[Unit]
Description=SanadV3 full stack (dashboard :8001 + web_nav3 nav :8765 + rosbridge :9090)
After=network-online.target sound.target
Wants=network-online.target
StartLimitIntervalSec=0

[Service]
Type=simple
User=unitree
Group=unitree
WorkingDirectory=/home/unitree/Sanadv3

# Runtime env (systemd does NOT source ~/.bashrc, so set what the stack needs).
Environment=USER=unitree
Environment=HOME=/home/unitree
Environment=PYTHONUNBUFFERED=1
Environment=XDG_RUNTIME_DIR=/run/user/1000
Environment=PULSE_SERVER=unix:/run/user/1000/pulse/native
# Pin the voice child to Sanadv3 (replaces the old ~/.bashrc SANAD_LIVE_SCRIPT).
Environment=SANAD_LIVE_SCRIPT=/home/unitree/Sanadv3/voice/sanad_voice.py

# start_all.sh self-activates conda (gemini_sdk for dashboard, g1_lidar for
# web_nav3), supervises both, and has a SIGTERM cleanup trap.
ExecStart=/bin/bash /home/unitree/Sanadv3/shell_scripts/start_all.sh

# Let start_all.sh's trap tear its children down on stop, then SIGKILL stragglers.
KillMode=mixed
TimeoutStopSec=30
Restart=always
RestartSec=5s

[Install]
WantedBy=multi-user.target