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svc-vision: new repo for the camera; decision 29 (Python for vision)

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The live view moved from app-flutter's test tool to svc-vision, running as
yukart-vision.service on the car Orin.

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
2026-10-12 16:15:04 +09:00
parent a290a01f03
commit 66b7269f3c
4 changed files with 13 additions and 8 deletions
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docs/ARCHITECTURE.md
+3 -2
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@@ -35,7 +35,7 @@ The Orin runs headless: no local video out. The tablet app is the display.
| `decoder` | Raw frames → named signals via DBC | No |
| `recorder` | Persist raw + decoded sessions to disk; raw CAN and GNSS read directly, not via the bus (decision 25) | No |
| `telemetry-gw` | Serve external display clients | No |
| `vision` | Camera capture (USB UVC, MJPEG), software H.264 encoding, recording and live view; on-device inference later | No |
| `vision` | Camera capture (any V4L2 camera; in practice USB UVC, MJPEG), live view, software H.264 recording; on-device inference later. Repo `svc-vision`, Python (decision 29) | No |
Each ships as a systemd unit. The host-level prerequisites they depend on
(kernel modules, device permissions, gpsd) are the environment repo's job, not
@@ -351,7 +351,7 @@ rewriting the document.
| 2 | Displays are bus subscribers; no display-specific logic upstream | Accepted | 2026-08-14 |
| 3 | Listen-only sniffing + active OBD-II, single writer | Accepted | 2026-08-14 |
| 4 | MQTT as the bus | **Proposed** | 2026-08-14 |
| 5 | Rust for on-Orin services, Python for off-car tooling, Dart for the display client | Accepted | 2026-09-04 |
| 5 | Rust for on-Orin services, Python for off-car tooling, Dart for the display client. One exception: decision 29 | Accepted | 2026-09-04 |
| 21 | Two clocks per envelope; `monotonic` orders, `timestamp` references | Accepted | 2026-09-05 |
| 22 | `signals.json` is the single source for signal name and unit; both are derived, never authored twice | Accepted | 2026-09-05 |
| 23 | Services build natively on the development Orin; both units stay on the same L4T release | Accepted | 2026-09-05 |
@@ -375,3 +375,4 @@ rewriting the document.
| 20 | Every display is data-only. Directly-driven screens are for permanently installed, car-powered panels only | Accepted | 2026-09-04 |
| 27 | Camera live view is the one video stream to the tablet: its own connection beside the boundary, paced to the link (≤ ~4 MB/s), never on the bus. Exception to 20 | **Proposed** | 2026-10-11 |
| 28 | Every Orin → tablet sender caps its socket (`SO_MAX_PACING_RATE`, ~5 MB/s); unpaced bursts stall the USB link for seconds | **Proposed** | 2026-10-11 |
| 29 | `svc-vision` is Python: camera pipelines and inference live in that ecosystem. Exception to 5 | Accepted | 2026-10-12 |