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