Refactor infrastructure scripts and add mock hardware support

Changes:
- Refactor project scripts for better dev/prod workflow separation
- Add mock_hardware.py for local development without real hardware
- Add Makefile for common commands
- Add .env.example for environment variable reference
- Split scripts into dev-backend.sh, dev-frontend.sh, prod-backend.sh
- Add stop.sh for clean shutdown

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

agv_app/app.py

@@ -12,13 +12,32 @@ import requests
 from flask import Flask, render_template, jsonify, request, Response, send_from_directory
 from flask_cors import CORS
 
-from config import SERVER_CONFIG, ARM_CONFIG, AGV_CONFIG, UPLOAD_CONFIG, MAP_CONFIG, ARM_CAMERA_CONFIG, CAMERA_CONFIG, DATA_DIR, State, ZHIJIAN_BASE_URL, ZHIJIAN_AUTH_TOKEN, set_api_mode
-from utils.arm_client import ArmClient
-from utils.agv_controller_ros2 import AGVController
-from utils.qr_scanner import QRScanner
+from config import (
+    SERVER_CONFIG, ARM_CONFIG, AGV_CONFIG, UPLOAD_CONFIG, MAP_CONFIG,
+    ARM_CAMERA_CONFIG, CAMERA_CONFIG, DATA_DIR, State, ZHIJIAN_BASE_URL,
+    ZHIJIAN_AUTH_TOKEN, set_api_mode, MOCK_HARDWARE
+)
+
+# 根据 MOCK_HARDWARE 配置选择导入真实或 Mock 实现
+if MOCK_HARDWARE:
+    print("[启动] ===========================================")
+    print("[启动]   Mock 硬件模式 - 本地开发环境")
+    print("[启动] ===========================================")
+    from utils.mock_hardware import (
+        MockArmClient as ArmClient,
+        MockAGVController as AGVController,
+        MockQRScanner as QRScanner,
+        MockNav2Navigator as Nav2Navigator,
+        MockNav2Status as Nav2Status
+    )
+else:
+    from utils.arm_client import ArmClient
+    from utils.agv_controller_ros2 import AGVController
+    from utils.qr_scanner import QRScanner
+    from utils.nav2_navigator import Nav2Navigator, Nav2Status
+
 from utils.image_uploader import ImageUploader
 from utils.mission_executor import MissionExecutorV3
-from utils.nav2_navigator import Nav2Navigator, Nav2Status
 
 # 配置日志
 logging.basicConfig(
@@ -133,9 +152,17 @@ try:
         import threading
         def _auto_connect_all():
             time.sleep(2)  # 等待 Flask 完全就绪
-            # 连接 AGV
+            if MOCK_HARDWARE:
+                print("[启动] Mock 模式跳过硬件自动连接")
+                # Mock 模式下也创建实例供 API 使用
+                gs.agv_controller = AGVController()
+                gs.arm_client = ArmClient(ARM_CONFIG["host"], ARM_CONFIG["port"])
+                gs.qr_scanner = QRScanner(CAMERA_CONFIG["device_index"])
+                gs.navigator = Nav2Navigator()
+                return
+
+            # 连接 AGV（真实硬件）
             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")
@@ -143,9 +170,8 @@ try:
                     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}")
-            # 连接机械臂
+            # 连接机械臂（真实硬件）
             try:
-                from utils.arm_client import ArmClient
                 gs.arm_client = ArmClient(ARM_CONFIG["host"], ARM_CONFIG["port"])
                 if gs.arm_client.connect():
                     gs.arm_client.power_on()