#!/bin/bash

# ============================================
# AGV Qt6 GUI 自动部署脚本
# ============================================
#
# 功能：自动打包 Qt6 应用程序及其所有依赖
# 作者：AGV Team
# 日期：2025-11-27
# 版本：1.0
#
# ============================================

set -e  # 遇到错误立即退出

# ==================== 配置区域 ====================

# Qt 安装路径（请根据实际情况修改）
QT_DIR="/c/Qt/6.10.1/mingw_64"
MINGW_DIR="/c/Qt/Tools/mingw1310_64"

# 项目路径
PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
BUILD_DIR="$PROJECT_ROOT/build"
DEPLOY_DIR="$PROJECT_ROOT/release_package"

# 可执行文件名
EXE_NAME="agv_qt_gui.exe"

# 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

# ==================== 函数定义 ====================

print_header() {
    echo ""
    echo -e "${BLUE}========================================${NC}"
    echo -e "${BLUE}  AGV Qt6 GUI 自动部署脚本${NC}"
    echo -e "${BLUE}========================================${NC}"
    echo ""
}

print_step() {
    echo -e "${GREEN}[$(date +%H:%M:%S)]${NC} $1"
}

print_warning() {
    echo -e "${YELLOW}[警告]${NC} $1"
}

print_error() {
    echo -e "${RED}[错误]${NC} $1"
}

check_requirements() {
    print_step "检查环境要求..."

    # 检查可执行文件
    if [ ! -f "$BUILD_DIR/$EXE_NAME" ]; then
        print_error "找不到可执行文件: $BUILD_DIR/$EXE_NAME"
        echo "请先编译项目！"
        echo ""
        echo "编译命令："
        echo "  cd build"
        echo "  cmake -G \"MinGW Makefiles\" -DCMAKE_PREFIX_PATH=$QT_DIR .."
        echo "  cmake --build . -j4"
        exit 1
    fi

    # 检查 Qt
    if [ ! -d "$QT_DIR" ]; then
        print_error "找不到 Qt 安装目录: $QT_DIR"
        echo "请修改脚本中的 QT_DIR 变量"
        exit 1
    fi

    # 检查 MinGW
    if [ ! -d "$MINGW_DIR" ]; then
        print_error "找不到 MinGW 目录: $MINGW_DIR"
        echo "请修改脚本中的 MINGW_DIR 变量"
        exit 1
    fi

    # 检查 windeployqt
    if [ ! -f "$QT_DIR/bin/windeployqt.exe" ]; then
        print_error "找不到 windeployqt.exe"
        exit 1
    fi

    echo -e "  ✓ 可执行文件: $EXE_NAME"
    echo -e "  ✓ Qt 目录: $QT_DIR"
    echo -e "  ✓ MinGW 目录: $MINGW_DIR"
}

create_deploy_dir() {
    print_step "创建部署目录..."

    if [ -d "$DEPLOY_DIR" ]; then
        print_warning "部署目录已存在，将被删除"
        rm -rf "$DEPLOY_DIR"
    fi

    mkdir -p "$DEPLOY_DIR"
    echo -e "  ✓ 创建目录: $DEPLOY_DIR"
}

copy_executable() {
    print_step "复制可执行文件..."

    cp "$BUILD_DIR/$EXE_NAME" "$DEPLOY_DIR/"

    # 获取文件大小
    SIZE=$(ls -lh "$DEPLOY_DIR/$EXE_NAME" | awk '{print $5}')
    echo -e "  ✓ $EXE_NAME ($SIZE)"
}

run_windeployqt() {
    print_step "运行 windeployqt（自动收集 Qt 依赖）..."

    cd "$DEPLOY_DIR"

    # 运行 windeployqt
    "$QT_DIR/bin/windeployqt.exe" \
        --release \
        --no-translations \
        --no-system-d3d-compiler \
        "$EXE_NAME" > /dev/null 2>&1

    cd "$PROJECT_ROOT"

    echo -e "  ✓ Qt 依赖已复制"
}

copy_mingw_runtime() {
    print_step "复制 MinGW 运行时库..."

    RUNTIME_DLLS=(
        "libgcc_s_seh-1.dll"
        "libstdc++-6.dll"
        "libwinpthread-1.dll"
    )

    for dll in "${RUNTIME_DLLS[@]}"; do
        if [ -f "$MINGW_DIR/bin/$dll" ]; then
            cp "$MINGW_DIR/bin/$dll" "$DEPLOY_DIR/"
            echo -e "  ✓ $dll"
        else
            print_warning "找不到 $dll"
        fi
    done
}

copy_project_libs() {
    print_step "复制项目特定库..."

    # 复制 ControlCAN 库（如果存在）
    if [ -f "$PROJECT_ROOT/lib/ControlCAN.dll" ]; then
        cp "$PROJECT_ROOT/lib/ControlCAN.dll" "$DEPLOY_DIR/"
        echo -e "  ✓ ControlCAN.dll"
    else
        print_warning "未找到 ControlCAN.dll（CAN 功能可能不可用）"
    fi

    # 复制其他必要的数据文件（如果有）
    # if [ -d "$PROJECT_ROOT/data" ]; then
    #     cp -r "$PROJECT_ROOT/data" "$DEPLOY_DIR/"
    #     echo -e "  ✓ data 目录"
    # fi
}

create_launcher() {
    print_step "创建启动脚本..."

    # Windows 批处理文件
    cat > "$DEPLOY_DIR/run.bat" << 'EOF'
@echo off
chcp 65001 >nul
title AGV Path Tracking Control System

echo ========================================
echo   AGV 路径跟踪控制系统
echo   Qt6 图形界面
echo ========================================
echo.
echo 正在启动程序...
echo.

agv_qt_gui.exe

if errorlevel 1 (
    echo.
    echo ========================================
    echo   程序异常退出！
    echo   错误代码: %errorlevel%
    echo ========================================
    echo.
    pause
)
EOF

    # Bash 启动脚本
    cat > "$DEPLOY_DIR/run.sh" << 'EOF'
#!/bin/bash
echo "========================================"
echo "  AGV 路径跟踪控制系统"
echo "  Qt6 图形界面"
echo "========================================"
echo ""
echo "正在启动程序..."
echo ""

./agv_qt_gui.exe

if [ $? -ne 0 ]; then
    echo ""
    echo "========================================"
    echo "  程序异常退出！"
    echo "  错误代码: $?"
    echo "========================================"
    echo ""
    read -p "按 Enter 键继续..."
fi
EOF

    chmod +x "$DEPLOY_DIR/run.sh"

    echo -e "  ✓ run.bat (Windows 启动脚本)"
    echo -e "  ✓ run.sh (Bash 启动脚本)"
}

create_readme() {
    print_step "创建 README 文件..."

    cat > "$DEPLOY_DIR/README.txt" << EOF
========================================
  AGV 路径跟踪控制系统 - 部署包
========================================

版本：1.0
构建日期：$(date +%Y-%m-%d)
Qt 版本：6.10.1
编译器：MinGW 13.1.0

========================================
  运行方法
========================================

Windows:
  双击运行 run.bat 或 agv_qt_gui.exe

Linux/Git Bash:
  ./run.sh

========================================
  系统要求
========================================

- Windows 10 或更高版本
- 64 位操作系统
- 约 100MB 磁盘空间

========================================
  功能说明
========================================

1. 路径规划
   - 圆弧路径
   - 直线路径
   - S 曲线
   - CSV 文件加载
   - 样条插值

2. 路径跟踪
   - Pure Pursuit 算法
   - Stanley 算法
   - 实时可视化

3. AGV 参数配置
   - 轴距调整
   - 最大速度设置
   - 最大转向角设置

========================================
  故障排除
========================================

问题：程序无法启动
解决：确保所有 DLL 文件都在同一目录下

问题：中文路径无法加载
解决：确保 CSV 文件使用 UTF-8 编码

问题：动画播放卡顿
解决：减小时间步长或增加 Horizon

========================================
  技术支持
========================================

详细文档：docs/guides/
编译说明：docs/guides/BUILD_INSTRUCTIONS.md
部署说明：docs/guides/QT6_DEPLOYMENT_GUIDE.md

========================================
  文件列表
========================================

agv_qt_gui.exe       - 主程序
Qt6*.dll             - Qt 库文件
libgcc*.dll          - MinGW 运行时
platforms/           - Qt 平台插件
styles/              - Qt 样式插件
run.bat              - Windows 启动脚本
run.sh               - Linux 启动脚本
README.txt           - 本文件

========================================
EOF

    echo -e "  ✓ README.txt"
}

optimize_size() {
    print_step "优化部署包大小..."

    cd "$DEPLOY_DIR"

    # 删除不需要的插件
    rm -rf tls 2>/dev/null || true
    rm -rf networkinformation 2>/dev/null || true

    # 删除不常用的图像格式插件
    if [ -d "imageformats" ]; then
        cd imageformats
        rm -f qicns.dll qico.dll qtga.dll qtiff.dll qwbmp.dll qwebp.dll 2>/dev/null || true
        cd ..
    fi

    # 删除调试文件
    find . -name "*.pdb" -delete 2>/dev/null || true

    cd "$PROJECT_ROOT"

    echo -e "  ✓ 已删除不必要的文件"
}

create_archive() {
    print_step "创建压缩包..."

    ARCHIVE_NAME="AGV_PathTracking_Qt6_$(date +%Y%m%d).zip"

    cd "$PROJECT_ROOT"

    if command -v zip &> /dev/null; then
        zip -r -q "$ARCHIVE_NAME" "$(basename "$DEPLOY_DIR")"
        echo -e "  ✓ $ARCHIVE_NAME"
    else
        print_warning "未安装 zip 工具，跳过创建压缩包"
    fi
}

show_summary() {
    echo ""
    echo -e "${GREEN}========================================${NC}"
    echo -e "${GREEN}  部署完成！${NC}"
    echo -e "${GREEN}========================================${NC}"
    echo ""

    # 计算大小
    TOTAL_SIZE=$(du -sh "$DEPLOY_DIR" 2>/dev/null | cut -f1)
    FILE_COUNT=$(find "$DEPLOY_DIR" -type f | wc -l)

    echo "部署目录: $DEPLOY_DIR"
    echo "总大小: $TOTAL_SIZE"
    echo "文件数量: $FILE_COUNT"
    echo ""

    echo "目录结构："
    tree -L 2 "$DEPLOY_DIR" 2>/dev/null || ls -la "$DEPLOY_DIR" | head -20

    echo ""
    echo -e "${YELLOW}下一步操作：${NC}"
    echo "1. 测试部署包："
    echo "   cd $DEPLOY_DIR && ./agv_qt_gui.exe"
    echo ""
    echo "2. 分发到其他计算机："
    echo "   复制整个 $(basename "$DEPLOY_DIR") 文件夹"
    echo ""
    echo "3. 查看部署文档："
    echo "   docs/guides/QT6_DEPLOYMENT_GUIDE.md"
    echo ""
}

# ==================== 主流程 ====================

main() {
    print_header

    check_requirements
    create_deploy_dir
    copy_executable
    run_windeployqt
    copy_mingw_runtime
    copy_project_libs
    create_launcher
    create_readme
    optimize_size
    # create_archive  # 可选：取消注释以创建 ZIP

    show_summary
}

# 运行主函数
main