feat: 5G自动拨号、软件时钟同步、机器人端控制程序自启。

scripts/boot/install-systemd.sh

@@ -0,0 +1,53 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/common.sh"
+
+SYSTEMD_TEMPLATE_DIR="${SCRIPT_DIR}/systemd"
+SYSTEMD_DEST_DIR="/etc/systemd/system"
+
+render_template() {
+  local template_path="$1"
+  local output_path="$2"
+
+  sed \
+    -e "s|@OMNISOCKETGO_ROOT@|${OMNISOCKETGO_ROOT}|g" \
+    -e "s|@BLITZ_LOG_FILE@|${BLITZ_LOG_FILE}|g" \
+    -e "s|@BLITZ_ROS_USER@|${BLITZ_ROS_USER}|g" \
+    "${template_path}" > "${output_path}"
+}
+
+install_unit() {
+  local template_name="$1"
+  local temp_output
+
+  temp_output="$(mktemp)"
+  render_template "${SYSTEMD_TEMPLATE_DIR}/${template_name}" "${temp_output}"
+  install -m 0644 "${temp_output}" "${SYSTEMD_DEST_DIR}/${template_name%.in}"
+  rm -f "${temp_output}"
+  blitz_log "install" "install-unit" "success" "unit=${SYSTEMD_DEST_DIR}/${template_name%.in}" 0
+}
+
+blitz_load_boot_env
+blitz_require_root "install"
+blitz_require_command install "install"
+blitz_require_command systemctl "install"
+
+mkdir -p "${SYSTEMD_DEST_DIR}"
+install -d -m 0755 "$(dirname "${BLITZ_LOG_FILE}")"
+touch "${BLITZ_LOG_FILE}"
+chmod 0644 "${BLITZ_LOG_FILE}"
+blitz_log "install" "prepare-log-file" "success" "log_file=${BLITZ_LOG_FILE}" 0
+
+install_unit "blitz-boot-gate.service.in"
+install_unit "blitz-5g-dial.service.in"
+install_unit "blitz-time-sync.service.in"
+install_unit "blitz-ros-receiver.service.in"
+install_unit "blitz-b-side-omnid.service.in"
+install_unit "blitz-robot.target.in"
+
+blitz_run "install" "daemon-reload" systemctl daemon-reload
+blitz_run "install" "enable-target" systemctl enable blitz-robot.target
+blitz_log "install" "complete" "success" "run systemctl start blitz-robot.target to launch immediately" 0