limingjie/OmniSocketGo
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feat: 5G自动拨号、软件时钟同步、机器人端控制程序自启。

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This commit is contained in:
Mock
2026-04-11 16:06:51 +08:00
parent 84e0cc54d2
commit 14ce3d4e1d
18 changed files with 1032 additions and 0 deletions
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14
scripts/boot/systemd/blitz-5g-dial.service.in Normal file
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[Unit]
Description=Blitz robot 5G dial
After=blitz-boot-gate.service
Requires=blitz-boot-gate.service
[Service]
Type=oneshot
RemainAfterExit=yes
ExecStart=/bin/bash @OMNISOCKETGO_ROOT@/scripts/boot/5g-dial.sh
StandardOutput=append:@BLITZ_LOG_FILE@
StandardError=append:@BLITZ_LOG_FILE@
[Install]
WantedBy=blitz-robot.target

15
scripts/boot/systemd/blitz-b-side-omnid.service.in Normal file
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[Unit]
Description=Blitz robot b-side omnid
After=blitz-time-sync.service blitz-ros-receiver.service
Requires=blitz-time-sync.service blitz-ros-receiver.service
[Service]
Type=simple
ExecStart=/bin/bash @OMNISOCKETGO_ROOT@/scripts/boot/start-b-side-omnid-service.sh
Restart=always
RestartSec=2
StandardOutput=append:@BLITZ_LOG_FILE@
StandardError=append:@BLITZ_LOG_FILE@
[Install]
WantedBy=blitz-robot.target

14
scripts/boot/systemd/blitz-boot-gate.service.in Normal file
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[Unit]
Description=Blitz robot boot gate
After=multi-user.target network-online.target
Wants=network-online.target
[Service]
Type=oneshot
RemainAfterExit=yes
ExecStart=/bin/bash @OMNISOCKETGO_ROOT@/scripts/boot/boot-gate.sh
StandardOutput=append:@BLITZ_LOG_FILE@
StandardError=append:@BLITZ_LOG_FILE@
[Install]
WantedBy=blitz-robot.target

11
scripts/boot/systemd/blitz-robot.target.in Normal file
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[Unit]
Description=Blitz robot boot chain
Wants=blitz-boot-gate.service
Wants=blitz-5g-dial.service
Wants=blitz-time-sync.service
Wants=blitz-ros-receiver.service
Wants=blitz-b-side-omnid.service
After=multi-user.target
[Install]
WantedBy=multi-user.target

17
scripts/boot/systemd/blitz-ros-receiver.service.in Normal file
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[Unit]
Description=Blitz robot ROS receiver
After=blitz-time-sync.service
Requires=blitz-time-sync.service
[Service]
Type=simple
User=@BLITZ_ROS_USER@
ExecStart=/bin/bash @OMNISOCKETGO_ROOT@/scripts/boot/start-ros-receiver-service.sh
ExecStartPost=/bin/bash @OMNISOCKETGO_ROOT@/scripts/boot/wait-for-unix-socket.sh --step ros-receiver
Restart=always
RestartSec=2
StandardOutput=append:@BLITZ_LOG_FILE@
StandardError=append:@BLITZ_LOG_FILE@
[Install]
WantedBy=blitz-robot.target

14
scripts/boot/systemd/blitz-time-sync.service.in Normal file
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@@ -0,0 +1,14 @@
[Unit]
Description=Blitz robot private chrony sync
After=blitz-5g-dial.service
Requires=blitz-5g-dial.service
[Service]
Type=oneshot
RemainAfterExit=yes
ExecStart=/bin/bash @OMNISOCKETGO_ROOT@/scripts/boot/time-sync.sh
StandardOutput=append:@BLITZ_LOG_FILE@
StandardError=append:@BLITZ_LOG_FILE@
[Install]
WantedBy=blitz-robot.target