#!/bin/bash
# ============================================================
# dev_start.sh - 本地开发环境启动（不启动 ROS2/机械臂硬件）
# 用法: ./scripts/dev_start.sh
# ============================================================
set -e

SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
AGV_APP_DIR="$PROJECT_DIR/agv_app"
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:-$AGV_ROS2_DIR/install/setup.bash}"
FLASK_PORT="${FLASK_PORT:-5000}"

echo "=========================================="
echo "  本地开发模式 - 仅启动 Flask"
echo "=========================================="
echo ""

# 切换到项目目录
source "$ROS_SETUP" 2>/dev/null || true
source "$ROS_WORKSPACE_SETUP" 2>/dev/null || true

cd "$AGV_APP_DIR"

# 检查是否有运行的 Flask 进程
FLASK_PID=$(pgrep -f "python.*app.py" 2>/dev/null || true)
if [ -n "$FLASK_PID" ]; then
    echo "Flask 已在运行 (PID: $FLASK_PID)"
    read -p "是否重启? [y/N] " -n 1 -r
    echo
    if [[ $REPLY =~ ^[Yy]$ ]]; then
        kill "$FLASK_PID" 2>/dev/null
        sleep 1
    else
        echo "保持现有进程，退出"
        exit 0
    fi
fi

# 使用前台模式运行（方便看日志和 Ctrl+C 停止）
echo "启动 Flask (前台模式，Ctrl+C 停止)..."
echo "访问: http://127.0.0.1:$FLASK_PORT"
echo ""
exec uv run --locked python app.py