mikkeli
ba6100fd17
/ crosscheck (push) Successful in 1s
Frames go onto vcan_replay (the recorder never sees them); the decoder service stands aside for the replay and comes back however it ends. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
42 lines
1.7 KiB
Bash
Executable File
42 lines
1.7 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Replay a recorded session's CAN frames through the decoder, so displays react as
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# if the car were live. Runs on the car Orin (sudo: vcan and the decoder service).
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#
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# usage: scripts/replay-session.sh SESSION_DIR [SKIP_S]
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# SESSION_DIR e.g. /var/lib/yukart/recordings/000001-20261013T170050
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# SKIP_S seconds of the recording to skip first (default 0)
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#
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# Frames go onto a virtual interface, vcan_replay, never can_pcan: the recorder only
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# watches can_pcan, so a replay is never recorded as a drive. The decoder service is
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# stopped for the replay (one MQTT client id) and a decoder runs on vcan_replay instead;
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# however the replay ends (finished, Ctrl-C, killed), the service comes back and the
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# interface goes. Values carry the replay's own timing; nothing marks them as replayed.
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set -euo pipefail
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SESSION="${1:?usage: replay-session.sh SESSION_DIR [SKIP_S]}"
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SKIP="${2:-0}"
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IF=vcan_replay
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ls "$SESSION"/can-*.log* >/dev/null
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cleanup() {
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[ -n "${DEC:-}" ] && kill "$DEC" 2>/dev/null || true
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sudo ip link del "$IF" 2>/dev/null || true
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sudo systemctl start yukart-decoder
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echo "replay: done; yukart-decoder back on can_pcan"
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}
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trap cleanup EXIT INT TERM
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sudo modprobe vcan
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sudo ip link add "$IF" type vcan 2>/dev/null || true
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sudo ip link set "$IF" up
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sudo systemctl stop yukart-decoder
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/usr/local/bin/yukart-decoder --can "$IF" &
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DEC=$!
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sleep 1
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echo "replay: $SESSION from +${SKIP} s onto $IF"
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# candump -L lines: "(1791878450.945008) can_pcan 139#...". Skip by the first frame's time.
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zstdcat -f "$SESSION"/can-*.log* 2>/dev/null \
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| awk -v skip="$SKIP" '{ t = substr($1, 2, length($1) - 2) + 0; if (NR == 1) t0 = t; if (t - t0 >= skip) print }' \
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| canplayer "$IF=can_pcan"
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