Define the envelope, topic namespace and OBD-II signal registry

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_013kj58Jugkic783b8ZrtTVZ
2026-09-05 12:54:14 +09:00
commit 8f490aba8e
8 changed files with 317 additions and 0 deletions
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+{
+  "root": "yukart",
+  "topics": {
+    "yukart/can/raw": {
+      "payload": "binary",
+      "retained": false,
+      "rate": "1000-3000/s",
+      "publisher": "can-bridge",
+      "description": "Timestamped raw frames. Binary, not the JSON envelope."
+    },
+    "yukart/vehicle/<signal>": {
+      "payload": "envelope",
+      "retained": true,
+      "rate": "1-50/s",
+      "publisher": "decoder",
+      "description": "One topic per signal, named exactly as in signals.json."
+    },
+    "yukart/gnss/fix": {
+      "payload": "envelope",
+      "retained": true,
+      "rate": "1-10/s",
+      "publisher": "gnss",
+      "description": "value is an object: lat, lon, alt_m, speed_kph, heading_deg, fix, satellites."
+    },
+    "yukart/system/<service>": {
+      "payload": "json",
+      "retained": true,
+      "rate": "on change",
+      "publisher": "every service",
+      "description": "state: starting|ready|degraded|stopping, plus service-specific detail."
+    },
+    "yukart/nav/guidance": {
+      "payload": "json",
+      "retained": true,
+      "rate": "on change",
+      "publisher": "svc-nav",
+      "description": "Next manoeuvre, distance, street name."
+    },
+    "yukart/nav/route": {
+      "payload": "json",
+      "retained": true,
+      "rate": "on change",
+      "publisher": "svc-nav",
+      "description": "Active route geometry."
+    },
+    "yukart/session/mark": {
+      "payload": "json",
+      "retained": false,
+      "rate": "human",
+      "publisher": "svc-gw",
+      "description": "Operator event stamped into the recording. Carries both clocks like the envelope."
+    }
+  }
+}