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/ARCHITECTURE.md

@@ -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 |

docs/REPOS.md

@@ -24,7 +24,8 @@ contracts repo, not copied into each consumer.
 | [orin-nano-env-setup](gitea:yukart/orin-nano-env-setup) | Jetson host bring-up |
 | [app-flutter](gitea:yukart/app-flutter) | Flutter display client |
 | [contracts](gitea:yukart/contracts) | Topic namespace, payload schemas, signal registry |
-| [svc-gw](gitea:yukart/svc-gw) | Telemetry gateway — aggregation and the HTTP surface |
+| [svc-core](gitea:yukart/svc-core) | Acquisition + processing cluster: `recorder` now; `can-bridge`, `obd-poller`, `gnss`, `decoder` to come |
+| [svc-gw](gitea:yukart/svc-gw) | Telemetry gateway — aggregation and the display boundary |
 | [svc-nav](gitea:yukart/svc-nav) | Navigation service — routing and guidance |
 | [tool-mapmint](gitea:yukart/tool-mapmint) | Map artifact minting, workstation-side |
 | [tool-mock](gitea:yukart/tool-mock) | Mocks and fixtures — a fake car on a workstation |
@@ -33,7 +34,6 @@ contracts repo, not copied into each consumer.
 
 | Repository | Role | Why separate |
 |---|---|---|
-| `svc-core` | Acquisition + processing cluster: `can-bridge`, `obd-poller`, `gnss`, `decoder`, `recorder` | Developed and deployed as one unit on the Orin |
 | `app-esp32` | ESP32 RLCD/e-ink display firmware (Class B) | Embedded toolchain, flashed not deployed |
 | `tool-analysis` | Offline session analysis, reverse-engineering notebooks | Runs off-car, no runtime coupling |
 

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*