feat: 5G自动拨号、软件时钟同步、机器人端控制程序自启。

scripts/boot/5g-dial.sh

@@ -0,0 +1,78 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/common.sh"
+
+STEP="5g-dial"
+
+wait_for_serial() {
+  local serial_port="$1"
+  local timeout_sec="$2"
+  local waited=0
+
+  while (( waited < timeout_sec )); do
+    if [[ -e "${serial_port}" ]]; then
+      blitz_log "${STEP}" "wait-serial" "success" "serial_port=${serial_port} waited_sec=${waited}" 0
+      return 0
+    fi
+    if (( waited == 0 || waited % 5 == 0 )); then
+      blitz_log "${STEP}" "wait-serial" "waiting" "serial_port=${serial_port} waited_sec=${waited}" 0
+    fi
+    sleep 1
+    waited=$(( waited + 1 ))
+  done
+
+  blitz_log "${STEP}" "wait-serial" "failure" "serial_port=${serial_port} timeout_sec=${timeout_sec}" 1
+  return 1
+}
+
+wait_for_route() {
+  local target_ip="$1"
+  local timeout_sec="$2"
+  local waited=0
+  local route_output
+
+  while (( waited < timeout_sec )); do
+    route_output="$(blitz_route_ready "${target_ip}" || true)"
+    if [[ -n "${route_output}" ]]; then
+      blitz_log "${STEP}" "route-check" "success" "target_ip=${target_ip} route=${route_output}" 0
+      return 0
+    fi
+    if (( waited == 0 || waited % 5 == 0 )); then
+      blitz_log "${STEP}" "route-check" "waiting" "target_ip=${target_ip} waited_sec=${waited}" 0
+    fi
+    sleep 1
+    waited=$(( waited + 1 ))
+  done
+
+  blitz_log "${STEP}" "route-check" "failure" "target_ip=${target_ip} timeout_sec=${timeout_sec}" 1
+  return 1
+}
+
+blitz_load_boot_env
+blitz_require_root "${STEP}"
+blitz_require_command ip "${STEP}"
+blitz_require_command python3 "${STEP}"
+blitz_require_file "${BLITZ_5G_DIAL_DIR}/rndis_dial.py" "${STEP}"
+
+if [[ -z "${BLITZ_TIME_SERVER_IP}" ]]; then
+  blitz_log "${STEP}" "precheck" "failure" "BLITZ_TIME_SERVER_IP is empty and no fallback could be derived" 1
+  exit 1
+fi
+
+route_output="$(blitz_route_ready "${BLITZ_TIME_SERVER_IP}" || true)"
+if [[ -n "${route_output}" ]]; then
+  blitz_log "${STEP}" "dial" "already_up" "target_ip=${BLITZ_TIME_SERVER_IP} route=${route_output}" 0
+  exit 0
+fi
+
+wait_for_serial "${BLITZ_5G_SERIAL_PORT}" "${BLITZ_5G_SERIAL_WAIT_SEC}"
+
+pushd "${BLITZ_5G_DIAL_DIR}" >/dev/null
+blitz_run "${STEP}" "dial" python3 rndis_dial.py --serial-port "${BLITZ_5G_SERIAL_PORT}"
+popd >/dev/null
+
+wait_for_route "${BLITZ_TIME_SERVER_IP}" "${BLITZ_5G_ROUTE_WAIT_SEC}"
+blitz_log "${STEP}" "complete" "success" "5G dial completed and route is ready" 0