318 lines
8.3 KiB
Bash
318 lines
8.3 KiB
Bash
#!/bin/bash
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# 创建AppImage格式的Linux软件包
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echo "🚀 创建AppImage格式的宇树雷达检测系统..."
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# 检查环境
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if [ ! -f "CMakeLists.txt" ]; then
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echo "❌ 请在项目根目录运行此脚本"
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exit 1
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fi
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# 变量设置
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APP_NAME="YushuRadar"
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APP_VERSION="1.0.0"
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APP_DIR="${APP_NAME}.AppDir"
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# 清理旧文件
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rm -rf ${APP_DIR}
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rm -f ${APP_NAME}-*.AppImage
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echo "🔨 编译程序..."
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# 编译程序
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if [ ! -d "build" ]; then
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mkdir build
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fi
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cd build
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cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr
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make -j$(nproc) yushu_leida_fixed
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cd ..
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if [ ! -f "build/yushu_leida_fixed" ]; then
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echo "❌ 编译失败"
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exit 1
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fi
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echo "📁 创建AppDir结构..."
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# 创建AppDir结构
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mkdir -p ${APP_DIR}/usr/{bin,lib,share/{applications,pixmaps}}
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mkdir -p ${APP_DIR}/usr/share/yushu-radar/{config,docs}
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# 复制主程序
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cp build/yushu_leida_fixed ${APP_DIR}/usr/bin/
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# 复制配置文件
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cp -r config/* ${APP_DIR}/usr/share/yushu-radar/config/
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# 创建AppRun脚本
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cat > ${APP_DIR}/AppRun << 'EOF'
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#!/bin/bash
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# AppImage启动脚本
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# 获取AppImage目录
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HERE="$(dirname "$(readlink -f "${0}")")"
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# 设置环境变量
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export LD_LIBRARY_PATH="${HERE}/usr/lib:${LD_LIBRARY_PATH}"
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export PATH="${HERE}/usr/bin:${PATH}"
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export YUSHU_RADAR_CONFIG="${HERE}/usr/share/yushu-radar/config"
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# 检查设备权限
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check_device() {
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local devices=("/dev/ttyUSB0" "/dev/ttyUSB1" "/dev/ttyACM0")
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local found=false
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echo "🔍 检查雷达设备..."
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for device in "${devices[@]}"; do
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if [ -e "$device" ]; then
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if [ -r "$device" ] && [ -w "$device" ]; then
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echo "✅ 找到设备: $device"
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found=true
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break
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else
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echo "⚠️ 设备权限不足: $device"
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echo "请运行: sudo chmod 666 $device"
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fi
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fi
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done
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if [ "$found" = false ]; then
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echo "❌ 未找到可用的雷达设备"
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echo "请检查设备连接，或运行以下命令查看设备："
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echo "ls -l /dev/ttyUSB* /dev/ttyACM*"
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# 显示GUI对话框 (如果有zenity)
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if command -v zenity >/dev/null 2>&1; then
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zenity --warning --text="未找到雷达设备\n请检查设备连接和权限\n\n设备权限设置:\nsudo chmod 666 /dev/ttyUSB0\n\n或添加用户到dialout组:\nsudo usermod -a -G dialout \$USER" --width=400
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fi
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return 1
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fi
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return 0
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}
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# 检查依赖
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check_dependencies() {
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local missing=()
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# 检查PCL
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if ! ldconfig -p | grep -q libpcl; then
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missing+=("PCL库")
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fi
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# 检查yaml-cpp
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if ! ldconfig -p | grep -q libyaml-cpp; then
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missing+=("yaml-cpp库")
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fi
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if [ ${#missing[@]} -gt 0 ]; then
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echo "❌ 缺少依赖:"
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printf '%s\n' "${missing[@]}"
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if command -v zenity >/dev/null 2>&1; then
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zenity --error --text="缺少系统依赖库\n\n请安装:\nsudo apt install libpcl-dev libyaml-cpp-dev espeak" --width=350
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fi
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return 1
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fi
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return 0
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}
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# 主函数
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main() {
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echo "🚀 启动宇树雷达检测系统 AppImage..."
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# 切换到配置目录
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cd "${HERE}/usr/share/yushu-radar"
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# 检查依赖
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if ! check_dependencies; then
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exit 1
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fi
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# 检查设备
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if ! check_device; then
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exit 1
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fi
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# 启动程序
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echo "🎯 启动主程序..."
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exec "${HERE}/usr/bin/yushu_leida_fixed"
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}
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# 处理参数
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case "$1" in
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--check)
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check_dependencies && check_device
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;;
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--help)
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echo "宇树雷达检测系统 AppImage v${APP_VERSION}"
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echo ""
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echo "用法:"
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echo " $0 启动程序"
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echo " $0 --check 检查系统依赖"
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echo " $0 --help 显示帮助"
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;;
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*)
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main "$@"
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;;
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esac
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EOF
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chmod +x ${APP_DIR}/AppRun
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# 创建桌面文件
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cat > ${APP_DIR}/yushu-radar.desktop << 'EOF'
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[Desktop Entry]
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Type=Application
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Name=宇树雷达检测系统
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Name[en]=Unitree Radar Detection System
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Comment=坡面裂缝和遮挡物检测系统
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Comment[en]=Slope crack and occlusion detection system
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Exec=yushu-radar
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Icon=yushu-radar
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Categories=Science;Engineering;Education;
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Keywords=radar;lidar;detection;unitree;
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Terminal=true
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StartupNotify=true
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EOF
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# 复制桌面文件到标准位置
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cp ${APP_DIR}/yushu-radar.desktop ${APP_DIR}/usr/share/applications/
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# 创建图标
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cat > ${APP_DIR}/yushu-radar.svg << 'EOF'
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<?xml version="1.0" encoding="UTF-8"?>
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<svg width="128" height="128" viewBox="0 0 128 128" xmlns="http://www.w3.org/2000/svg">
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<!-- 背景圆 -->
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<circle cx="64" cy="64" r="60" fill="#1e3a8a" stroke="#3b82f6" stroke-width="4"/>
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<!-- 雷达扫描圈 -->
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<circle cx="64" cy="64" r="45" fill="none" stroke="#10b981" stroke-width="2" opacity="0.8"/>
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<circle cx="64" cy="64" r="30" fill="none" stroke="#f59e0b" stroke-width="2" opacity="0.6"/>
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<circle cx="64" cy="64" r="15" fill="none" stroke="#ef4444" stroke-width="2" opacity="0.4"/>
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<!-- 中心点 -->
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<circle cx="64" cy="64" r="4" fill="#ef4444"/>
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<!-- 扫描线 -->
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<line x1="64" y1="64" x2="64" y2="19" stroke="#10b981" stroke-width="2" opacity="0.8"/>
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<line x1="64" y1="64" x2="95" y2="45" stroke="#10b981" stroke-width="1.5" opacity="0.6"/>
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<!-- 检测点 -->
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<circle cx="80" cy="40" r="2" fill="#f59e0b"/>
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<circle cx="45" cy="50" r="2" fill="#f59e0b"/>
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<circle cx="70" cy="85" r="2" fill="#ef4444"/>
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<!-- 文字 -->
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<text x="64" y="115" text-anchor="middle" fill="white" font-family="Arial, sans-serif" font-size="12" font-weight="bold">RADAR</text>
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</svg>
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EOF
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# 复制图标
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cp ${APP_DIR}/yushu-radar.svg ${APP_DIR}/usr/share/pixmaps/
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ln -sf usr/share/pixmaps/yushu-radar.svg ${APP_DIR}/yushu-radar.svg
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# 创建文档
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mkdir -p ${APP_DIR}/usr/share/yushu-radar/docs
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cat > ${APP_DIR}/usr/share/yushu-radar/docs/README.md << 'EOF'
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# 宇树雷达检测系统 AppImage
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## 关于AppImage
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这是一个便携式的Linux应用程序，无需安装即可运行。
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## 系统要求
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- Linux发行版 (Ubuntu 18.04+, CentOS 7+, 等)
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- PCL库 (Point Cloud Library)
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- yaml-cpp库
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- espeak (可选，用于语音提示)
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## 安装依赖
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### Ubuntu/Debian:
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```bash
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sudo apt update
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sudo apt install libpcl-dev libyaml-cpp-dev espeak
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```
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### CentOS/RHEL:
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```bash
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sudo yum install pcl-devel yaml-cpp-devel espeak
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```
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## 使用方法
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1. 下载AppImage文件
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2. 添加执行权限: `chmod +x YushuRadar-*.AppImage`
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3. 运行: `./YushuRadar-*.AppImage`
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## 设备权限
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如果遇到设备权限问题:
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```bash
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# 临时解决
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sudo chmod 666 /dev/ttyUSB0
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# 永久解决
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sudo usermod -a -G dialout $USER
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# 然后重新登录
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```
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## 功能特点
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- ✅ 实时3D点云显示
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- ✅ 坐标轴和网格显示
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- ✅ 遮挡物检测 (20厘米预警)
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- ✅ 裂缝检测 (100米阈值)
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- ✅ 声音预警系统
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- ✅ 便携式，无需安装
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## 故障排除
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### 1. 找不到设备
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- 检查USB连接
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- 查看设备: `ls -l /dev/ttyUSB*`
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- 检查权限: `./YushuRadar-*.AppImage --check`
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### 2. 缺少依赖
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- 安装系统依赖包
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- 运行检查: `./YushuRadar-*.AppImage --check`
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### 3. 图形界面问题
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- 确保X11正常工作
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- 远程连接时启用X11转发: `ssh -X user@host`
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版本: 1.0.0
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EOF
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echo "📦 下载AppImage工具..."
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# 下载appimagetool
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if [ ! -f "appimagetool-x86_64.AppImage" ]; then
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wget -q "https://github.com/AppImage/AppImageKit/releases/download/continuous/appimagetool-x86_64.AppImage"
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chmod +x appimagetool-x86_64.AppImage
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fi
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echo "🔧 构建AppImage..."
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# 构建AppImage
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./appimagetool-x86_64.AppImage ${APP_DIR} ${APP_NAME}-${APP_VERSION}-x86_64.AppImage
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if [ -f "${APP_NAME}-${APP_VERSION}-x86_64.AppImage" ]; then
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echo ""
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echo "🎉 AppImage创建成功！"
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echo ""
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echo "📁 文件: ${APP_NAME}-${APP_VERSION}-x86_64.AppImage"
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echo "📊 大小: $(du -h ${APP_NAME}-${APP_VERSION}-x86_64.AppImage | cut -f1)"
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echo ""
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echo "📋 使用方法:"
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echo "1. 添加执行权限: chmod +x ${APP_NAME}-${APP_VERSION}-x86_64.AppImage"
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echo "2. 运行程序: ./${APP_NAME}-${APP_VERSION}-x86_64.AppImage"
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echo "3. 检查系统: ./${APP_NAME}-${APP_VERSION}-x86_64.AppImage --check"
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echo ""
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echo "✅ 这个AppImage可以在任何Linux系统上运行，无需安装！"
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echo ""
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else
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echo "❌ AppImage创建失败"
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exit 1
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fi |