From ebb047c7b57033f77ab5b81989b6547486f64a91 Mon Sep 17 00:00:00 2001
From: nnbcccscdscdsc <2709767634@qq.com>
Date: Tue, 14 Apr 2026 15:16:11 +0800
Subject: [PATCH] =?UTF-8?q?feat=EF=BC=9A=E6=96=B0=E5=A2=9Egps=E7=9B=91?=
 =?UTF-8?q?=E6=8E=A7=E6=9C=8D=E5=8A=A1=EF=BC=88=E6=96=AD=E5=BC=80=E9=87=8D?=
 =?UTF-8?q?=E8=BF=9E=EF=BC=89?=
MIME-Version: 1.0
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---
 scripts/boot/README.md               |   7 ++
 scripts/boot/blitz-watchdog.sh       | 144 ++++++++++++++++++++++++++-
 scripts/boot/common.sh               |   4 +
 scripts/boot/modem_network_info.json |   6 +-
 scripts/boot/robot-boot.env          |   4 +
 5 files changed, 160 insertions(+), 5 deletions(-)

diff --git a/scripts/boot/README.md b/scripts/boot/README.md
index 9f3318d..a10a5bb 100644
--- a/scripts/boot/README.md
+++ b/scripts/boot/README.md
@@ -77,6 +77,10 @@ BLITZ_HEALTH_STALE_SEC="15"
 BLITZ_OMNID_THREAD_HEARTBEAT_TIMEOUT_SEC="15"
 BLITZ_NETWORK_FAIL_THRESHOLD="3"
 BLITZ_NETWORK_RECOVERY_COOLDOWN_SEC="30"
+BLITZ_GPS_MONITOR_ENABLED="1"
+BLITZ_GPS_DEVICE_GLOB="/dev/ttyCH341USB*"
+BLITZ_GPS_CHECK_INTERVAL_SEC="10"
+BLITZ_GPS_RESTART_UNITS="gpsd.socket gpsd.service"
 BLITZ_WATCHDOG_ALLOW_FAULT_INJECTION="0"
 ```
 
@@ -157,6 +161,8 @@ Key files:
 - `ros-receiver.status.json`
 - `watchdog.status.json`
 
+`watchdog.status.json` now also records `gps_ok` and `gps_device_present` so you can quickly tell whether the GPS USB serial node is currently visible and whether the last `gpsd` reconnect attempt succeeded.
+
 Pretty-print them:
 
 ```bash
@@ -201,6 +207,7 @@ sudo bash scripts/boot/blitz-fault-inject.sh network-down off
   - wait for unix socket
   - start `b_side`
 - If network checks fail repeatedly, watchdog stops `b_side`, runs `5g-dial.sh`, waits for route recovery, and then restores services.
+- If GPS monitoring is enabled, watchdog checks `BLITZ_GPS_DEVICE_GLOB` every `BLITZ_GPS_CHECK_INTERVAL_SEC` seconds. When the GPS serial device disappears and later reappears, watchdog restarts the units in `BLITZ_GPS_RESTART_UNITS` so `gpsd` can bind to the new device node again.
 - Camera disappearance is logged as degraded state. Reappearance triggers a `b_side` restart after the device is stable.
 
 ## Notes
diff --git a/scripts/boot/blitz-watchdog.sh b/scripts/boot/blitz-watchdog.sh
index bf8b5ca..2ebd9b1 100644
--- a/scripts/boot/blitz-watchdog.sh
+++ b/scripts/boot/blitz-watchdog.sh
@@ -22,6 +22,10 @@ LAST_ACTION_EPOCH_MS=0
 FULL_RESTART_WINDOW_START=0
 FULL_RESTART_WINDOW_COUNT=0
 NETWORK_LAST_INTERFACE=""
+GPS_LAST_CHECK_SEC=0
+GPS_DEVICE_PRESENT_PREV=-1
+GPS_DEVICE_PRESENT_STATE=1
+GPS_STACK_ACTIVE_STATE=1
 declare -A TARGETED_RESTART_WINDOW_START=()
 declare -A TARGETED_RESTART_WINDOW_COUNT=()
 
@@ -37,6 +41,113 @@ service_is_active() {
   systemctl is-active --quiet "$1"
 }
 
+gps_monitor_enabled() {
+  [[ "${BLITZ_GPS_MONITOR_ENABLED:-0}" == "1" ]]
+}
+
+gps_stack_active() {
+  local units=()
+  local unit
+
+  read -r -a units <<< "${BLITZ_GPS_RESTART_UNITS:-}"
+  if (( ${#units[@]} == 0 )); then
+    return 1
+  fi
+
+  for unit in "${units[@]}"; do
+    if service_is_active "${unit}"; then
+      return 0
+    fi
+  done
+  return 1
+}
+
+restart_gps_stack() {
+  local reason="$1"
+  local devices="$2"
+  local units=()
+  local rc
+
+  read -r -a units <<< "${BLITZ_GPS_RESTART_UNITS:-}"
+  if (( ${#units[@]} == 0 )); then
+    GPS_STACK_ACTIVE_STATE=0
+    blitz_log "${STEP}" "gps-reconnect" "failure" "reason=${reason} devices=${devices} units=empty" 1
+    return 1
+  fi
+
+  set_last_action "gps-reconnect"
+  blitz_log "${STEP}" "gps-reconnect" "start" "reason=${reason} devices=${devices} units=${BLITZ_GPS_RESTART_UNITS}" 0
+  if systemctl restart "${units[@]}"; then
+    GPS_STACK_ACTIVE_STATE=1
+    blitz_log "${STEP}" "gps-reconnect" "success" "reason=${reason} devices=${devices} units=${BLITZ_GPS_RESTART_UNITS}" 0
+    return 0
+  fi
+
+  rc=$?
+  GPS_STACK_ACTIVE_STATE=0
+  blitz_log "${STEP}" "gps-reconnect" "failure" "reason=${reason} devices=${devices} units=${BLITZ_GPS_RESTART_UNITS}" "${rc}"
+  return "${rc}"
+}
+
+check_gps_health() {
+  local now_sec="$1"
+  local check_interval_sec="${BLITZ_GPS_CHECK_INTERVAL_SEC:-10}"
+  local device_glob="${BLITZ_GPS_DEVICE_GLOB:-}"
+  local previous_present="${GPS_DEVICE_PRESENT_PREV}"
+  local recovery_reason=""
+  local device_summary=""
+  local -a devices=()
+
+  if ! gps_monitor_enabled; then
+    GPS_DEVICE_PRESENT_STATE=1
+    GPS_STACK_ACTIVE_STATE=1
+    return 0
+  fi
+
+  if (( check_interval_sec < 1 )); then
+    check_interval_sec=1
+  fi
+  if (( GPS_LAST_CHECK_SEC != 0 && now_sec - GPS_LAST_CHECK_SEC < check_interval_sec )); then
+    if (( GPS_DEVICE_PRESENT_STATE == 1 && GPS_STACK_ACTIVE_STATE == 1 )); then
+      return 0
+    fi
+    return 1
+  fi
+  GPS_LAST_CHECK_SEC="${now_sec}"
+
+  mapfile -t devices < <(compgen -G "${device_glob}" || true)
+  if (( ${#devices[@]} == 0 )); then
+    GPS_DEVICE_PRESENT_STATE=0
+    GPS_STACK_ACTIVE_STATE=0
+    if (( previous_present != 0 )); then
+      blitz_log "${STEP}" "gps-device-check" "failure" "state=missing glob=${device_glob}" 1
+    fi
+    GPS_DEVICE_PRESENT_PREV=0
+    return 1
+  fi
+
+  device_summary="$(IFS=,; printf '%s' "${devices[*]}")"
+  GPS_DEVICE_PRESENT_STATE=1
+  GPS_DEVICE_PRESENT_PREV=1
+
+  if (( previous_present == 0 )); then
+    blitz_log "${STEP}" "gps-device-check" "success" "state=reappeared devices=${device_summary}" 0
+    recovery_reason="device-reappeared"
+  elif ! gps_stack_active; then
+    recovery_reason="gpsd-inactive"
+  fi
+
+  if [[ -n "${recovery_reason}" ]]; then
+    if restart_gps_stack "${recovery_reason}" "${device_summary}"; then
+      return 0
+    fi
+    return 1
+  fi
+
+  GPS_STACK_ACTIVE_STATE=1
+  return 0
+}
+
 status_file_fresh() {
   local path="$1"
   local max_age_sec="$2"
@@ -97,6 +208,8 @@ write_watchdog_status() {
   local camera_ok="$4"
   local ros_ok="$5"
   local bside_ok="$6"
+  local gps_ok="$7"
+  local gps_device_present="$8"
   local tmp_file
 
   tmp_file="${WATCHDOG_STATUS_FILE}.tmp.$$"
@@ -109,6 +222,8 @@ write_watchdog_status() {
   "camera_ok": ${camera_ok},
   "ros_ok": ${ros_ok},
   "bside_ok": ${bside_ok},
+  "gps_ok": ${gps_ok},
+  "gps_device_present": ${gps_device_present},
   "network_fail_count": ${NETWORK_FAIL_COUNT},
   "targeted_restart_count": $(targeted_restart_total),
   "full_restart_count": ${FULL_RESTART_WINDOW_COUNT},
@@ -427,13 +542,22 @@ while true; do
   camera_ok=1
   ros_ok=1
   bside_ok=1
+  gps_ok=1
+  gps_device_present=1
   RECOVERY_ACTION_TAKEN=0
   now_sec="$(now_epoch_sec)"
 
+  if gps_monitor_enabled; then
+    gps_device_present="${GPS_DEVICE_PRESENT_STATE}"
+    if (( GPS_DEVICE_PRESENT_STATE == 0 || GPS_STACK_ACTIVE_STATE == 0 )); then
+      gps_ok=0
+    fi
+  fi
+
   if (( BACKOFF_UNTIL > now_sec )); then
     fault_reason="backoff"
     recovery_state="backoff"
-    write_watchdog_status "${fault_reason}" "${recovery_state}" 0 0 0 0
+    write_watchdog_status "${fault_reason}" "${recovery_state}" 0 0 0 0 "${gps_ok}" "${gps_device_present}"
     sleep "${BLITZ_WATCHDOG_INTERVAL_SEC}"
     continue
   fi
@@ -453,6 +577,22 @@ while true; do
     NETWORK_FAIL_COUNT=0
   fi
 
+  if check_gps_health "${now_sec}"; then
+    gps_ok=1
+  else
+    gps_ok=0
+    gps_device_present="${GPS_DEVICE_PRESENT_STATE}"
+    if [[ "${fault_reason}" == "none" ]]; then
+      if (( GPS_DEVICE_PRESENT_STATE == 0 )); then
+        fault_reason="gps_device_missing"
+      else
+        fault_reason="gps_reconnect_failed"
+      fi
+      recovery_state="degraded"
+    fi
+  fi
+  gps_device_present="${GPS_DEVICE_PRESENT_STATE}"
+
   if [[ ! -e "${OMNI_CAMERA_DEVICE}" ]]; then
     camera_ok=0
     fault_reason="camera_missing"
@@ -486,6 +626,6 @@ while true; do
     full_restart_stack "ros-unhealthy" || true
   fi
 
-  write_watchdog_status "${fault_reason}" "${recovery_state}" "${network_ok}" "${camera_ok}" "${ros_ok}" "${bside_ok}"
+  write_watchdog_status "${fault_reason}" "${recovery_state}" "${network_ok}" "${camera_ok}" "${ros_ok}" "${bside_ok}" "${gps_ok}" "${gps_device_present}"
   sleep "${BLITZ_WATCHDOG_INTERVAL_SEC}"
 done
diff --git a/scripts/boot/common.sh b/scripts/boot/common.sh
index 467b6f3..faa57fd 100644
--- a/scripts/boot/common.sh
+++ b/scripts/boot/common.sh
@@ -73,6 +73,10 @@ blitz_load_boot_env() {
   export BLITZ_OMNID_THREAD_HEARTBEAT_TIMEOUT_SEC="${BLITZ_OMNID_THREAD_HEARTBEAT_TIMEOUT_SEC:-15}"
   export BLITZ_NETWORK_FAIL_THRESHOLD="${BLITZ_NETWORK_FAIL_THRESHOLD:-3}"
   export BLITZ_NETWORK_RECOVERY_COOLDOWN_SEC="${BLITZ_NETWORK_RECOVERY_COOLDOWN_SEC:-30}"
+  export BLITZ_GPS_MONITOR_ENABLED="${BLITZ_GPS_MONITOR_ENABLED:-1}"
+  export BLITZ_GPS_DEVICE_GLOB="${BLITZ_GPS_DEVICE_GLOB:-/dev/ttyCH341USB*}"
+  export BLITZ_GPS_CHECK_INTERVAL_SEC="${BLITZ_GPS_CHECK_INTERVAL_SEC:-10}"
+  export BLITZ_GPS_RESTART_UNITS="${BLITZ_GPS_RESTART_UNITS:-gpsd.socket gpsd.service}"
   export BLITZ_WATCHDOG_ALLOW_FAULT_INJECTION="${BLITZ_WATCHDOG_ALLOW_FAULT_INJECTION:-0}"
   export BLITZ_BOOT_ENV_LOADED="1"
 }
diff --git a/scripts/boot/modem_network_info.json b/scripts/boot/modem_network_info.json
index 09739b6..e7b4a1e 100644
--- a/scripts/boot/modem_network_info.json
+++ b/scripts/boot/modem_network_info.json
@@ -1,9 +1,9 @@
 {
-  "interface": "enx08711b726c22",
+  "interface": "enxd41a57335f9d",
   "ipv4": [
-    "192.168.225.66/22"
+    "192.168.225.83/22"
   ],
   "ipv6": [
-    "fe80::86e0:4771:425d:8b20/64"
+    "fe80::18c1:e89d:e033:9857/64"
   ]
 }
\ No newline at end of file
diff --git a/scripts/boot/robot-boot.env b/scripts/boot/robot-boot.env
index a670f73..cce0160 100644
--- a/scripts/boot/robot-boot.env
+++ b/scripts/boot/robot-boot.env
@@ -27,6 +27,10 @@ BLITZ_HEALTH_STALE_SEC="15"
 BLITZ_OMNID_THREAD_HEARTBEAT_TIMEOUT_SEC="15"
 BLITZ_NETWORK_FAIL_THRESHOLD="3"
 BLITZ_NETWORK_RECOVERY_COOLDOWN_SEC="30"
+BLITZ_GPS_MONITOR_ENABLED="1"
+BLITZ_GPS_DEVICE_GLOB="/dev/ttyCH341USB*"
+BLITZ_GPS_CHECK_INTERVAL_SEC="10"
+BLITZ_GPS_RESTART_UNITS="gpsd.socket gpsd.service"
 BLITZ_WATCHDOG_ALLOW_FAULT_INJECTION="0"
 
 # Boot units run b_side_omnid as root directly, so nested sudo must stay off.