# systemd unit template for the SUT on Tier-2 Jetson runners.
#
# Copy to /etc/systemd/system/gps-denied-onboard.service, edit the
# Environment= lines for the local deployment, then:
#     sudo systemctl daemon-reload
#     sudo systemctl enable --now gps-denied-onboard.service
#
# `run-tier2.sh` calls `systemctl restart` before each suite — the unit
# must therefore be self-restoring. RestartSec is short because Tier-2
# tests budget 4 hours per matrix entry (`environment.md` § Timeout) and a
# slow restart cuts into that budget.

[Unit]
Description=gps-denied-onboard companion service (Tier-2 Jetson)
After=network-online.target
Wants=network-online.target

[Service]
Type=exec
User=azaion
Group=azaion
WorkingDirectory=/opt/gps-denied-onboard
Environment=ONBOARD_FC_ADAPTER=ardupilot
Environment=ONBOARD_VIO_STRATEGY=okvis2
Environment=MAVLINK_SIGNING_PASSKEY_FILE=/run/secrets/mavlink_passkey
Environment=TILE_CACHE_PATH=/var/azaion/tile-cache
Environment=FDR_OUTPUT_PATH=/var/azaion/fdr
ExecStart=/opt/gps-denied-onboard/bin/gps-denied-onboard --config /etc/azaion/onboard.yaml
Restart=on-failure
RestartSec=2s
StandardOutput=journal
StandardError=journal
# Resource budget mirrors restrictions.md § Onboard Hardware: 25 W TDP,
# 8 GB shared LPDDR5. systemd cgroup limits are a defence-in-depth gate;
# the SUT enforces these internally too.
MemoryMax=6G
TasksMax=512
# Allow tegrastats / jtop to read /sys without requiring CAP_SYS_ADMIN here.
ProtectKernelTunables=true
ProtectKernelModules=true
NoNewPrivileges=true

[Install]
WantedBy=multi-user.target