From 6ccd9e9fa19918f4f0977b4b81d1630ce3c5d5e1 Mon Sep 17 00:00:00 2001
From: Mock <mochangkang2022@email.szu.edu.cn>
Date: Tue, 14 Apr 2026 00:34:56 +0800
Subject: [PATCH] =?UTF-8?q?test:=20b=5Fside=E8=BF=9B=E7=A8=8B=E6=96=AD?=
 =?UTF-8?q?=E5=BC=80=E7=8E=B0=E8=B1=A1?=
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---
 scripts/boot/blitz-fault-inject.sh | 50 +++++++++++++++++++++++++++---
 1 file changed, 46 insertions(+), 4 deletions(-)

diff --git a/scripts/boot/blitz-fault-inject.sh b/scripts/boot/blitz-fault-inject.sh
index 6d8b6e5..8ec1b2f 100644
--- a/scripts/boot/blitz-fault-inject.sh
+++ b/scripts/boot/blitz-fault-inject.sh
@@ -14,6 +14,26 @@ main_pid_for_service() {
   systemctl show --property MainPID --value "${service_name}"
 }
 
+wait_for_service_pid_change() {
+  local service_name="$1"
+  local previous_pid="$2"
+  local timeout_sec="${3:-10}"
+  local waited=0
+  local current_pid=""
+
+  while (( waited < timeout_sec )); do
+    current_pid="$(main_pid_for_service "${service_name}")"
+    if [[ -n "${current_pid}" && "${current_pid}" != "0" && "${current_pid}" != "${previous_pid}" ]]; then
+      printf '%s\n' "${current_pid}"
+      return 0
+    fi
+    sleep 1
+    waited=$(( waited + 1 ))
+  done
+
+  return 1
+}
+
 require_running_pid() {
   local service_name="$1"
   local pid
@@ -46,10 +66,21 @@ blitz_prepare_runtime_dir
 
 case "${1:-}" in
   bside-crash)
-    kill -9 "$(require_running_pid "${B_SIDE_SERVICE}")"
+    target_pid="$(require_running_pid "${B_SIDE_SERVICE}")"
+    blitz_log "${STEP}" "bside-crash" "start" "service=${B_SIDE_SERVICE} pid=${target_pid}" 0
+    kill -9 "${target_pid}"
+    if restarted_pid="$(wait_for_service_pid_change "${B_SIDE_SERVICE}" "${target_pid}")"; then
+      blitz_log "${STEP}" "bside-crash" "success" "old_pid=${target_pid} new_pid=${restarted_pid}" 0
+    else
+      blitz_log "${STEP}" "bside-crash" "failure" "old_pid=${target_pid} restart_not_observed_within=10s" 1
+      exit 1
+    fi
     ;;
   bside-process-freeze)
-    kill -STOP "$(require_running_pid "${B_SIDE_SERVICE}")"
+    target_pid="$(require_running_pid "${B_SIDE_SERVICE}")"
+    blitz_log "${STEP}" "bside-process-freeze" "start" "service=${B_SIDE_SERVICE} pid=${target_pid}" 0
+    kill -STOP "${target_pid}"
+    blitz_log "${STEP}" "bside-process-freeze" "success" "service=${B_SIDE_SERVICE} pid=${target_pid}" 0
     ;;
   bside-video-thread-stall)
     write_fault_flag "fault-injection-bside-video-thread-stall"
@@ -58,10 +89,21 @@ case "${1:-}" in
     write_fault_flag "fault-injection-bside-control-thread-stall"
     ;;
   ros-crash)
-    kill -9 "$(require_running_pid "${ROS_SERVICE}")"
+    target_pid="$(require_running_pid "${ROS_SERVICE}")"
+    blitz_log "${STEP}" "ros-crash" "start" "service=${ROS_SERVICE} pid=${target_pid}" 0
+    kill -9 "${target_pid}"
+    if restarted_pid="$(wait_for_service_pid_change "${ROS_SERVICE}" "${target_pid}")"; then
+      blitz_log "${STEP}" "ros-crash" "success" "old_pid=${target_pid} new_pid=${restarted_pid}" 0
+    else
+      blitz_log "${STEP}" "ros-crash" "failure" "old_pid=${target_pid} restart_not_observed_within=10s" 1
+      exit 1
+    fi
     ;;
   ros-freeze)
-    kill -STOP "$(require_running_pid "${ROS_SERVICE}")"
+    target_pid="$(require_running_pid "${ROS_SERVICE}")"
+    blitz_log "${STEP}" "ros-freeze" "start" "service=${ROS_SERVICE} pid=${target_pid}" 0
+    kill -STOP "${target_pid}"
+    blitz_log "${STEP}" "ros-freeze" "success" "service=${ROS_SERVICE} pid=${target_pid}" 0
     ;;
   network-down)
     if [[ "${BLITZ_WATCHDOG_ALLOW_FAULT_INJECTION}" != "1" ]]; then