#!/usr/bin/env bash
# Clean leftover master-board Autoware/debug processes.
#
# 用法:
#   ./cleanup_master_autoware.sh
#
# 说明:
#   这个脚本用于主板调试后清理残留进程。
#   如果你在同一块板上故意运行从板底盘驱动，不要执行本脚本，
#   因为它会停止 ecar_can/socket_can 相关节点。

set -euo pipefail

GREEN='\033[0;32m'
YELLOW='\033[1;33m'
NC='\033[0m'

log_info() { echo -e "${GREEN}[INFO]${NC} $*"; }
log_warn() { echo -e "${YELLOW}[WARN]${NC} $*"; }

PATTERNS=(
  "run_ecar_master_debug.sh"
  "run_preset_route_real_vehicle.sh"
  "ros2 launch.*ecar_master"
  "ros2 launch.*farui_launch"
  "launch_ros_[0-9]+"
  "launch_ros"
  "component_container"
  "component_container_mt"
  "timoo_ros"
  "pointcloud_process"
  "map_hash_generator"
  "imu_corrector"
  "gyro_bias_validator"
  "hipnuc"
  "imu_sub"
  "rqt_gui"
  "rqt_gui_py_node"
  "rviz2"
  "ecar_can"
  "ecar_can_receiver"
  "ecar_can_sender"
  "socket_can"
  "socket_can_receiver"
  "socket_can_sender"
)

terminate_patterns() {
  local signal="$1"
  local pattern

  for pattern in "${PATTERNS[@]}"; do
    pkill "-${signal}" -f "${pattern}" 2>/dev/null || true
  done
}

log_info "Sending TERM to leftover master Autoware processes."
terminate_patterns TERM
sleep 3

if pgrep -f "component_container|component_container_mt|timoo_ros|map_hash_generator|imu_corrector|gyro_bias_validator|ecar_can|socket_can|rviz2|rqt_gui|launch_ros|ecar_can_receiver|ecar_can_sender|socket_can_receiver|socket_can_sender" >/dev/null 2>&1; then
  log_warn "Some processes are still alive; sending KILL."
  terminate_patterns KILL
  sleep 1
fi

log_info "Restarting ROS daemon to refresh node discovery."
ros2 daemon stop >/dev/null 2>&1 || true
ros2 daemon start >/dev/null 2>&1 || true

log_info "Remaining matching processes:"
ps -ef | grep -E 'autoware|component_container|rviz2|timoo|ros2 launch|launch_ros|preset_route|ecar_can|socket_can|imu_corrector|gyro_bias|map_hash|rqt_gui' | grep -v grep || true

log_info "Remaining ROS nodes:"
ros2 node list 2>/dev/null || true