444 lines
10 KiB
Bash
444 lines
10 KiB
Bash
#!/bin/bash
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# 宇树雷达检测系统 - Linux软件包创建脚本
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set -e
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echo "🚀 创建宇树雷达检测系统Linux软件包..."
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# 版本信息
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VERSION="1.0.0"
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PACKAGE_NAME="yushu-radar-detector"
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PACKAGE_DIR="linux-package"
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INSTALL_DIR="/opt/yushu-radar"
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DESKTOP_DIR="/usr/share/applications"
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ICON_DIR="/usr/share/pixmaps"
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# 清理旧的包目录
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rm -rf ${PACKAGE_DIR}
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mkdir -p ${PACKAGE_DIR}
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echo "📦 准备软件包结构..."
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# 创建目录结构
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mkdir -p ${PACKAGE_DIR}/{bin,lib,config,docs,scripts,desktop}
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# 1. 编译程序
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echo "🔨 编译程序..."
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if [ ! -d "build" ]; then
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mkdir build
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fi
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cd build
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cmake .. -DCMAKE_BUILD_TYPE=Release
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make -j$(nproc) yushu_leida_fixed
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if [ ! -f "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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cd ..
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# 2. 复制主程序
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echo "📁 复制程序文件..."
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cp build/yushu_leida_fixed ${PACKAGE_DIR}/bin/
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chmod +x ${PACKAGE_DIR}/bin/yushu_leida_fixed
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# 3. 复制配置文件
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cp -r config/* ${PACKAGE_DIR}/config/
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# 4. 复制宇树SDK库文件
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echo "📚 复制依赖库..."
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UNITREE_LIB="unilidar_sdk-main/unilidar_sdk-main/unitree_lidar_sdk/lib/x86_64/libunitree_lidar_sdk.a"
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if [ -f "$UNITREE_LIB" ]; then
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cp "$UNITREE_LIB" ${PACKAGE_DIR}/lib/
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fi
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# 5. 创建启动脚本
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echo "📝 创建启动脚本..."
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cat > ${PACKAGE_DIR}/bin/yushu-radar << 'EOF'
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#!/bin/bash
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# 宇树雷达检测系统启动脚本
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# 设置环境变量
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export YUSHU_RADAR_HOME="/opt/yushu-radar"
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export LD_LIBRARY_PATH="$YUSHU_RADAR_HOME/lib:$LD_LIBRARY_PATH"
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# 检查设备权限
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check_device_permissions() {
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local devices=("/dev/ttyUSB0" "/dev/ttyUSB1" "/dev/ttyACM0")
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local found_device=""
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for device in "${devices[@]}"; do
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if [ -e "$device" ]; then
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found_device="$device"
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break
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fi
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done
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if [ -z "$found_device" ]; then
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echo "⚠️ 未找到雷达设备，请检查连接"
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echo "可用设备："
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ls -l /dev/ttyUSB* /dev/ttyACM* 2>/dev/null || echo "无串口设备"
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return 1
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fi
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if [ ! -r "$found_device" ] || [ ! -w "$found_device" ]; then
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echo "⚠️ 设备权限不足：$found_device"
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echo "请运行：sudo chmod 666 $found_device"
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echo "或将用户添加到dialout组：sudo usermod -a -G dialout $USER"
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return 1
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fi
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echo "✅ 设备检查通过：$found_device"
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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_deps=()
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# 检查PCL
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if ! pkg-config --exists pcl_common; then
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missing_deps+=("libpcl-dev")
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fi
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# 检查yaml-cpp
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if ! pkg-config --exists yaml-cpp; then
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missing_deps+=("libyaml-cpp-dev")
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fi
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# 检查espeak (语音)
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if ! command -v espeak >/dev/null 2>&1; then
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missing_deps+=("espeak")
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fi
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if [ ${#missing_deps[@]} -gt 0 ]; then
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echo "❌ 缺少依赖包："
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printf '%s\n' "${missing_deps[@]}"
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echo "请运行：sudo apt install ${missing_deps[*]}"
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return 1
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fi
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return 0
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}
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# 主函数
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main() {
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echo "🚀 启动宇树雷达检测系统..."
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# 切换到程序目录
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cd "$YUSHU_RADAR_HOME"
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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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# 检查设备权限
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if ! check_device_permissions; 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 "$YUSHU_RADAR_HOME/bin/yushu_leida_fixed"
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}
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# 处理命令行参数
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case "$1" in
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--check)
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check_dependencies && check_device_permissions
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;;
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--help)
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echo "宇树雷达检测系统"
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echo "用法："
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echo " yushu-radar 启动程序"
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echo " yushu-radar --check 检查系统依赖"
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echo " yushu-radar --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 ${PACKAGE_DIR}/bin/yushu-radar
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# 6. 创建桌面文件
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echo "🖥️ 创建桌面应用..."
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cat > ${PACKAGE_DIR}/desktop/yushu-radar.desktop << 'EOF'
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[Desktop Entry]
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Version=1.0
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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=/opt/yushu-radar/bin/yushu-radar
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Icon=yushu-radar
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Terminal=true
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Categories=Science;Engineering;
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Keywords=radar;detection;lidar;unitree;
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StartupNotify=true
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EOF
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# 7. 创建图标 (简单的文本图标)
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echo "🎨 创建应用图标..."
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cat > ${PACKAGE_DIR}/desktop/yushu-radar.svg << 'EOF'
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<?xml version="1.0" encoding="UTF-8"?>
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<svg width="64" height="64" viewBox="0 0 64 64" xmlns="http://www.w3.org/2000/svg">
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<rect width="64" height="64" fill="#2E86AB" rx="8"/>
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<circle cx="32" cy="32" r="20" fill="none" stroke="#A23B72" stroke-width="2"/>
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<circle cx="32" cy="32" r="12" fill="none" stroke="#F18F01" stroke-width="2"/>
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<circle cx="32" cy="32" r="4" fill="#C73E1D"/>
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<text x="32" y="52" text-anchor="middle" fill="white" font-family="Arial" font-size="8">RADAR</text>
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</svg>
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EOF
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# 8. 创建安装脚本
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echo "⚙️ 创建安装脚本..."
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cat > ${PACKAGE_DIR}/install.sh << 'EOF'
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#!/bin/bash
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# 宇树雷达检测系统安装脚本
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set -e
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INSTALL_DIR="/opt/yushu-radar"
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DESKTOP_FILE="/usr/share/applications/yushu-radar.desktop"
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ICON_FILE="/usr/share/pixmaps/yushu-radar.svg"
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BIN_LINK="/usr/local/bin/yushu-radar"
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echo "🚀 安装宇树雷达检测系统..."
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# 检查权限
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if [ "$EUID" -ne 0 ]; then
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echo "❌ 请使用sudo运行此脚本"
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exit 1
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fi
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# 1. 创建安装目录
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echo "📁 创建安装目录..."
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mkdir -p "$INSTALL_DIR"
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# 2. 复制文件
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echo "📦 复制程序文件..."
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cp -r bin lib config docs "$INSTALL_DIR/"
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# 3. 设置权限
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chmod +x "$INSTALL_DIR/bin/yushu_leida_fixed"
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chmod +x "$INSTALL_DIR/bin/yushu-radar"
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# 4. 创建符号链接
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echo "🔗 创建系统链接..."
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ln -sf "$INSTALL_DIR/bin/yushu-radar" "$BIN_LINK"
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# 5. 安装桌面文件
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echo "🖥️ 安装桌面应用..."
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cp desktop/yushu-radar.desktop "$DESKTOP_FILE"
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cp desktop/yushu-radar.svg "$ICON_FILE"
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# 6. 更新桌面数据库
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if command -v update-desktop-database >/dev/null 2>&1; then
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update-desktop-database /usr/share/applications
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fi
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# 7. 安装依赖
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echo "📚 检查并安装依赖..."
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apt update
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apt install -y libpcl-dev libyaml-cpp-dev espeak
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# 8. 设置用户组权限
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echo "👥 配置用户权限..."
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if ! getent group dialout >/dev/null; then
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groupadd dialout
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fi
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# 提示用户添加到dialout组
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echo ""
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echo "✅ 安装完成！"
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echo ""
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echo "📋 使用方法："
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echo "1. 命令行启动：yushu-radar"
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echo "2. 图形界面：在应用菜单中找到'宇树雷达检测系统'"
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echo ""
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echo "⚠️ 重要提醒："
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echo "请将当前用户添加到dialout组以访问串口设备："
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echo "sudo usermod -a -G dialout \$USER"
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echo "然后重新登录或重启系统"
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echo ""
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EOF
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chmod +x ${PACKAGE_DIR}/install.sh
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# 9. 创建卸载脚本
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cat > ${PACKAGE_DIR}/uninstall.sh << 'EOF'
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#!/bin/bash
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# 宇树雷达检测系统卸载脚本
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INSTALL_DIR="/opt/yushu-radar"
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DESKTOP_FILE="/usr/share/applications/yushu-radar.desktop"
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ICON_FILE="/usr/share/pixmaps/yushu-radar.svg"
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BIN_LINK="/usr/local/bin/yushu-radar"
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echo "🗑️ 卸载宇树雷达检测系统..."
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# 检查权限
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if [ "$EUID" -ne 0 ]; then
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echo "❌ 请使用sudo运行此脚本"
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exit 1
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fi
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# 删除文件
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rm -rf "$INSTALL_DIR"
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rm -f "$DESKTOP_FILE"
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rm -f "$ICON_FILE"
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rm -f "$BIN_LINK"
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# 更新桌面数据库
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if command -v update-desktop-database >/dev/null 2>&1; then
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update-desktop-database /usr/share/applications
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fi
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echo "✅ 卸载完成"
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EOF
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chmod +x ${PACKAGE_DIR}/uninstall.sh
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# 10. 创建文档
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echo "📖 创建文档..."
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cat > ${PACKAGE_DIR}/docs/README.md << 'EOF'
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# 宇树雷达检测系统
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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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- 🖥️ 图形化界面
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## 系统要求
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- Ubuntu 18.04 或更高版本
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- PCL (Point Cloud Library)
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- yaml-cpp
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- espeak (语音合成)
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- 宇树雷达设备
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## 安装方法
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```bash
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sudo ./install.sh
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```
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## 使用方法
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### 命令行启动
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```bash
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yushu-radar
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```
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### 图形界面启动
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在应用菜单中找到"宇树雷达检测系统"
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### 检查系统状态
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```bash
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yushu-radar --check
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```
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## 配置文件
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配置文件位于：`/opt/yushu-radar/config/config.yaml`
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主要配置项：
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- `port`: 串口设备路径
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- `occlusion_detection.alert_distance`: 遮挡物预警距离
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- `slope_detection.crack_threshold`: 裂缝检测阈值
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## 故障排除
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### 设备权限问题
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```bash
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sudo chmod 666 /dev/ttyUSB0
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# 或
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sudo usermod -a -G dialout $USER
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```
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### 依赖包问题
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```bash
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sudo apt install libpcl-dev libyaml-cpp-dev espeak
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```
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## 卸载
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```bash
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sudo ./uninstall.sh
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```
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EOF
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# 11. 创建打包脚本
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cat > ${PACKAGE_DIR}/package.sh << 'EOF'
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#!/bin/bash
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# 创建分发包
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VERSION="1.0.0"
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PACKAGE_NAME="yushu-radar-detector-${VERSION}"
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echo "📦 创建分发包..."
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# 创建tar.gz包
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cd ..
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tar -czf "${PACKAGE_NAME}.tar.gz" linux-package/
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echo "✅ 创建完成: ${PACKAGE_NAME}.tar.gz"
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# 创建deb包 (如果有dpkg-deb)
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if command -v dpkg-deb >/dev/null 2>&1; then
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echo "📦 创建DEB包..."
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mkdir -p deb-package/DEBIAN
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cat > deb-package/DEBIAN/control << DEBEOF
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Package: yushu-radar-detector
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Version: ${VERSION}
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Section: science
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Priority: optional
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Architecture: amd64
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Depends: libpcl-dev, libyaml-cpp-dev, espeak
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Maintainer: Yushu Radar Team
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Description: 宇树雷达检测系统
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坡面裂缝和遮挡物检测系统，支持实时3D点云显示和智能预警。
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DEBEOF
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# 复制文件到deb结构
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mkdir -p deb-package/opt/yushu-radar
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cp -r linux-package/{bin,lib,config,docs} deb-package/opt/yushu-radar/
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mkdir -p deb-package/usr/share/applications
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cp linux-package/desktop/yushu-radar.desktop deb-package/usr/share/applications/
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mkdir -p deb-package/usr/share/pixmaps
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cp linux-package/desktop/yushu-radar.svg deb-package/usr/share/pixmaps/
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mkdir -p deb-package/usr/local/bin
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ln -sf /opt/yushu-radar/bin/yushu-radar deb-package/usr/local/bin/yushu-radar
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dpkg-deb --build deb-package "${PACKAGE_NAME}.deb"
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echo "✅ DEB包创建完成: ${PACKAGE_NAME}.deb"
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fi
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EOF
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chmod +x ${PACKAGE_DIR}/package.sh
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echo ""
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echo "🎉 Linux软件包创建完成！"
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echo ""
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echo "📁 软件包位置: ${PACKAGE_DIR}/"
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echo ""
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echo "📋 使用方法："
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echo "1. 安装: cd ${PACKAGE_DIR} && sudo ./install.sh"
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echo "2. 启动: yushu-radar"
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echo "3. 卸载: sudo ./uninstall.sh"
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echo ""
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echo "📦 创建分发包: cd ${PACKAGE_DIR} && ./package.sh"
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echo "" |