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Phase 1 recorder running; svc-core current; boundary v0 started

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The recorder runs on the car unit and reads SocketCAN and gpsd directly
(decision 25, proposed). svc-gw and app-flutter talk boundary v0, both
channels on one WebSocket with their own semantics (decision 26, proposed).

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
2026-10-09 20:24:32 +09:00
parent 9a1512793d
commit e6ca835992
3 changed files with 16 additions and 7 deletions
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docs/ARCHITECTURE.md
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@@ -33,7 +33,7 @@ The Orin runs headless: no local video out. The tablet app is the display.
| `obd-poller` | Active OBD-II PID request/response | **Yes** |
| `gnss` | gpsd client → position, speed, time fix | No |
| `decoder` | Raw frames → named signals via DBC | No |
| `recorder` | Persist raw + decoded sessions to disk | 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 |
@@ -354,6 +354,8 @@ rewriting the document.
| 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 |
| 24 | Link drops are routine: `svc-gw` detects dead clients by heartbeat and redelivers or expires pending reliable traffic; upstream commands are idempotent | **Proposed** | 2026-10-09 |
| 25 | The recorder reads SocketCAN and gpsd directly; raw capture never depends on the broker | **Proposed** | 2026-10-09 |
| 26 | Boundary v0 carries both channels of decision 15 on one WebSocket, each keeping its own semantics (drop-oldest down, acked and idempotent up) | **Proposed** | 2026-10-09 |
| 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 |