#!/bin/bash
# ============================================================
# restart_flask.sh - 语法检查 + 重启 Flask + 验证
# 用法: ssh elephant@<AGV_IP> 'bash -s' < scripts/restart_flask.sh
#       或在 AGV 上: cd ~/work/smart-inspection && ./scripts/restart_flask.sh
# ============================================================
set -e

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:-$HOME/agv_pro_ros2}"
ROS_DISTRO="${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"

mkdir -p "$LOG_DIR"

source "$ROS_SETUP" 2>/dev/null || true
source "$ROS_WORKSPACE_SETUP" 2>/dev/null || true

cd "$AGV_APP_DIR"

echo "=========================================="
echo "  重启 Flask 服务"
echo "=========================================="
echo ""

# 1. 语法检查
echo "[1/3] Python 语法检查..."
uv run --locked python -m py_compile app.py
if [ $? -ne 0 ]; then
    echo "❌ 语法错误，请先修复"
    exit 1
fi
echo "   ✅ 语法检查通过"

# 2. 清缓存 + 重启
echo "[2/3] 清理缓存并重启..."
find "$AGV_APP_DIR" -name '*.pyc' -delete 2>/dev/null
find "$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 > "$FLASK_LOG" 2>&1 &
FLASK_PID=$!
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 ":$FLASK_PORT " || netstat -tlnp 2>/dev/null | grep -q ":$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:$FLASK_PORT/api/camera/arm_refresh" 2>/dev/null | head -c 4)
    if [ "$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 $FLASK_PORT 未监听，查看日志:"
    tail -10 "$FLASK_LOG"
    exit 1
fi

echo ""
echo "=========================================="
echo "  ✅ 重启完成"
echo "=========================================="