From 499822a9587d8860048a3562e575f0146affe9c8 Mon Sep 17 00:00:00 2001
From: ykcheungab <ykcheungab@connect.ust.hk>
Date: Thu, 9 Jul 2026 16:24:48 +0800
Subject: [PATCH] added setup script

---
 README.md                 |   0
 setup/radxa-dq6a-setup.sh | 194 ++++++++++++++++++++++++++++++++++++++
 2 files changed, 194 insertions(+)
 create mode 100644 README.md
 create mode 100644 setup/radxa-dq6a-setup.sh

diff --git a/README.md b/README.md
new file mode 100644
index 0000000..e69de29
diff --git a/setup/radxa-dq6a-setup.sh b/setup/radxa-dq6a-setup.sh
new file mode 100644
index 0000000..e1a77ad
--- /dev/null
+++ b/setup/radxa-dq6a-setup.sh
@@ -0,0 +1,194 @@
+#!/bin/bash
+# ============================================
+# Dragon Q6A 环境自动配置脚本
+# 适用：Python 3.12 + PyQt5 + Open3D + PyOpenGL + GPU 硬件加速
+# ============================================
+
+set -e  # 遇到错误立即退出
+
+echo "============================================"
+echo "  Dragon Q6A 环境配置开始"
+echo "============================================"
+
+# ============================================
+# 1. 系统更新
+# ============================================
+echo ""
+echo "[1/7] 更新系统..."
+sudo rsetup
+
+# ============================================
+# 2. 安装系统依赖
+# ============================================
+echo ""
+echo "[2/7] 安装系统依赖..."
+sudo apt install -y \
+    build-essential git wget curl \
+    python3-pyqt5 pyqt5-dev-tools \
+    python3-pyqt5.qtsvg python3-pyqt5.qtwebengine \
+    mesa-utils mesa-vulkan-drivers \
+    libgl1-mesa-dri libglx-mesa0 \
+    libegl1-mesa-dev libgles2-mesa-dev \
+    libgbm-dev libdrm-dev libvulkan-dev \
+    vulkan-tools libglu1-mesa-dev libx11-xcb-dev \
+    python3-venv python3-pip \
+    v4l-utils ffmpeg
+
+# ============================================
+# 3. 验证 GPU
+# ============================================
+echo ""
+echo "[3/7] 验证 GPU 驱动..."
+echo "OpenGL 渲染器信息:"
+glxinfo | grep "OpenGL renderer" | head -1
+echo ""
+echo "Vulkan 驱动信息:"
+vulkaninfo | grep -E "driverName|deviceName" | head -4 || echo "⚠️  请检查 Vulkan 驱动"
+
+# ============================================
+# 4. 设置虚拟环境
+# ============================================
+echo ""
+echo "[4/7] 设置 Python 虚拟环境..."
+
+# 定义项目目录
+PROJECT_DIR1="$HOME/orisys_gripper/ctag2f-90d-sdk"
+PROJECT_DIR2="$HOME/orisys_gripper/orisys-sdk"
+
+configure_project() {
+    local PROJECT_DIR="$1"
+    if [ -d "$PROJECT_DIR" ]; then
+        echo "  配置项目: $PROJECT_DIR"
+        cd "$PROJECT_DIR"
+        
+        # 删除旧的虚拟环境（如果存在）
+        if [ -d ".venv" ]; then
+            echo "    移除旧的虚拟环境..."
+            rm -rf .venv
+        fi
+        
+        # 创建新虚拟环境
+        echo "    创建虚拟环境..."
+        python3 -m venv .venv --system-site-packages
+        
+        # 激活并安装依赖（使用 . 代替 source）
+        echo "    安装 Python 依赖..."
+        . .venv/bin/activate
+        
+        # 升级 pip
+        pip install --upgrade pip
+        
+        # 安装 requirements.txt（如果存在）
+        if [ -f "requirements.txt" ]; then
+            pip install -r requirements.txt
+        fi
+        #pip install pyqtgraph
+        
+        # 安装基础包
+        #pip install PyOpenGL
+        #pip install open3d-unofficial-arm
+        #pip install numpy scipy matplotlib pyyaml
+        
+        # 验证安装
+        echo "    验证安装..."
+        python -c "import PyQt5.QtCore; print('      PyQt5 OK')"
+        python -c "from OpenGL.GL import *; print('      OpenGL OK')"
+        python -c "import open3d as o3d; print('      Open3D OK: v' + o3d.__version__)"
+        
+        # 退出虚拟环境
+        deactivate
+        
+        cd - > /dev/null
+        echo "    ✅ $PROJECT_DIR 配置完成"
+        return 0
+    else
+        echo "  ⚠️  目录不存在: $PROJECT_DIR (跳过)"
+        return 1
+    fi
+}
+
+# 配置项目
+configure_project "$PROJECT_DIR1"
+configure_project "$PROJECT_DIR2"
+
+# ============================================
+# 6. 创建启动脚本
+# ============================================
+echo ""
+echo "[6/7] 创建启动脚本..."
+
+cat > ~/run_visualizer.sh << 'EOF'
+#!/bin/bash
+# Dragon Q6A 可视化程序启动脚本
+
+# 查找项目目录
+if [ -d "$HOME/orisys_gripper/ctag2f-90d-sdk" ]; then
+    PROJECT_DIR="$HOME/orisys_gripper/ctag2f-90d-sdk"
+elif [ -d "$HOME/orisys_gripper/orisys-sdk" ]; then
+    PROJECT_DIR="$HOME/orisys_gripper/orisys-sdk"
+else
+    echo "错误: 找不到项目目录"
+    exit 1
+fi
+
+echo "进入项目目录: $PROJECT_DIR"
+cd "$PROJECT_DIR"
+
+# 激活虚拟环境
+if [ -f ".venv/bin/activate" ]; then
+    . .venv/bin/activate
+else
+    echo "错误: 找不到虚拟环境"
+    exit 1
+fi
+
+# 运行程序
+python -m gripper.visualizer "$@"
+EOF
+
+chmod +x ~/run_visualizer.sh
+echo "✅ 启动脚本已创建: ~/run_visualizer.sh"
+
+# ============================================
+# 7. 最终验证
+# ============================================
+echo ""
+echo "[7/7] 最终验证..."
+
+# 查找存在的项目目录
+if [ -d "$PROJECT_DIR1" ]; then
+    cd "$PROJECT_DIR1"
+elif [ -d "$PROJECT_DIR2" ]; then
+    cd "$PROJECT_DIR2"
+else
+    echo "⚠️  未找到项目目录，跳过验证"
+    cd "$HOME"
+fi
+
+if [ -f ".venv/bin/activate" ]; then
+    . .venv/bin/activate
+    echo "✅ 虚拟环境激活成功"
+    
+    echo "验证 Python 包:"
+    python -c "import PyQt5.QtCore; print('  ✅ PyQt5: OK')" 2>/dev/null || echo "  ❌ PyQt5: 失败"
+    python -c "from OpenGL.GL import *; print('  ✅ PyOpenGL: OK')" 2>/dev/null || echo "  ❌ PyOpenGL: 失败"
+    python -c "import open3d as o3d; print('  ✅ Open3D: v' + o3d.__version__)" 2>/dev/null || echo "  ❌ Open3D: 失败"
+    
+    deactivate
+fi
+
+# ============================================
+echo ""
+echo "============================================"
+echo "  Dragon Q6A 环境配置完成！"
+echo "============================================"
+echo ""
+echo "GPU 状态: 硬件加速已启用 (FD643/Turnip)"
+echo ""
+echo "下一步："
+echo "  1. 重启终端或执行: source ~/.bashrc"
+echo "  2. 运行程序: ~/run_visualizer.sh"
+echo ""
+echo "如果遇到图形问题，可以设置软件渲染模式："
+echo "  export LIBGL_ALWAYS_SOFTWARE=1"
+echo "============================================"