feat: 自启动与自恢复机制

scripts/boot/common.sh

@@ -52,6 +52,7 @@ blitz_load_boot_env() {
 
   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_RUNTIME_DIR="${BLITZ_RUNTIME_DIR:-/run/blitz-robot}"
   export BLITZ_5G_DIAL_DIR="${BLITZ_5G_DIAL_DIR:-${BOOT_SCRIPT_DIR}}"
   export BLITZ_5G_SERIAL_PORT="${BLITZ_5G_SERIAL_PORT:-/dev/ttyUSB7}"
   export BLITZ_5G_INTERFACE="${BLITZ_5G_INTERFACE:-}"
@@ -65,12 +66,14 @@ blitz_load_boot_env() {
   export BLITZ_5G_SERIAL_WAIT_SEC="${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="${BLITZ_ROS_SOCKET_WAIT_SEC:-20}"
+  export BLITZ_WATCHDOG_INTERVAL_SEC="${BLITZ_WATCHDOG_INTERVAL_SEC:-5}"
+  export BLITZ_HEALTH_STALE_SEC="${BLITZ_HEALTH_STALE_SEC:-15}"
+  export BLITZ_OMNID_THREAD_HEARTBEAT_TIMEOUT_SEC="${BLITZ_OMNID_THREAD_HEARTBEAT_TIMEOUT_SEC:-15}"
+  export BLITZ_NETWORK_FAIL_THRESHOLD="${BLITZ_NETWORK_FAIL_THRESHOLD:-3}"
+  export BLITZ_NETWORK_RECOVERY_COOLDOWN_SEC="${BLITZ_NETWORK_RECOVERY_COOLDOWN_SEC:-30}"
+  export BLITZ_WATCHDOG_ALLOW_FAULT_INJECTION="${BLITZ_WATCHDOG_ALLOW_FAULT_INJECTION:-0}"
   export BLITZ_BOOT_ENV_LOADED="1"
 }
 
@@ -200,3 +203,51 @@ blitz_route_ready() {
   printf '%s\n' "${route_output}"
   return 0
 }
+
+blitz_resolve_5g_interface() {
+  local explicit_interface="${BLITZ_5G_INTERFACE:-}"
+  local info_json="${BLITZ_5G_INFO_JSON:-}"
+
+  if [[ -n "${explicit_interface}" ]]; then
+    printf '%s\n' "${explicit_interface}"
+    return 0
+  fi
+  if [[ -z "${info_json}" || ! -f "${info_json}" ]]; then
+    return 1
+  fi
+
+  python3 - "${info_json}" <<'PY'
+import json
+import sys
+
+path = sys.argv[1]
+
+try:
+    with open(path, "r", encoding="utf-8") as handle:
+        payload = json.load(handle)
+except Exception:
+    raise SystemExit(1)
+
+interface = str(payload.get("interface") or "").strip()
+if not interface:
+    raise SystemExit(1)
+
+print(interface)
+PY
+}
+
+blitz_prepare_runtime_dir() {
+  local runtime_dir
+
+  blitz_load_boot_env
+  runtime_dir="${BLITZ_RUNTIME_DIR}"
+
+  mkdir -p "${runtime_dir}"
+  if [[ "${EUID}" -eq 0 ]]; then
+    chown "root:${BLITZ_ROS_USER}" "${runtime_dir}"
+    chmod 0775 "${runtime_dir}"
+  else
+    chmod 0775 "${runtime_dir}" 2>/dev/null || true
+  fi
+  blitz_log "runtime-dir" "prepare" "success" "path=${runtime_dir}" 0
+}