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Camera in the plan: roadmap Phase 5 split into camera then inference; proposed decisions 27 (live view) and 28 (paced Orin -> tablet senders)

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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
2026-10-11 17:21:41 +09:00
parent e6ca835992
commit a290a01f03
4 changed files with 37 additions and 8 deletions
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docs/ARCHITECTURE.md
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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 and on-device inference (later) | No |
| `vision` | Camera capture (USB UVC, MJPEG), software H.264 encoding, recording and live view; on-device inference later | 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
@@ -212,7 +212,9 @@ rewrite: the seam stays visible even while the process is one.
## Display contract
**Every display is data-only.** The Orin sends no video to anything. Each device
subscribes to the bus and renders itself.
subscribes to the bus and renders itself. The one proposed exception is the
camera's live view (decision 27): a paced video stream beside the boundary,
never on the bus.
| Path | Transport | Notes |
|---|---|---|
@@ -371,3 +373,5 @@ rewriting the document.
| 18 | Stubs publish the real topic and schema, never a fixture-specific one | Accepted | 2026-09-03 |
| 19 | A service mocks itself behind its own input interface; there is one implementation of each contract | Accepted | 2026-09-04 |
| 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 |