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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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5
scripts/boot/systemd/blitz-b-side-omnid.service.in
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@@ -1,10 +1,11 @@
[Unit]
Description=Blitz robot b-side omnid
After=blitz-time-sync.service blitz-ros-receiver.service
Wants=blitz-time-sync.service blitz-ros-receiver.service
After=blitz-5g-dial.service blitz-ros-receiver.service
Wants=blitz-5g-dial.service blitz-ros-receiver.service
[Service]
Type=simple
ExecStartPre=/bin/bash @OMNISOCKETGO_ROOT@/scripts/boot/prepare-runtime-dir.sh
ExecStart=/bin/bash @OMNISOCKETGO_ROOT@/scripts/boot/start-b-side-omnid-service.sh
Restart=always
RestartSec=2

2
scripts/boot/systemd/blitz-robot.target.in
View File

@@ -2,9 +2,9 @@
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
Wants=blitz-watchdog.service
After=multi-user.target
[Install]

6
scripts/boot/systemd/blitz-ros-receiver.service.in
View File

@@ -1,11 +1,13 @@
[Unit]
Description=Blitz robot ROS receiver
After=blitz-time-sync.service
Wants=blitz-time-sync.service
After=blitz-5g-dial.service
Wants=blitz-5g-dial.service
[Service]
Type=simple
User=@BLITZ_ROS_USER@
PermissionsStartOnly=true
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
Restart=always

14
scripts/boot/systemd/blitz-time-sync.service.in
View File

@@ -1,14 +0,0 @@
[Unit]
Description=Blitz robot private chrony sync
After=blitz-5g-dial.service
Wants=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

16
scripts/boot/systemd/blitz-watchdog.service.in Normal file
View File

@@ -0,0 +1,16 @@
[Unit]
Description=Blitz robot health watchdog
After=blitz-b-side-omnid.service blitz-ros-receiver.service
Wants=blitz-b-side-omnid.service blitz-ros-receiver.service
[Service]
Type=simple
ExecStartPre=/bin/bash @OMNISOCKETGO_ROOT@/scripts/boot/prepare-runtime-dir.sh
ExecStart=/bin/bash @OMNISOCKETGO_ROOT@/scripts/boot/blitz-watchdog.sh
Restart=always
RestartSec=5
StandardOutput=append:@BLITZ_LOG_FILE@
StandardError=append:@BLITZ_LOG_FILE@
[Install]
WantedBy=blitz-robot.target