feat: 5G自动拨号、软件时钟同步、机器人端控制程序自启。

scripts/boot/common.sh

@@ -0,0 +1,188 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+BOOT_SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+DEV_SCRIPT_DIR="$(cd "${BOOT_SCRIPT_DIR}/../dev" && pwd)"
+
+source_with_nounset_off() {
+  set +u
+  # shellcheck disable=SC1090
+  source "$1"
+  set -u
+}
+
+blitz_host_from_addr() {
+  local value="${1:-}"
+
+  if [[ -z "${value}" ]]; then
+    return 1
+  fi
+  if [[ "${value}" == \[*\]:* ]]; then
+    value="${value#\[}"
+    printf '%s\n' "${value%%]:*}"
+    return 0
+  fi
+  printf '%s\n' "${value%%:*}"
+}
+
+blitz_load_boot_env() {
+  local env_file
+  local default_time_server
+
+  if [[ "${BLITZ_BOOT_ENV_LOADED:-0}" == "1" ]]; then
+    return 0
+  fi
+
+  # shellcheck disable=SC1091
+  source "${DEV_SCRIPT_DIR}/load-env.sh"
+
+  for env_file in \
+    "${BOOT_SCRIPT_DIR}/robot-boot.env" \
+    "${BOOT_SCRIPT_DIR}/robot-boot.env.local"
+  do
+    if [[ -f "${env_file}" ]]; then
+      set -a
+      # shellcheck disable=SC1090
+      source "${env_file}"
+      set +a
+    fi
+  done
+
+  default_time_server="$(blitz_host_from_addr "${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}" || true)"
+
+  export BLITZ_BOOT_DELAY_SEC="${BLITZ_BOOT_DELAY_SEC:-30}"
+  export BLITZ_LOG_FILE="${BLITZ_LOG_FILE:-/var/log/blitz-robot/startup.log}"
+  export BLITZ_5G_DIAL_DIR="${BLITZ_5G_DIAL_DIR:-/home/nvidia/5g-test/5G}"
+  export BLITZ_5G_SERIAL_PORT="${BLITZ_5G_SERIAL_PORT:-/dev/ttyUSB7}"
+  export BLITZ_5G_SERIAL_WAIT_SEC="${BLITZ_5G_SERIAL_WAIT_SEC:-60}"
+  export BLITZ_5G_ROUTE_WAIT_SEC="${BLITZ_5G_ROUTE_WAIT_SEC:-30}"
+  export BLITZ_TIME_SERVER_IP="${BLITZ_TIME_SERVER_IP:-${default_time_server}}"
+  export BLITZ_TIME_SERVER_PORT="${BLITZ_TIME_SERVER_PORT:-123}"
+  export BLITZ_TIME_SYNC_WAIT_SEC="${BLITZ_TIME_SYNC_WAIT_SEC:-60}"
+  export BLITZ_TIME_SYNC_MAX_OFFSET_SEC="${BLITZ_TIME_SYNC_MAX_OFFSET_SEC:-0.002}"
+  export BLITZ_TIME_SYNC_INTERVAL_SEC="${BLITZ_TIME_SYNC_INTERVAL_SEC:-1}"
+  export BLITZ_ROS_USER="${BLITZ_ROS_USER:-nvidia}"
+  export BLITZ_ROS_SOCKET_WAIT_SEC="${BLITZ_ROS_SOCKET_WAIT_SEC:-20}"
+  export BLITZ_BOOT_ENV_LOADED="1"
+}
+
+blitz_timestamp() {
+  date '+%Y-%m-%d %H:%M:%S%z'
+}
+
+blitz_sanitize_detail() {
+  local detail="${1:-}"
+
+  detail="${detail//$'\n'/ ; }"
+  detail="${detail//$'\r'/ }"
+  printf '%s' "${detail}"
+}
+
+blitz_log() {
+  local step="${1:-unknown-step}"
+  local action="${2:-unknown-action}"
+  local result="${3:-info}"
+  local details="${4:-}"
+  local exit_code="${5:-0}"
+
+  printf '%s | %s | %s | %s | %s | %s\n' \
+    "$(blitz_timestamp)" \
+    "${step}" \
+    "${action}" \
+    "${result}" \
+    "$(blitz_sanitize_detail "${details}")" \
+    "${exit_code}"
+}
+
+blitz_join_cmd() {
+  local cmd=()
+  local arg
+
+  for arg in "$@"; do
+    cmd+=("$(printf '%q' "${arg}")")
+  done
+  printf '%s' "${cmd[*]}"
+}
+
+blitz_require_command() {
+  local command_name="$1"
+  local step="${2:-precheck}"
+
+  if command -v "${command_name}" >/dev/null 2>&1; then
+    blitz_log "${step}" "require-command" "success" "command=${command_name}" 0
+    return 0
+  fi
+
+  blitz_log "${step}" "require-command" "failure" "missing command: ${command_name}" 127
+  return 127
+}
+
+blitz_require_file() {
+  local path="$1"
+  local step="${2:-precheck}"
+
+  if [[ -f "${path}" ]]; then
+    blitz_log "${step}" "require-file" "success" "path=${path}" 0
+    return 0
+  fi
+
+  blitz_log "${step}" "require-file" "failure" "missing file: ${path}" 1
+  return 1
+}
+
+blitz_require_executable() {
+  local path="$1"
+  local step="${2:-precheck}"
+
+  if [[ -x "${path}" ]]; then
+    blitz_log "${step}" "require-executable" "success" "path=${path}" 0
+    return 0
+  fi
+
+  blitz_log "${step}" "require-executable" "failure" "missing executable: ${path}" 1
+  return 1
+}
+
+blitz_require_root() {
+  local step="${1:-precheck}"
+
+  if [[ "${EUID}" -eq 0 ]]; then
+    blitz_log "${step}" "require-root" "success" "uid=${EUID}" 0
+    return 0
+  fi
+
+  blitz_log "${step}" "require-root" "failure" "root privileges are required" 1
+  return 1
+}
+
+blitz_run() {
+  local step="$1"
+  local action="$2"
+  shift 2
+
+  blitz_log "${step}" "${action}" "start" "$(blitz_join_cmd "$@")" 0
+  if "$@"; then
+    blitz_log "${step}" "${action}" "success" "$(blitz_join_cmd "$@")" 0
+    return 0
+  fi
+
+  local rc=$?
+  blitz_log "${step}" "${action}" "failure" "$(blitz_join_cmd "$@")" "${rc}"
+  return "${rc}"
+}
+
+blitz_route_ready() {
+  local target_ip="$1"
+  local route_output
+
+  route_output="$(ip route get "${target_ip}" 2>&1 || true)"
+  if [[ -z "${route_output}" ]]; then
+    return 1
+  fi
+  if [[ "${route_output}" == *"unreachable"* || "${route_output}" == *"prohibit"* ]]; then
+    return 1
+  fi
+
+  printf '%s\n' "${route_output}"
+  return 0
+}