mikkeli
bb47ee5301
/ crosscheck (push) Successful in 1s
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
159 lines
8.4 KiB
Markdown
159 lines
8.4 KiB
Markdown
---
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type: plan
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status: active
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updated: 2026-10-13
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---
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# Roadmap
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Phases are ordered by dependency, not by date. Each phase should end with
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something demonstrable in the car.
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## Phase 0 — Host bring-up · *in progress*
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Getting the Jetson to see the hardware at all.
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- [x] PCAN-USB working as SocketCAN (out-of-tree `pcan.ko`, netdev build)
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- [x] Stable CAN names by udev: `can_pcan`, `can_onboard` — `canN` order raced at boot
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- [x] Z27AG OBD-port CAN measured: 500 kbps, not gatewayed, 27 periodic IDs at
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~890 frames/s; `can_pcan` comes up at 500k on hot-plug (verified 2026-10-13;
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boot not yet seen), acknowledging rather than listen-only
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- [x] SIM7600G-H-M.2 specified and documented
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- [x] SIM7600 LTE data path: QMI (self-built `qmi_wwan`), povo, metered, ranked
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below Ethernet/WiFi; failover tested, Tailscale stays reachable over LTE
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- [x] SIM7600 GNSS via gpsd (`/dev/sim7600-gps`): 3D fix in the car
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- [x] Kernel-update procedure for the out-of-tree modules (`pcan`, `qmi_wwan`) —
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documented, sources kept in `~/infra`; still manual, and breaks silently
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if forgotten
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- [x] Network time pinned to NICT; timezone `Asia/Tokyo`
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- [x] USB camera (IMX662, Sunplus UVC bridge) recognised on the car unit with
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in-tree drivers: MJPEG up to 1080p60, microphone; measured in
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orin-nano-env-setup `docs/impl/reports/USB-CAMERA.md`
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- [ ] Optional: RTC backup battery (CR2032) — without it the clock boots stale
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until NTP or GPS corrects it
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- [ ] Power and mounting in the car: clean shutdown on ignition off
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(UPS module bench test 2026-10-09: carries the Orin ≥ 20 s across a PD
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supply swap, enough to ride through cranking)
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— plan in orin-nano-env-setup `docs/impl/plans/POWER.md`; open: the Orin
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doesn't auto-start at ignition on while the UPS keeps it powered
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Tracked in [orin-nano-env-setup](gitea:yukart/orin-nano-env-setup).
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## Phase 1 — Capture
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Get real Z27AG traffic onto disk before designing anything around it.
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- [x] `recorder` — raw CAN + GNSS sessions on the car unit (`yukart-recorder.service`):
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starts on traffic or `ctl start`, ends after 15 s idle, marks via `ctl mark` or
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the app; fsync'd every second, bounded at 50 GB, ~20 MB per hour of driving
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- [ ] Off-board retention: sessions roll off the car unit once copied to dedicated
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storage (halogen over tailnet/WiFi, or object storage such as S3), instead of
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living on board until the cap. Not urgent: first checklist session was 6.2 MB
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for 16 min, 423 GB free (2026-10-13)
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- [ ] `can-bridge` — listen-only, timestamped frames onto the bus
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- [ ] Capture drive sessions across varied conditions (idle, cold start, moving,
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lights/indicators/windows actuated) with a written log of what was done when
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The manual event log matters more than it sounds: it is what makes the raw
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capture decodable later. Marks go into the session itself (`yukart-recorder ctl
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mark …`, or the app's Mark button), on the same clock as the frames.
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## Phase 2 — Decode
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- [ ] Correlate captures against the event log; identify recurring frame IDs —
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prior art and first candidates (engine speed in `0x210` / `0x13D`) in contracts
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`docs/impl/reports/Z27AG-CAN-PRIOR-ART.md`
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- [ ] Build the Z27AG signal set incrementally in `contracts` — in `signals.json`'s
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`can` blocks, not a hand-kept DBC (one is generated if a tool needs it)
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- [x] `decoder` — raw frames to named signals, 2026-10-13: svc-core `decoder`, laid out
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only by the `can` blocks in contracts `signals.json` (rpm, accelerator, brake,
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handbrake, indicators, side lights, dipped beam, doors, A/C compressor)
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- [x] `obd-poller` — active OBD-II PIDs, single writer, 2026-10-12: mode 01, the
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nine `obd2` signals (~10 Hz fast, 1 Hz slow), only while the bus is alive;
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`can_pcan` out of listen-only. Recorded beside the frames (`vehicle.ndjson`).
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**Disabled 2026-10-13:** the Z27AG doesn't answer OBD-II on CAN (likely
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K-line, pin 7); kept for later active-send use
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- [ ] OBD-II beyond mode 01: DTC scan (modes 03/07/0A) and MUT-III `21 xx`
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requests, both needing multi-frame (ISO-TP) replies
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- [ ] First decoding captures in the car, per contracts
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`docs/impl/plans/Z27AG-CAPTURES.md` — first checklist session 2026-10-13
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(117 marks, yukart-data `can-captures/`); jack-stands section still to do
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- [ ] `gnss` — position/speed, useful as ground truth for validating decoded speed
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OBD-II gives standardised signals quickly and is worth doing early; it also
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provides a cross-check for reverse-engineered ones.
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## Phase 3 — Bus and contracts
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- [x] Stand up the broker, 2026-10-12: mosquitto 2.0.11 on the car Orin,
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localhost only. First publisher `orin-status` (svc-core,
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`yukart/host/*`); `svc-gw` subscribes and serves it to the tablet
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- [x] Confirm MQTT holds up at real CAN rates (`yukart/can/raw`), 2026-10-12:
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no loss at a saturated bus, per frame or in 10 ms batches; batched costs
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the broker ~1 % of a core (svc-core `BUS-BENCH.md`)
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- [ ] Freeze v1 of topic names and payload schemas
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- [ ] `telemetry-gw` — external client access, including the serial bridge
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## Phase 4 — Displays
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Order chosen by feedback speed, not ambition.
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- [ ] One display end-to-end first, proving the contract — `app-flutter` is the
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quickest to iterate on, and is the only display in current scope.
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Started: boundary v0 (contracts `docs/BOUNDARY.md`) between `svc-gw` on the
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car unit and a text-readout starter app; not yet run on the tablet
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- [ ] `app-esp32` — RLCD/e-ink glanceable subset. Deferred, no hardware in scope
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## Phase 5 — Camera, then inference
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The camera is on the car unit (2026-10-11). Capturing and recording need no
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model and no GPU, so they can come before inference, which stays deferred: it is
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the reason the compute is a Jetson rather than a Pi, but it shares nothing with
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the CAN work beyond the bus, and it competes with voice for memory.
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What the hardware gives (USB camera report): MJPEG only, ~7.3 MB/s at 1080p30;
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no hardware video encoder on the Orin Nano, so H.264 is software, ~1.3–2 of 6
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cores at 1080p; frame rate falls with the light.
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- [ ] Decide the camera's roles and mounting: dash recording, live view on the
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tablet, inference input, or several
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- [ ] Measure in the car: daylight and night frame rate and MJPEG size on a road
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scene
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- [ ] One capture process owns the camera (V4L2 is single-reader) and feeds
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the others; sets UVC controls on open, since they reset on re-enumeration
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- [ ] Recording: H.264 segments on the recorder's clock and session marks,
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bounded like CAN sessions (~2.7 GB per hour at 6 Mbit/s)
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- [x] Live view (decision 27, proposed), 2026-10-12: `svc-vision` serves 720p
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MJPEG passthrough on `:7710` (`yukart-vision.service`, ~2% of a core),
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paced per decision 28, camera-agnostic, says when there is no camera;
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`app-flutter` shows it with exposure and gain controls
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- [ ] Inference — deferred; plan for evicting voice, not for coexisting with it
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([ORIN-RUNTIME.md](ORIN-RUNTIME.md))
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## Navigation · *parallel workstream*
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Not a phase — it runs alongside, and its early output feeds Phase 2. Design is
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in [ARCHITECTURE.md](ARCHITECTURE.md#navigation); code in `svc-nav` (runtime)
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and `tool-mapmint` (artifact builds).
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- [x] Confirm Valhalla builds and runs on the Jetson (arm64) — done 2026-09-04,
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full pipeline verified on the Orin including a served route
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- [ ] Build the admin database with `valhalla_build_admins` **from the full Japan
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extract** — a sub-region silently yields right-hand-traffic routing
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- [ ] Build Valhalla routing tiles from a Geofabrik Japan extract, starting with
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the region actually driven rather than all 2.3 GB of it
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- [ ] Pull a Japan basemap extract from the Protomaps daily build with
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`go-pmtiles`; static-serve it, with `localIdeographFontFamily` set for CJK
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- [ ] MapLibre page rendering the basemap from a replayed GNSS trace
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- [ ] Moving map live in the car (GNSS fix available on the car unit)
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- [ ] Meili map matching over recorded sessions, as Phase 2 ground truth
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- [ ] Routing and turn-by-turn guidance onto `yukart/nav/guidance`
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The map-matching item is worth pulling forward: it validates decoded CAN speed
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against OSM speed limits and road geometry, which is otherwise guesswork.
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## Deferred
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- Live off-board telemetry over LTE — hardware is present, but local logging
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covers the current need
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- Any CAN transmission beyond OBD-II diagnostics
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