76 lines
2.0 KiB
Bash
Executable File
76 lines
2.0 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Clean leftover master-board Autoware/debug processes.
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#
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# 用法:
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# ./cleanup_master_autoware.sh
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#
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# 说明:
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# 这个脚本用于主板调试后清理残留进程。
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# 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，
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# 因为它会停止 ecar_can/socket_can 相关节点。
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set -euo pipefail
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GREEN='\033[0;32m'
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YELLOW='\033[1;33m'
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NC='\033[0m'
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log_info() { echo -e "${GREEN}[INFO]${NC} $*"; }
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log_warn() { echo -e "${YELLOW}[WARN]${NC} $*"; }
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PATTERNS=(
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"run_ecar_master_debug.sh"
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"run_preset_route_real_vehicle.sh"
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"ros2 launch.*ecar_master"
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"ros2 launch.*farui_launch"
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"launch_ros_[0-9]+"
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"launch_ros"
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"component_container"
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"component_container_mt"
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"timoo_ros"
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"pointcloud_process"
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"map_hash_generator"
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"imu_corrector"
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"gyro_bias_validator"
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"hipnuc"
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"imu_sub"
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"rqt_gui"
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"rqt_gui_py_node"
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"rviz2"
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"ecar_can"
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"ecar_can_receiver"
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"ecar_can_sender"
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"socket_can"
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"socket_can_receiver"
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"socket_can_sender"
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)
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terminate_patterns() {
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local signal="$1"
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local pattern
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for pattern in "${PATTERNS[@]}"; do
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pkill "-${signal}" -f "${pattern}" 2>/dev/null || true
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done
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}
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log_info "Sending TERM to leftover master Autoware processes."
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terminate_patterns TERM
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sleep 3
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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
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log_warn "Some processes are still alive; sending KILL."
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terminate_patterns KILL
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sleep 1
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fi
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log_info "Restarting ROS daemon to refresh node discovery."
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ros2 daemon stop >/dev/null 2>&1 || true
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ros2 daemon start >/dev/null 2>&1 || true
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log_info "Remaining matching processes:"
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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
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log_info "Remaining ROS nodes:"
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ros2 node list 2>/dev/null || true
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