start_visualization.sh

#!/bin/bash

# 电力线点云Web可视化系统启动脚本
# 使用方法: ./start_visualization.sh

echo "🚀 启动电力线点云Web可视化系统..."
echo "======================================"

# 颜色定义
RED='\033[0;31m'
GREEN='\033[0;32m'
YELLOW='\033[1;33m'
BLUE='\033[0;34m'
NC='\033[0m' # No Color

# 检查ROS环境
check_ros() {
    echo -e "${BLUE}🔍 检查ROS环境...${NC}"
    
    if [ -z "$ROS_DISTRO" ]; then
        echo -e "${RED}❌ 未检测到ROS环境，请先source您的ROS setup.bash${NC}"
        echo "例如: source /opt/ros/noetic/setup.bash"
        exit 1
    fi
    
    echo -e "${GREEN}✅ ROS环境正常 (${ROS_DISTRO})${NC}"
}

# 检查rosbridge安装
check_rosbridge() {
    echo -e "${BLUE}🔍 检查rosbridge安装...${NC}"
    
    if ! rospack find rosbridge_server &> /dev/null; then
        echo -e "${RED}❌ 未安装rosbridge_server${NC}"
        echo "请运行: sudo apt-get install ros-${ROS_DISTRO}-rosbridge-suite"
        exit 1
    fi
    
    echo -e "${GREEN}✅ rosbridge已安装${NC}"
}

# 启动roscore
start_roscore() {
    echo -e "${BLUE}🎯 检查roscore状态...${NC}"
    
    if ! pgrep -f "roscore" > /dev/null; then
        echo -e "${YELLOW}⚡ 启动roscore...${NC}"
        roscore &
        ROSCORE_PID=$!
        sleep 3
        echo -e "${GREEN}✅ roscore已启动 (PID: $ROSCORE_PID)${NC}"
    else
        echo -e "${GREEN}✅ roscore已运行${NC}"
    fi
}

# 启动点云转换器
start_converter() {
    echo -e "${BLUE}🔄 启动点云转换器...${NC}"
    
    # 检查转换器脚本是否存在
    if [ ! -f "pointcloud_converter.py" ]; then
        echo -e "${RED}❌ 未找到pointcloud_converter.py${NC}"
        echo "请确保pointcloud_converter.py在当前目录中"
        exit 1
    fi
    
    # 启动Python转换器
    python pointcloud_converter.py &
    CONVERTER_PID=$!
    sleep 2
    
    if ps -p $CONVERTER_PID > /dev/null; then
        echo -e "${GREEN}✅ 点云转换器已启动 (PID: $CONVERTER_PID)${NC}"
    else
        echo -e "${RED}❌ 点云转换器启动失败${NC}"
        exit 1
    fi
}

# 启动图像压缩器
start_image_compressor() {
    echo -e "${BLUE}📷 启动图像压缩器...${NC}"
    
    # 检查压缩器脚本是否存在
    if [ ! -f "compress_camera.py" ]; then
        echo -e "${YELLOW}⚠️ 未找到compress_camera.py，跳过图像压缩${NC}"
        echo "如需图像压缩，请创建compress_camera.py文件"
        return 0
    fi
    
    # 检查cv_bridge依赖
    if ! python -c "import cv_bridge, cv2" 2>/dev/null; then
        echo -e "${YELLOW}⚠️ 缺少cv_bridge或opencv依赖，跳过图像压缩${NC}"
        echo "安装命令: sudo apt-get install ros-$ROS_DISTRO-cv-bridge python-opencv"
        return 0
    fi
    
    # 启动Python压缩器
    python compress_camera.py &
    COMPRESSOR_PID=$!
    sleep 2
    
    if ps -p $COMPRESSOR_PID > /dev/null; then
        echo -e "${GREEN}✅ 图像压缩器已启动 (PID: $COMPRESSOR_PID)${NC}"
        echo -e "${BLUE}📡 压缩话题: /hikrobot_camera/rgb/compressed${NC}"
    else
        echo -e "${YELLOW}⚠️ 图像压缩器启动失败，继续使用原始话题${NC}"
        COMPRESSOR_PID=""
    fi
}
# 启动rosbridge
start_rosbridge() {
    echo -e "${BLUE}🌉 启动rosbridge WebSocket服务...${NC}"
    
    if pgrep -f "rosbridge" > /dev/null; then
        echo -e "${YELLOW}⚠️ rosbridge已在运行，正在重启...${NC}"
        pkill -f "rosbridge"
        sleep 2
    fi
    
    # 启动rosbridge
    roslaunch rosbridge_server rosbridge_websocket.launch port:=9090 &
    ROSBRIDGE_PID=$!
    sleep 3
    
    # 检查是否启动成功
    if pgrep -f "rosbridge" > /dev/null; then
        echo -e "${GREEN}✅ rosbridge WebSocket服务已启动 (端口:9090, PID: $ROSBRIDGE_PID)${NC}"
    else
        echo -e "${RED}❌ rosbridge启动失败${NC}"
        exit 1
    fi
}

# 启动Web服务器
start_web_server() {
    echo -e "${BLUE}🌐 启动Web服务器...${NC}"
    
    # 检查端口8080是否被占用
    if lsof -Pi :8080 -sTCP:LISTEN -t >/dev/null; then
        echo -e "${YELLOW}⚠️ 端口8080已被占用，正在尝试其他端口...${NC}"
        WEB_PORT=8081
    else
        WEB_PORT=8080
    fi
    
    # 获取本机IP地址
    LOCAL_IP=$(hostname -I | awk '{print $1}')
    
    # 启动Python HTTP服务器（绑定到所有接口）
    if command -v python3 &> /dev/null; then
        echo -e "${GREEN}🐍 使用Python3启动HTTP服务器...${NC}"
        python3 -m http.server $WEB_PORT --bind 0.0.0.0 &
        WEB_PID=$!
    elif command -v python &> /dev/null; then
        echo -e "${GREEN}🐍 使用Python2启动HTTP服务器...${NC}"
        python -m SimpleHTTPServer $WEB_PORT &
        WEB_PID=$!
    else
        echo -e "${RED}❌ 未找到Python，无法启动Web服务器${NC}"
        echo "请安装Python或使用其他Web服务器"
        exit 1
    fi
    
    sleep 2
    echo -e "${GREEN}✅ Web服务器已启动 (端口:$WEB_PORT, PID: $WEB_PID)${NC}"
    echo -e "${BLUE}📱 局域网访问地址: http://$LOCAL_IP:$WEB_PORT${NC}"
}

# 显示启动信息
show_info() {
    echo ""
    echo -e "${GREEN}🎉 系统启动完成！${NC}"
    echo "======================================"
    echo -e "${BLUE}📋 系统信息:${NC}"
    echo "  🌐 本地访问: http://localhost:$WEB_PORT"
    echo "  📱 局域网访问: http://$LOCAL_IP:$WEB_PORT"
    echo "  🌉 ROS WebSocket: ws://$LOCAL_IP:9090"
    echo "  🎯 roscore: 运行中"
    echo "  📷 图像压缩: $([ ! -z "$COMPRESSOR_PID" ] && echo "已启用" || echo "未启用")"
    echo ""
    echo -e "${YELLOW}📝 使用说明:${NC}"
    echo "  1. 本机访问: http://localhost:$WEB_PORT"
    echo "  2. 平板/手机访问: http://$LOCAL_IP:$WEB_PORT"
    echo "  3. 系统会自动转换以下话题为Web格式:"
    echo "     - 原始话题 -> Web话题"
    echo "     - /extracted_powerline_cloud -> /powerline_cloud_web"
    echo "     - /environment_cloud -> /environment_cloud_web"
    echo "  4. 如果话题名称不同，请修改pointcloud_converter.py"
    echo "  5. 障碍物标记话题: /obstacle_markers_web"
    echo ""
    echo -e "${BLUE}🎮 控制说明:${NC}"
    echo "  - 鼠标左键: 旋转视角"
    echo "  - 鼠标右键: 平移视角"
    echo "  - 鼠标滚轮: 缩放"
    echo "  - 按键R: 重置视角"
    echo "  - 按键F: 全屏切换"
    echo ""
    echo -e "${BLUE}📱 移动设备说明:${NC}"
    echo "  - 单指拖拽: 旋转视角"
    echo "  - 双指拖拽: 平移视角"
    echo "  - 双指缩放: 缩放视角"
    echo ""
    echo -e "${RED}🛑 停止系统: 按 Ctrl+C${NC}"
}

# 清理函数
cleanup() {
    echo ""
    echo -e "${YELLOW}🧹 正在清理系统...${NC}"
    
    # 停止转换器
    if [ ! -z "$CONVERTER_PID" ]; then
        kill $CONVERTER_PID 2>/dev/null
        echo -e "${GREEN}✅ 点云转换器已停止${NC}"
    fi
    # 停止图像压缩器
    if [ ! -z "$COMPRESSOR_PID" ]; then
        kill $COMPRESSOR_PID 2>/dev/null
        echo -e "${GREEN}✅ 图像压缩器已停止${NC}"
    fi
    # 停止Web服务器
    if [ ! -z "$WEB_PID" ]; then
        kill $WEB_PID 2>/dev/null
        echo -e "${GREEN}✅ Web服务器已停止${NC}"
    fi
    
    # 停止rosbridge
    if [ ! -z "$ROSBRIDGE_PID" ]; then
        kill $ROSBRIDGE_PID 2>/dev/null
        echo -e "${GREEN}✅ rosbridge已停止${NC}"
    fi
    
    # 可选：停止roscore (注释掉这行如果您想保持roscore运行)
    # if [ ! -z "$ROSCORE_PID" ]; then
    #     kill $ROSCORE_PID 2>/dev/null
    #     echo -e "${GREEN}✅ roscore已停止${NC}"
    # fi
    
    echo -e "${GREEN}🎉 系统已安全关闭${NC}"
    exit 0
}

# 设置信号处理
trap cleanup SIGINT SIGTERM

# 主执行流程
main() {
    # 检查环境
    check_ros
    check_rosbridge
    
    # 启动服务
    start_roscore
    start_converter      # 新增：启动点云转换器
    start_image_compressor  # 启动图像压缩器
    start_rosbridge
    start_web_server
    
    # 显示信息
    show_info
    
    # 等待用户中断
    echo -e "${BLUE}💻 系统运行中... 按Ctrl+C停止${NC}"
    
    # 自动打开浏览器
    if command -v xdg-open &> /dev/null; then
        echo -e "${BLUE}🌐 正在打开浏览器...${NC}"
        xdg-open "http://localhost:$WEB_PORT" &
    fi
    
    # 保持运行
    while true; do
        sleep 1
    done
}

# 检查是否在正确的目录
if [ ! -f "index.html" ] || [ ! -f "app.js" ] || [ ! -f "pointcloud_converter.py" ]; then
    echo -e "${RED}❌ 请在包含Web文件和转换器的目录中运行此脚本${NC}"
    echo "确保当前目录包含: index.html, app.js, style.css, pointcloud_converter.py"
    exit 1
fi

# 可选文件检查
if [ ! -f "compress_camera.py" ]; then
    echo -e "${YELLOW}💡 提示: 可创建compress_camera.py以启用图像压缩${NC}"
fi

# 运行主程序
main