decoder: broadcast frames to yukart/vehicle/* from contracts' can blocks

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
2026-10-13 21:31:52 +09:00
parent 5cfa4fbb64
commit 54171aaf27
8 changed files with 710 additions and 5 deletions
@@ -0,0 +1,42 @@
+#!/usr/bin/env bash
+# Build the decoder natively on the development Orin, check it against the car's
+# glibc, and install it on the car Orin as the yukart-decoder service.
+#
+#   usage: scripts/deploy-decoder.sh [host]            (default: mikkeli-orin-nano)
+#   env:   BUILD_HOST                                  (default: mikkeli-orin-nano-2)
+#
+# Builds what is pushed, not the working tree: the build host pulls master of
+# svc-core and contracts under ~/dev/yukart/; the signal layouts are compiled in
+# from contracts' signals.json, so a registry change needs a redeploy. Native like
+# orin-status, on the preferred build host (check-glibc.sh gates it either way).
+set -euo pipefail
+
+HOST="${1:-mikkeli-orin-nano}"
+BUILD_HOST="${BUILD_HOST:-mikkeli-orin-nano-2}"
+cd "$(dirname "$0")/.."
+BIN="$(mktemp -d)/decoder"
+
+ssh "$BUILD_HOST" 'set -e
+  mkdir -p ~/dev/yukart && cd ~/dev/yukart
+  for r in svc-core contracts; do
+    [ -d $r ] || git clone -q http://192.168.2.199:3005/yukart/$r.git
+    git -C $r pull -q --ff-only
+  done
+  cd svc-core && ~/.cargo/bin/cargo build --release --bin decoder 2>&1 | tail -1
+  git log --oneline -1'
+scp -q "$BUILD_HOST:dev/yukart/svc-core/target/release/decoder" "$BIN"
+scripts/check-glibc.sh "$BIN"
+
+# Binary lives under ~/infra per the host repo's guidelines; /usr/local/bin gets a symlink.
+ssh "$HOST" 'mkdir -p ~/infra/svc-core'
+scp -q "$BIN" "$HOST:infra/svc-core/decoder.new"
+scp -q deploy/yukart-decoder.service "$HOST:infra/svc-core/yukart-decoder.service"
+ssh "$HOST" 'set -e
+  mv ~/infra/svc-core/decoder.new ~/infra/svc-core/decoder
+  sudo ln -sfn "$HOME/infra/svc-core/decoder" /usr/local/bin/yukart-decoder
+  sudo install -m 0644 ~/infra/svc-core/yukart-decoder.service /etc/systemd/system/yukart-decoder.service
+  sudo systemctl daemon-reload
+  sudo systemctl enable yukart-decoder.service >/dev/null
+  sudo systemctl restart yukart-decoder.service
+  sleep 1
+  systemctl --no-pager --lines=5 status yukart-decoder.service'