feat: 5G自动拨号、软件时钟同步、机器人端控制程序自启。

2026-04-11 16:06:51 +08:00
parent 84e0cc54d2
commit 14ce3d4e1d
18 changed files with 1032 additions and 0 deletions
--- a/scripts/boot/5g-dial.sh
+++ b/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
--- a/scripts/boot/README.md
+++ b/scripts/boot/README.md
@@ -0,0 +1,379 @@
+# 机器人 B 端开机自启说明
+
+这个目录是给机器人端做开机自启用的。
+
+你看到这里多了不少脚本和 `systemd` 单元，不是为了让你手工一条条执行，而是为了把开机流程拆开管理：
+
+1. 固定启动顺序
+2. 某一步失败时可单独重试
+3. 所有动作统一写到一个本地日志文件
+4. 后面如果要把“固定延时 30 秒”换成“等待机器人原有自检完成”，只改最前面的闸门即可
+
+所以平时真正需要人工执行的，通常只有这两步：
+
+```bash
+sudo bash scripts/boot/install-systemd.sh
+sudo systemctl start blitz-robot.target
+```
+
+以后机器人重启时，就不需要你再手工执行这些脚本了。
+
+## 启动顺序
+
+当前开机链路如下：
+
+1. `blitz-boot-gate.service`
+2. `blitz-5g-dial.service`
+3. `blitz-time-sync.service`
+4. `blitz-ros-receiver.service`
+5. `blitz-b-side-omnid.service`
+
+对应业务顺序就是：
+
+1. 先固定等待 30 秒，给机器人原有自检/自启程序让路
+2. 运行 5G 自动拨号
+3. 运行时钟同步
+4. 启动 `start-ros-receiver.sh`
+5. 启动 `start-b-side-omnid.sh`
+
+## 日志文件
+
+所有关键操作都会统一写到这个本地文件：
+
+```text
+/var/log/blitz-robot/startup.log
+```
+
+每一行日志格式如下：
+
+```text
+timestamp | step | action | result | details | exit_code
+```
+
+日志里会记录：
+
+- 做了什么
+- 实际执行了什么命令
+- 前置检查是否通过
+- 成功还是失败
+- 失败原因
+- 退出码
+- 是否发生了重试
+
+## 这些文件分别是干什么的
+
+- `robot-boot.env`：开机自启默认配置
+- `robot-boot.env.local`：本机覆盖配置，建议把你自己的配置写这里
+- `common.sh`：公共环境加载和统一日志函数
+- `boot-gate.sh`：启动闸门，当前逻辑是固定等待 30 秒
+- `5g-dial.sh`：等待 5G 串口出现，执行 `rndis_dial.py`，并检查路由是否真的起来
+- `time-sync.sh`：把 `chrony` 指向白名单服务器 IP 和端口，并执行一次同步
+- `start-ros-receiver-service.sh`：开机版 ROS receiver 启动包装
+- `wait-for-unix-socket.sh`：等待 ROS receiver 建好本地 unix socket
+- `start-b-side-omnid-service.sh`：开机版 `b_side_omnid` 启动包装
+- `install-systemd.sh`：把 `systemd` 单元安装到 `/etc/systemd/system`
+- `systemd/*.service.in`、`systemd/*.target.in`：`systemd` 模板文件
+
+## 前置条件
+
+你前面说过，除了时钟同步以外，其他程序环境都应该已经配好了。按这个前提，这里只强调必须确认的前置条件。
+
+### 1. 机器人侧必须已有的条件
+
+默认认为下面这些已经具备：
+
+- 系统是 Ubuntu，且使用 `systemd`
+- `OmniSocketGo` 仓库已经放在机器人上
+- `scripts/dev/start-ros-receiver.sh` 原本就能正常启动
+- `scripts/dev/start-b-side-omnid.sh` 原本就能正常启动
+- `bin/b_side_omnid` 已经提前编译好
+- 5G 拨号脚本存在：`/home/nvidia/5g-test/5G/rndis_dial.py`
+- 5G 串口设备是：`/dev/ttyUSB7`
+
+注意：
+
+- 开机模式下不会自动编译 `b_side_omnid`
+- 如果 `bin/b_side_omnid` 不存在，服务会直接报错并写日志
+
+### 2. 时钟同步需要的前置安装
+
+时钟同步这一步依赖 `chrony`。
+
+如果机器人侧没有安装，请先安装：
+
+```bash
+sudo apt update
+sudo apt install -y chrony
+```
+
+安装后建议确认：
+
+```bash
+systemctl status chrony
+chronyc tracking
+```
+
+### 3. 云服务器侧需要的前置条件
+
+因为你的 5G 是白名单网络，所以时钟同步不能依赖公网域名或默认 NTP 池，必须只用你的白名单云服务器 IP。
+
+云服务器侧需要满足：
+
+- 服务器上运行 `chronyd`
+- 安全组 / 防火墙放通你实际使用的 UDP 端口
+- 机器人能访问这台服务器的 IP
+
+如果云服务器还没有安装 `chrony`，可以参考：
+
+```bash
+sudo apt update
+sudo apt install -y chrony
+sudo systemctl enable chrony
+sudo systemctl restart chrony
+```
+
+如果你不能使用标准的 `123/udp`，完全可以改成你自己的端口，例如 `10910/udp`。
+
+例如云服务器 /etc/chrony/chrony.conf 里改成监听 10910：：
+
+```conf
+port 10910
+allow 0/0
+```
+
+然后重启：
+
+```bash
+sudo systemctl restart chrony
+```
+
+机器人端则在 `robot-boot.env.local` 里配置：
+
+```bash
+BLITZ_TIME_SERVER_IP="你的云服务器IP"
+BLITZ_TIME_SERVER_PORT="10910"
+```
+
+这样 `time-sync.sh` 会自动生成：
+
+```conf
+server 你的云服务器IP port 10910 iburst
+```
+
+注意：这里必须是你自己可控的 `chronyd` 服务端。公网标准 NTP 服务通常只监听 `123/udp`，不能要求它们改到 `10910`。
+
+## 需要改哪些配置
+
+不要直接改 `robot-boot.env`，更推荐新建：
+
+```text
+scripts/boot/robot-boot.env.local
+```
+
+常见要改的是这些：
+
+```bash
+BLITZ_BOOT_DELAY_SEC="30"
+BLITZ_LOG_FILE="/var/log/blitz-robot/startup.log"
+
+BLITZ_5G_DIAL_DIR="/home/nvidia/5g-test/5G"
+BLITZ_5G_SERIAL_PORT="/dev/ttyUSB7"
+
+BLITZ_TIME_SERVER_IP="你的白名单云服务器IP"
+BLITZ_TIME_SERVER_PORT="10910"
+
+BLITZ_ROS_USER="nvidia"
+```
+
+如果 `BLITZ_TIME_SERVER_IP` 留空，脚本会自动回退到 `ROBOT_SIDE_OMNISOCKET_SERVER_ADDR` 的 IP 部分。
+
+## 如何安装和使用
+
+下面假设你当前目录就在 `OmniSocketGo` 仓库根目录。
+
+### 第一步：准备本机配置
+
+建议先创建：
+
+```bash
+cp scripts/boot/robot-boot.env scripts/boot/robot-boot.env.local
+```
+
+然后编辑：
+
+```bash
+vim scripts/boot/robot-boot.env.local
+```
+
+至少确认这几个值是对的：
+
+- `BLITZ_5G_DIAL_DIR`
+- `BLITZ_5G_SERIAL_PORT`
+- `BLITZ_TIME_SERVER_IP`
+- `BLITZ_TIME_SERVER_PORT`
+- `BLITZ_ROS_USER`
+
+### 第二步：安装 systemd 单元
+
+执行：
+
+```bash
+sudo bash scripts/boot/install-systemd.sh
+```
+
+这个安装脚本会做这些事情：
+
+1. 创建日志目录和日志文件
+2. 渲染 `systemd` 模板
+3. 把 unit 文件复制到 `/etc/systemd/system`
+4. 执行 `systemctl daemon-reload`
+5. 执行 `systemctl enable blitz-robot.target`
+
+### 第三步：立刻启动一次
+
+执行：
+
+```bash
+sudo systemctl start blitz-robot.target
+```
+
+### 第四步：以后重启自动生效
+
+因为安装脚本已经做了 `enable`，所以后续机器人重启时会自动拉起，不需要你再手工执行。
+
+如果想手工确认，也可以执行：
+
+```bash
+sudo systemctl enable blitz-robot.target
+```
+
+## 如何查看是否正常
+
+### 看总日志文件
+
+最直接：
+
+```bash
+tail -f /var/log/blitz-robot/startup.log
+```
+
+### 看各个服务状态
+
+```bash
+systemctl status blitz-robot.target
+systemctl status blitz-boot-gate.service
+systemctl status blitz-5g-dial.service
+systemctl status blitz-time-sync.service
+systemctl status blitz-ros-receiver.service
+systemctl status blitz-b-side-omnid.service
+```
+
+### 看 journal
+
+```bash
+journalctl -u blitz-robot.target -u blitz-boot-gate.service -u blitz-5g-dial.service \
+  -u blitz-time-sync.service -u blitz-ros-receiver.service -u blitz-b-side-omnid.service -f
+```
+
+## 当前时钟同步会做什么
+
+`time-sync.sh` 当前逻辑是：
+
+1. 读取 `BLITZ_TIME_SERVER_IP`
+2. 读取 `BLITZ_TIME_SERVER_PORT`
+3. 修改 `/etc/chrony/chrony.conf`
+4. 注释掉原有的 `pool` 和 `server` 项
+5. 保留一个备份文件：`/etc/chrony/chrony.conf.blitz-bak`
+6. 写入：
+
+```text
+/etc/chrony/sources.d/blitz-robot.sources
+```
+
+7. 生成类似下面这一行：
+
+```conf
+server 你的云服务器IP port 10910 iburst
+```
+
+8. 重启 `chrony`
+9. 执行 `chronyc burst`
+10. 执行 `chronyc waitsync`
+
+注意：
+
+- 如果同步超时，会记日志为 `soft_fail`
+- 但不会阻塞后面的 ROS 和 `b_side_omnid` 启动
+
+## 常见问题
+
+### 1. 为什么会突然多出这么多脚本？
+
+因为把开机流程拆成了多个稳定的小步骤：
+
+- 更容易排查哪一步失败
+- 更容易让 `systemd` 自动重启
+- 更容易记录完整日志
+- 后续更容易替换“30 秒延时”为真正的机器人 ready 条件
+
+你平时不需要手工逐个执行这些脚本。
+
+### 2. 我是不是要手工跑 `5g-dial.sh`、`time-sync.sh`、`start-ros-receiver-service.sh`？
+
+正常情况下不用。
+
+你只需要：
+
+```bash
+sudo bash scripts/boot/install-systemd.sh
+sudo systemctl start blitz-robot.target
+```
+
+### 3. 如果时钟同步失败怎么办？
+
+先看：
+
+```bash
+tail -f /var/log/blitz-robot/startup.log
+systemctl status blitz-time-sync.service
+chronyc sources -v
+chronyc tracking
+```
+
+优先检查：
+
+- `BLITZ_TIME_SERVER_IP` 是否填对
+- `BLITZ_TIME_SERVER_PORT` 是否填对
+- 云服务器是否真的跑了 `chronyd`
+- 云服务器防火墙 / 安全组是否放通你配置的 UDP 端口，例如 `10910`
+- 5G 白名单是否确实允许访问这个服务器 IP
+
+### 4. 如果 ROS receiver 没起来怎么办？
+
+先看：
+
+```bash
+systemctl status blitz-ros-receiver.service
+tail -f /var/log/blitz-robot/startup.log
+```
+
+再检查：
+
+- `/opt/ros/${ROS_DISTRO}/setup.bash` 是否存在
+- `${ROS_CONTROL_PY_DIR}/install/setup.bash` 是否存在
+- `ROBOT_RECEIVER_LOCAL_SOCKET_PATH` 对应的 socket 是否出现
+
+### 5. 如果 b_side_omnid 没起来怎么办？
+
+先看：
+
+```bash
+systemctl status blitz-b-side-omnid.service
+tail -f /var/log/blitz-robot/startup.log
+```
+
+再检查：
+
+- `bin/b_side_omnid` 是否已经提前编译好
+- 摄像头设备是否存在
+- `robot-remote.env` / `robot-boot.env.local` 里的地址配置是否正确
--- a/scripts/boot/boot-gate.sh
+++ b/scripts/boot/boot-gate.sh
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/common.sh"
+
+STEP="boot-gate"
+
+blitz_load_boot_env
+
+blitz_log "${STEP}" "start" "start" "delay_sec=${BLITZ_BOOT_DELAY_SEC}" 0
+blitz_log "${STEP}" "delay" "start" "sleep ${BLITZ_BOOT_DELAY_SEC}s before starting Blitz services" 0
+sleep "${BLITZ_BOOT_DELAY_SEC}"
+blitz_log "${STEP}" "delay" "success" "boot gate released after ${BLITZ_BOOT_DELAY_SEC}s" 0
--- a/scripts/boot/common.sh
+++ b/scripts/boot/common.sh
@@ -0,0 +1,188 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+BOOT_SCRIPT_DIR="$(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' "${route_output}"
+  return 0
+}
--- a/scripts/boot/install-systemd.sh
+++ b/scripts/boot/install-systemd.sh
@@ -0,0 +1,53 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(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=${BLITZ_LOG_FILE}" 0
+
+install_unit "blitz-boot-gate.service.in"
+install_unit "blitz-5g-dial.service.in"
+install_unit "blitz-time-sync.service.in"
+install_unit "blitz-ros-receiver.service.in"
+install_unit "blitz-b-side-omnid.service.in"
+install_unit "blitz-robot.target.in"
+
+blitz_run "install" "daemon-reload" systemctl daemon-reload
+blitz_run "install" "enable-target" systemctl enable blitz-robot.target
+blitz_log "install" "complete" "success" "run systemctl start blitz-robot.target to launch immediately" 0
--- a/scripts/boot/robot-boot.env
+++ b/scripts/boot/robot-boot.env
@@ -0,0 +1,25 @@
+# Boot-time settings for the robot-side autostart chain.
+# Override machine-specific values in robot-boot.env.local.
+
+BLITZ_BOOT_DELAY_SEC="30"
+BLITZ_LOG_FILE="/var/log/blitz-robot/startup.log"
+
+BLITZ_5G_DIAL_DIR="/home/nvidia/5g-test/5G"
+BLITZ_5G_SERIAL_PORT="/dev/ttyUSB7"
+# 最多等 60 秒让 5G 模块对应的串口设备出现，比如 /dev/ttyUSB7
+BLITZ_5G_SERIAL_WAIT_SEC="60"
+# 拨号命令执行完以后，最多再等 30 秒，检查到你目标服务器 IP 的路由真的起来
+BLITZ_5G_ROUTE_WAIT_SEC="30"
+
+# Leave empty to fall back to the host part of ROBOT_SIDE_OMNISOCKET_SERVER_ADDR.
+BLITZ_TIME_SERVER_IP="81.70.156.140"
+BLITZ_TIME_SERVER_PORT="10910"
+BLITZ_TIME_SYNC_WAIT_SEC="30"
+BLITZ_TIME_SYNC_MAX_OFFSET_SEC="0.002"
+BLITZ_TIME_SYNC_INTERVAL_SEC="1"
+
+BLITZ_ROS_USER="nvidia"
+BLITZ_ROS_SOCKET_WAIT_SEC="20"
+
+# Boot units run b_side_omnid as root directly, so nested sudo must stay off.
+B_SIDE_OMNID_USE_SUDO="0"
--- a/scripts/boot/start-b-side-omnid-service.sh
+++ b/scripts/boot/start-b-side-omnid-service.sh
@@ -0,0 +1,18 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/common.sh"
+
+STEP="b-side-omnid"
+
+blitz_load_boot_env
+
+blitz_require_executable "${OMNISOCKETGO_ROOT}/bin/b_side_omnid" "${STEP}"
+
+export OMNI_BOOT_MODE="1"
+export B_SIDE_OMNID_USE_SUDO="0"
+
+blitz_log "${STEP}" "start" "start" "exec bash ${OMNISOCKETGO_ROOT}/scripts/dev/start-b-side-omnid.sh" 0
+exec bash "${OMNISOCKETGO_ROOT}/scripts/dev/start-b-side-omnid.sh"
--- a/scripts/boot/start-ros-receiver-service.sh
+++ b/scripts/boot/start-ros-receiver-service.sh
@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/common.sh"
+
+STEP="ros-receiver"
+
+blitz_load_boot_env
+
+blitz_require_file "/opt/ros/${ROS_DISTRO}/setup.bash" "${STEP}"
+blitz_require_file "${ROS_CONTROL_PY_DIR}/install/setup.bash" "${STEP}"
+
+export OMNI_BOOT_MODE="1"
+blitz_log "${STEP}" "start" "start" "exec bash ${OMNISOCKETGO_ROOT}/scripts/dev/start-ros-receiver.sh" 0
+exec bash "${OMNISOCKETGO_ROOT}/scripts/dev/start-ros-receiver.sh"
--- a/scripts/boot/systemd/blitz-5g-dial.service.in
+++ b/scripts/boot/systemd/blitz-5g-dial.service.in
@@ -0,0 +1,14 @@
+[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
--- a/scripts/boot/systemd/blitz-b-side-omnid.service.in
+++ b/scripts/boot/systemd/blitz-b-side-omnid.service.in
@@ -0,0 +1,15 @@
+[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
--- a/scripts/boot/systemd/blitz-boot-gate.service.in
+++ b/scripts/boot/systemd/blitz-boot-gate.service.in
@@ -0,0 +1,14 @@
+[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
--- a/scripts/boot/systemd/blitz-robot.target.in
+++ b/scripts/boot/systemd/blitz-robot.target.in
@@ -0,0 +1,11 @@
+[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
--- a/scripts/boot/systemd/blitz-ros-receiver.service.in
+++ b/scripts/boot/systemd/blitz-ros-receiver.service.in
@@ -0,0 +1,17 @@
+[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
--- a/scripts/boot/systemd/blitz-time-sync.service.in
+++ b/scripts/boot/systemd/blitz-time-sync.service.in
@@ -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
--- a/scripts/boot/time-sync.sh
+++ b/scripts/boot/time-sync.sh
@@ -0,0 +1,113 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/common.sh"
+
+STEP="time-sync"
+CHRONY_SOURCES_DIR="/etc/chrony/sources.d"
+CHRONY_SOURCE_FILE="${CHRONY_SOURCES_DIR}/blitz-robot.sources"
+CHRONY_MAIN_CONF="/etc/chrony/chrony.conf"
+CHRONY_MAIN_CONF_BAK="/etc/chrony/chrony.conf.blitz-bak"
+
+chrony_unit_name() {
+  if systemctl list-unit-files chrony.service --no-legend 2>/dev/null | grep -q '^chrony\.service'; then
+    printf '%s\n' "chrony.service"
+    return 0
+  fi
+  if systemctl list-unit-files chronyd.service --no-legend 2>/dev/null | grep -q '^chronyd\.service'; then
+    printf '%s\n' "chronyd.service"
+    return 0
+  fi
+  printf '%s\n' "chrony.service"
+}
+
+ensure_chrony_main_conf() {
+  local temp_file
+
+  blitz_require_file "${CHRONY_MAIN_CONF}" "${STEP}"
+  mkdir -p "${CHRONY_SOURCES_DIR}"
+
+  if [[ ! -f "${CHRONY_MAIN_CONF_BAK}" ]]; then
+    cp -a "${CHRONY_MAIN_CONF}" "${CHRONY_MAIN_CONF_BAK}"
+    blitz_log "${STEP}" "backup-config" "success" "backup=${CHRONY_MAIN_CONF_BAK}" 0
+  fi
+
+  temp_file="$(mktemp)"
+  awk '
+    /^[[:space:]]*#/ { print; next }
+    /^[[:space:]]*(pool|server)[[:space:]]+/ {
+      print "# blitz-managed-disabled " $0
+      next
+    }
+    { print }
+  ' "${CHRONY_MAIN_CONF}" > "${temp_file}"
+
+  if ! grep -Eq '^[[:space:]]*sourcedir[[:space:]]+/etc/chrony/sources\.d([[:space:]]|$)' "${temp_file}"; then
+    printf '\n# blitz-managed\nsourcedir /etc/chrony/sources.d\n' >> "${temp_file}"
+  fi
+
+  if ! cmp -s "${temp_file}" "${CHRONY_MAIN_CONF}"; then
+    cp "${temp_file}" "${CHRONY_MAIN_CONF}"
+    blitz_log "${STEP}" "rewrite-main-config" "success" "commented non-Blitz pool/server entries in ${CHRONY_MAIN_CONF}" 0
+  else
+    blitz_log "${STEP}" "rewrite-main-config" "success" "main config already matches Blitz expectations" 0
+  fi
+
+  rm -f "${temp_file}"
+}
+
+write_chrony_source_file() {
+  local temp_file
+
+  temp_file="$(mktemp)"
+  cat <<EOF > "${temp_file}"
+# blitz-managed
+server ${BLITZ_TIME_SERVER_IP} port ${BLITZ_TIME_SERVER_PORT} iburst
+EOF
+
+  if [[ ! -f "${CHRONY_SOURCE_FILE}" ]] || ! cmp -s "${temp_file}" "${CHRONY_SOURCE_FILE}"; then
+    cp "${temp_file}" "${CHRONY_SOURCE_FILE}"
+    blitz_log "${STEP}" "write-source" "success" "source_file=${CHRONY_SOURCE_FILE} server=${BLITZ_TIME_SERVER_IP} port=${BLITZ_TIME_SERVER_PORT}" 0
+  else
+    blitz_log "${STEP}" "write-source" "success" "source_file already matches ${BLITZ_TIME_SERVER_IP}:${BLITZ_TIME_SERVER_PORT}" 0
+  fi
+
+  rm -f "${temp_file}"
+}
+
+blitz_load_boot_env
+blitz_require_root "${STEP}"
+blitz_require_command systemctl "${STEP}"
+blitz_require_command chronyc "${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
+if ! [[ "${BLITZ_TIME_SERVER_PORT}" =~ ^[0-9]+$ ]] || (( BLITZ_TIME_SERVER_PORT < 1 || BLITZ_TIME_SERVER_PORT > 65535 )); then
+  blitz_log "${STEP}" "precheck" "failure" "BLITZ_TIME_SERVER_PORT must be an integer between 1 and 65535" 1
+  exit 1
+fi
+
+ensure_chrony_main_conf
+write_chrony_source_file
+
+CHRONY_UNIT="$(chrony_unit_name)"
+blitz_run "${STEP}" "restart-chrony" systemctl restart "${CHRONY_UNIT}"
+blitz_run "${STEP}" "burst" chronyc burst
+
+blitz_log "${STEP}" "waitsync" "start" "server=${BLITZ_TIME_SERVER_IP} port=${BLITZ_TIME_SERVER_PORT} wait_sec=${BLITZ_TIME_SYNC_WAIT_SEC} max_offset_sec=${BLITZ_TIME_SYNC_MAX_OFFSET_SEC} interval_sec=${BLITZ_TIME_SYNC_INTERVAL_SEC}" 0
+if chronyc waitsync "${BLITZ_TIME_SYNC_WAIT_SEC}" "${BLITZ_TIME_SYNC_MAX_OFFSET_SEC}" 1000 "${BLITZ_TIME_SYNC_INTERVAL_SEC}"; then
+  blitz_log "${STEP}" "waitsync" "success" "chrony synchronized to ${BLITZ_TIME_SERVER_IP}:${BLITZ_TIME_SERVER_PORT}" 0
+else
+  rc=$?
+  blitz_log "${STEP}" "waitsync" "soft_fail" "chrony did not synchronize to ${BLITZ_TIME_SERVER_IP}:${BLITZ_TIME_SERVER_PORT} within the configured timeout" "${rc}"
+fi
+
+blitz_log "${STEP}" "tracking" "start" "chronyc tracking" 0
+chronyc tracking || true
+blitz_log "${STEP}" "sources" "start" "chronyc sources -v" 0
+chronyc sources -v || true
+blitz_log "${STEP}" "complete" "success" "time-sync step finished" 0
--- a/scripts/boot/wait-for-unix-socket.sh
+++ b/scripts/boot/wait-for-unix-socket.sh
@@ -0,0 +1,49 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/common.sh"
+
+STEP="ros-receiver"
+SOCKET_PATH=""
+TIMEOUT_SEC=""
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --path)
+      SOCKET_PATH="$2"
+      shift 2
+      ;;
+    --timeout)
+      TIMEOUT_SEC="$2"
+      shift 2
+      ;;
+    --step)
+      STEP="$2"
+      shift 2
+      ;;
+    *)
+      blitz_log "${STEP}" "wait-socket-arg" "failure" "unknown argument: $1" 2
+      exit 2
+      ;;
+  esac
+done
+
+blitz_load_boot_env
+
+SOCKET_PATH="${SOCKET_PATH:-${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}}"
+TIMEOUT_SEC="${TIMEOUT_SEC:-${BLITZ_ROS_SOCKET_WAIT_SEC}}"
+
+blitz_log "${STEP}" "wait-socket" "start" "path=${SOCKET_PATH} timeout_sec=${TIMEOUT_SEC}" 0
+
+for (( waited=0; waited< TIMEOUT_SEC; waited++ )); do
+  if [[ -S "${SOCKET_PATH}" ]]; then
+    blitz_log "${STEP}" "wait-socket" "success" "path=${SOCKET_PATH} waited_sec=${waited}" 0
+    exit 0
+  fi
+  sleep 1
+done
+
+blitz_log "${STEP}" "wait-socket" "failure" "path=${SOCKET_PATH} timeout_sec=${TIMEOUT_SEC}" 1
+exit 1
--- a/scripts/dev/start-b-side-omnid.sh
+++ b/scripts/dev/start-b-side-omnid.sh
@@ -15,6 +15,10 @@ export OMNI_CONTROL_SERVER_ADDR="${OMNI_CONTROL_SERVER_ADDR}"
 export OMNI_CONTROL_RELAY_VIA="${OMNI_CONTROL_RELAY_VIA}"

 if [[ ! -x "./bin/b_side_omnid" ]]; then
+  if [[ "${OMNI_BOOT_MODE:-0}" == "1" ]]; then
+    echo "Missing ./bin/b_side_omnid in boot mode; build it before enabling the autostart service." >&2
+    exit 1
+  fi
  make b_side_omnid
 fi

--- a/scripts/dev/start-ros-receiver.sh
+++ b/scripts/dev/start-ros-receiver.sh
@@ -12,9 +12,17 @@ source_with_nounset_off() {

 # shellcheck disable=SC1091
 source "${SCRIPT_DIR}/load-env.sh"
+if [[ ! -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]]; then
+  echo "Missing ROS distro setup: /opt/ros/${ROS_DISTRO}/setup.bash" >&2
+  exit 1
+fi
 source_with_nounset_off "/opt/ros/${ROS_DISTRO}/setup.bash"

 cd "${ROS_CONTROL_PY_DIR}"
+if [[ ! -f "install/setup.bash" ]]; then
+  echo "Missing ROS workspace setup: ${ROS_CONTROL_PY_DIR}/install/setup.bash" >&2
+  exit 1
+fi
 source_with_nounset_off "install/setup.bash"

 launch_args=(