#!/bin/bash

echo "🔍 宇树雷达连接调试脚本"
echo "=========================="

# 检查串口设备
echo "📋 1. 检查串口设备:"
ls -l /dev/ttyUSB* /dev/ttyACM* 2>/dev/null || echo "   未找到串口设备"

# 检查用户权限
echo ""
echo "👤 2. 检查用户权限:"
echo "   当前用户: $(whoami)"
echo "   用户组: $(groups)"
if groups | grep -q dialout; then
    echo "   ✅ 用户在dialout组中"
else
    echo "    用户不在dialout组中"
    echo "    解决方案: sudo usermod -a -G dialout $USER"
fi

# 检查设备权限
echo ""
echo "🔐 3. 检查设备权限:"
for device in /dev/ttyUSB* /dev/ttyACM*; do
    if [ -e "$device" ]; then
        echo "   设备: $device"
        ls -l "$device"
        if [ -r "$device" ] && [ -w "$device" ]; then
            echo "   ✅ 设备可读写"
        else
            echo "   ❌ 设备权限不足"
            echo "   💡 临时解决: sudo chmod 666 $device"
        fi
    fi
done

# 检查进程占用
echo ""
echo "🔒 4. 检查端口占用:"
for device in /dev/ttyUSB* /dev/ttyACM*; do
    if [ -e "$device" ]; then
        echo "   检查 $device 是否被占用:"
        lsof "$device" 2>/dev/null || echo "   ✅ 端口未被占用"
    fi
done

# 测试串口通信
echo ""
echo "📡 5. 测试串口通信:"
for device in /dev/ttyUSB* /dev/ttyACM*; do
    if [ -e "$device" ] && [ -r "$device" ] && [ -w "$device" ]; then
        echo "   测试设备: $device"
        
        # 尝试读取设备信息
        timeout 2s cat "$device" > /tmp/serial_test.txt 2>/dev/null &
        sleep 1
        kill $! 2>/dev/null
        
        if [ -s /tmp/serial_test.txt ]; then
            echo "   ✅ 设备有数据输出"
            echo "   数据样本: $(head -c 50 /tmp/serial_test.txt | hexdump -C | head -1)"
        else
            echo "   ⚠️ 设备无数据输出（可能正常，取决于雷达状态）"
        fi
        rm -f /tmp/serial_test.txt
    fi
done

# 检查Unitree SDK库
echo ""
echo "📚 6. 检查Unitree SDK:"
SDK_PATH="unilidar_sdk-main/unilidar_sdk-main/unitree_lidar_sdk"
if [ -d "$SDK_PATH" ]; then
    echo "   ✅ SDK目录存在: $SDK_PATH"
    
    # 检查头文件
    if [ -f "$SDK_PATH/include/unitree_lidar_sdk.h" ]; then
        echo "   ✅ SDK头文件存在"
    else
        echo "   ❌ SDK头文件缺失"
    fi
    
    # 检查库文件
    LIB_PATH="$SDK_PATH/lib/x86_64/libunitree_lidar_sdk.a"
    if [ -f "$LIB_PATH" ]; then
        echo "   ✅ SDK库文件存在: $LIB_PATH"
        echo "   库文件大小: $(ls -lh "$LIB_PATH" | awk '{print $5}')"
    else
        echo "   ❌ SDK库文件缺失: $LIB_PATH"
    fi
else
    echo "   ❌ SDK目录不存在: $SDK_PATH"
fi

# 检查编译状态
echo ""
echo "🔨 7. 检查编译状态:"
if [ -f "build/yushu_leida" ]; then
    echo "   ✅ 可执行文件存在"
    echo "   文件大小: $(ls -lh build/yushu_leida | awk '{print $5}')"
    
    # 检查动态库依赖
    echo "   动态库依赖:"
    ldd build/yushu_leida | grep -E "(pcl|yaml|unitree)" || echo "   未找到相关库依赖"
else
    echo "   ❌ 可执行文件不存在，需要重新编译"
fi

# 检查配置文件
echo ""
echo "📋 8. 检查配置文件:"
if [ -f "config/config.yaml" ]; then
    echo "   ✅ 配置文件存在"
    echo "   端口配置: $(grep -E "^port:" config/config.yaml || echo "未找到端口配置")"
    echo "   波特率配置: $(grep -E "^baud:" config/config.yaml || echo "未找到波特率配置")"
else
    echo "   ❌ 配置文件不存在"
fi

echo ""
echo "🎯 调试建议:"
echo "1. 如果设备权限不足，执行: sudo chmod 666 /dev/ttyUSB0"
echo "2. 如果用户不在dialout组，执行: sudo usermod -a -G dialout \$USER 然后重新登录"
echo "3. 如果没有串口设备，检查雷达硬件连接"
echo "4. 如果编译文件不存在，执行: cd build && make"
echo "5. 运行程序时添加调试输出观察具体错误"

echo ""
echo "🚀 运行测试命令:"
echo "cd build && ./yushu_leida"