README.md
@@ -5,4 +5,30 @@ 1. 根据proto数据结构，重新优化src\engine\MessageThreads.py的相关内容； 2. 采集端：修改src\engine\devices.py内的相机的数据采集线程； 3. 服务端：增加图像数据的消息解析； 4. src\engine\MessageThreads.py内添加数据发送和接收线程。 4. src\engine\MessageThreads.py内添加数据发送和接收线程。 ## MQ keys 🎈Given that the name parameters of one couple of the server and client is set to as below shown: 🚩server name : `server0` 🚩client name : `bunker0.block0.device0` 1. Server: > Binding keys for receive messages from clients are shown below: >> `server0.logs.test0` >> `server0.images.test0` >> `server0.plys.test0` > Routing keys for send commands to the client are shown below: >> `bunker0.block0.device0` 2. Client: > Binding keys for receive commands from the server are shown below: >> `bunker0.block0.device0` > Routing keys for send messages to the server are shown below: >> `server0.logs.test0` >> `server0.images.test0` >> `server0.plys.test0` env/requirements/ipywidgets-7.7.1-py2.py3-none-any.whlBinary files differ
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requirements.txt
@@ -1,10 +1,10 @@ numpy Flask pika protobuf tqdm opencv-python pyserial bitarray open3d protoc-wheel-0 numpy==1.23.0 Flask==2.1.2 pika==1.2.1 protobuf==4.21.1 tqdm==4.64.0 opencv-python==4.6.0.66 pyserial==3.5 bitarray==2.5.1 protoc-wheel-0==21.1 open3d==0.14.1 src/Server.py
@@ -1,10 +1,9 @@ import sys # NOQA: E402 import os from flask import Flask from flask import Flask, request import pika import uuid import queue from werkzeug.wrappers import request from threading import Thread from datetime import datetime @@ -13,6 +12,7 @@ from .engine.DeviceManager import DeviceManager from .engine import MessageThreads as ths from .protos import aerial_pb2 as pb from .utils.tools import update_folder_for_today @@ -35,9 +35,22 @@ self.WEBport = WEBport self.save_folder = save_folder self.server_name = server_name # self.route('/api', methods=['POST'])(self.api) today = datetime.now().strftime('%Y-%m-%d') today_folder = os.path.join(self.save_folder,today) self.today = {"today":today, "today_folder":today_folder, "sup_folder":self.save_folder, "sub_folder": ""} self.task_uuid_folder = {"init":os.path.join(self.today["today_folder"],"init")} if not os.path.exists(self.task_uuid_folder["init"]): os.makedirs(self.task_uuid_folder["init"]) self.route('/api', methods=['POST'])(self.api) self.route('/', methods=['GET'])(self.hello) # self._def_routes() @@ -51,7 +64,7 @@ def _connect_to_MQ(self): credentials = pika.PlainCredentials(self.MQuser, self.MQpassword) self.parameters = pika.ConnectionParameters( credentials=credentials, host=self.MQhost) credentials=credentials, host=self.MQhost,heartbeat=0) # 连接队列服务器 try: self.connection = pika.BlockingConnection(self.parameters) @@ -110,7 +123,7 @@ self.MsgDecoder_Thread = ths.decodeThread( queue_list= queue_list, queue_tags= queue_tags, save_path= self.save_folder task_folder= self.task_uuid_folder ) self.MsgDecoder_Thread.setDaemon(True) @@ -135,6 +148,52 @@ def hello(self): return 'Hello, This is acquisition demo API!' def api(self): try: success, response_bytes = self.verify_commands(request.data) except: response_bytes = b'command error!' response = Flask.response_class( response_bytes, mimetype='application/x-bytes' ) return response,200 def verify_commands(self,input_command:bytes): # parse the command from bytes to the pb object req_command = pb.CommandMessage() req_command.ParseFromString(input_command) # extracting some info for use source = req_command.source # generatetime = req_command.generatetime # syscommand = req_command.syscommand # subcommand = req_command.subcommand targetclient = req_command.targetclient # returnserver = req_command.returnserver taskuuid = req_command.taskuuid update_folder_for_today(self.today) task_path = os.path.join(self.today["today_folder"],taskuuid) self.task_uuid_folder[taskuuid] = task_path if not os.path.exists(task_path): os.makedirs(task_path) curr_time = datetime.now().strftime('%Y-%m-%d-%H-%M-%S') print(f"[x] {curr_time}|(From {source}): task [{taskuuid}] received and sending it to [{targetclient}]." ) self.CommandsSender_queue.put([targetclient,input_command]) response_bytes = bytes(f"Receive command success! The data will be save in [{os.path.abspath(task_path)}]",\ encoding="utf8") return True, response_bytes def run_rabbitmq(self): self._connect_to_MQ() self._receiver_Thread_Launcher() src/engine/AcquisitionMain.py
@@ -1,7 +1,9 @@ import sys # NOQA: E402 import os from time import sleep import pika import queue from datetime import datetime # from .CaptureThread import CaptureThread # from .ControllThread import ControllThread @@ -14,7 +16,7 @@ # src_path = os.path.abspath(src_path) # sys.path.insert(0, src_path) # from ..protos import aerial_pb2 as pb from ..protos import aerial_pb2 as pb IMAGE_WIDTH = 3840 @@ -116,7 +118,7 @@ def _connect_to_MQ(self): credentials = pika.PlainCredentials(self.MQuser, self.MQpassword) self.parameters = pika.ConnectionParameters( credentials=credentials, host=self.MQhost) credentials=credentials, host=self.MQhost,heartbeat=0) # 连接队列服务器 try: self.connection = pika.BlockingConnection(self.parameters) @@ -133,7 +135,7 @@ MQparams=self.parameters, exchange_name='commands_topic', exchange_type='topic', MQqueue_name="server0_commands_queue", MQqueue_name=f"{self.device_id}_commands_queue", binding_keys=[f"{self.device_id}"], message_queue=self.CommandsReceiver_queue ) @@ -206,19 +208,80 @@ timeout=self.timeout, logs_queue=self.LogsSender_queue, device_id=self.device_id, routing_key="server0" init_binding_key=self.device_id, init_routing_key="server0" ) self.mc = microwaveController( MicrowaveHost=self.MICROWAVEhost, MicrowavePort=self.MICROWAVEport, init_packet_threshold=100, init_timeusage_threshold=3, init_timeusage_threshold=0.2, device_id=self.device_id, logs_queue=self.LogsSender_queue, plys_queue=self.PlysSender_queue, routing_key="server0" init_binding_key=self.device_id, init_routing_key="server0" ) def command_control(self): while True: try: while not self.CommandsReceiver_queue.empty(): command_bytes= self.CommandsReceiver_queue.get() # parse the command from bytes to the pb object req_command = pb.CommandMessage() req_command.ParseFromString(command_bytes) # extracting some info for use source = req_command.source generatetime = req_command.generatetime syscommand = req_command.syscommand subcommand = req_command.subcommand targetclient = req_command.targetclient returnserver = req_command.returnserver taskuuid = req_command.taskuuid curr_time = datetime.now().strftime('%Y-%m-%d-%H-%M-%S') print(f"[x] {curr_time}|(From {source}): task [{taskuuid}] received!" ) # command for camera if syscommand == pb.SysCommand.CAMERA_COMMAND: # capture image if subcommand == pb.SubCommand.ONE_TIME_CAPTURE: self.cc.capture(routing_key=returnserver,taskuuid=taskuuid) # unknown command else: pass # command for microwave device elif syscommand == pb.SysCommand.MICROWAVE_COMMAND: if subcommand == pb.SubCommand.ONE_CIRCLE_SCAN: self.mc.scan(routing_key=returnserver,taskuuid=taskuuid) # unknown command else: pass # command for dust cleaner elif syscommand == pb.Syscommand.DUSTCLEANER_COMMAND: if subcommand == pb.SubCommand.ONE_CLEAN_SCAN: self.dc.clean(routing_key=returnserver,taskuuid=taskuuid) # unknown command else: pass # unknown command else: pass else: sleep(1) except: break def run_rabbitmq(self): @@ -236,6 +299,8 @@ self.run_rabbitmq() # connecting to devices and wrap data to the corressponding queue self.run_device() sleep(10) self.command_control() def stop_all(self): @@ -254,7 +319,6 @@ # self.stop_all() # print("main thread end.") self.run_all() self.CommandsReceiver_Thread.join() return 0
@@ -67,20 +67,20 @@ message = self.message_queue.get() msg_routing_key = message[0] msg_body = message[1] if msg_body is not False: # publish a PERSISTENT message channel.basic_publish( exchange = self.exchange_name, routing_key = msg_routing_key, body = msg_body, properties=pika.BasicProperties( delivery_mode=pika.spec.PERSISTENT_DELIVERY_MODE ) ) # publish a PERSISTENT message channel.basic_publish( exchange = self.exchange_name, routing_key = msg_routing_key, body = msg_body, properties=pika.BasicProperties( delivery_mode=pika.spec.PERSISTENT_DELIVERY_MODE ) ) timestamp = datetime.now().strftime('%Y-%m-%d-%H-%M-%S') caption = f"[x] {timestamp} | Sending message to [{msg_routing_key}]" print(caption) timestamp = datetime.now().strftime('%Y-%m-%d-%H-%M-%S') caption = f"[x] {timestamp} | Sending message to [{msg_routing_key}]" print(caption) else: time.sleep(1) @@ -143,20 +143,21 @@ if self.is_stop: ch.close() self.message_queue.put(body) if body is not False: self.message_queue.put(body) ch.basic_ack(delivery_tag = method.delivery_tag) class decodeThread(threading.Thread): def __init__(self, queue_list:List[queue.Queue], queue_tags:List[str], save_path:str): task_folder:dict[str,str]): super().__init__() self.queue_list = queue_list self.queue_tags = queue_tags self.queue_num = 0 self.save_path = save_path self.task_folder = task_folder self.is_stop = False assert len(self.queue_list) == len(self.queue_tags) @@ -167,22 +168,22 @@ def run(self) -> None: # creating a path for saving data time_tag = datetime.now().strftime('%Y-%m-%d-%H-%M-%S') self.save_root_folder = os.path.join(self.save_path,time_tag) os.makedirs(self.save_root_folder) # # creating a path for saving data # time_tag = datetime.now().strftime('%Y-%m-%d-%H-%M-%S') # self.save_root_folder = os.path.join(self.task_folder,time_tag) # os.makedirs(self.save_root_folder) self.logsmsg_folder = os.path.join(self.save_root_folder,"LogsMsg") self.imagesmsg_folder = os.path.join(self.save_root_folder,"ImagesMsg") self.plysmsg_folder = os.path.join(self.save_root_folder,"PlysMsg") self.commandsmsg_folder = os.path.join(self.save_root_folder,"CommandsMsg") # self.logsmsg_folder = os.path.join(self.save_root_folder,"LogsMsg") # self.imagesmsg_folder = os.path.join(self.save_root_folder,"ImagesMsg") # self.plysmsg_folder = os.path.join(self.save_root_folder,"PlysMsg") # self.commandsmsg_folder = os.path.join(self.save_root_folder,"CommandsMsg") sub_folder_list = [self.logsmsg_folder,self.imagesmsg_folder, self.plysmsg_folder,self.commandsmsg_folder] # sub_folder_list = [self.logsmsg_folder,self.imagesmsg_folder, # self.plysmsg_folder,self.commandsmsg_folder] for folder in sub_folder_list: os.mkdir(folder) print(f"[NOTICE] Creating folder: {folder}") # for folder in sub_folder_list: # os.mkdir(folder) # print(f"[NOTICE] Creating folder: {folder}") # process the queue list self.queue_num = len(self.queue_list) @@ -221,16 +222,19 @@ msg_pb = pb.LogsMessage() msg_pb.ParseFromString(msg) # save the raw pb msg curr_time = datetime.now().strftime('%Y-%m-%d-%H-%M-%S') raw_file_name = os.path.join(self.logsmsg_folder,f"{curr_time}.LogsMsg") with open(raw_file_name, 'wb') as file: file.write(msg) # process the msg msg_source = msg_pb.source msg_timestamp = msg_pb.timestamp msg_context = msg_pb.context taskuuid = msg_pb.taskuuid save_folder = self.task_folder[taskuuid] # save the raw pb msg # curr_time = datetime.now().strftime('%Y-%m-%d-%H-%M-%S') raw_file_name = os.path.join(save_folder,f"{msg_timestamp}-{msg_source}.LogsMsg") with open(raw_file_name, 'wb') as file: file.write(msg) # display the info to the console curr_time = datetime.now().strftime('%Y-%m-%d-%H-%M-%S') @@ -248,15 +252,18 @@ msg_pb = pb.ImagesMessage() msg_pb.ParseFromString(msg) # save the raw pb msg curr_time = datetime.now().strftime('%Y-%m-%d-%H-%M-%S') raw_file_name = os.path.join(self.imagesmsg_folder,f"{curr_time}.ImagesMsg") with open(raw_file_name, 'wb') as file: file.write(msg) # process the msg msg_source = msg_pb.source msg_timestamp = msg_pb.timestamp taskuuid = msg_pb.taskuuid save_folder = self.task_folder[taskuuid] # save the raw pb msg # curr_time = datetime.now().strftime('%Y-%m-%d-%H-%M-%S') raw_file_name = os.path.join(save_folder,f"{msg_timestamp}-{msg_source}.ImagesMsg") with open(raw_file_name, 'wb') as file: file.write(msg) # process the images id = 0 @@ -268,8 +275,8 @@ if (image_byte is None) | (len(image_byte) != imagelegth ): pass else: filename = f"{msg_source}_{msg_timestamp}_image{id}.jpg" filepath = os.path.join(self.imagesmsg_folder,filename) filename = f"{msg_timestamp}-{msg_source}-image{id}.jpg" filepath = os.path.join(save_folder,filename) with open(filepath, 'wb') as f: f.write(image_byte) @@ -289,15 +296,18 @@ msg_pb = pb.PlysMessage() msg_pb.ParseFromString(msg) # save the raw pb msg curr_time = datetime.now().strftime('%Y-%m-%d-%H-%M-%S') raw_file_name = os.path.join(self.plysmsg_folder,f"{curr_time}.PlysMsg") with open(raw_file_name, 'wb') as file: file.write(msg) # process the msg msg_source = msg_pb.source msg_timestamp = msg_pb.timestamp taskuuid = msg_pb.taskuuid save_folder = self.task_folder[taskuuid] # save the raw pb msg # curr_time = datetime.now().strftime('%Y-%m-%d-%H-%M-%S') raw_file_name = os.path.join(save_folder,f"{msg_timestamp}-{msg_source}.PlysMsg") with open(raw_file_name, 'wb') as file: file.write(msg) # process the muti ply data id = 0 @@ -317,13 +327,14 @@ data_array = np.frombuffer(data_byte,dtype=dt) data_array = data_array.reshape(rows,cols,order=order) # save the data with .ply format filename = f"{msg_source}_{msg_timestamp}_pointcloud{id}" write_ply(data_array,self.plysmsg_folder,filename) filename = f"{msg_timestamp}-{msg_source}-pointcloud{id}" write_ply(data_array,save_folder,filename) # next ply item id += 1 def decode_CommandsMsg(self,queue): raise NotImplementedError("NOT IMPLEMENT!") @@ -332,15 +343,18 @@ def send_logs_tool(logs:List[str], logs_queue:queue.Queue, source:str, routing_key:str): routing_key:str, taskuuid:str = "init"): for i, log in enumerate(logs): if log is not None: # constract a logs message logsMsg = pb.LogsMessage() logsMsg.source = source logsMsg.timestamp = f"{time.asctime()}" curr_time = datetime.now().strftime('%Y-%m-%d-%H-%M-%S') logsMsg.timestamp = curr_time logsMsg.context = log logsMsg.taskuuid = taskuuid # convert the proto object to string logsMsg_bytes = logsMsg.SerializeToString() # add logsmsg to queue @@ -350,13 +364,15 @@ def send_images_tool(images:List[np.array], images_queue:queue.Queue, source:str, routing_key:str): routing_key:str, taskuuid:str = "init"): # constract a images message imagesMsg = pb.ImagesMessage() imagesMsg.source = source curr_time = datetime.now().strftime('%Y-%m-%d-%H-%M-%S') imagesMsg.timestamp = curr_time imagesMsg.taskuuid = taskuuid for img in images: if img is not None: @@ -377,13 +393,17 @@ def send_pointcloud_tool(pointclouds:queue.Queue, plys_queue:queue.Queue, source:str, routing_key:str): routing_key:str, taskuuid:str = "init"): # constract a plys message plysMsg = pb.PlysMessage() plysMsg.source = source curr_time = datetime.now().strftime('%Y-%m-%d-%H-%M-%S') plysMsg.timestamp = curr_time plysMsg.taskuuid = taskuuid empty = True run =True @@ -393,6 +413,7 @@ value = pointclouds.get() if value is not False: empty = False pointcloud = np.array(value) # get the attributes of the PointCloudItem rows = pointcloud.shape[0] @@ -412,13 +433,19 @@ item.data = data else: # converting the pb ply msg to bytes plysMsg_bytes = plysMsg.SerializeToString() # add the plysMsg to the queue plys_queue.put([routing_key,plysMsg_bytes]) # end the outer while loop and triminate this function if not empty: # converting the pb ply msg to bytes plysMsg_bytes = plysMsg.SerializeToString() # add the plysMsg to the queue plys_queue.put([routing_key,plysMsg_bytes]) # end the outer while loop and triminate this function else: print("[x] NO poindcloud has been captured!") run = False else: time.sleep(3)
@@ -24,7 +24,8 @@ logs_queue:queue.Queue, images_queue:queue.Queue, init_routing_key:str, init_binding_key:str init_binding_key:str, init_taskuuid:str = "init" ): self.IMAGE_WIDTH = IMAGE_WIDTH @@ -36,6 +37,8 @@ self.routing_key = init_routing_key self.init_routing_key = init_routing_key self.binding_key = init_binding_key self.init_taskuuid = init_taskuuid self.taskuuid = init_taskuuid self._check_cameras() @@ -68,12 +71,14 @@ send_logs_tool(logs=logs, logs_queue=self.logs_queue, source=self.device_id, routing_key=self.routing_key+".logs.test0") routing_key=self.routing_key+".logs.test0", taskuuid=self.taskuuid) send_images_tool(images=images, images_queue=self.images_queue, source=self.device_id, routing_key=self.routing_key+".images.test0") routing_key=self.routing_key+".images.test0", taskuuid=self.taskuuid) def _capture_image(self,mode:str = "capture"): @@ -118,7 +123,7 @@ if TEST: self.working_ports.append(dev_port) if is_reading: self.camera_work[dev_port] == True self.camera_work[dev_port] = True log_list.append(log) @@ -127,14 +132,18 @@ return log_list, image_list def capture(self,routing_key:str): def capture(self,routing_key:str, taskuuid:str): self.routing_key = routing_key self.taskuuid = taskuuid (logs,images) = self._capture_image() self._generate_msg = (logs,images) # generate the msg and put it to queues self._generate_msg(logs,images) self.routing_key = self.init_routing_key self.taskuuid = self.init_taskuuid @@ -144,16 +153,23 @@ MicrowaveHost: str, MicrowavePort: int, init_packet_threshold: Union[int, None], init_timeusage_threshold: Union[int, None], init_timeusage_threshold: Union[int, float, None], device_id:str, logs_queue:queue.Queue, plys_queue:queue.Queue, routing_key:str, init_routing_key:str, init_binding_key:str, init_taskuuid:str = "init" ): super().__init__(MicrowaveHost, MicrowavePort) self.device_id = device_id self.plys_queue = plys_queue self.routing_key = routing_key self.routing_key = init_routing_key self.init_routing_key = init_routing_key self.binding_key = init_binding_key self.init_taskuuid = init_taskuuid self.taskuuid = init_taskuuid # testing the device when instance the class self._get_pointcloud(init_packet_threshold,init_timeusage_threshold) @@ -168,16 +184,34 @@ send_pointcloud_tool(pointclouds=self.pointcloud_queue, plys_queue=self.plys_queue, source=self.device_id, routing_key=self.routing_key+".plys.test0") routing_key=self.routing_key+".plys.test0", taskuuid=self.taskuuid) def scan(self,routing_key:str,taskuuid:str): # self.routing_key = routing_key # self.taskuuid = self.init_taskuuid # self._generate_msg() raise NotImplementedError ####################################### DUST CLEANER ######################################### class dustCleanerController(DustCleaner): def __init__(self, com, bps, timeout, logs_queue, device_id,routing_key): def __init__(self, com, bps, timeout, logs_queue, device_id, init_routing_key:str, init_binding_key:str, init_taskuuid:str = "init"): super().__init__(com, bps, timeout) self.logs_queue = logs_queue self.device_id = device_id self.routing_key = routing_key self.routing_key = init_routing_key self.init_routing_key = init_routing_key self.binding_key = init_binding_key self.init_taskuuid = init_taskuuid self.taskuuid = init_taskuuid self._check_cleaner() @@ -198,3 +232,8 @@ logs_queue=self.logs_queue, source = self.device_id, routing_key=self.routing_key+".logs.test0") def clean(self,routing_key:str,taskuuid:str): raise NotImplementedError src/microwave/servers.py
@@ -258,7 +258,8 @@ if self.udp_get_stop.isSet(): print(f"{time.asctime()} | UDP-Get server is stopped by thresholds or keyborad interrupt.") self.udp_queue.put(False) super().shutdown() self._BaseServer__shutdown_request = True # self.__is_shut_down.set()
@@ -1,125 +1,159 @@ syntax = "proto3"; enum SysCommand { UNKOWN_COMMAND = 0; // 未知命令 SYS_COMMAND = 1; // 系统命令 SENSOR_COMMAND = 2; // 传感器命令 FIVE_G_COMMAND = 3; // 通讯5G模块命令 CAMERA_COMMAND = 4; // 摄像头参数命令 IO_COMMAND = 5; // 外设IO口操作命令 SYS_PARAMS_COMMAND = 6; // 系统参数获取 WIFI_COMMAND = 7; // 设备WIFI参数设置 KERNEL_COMMAND = 8; // 核心计算参数设 DEVICE_COMMAND = 9; // 工作设备参数设置 MICRO_WAVE_COMMAND = 10; // 毫米波 } // enum SysCommand { // UNKOWN_COMMAND = 0; // 未知命令 // SYS_COMMAND = 1; // 系统命令 // SENSOR_COMMAND = 2; // 传感器命令 // FIVE_G_COMMAND = 3; // 通讯5G模块命令 // CAMERA_COMMAND = 4; // 摄像头参数命令 // IO_COMMAND = 5; // 外设IO口操作命令 // SYS_PARAMS_COMMAND = 6; // 系统参数获取 // WIFI_COMMAND = 7; // 设备WIFI参数设置 // KERNEL_COMMAND = 8; // 核心计算参数设 // DEVICE_COMMAND = 9; // 工作设备参数设置 // MICRO_WAVE_COMMAND = 10; // 毫米波 // } enum SubCommand { option allow_alias = true; // enum SubCommand { // option allow_alias = true; UNKOWN_SUB_COMMAND = 0; // 未知子命令 // UNKOWN_SUB_COMMAND = 0; // 未知子命令 // 系统命令 POWER_ON_SUB_COMMAND = 1; // 开机 POWER_OFF_SUB_COMMAND = 2; // 关机 // // 系统命令 // POWER_ON_SUB_COMMAND = 1; // 开机 // POWER_OFF_SUB_COMMAND = 2; // 关机 // 传感器命令 SENSOR_INIT_SUB_COMMAND = 1; // 传感器初始化 SENSOR_REQURE_SUB_COMMAND = 2; // 传感器参数获取 RTK_SETTING_SUB_COMMAND = 3; // RTK外设参数设置 RTK_REQURE_SUB_COMMAND = 4; // RTK外设数据获取 // // 传感器命令 // SENSOR_INIT_SUB_COMMAND = 1; // 传感器初始化 // SENSOR_REQURE_SUB_COMMAND = 2; // 传感器参数获取 // RTK_SETTING_SUB_COMMAND = 3; // RTK外设参数设置 // RTK_REQURE_SUB_COMMAND = 4; // RTK外设数据获取 // 通讯5G模块命令 FIVE_G_INIT_SUB_COMMAND = 1; // 5G模块参数初始化 FIVE_G_SEND_IMAGE_SUB_COMMAND = 2; // 5G通讯图像数据发送 FIVE_G_REQURE_SUB_COMMAND = 3; // 5G通讯接收 // // 通讯5G模块命令 // FIVE_G_INIT_SUB_COMMAND = 1; // 5G模块参数初始化 // FIVE_G_SEND_IMAGE_SUB_COMMAND = 2; // 5G通讯图像数据发送 // FIVE_G_REQURE_SUB_COMMAND = 3; // 5G通讯接收 // 摄像头参数命令 CAMERA_NUMBER_SUB_COMMAND = 1; // 设备摄像头个数 CAMERA_RESOLUTION_SUB_COMMAND = 2; // 设备摄像头工作分辨率 CAMERA_FRAME_RATE_SUB_COMMAND = 3; // 摄像头工作帧率 CAMERA_OTHER_PARAMS_SUB_COMMAND = 4; // 摄像头工作其他参数 // // 摄像头参数命令 // CAMERA_NUMBER_SUB_COMMAND = 1; // 设备摄像头个数 // CAMERA_RESOLUTION_SUB_COMMAND = 2; // 设备摄像头工作分辨率 // CAMERA_FRAME_RATE_SUB_COMMAND = 3; // 摄像头工作帧率 // CAMERA_OTHER_PARAMS_SUB_COMMAND = 4; // 摄像头工作其他参数 // 外设IO口操作命令 CAMERA_DUST_REMOVAL_START_SUB_COMMAND = 1; // 摄像头除尘启动 CAMERA_CONTROL_START_SUB_COMMAND = 2; // 外设控制数据启动（18路控制） // // 外设IO口操作命令 // CAMERA_DUST_REMOVAL_START_SUB_COMMAND = 1; // 摄像头除尘启动 // CAMERA_CONTROL_START_SUB_COMMAND = 2; // 外设控制数据启动（18路控制） // 系统参数获取 CPU_FREQUENCY_SUB_COMMAND = 1; // CPU主频工作数据 CPU_KERNAL_TEMP_SUB_COMMAND = 2; // CPU核心温度数据 CPU_BETTERY_DATA_SUB_COMMAND = 3; // 电池供电电量数据 // // 系统参数获取 // CPU_FREQUENCY_SUB_COMMAND = 1; // CPU主频工作数据 // CPU_KERNAL_TEMP_SUB_COMMAND = 2; // CPU核心温度数据 // CPU_BETTERY_DATA_SUB_COMMAND = 3; // 电池供电电量数据 // 设备WIFI参数设置 WIFI_HOTSPOT_SETTING_SUB_COMMAND = 1; // WIFI热点设置 WIFI_HOTSPOT_START_STOP_SUB_COMMAND = 2; // WIFI热点开启和关闭 // // 设备WIFI参数设置 // WIFI_HOTSPOT_SETTING_SUB_COMMAND = 1; // WIFI热点设置 // WIFI_HOTSPOT_START_STOP_SUB_COMMAND = 2; // WIFI热点开启和关闭 // 核心计算参数设置 POINT_CLOUD_ACCURACY_SUB_COMMAND = 1; // 点云计算精度 SPLICING_PARAMS_SUB_COMMAND = 2; // 拼接参数 MAP_INTERFACE_PLATFORM_SUB_COMMAND = 3; // 地图接口平台 DATA_STORE_BACKUP_SUB_COMMAND = 4; // 数据存储备份 // // 核心计算参数设置 // POINT_CLOUD_ACCURACY_SUB_COMMAND = 1; // 点云计算精度 // SPLICING_PARAMS_SUB_COMMAND = 2; // 拼接参数 // MAP_INTERFACE_PLATFORM_SUB_COMMAND = 3; // 地图接口平台 // DATA_STORE_BACKUP_SUB_COMMAND = 4; // 数据存储备份 // 工作设备参数设置 SYSTEM_TIMER_SUB_COMMAND = 1; // 系统工作定时 SYSTEM_COORD_HEIGHT_SUB_COMMAND = 2; // 工作区域坐标与高度 TRIGGER_CONDITION_SUB_COMMAND = 3; // 工作触发条件 GRAVITY_FAILURE_SUB_COMMAND = 4; // 重力加速度失效参数 NINE_AXIS_FAILURE_SUB_COMMAND = 5; // 九轴加速度失效参数 // // 工作设备参数设置 // SYSTEM_TIMER_SUB_COMMAND = 1; // 系统工作定时 // SYSTEM_COORD_HEIGHT_SUB_COMMAND = 2; // 工作区域坐标与高度 // TRIGGER_CONDITION_SUB_COMMAND = 3; // 工作触发条件 // GRAVITY_FAILURE_SUB_COMMAND = 4; // 重力加速度失效参数 // NINE_AXIS_FAILURE_SUB_COMMAND = 5; // 九轴加速度失效参数 // 毫米波 MICRO_WAVE_SUB_COMMAND = 1; // 毫米波 // // 毫米波 // MICRO_WAVE_SUB_COMMAND = 1; // 毫米波 // } // message DataField { // int32 length = 1; // 数据长度 // bytes data = 2; // 数据内容 // int32 checksum = 3; // 校验码 // } // message CapturedData { // int64 capture_time = 1; // 采集时间 // string capture_device =2; // 采集设备 // int32 capture_port = 3; // 采集设备序号 // DataField DataField = 4; // string data_type = 5; // 数据类型 image udp // } // message DataMessage{ // int64 sending_time = 1; // string sending_device = 2; // string target_device = 3; // CapturedData CapturedData = 5; // } // message StateData { // int64 state_time = 1; // string state_device = 2; // DataField DataField = 4; // } // message StateMessage { // int64 sending_time = 1; // string sending_device = 2; // string target_device = 3; // CapturedData StatedData = 5; // } // message CommandData { // SysCommand SysCommand = 1; // SubCommand SubCommand = 2; // } // message CommandMessage { // int64 sending_time = 1; // string sending_device = 2; // string target_device = 3; // CommandData CommandData =4; // } enum SysCommand{ UNKOWN_COMMAND = 0; CAMERA_COMMAND = 1; MICROWAVE_COMMAND = 2; DUSTCLEANER_COMMAND = 3; } message DataField { int32 length = 1; // 数据长度 bytes data = 2; // 数据内容 int32 checksum = 3; // 校验码 enum SubCommand{ UNKOWN_SUBCOMMAND = 0; // camera params ONE_TIME_CAPTURE = 1; // microwave params ONE_CIRCLE_SCAN = 2; // dust cleaner params ONE_CLEAN_SCAN = 4; } message CapturedData { int64 capture_time = 1; // 采集时间 string capture_device =2; // 采集设备 int32 capture_port = 3; // 采集设备序号 DataField DataField = 4; string data_type = 5; // 数据类型 image udp } message DataMessage{ int64 sending_time = 1; string sending_device = 2; string target_device = 3; CapturedData CapturedData = 5; } message StateData { int64 state_time = 1; string state_device = 2; DataField DataField = 4; } message StateMessage { int64 sending_time = 1; string sending_device = 2; string target_device = 3; CapturedData StatedData = 5; } message CommandData { SysCommand SysCommand = 1; SubCommand SubCommand = 2; } message CommandMessage { int64 sending_time = 1; string sending_device = 2; string target_device = 3; CommandData CommandData =4; message CommandMessage{ string source = 1; string generatetime = 2; SysCommand syscommand = 3; SubCommand subcommand = 4; string targetclient = 5; string returnserver = 6; string taskuuid = 7; } message LogsMessage{ string source = 1; string timestamp = 2; string context = 3; optional string taskuuid = 4; } @@ -135,6 +169,7 @@ } repeated ImageItems Image = 3; optional string taskuuid = 4; } @@ -156,6 +191,7 @@ } repeated PointCloudItem Plydata = 3; optional string taskuuid = 4; // enum ref_system // { src/utils/tools.py
@@ -1,8 +1,8 @@ from email import header import os, sys import numpy as np import time from tqdm import tqdm from datetime import datetime def file_fliter(folder:str, file_ext:str, sort_format = None): @@ -76,10 +76,27 @@ header="".join(header), comments="", fmt=fmt) print(f"{time.asctime()} {name}.ply have been saved with {n_p} points!") print(f"{time.asctime()} | {name}.ply have been saved with {n_p} points!") def update_folder_for_today(folder_tree:dict[str,str]): """ "sup_folder" + "today" +"sub_folder" >> "today_folder" """ try: sup = folder_tree["sup_folder"] sub = folder_tree["sub_folder"] today = datetime.now().strftime('%Y-%m-%d') today_folder = os.path.join(sup,today,sub) folder_tree["today"] = today folder_tree["today_folder"] = today_folder except Exception as e: raise ValueError(f"{e}") if __name__ == "__main__": ply_array = read_ply('src\\microwave\\demo\\demoData\\2522.ply')
