add wust typr mpc and mutipule x

wust_vision-main/run.sh

@@ -0,0 +1,161 @@
+#!/bin/bash
+
+WORK_DIR="$(dirname "$(realpath "${BASH_SOURCE[0]}")")"
+BUILD_DIR="$WORK_DIR/build"
+CONFIG_DIR="$WORK_DIR/config"
+BIN_DIR="$WORK_DIR/bin"
+source "$WORK_DIR/env.bash"
+export VISION_ROOT="$WORK_DIR"
+export MVCAM_SDK_PATH=/opt/MVS
+export MVCAM_COMMON_RUNENV=/opt/MVS/lib
+export MVCAM_GENICAM_CLPROTOCOL=/opt/MVS/lib/CLProtocol
+export ALLUSERSPROFILE=/opt/MVS/MVFG
+export LD_LIBRARY_PATH=/opt/MVS/lib/64:/opt/MVS/lib/32:$LD_LIBRARY_PATH
+blue="\033[1;34m"
+yellow="\033[1;33m"
+reset="\033[0m"
+red="\033[1;31m"
+
+if [ "$EUID" -eq 0 ]; then
+    USER_HOME=$(getent passwd $SUDO_USER | cut -d: -f6)
+    COPY_BASHRC="$WORK_DIR/user_bashrc_copy.bash"
+
+    if [ -f "$USER_HOME/.bashrc" ]; then
+        # 复制 bashrc 到 WORK_DIR，并删除前10行
+        tail -n +11 "$USER_HOME/.bashrc" > "$COPY_BASHRC"
+        # 设置权限，普通用户可读
+        chmod 644 "$COPY_BASHRC"
+        chown $SUDO_USER:$SUDO_USER "$COPY_BASHRC"
+
+        echo -e "${yellow}Copied ~/.bashrc to $COPY_BASHRC with first 10 lines removed${reset}"
+
+        # 加载复制的 bashrc
+        source "$COPY_BASHRC"
+        echo -e "${yellow}Loaded bashrc from copy${reset}"
+    else
+        echo -e "${red}Original ~/.bashrc not found: $USER_HOME/.bashrc${reset}"
+        source "$COPY_BASHRC"
+    fi
+else
+    # 普通用户直接加载原 bashrc
+    if [ -f "$HOME/.bashrc" ]; then
+        source "$HOME/.bashrc"
+        echo -e "${yellow}Loaded bashrc from $HOME/.bashrc${reset}"
+    fi
+fi
+
+
+chmod 777 /dev/shm/debug_frame
+
+
+rm -rf "$BIN_DIR/config"
+ln -sf "$CONFIG_DIR" "$BIN_DIR/config"
+ln -sf "$WORK_DIR/env.bash" "$BUILD_DIR/env.bash"
+
+if [ "$1" == "rebuild" ]; then
+    echo -e "${yellow}<--- Rebuilding: This will REMOVE the entire build directory --->${reset}"
+    read -p "Are you sure you want to rebuild? [y/N]: " confirm
+    confirm=${confirm,,}
+    if [[ "$confirm" != "y" && "$confirm" != "yes" ]]; then
+        echo -e "${red}Rebuild cancelled.${reset}"
+        exit 0
+    fi
+    echo -e "${yellow}<--- Removing build directory --->${reset}"
+    rm -rf "$BUILD_DIR"
+    mkdir -p "$BUILD_DIR"
+else
+    mkdir -p "$BUILD_DIR"
+fi
+
+if [[ "$1" == "build" || "$1" == "rebuild" || "$1" == "run" ]]; then
+
+    echo -e "${yellow}<--- Start CMake (Ninja) --->${reset}"
+    cmake -S "$WORK_DIR" -B "$BUILD_DIR" \
+        -G Ninja \
+
+    if [ $? -ne 0 ]; then
+        echo -e "${red}\n--- CMake Failed ---${reset}"
+        exit 1
+    fi
+    SECONDS=0
+    echo -e "${yellow}\n<--- Start Ninja Build --->${reset}"
+    ninja -C "$BUILD_DIR"
+    if [ $? -ne 0 ]; then
+        echo -e "${red}\n--- Ninja Build Failed ---${reset}"
+        exit 1
+    fi
+
+    build_time=$SECONDS
+    printf "${blue}\n<--- Build Time --->\n        %02d:%02d (mm:ss)\n${reset}" \
+        $((build_time / 60)) $((build_time % 60))
+    echo -e "${yellow}\n<--- Total Lines --->${reset}"
+    total=$(find "$WORK_DIR" \
+        -type d \( \
+            -path "$BUILD_DIR" -o \
+            -path "$WORK_DIR/model" -o \
+            -path "$WORK_DIR/3rdparty" -o \
+            -path "$WORK_DIR/.cache" \
+        \) -prune -o \
+        -type f \( \
+            -name "*.cpp" -o -name "*.hpp" -o -name "*.c" -o -name "*.h" \
+            -o -name "*.py" -o -name "*.html" -o -name "*.sh" -o -name "*.md" \
+            -o -name "*.yaml" -o -name "*.json" -o -name "*.css" -o -name "*.js" \
+            -o -name "*.cu" -o -name "*.txt" \
+        \) -exec wc -l {} + | awk 'END{print $1}')
+    echo -e "${blue}        $total${reset}"
+
+    # Only build
+    if [ "$1" == "build" ] || [ "$1" == "rebuild" ]; then
+        echo -e "${yellow}\n<--- Only building --->${reset}"
+        echo -e "${yellow}<----- OVER ----->${reset}"
+        exit 0
+    fi
+
+    # Run mode
+    if [ "$1" == "run" ]; then
+        echo -e "${yellow}\n<--- Running WUST_VISION --->${reset}"
+        RUN_PROGRAM="$BIN_DIR/$2"
+        sudo pkill -9 $2
+        ORIGINAL_ARGS=("$@")
+        shift 2
+
+        "$RUN_PROGRAM" "$@"
+        RET=$?
+        set -- "${ORIGINAL_ARGS[@]}"
+
+        if [ $RET -ne 0 ]; then
+            echo -e "${red}\n--- Program crashed, running guard.sh ---${reset}"
+
+            pkill "$2"
+            timeout=10
+            while pgrep "$2" > /dev/null; do
+                sleep 0.5
+                timeout=$((timeout - 1))
+                if [ $timeout -le 0 ]; then
+                    echo "$2 did not exit after 10 seconds, forcing kill"
+                    pkill -9 "$2"
+                    break
+                fi
+            done
+
+            GUARD_SCRIPT="$CONFIG_DIR/guard.sh"
+            TARGET_PATH="$RUN_PROGRAM"
+
+            if [ ! -f "$GUARD_SCRIPT" ]; then
+                echo -e "${red}guard.sh not found: $GUARD_SCRIPT${reset}"
+                exit 1
+            fi
+
+            echo -e "${yellow}Starting guard.sh ...${reset}"
+            exec "$GUARD_SCRIPT" "$TARGET_PATH" "$@"
+        fi
+    fi
+
+    echo -e "${yellow}<----- OVER ----->${reset}"
+
+else
+    echo -e "${yellow}Warning:${reset} Invalid argument '$1'."
+    echo -e "${yellow}Usage:${reset} $0 {build|rebuild|run <program> [args...]}"
+    echo -e "${yellow}No action performed.${reset}"
+    exit 0
+fi