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#!/bin/bash
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# =============================================================================
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# P600 机载电脑 - SSH 隧道自启服务安装脚本
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# 用法: 传到 P600 上执行: bash setup_p600_tunnel.sh
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# 功能: 开机自启 rosbridge 隧道，断线自动重连
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# 隧道: P600:8080 → 云服务器 121.41.216.243:9090
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# 网页连接地址: ws://121.41.216.243:9090
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# =============================================================================
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set -e
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SERVICE_NAME="rosbridge-tunnel.service"
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SERVICE_PATH="/etc/systemd/system/${SERVICE_NAME}"
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SSH_HOST="root@121.41.216.243"
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SSH_PORT="9090"
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LOCAL_PORT="8080"
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echo "========================================="
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echo " P600 SSH 隧道自启服务安装"
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echo "========================================="
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echo ""
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# 检查是否以 root 运行
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if [ "$EUID" -ne 0 ]; then
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echo "❌ 请使用 root 用户运行: sudo bash setup_p600_tunnel.sh"
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exit 1
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fi
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# 检查 SSH 连接是否可用
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echo "🔍 测试 SSH 连接到 ${SSH_HOST} ..."
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if ssh -o StrictHostKeyChecking=no -o ConnectTimeout=10 "${SSH_HOST}" "echo OK" 2>/dev/null; then
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echo "✅ SSH 连接成功"
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else
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echo ""
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echo "⚠️ SSH 连接失败，请确认:"
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echo " ① P600 能访问外网"
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echo " ② 密码为: pdl@#YwC\$WRWFyHKxC8nyu!4"
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echo ""
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echo " 手动测试: ssh ${SSH_HOST}"
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echo ""
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read -p "是否继续安装服务？（y/n）" -n 1 -r
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echo
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if [[ ! $REPLY =~ ^[Yy]$ ]]; then
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exit 1
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fi
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fi
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# 检查 sshpass
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SSHPASS_CMD=""
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if command -v sshpass &> /dev/null; then
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SSHPASS_CMD="sshpass -p 'pdl@#YwC\$WRWFyHKxC8nyu!4'"
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echo "✅ 已安装 sshpass，将使用密码自动登录"
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else
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echo ""
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echo "⚠️ 未安装 sshpass，需要先配置 SSH 密钥登录"
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echo " 执行以下命令配置免密登录:"
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echo ""
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echo " ssh-copy-id ${SSH_HOST}"
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echo " # 密码: pdl@#YwC\$WRWFyHKxC8nyu!4"
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echo ""
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fi
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# 创建 systemd 服务
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echo ""
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echo "📝 创建系统服务 ${SERVICE_NAME} ..."
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cat > "${SERVICE_PATH}" << SERVICEEOF
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[Unit]
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Description=ROSbridge SSH Tunnel - P600 to Cloud Server
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After=network-online.target
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Wants=network-online.target
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StartLimitIntervalSec=60
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StartLimitBurst=5
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[Service]
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Type=simple
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ExecStart=/bin/bash -c '${SSHPASS_CMD} /usr/bin/ssh -NT \
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-o ServerAliveInterval=30 \
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-o ServerAliveCountMax=3 \
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-o StrictHostKeyChecking=no \
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-o ExitOnForwardFailure=yes \
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-R ${SSH_PORT}:localhost:${LOCAL_PORT} \
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${SSH_HOST}'
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Restart=always
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RestartSec=10
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User=root
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[Install]
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WantedBy=multi-user.target
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SERVICEEOF
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echo "✅ 服务文件已创建"
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# 重载 systemd
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echo "🔄 重载 systemd 配置..."
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systemctl daemon-reload
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# 启用服务
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echo "🔗 启用开机自启..."
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systemctl enable "${SERVICE_NAME}"
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# 启动服务
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echo "🚀 启动隧道服务..."
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systemctl restart "${SERVICE_NAME}"
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# 等待 3 秒
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sleep 3
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# 检查状态
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echo ""
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echo "📊 服务状态:"
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systemctl status "${SERVICE_NAME}" --no-pager | head -12
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echo ""
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echo "========================================="
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echo " ✅ 安装完成！"
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echo "========================================="
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echo ""
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echo " 服务管理命令:"
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echo " 查看状态: sudo systemctl status ${SERVICE_NAME}"
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echo " 启动: sudo systemctl start ${SERVICE_NAME}"
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echo " 停止: sudo systemctl stop ${SERVICE_NAME}"
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echo " 重启: sudo systemctl restart ${SERVICE_NAME}"
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echo " 查看日志: sudo journalctl -u ${SERVICE_NAME} -f"
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echo ""
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echo " 网页连接地址: ws://121.41.216.243:${SSH_PORT}"
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echo ""
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