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Boundary: source bus, and how svc-gw judges stale

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Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
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Mikkeli Matlock
2026-10-12 16:37:10 +09:00
parent d9d942745b
commit 1f91b7ee16
1 changed files with 8 additions and 2 deletions
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docs/BOUNDARY.md
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@@ -31,11 +31,17 @@ The two channels from decision 24 share the socket but keep different guarantees
| `t` | When | Fields | | `t` | When | Fields |
|---|---|---| |---|---|---|
| `hello` | first message | `proto` (0), `server`, `host`, `source` (`mock` \| `none`), `mock`, `hb_ms`, `timeout_ms` | | `hello` | first message | `proto` (0), `server`, `host`, `source` (`bus` \| `mock` \| `none`), `mock`, `hb_ms`, `timeout_ms` |
| `hb` | every `hb_ms` | `ts` (Orin epoch ms), `clients` | | `hb` | every `hb_ms` | `ts` (Orin epoch ms), `clients` |
| `state` | 5 Hz, when there is a source | `seq`, `mock`, `signals`: name → envelope (`schema/envelope.json`) | | `state` | 5 Hz, when there is a source | `seq`, `mock`, `signals`: name → envelope (`schema/envelope.json`) |
| `ack` | reply to a `cmd` | `id`, `ok`, `detail`, `dup` (true when answered from the cache) | | `ack` | reply to a `cmd` | `id`, `ok`, `detail`, `dup` (true when answered from the cache) |
With `source: bus`, `signals` is the newest envelope of every signal svc-gw has
seen on `yukart/vehicle/+` and `yukart/host/+`. svc-gw marks one
`quality: "stale"` when it has not been refreshed for 5 s, or is known only from
the broker's retained copy (which may predate a reboot). A signal once seen is
never removed.
`signals` holds only what is currently known. A missing signal is unknown, a `signals` holds only what is currently known. A missing signal is unknown, a
`null` value is known-without-value, `quality: "stale"` is an old value. All three `null` value is known-without-value, `quality: "stale"` is an old value. All three
are normal and a display must render each distinctly. are normal and a display must render each distinctly.
@@ -67,5 +73,5 @@ connections) and never re-runs the command.
## Not yet ## Not yet
- TTS utterances (id, chunk sequence, terminator, expiry) — when there is a TTS. - TTS utterances (id, chunk sequence, terminator, expiry) — when there is a TTS.
- `gnss` and decoded vehicle state from the bus — when the bus exists. - `gnss`: its fix is an object, which the envelope's `value` does not allow yet.
- Any version beyond `proto: 0`. A breaking change bumps it; the client checks it. - Any version beyond `proto: 0`. A breaking change bumps it; the client checks it.