From 6fc187570c6a9935696c96efbee9fa002d81449b Mon Sep 17 00:00:00 2001 From: mikkeli Date: Fri, 9 Oct 2026 00:02:05 +0900 Subject: [PATCH] Orin is headless: drop local video out, ALSA instead of PipeWire The tablet app is the display, so the diagram's hud (local video out) branch goes; displays are all remote. The car unit now runs no desktop and no sound server, so the host layer lists ALSA, and mic capture for Whisper reads it directly. Co-Authored-By: Claude Opus 5.5 --- docs/ARCHITECTURE.md | 5 +++-- docs/ORIN-RUNTIME.md | 6 +++++- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/docs/ARCHITECTURE.md b/docs/ARCHITECTURE.md index 86ca2a5..9ab2337 100644 --- a/docs/ARCHITECTURE.md +++ b/docs/ARCHITECTURE.md @@ -19,9 +19,10 @@ rest down. CAN ──▶ can-bridge ──┐ OBD-II ──▶ obd-poller ─┤ GNSS ──▶ gnss ├──▶ message bus ──┬──▶ recorder (disk) - camera ──▶ vision* ─┘ ├──▶ hud (local video out) - └──▶ telemetry-gw ──▶ remote displays + camera ──▶ vision* ─┘ └──▶ telemetry-gw ──▶ remote displays (tablet app) * later phase, separate task + +The Orin runs headless: no local video out. The tablet app is the display. ``` ## Services diff --git a/docs/ORIN-RUNTIME.md b/docs/ORIN-RUNTIME.md index 5af8007..9a23eba 100644 --- a/docs/ORIN-RUNTIME.md +++ b/docs/ORIN-RUNTIME.md @@ -20,7 +20,7 @@ repo, so it lives in the hub rather than in any one of them. acquisition can-bridge, obd-poller, gnss bus mosquitto ───────────────────────────────────────────────────────── - host kernel modules, gpsd, PipeWire, network orin-nano-env-setup + host kernel modules, gpsd, ALSA, network orin-nano-env-setup ``` A layer may depend on the one below it and on the bus. Nothing depends sideways: @@ -180,6 +180,10 @@ Whisper runs on the Orin, so its input does too. Audio *in* on one box and audio *out* on the other is asymmetric on purpose: each side does the simple thing, and a microphone has no reason to reach the head unit. +The Orin runs headless with no sound server: capture reads the ALSA device +directly. If a service ever needs PipeWire, run it for that service's user +(lingering), not as a desktop session. + ### Degrade when there is no sink With no tablet connected the Orin can still hear — the mic is local — but cannot