#!/bin/bash
# ============================================================
# start_flask.sh - 仅启动/重启 Flask 服务（不启动 ROS2）
# 适用于: 修改了前端/API 代码后快速重启
# ============================================================
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"

pkill -f "python.*app.py" 2>/dev/null || true
pkill -f "uv run .*python app.py" 2>/dev/null || true
sleep 1

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

cd "$AGV_APP_DIR"
nohup uv run --locked python app.py > "$FLASK_LOG" 2>&1 &
echo "Flask started, PID: $!"
sleep 2

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"
else
    echo "⚠️ 端口 $FLASK_PORT 未监听，检查 $FLASK_LOG"
fi