#!/usr/bin/env bash
set -euo pipefail
# run_all_stop.sh — 干净停止所有仿真、导航、视觉进程

echo "[run_all_stop] Stopping all simulation processes..."

# 1. 发送循环停止信号（让 run_all.sh 优雅退出）
touch /workspace/.run_all_stop

# 2. 发送 SIGTERM 给 run_all.sh（触发其 cleanup trap）
PIDS=$(pgrep -f "run_all\.sh" | grep -v $$ || true)
if [[ -n "$PIDS" ]]; then
  echo "[run_all_stop] Sending SIGTERM to run_all.sh: $PIDS"
  kill $PIDS 2>/dev/null || true
fi

# 3. 等待优雅退出
sleep 3

# 4. 强制清理残留的 ROS2 / Gazebo / 视觉进程
echo "[run_all_stop] Force killing remaining processes..."
pkill -9 -f "gz sim\|gz launch\|ros2 launch\|ros2 run" 2>/dev/null || true
pkill -9 -f "explore_lite\|nav2_bringup\|turtlebot3_gazebo" 2>/dev/null || true
pkill -9 -f "vision_yolo\|vision_daemon" 2>/dev/null || true
pkill -9 -f "selkies-gstreamer\|code-server" 2>/dev/null || true

# 5. 清理状态文件
rm -f /workspace/.run_all_stop
rm -f /workspace/.vision_daemon_stop

echo "[run_all_stop] All processes stopped."