listen_pod.py 串口EIO异常不再崩栈并给出排查提示

Pi板载UART典型故障(errno 5): 捕获后打印串口控制台占用/mini-UART不稳的
排查指引与改用USB转串口建议, 退出码1; 打桩复现验证通过

utils/pod_bridge/listen_pod.py

@@ -45,8 +45,15 @@ def main() -> int:
 
     t0 = time.monotonic()
     n_tele, n_tgt, n_other = 0, 0, 0
+    link_error = None
     while time.monotonic() - t0 < args.seconds:
-        for frame in pod.poll():
+        try:
+            frames = pod.poll()
+        except OSError as exc:
+            # Pi 板载 UART 典型故障(errno 5 EIO):控制台抢占 / mini-UART 不稳
+            link_error = exc
+            break
+        for frame in frames:
             if isinstance(frame, Telemetry):
                 n_tele += 1
                 if n_tele == 1:
@@ -65,7 +72,19 @@ def main() -> int:
             else:
                 n_other += 1
         time.sleep(0.005)
+    try:
         pod.close()
+    except OSError:
+        pass
+
+    if link_error is not None:
+        print(f"[listen] 链路中途断开: {link_error}")
+        print("[listen] 排查: ① 串口控制台是否仍占用 "
+              "(systemctl disable --now serial-getty@ttyS0/ttyAMA0) → 重启; "
+              "② /dev/serial0 是否指向 mini-UART(ttyS0 不稳定) → 加 "
+              "dtoverlay=disable-bt 换到 PL011(ttyAMA0),或改用 USB 转串口("
+              "/dev/ttyUSB0,推荐)")
+        return 1
 
     expected = _TELEMETRY_NOMINAL_HZ * args.seconds
     rate = n_tele / args.seconds if args.seconds > 0 else 0.0