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OBD-II signals renamed obd_*, plus timing, trims, O2; GNSS signals; elm_connected; reboot command
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Decision 30: CAN feeds displays, OBD-II (K-line via the ELM) calibrates, so every
obd2 signal carries the obd_ prefix and the plain names are left for decoded ones.
yukart/gnss/<signal> gives displays the fix as single values; gnss/fix stays for
navigation. Boundary: reboot beside poweroff, same guards.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
This commit is contained in:
Mikkeli Matlock
2026-10-13 22:50:03 +09:00
parent 5feba8b354
commit 229d796cfd
4 changed files with 221 additions and 90 deletions
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docs/BOUNDARY.md
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@@ -37,7 +37,7 @@ The two channels from decision 24 share the socket but keep different guarantees
| `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
seen on `yukart/vehicle/+`, `yukart/host/+` and `yukart/gnss/+`. 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.
@@ -66,18 +66,20 @@ tablet, or an Orin behind a replugged hub, looks connected at the link layer.
|---|---|---|
| `ping` | — | `ack` with `detail: "pong"` |
| `mark` | `text`, `delay_ms` (optional: how long the command waited before this send) | stamped into the open recording; fails with no session open |
| `poweroff` | `confirm: "poweroff"`, `boot_id` (from this connection's `hello`) | acks, then shuts the host down cleanly (`systemctl poweroff`) about 2 s later. Refused unless svc-gw runs with `--allow-poweroff` (the Orin's unit only), and when `boot_id` is not the current boot's |
| `poweroff` | `confirm: "poweroff"`, `boot_id` (from this connection's `hello`) | acks, then shuts the host down cleanly (`systemctl poweroff`) about 2 s later. Refused unless svc-gw runs with `--allow-power` (the Orin's unit only), and when `boot_id` is not the current boot's |
| `reboot` | `confirm: "reboot"`, `boot_id` | the same, with `systemctl reboot`; the same flag and refusals |
A repeated `id` returns the original `ack` (last 256 kept, shared across
connections) and never re-runs the command.
`poweroff` is the exception to retry-until-acked: the ack cache does not survive
the reboot it causes, so a resend could shut the next boot down too. The client
sends it once and does not resend it; `boot_id` makes svc-gw refuse one from a
previous boot regardless.
`poweroff` and `reboot` are the exception to retry-until-acked: the ack cache does
not survive the restart they cause, so a resend could shut the next boot down (or
reboot it again). The client sends them once and does not resend; `boot_id` makes
svc-gw refuse one from a previous boot regardless.
## Not yet
- TTS utterances (id, chunk sequence, terminator, expiry) — when there is a TTS.
- `gnss`: its fix is an object, which the envelope's `value` does not allow yet.
- `gnss/fix` as one object (navigation's input): the envelope's `value` does not allow
one yet. Displays get the fix as single values on `yukart/gnss/<signal>` instead.
- Any version beyond `proto: 0`. A breaking change bumps it; the client checks it.