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

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

docs/ROADMAP.md

@@ -38,17 +38,22 @@ Tracked in [orin-nano-env-setup](gitea:yukart/orin-nano-env-setup).
 
 Get real Z27AG traffic onto disk before designing anything around it.
 
+- [x] `recorder` — raw CAN + GNSS sessions on the car unit (`yukart-recorder.service`):
+      starts on traffic or `ctl start`, ends after 15 s idle, marks via `ctl mark` or
+      the app; fsync'd every second, bounded at 50 GB, ~20 MB per hour of driving
 - [ ] `can-bridge` — listen-only, timestamped frames onto the bus
-- [ ] `recorder` — persist raw sessions
 - [ ] Capture drive sessions across varied conditions (idle, cold start, moving,
       lights/indicators/windows actuated) with a written log of what was done when
 
 The manual event log matters more than it sounds: it is what makes the raw
-capture decodable later.
+capture decodable later. Marks go into the session itself (`yukart-recorder ctl
+mark …`, or the app's Mark button), on the same clock as the frames.
 
 ## Phase 2 — Decode
 
-- [ ] Correlate captures against the event log; identify recurring frame IDs
+- [ ] Correlate captures against the event log; identify recurring frame IDs —
+      prior art and first candidates (engine speed in `0x210` / `0x13D`) in contracts
+      `docs/impl/reports/Z27AG-CAN-PRIOR-ART.md`
 - [ ] Build the Z27AG DBC incrementally in `contracts`
 - [ ] `decoder` — raw frames to named signals
 - [ ] `obd-poller` — active OBD-II PIDs, single writer, rate-limited
@@ -69,7 +74,9 @@ provides a cross-check for reverse-engineered ones.
 Order chosen by feedback speed, not ambition.
 
 - [ ] One display end-to-end first, proving the contract — `app-flutter` is the
-      quickest to iterate on, and is the only display in current scope
+      quickest to iterate on, and is the only display in current scope.
+      Started: boundary v0 (contracts `docs/BOUNDARY.md`) between `svc-gw` on the
+      car unit and a text-readout starter app; not yet run on the tablet
 - [ ] `app-esp32` — RLCD/e-ink glanceable subset. Deferred, no hardware in scope
 
 ## Phase 5 — Camera and inference · *separate task*