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
37 lines
1.7 KiB
Markdown
37 lines
1.7 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` 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](docs/impl/reports/BUS-BENCH.md)) |
|
|
| `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/*`) |
|
|
|
|
```bash
|
|
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](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/);
|