fix:修改默认网路只有5G模组问题

.gitignore

@@ -22,3 +22,6 @@ c/bin
 /.venv
 
 **/build/
+
+ros-control-py/install
+ros-control-py/log

scripts/boot/5g-dial.sh

@@ -7,6 +7,22 @@ source "${SCRIPT_DIR}/common.sh"
 
 STEP="5g-dial"
 
+append_route_targets() {
+  local raw_list="$1"
+  local target
+
+  if [[ -z "${raw_list}" ]]; then
+    return 0
+  fi
+
+  for target in ${raw_list//,/ }; do
+    if [[ -z "${target}" ]]; then
+      continue
+    fi
+    dial_cmd+=(--route-target "${target}")
+  done
+}
+
 read_detected_interface() {
   local info_json="$1"
 
@@ -135,6 +151,12 @@ case "${BLITZ_5G_SKIP_DHCP:-0}" in
     dial_cmd+=(--skip-dhcp)
     ;;
 esac
+case "${BLITZ_5G_REMOVE_DEFAULT_ROUTE:-1}" in
+  1|true|TRUE|yes|YES)
+    dial_cmd+=(--remove-default-route --gateway "${BLITZ_5G_GATEWAY}" --route-target "${BLITZ_TIME_SERVER_IP}")
+    append_route_targets "${BLITZ_5G_ROUTE_TARGETS:-}"
+    ;;
+esac
 
 pushd "${BLITZ_5G_DIAL_DIR}" >/dev/null
 blitz_run "${STEP}" "dial" "${dial_cmd[@]}"

scripts/boot/README.md

@@ -66,7 +66,7 @@ timestamp | step | action | result | details | exit_code
 - `robot-boot.env.local`：本机覆盖配置，建议把你自己的配置写这里
 - `common.sh`：公共环境加载和统一日志函数
 - `boot-gate.sh`：启动闸门，当前逻辑是固定等待 30 秒
-- `5g-dial.sh`：等待 5G 串口出现，执行 `rndis_dial.py`，并检查路由是否真的起来
+- `5g-dial.sh`：等待 5G 串口出现，执行 `rndis_dial.py`，删除 5G 默认路由并补齐目标主机路由，然后检查路由是否真的起来
 - `time-sync.sh`：把 `chrony` 指向白名单服务器 IP 和端口，并执行一次同步
 - `start-ros-receiver-service.sh`：开机版 ROS receiver 启动包装
 - `wait-for-unix-socket.sh`：等待 ROS receiver 建好本地 unix socket
@@ -178,6 +178,9 @@ BLITZ_LOG_FILE="/var/log/blitz-robot/startup.log"
 
 BLITZ_5G_DIAL_DIR="/home/nvidia/5g-test/5G"
 BLITZ_5G_SERIAL_PORT="/dev/ttyUSB7"
+BLITZ_5G_GATEWAY="192.168.225.1"
+BLITZ_5G_REMOVE_DEFAULT_ROUTE="1"
+BLITZ_5G_ROUTE_TARGETS="106.55.173.235"
 
 BLITZ_TIME_SERVER_IP="你的白名单云服务器IP"
 BLITZ_TIME_SERVER_PORT="10910"
@@ -187,6 +190,8 @@ BLITZ_ROS_USER="nvidia"
 
 如果 `BLITZ_TIME_SERVER_IP` 留空，脚本会自动回退到 `ROBOT_SIDE_OMNISOCKET_SERVER_ADDR` 的 IP 部分。
 
+当 `BLITZ_5G_REMOVE_DEFAULT_ROUTE="1"` 时，脚本会在 5G 拨号完成后删除该接口上的默认路由，避免整机默认出口切到 5G。此时 `BLITZ_TIME_SERVER_IP` 和 `BLITZ_5G_ROUTE_TARGETS` 中的目标 IP 会显式走 5G，其它流量继续走有线或 Wi-Fi 的默认路由。
+
 ## 如何安装和使用
 
 下面假设你当前目录就在 `OmniSocketGo` 仓库根目录。
@@ -272,7 +277,8 @@ systemctl status blitz-b-side-omnid.service
 
 ```bash
 journalctl -u blitz-robot.target -u blitz-boot-gate.service -u blitz-5g-dial.service \
-  -u blitz-time-sync.service -u blitz-ros-receiver.service -u blitz-b-side-omnid.service -f
+  -u blitz-time-sync.service -u blitz-ros-receiver.service \
+  -u blitz-b-side-omnid.service -f
 ```
 
 ## 当前时钟同步会做什么

scripts/boot/common.sh

@@ -56,7 +56,10 @@ blitz_load_boot_env() {
   export BLITZ_5G_SERIAL_PORT="${BLITZ_5G_SERIAL_PORT:-/dev/ttyUSB7}"
   export BLITZ_5G_INTERFACE="${BLITZ_5G_INTERFACE:-}"
   export BLITZ_5G_MODEM_SUBNET="${BLITZ_5G_MODEM_SUBNET:-192.168.224.0/22}"
+  export BLITZ_5G_GATEWAY="${BLITZ_5G_GATEWAY:-192.168.225.1}"
   export BLITZ_5G_SKIP_DHCP="${BLITZ_5G_SKIP_DHCP:-0}"
+  export BLITZ_5G_REMOVE_DEFAULT_ROUTE="${BLITZ_5G_REMOVE_DEFAULT_ROUTE:-1}"
+  export BLITZ_5G_ROUTE_TARGETS="${BLITZ_5G_ROUTE_TARGETS:-106.55.173.235}"
   export BLITZ_5G_INFO_JSON="${BLITZ_5G_INFO_JSON:-${BLITZ_5G_DIAL_DIR}/modem_network_info.json}"
   export BLITZ_5G_DISABLE_INTERFACES="${BLITZ_5G_DISABLE_INTERFACES:-}"
   export BLITZ_5G_SERIAL_WAIT_SEC="${BLITZ_5G_SERIAL_WAIT_SEC:-60}"

scripts/boot/modem_network_info.json

@@ -1,9 +1,9 @@
 {
-  "interface": "enx8c5508fedec7",
+  "interface": "enx78886c7fbd46",
   "ipv4": [
-    "192.168.225.74/22"
+    "192.168.225.62/22"
   ],
   "ipv6": [
-    "fe80::e1ff:36e7:82eb:438c/64"
+    "fe80::a335:b50d:622d:92e8/64"
   ]
 }

scripts/boot/rndis_dial.py

@@ -76,6 +76,24 @@ def format_shell_cmd(cmd):
     return " ".join(shlex.quote(part) for part in cmd)
 
 
+def parse_ipv4_address(value):
+    try:
+        return str(ipaddress.IPv4Address(value))
+    except ipaddress.AddressValueError as exc:
+        raise argparse.ArgumentTypeError(f"无效的 IPv4 地址: {value}") from exc
+
+
+def dedupe_keep_order(values):
+    seen = set()
+    result = []
+    for value in values:
+        if value in seen:
+            continue
+        seen.add(value)
+        result.append(value)
+    return result
+
+
 def require_root():
     if os.geteuid() != 0:
         print("[FAIL] 请使用 sudo 运行此脚本")
@@ -513,6 +531,70 @@ def renew_dhcp(iface):
     return False, "系统中未找到 dhclient 或 udhcpc"
 
 
+def get_default_routes(iface):
+    code, output = run_cmd(["ip", "-o", "route", "show", "default", "dev", iface], timeout=10)
+    if code != 0:
+        return []
+    return [line.strip() for line in output.splitlines() if line.strip()]
+
+
+def resolve_gateway(iface, fallback_gateway):
+    for route in get_default_routes(iface):
+        tokens = route.split()
+        for index, token in enumerate(tokens[:-1]):
+            if token == "via":
+                gateway = tokens[index + 1]
+                print(f"[INFO] 从默认路由检测到 {iface} 网关: {gateway}")
+                return gateway
+
+    print(f"[INFO] 未从默认路由检测到 {iface} 网关，回退到 {fallback_gateway}")
+    return fallback_gateway
+
+
+def delete_default_routes(iface):
+    removed = 0
+
+    while True:
+        routes = get_default_routes(iface)
+        if not routes:
+            return removed
+
+        deleted_this_round = False
+        for route in routes:
+            cmd = ["ip", "route", "del", *route.split()]
+            code, output = run_cmd(cmd, timeout=10)
+            if code != 0:
+                code, output = run_cmd(["ip", "route", "del", "default", "dev", iface], timeout=10)
+                if code != 0:
+                    raise RuntimeError(f"删除默认路由失败: {iface}\n{output}")
+            removed += 1
+            deleted_this_round = True
+
+        if not deleted_this_round:
+            raise RuntimeError(f"未能删除 {iface} 的默认路由")
+
+
+def install_host_routes(iface, gateway, targets):
+    for target in dedupe_keep_order(targets):
+        cmd = ["ip", "route", "replace", f"{target}/32", "via", gateway, "dev", iface]
+        code, output = run_cmd(cmd, timeout=10)
+        if code != 0:
+            raise RuntimeError(f"添加主机路由失败: {target} via {gateway} dev {iface}\n{output}")
+
+        print(f"[OK] 已添加主机路由: {target}/32 via {gateway} dev {iface}")
+
+
+def enforce_route_policy(iface, fallback_gateway, route_targets):
+    gateway = resolve_gateway(iface, fallback_gateway)
+    removed = delete_default_routes(iface)
+    print(f"[OK] 已删除 {iface} 上的 {removed} 条默认路由")
+
+    if route_targets:
+        install_host_routes(iface, gateway, route_targets)
+    else:
+        print(f"[WARN] {iface} 未配置任何主机路由目标，5G 将不再承载公网流量")
+
+
 def ensure_ipv4(iface):
     """为指定接口申请 IPv4 地址。"""
     ipv4_addrs = get_ipv4_addrs().get(iface, [])
@@ -659,11 +741,29 @@ def parse_args():
         default=DEFAULT_MODEM_SUBNET,
         help=f"拨号成功后用于识别模组接口的 IPv4 网段，默认 {DEFAULT_MODEM_SUBNET}",
     )
+    parser.add_argument(
+        "--gateway",
+        type=parse_ipv4_address,
+        default=DEFAULT_MODEM_GATEWAY,
+        help=f"5G 模组网关地址，默认 {DEFAULT_MODEM_GATEWAY}",
+    )
     parser.add_argument(
         "--skip-dhcp",
         action="store_true",
         help="只等待 USB 网卡出现，不主动申请 IPv4",
     )
+    parser.add_argument(
+        "--remove-default-route",
+        action="store_true",
+        help="拨号成功后删除 5G 接口上的默认路由，只保留显式主机路由",
+    )
+    parser.add_argument(
+        "--route-target",
+        action="append",
+        default=[],
+        type=parse_ipv4_address,
+        help="拨号完成后通过 5G 接口保留的 IPv4 主机路由目标，可重复传入",
+    )
     return parser.parse_args()
 
 
@@ -733,7 +833,12 @@ def main():
             for addr in ipv4_addrs:
                 print(f"[OK] {iface} 已获取 IPv4: {addr}")
             save_interface_info(iface)
-            ping_via_interface(iface)
+            route_targets = dedupe_keep_order(args.route_target)
+            if args.remove_default_route:
+                enforce_route_policy(iface, args.gateway, route_targets)
+
+            connectivity_targets = route_targets or list(DEFAULT_PUBLIC_TARGETS)
+            ping_via_interface(iface, targets=connectivity_targets)
             print(f"[DONE] RNDIS 拨号完成，可执行: sudo python3 speed_test.py {iface}")
             return
 

scripts/boot/robot-boot.env

@@ -8,7 +8,10 @@ BLITZ_5G_DIAL_DIR="${OMNISOCKETGO_ROOT}/scripts/boot"
 BLITZ_5G_SERIAL_PORT="/dev/ttyUSB2"
 BLITZ_5G_INTERFACE=""
 BLITZ_5G_MODEM_SUBNET="192.168.224.0/22"
+BLITZ_5G_GATEWAY="192.168.225.1"
 BLITZ_5G_SKIP_DHCP="0"
+BLITZ_5G_REMOVE_DEFAULT_ROUTE="1"
+BLITZ_5G_ROUTE_TARGETS="106.55.173.235"
 BLITZ_5G_INFO_JSON="${OMNISOCKETGO_ROOT}/scripts/boot/modem_network_info.json"
 BLITZ_5G_SERIAL_WAIT_SEC="60"
 BLITZ_5G_ROUTE_WAIT_SEC="30"