#!/bin/bash
# 宇树雷达检测系统 - Linux软件包创建脚本

set -e

echo "🚀 创建宇树雷达检测系统Linux软件包..."

# 版本信息
VERSION="1.0.0"
PACKAGE_NAME="yushu-radar-detector"
PACKAGE_DIR="linux-package"
INSTALL_DIR="/opt/yushu-radar"
DESKTOP_DIR="/usr/share/applications"
ICON_DIR="/usr/share/pixmaps"

# 清理旧的包目录
rm -rf ${PACKAGE_DIR}
mkdir -p ${PACKAGE_DIR}

echo "📦 准备软件包结构..."

# 创建目录结构
mkdir -p ${PACKAGE_DIR}/{bin,lib,config,docs,scripts,desktop}

# 1. 编译程序
echo "🔨 编译程序..."
if [ ! -d "build" ]; then
    mkdir build
fi

cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j$(nproc) yushu_leida_fixed

if [ ! -f "yushu_leida_fixed" ]; then
    echo "❌ 编译失败"
    exit 1
fi

cd ..

# 2. 复制主程序
echo "📁 复制程序文件..."
cp build/yushu_leida_fixed ${PACKAGE_DIR}/bin/
chmod +x ${PACKAGE_DIR}/bin/yushu_leida_fixed

# 3. 复制配置文件
cp -r config/* ${PACKAGE_DIR}/config/

# 4. 复制宇树SDK库文件
echo "📚 复制依赖库..."
UNITREE_LIB="unilidar_sdk-main/unilidar_sdk-main/unitree_lidar_sdk/lib/x86_64/libunitree_lidar_sdk.a"
if [ -f "$UNITREE_LIB" ]; then
    cp "$UNITREE_LIB" ${PACKAGE_DIR}/lib/
fi

# 5. 创建启动脚本
echo "📝 创建启动脚本..."
cat > ${PACKAGE_DIR}/bin/yushu-radar << 'EOF'
#!/bin/bash
# 宇树雷达检测系统启动脚本

# 设置环境变量
export YUSHU_RADAR_HOME="/opt/yushu-radar"
export LD_LIBRARY_PATH="$YUSHU_RADAR_HOME/lib:$LD_LIBRARY_PATH"

# 检查设备权限
check_device_permissions() {
    local devices=("/dev/ttyUSB0" "/dev/ttyUSB1" "/dev/ttyACM0")
    local found_device=""
    
    for device in "${devices[@]}"; do
        if [ -e "$device" ]; then
            found_device="$device"
            break
        fi
    done
    
    if [ -z "$found_device" ]; then
        echo "⚠️  未找到雷达设备，请检查连接"
        echo "可用设备："
        ls -l /dev/ttyUSB* /dev/ttyACM* 2>/dev/null || echo "无串口设备"
        return 1
    fi
    
    if [ ! -r "$found_device" ] || [ ! -w "$found_device" ]; then
        echo "⚠️  设备权限不足：$found_device"
        echo "请运行：sudo chmod 666 $found_device"
        echo "或将用户添加到dialout组：sudo usermod -a -G dialout $USER"
        return 1
    fi
    
    echo "✅ 设备检查通过：$found_device"
    return 0
}

# 检查依赖
check_dependencies() {
    local missing_deps=()
    
    # 检查PCL
    if ! pkg-config --exists pcl_common; then
        missing_deps+=("libpcl-dev")
    fi
    
    # 检查yaml-cpp
    if ! pkg-config --exists yaml-cpp; then
        missing_deps+=("libyaml-cpp-dev")
    fi
    
    # 检查espeak (语音)
    if ! command -v espeak >/dev/null 2>&1; then
        missing_deps+=("espeak")
    fi
    
    if [ ${#missing_deps[@]} -gt 0 ]; then
        echo "❌ 缺少依赖包："
        printf '%s\n' "${missing_deps[@]}"
        echo "请运行：sudo apt install ${missing_deps[*]}"
        return 1
    fi
    
    return 0
}

# 主函数
main() {
    echo "🚀 启动宇树雷达检测系统..."
    
    # 切换到程序目录
    cd "$YUSHU_RADAR_HOME"
    
    # 检查依赖
    if ! check_dependencies; then
        exit 1
    fi
    
    # 检查设备权限
    if ! check_device_permissions; then
        exit 1
    fi
    
    # 启动程序
    echo "🎯 启动主程序..."
    exec "$YUSHU_RADAR_HOME/bin/yushu_leida_fixed"
}

# 处理命令行参数
case "$1" in
    --check)
        check_dependencies && check_device_permissions
        ;;
    --help)
        echo "宇树雷达检测系统"
        echo "用法："
        echo "  yushu-radar          启动程序"
        echo "  yushu-radar --check  检查系统依赖"
        echo "  yushu-radar --help   显示帮助"
        ;;
    *)
        main
        ;;
esac
EOF

chmod +x ${PACKAGE_DIR}/bin/yushu-radar

# 6. 创建桌面文件
echo "🖥️  创建桌面应用..."
cat > ${PACKAGE_DIR}/desktop/yushu-radar.desktop << 'EOF'
[Desktop Entry]
Version=1.0
Type=Application
Name=宇树雷达检测系统
Name[en]=Unitree Radar Detection System
Comment=坡面裂缝和遮挡物检测系统
Comment[en]=Slope crack and occlusion detection system
Exec=/opt/yushu-radar/bin/yushu-radar
Icon=yushu-radar
Terminal=true
Categories=Science;Engineering;
Keywords=radar;detection;lidar;unitree;
StartupNotify=true
EOF

# 7. 创建图标 (简单的文本图标)
echo "🎨 创建应用图标..."
cat > ${PACKAGE_DIR}/desktop/yushu-radar.svg << 'EOF'
<?xml version="1.0" encoding="UTF-8"?>
<svg width="64" height="64" viewBox="0 0 64 64" xmlns="http://www.w3.org/2000/svg">
  <rect width="64" height="64" fill="#2E86AB" rx="8"/>
  <circle cx="32" cy="32" r="20" fill="none" stroke="#A23B72" stroke-width="2"/>
  <circle cx="32" cy="32" r="12" fill="none" stroke="#F18F01" stroke-width="2"/>
  <circle cx="32" cy="32" r="4" fill="#C73E1D"/>
  <text x="32" y="52" text-anchor="middle" fill="white" font-family="Arial" font-size="8">RADAR</text>
</svg>
EOF

# 8. 创建安装脚本
echo "⚙️  创建安装脚本..."
cat > ${PACKAGE_DIR}/install.sh << 'EOF'
#!/bin/bash
# 宇树雷达检测系统安装脚本

set -e

INSTALL_DIR="/opt/yushu-radar"
DESKTOP_FILE="/usr/share/applications/yushu-radar.desktop"
ICON_FILE="/usr/share/pixmaps/yushu-radar.svg"
BIN_LINK="/usr/local/bin/yushu-radar"

echo "🚀 安装宇树雷达检测系统..."

# 检查权限
if [ "$EUID" -ne 0 ]; then
    echo "❌ 请使用sudo运行此脚本"
    exit 1
fi

# 1. 创建安装目录
echo "📁 创建安装目录..."
mkdir -p "$INSTALL_DIR"

# 2. 复制文件
echo "📦 复制程序文件..."
cp -r bin lib config docs "$INSTALL_DIR/"

# 3. 设置权限
chmod +x "$INSTALL_DIR/bin/yushu_leida_fixed"
chmod +x "$INSTALL_DIR/bin/yushu-radar"

# 4. 创建符号链接
echo "🔗 创建系统链接..."
ln -sf "$INSTALL_DIR/bin/yushu-radar" "$BIN_LINK"

# 5. 安装桌面文件
echo "🖥️  安装桌面应用..."
cp desktop/yushu-radar.desktop "$DESKTOP_FILE"
cp desktop/yushu-radar.svg "$ICON_FILE"

# 6. 更新桌面数据库
if command -v update-desktop-database >/dev/null 2>&1; then
    update-desktop-database /usr/share/applications
fi

# 7. 安装依赖
echo "📚 检查并安装依赖..."
apt update
apt install -y libpcl-dev libyaml-cpp-dev espeak

# 8. 设置用户组权限
echo "👥 配置用户权限..."
if ! getent group dialout >/dev/null; then
    groupadd dialout
fi

# 提示用户添加到dialout组
echo ""
echo "✅ 安装完成！"
echo ""
echo "📋 使用方法："
echo "1. 命令行启动：yushu-radar"
echo "2. 图形界面：在应用菜单中找到'宇树雷达检测系统'"
echo ""
echo "⚠️  重要提醒："
echo "请将当前用户添加到dialout组以访问串口设备："
echo "sudo usermod -a -G dialout \$USER"
echo "然后重新登录或重启系统"
echo ""
EOF

chmod +x ${PACKAGE_DIR}/install.sh

# 9. 创建卸载脚本
cat > ${PACKAGE_DIR}/uninstall.sh << 'EOF'
#!/bin/bash
# 宇树雷达检测系统卸载脚本

INSTALL_DIR="/opt/yushu-radar"
DESKTOP_FILE="/usr/share/applications/yushu-radar.desktop"
ICON_FILE="/usr/share/pixmaps/yushu-radar.svg"
BIN_LINK="/usr/local/bin/yushu-radar"

echo "🗑️  卸载宇树雷达检测系统..."

# 检查权限
if [ "$EUID" -ne 0 ]; then
    echo "❌ 请使用sudo运行此脚本"
    exit 1
fi

# 删除文件
rm -rf "$INSTALL_DIR"
rm -f "$DESKTOP_FILE"
rm -f "$ICON_FILE"
rm -f "$BIN_LINK"

# 更新桌面数据库
if command -v update-desktop-database >/dev/null 2>&1; then
    update-desktop-database /usr/share/applications
fi

echo "✅ 卸载完成"
EOF

chmod +x ${PACKAGE_DIR}/uninstall.sh

# 10. 创建文档
echo "📖 创建文档..."
cat > ${PACKAGE_DIR}/docs/README.md << 'EOF'
# 宇树雷达检测系统

## 功能特点

- 🎯 实时3D点云显示
- 📊 坐标轴和网格显示
- ⚠️ 遮挡物检测 (20厘米预警)
- 🔍 裂缝检测 (100米阈值)
- 🔊 声音预警系统
- 🖥️ 图形化界面

## 系统要求

- Ubuntu 18.04 或更高版本
- PCL (Point Cloud Library)
- yaml-cpp
- espeak (语音合成)
- 宇树雷达设备

## 安装方法

```bash
sudo ./install.sh
```

## 使用方法

### 命令行启动
```bash
yushu-radar
```

### 图形界面启动
在应用菜单中找到"宇树雷达检测系统"

### 检查系统状态
```bash
yushu-radar --check
```

## 配置文件

配置文件位于：`/opt/yushu-radar/config/config.yaml`

主要配置项：
- `port`: 串口设备路径
- `occlusion_detection.alert_distance`: 遮挡物预警距离
- `slope_detection.crack_threshold`: 裂缝检测阈值

## 故障排除

### 设备权限问题
```bash
sudo chmod 666 /dev/ttyUSB0
# 或
sudo usermod -a -G dialout $USER
```

### 依赖包问题
```bash
sudo apt install libpcl-dev libyaml-cpp-dev espeak
```

## 卸载

```bash
sudo ./uninstall.sh
```
EOF

# 11. 创建打包脚本
cat > ${PACKAGE_DIR}/package.sh << 'EOF'
#!/bin/bash
# 创建分发包

VERSION="1.0.0"
PACKAGE_NAME="yushu-radar-detector-${VERSION}"

echo "📦 创建分发包..."

# 创建tar.gz包
cd ..
tar -czf "${PACKAGE_NAME}.tar.gz" linux-package/
echo "✅ 创建完成: ${PACKAGE_NAME}.tar.gz"

# 创建deb包 (如果有dpkg-deb)
if command -v dpkg-deb >/dev/null 2>&1; then
    echo "📦 创建DEB包..."
    mkdir -p deb-package/DEBIAN
    
    cat > deb-package/DEBIAN/control << DEBEOF
Package: yushu-radar-detector
Version: ${VERSION}
Section: science
Priority: optional
Architecture: amd64
Depends: libpcl-dev, libyaml-cpp-dev, espeak
Maintainer: Yushu Radar Team
Description: 宇树雷达检测系统
 坡面裂缝和遮挡物检测系统，支持实时3D点云显示和智能预警。
DEBEOF
    
    # 复制文件到deb结构
    mkdir -p deb-package/opt/yushu-radar
    cp -r linux-package/{bin,lib,config,docs} deb-package/opt/yushu-radar/
    
    mkdir -p deb-package/usr/share/applications
    cp linux-package/desktop/yushu-radar.desktop deb-package/usr/share/applications/
    
    mkdir -p deb-package/usr/share/pixmaps
    cp linux-package/desktop/yushu-radar.svg deb-package/usr/share/pixmaps/
    
    mkdir -p deb-package/usr/local/bin
    ln -sf /opt/yushu-radar/bin/yushu-radar deb-package/usr/local/bin/yushu-radar
    
    dpkg-deb --build deb-package "${PACKAGE_NAME}.deb"
    echo "✅ DEB包创建完成: ${PACKAGE_NAME}.deb"
fi
EOF

chmod +x ${PACKAGE_DIR}/package.sh

echo ""
echo "🎉 Linux软件包创建完成！"
echo ""
echo "📁 软件包位置: ${PACKAGE_DIR}/"
echo ""
echo "📋 使用方法："
echo "1. 安装: cd ${PACKAGE_DIR} && sudo ./install.sh"
echo "2. 启动: yushu-radar"
echo "3. 卸载: sudo ./uninstall.sh"
echo ""
echo "📦 创建分发包: cd ${PACKAGE_DIR} && ./package.sh"
echo ""