mikkeli
1f678fe87f
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
type
| type |
|---|
| reference |
Core services
Part of Project Yukart, making an old 2008 Mitsubishi Z27AG a bit smarter with modern technologies.
This file serves as the minimalist portal to other docs
What this repo is about
The acquisition and processing cluster on the Orin, developed and deployed as one
unit: recorder now; can-bridge, obd-poller, gnss and decoder as they are
needed.
| Binary | Installed as | Does |
|---|---|---|
recorder |
yukart-recorder.service |
Raw CAN + GNSS to disk, in sessions, under a storage bound |
scripts/deploy-recorder.sh # build, glibc check, install on the car Orin
yukart-recorder ctl status # on the Orin
yukart-recorder ctl start "cold start" # manual session, ends only on stop
yukart-recorder ctl mark "indicator left on"
yukart-recorder ctl stop
Recordings live in /var/lib/yukart/recordings/, one directory per session —
layout in the initial plan.
- For implementation practice guidelines, refer to the guidelines;
- For implementation plans and history, refer to them;