feat: 自启动与自恢复机制

2026-04-13 21:55:40 +08:00
parent 2f507a7546
commit 25c68530ba
19 changed files with 1151 additions and 451 deletions
--- a/scripts/boot/systemd/blitz-watchdog.service.in
+++ b/scripts/boot/systemd/blitz-watchdog.service.in
@@ -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