Improve camera status and production startup

scripts/prod-backend.sh

@@ -46,7 +46,6 @@ info "ok" "清理完成"
 # 2. 启动 ros2 daemon
 # ============================================================================
 step "2/8" "启动 ros2 daemon"
-source "$ROS_SETUP" 2>/dev/null || true
 rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
 start_ros2_daemon || true
 
@@ -55,12 +54,16 @@ start_ros2_daemon || true
 # ============================================================================
 step "3/8" "启动 AGV Bringup"
 cd "$AGV_ROS2_DIR"
-source "$ROS_WORKSPACE_SETUP"
 
 rm -rf "$FASTRTPS_SHM_DIR"/fastrtps_* 2>/dev/null || true
 
-nohup bash -c "export ROS_DOMAIN_ID=$ROS_DOMAIN_ID && \
-    ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=$AGV_CONTROLLER_DEVICE" \
+nohup bash -c '
+    source "$1" || exit 1
+    source "$2" || exit 1
+    export ROS_DOMAIN_ID="$3"
+    cd "$4" || exit 1
+    ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:="$5"
+' _ "$ROS_SETUP" "$ROS_WORKSPACE_SETUP" "$ROS_DOMAIN_ID" "$AGV_ROS2_DIR" "$AGV_CONTROLLER_DEVICE" \
     > "$BRINGUP_LOG" 2>&1 &
 BRINGUP_PID=$!
 echo "   bringup PID: $BRINGUP_PID"
@@ -123,7 +126,7 @@ step "6/8" "启动 Nav2 导航"
 
 nohup bash -c "source \"$ROS_SETUP\" && source \"$ROS_WORKSPACE_SETUP\" && \
     export ROS_DOMAIN_ID=$ROS_DOMAIN_ID && \
-    ros2 launch agv_pro_navigation2 navigation2_active.launch.py autostart:=True" \
+    ros2 launch agv_pro_navigation2 navigation2_active.launch.py autostart:=True use_rviz:=False" \
     > "$NAV2_LOG" 2>&1 &
 NAV2_PID=$!
 echo "   Nav2 PID: $NAV2_PID"
@@ -153,9 +156,22 @@ info "ok" "精度参数已设置"
 step "8/8" "启动 Flask API"
 
 cd "$AGV_APP_DIR"
-nohup uv run --locked python app.py > "$FLASK_LOG" 2>&1 &
-FLASK_PID=$!
-echo "   Flask PID: $FLASK_PID"
+UV_EXECUTABLE=$(resolve_uv_bin || true)
+FLASK_PID=""
+if [ -z "$UV_EXECUTABLE" ]; then
+    echo "   [ERROR] 未找到 uv，可设置 UV_BIN=/path/to/uv"
+else
+    nohup bash -c '
+        source "$1" || exit 1
+        source "$2" || exit 1
+        export ROS_DOMAIN_ID="$3"
+        cd "$4" || exit 1
+        exec "$5" run --locked python app.py
+    ' _ "$ROS_SETUP" "$ROS_WORKSPACE_SETUP" "$ROS_DOMAIN_ID" "$AGV_APP_DIR" "$UV_EXECUTABLE" \
+        > "$FLASK_LOG" 2>&1 &
+    FLASK_PID=$!
+    echo "   Flask PID: $FLASK_PID"
+fi
 sleep 4
 
 # ============================================================================
@@ -223,7 +239,7 @@ echo "  进程状态:"
 for proc_info in "bringup:$BRINGUP_PID" "Nav2:$NAV2_PID" "fixer:$FIXER_PID" "Flask:$FLASK_PID"; do
     name="${proc_info%%:*}"
     pid="${proc_info##*:}"
-    if ps aux | grep -w "$pid" | grep -v grep >/dev/null 2>&1; then
+    if [ -n "$pid" ] && ps -p "$pid" >/dev/null 2>&1; then
         echo "    $name : 运行中 (PID: $pid)"
     else
         echo "    $name : 已退出"

scripts/ros-common.sh

@@ -16,6 +16,7 @@ readonly SCAN_FIXER_DIR="${SCAN_FIXER_DIR:-$AGV_PROJECT_DIR/scan_fixer}"
 readonly LOG_DIR="${LOG_DIR:-/tmp}"
 readonly FASTRTPS_SHM_DIR="${FASTRTPS_SHM_DIR:-/dev/shm}"
 readonly AGV_CONTROLLER_DEVICE="${AGV_CONTROLLER_DEVICE:-/dev/agvpro_controller}"
+readonly UV_BIN="${UV_BIN:-}"
 export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-1}"
 
 # 日志文件
@@ -131,6 +132,32 @@ ros2_exec() {
     ' _ "$ROS_SETUP" "$ROS_WORKSPACE_SETUP" "$ROS_DOMAIN_ID" "$@"
 }
 
+resolve_uv_bin() {
+    if [ -n "$UV_BIN" ]; then
+        if [ -x "$UV_BIN" ]; then
+            echo "$UV_BIN"
+            return 0
+        fi
+        return 1
+    fi
+
+    local candidate
+    candidate=$(command -v uv 2>/dev/null || true)
+    if [ -n "$candidate" ]; then
+        echo "$candidate"
+        return 0
+    fi
+
+    for candidate in "$HOME/.local/bin/uv" "$HOME/.cargo/bin/uv"; do
+        if [ -x "$candidate" ]; then
+            echo "$candidate"
+            return 0
+        fi
+    done
+
+    return 1
+}
+
 # ============================================================================
 # ROS2 环境操作
 # ============================================================================
@@ -184,8 +211,11 @@ stop_ros2_daemon() {
     pkill -9 -f "ros2-daemon" 2>/dev/null || true
     sleep 2
 
-    source "$ROS_SETUP" 2>/dev/null || true
-    ros2 daemon stop 2>/dev/null || true
+    bash -c '
+        source "$1" || exit 0
+        export ROS_DOMAIN_ID="$2"
+        ros2 daemon stop
+    ' _ "$ROS_SETUP" "$ROS_DOMAIN_ID" 2>/dev/null || true
     echo "   [OK] ros2 daemon 已重置"
 }
 
@@ -223,7 +253,7 @@ wait_for_nodes() {
 
     while [ "$elapsed" -lt "$max_wait" ]; do
         local nodes
-        nodes=$(ros2_exec ros2 node list 2>/dev/null || true)
+        nodes=$(ros2_exec timeout 8 ros2 node list --no-daemon --spin-time 3 2>/dev/null || true)
         count=$(printf '%s\n' "$nodes" | grep -cE "$pattern" || true)
         if [ "$count" -ge "$expected" ]; then
             echo "   [OK] 已检测到 $count 个节点"