Raw frames to four subscribers plus envelopes to five, at the car's rate and
at a full bus. Raw never suffered; envelope deliveries are the load, with the
knee near 40,000 deliveries/s.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
SocketCAN to yukart/can/raw and back, per frame or batched, with loss and
latency from the kernel timestamp. No loss at a saturated 500 kbit/s bus;
batched costs the broker ~1 % of a core. Report in docs/impl/reports.
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