[Unit]
Description=Blitz robot ROS receiver
PartOf=blitz-robot.target
After=blitz-run-context.service blitz-5g-dial.service
Requires=blitz-run-context.service
Wants=blitz-run-context.service blitz-5g-dial.service

[Service]
Type=simple
User=@BLITZ_ROS_USER@
PermissionsStartOnly=true
EnvironmentFile=-/run/blitz-robot/run-context.env
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
ExecStopPost=/bin/bash -lc 'if [[ "${SERVICE_RESULT:-success}" != "success" ]]; then exec /bin/bash "@OMNISOCKETGO_ROOT@/scripts/boot/blitz-incident-capture-launch.sh" --source exec-stop-post --unit "%n" --result "${SERVICE_RESULT:-}" --exit-status "${EXIT_STATUS:-}" --reason ros-service-exit; fi'
Restart=always
RestartSec=2
StandardOutput=append:@BLITZ_LOG_FILE@
StandardError=append:@BLITZ_LOG_FILE@

[Install]
WantedBy=blitz-robot.target