mikkeli
26d5e3cbe4
--calibrate SESSION [--write]: down from two level stretches (turning round cancels the slope), forward from straight pull-aways and stops; saved to /var/lib/yukart/imu/mount.json (StateDirectory), which the service reloads on change. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
52 lines
4.3 KiB
Markdown
52 lines
4.3 KiB
Markdown
---
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type: reference
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---
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# Core services
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Part of **Project Yukart**, making an old 2008 Mitsubishi Z27AG a bit smarter with modern technologies.
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This file serves as the minimalist portal to other docs
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## What this repo is about
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The acquisition and processing cluster on the Orin, developed and deployed as one
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unit: `recorder`, `decoder`, `gnss`, `imu`, `orin-status` and `obd-poller` now; `can-bridge` as it is
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needed.
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| Binary | Installed as | Does |
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|---|---|---|
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| `recorder` | `yukart-recorder.service` | Raw CAN + GNSS to disk, in sessions, under a storage bound; every `yukart/vehicle/*` value (decoded and OBD-II) and every raw IMU sample (`yukart/raw/imu`) beside them |
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| `decoder` | `yukart-decoder.service` | The car's own broadcast frames to named signals (`yukart/vehicle/*`): every `z27ag` signal in contracts' `signals.json`, laid out by its `can` block. Sent on change (booleans at once, numbers at most every 50 ms); a value that has not changed is re-sent once a second, so svc-gw never marks a steady one stale; reads only |
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| `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)) |
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| `obd-poller` | `yukart-obd-poller.service` | OBD-II mode 01 on the K-line through the Bluetooth ELM327 (address in `/etc/default/yukart-elm`), the single writer to the car; never on CAN. The `obd_*` signals, calibration references (`yukart/vehicle/*`): rpm, speed, throttle, load, MAF, timing, O2 every round; temperatures and trims every 5 s. Lets go of the adapter after a minute of ECU silence |
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| `gnss` | `yukart-gnss.service` | gpsd's fix as single values on `yukart/gnss/*`: fix, speed, heading, position, altitude, satellites |
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| `imu` | `yukart-imu.service` | The WT61 (plus) on any USB-UART adapter, found by itself (adapter and speed), turned into the car's frame (`--forward`, `--right`): roll, pitch, gravity-free longitudinal and lateral g, yaw rate on `yukart/imu/*`, at most every 40 ms; every sample raw on `yukart/raw/imu` for the recorder. Mounting from `/var/lib/yukart/imu/mount.json` when calibrated (`--calibrate SESSION --write`, from checklist steps 27–30). Never writes to the module |
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| `orin-status` | `yukart-orin-status.service` | The Orin's health on the bus, once a second: temperatures, CPU/GPU load, memory, power, fan, WiFi (with SSID)/LTE/tablet links, the CAN interface, the ELM's Bluetooth link, UPS battery (`yukart/host/*`). Powers the Orin off cleanly when the UPS pack stays below 11.0 V while discharging for 30 s |
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```bash
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scripts/deploy-recorder.sh # build, glibc check, install on the car Orin
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scripts/deploy-native.sh BIN # build BIN on the development Orin, glibc check, install;
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# deploy-{decoder,gnss,obd-poller,orin-status}.sh wrap it.
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# Redeploy after any contracts signals.json change
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yukart-decoder --list # the signals it decodes, and where
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zstdcat can-*.log.zst | yukart-decoder --replay # what it would publish for a recording
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scripts/replay-session.sh SESSION_DIR [SKIP_S] # on the Orin: replay a session's frames through a
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# decoder on vcan_replay, live to displays; never recorded
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yukart-obd-poller --elm ADDR --once # on the Orin, service stopped: adapter, protocol,
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# supported PIDs and one value each
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yukart-gnss --once # the next fix as JSON, no broker
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yukart-imu --once # find the WT61, 3 s of readings as JSON, no broker
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yukart-imu --calibrate SESSION_DIR [--write] # measure the mounting from checklist steps 27–30
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yukart-orin-status --once # on an Orin: one reading as JSON, no broker
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yukart-recorder ctl status # on the Orin
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yukart-recorder ctl start "cold start" # manual session, ends only on stop
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yukart-recorder ctl mark "indicator left on"
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yukart-recorder ctl stop
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```
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Recordings live in `/var/lib/yukart/recordings/`, one directory per session —
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layout in [the initial plan](docs/impl/plans/INITIAL.md#session-layout).
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- For implementation practice guidelines, refer to the [guidelines](docs/GUIDELINES.md);
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- For implementation plans and history, refer to [them](docs/impl/);
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