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
33 lines
1.2 KiB
Markdown
33 lines
1.2 KiB
Markdown
---
|
|
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 |
|
|
|
|
```bash
|
|
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](docs/impl/plans/INITIAL.md#session-layout).
|
|
|
|
- For implementation practice guidelines, refer to the [guidelines](docs/GUIDELINES.md);
|
|
- For implementation plans and history, refer to [them](docs/impl/);
|