mikkeli
b605c27fc0
Raw frames to four subscribers plus envelopes to five, at the car's rate and at a full bus. Raw never suffered; envelope deliveries are the load, with the knee near 40,000 deliveries/s. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
37 lines
1.7 KiB
Markdown
37 lines
1.7 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` and `orin-status` now; `can-bridge`, `obd-poller`, `gnss` and `decoder` as they are
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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 |
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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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| `orin-status` | `yukart-orin-status.service` | The Orin's health on the bus, once a second: temperatures, CPU/GPU load, memory, power, fan, WiFi/LTE/tablet links, UPS battery (`yukart/host/*`) |
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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-orin-status.sh # build on the development Orin, glibc check, install
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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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