mikkeli
449aa0c99e
Navigation: self-hosted MapLibre + Valhalla + PMTiles, offline-first, with Japan specifics (left-hand traffic via valhalla_build_admins, data volume, CJK labels). Map matching pulled forward as Phase 2 ground truth. Orin runtime: new document covering the 8 GB shared-memory budget, capture-first startup tiers, failure isolation, storage and the audio graph. Data flow: direction belongs to topics inside the Orin; the display boundary is two simplex channels rather than one duplex socket; cloud links are outbound-initiated only; services mock themselves rather than having separate stub implementations. Naming: repositories are <group>-<thing> with no project prefix, so lexical order matches semantic grouping. Indexes the five new repos. Decisions 8-19 recorded; 14 (recording retention) left open. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_013kj58Jugkic783b8ZrtTVZ
3.7 KiB
Roadmap
Phases are ordered by dependency, not by date. Each phase should end with something demonstrable in the car.
Phase 0 — Host bring-up · in progress
Getting the Jetson to see the hardware at all.
- PCAN-USB working as SocketCAN
can1(out-of-treepcan.ko, netdev build) - SIM7600G-H-M.2 specified and documented
- SIM7600 brought up: LTE data path and GNSS via gpsd
- Kernel-update procedure for the out-of-tree PCAN module — it does not survive kernel upgrades and will break silently
- Power and mounting in the car: clean shutdown on ignition off
Tracked in orin-nano-env-setup.
Phase 1 — Capture
Get real Z27AG traffic onto disk before designing anything around it.
can-bridge— listen-only, timestamped frames onto the busrecorder— 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.
Phase 2 — Decode
- Correlate captures against the event log; identify recurring frame IDs
- Build the Z27AG DBC incrementally in
contracts decoder— raw frames to named signalsobd-poller— active OBD-II PIDs, single writer, rate-limitedgnss— position/speed, useful as ground truth for validating decoded speed
OBD-II gives standardised signals quickly and is worth doing early; it also provides a cross-check for reverse-engineered ones.
Phase 3 — Bus and contracts
- Stand up the broker; confirm MQTT holds up at real CAN rates (decision 4 in ARCHITECTURE.md is still proposed)
- Freeze v1 of topic names and payload schemas
telemetry-gw— external client access, including the serial bridge
Phase 4 — Displays
Order chosen by feedback speed, not ambition.
- One display end-to-end first, proving the contract — Android client is the quickest to iterate on
app-hud— directly-driven screen (Class A)app-esp32— RLCD/e-ink glanceable subset (Class B)
Phase 5 — Camera and inference · separate task
Deliberately deferred. It is the reason the compute is a Jetson rather than a Pi, but it shares nothing with the CAN work beyond the bus.
Navigation · parallel workstream
Not a phase — it runs alongside, and its early output feeds Phase 2. Design is
in ARCHITECTURE.md; code in svc-nav (runtime)
and tool-mapmint (artifact builds).
- Confirm Valhalla builds and runs on the Jetson (arm64) — do this first, it is the one real integration risk
- Build the admin database with
valhalla_build_admins— this is what sets left-hand traffic, and it must run before the tile build - Build Valhalla routing tiles from a Geofabrik Japan extract, starting with the region actually driven rather than all 2.3 GB of it
- Pull a Japan basemap extract from the Protomaps daily build with
go-pmtiles; static-serve it, withlocalIdeographFontFamilyset for CJK - MapLibre page rendering the basemap from a replayed GNSS trace
- Moving map live in the car — blocked on gpsd in Phase 0
- Meili map matching over recorded sessions, as Phase 2 ground truth
- Routing and turn-by-turn guidance onto
yukart/nav/guidance
The map-matching item is worth pulling forward: it validates decoded CAN speed against OSM speed limits and road geometry, which is otherwise guesswork.
Deferred
- Live off-board telemetry over LTE — hardware is present, but local logging covers the current need
- Any CAN transmission beyond OBD-II diagnostics