mikkeli
bba48efd90
SocketCAN to yukart/can/raw and back, per frame or batched, with loss and latency from the kernel timestamp. No loss at a saturated 500 kbit/s bus; batched costs the broker ~1 % of a core. Report in docs/impl/reports. 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 and orin-status 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 |
bus-bench |
not installed: a test tool | Raw CAN over MQTT, measured: SocketCAN → yukart/can/raw → loss and latency (report) |
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/*) |
scripts/deploy-recorder.sh # build, glibc check, install on the car Orin
scripts/deploy-orin-status.sh # build on the development Orin, glibc check, install
yukart-orin-status --once # on an Orin: one reading as JSON, no broker
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;