fix: 自启动

.claude/settings.local.json

@@ -0,0 +1,8 @@
+{
+  "permissions": {
+    "allow": [
+      "Bash(find deploy:*)",
+      "Bash(ls -R deploy/ scripts/)"
+    ]
+  }
+}

.gitignore

@@ -16,3 +16,6 @@ env/
 # macOS
 .DS_Store
 
+# Runtime logs
+logs/
+

Plan.md

@@ -0,0 +1,162 @@
+自启方案：monitor_sender.py 通过手机热点自动启动   
+
+ Context
+
+ monitor_sender.py 是一个 ROS2 节点，运行在机器人控制器上（Ubuntu, 用户名
+ ubuntu），订阅机器人状态话题并通过 WebSocket 发送到 PC
+ 端监控服务器。设备在真实世界运行，需要开机后：
+ 1. 自动连接手机热点 WiFi
+ 2. 等待网络就绪后启动 monitor_sender.py（通过热点向 PC 的固定 IP 发送数据）
+ 3. 崩溃后自动重启并记录崩溃原因
+
+ 方案：systemd 服务 + 启动脚本（两个文件搞定）
+
+ 文件 1：启动脚本 ~/xMonitor/start_monitor.sh
+
+ #!/bin/bash
+ # ========== 配置区（按实际修改） ==========
+ HOTSPOT_SSID="你的热点名称"          # ← 稍后填
+ HOTSPOT_PASS="你的热点密码"          # ← 稍后填
+ SERVER_IP="192.168.43.xxx"           # ← 电脑在热点中的固定 IP
+ SERVER_PORT=9000
+ # ==========================================
+
+ LOG_DIR="$HOME/xMonitor/logs"
+ mkdir -p "$LOG_DIR"
+ LOG_FILE="$LOG_DIR/monitor_$(date +%Y%m%d_%H%M%S).log"
+
+ exec > >(tee -a "$LOG_FILE") 2>&1
+ echo "===== $(date) 启动 monitor_sender ====="
+
+ # --- 1) 连接手机热点 ---
+ echo "[NET] 正在连接热点: $HOTSPOT_SSID"
+ MAX_WIFI_RETRY=30
+ for i in $(seq 1 $MAX_WIFI_RETRY); do
+     # 尝试连接（如果已保存过连接配置则直接 up，否则新建）
+     nmcli dev wifi connect "$HOTSPOT_SSID" password "$HOTSPOT_PASS" 2>/dev/null \
+         || nmcli con up "$HOTSPOT_SSID" 2>/dev/null
+
+     # 检查是否拿到 IP
+     if nmcli -t -f GENERAL.STATE dev show wlan0 2>/dev/null | grep -q "100"; then
+         echo "[NET] WiFi 已连接 ($i/$MAX_WIFI_RETRY)"
+         break
+     fi
+     echo "[NET] WiFi 未就绪，重试 ($i/$MAX_WIFI_RETRY)..."
+     sleep 3
+ done
+
+ # --- 2) 等待能 ping 通服务器 ---
+ echo "[NET] 等待服务器 $SERVER_IP 可达..."
+ MAX_PING_RETRY=20
+ for i in $(seq 1 $MAX_PING_RETRY); do
+     if ping -c 1 -W 2 "$SERVER_IP" >/dev/null 2>&1; then
+         echo "[NET] 服务器可达 ✓"
+         break
+     fi
+     echo "[NET] ping 失败，重试 ($i/$MAX_PING_RETRY)..."
+     sleep 3
+ done
+
+ # --- 3) Source 环境并启动 ---
+ echo "[ENV] source ROS2 workspace..."
+ source /home/ubuntu/ros2ws/install/setup.bash
+
+ echo "[ENV] source Python venv..."
+ source "$HOME/xMonitor/.venv/bin/activate"
+
+ echo "[RUN] 启动 monitor_sender.py --ip $SERVER_IP --port $SERVER_PORT"
+ cd "$HOME/xMonitor"
+ python3 monitor_sender.py --ip "$SERVER_IP" --port "$SERVER_PORT"
+
+ EXIT_CODE=$?
+ echo "===== $(date) 进程退出, code=$EXIT_CODE ====="
+ exit $EXIT_CODE
+
+ 文件 2：systemd 服务 /etc/systemd/system/xmonitor.service
+
+ [Unit]
+ Description=xMonitor Robot Status Sender
+ After=network-manager.service
+ Wants=network-manager.service
+
+ [Service]
+ Type=simple
+ User=ubuntu
+ WorkingDirectory=/home/ubuntu/xMonitor
+ ExecStart=/bin/bash /home/ubuntu/xMonitor/start_monitor.sh
+
+ # --- 崩溃自动重启 ---
+ Restart=on-failure
+ RestartSec=10
+
+ # --- 崩溃日志 ---
+ StandardOutput=journal
+ StandardError=journal
+ SyslogIdentifier=xmonitor
+
+ [Install]
+ WantedBy=multi-user.target
+
+ 部署步骤（在机器人设备上执行）
+
+ # 1. 将 start_monitor.sh 放到 ~/xMonitor/ 并加执行权限
+ chmod +x ~/xMonitor/start_monitor.sh
+
+ # 2. 编辑 start_monitor.sh 顶部配置区，填入热点名称、密码、电脑IP
+
+ # 3. 复制 service 文件并启用
+ sudo cp xmonitor.service /etc/systemd/system/
+ sudo systemctl daemon-reload
+ sudo systemctl enable xmonitor.service
+
+ # 4. 立即测试启动（可选）
+ sudo systemctl start xmonitor.service
+
+ # 5. 查看状态 / 日志
+ systemctl status xmonitor.service
+ journalctl -u xmonitor -f          # 实时查看日志
+ ls ~/xMonitor/logs/                # 查看历史日志文件
+
+ 关键设计说明
+
+ ┌────────────┬───────────────────────────────────────────────────────────────┐
+ │    需求    │                           实现方式                            │
+ ├────────────┼───────────────────────────────────────────────────────────────┤
+ │ 连热点     │ nmcli dev wifi connect 循环重试，最多 30 次 × 3 秒            │
+ ├────────────┼───────────────────────────────────────────────────────────────┤
+ │ 等待网络   │ ping 服务器 IP 直到可达                                       │
+ ├────────────┼───────────────────────────────────────────────────────────────┤
+ │ source     │ 脚本内 source .venv/bin/activate                              │
+ │ 虚拟环境   │                                                               │
+ ├────────────┼───────────────────────────────────────────────────────────────┤
+ │ source     │ 脚本内 source /home/ubuntu/ros2ws/install/setup.bash（来自    │
+ │ ROS2       │ README）                                                      │
+ ├────────────┼───────────────────────────────────────────────────────────────┤
+ │ 崩溃重启   │ systemd Restart=on-failure + RestartSec=10（10 秒后重启）     │
+ ├────────────┼───────────────────────────────────────────────────────────────┤
+ │ 崩溃日志   │ 双保险：① journalctl -u xmonitor 系统日志 ② ~/xMonitor/logs/  │
+ │            │ 下按时间戳命名的文本日志                                      │
+ ├────────────┼───────────────────────────────────────────────────────────────┤
+ │ 开机自启   │ systemctl enable xmonitor.service                             │
+ └────────────┴───────────────────────────────────────────────────────────────┘
+
+ 待用户提供
+
+ - 手机热点 SSID
+ - 手机热点密码
+ - 电脑在热点中的固定 IP（192.168.43.???）
+
+ 需要创建/修改的文件
+
+ 1. 新建 ~/xMonitor/start_monitor.sh — 启动脚本
+ 2. 新建 ~/xMonitor/xmonitor.service — systemd 服务文件（用户手动 sudo cp 到
+ /etc/systemd/system/）
+
+ 验证方法
+
+ 1. 手动运行 bash ~/xMonitor/start_monitor.sh 确认 WiFi 连接和程序启动正常
+ 2. sudo systemctl start xmonitor.service 启动服务
+ 3. systemctl status xmonitor.service 确认 active (running)
+ 4. journalctl -u xmonitor -f 实时查看日志
+ 5. 杀掉 python 进程 kill $(pgrep -f monitor_sender) 验证自动重启
+ 6. 重启设备验证开机自启

README.md

@@ -198,4 +198,75 @@ python3 monitor_sender.py --ip 10.0.0.5 --port 9000
 | `main_monitor.py` | FastAPI server — hosts the web GUI and relays data to browsers |
 | `monitor_sender.py` | ROS 2 node — collects robot data and streams it to the server |
 | `README.md` | This file |
+| `scripts/start_monitor_sender.sh` | Bootstrap script for hotspot connect, environment setup, and sender launch |
+| `deploy/xmonitor.env.example` | Template for `/etc/xmonitor/xmonitor.env` |
+| `deploy/xmonitor-sender.service` | `systemd` service template for robot-side autostart |
+
+---
+
+## Robot Sender Autostart (Ubuntu + systemd)
+
+For field deployment on the robot controller, this repo now includes:
+
+- `scripts/start_monitor_sender.sh`
+- `deploy/xmonitor.env.example`
+- `deploy/xmonitor-sender.service`
+
+The design stays intentionally small:
+
+- the startup script keeps trying to join your phone hotspot with `nmcli`
+- it waits until the PC hotspot IP is reachable
+- it sources the ROS setup and `.venv`
+- it launches `python3 monitor_sender.py --ip <server-ip> --port <port>`
+- `systemd` restarts the process after crashes, while logs go to both `journalctl` and `~/xMonitor/logs/`
+
+### Install on the Ubuntu robot device
+
+Assuming the repo is deployed at `/home/ubuntu/xMonitor`:
+
+```bash
+cd /home/ubuntu/xMonitor
+
+sudo install -d -m 700 /etc/xmonitor
+sudo cp deploy/xmonitor.env.example /etc/xmonitor/xmonitor.env
+sudo chmod 600 /etc/xmonitor/xmonitor.env
+sudoedit /etc/xmonitor/xmonitor.env
+
+chmod +x scripts/start_monitor_sender.sh
+sudo cp deploy/xmonitor-sender.service /etc/systemd/system/xmonitor-sender.service
+
+sudo systemctl daemon-reload
+sudo systemctl enable --now xmonitor-sender.service
+```
+
+If you deploy the repo somewhere other than `/home/ubuntu/xMonitor`, update these together:
+
+- `User=` in `deploy/xmonitor-sender.service`
+- `WorkingDirectory=` in `deploy/xmonitor-sender.service`
+- `ExecStart=` in `deploy/xmonitor-sender.service`
+- `APP_DIR=` and `RUN_USER=` in `/etc/xmonitor/xmonitor.env`
+
+### Runtime checks
+
+```bash
+# Run the bootstrap script manually for troubleshooting
+bash /home/ubuntu/xMonitor/scripts/start_monitor_sender.sh
+
+# Service state
+systemctl status xmonitor-sender.service
+
+# Live logs from systemd
+journalctl -u xmonitor-sender.service -f
+
+# Per-run log files
+ls /home/ubuntu/xMonitor/logs
+```
+
+### Behavior
+
+- Hotspot connect retry: every 5 seconds until the target SSID is connected
+- Server reachability retry: every 5 seconds until `SERVER_IP` answers `ping`
+- Python process crash: `systemd` restarts after 5 seconds
+- WebSocket drop after startup: handled by `monitor_sender.py`, which already retries every 3 seconds
+- Per-run log files are pruned automatically; default retention is the latest 20 files via `LOG_RETENTION_COUNT`
 

WINDOWS_RECEIVER_SETUP.md

@@ -0,0 +1,273 @@
+# Windows 接收端环境配置
+
+这份文档只针对接收方，也就是你的 Windows 电脑。
+
+本文假设：
+
+- `xMonitor` 仓库就在 Windows 上
+- 你的电脑在手机热点网络里的固定 IP 是 `10.0.0.5`
+- 发送端会连到 `10.0.0.5:9000`
+- 你希望在 Windows 上运行 `main_monitor.py` 来接收机器人状态并在浏览器里显示
+
+---
+
+## 1. 安装 Python
+
+建议使用 Python 3.10 或更新版本。
+
+在 PowerShell 里确认 Python 可用：
+
+```powershell
+py -V
+```
+
+如果没有安装 Python：
+
+1. 打开 https://www.python.org/downloads/windows/
+2. 安装最新版 Python 3
+3. 安装时勾选 `Add Python to PATH`
+
+---
+
+## 2. 进入项目目录
+
+在 PowerShell 中进入仓库目录：
+
+```powershell
+cd C:\Users\64187\Desktop\Workspace\xMonitor
+```
+
+---
+
+## 3. 创建并启用虚拟环境
+
+创建虚拟环境：
+
+```powershell
+py -3 -m venv .venv
+```
+
+启用虚拟环境：
+
+```powershell
+.\.venv\Scripts\Activate.ps1
+```
+
+如果 PowerShell 阻止脚本执行，可先临时放开当前会话：
+
+```powershell
+Set-ExecutionPolicy -Scope Process Bypass
+.\.venv\Scripts\Activate.ps1
+```
+
+启用后命令行前面通常会出现 `(.venv)`。
+
+---
+
+## 4. 安装接收端依赖
+
+`main_monitor.py` 接收端只需要这两个包：
+
+- `fastapi`
+- `uvicorn`
+
+安装命令：
+
+```powershell
+python -m pip install --upgrade pip
+pip install fastapi uvicorn
+```
+
+---
+
+## 5. 启动接收端
+
+因为你的发送端现在要往 `10.0.0.5:9000` 发，所以接收端必须监听 `9000` 端口。
+
+在 PowerShell 中运行：
+
+```powershell
+uvicorn main_monitor:app --host 0.0.0.0 --port 9000
+```
+
+说明：
+
+- `--host 0.0.0.0`：允许热点网络里的设备访问这台 Windows 电脑
+- `--port 9000`：和发送端启动参数保持一致
+
+如果你以后改了发送端端口，这里的端口也必须一起改。
+
+---
+
+## 6. 放行 Windows 防火墙
+
+第一次启动时，Windows 可能会弹出防火墙提示。
+
+请选择：
+
+- 允许访问
+- 至少勾选当前使用的网络类型
+
+如果没有弹窗，可以手动放行 TCP 9000：
+
+```powershell
+New-NetFirewallRule `
+  -DisplayName "xMonitor 9000" `
+  -Direction Inbound `
+  -Protocol TCP `
+  -LocalPort 9000 `
+  -Action Allow
+```
+
+查看规则是否创建成功：
+
+```powershell
+Get-NetFirewallRule -DisplayName "xMonitor 9000"
+```
+
+---
+
+## 7. 检查本机热点 IP
+
+确认 Windows 当前热点网卡上的 IP 确实是你要给发送端使用的固定地址。
+
+查看 IP：
+
+```powershell
+ipconfig
+```
+
+确认对应热点网络适配器上有：
+
+```text
+IPv4 Address . . . . . . . . . . : 10.0.0.5
+```
+
+如果不是这个地址，要么把 Windows 侧固定 IP 配好，要么把发送端里的 `--ip` 改成实际地址。
+
+---
+
+## 8. 打开监控页面
+
+接收端启动成功后，在本机浏览器打开：
+
+```text
+http://127.0.0.1:9000
+```
+
+或者直接打开：
+
+```text
+http://10.0.0.5:9000
+```
+
+如果发送端已经开始推数据，页面会显示机器人状态。
+
+---
+
+## 9. 验证接收端是否正常工作
+
+### 看端口是否监听
+
+```powershell
+netstat -ano | findstr :9000
+```
+
+能看到 `LISTENING` 说明服务已经起来了。
+
+### 看浏览器页面是否能打开
+
+打开：
+
+```text
+http://127.0.0.1:9000
+```
+
+若页面能打开，说明 HTTP 服务正常。
+
+### 看是否收到机器人数据
+
+接收端会把机器人上报的数据写到：
+
+```text
+logs\robot_packets.jsonl
+```
+
+可以在项目目录下查看：
+
+```powershell
+Get-Content .\logs\robot_packets.jsonl -Tail 5
+```
+
+如果这里不断有新行，说明 WebSocket 接收正常。
+
+---
+
+## 10. 常见问题
+
+### 1) 浏览器能打开页面，但没有机器人数据
+
+通常检查这几项：
+
+- 发送端是否真的发到了 `10.0.0.5:9000`
+- Windows 防火墙是否放行了 `9000`
+- 电脑和设备是否确实连在同一个手机热点下
+- Windows 当前热点 IP 是否还是 `10.0.0.5`
+
+### 2) PowerShell 里 `Activate.ps1` 不能执行
+
+先执行：
+
+```powershell
+Set-ExecutionPolicy -Scope Process Bypass
+```
+
+然后再执行：
+
+```powershell
+.\.venv\Scripts\Activate.ps1
+```
+
+### 3) `uvicorn` 命令找不到
+
+通常是虚拟环境没激活，或者依赖没装成功。
+
+重新执行：
+
+```powershell
+.\.venv\Scripts\Activate.ps1
+pip install fastapi uvicorn
+```
+
+### 4) 9000 端口被占用
+
+查看占用：
+
+```powershell
+netstat -ano | findstr :9000
+```
+
+如果必须换端口，比如改成 `8000`，那就要同时改两边：
+
+- Windows 接收端启动端口
+- 发送端 `monitor_sender.py --port ...`
+
+---
+
+## 11. 最小启动流程
+
+以后你在 Windows 上最少只需要这几步：
+
+```powershell
+cd C:\Users\64187\Desktop\Workspace\xMonitor
+.\.venv\Scripts\Activate.ps1
+uvicorn main_monitor:app --host 0.0.0.0 --port 9000
+```
+
+然后浏览器打开：
+
+```text
+http://127.0.0.1:9000
+```
+
+如果需要，我下一步可以再给你补一份“Windows 接收端开机自启”文档，直接做成任务计划程序版本。

deploy/xmonitor-sender.service

@@ -0,0 +1,25 @@
+# Install this file to /etc/systemd/system/xmonitor-sender.service on the target Ubuntu device.
+# If you do not use /home/ubuntu/xMonitor, update User, WorkingDirectory, ExecStart, and APP_DIR together.
+
+[Unit]
+Description=xMonitor Robot Status Sender
+After=NetworkManager.service
+Wants=NetworkManager.service
+StartLimitIntervalSec=0
+
+[Service]
+Type=simple
+User=ubuntu
+WorkingDirectory=/home/ubuntu/xMonitor
+EnvironmentFile=/etc/xmonitor/xmonitor.env
+Environment=PYTHONUNBUFFERED=1
+ExecStart=/home/ubuntu/xMonitor/scripts/start_monitor_sender.sh
+Restart=always
+RestartSec=5
+TimeoutStartSec=0
+StandardOutput=journal
+StandardError=journal
+SyslogIdentifier=xmonitor-sender
+
+[Install]
+WantedBy=multi-user.target

deploy/xmonitor.env.example

@@ -0,0 +1,19 @@
+# Copy this file to /etc/xmonitor/xmonitor.env on the target Ubuntu device.
+# Then edit the values and lock down the permissions:
+#   sudo install -d -m 700 /etc/xmonitor
+#   sudo cp deploy/xmonitor.env.example /etc/xmonitor/xmonitor.env
+#   sudo chmod 600 /etc/xmonitor/xmonitor.env
+
+HOTSPOT_SSID=YOUR_PHONE_HOTSPOT
+HOTSPOT_PASSWORD=YOUR_HOTSPOT_PASSWORD
+SERVER_IP=10.0.0.5
+SERVER_PORT=9000
+ROS_SETUP=/home/ubuntu/ros2ws/install/setup.bash
+APP_DIR=/home/ubuntu/xMonitor
+RUN_USER=ubuntu
+
+# Optional overrides.
+PYTHON_BIN=python3
+WIFI_RETRY_INTERVAL=5
+PING_RETRY_INTERVAL=5
+LOG_RETENTION_COUNT=20

scripts/start_monitor_sender.sh

@@ -0,0 +1,208 @@
+#!/usr/bin/env bash
+
+set -Eeuo pipefail
+
+timestamp() {
+  date '+%Y-%m-%d %H:%M:%S'
+}
+
+log() {
+  printf '[%s] %s\n' "$(timestamp)" "$*"
+}
+
+fail() {
+  log "ERROR: $*"
+  exit 1
+}
+
+report_err() {
+  local exit_code=$?
+  local line_no=${1:-unknown}
+  local cmd=${2:-unknown}
+  log "ERROR: command failed at line ${line_no}: ${cmd} (exit=${exit_code})"
+  exit "$exit_code"
+}
+
+trap 'report_err "${LINENO}" "${BASH_COMMAND}"' ERR
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+DEFAULT_APP_DIR="$(cd "${SCRIPT_DIR}/.." && pwd)"
+
+RUN_USER="${RUN_USER:-$(id -un)}"
+APP_DIR="${APP_DIR:-${DEFAULT_APP_DIR}}"
+LOG_DIR="${LOG_DIR:-${APP_DIR}/logs}"
+HOTSPOT_SSID="${HOTSPOT_SSID:-}"
+HOTSPOT_PASSWORD="${HOTSPOT_PASSWORD:-}"
+SERVER_IP="${SERVER_IP:-10.0.0.5}"
+SERVER_PORT="${SERVER_PORT:-9000}"
+ROS_SETUP="${ROS_SETUP:-/home/${RUN_USER}/ros2ws/install/setup.bash}"
+PYTHON_BIN="${PYTHON_BIN:-python3}"
+WIFI_RETRY_INTERVAL="${WIFI_RETRY_INTERVAL:-5}"
+PING_RETRY_INTERVAL="${PING_RETRY_INTERVAL:-5}"
+VENV_ACTIVATE="${APP_DIR}/.venv/bin/activate"
+LOG_RETENTION_COUNT="${LOG_RETENTION_COUNT:-20}"
+
+mkdir -p "${LOG_DIR}"
+LOG_FILE="${LOG_DIR}/monitor_sender_$(date '+%Y%m%d_%H%M%S').log"
+touch "${LOG_FILE}"
+exec > >(tee -a "${LOG_FILE}") 2>&1
+
+require_command() {
+  local command_name=$1
+  command -v "${command_name}" >/dev/null 2>&1 || fail "missing required command: ${command_name}"
+}
+
+prune_old_logs() {
+  local prune_from
+  local old_logs=()
+
+  [[ "${LOG_RETENTION_COUNT}" =~ ^[0-9]+$ ]] || fail "LOG_RETENTION_COUNT must be a positive integer"
+  (( LOG_RETENTION_COUNT >= 1 )) || fail "LOG_RETENTION_COUNT must be at least 1"
+
+  prune_from=$((LOG_RETENTION_COUNT + 1))
+  mapfile -t old_logs < <(ls -1dt "${LOG_DIR}"/monitor_sender_*.log 2>/dev/null | tail -n +"${prune_from}")
+
+  if ((${#old_logs[@]} > 0)); then
+    rm -f -- "${old_logs[@]}"
+    log "Pruned ${#old_logs[@]} old log file(s); keeping latest ${LOG_RETENTION_COUNT}"
+  fi
+}
+
+source_with_relaxed_mode() {
+  local target_file=$1
+  local shell_flags=$-
+  local err_trap
+  local source_status=0
+
+  err_trap="$(trap -p ERR || true)"
+  trap - ERR
+  set +eu
+
+  # shellcheck disable=SC1090,SC1091
+  source "${target_file}"
+  source_status=$?
+
+  [[ "${shell_flags}" == *e* ]] && set -e || set +e
+  [[ "${shell_flags}" == *u* ]] && set -u || set +u
+
+  if [[ -n "${err_trap}" ]]; then
+    eval "${err_trap}"
+  fi
+
+  return "${source_status}"
+}
+
+get_wifi_device() {
+  nmcli -t -f DEVICE,TYPE device status | awk -F: '$2 == "wifi" { print $1; exit }'
+}
+
+get_active_connection_name() {
+  local wifi_device=$1
+  nmcli -g GENERAL.CONNECTION device show "${wifi_device}" 2>/dev/null | head -n1 | tr -d '\r'
+}
+
+get_active_ssid() {
+  local wifi_device=$1
+  local active_connection
+
+  active_connection="$(get_active_connection_name "${wifi_device}" || true)"
+  if [[ -z "${active_connection}" || "${active_connection}" == "--" ]]; then
+    return 1
+  fi
+
+  nmcli -g 802-11-wireless.ssid connection show "${active_connection}" 2>/dev/null | head -n1 | tr -d '\r'
+}
+
+is_hotspot_connected() {
+  local wifi_device=$1
+  local active_ssid
+
+  active_ssid="$(get_active_ssid "${wifi_device}" || true)"
+  [[ -n "${active_ssid}" && "${active_ssid}" == "${HOTSPOT_SSID}" ]]
+}
+
+connect_hotspot() {
+  local wifi_device=$1
+
+  while true; do
+    if is_hotspot_connected "${wifi_device}"; then
+      log "Wi-Fi already connected to hotspot '${HOTSPOT_SSID}'"
+      return 0
+    fi
+
+    log "Trying hotspot '${HOTSPOT_SSID}' on Wi-Fi device '${wifi_device}'"
+    nmcli device wifi rescan ifname "${wifi_device}" >/dev/null 2>&1 || true
+
+    if nmcli connection up "${HOTSPOT_SSID}" ifname "${wifi_device}" >/dev/null 2>&1; then
+      sleep 2
+      if is_hotspot_connected "${wifi_device}"; then
+        log "Connected to hotspot '${HOTSPOT_SSID}' via saved NetworkManager profile"
+        return 0
+      fi
+    fi
+
+    if [[ -n "${HOTSPOT_PASSWORD}" ]]; then
+      if nmcli device wifi connect "${HOTSPOT_SSID}" password "${HOTSPOT_PASSWORD}" ifname "${wifi_device}" >/dev/null 2>&1; then
+        sleep 2
+        if is_hotspot_connected "${wifi_device}"; then
+          log "Connected to hotspot '${HOTSPOT_SSID}' via direct nmcli connect"
+          return 0
+        fi
+      fi
+    else
+      log "HOTSPOT_PASSWORD is empty; skipping direct nmcli connect and relying on saved profile"
+    fi
+
+    log "Hotspot '${HOTSPOT_SSID}' is not ready yet; retrying in ${WIFI_RETRY_INTERVAL}s"
+    sleep "${WIFI_RETRY_INTERVAL}"
+  done
+}
+
+wait_for_server() {
+  while true; do
+    if ping -c 1 -W 2 "${SERVER_IP}" >/dev/null 2>&1; then
+      log "Server '${SERVER_IP}' is reachable"
+      return 0
+    fi
+
+    log "Server '${SERVER_IP}' is not reachable yet; retrying in ${PING_RETRY_INTERVAL}s"
+    sleep "${PING_RETRY_INTERVAL}"
+  done
+}
+
+log "Starting xMonitor sender bootstrap"
+log "Using APP_DIR='${APP_DIR}'"
+log "Log file: ${LOG_FILE}"
+prune_old_logs
+
+[[ -n "${HOTSPOT_SSID}" ]] || fail "HOTSPOT_SSID must be set in /etc/xmonitor/xmonitor.env"
+[[ -d "${APP_DIR}" ]] || fail "APP_DIR does not exist: ${APP_DIR}"
+[[ -f "${APP_DIR}/monitor_sender.py" ]] || fail "monitor_sender.py not found in ${APP_DIR}"
+[[ -f "${ROS_SETUP}" ]] || fail "ROS setup file not found: ${ROS_SETUP}"
+[[ -f "${VENV_ACTIVATE}" ]] || fail "Python virtualenv activate script not found: ${VENV_ACTIVATE}"
+
+require_command nmcli
+require_command ping
+require_command tee
+require_command "${PYTHON_BIN}"
+
+if [[ "$(id -un)" != "${RUN_USER}" ]]; then
+  log "Warning: script is running as '$(id -un)' but RUN_USER is '${RUN_USER}'"
+fi
+
+WIFI_DEVICE="$(get_wifi_device)"
+[[ -n "${WIFI_DEVICE}" ]] || fail "No Wi-Fi device was found by NetworkManager"
+
+log "Detected Wi-Fi device '${WIFI_DEVICE}'"
+connect_hotspot "${WIFI_DEVICE}"
+wait_for_server
+
+log "Sourcing ROS environment '${ROS_SETUP}'"
+source_with_relaxed_mode "${ROS_SETUP}"
+
+log "Activating Python virtualenv '${VENV_ACTIVATE}'"
+source_with_relaxed_mode "${VENV_ACTIVATE}"
+
+cd "${APP_DIR}"
+log "Launching monitor_sender.py --ip ${SERVER_IP} --port ${SERVER_PORT}"
+exec "${PYTHON_BIN}" monitor_sender.py --ip "${SERVER_IP}" --port "${SERVER_PORT}"