mikkeli
cce9711119
obd-poller drops its CAN socket: the Z27AG answers OBD-II only on ISO 9141-2. It holds a raw RFCOMM link to the ELM (no pairing, no root), fixes the protocol (ATSP3) so nothing probes CAN, publishes the obd_* signals, and releases the adapter after a minute of ECU silence so it can sleep. gnss: gpsd's fix as yukart/gnss/<signal>. orin-status: elm_connected from BlueZ. One native deploy script (deploy-native.sh BIN) behind the per-service ones; /etc/default/yukart-elm holds the adapter's address. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
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1.8 KiB
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Core services guidelines
1. One writer: obd-poller, and never on CAN
obd-polleris the only thing that sends anything to the car (project-yukart decisions 3 and 30): OBD-II requests, one at a time, on the K-line through the Bluetooth ELM327, with the ELM's protocol fixed so it never probes CAN.- Nothing in svc-core transmits on CAN. The recorder and the decoder only read;
anything else that writes to
can_pcanis a bug. can_pcanstill acknowledges frames like any scan tool (listen-only off since 2026-10-12, left so as harmless). Going back is one line in orin-nano-env-setup's/etc/default/can-can_pcan.
2. Capture never waits
- A frame missed is gone. Producers hand frames to the writer without blocking; what doesn't fit is counted, recorded as an event, and never silently lost.
- Capture reads SocketCAN and gpsd directly. It does not depend on the broker, a display, or any other service being up.
3. Every failure leaves complete files
- Append, flush and
fdatasyncabout once a second. Power loss costs at most the last second. - Replace files by write-temp, fsync, rename. Never rewrite in place.
- Anything found half-done at startup is repaired or marked, not deleted.
4. Raw stays raw
- Recordings are
candump -Ltext plus the gpsd JSON as received, socan-utils,canplayerand anything already written against the first captures keep working. - Decoding happens downstream of the recording, never instead of it.
5. Time is evidence, not truth
- The car unit's clock can boot stale and be stepped mid-drive. Record what is needed to correct it later (sync state, monotonic time, observed steps, GNSS time beside local receive time) rather than trusting it.