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obd-poller: OBD-II mode 01, the single CAN writer; recorder keeps its values

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obd-poller asks 0x7DF for the nine obd2 signals, only while the bus is alive,
and publishes envelopes stamped with the reply's kernel time. The recorder
subscribes to yukart/vehicle/* and writes vehicle.ndjson beside the frames.
Tested against a fake ECU on vcan0.

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
2026-10-12 23:25:03 +09:00
parent b605c27fc0
commit 6a7de03773
13 changed files with 747 additions and 12 deletions
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README.md
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@@ -10,18 +10,21 @@ 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` and `orin-status` now; `can-bridge`, `obd-poller`, `gnss` and `decoder` as they are
unit: `recorder`, `orin-status` and `obd-poller` now; `can-bridge`, `gnss` and `decoder` as they are
needed.
| Binary | Installed as | Does |
|---|---|---|
| `recorder` | `yukart-recorder.service` | Raw CAN + GNSS to disk, in sessions, under a storage bound |
| `recorder` | `yukart-recorder.service` | Raw CAN + GNSS to disk, in sessions, under a storage bound; OBD-II values from the bus beside them |
| `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/*`) |
| `orin-status` | `yukart-orin-status.service` | The Orin's health on the bus, once a second: temperatures, CPU/GPU load, memory, power, fan, WiFi/LTE/tablet links, 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-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
yukart-recorder ctl status # on the Orin
yukart-recorder ctl start "cold start" # manual session, ends only on stop