Rename customs-tablet-frontend to public-frontend and add new features

- Rename customs-tablet-frontend/ to public-frontend/ for broader scope
- Add new pages: customs, inspection with camera integration
- Add new services: apiClient.ts, backendApi.ts, normalizers.ts
- Add CameraFrame component for real-time video streaming
- Add scan_fixer module with clock_publisher and timestamp fix utilities
- Update startup scripts to support new frontend structure
- Update arm_server configuration and service files

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

scripts/restart_flask.sh

@@ -6,12 +6,22 @@
 # ============================================================
 set -e
 
-AGV_PROJECT_DIR="${AGV_PROJECT_DIR:-/home/elephant/work/smart-inspection}"
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
+AGV_PROJECT_DIR="${AGV_PROJECT_DIR:-$PROJECT_DIR}"
 AGV_APP_DIR="${AGV_APP_DIR:-$AGV_PROJECT_DIR/agv_app}"
-AGV_ROS2_DIR="${AGV_ROS2_DIR:-/home/elephant/agv_pro_ros2}"
+AGV_ROS2_DIR="${AGV_ROS2_DIR:-$HOME/agv_pro_ros2}"
+ROS_DISTRO="${ROS_DISTRO:-humble}"
+ROS_SETUP="${ROS_SETUP:-/opt/ros/$ROS_DISTRO/setup.bash}"
+ROS_WORKSPACE_SETUP="${ROS_WORKSPACE_SETUP:-$AGV_ROS2_DIR/install/setup.bash}"
+LOG_DIR="${LOG_DIR:-/tmp}"
+FLASK_PORT="${FLASK_PORT:-5000}"
+FLASK_LOG="$LOG_DIR/agv_flask.log"
 
-source /opt/ros/humble/setup.bash 2>/dev/null || true
-source "$AGV_ROS2_DIR/install/setup.bash" 2>/dev/null || true
+mkdir -p "$LOG_DIR"
+
+source "$ROS_SETUP" 2>/dev/null || true
+source "$ROS_WORKSPACE_SETUP" 2>/dev/null || true
 
 cd "$AGV_APP_DIR"
 
@@ -37,25 +47,25 @@ find "$AGV_APP_DIR" -name '__pycache__' -type d -exec rm -rf {} + 2>/dev/null
 pkill -f "python.*app.py" 2>/dev/null || true
 pkill -f "uv run .*python app.py" 2>/dev/null || true
 sleep 1
-nohup uv run --locked python app.py > /tmp/agv_flask.log 2>&1 &
+nohup uv run --locked python app.py > "$FLASK_LOG" 2>&1 &
 FLASK_PID=$!
 echo "   Flask PID: $FLASK_PID"
 
 # 3. 验证
 echo "[3/3] 验证服务..."
 sleep 3
-if ss -tlnp 2>/dev/null | grep -q 5000 || netstat -tlnp 2>/dev/null | grep -q 5000; then
-    echo "   ✅ 端口 5000 正常监听"
+if ss -tlnp 2>/dev/null | grep -q ":$FLASK_PORT " || netstat -tlnp 2>/dev/null | grep -q ":$FLASK_PORT "; then
+    echo "   ✅ 端口 $FLASK_PORT 正常监听"
     # 测试机械臂摄像头单帧
-    result=$(curl -s --max-time 5 http://127.0.0.1:5000/api/camera/arm_refresh 2>/dev/null | head -c 4)
+    result=$(curl -s --max-time 5 "http://127.0.0.1:$FLASK_PORT/api/camera/arm_refresh" 2>/dev/null | head -c 4)
     if [ "$result" = "$(echo -en '\xff\xd8\xff\xe0')" ]; then
         echo "   ✅ arm_refresh 返回 JPEG"
     else
         echo "   ⚠️ arm_refresh 返回异常（机械臂可能未连接）"
     fi
 else
-    echo "   ❌ 端口 5000 未监听，查看日志:"
-    tail -10 /tmp/agv_flask.log
+    echo "   ❌ 端口 $FLASK_PORT 未监听，查看日志:"
+    tail -10 "$FLASK_LOG"
     exit 1
 fi