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Index contracts; record the envelope's two clocks and single-source rule

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Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_013kj58Jugkic783b8ZrtTVZ
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Mikkeli Matlock
2026-09-05 12:54:28 +09:00
parent b9d138652e
commit e5adcf1afe
2 changed files with 12 additions and 4 deletions
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docs/ARCHITECTURE.md
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@@ -78,9 +78,15 @@ yukart/nav/guidance next manoeuvre, distance, street name, retained
yukart/nav/route active route geometry, retained
```
Payloads: JSON for low-rate signals (readable, debuggable); compact binary or
CBOR for `can/raw`, since a 500 kbps bus produces far more traffic than JSON
should carry.
Payloads: a self-describing JSON envelope for decoded signals; compact binary for
`can/raw`, since a 500 kbps bus produces far more traffic than JSON should carry.
Every envelope carries **two clocks**. `monotonic` is authoritative for ordering
and intervals; `timestamp` is the absolute reference and may step, since the car
boots without network and NTP corrects the clock once LTE connects mid-drive.
Topic names, payload schemas and the signal registry live in
[contracts](gitea:yukart/contracts).
Topic names and payload schemas are a **contract shared across repos** — Android
and ESP32 clients depend on them — so they are versioned in their own repo
@@ -308,6 +314,8 @@ rewriting the document.
| 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 |
| 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 |
| 6 | Local logging first; off-board LTE telemetry deferred | Accepted | 2026-08-14 |
| 7 | Camera/AI inference is a later, separate task | Accepted | 2026-08-14 |
| 8 | Self-hosted offline navigation (MapLibre GL + Valhalla + PMTiles) over a cloud maps SDK | Accepted | 2026-09-03 |