259 lines
9.2 KiB
Python
259 lines
9.2 KiB
Python
# -- coding: utf-8 --
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import sys
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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, set_logger_file_handler
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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 = [600000,800000,1000000,1500000,2000000]
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CLOUD_COUNTS = [1500000]
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DEFAULT_COUNT = 1500000
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EXPS = [2*1000,3*1000]
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# EXPS = [100 * 1000]
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DEFAULT_EXP = int(3 * 1000)
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PARENT_DIR_NAME = "拼接测试_位置3_1平角度_天气_晴天大太阳下午_driverV2_om3"
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# PARENT_DIR_NAME = "test_1"
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SAVE_DIR_NAME = ""
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TEST_CLOUD = False
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TEST_EXP = True
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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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# 实时读取标准输出
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for line in iter(stdout.readline, ""):
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print(line, end="") # 实时打印
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sys.stdout.flush() # 刷新缓冲区，确保立即输出到终端
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# 实时读取标准错误（如果有）
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for line in iter(stderr.readline, ""):
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print(f"ERROR: {line}", end="")
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sys.stdout.flush()
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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 scp_get_multi_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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for rp in remote_path:
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scp_client.get(rp, local_path)
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except Exception as e:
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logger.error(f"拉取文件失败：{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 cap(exp=DEFAULT_EXP, cloud_count=DEFAULT_COUNT):
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global SAVE_DIR_NAME
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logger.debug(f"===================开处理============================")
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# 先删除旧数据
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logger.debug("删除旧数据")
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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="cd /root/app/detect-gui/ \n " +
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"rm output.jpg \n" +
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"rm output.ply \n" +
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"rm roi_conners.txt \n"
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)
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logger.debug("删除旧数据完成")
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logger.debug(f"曝光时间设置为：{exp}")
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logger.debug(f"点云数量设置为：{cloud_count}")
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SAVE_DIR_NAME = f"exp_{exp}_cn_{cloud_count}"
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logger.debug(f"保存路径为：{SAVE_DIR_NAME}")
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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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# 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
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start_time = time.time()
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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" + \
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"cd /root/app/detect-gui/ \n" + \
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f"/root/miniconda3/bin/python borad_image_framework_tmp.py --exp={exp} --count={cloud_count}\n"
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logger.debug(f"ssh_execute_command 命令：{command}")
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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=command,
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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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logger.debug(f"borad_image_framework_tmp.py 程序执行时间：{execution_time}秒")
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time.sleep(1) # 等待操作系统保存数据完毕
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logger.debug("开始保存文件到本地")
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start_time2 = time.time()
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local_path = Path(__file__).parent / "result" / PARENT_DIR_NAME / SAVE_DIR_NAME
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logger.debug(f"本地文件保存路径为：{local_path}")
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scp_get_multi_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=[
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"/root/app/detect-gui/output.jpg",
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"/root/app/detect-gui/output.ply",
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"/root/app/detect-gui/roi_conners.txt",
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],
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local_path=local_path
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)
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end_time2 = time.time() # 记录结束时间
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execution_time2 = end_time2 - start_time2
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logger.debug("文件到本地结束")
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logger.debug(f"scp_get_file获取文件到本地 程序执行时间：{execution_time2}秒")
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logger.debug(f"===================开处理结束============================")
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def cap_wide():
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logger.debug(f"===================广角开始处理============================")
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# 先删除旧数据
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logger.debug("删除旧数据")
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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="cd /root/app/detect-gui/ \n " +
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"rm wide_image_processed.png \n" +
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"rm wide_image.png \n" +
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"rm wide_image_roi.json \n"
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)
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logger.debug("删除旧数据完成")
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start_time = time.time()
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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" + \
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"cd /root/app/detect-gui/ \n" + \
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f"/root/miniconda3/bin/python cap_wide_camera.py \n"
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logger.debug(f"ssh_execute_command 命令：{command}")
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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=command,
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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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logger.debug(f"cap_wide_camera.py 程序执行时间：{execution_time}秒")
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time.sleep(1) # 等待操作系统保存数据完毕
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logger.debug("开始保存文件到本地")
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start_time2 = time.time()
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local_path = Path(__file__).parent / "result" / PARENT_DIR_NAME
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logger.debug(f"本地文件保存路径为：{local_path}")
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scp_get_multi_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=[
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"/root/app/detect-gui/wide_image_processed.png",
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"/root/app/detect-gui/wide_image.png",
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"/root/app/detect-gui/wide_image_roi.json",
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],
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local_path=local_path
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)
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end_time2 = time.time() # 记录结束时间
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execution_time2 = end_time2 - start_time2
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logger.debug("文件到本地结束")
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logger.debug(f"scp_get_file获取文件到本地 程序执行时间：{execution_time2}秒")
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logger.debug(f"===================广角开处理结束============================")
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if __name__ == '__main__':
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# 如果路径不存在则创建
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if not os.path.exists(Path(__file__).parent / "result" / PARENT_DIR_NAME):
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os.makedirs(Path(__file__).parent / "result" / PARENT_DIR_NAME)
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# 设置日志保存路径
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set_logger_file_handler(Path(__file__).parent / "result" / PARENT_DIR_NAME)
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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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if (TEST_CLOUD):
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for cloud_count in CLOUD_COUNTS:
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logger.debug("开始采集")
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start_time = time.time() # 记录开始时间
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cap(cloud_count=cloud_count)
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end_time = time.time() # 记录结束时间
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elapsed_time = end_time - start_time # 计算总时间
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logger.success(f"采集完毕=========== 耗时: {elapsed_time:.2f} 秒")
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if (TEST_EXP):
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for exp in EXPS:
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logger.debug("开始采集")
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start_time = time.time() # 记录开始时间
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cap(exp=exp)
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end_time = time.time() # 记录结束时间
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elapsed_time = end_time - start_time # 计算总时间
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logger.success(f"采集完毕=========== 耗时: {elapsed_time:.2f} 秒")
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cap_wide()
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