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

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

scripts/deploy-obd-poller.sh

@@ -0,0 +1,31 @@
+#!/usr/bin/env bash
+# Build the obd-poller for aarch64, check it against the car's glibc, and install it
+# on an Orin as the yukart-obd-poller service.
+#
+#   usage: scripts/deploy-obd-poller.sh [host]        (default: mikkeli-orin-nano)
+#
+# Cross-compiles from the workstation (the documented fallback): the development
+# Orin is the preferred native build host. Either way check-glibc.sh gates it.
+set -euo pipefail
+
+HOST="${1:-mikkeli-orin-nano}"
+cd "$(dirname "$0")/.."
+TARGET=aarch64-unknown-linux-gnu
+BIN="target/$TARGET/release/obd-poller"
+
+cargo build --release --target "$TARGET" --bin obd-poller
+scripts/check-glibc.sh "$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" "$HOST:infra/svc-core/obd-poller.new"
+scp -q deploy/yukart-obd-poller.service "$HOST:infra/svc-core/yukart-obd-poller.service"
+ssh "$HOST" 'set -e
+  mv ~/infra/svc-core/obd-poller.new ~/infra/svc-core/obd-poller
+  sudo ln -sfn "$HOME/infra/svc-core/obd-poller" /usr/local/bin/yukart-obd-poller
+  sudo install -m 0644 ~/infra/svc-core/yukart-obd-poller.service /etc/systemd/system/yukart-obd-poller.service
+  sudo systemctl daemon-reload
+  sudo systemctl enable yukart-obd-poller.service >/dev/null
+  sudo systemctl restart yukart-obd-poller.service
+  sleep 1
+  systemctl --no-pager --lines=5 status yukart-obd-poller.service'

scripts/deploy-recorder.sh

@@ -13,7 +13,7 @@ cd "$(dirname "$0")/.."
 TARGET=aarch64-unknown-linux-gnu
 BIN="target/$TARGET/release/recorder"
 
-cargo build --release --target "$TARGET"
+cargo build --release --target "$TARGET" --bin recorder
 scripts/check-glibc.sh "$BIN"
 
 # Binary lives under ~/infra per the host repo's guidelines; /usr/local/bin gets a symlink.