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Decision 4: raw CAN rate confirmed on the car Orin

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No loss at a saturated bus; 10 ms batches cost the broker ~1 % of a core.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
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Mikkeli Matlock
2026-10-12 20:48:41 +09:00
parent b254bb2c55
commit b7c958ed68
2 changed files with 4 additions and 2 deletions
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docs/ARCHITECTURE.md
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@@ -352,7 +352,7 @@ rewriting the document.
| 1 | Separate services over a message bus, not one process | Accepted | 2026-08-14 | | 1 | Separate services over a message bus, not one process | Accepted | 2026-08-14 |
| 2 | Displays are bus subscribers; no display-specific logic upstream | Accepted | 2026-08-14 | | 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 | | 3 | Listen-only sniffing + active OBD-II, single writer | Accepted | 2026-08-14 |
| 4 | MQTT as the bus (raw CAN rate still to confirm) | Accepted | 2026-10-12 | | 4 | MQTT as the bus; raw CAN rate confirmed on the car Orin (svc-core `BUS-BENCH.md`) | Accepted | 2026-10-12 |
| 5 | Rust for on-Orin services, Python for off-car tooling, Dart for the display client. One exception: decision 29 | 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 | | 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 | | 22 | `signals.json` is the single source for signal name and unit; both are derived, never authored twice | Accepted | 2026-09-05 |
docs/ROADMAP.md
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@@ -70,7 +70,9 @@ provides a cross-check for reverse-engineered ones.
- [x] Stand up the broker, 2026-10-12: mosquitto 2.0.11 on the car Orin, - [x] Stand up the broker, 2026-10-12: mosquitto 2.0.11 on the car Orin,
localhost only. First publisher `orin-status` (svc-core, localhost only. First publisher `orin-status` (svc-core,
`yukart/host/*`); `svc-gw` subscribes and serves it to the tablet `yukart/host/*`); `svc-gw` subscribes and serves it to the tablet
- [ ] Confirm MQTT holds up at real CAN rates (`yukart/can/raw`) - [x] Confirm MQTT holds up at real CAN rates (`yukart/can/raw`), 2026-10-12:
no loss at a saturated bus, per frame or in 10 ms batches; batched costs
the broker ~1 % of a core (svc-core `BUS-BENCH.md`)
- [ ] Freeze v1 of topic names and payload schemas - [ ] Freeze v1 of topic names and payload schemas
- [ ] `telemetry-gw` — external client access, including the serial bridge - [ ] `telemetry-gw` — external client access, including the serial bridge