[Unit]
Description=Sentry chassis daemon (mecanum, 4x GM3508/C620)
After=network.target
# 若使用 USB 转 CAN，等待接口就绪：
# After=systemd-networkd.service
# RequiresMountsFor=/sys/class/net/can0

[Service]
Type=simple
ExecStart=/usr/local/bin/chassisd --interface can0 --config /etc/chassisd/chassis.toml
Restart=always
RestartSec=1
# 实时性：提升调度优先级（按需调整）
# CPUSchedulingPolicy=fifo
# CPUSchedulingPriority=20
# LimitRTPRIO=95

[Install]
WantedBy=multi-user.target