From 5f0fa2e787e2fcee8c2f14a587f25f7e2b20e380 Mon Sep 17 00:00:00 2001
From: ywb <347742090@qq.com>
Date: Sun, 17 May 2026 09:46:13 +0800
Subject: [PATCH] feat: auto-reconnect AGV on Flask startup (async, 2s delay)

---
 agv_app/app.py | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/agv_app/app.py b/agv_app/app.py
index bd9fb82..e4fcb3c 100644
--- a/agv_app/app.py
+++ b/agv_app/app.py
@@ -118,6 +118,20 @@ try:
     # Flask 2.3+ 方式
     with app.app_context():
         load_persisted_config()
+        # 启动时自动重连 AGV（异步，不阻塞 Flask 启动）
+        import threading
+        def _auto_reconnect():
+            time.sleep(2)  # 等待 Flask 完全就绪
+            try:
+                from utils.agv_controller_ros2 import AGVController
+                gs.agv_controller = AGVController()
+                if gs.agv_controller.connect():
+                    print("[启动] AGV 自动连接成功")
+                else:
+                    print("[启动] AGV 自动连接失败，请手动连接")
+            except Exception as e:
+                print(f"[启动] AGV 自动连接异常: {e}")
+        threading.Thread(target=_auto_reconnect, daemon=True).start()
 except:
     # 兼容旧版 Flask
     @app.before_first_request