#!/bin/bash

echo "🚀 开始编译宇树雷达坡面检测系统（修复版）..."

# 检查必要的依赖
echo "📋 检查系统依赖..."

# 检查PCL
if ! pkg-config --exists pcl_common-1.12 || ! pkg-config --exists pcl_visualization-1.12; then
    echo "❌ PCL库未找到，请安装PCL 1.12"
    echo "Ubuntu安装命令: sudo apt-get install libpcl-dev"
    exit 1
fi

# 检查yaml-cpp
if ! pkg-config --exists yaml-cpp; then
    echo "❌ yaml-cpp库未找到，请安装yaml-cpp"
    echo "Ubuntu安装命令: sudo apt-get install libyaml-cpp-dev"
    exit 1
fi

# 检查Unitree SDK
if [ ! -d "unilidar_sdk-main/unilidar_sdk-main/unitree_lidar_sdk" ]; then
    echo "❌ Unitree SDK未找到"
    echo "请确保unilidar_sdk-main目录存在并包含SDK文件"
    exit 1
fi

echo "✅ 依赖检查完成"

# 创建构建目录
mkdir -p build
cd build

# 配置CMake
echo "🔧 配置CMake..."
cmake .. -DCMAKE_BUILD_TYPE=Release

if [ $? -ne 0 ]; then
    echo "❌ CMake配置失败"
    exit 1
fi

# 编译
echo "🔨 开始编译..."
make -j$(nproc) yushu_leida_fixed

if [ $? -eq 0 ]; then
    echo "✅ 编译成功！"
    echo "📁 可执行文件位置: build/yushu_leida_fixed"
    echo ""
    echo "🚀 运行命令:"
    echo "   cd build && ./yushu_leida_fixed"
    echo ""
    echo "📋 功能说明:"
    echo "   ✓ 禁用模拟雷达驱动，仅使用真实雷达"
    echo "   ✓ 图形界面显示坐标轴"
    echo "   ✓ 当检测到遮挡物（距离<5厘米）时预警"
    echo "   ✓ 当裂缝各项参数都达到100米时预警"
    echo "   ✓ 语音预警3次，播报结束后继续检测"
    echo "   ✓ 如果问题仍存在，继续播报3次"
else
    echo "❌ 编译失败"
    exit 1
fi