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decoder: broadcast frames to yukart/vehicle/* from contracts' can blocks
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Kernel-filtered read-only socket; booleans on change, numbers <= 20/s, every
live value refreshed once a second, stale after 1 s of silence. --replay runs
a candump log through the same path, --list prints the layouts. obd-poller
drops engine_rpm, now a z27ag signal.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
This commit is contained in:
Mikkeli Matlock
2026-10-13 21:31:52 +09:00
parent 5cfa4fbb64
commit 54171aaf27
8 changed files with 710 additions and 5 deletions
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README.md
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@@ -10,19 +10,23 @@ This file serves as the minimalist portal to other docs
## What this repo is about
The acquisition and processing cluster on the Orin, developed and deployed as one
unit: `recorder`, `orin-status` and `obd-poller` now; `can-bridge`, `gnss` and `decoder` as they are
unit: `recorder`, `decoder`, `orin-status` and `obd-poller` now; `can-bridge` and `gnss` as they are
needed.
| Binary | Installed as | Does |
|---|---|---|
| `recorder` | `yukart-recorder.service` | Raw CAN + GNSS to disk, in sessions, under a storage bound; OBD-II values from the bus beside them |
| `decoder` | `yukart-decoder.service` | The car's own broadcast frames to named signals (`yukart/vehicle/*`): every `z27ag` signal in contracts' `signals.json`, laid out by its `can` block. Booleans on change, numbers ≤ 20/s, each refreshed once a second; reads only |
| `bus-bench` | not installed: a test tool | Raw CAN and decoded-signal load over MQTT, measured: loss, latency, broker CPU ([report](docs/impl/reports/BUS-BENCH.md)) |
| `obd-poller` | `yukart-obd-poller.service` | OBD-II mode 01 polling, the single CAN writer: rpm, speed, throttle, load, MAP, MAF ~10 Hz; temperatures and fuel 1 Hz (`yukart/vehicle/*`) |
| `obd-poller` | `yukart-obd-poller.service` | OBD-II mode 01 polling, the single CAN writer; **disabled**, the Z27AG has no OBD-II on CAN: speed, throttle, load, MAP, MAF ~10 Hz; temperatures and fuel 1 Hz (`yukart/vehicle/*`) |
| `orin-status` | `yukart-orin-status.service` | The Orin's health on the bus, once a second: temperatures, CPU/GPU load, memory, power, fan, WiFi (with SSID)/LTE/tablet links, the CAN interface, UPS battery (`yukart/host/*`) |
```bash
scripts/deploy-recorder.sh # build, glibc check, install on the car Orin
scripts/deploy-orin-status.sh # build on the development Orin, glibc check, install
scripts/deploy-decoder.sh # same, for the decoder (after any signals.json change)
yukart-decoder --list # the signals it decodes, and where
zstdcat can-*.log.zst | yukart-decoder --replay # what it would publish for a recording
scripts/deploy-obd-poller.sh # build, glibc check, install on the car Orin
yukart-obd-poller --once # on the Orin, service stopped: what the ECU answers
yukart-orin-status --once # on an Orin: one reading as JSON, no broker