Host signals: the Orin's health on yukart/host/<signal> (source host)
Temperatures, CPU/GPU load, memory, module power, fan, WiFi/LTE/tablet links and the UPS battery, published by svc-core's orin-status. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
This commit is contained in:
@@ -2,7 +2,7 @@
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"$id": "https://yukart/schema/envelope.json",
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"title": "Signal envelope",
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"description": "Every decoded signal published on yukart/vehicle/* and yukart/gnss/*. Raw CAN uses the binary frame encoding instead.",
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"description": "Every decoded signal published on yukart/vehicle/*, yukart/gnss/* and yukart/host/*. Raw CAN uses the binary frame encoding instead.",
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"type": "object",
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"required": [
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"timestamp",
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+251
-1
@@ -1,5 +1,5 @@
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{
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"$comment": "Single source for signal identity. Topic name and envelope unit are both derived from these entries and are never authored separately. source=obd2 is standardised; source=z27ag is reverse-engineered and lives in the DBC.",
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"$comment": "Single source for signal identity. Topic name and envelope unit are both derived from these entries and are never authored separately. source=obd2 is standardised; source=z27ag is reverse-engineered and lives in the DBC. source=host is the Orin itself (orin-status), not the car.",
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"signals": {
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"engine_rpm": {
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"unit": "rpm",
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@@ -90,6 +90,256 @@
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0,
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656
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]
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},
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"orin_cpu_temp_c": {
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"unit": "celsius",
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"type": "number",
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"source": "host",
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"description": "Orin CPU cluster temperature",
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"range": [
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-40,
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110
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]
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},
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"orin_gpu_temp_c": {
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"unit": "celsius",
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"type": "number",
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"source": "host",
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"description": "Orin GPU temperature",
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"range": [
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-40,
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110
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]
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},
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"orin_soc_temp_c": {
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"unit": "celsius",
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"type": "number",
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"source": "host",
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"description": "Orin SoC temperature, hottest of its sensors",
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"range": [
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-40,
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110
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]
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},
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"orin_tj_temp_c": {
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"unit": "celsius",
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"type": "number",
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"source": "host",
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"description": "Orin junction temperature: the hottest point on the die, which throttling acts on",
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"range": [
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-40,
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110
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]
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},
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"orin_cpu_pct": {
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"unit": "percent",
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"type": "number",
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"source": "host",
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"description": "CPU utilisation, all cores",
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"range": [
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0,
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100
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]
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},
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"orin_gpu_pct": {
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"unit": "percent",
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"type": "number",
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"source": "host",
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"description": "GPU utilisation",
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"range": [
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0,
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100
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]
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},
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"orin_ram_used_mb": {
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"unit": "MB",
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"type": "number",
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"source": "host",
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"description": "Memory in use, CPU and GPU together (one shared pool): total minus available",
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"range": [
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0,
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8192
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]
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},
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"orin_ram_used_pct": {
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"unit": "percent",
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"type": "number",
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"source": "host",
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"description": "Memory in use as a share of the total",
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"range": [
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0,
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100
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]
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},
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"orin_swap_used_mb": {
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"unit": "MB",
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"type": "number",
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"source": "host",
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"description": "Swap in use",
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"range": [
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0,
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16384
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]
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},
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"orin_power_w": {
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"unit": "W",
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"type": "number",
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"source": "host",
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"description": "Orin module input power (VDD_IN), from the onboard INA3221",
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"range": [
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0,
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30
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]
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},
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"orin_fan_rpm": {
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"unit": "rpm",
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"type": "number",
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"source": "host",
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"description": "Cooling fan speed",
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"range": [
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0,
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10000
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]
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},
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"net_wifi_up": {
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"unit": "",
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"type": "boolean",
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"source": "host",
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"description": "WiFi associated and up"
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},
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"net_wifi_signal_dbm": {
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"unit": "dBm",
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"type": "number",
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"source": "host",
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"description": "WiFi signal level",
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"range": [
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-100,
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0
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]
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},
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"net_wifi_rx_kbps": {
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"unit": "kbit/s",
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"type": "number",
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"source": "host",
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"description": "WiFi receive rate (into the Orin)",
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"range": [
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0,
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1000000
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]
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},
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"net_wifi_tx_kbps": {
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"unit": "kbit/s",
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"type": "number",
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"source": "host",
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"description": "WiFi transmit rate (out of the Orin)",
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"range": [
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0,
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1000000
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]
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},
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"net_lte_state": {
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"unit": "",
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"type": "string",
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"source": "host",
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"description": "Modem state as ModemManager reports it (connected, registered, searching, disabled, …), or absent with no modem"
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},
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"net_lte_tech": {
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"unit": "",
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"type": "string",
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"source": "host",
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"description": "Access technology in use (lte, umts, …); empty when not registered"
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},
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"net_lte_signal_pct": {
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"unit": "percent",
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"type": "number",
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"source": "host",
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"description": "Modem signal quality",
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"range": [
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0,
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100
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]
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},
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"net_lte_rx_kbps": {
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"unit": "kbit/s",
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"type": "number",
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"source": "host",
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"description": "LTE receive rate (into the Orin)",
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"range": [
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0,
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150000
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]
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},
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"net_lte_tx_kbps": {
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"unit": "kbit/s",
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"type": "number",
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"source": "host",
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"description": "LTE transmit rate (out of the Orin)",
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"range": [
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0,
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50000
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]
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},
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"net_tablet_up": {
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"unit": "",
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"type": "boolean",
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"source": "host",
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"description": "USB link to the tablet has carrier"
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},
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"net_tablet_rx_kbps": {
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"unit": "kbit/s",
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"type": "number",
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"source": "host",
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"description": "USB tablet link, tablet to Orin",
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"range": [
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0,
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480000
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]
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},
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"net_tablet_tx_kbps": {
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"unit": "kbit/s",
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"type": "number",
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"source": "host",
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"description": "USB tablet link, Orin to tablet",
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"range": [
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0,
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480000
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]
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},
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"ups_battery_v": {
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"unit": "V",
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"type": "number",
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"source": "host",
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"description": "UPS battery pack voltage (3S Li-ion, 9.0–12.6 V)",
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"range": [
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0,
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16
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]
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},
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"ups_current_a": {
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"unit": "A",
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"type": "number",
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"source": "host",
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"description": "UPS battery current: positive charging, negative discharging",
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"range": [
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-5,
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5
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]
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},
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"ups_battery_pct": {
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"unit": "percent",
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"type": "number",
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"source": "host",
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"description": "UPS charge estimate from cell voltage, corrected for load. An estimate, steadiest at rest",
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"range": [
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0,
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100
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]
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},
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"ups_state": {
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"unit": "",
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"type": "string",
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"source": "host",
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"description": "charging, discharging (running on battery) or idle (on input power, not charging)"
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}
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}
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}
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@@ -22,6 +22,13 @@
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"publisher": "gnss",
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"description": "value is an object: lat, lon, alt_m, speed_kph, heading_deg, fix, satellites."
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},
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"yukart/host/<signal>": {
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"payload": "envelope",
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"retained": true,
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"rate": "1/s",
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"publisher": "orin-status",
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"description": "The Orin itself: temperatures, load, memory, network links, UPS battery. One topic per signal, named exactly as in signals.json (source=host)."
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},
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"yukart/system/<service>": {
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"payload": "json",
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"retained": true,
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