commit 66e00056b9f23bd7e644f5a1cf95d2c933f06ea1
author Austin Schuh <austin.linux@gmail.com> Sat Oct 23 22:00:52 2021 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Oct 23 22:33:10 2021 -0700
tree d75953d8564ce1bd27177b96cacdf690f8c28ef3
parent 286b80c4ad3468be1b663a8e62793b7260cfb410

Make starter restart correctly on pi's

This configures systemd much better so it automatically restarts and
gets the kill signals right.

Change-Id: I43576758f1b137ca24ad1ee960dd8715143aa7e6
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

aos/starter/starter.sh

diff --git a/aos/starter/starter.sh b/aos/starter/starter.sh
index 2c8494e..2db812a 100755
--- a/aos/starter/starter.sh
+++ b/aos/starter/starter.sh
@@ -8,8 +8,9 @@
   ln -s /var/local/natinst/log/FRC_UserProgram.log /tmp/FRC_UserProgram.log
   ln -s /var/local/natinst/log/FRC_UserProgram.log "${ROBOT_CODE}/FRC_UserProgram.log"
 elif [[ "$(hostname)" == "pi-"* ]]; then
-  ROBOT_CODE="/home/pi/robot_code"
-
+  # We have systemd configured to handle restarting, so just exec.
+  export PATH="${PATH}:/home/pi/robot_code"
+  exec starterd
 else
   ROBOT_CODE="${HOME}/robot_code"
 fi

y2020/vision/rootfs/frc971.service

diff --git a/y2020/vision/rootfs/frc971.service b/y2020/vision/rootfs/frc971.service
index bf42652..e7b8d7c 100644
--- a/y2020/vision/rootfs/frc971.service
+++ b/y2020/vision/rootfs/frc971.service
@@ -2,8 +2,16 @@
 Description=Start up 971 robot code
 
 [Service]
-Type=oneshot
-ExecStart=su pi -c /home/pi/robot_code/starter.sh
+User=pi
+Group=pi
+Type=simple
+WorkingDirectory=/home/pi/robot_code
+ExecStart=/home/pi/robot_code/starter.sh
+KillMode=mixed
+TimeoutStopSec=10
+
+Restart=always
+RestartSec=5s
 
 [Install]
 WantedBy=multi-user.target