limingjie/OmniSocketGo
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feat: 自启动与自恢复机制

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This commit is contained in:
Mock
2026-04-13 21:55:40 +08:00
parent 2f507a7546
commit 25c68530ba
19 changed files with 1151 additions and 451 deletions
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11
scripts/boot/robot-boot.env
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@@ -3,6 +3,7 @@
BLITZ_BOOT_DELAY_SEC="30"
BLITZ_LOG_FILE="/var/log/blitz-robot/startup.log"
BLITZ_RUNTIME_DIR="/run/blitz-robot"
BLITZ_5G_DIAL_DIR="${OMNISOCKETGO_ROOT}/scripts/boot"
BLITZ_5G_SERIAL_PORT="/dev/ttyUSB2"
@@ -18,13 +19,15 @@ 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"
BLITZ_WATCHDOG_INTERVAL_SEC="5"
BLITZ_HEALTH_STALE_SEC="15"
BLITZ_OMNID_THREAD_HEARTBEAT_TIMEOUT_SEC="15"
BLITZ_NETWORK_FAIL_THRESHOLD="3"
BLITZ_NETWORK_RECOVERY_COOLDOWN_SEC="30"
BLITZ_WATCHDOG_ALLOW_FAULT_INJECTION="0"
# Boot units run b_side_omnid as root directly, so nested sudo must stay off.
B_SIDE_OMNID_USE_SUDO="0"