PARENT_DIR_NAME = "test_2"
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SAVE_DIR_NAME = ""
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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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# 读取输出结果
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output = stdout.read().decode()
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error = stderr.read().decode()
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if output:
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logger.info(f"{output}")
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if error:
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logger.error(f"{error}")
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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(exp):
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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/app/detect-gui/ \n" +
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f"/root/miniconda3/bin/python cap.py --exp={exp}\n"
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)
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if not ret:
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return False
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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/app/detect-gui/output.jpg",
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local_path=Path(__file__).parent / "result" / PARENT_DIR_NAME / SAVE_DIR_NAME
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)
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if not ret:
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return False
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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(cloud_count):
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start_time = time.time()
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print(f"./lidar_driver {cloud_count}\n")
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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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f"./lidar_driver {cloud_count}\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=Path(__file__).parent / "result" / PARENT_DIR_NAME / SAVE_DIR_NAME
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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(exp=DEFAULT_EXP, cloud_count=DEFAULT_COUNT):
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global SAVE_DIR_NAME
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print(f"曝光时间{exp}")
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print(f"点云数量：{cloud_count}")
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SAVE_DIR_NAME = f"exp_{exp}_cn_{cloud_count}"
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# 如果文件夹不存在则创建
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if not os.path.exists(Path(__file__).parent / "result" / PARENT_DIR_NAME / SAVE_DIR_NAME):
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os.makedirs(Path(__file__).parent / "result" / PARENT_DIR_NAME / SAVE_DIR_NAME)
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# 雷达线程
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t_lidar = threading.Thread(target=lidarCap, args=(cloud_count,))
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t_lidar.start()
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# 相机
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cameraCap(exp)
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# 等待雷达线程结束
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t_lidar.join()
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if __name__ == '__main__':
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# 加载驱动
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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="/opt/HuarayTech/MVviewer/module/loadAllDrv.sh \n"
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)
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for cloud_count in CLOUD_COUNTS:
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logger.info("开始采集")
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cap(cloud_count = cloud_count)
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logger.info("采集完毕===========")
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for exp in EXPS:
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logger.info("开始采集")
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cap(exp = exp)
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logger.info("采集完毕===========")
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