From 614b13e58cb90c0b40cf94c01c0f997da48b334f Mon Sep 17 00:00:00 2001
From: zpff <s@u.da>
Date: Wed, 13 Aug 2025 16:09:52 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20=E5=BC=BA=E5=8A=9B=E5=85=B3=E9=97=AD?=
 =?UTF-8?q?=E5=9C=BA=E6=99=AF?=
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---
 http_server.py       |  8 ++------
 scene_mgr/manager.py | 36 +++++++++++++++++++++++-------------
 2 files changed, 25 insertions(+), 19 deletions(-)

diff --git a/http_server.py b/http_server.py
index 4f5cbc3..f5a7878 100644
--- a/http_server.py
+++ b/http_server.py
@@ -143,7 +143,6 @@ class GazeboSimHttpServer(HttpRPCServer):
                 # 关闭现有场景
                 if self.scene_mgr.running_scene:
                     self.shut_scene()
-                    time.sleep(25)
                 # 启动场景
                 self.scene_mgr.start_scene(id)
                 self.model_mgr = ModelManager()
@@ -163,11 +162,8 @@ class GazeboSimHttpServer(HttpRPCServer):
             try:
                 if not self.scene_mgr.running_scene:
                     raise RuntimeError('No scene is running')
-
-                def shutt():
-                    self.scene_mgr.shut_scene_truly()
-
-                threading.Thread(target=shutt, daemon=True).start()
+                self.scene_mgr.shut_scene()
+                time.sleep(5)
                 self.model_mgr = None
             except Exception as e:
                 ret['code'] = 400
diff --git a/scene_mgr/manager.py b/scene_mgr/manager.py
index dd47f84..6b88a6a 100644
--- a/scene_mgr/manager.py
+++ b/scene_mgr/manager.py
@@ -89,21 +89,9 @@ class SceneManager:
         self.pid_file = None
         self.sim_process.terminate()
         print(f'killed launch PID: {self.sim_process.pid}')
-        # 杀死gazebo和rviz
-        subprocess.Popen(['pkill', '-15', '-f', 'gzserver'])
-        subprocess.Popen(['pkill', '-15', '-f', 'gzclient'])
-        subprocess.Popen(['pkill', '-15', '-f', 'rviz'])
-        self.sim_process = None
+        self.kill_all_processes()
         self.running_scene = None
 
-    def shut_scene_truly(self):
-        id = self.running_scene
-        self.shut_scene()
-        time.sleep(2)
-        self.start_scene(id)
-        time.sleep(15)
-        self.shut_scene()
-
     def run_script(self, name):
         if not self.running_scene:
             raise RuntimeError('no scene running')
@@ -113,6 +101,28 @@ class SceneManager:
             raise ValueError(f'script {name} not found')
         subprocess.Popen(['bash', script_path])
 
+    def kill_all_processes(self):
+        try:
+            # 获取所有进程
+            output = subprocess.check_output(["ps", "aux"]).decode()
+
+            # 过滤出目标进程
+            target_pids = []
+            for line in output.splitlines():
+                # 排除包含"gazebo_world_manager"的进程
+                if any(x in line for x in ["ros", "rviz", "gazebo"]) and "grep" not in line and "gazebo_world_manager" not in line:
+                    target_pids.append(line.split()[1])  # 提取PID
+
+            if target_pids:
+                # 批量kill
+                subprocess.run(["kill", "-9"] + target_pids)
+                print(f"Killed PIDs: {', '.join(target_pids)}")
+            else:
+                print("No matching processes running.")
+
+        except subprocess.CalledProcessError as e:
+            print(f"Error: {e}")
+
 
 if __name__ == '__main__':
     mgr = SceneManager()