obd-poller drops its CAN socket: the Z27AG answers OBD-II only on ISO 9141-2.
It holds a raw RFCOMM link to the ELM (no pairing, no root), fixes the protocol
(ATSP3) so nothing probes CAN, publishes the obd_* signals, and releases the
adapter after a minute of ECU silence so it can sleep.
gnss: gpsd's fix as yukart/gnss/<signal>. orin-status: elm_connected from BlueZ.
One native deploy script (deploy-native.sh BIN) behind the per-service ones;
/etc/default/yukart-elm holds the adapter's address.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
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
Reads SocketCAN and gpsd directly. Sessions start on the first frame or on
'ctl start', end after 15 s of bus idle or on 'ctl stop'; blips under 3 s are
discarded. candump -L chunks fdatasync'd every second and zstd'd once closed;
oldest sessions deleted to stay under 50 GB / above 20 GB free. Kernel and
queue drops, link changes and clock steps are recorded as events.
Bench-tested on vcan with the first car capture (byte-identical) and installed
on the car Orin as yukart-recorder.service.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
mikkeli