fix: blitz-run-context.service 失败

scripts/boot/blitz-run-context.sh

@@ -7,6 +7,14 @@ source "${SCRIPT_DIR}/common.sh"
 
 STEP="run-context"
 
+on_error() {
+  local rc="$?"
+  blitz_log "${STEP}" "error" "failure" "line=${1:-unknown} cmd=${BASH_COMMAND:-unknown}" "${rc}"
+  exit "${rc}"
+}
+
+trap 'on_error "${LINENO}"' ERR
+
 blitz_load_boot_env
 blitz_require_root "${STEP}"
 blitz_require_command python3 "${STEP}"

scripts/boot/common.sh

@@ -50,6 +50,10 @@ blitz_load_boot_env() {
     fi
   done
 
+  if declare -F normalize_loaded_env_vars >/dev/null 2>&1; then
+    normalize_loaded_env_vars
+  fi
+
   default_time_server="$(blitz_host_from_addr "${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}" || true)"
 
   export BLITZ_BOOT_DELAY_SEC="${BLITZ_BOOT_DELAY_SEC:-30}"

scripts/boot/systemd/blitz-5g-link-logger.service.in

@@ -2,6 +2,7 @@
 Description=Blitz robot 5G link logger
 PartOf=blitz-robot.target
 After=blitz-run-context.service blitz-5g-dial.service
+Requires=blitz-run-context.service
 Wants=blitz-run-context.service blitz-5g-dial.service
 
 [Service]

scripts/boot/systemd/blitz-b-side-omnid.service.in

@@ -2,6 +2,7 @@
 Description=Blitz robot b-side omnid
 PartOf=blitz-robot.target
 After=blitz-run-context.service blitz-5g-dial.service blitz-ros-receiver.service
+Requires=blitz-run-context.service
 Wants=blitz-run-context.service blitz-5g-dial.service blitz-ros-receiver.service
 
 [Service]
@@ -9,7 +10,7 @@ Type=simple
 EnvironmentFile=-/run/blitz-robot/run-context.env
 ExecStartPre=/bin/bash @OMNISOCKETGO_ROOT@/scripts/boot/prepare-runtime-dir.sh
 ExecStart=/bin/bash @OMNISOCKETGO_ROOT@/scripts/boot/start-b-side-omnid-service.sh
-ExecStopPost=/bin/bash -lc 'if [[ "${SERVICE_RESULT:-success}" != "success" ]]; then exec "@OMNISOCKETGO_ROOT@/scripts/boot/blitz-incident-capture-launch.sh" --source exec-stop-post --unit "%n" --result "${SERVICE_RESULT:-}" --exit-status "${EXIT_STATUS:-}" --reason b-side-service-exit; fi'
+ExecStopPost=/bin/bash -lc 'if [[ "${SERVICE_RESULT:-success}" != "success" ]]; then exec /bin/bash "@OMNISOCKETGO_ROOT@/scripts/boot/blitz-incident-capture-launch.sh" --source exec-stop-post --unit "%n" --result "${SERVICE_RESULT:-}" --exit-status "${EXIT_STATUS:-}" --reason b-side-service-exit; fi'
 Restart=always
 RestartSec=2
 StandardOutput=append:@BLITZ_LOG_FILE@

scripts/boot/systemd/blitz-ros-receiver.service.in

@@ -2,6 +2,7 @@
 Description=Blitz robot ROS receiver
 PartOf=blitz-robot.target
 After=blitz-run-context.service blitz-5g-dial.service
+Requires=blitz-run-context.service
 Wants=blitz-run-context.service blitz-5g-dial.service
 
 [Service]
@@ -12,7 +13,7 @@ EnvironmentFile=-/run/blitz-robot/run-context.env
 ExecStartPre=/bin/bash @OMNISOCKETGO_ROOT@/scripts/boot/prepare-runtime-dir.sh
 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
-ExecStopPost=/bin/bash -lc 'if [[ "${SERVICE_RESULT:-success}" != "success" ]]; then exec "@OMNISOCKETGO_ROOT@/scripts/boot/blitz-incident-capture-launch.sh" --source exec-stop-post --unit "%n" --result "${SERVICE_RESULT:-}" --exit-status "${EXIT_STATUS:-}" --reason ros-service-exit; fi'
+ExecStopPost=/bin/bash -lc 'if [[ "${SERVICE_RESULT:-success}" != "success" ]]; then exec /bin/bash "@OMNISOCKETGO_ROOT@/scripts/boot/blitz-incident-capture-launch.sh" --source exec-stop-post --unit "%n" --result "${SERVICE_RESULT:-}" --exit-status "${EXIT_STATUS:-}" --reason ros-service-exit; fi'
 Restart=always
 RestartSec=2
 StandardOutput=append:@BLITZ_LOG_FILE@

scripts/boot/systemd/blitz-watchdog.service.in

@@ -2,6 +2,7 @@
 Description=Blitz robot health watchdog
 PartOf=blitz-robot.target
 After=blitz-run-context.service blitz-b-side-omnid.service blitz-ros-receiver.service
+Requires=blitz-run-context.service
 Wants=blitz-run-context.service blitz-b-side-omnid.service blitz-ros-receiver.service
 
 [Service]

scripts/dev/load-env.sh

@@ -9,6 +9,23 @@ die() {
   return 1 2>/dev/null || exit 1
 }
 
+normalize_loaded_env_vars() {
+  local var_name
+  local value
+
+  for var_name in $(compgen -A variable); do
+    case "${var_name}" in
+      BACKEND_*|BLITZ_*|B_SIDE_*|CONTROL_*|FRONTEND_*|OMNI_*|PYTHON3_BIN|PYTHON_VENV_PATH|ROBOT_*|ROS_DISTRO|VITE_*)
+        value="${!var_name}"
+        if [[ "${value}" == *$'\r' ]]; then
+          printf -v "${var_name}" '%s' "${value%$'\r'}"
+          export "${var_name}"
+        fi
+        ;;
+    esac
+  done
+}
+
 is_omnisocketgo_root() {
   local dir="$1"
   [[ -f "${dir}/Makefile" && -f "${dir}/cmd/b_side_omnid.c" && -d "${dir}/ros-control-py" ]]
@@ -68,6 +85,8 @@ for env_file in "${ENV_FILES[@]}"; do
   fi
 done
 
+normalize_loaded_env_vars
+
 if [[ "${omni_camera_device_was_set}" == "1" ]]; then
   export OMNI_CAMERA_DEVICE="${preserved_omni_camera_device}"
 fi