mikkeli
105 lines
4.6 KiB
Markdown
105 lines
4.6 KiB
Markdown
---
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type: plan
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status: active
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updated: 2026-10-09
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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 listen-only on boot and hot-plug
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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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- [ ] 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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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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- [ ] `can-bridge` — listen-only, timestamped frames onto the bus
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- [ ] `recorder` — persist raw sessions
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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.
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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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- [ ] Build the Z27AG DBC incrementally in `contracts`
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- [ ] `decoder` — raw frames to named signals
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- [ ] `obd-poller` — active OBD-II PIDs, single writer, rate-limited
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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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- [ ] Stand up the broker; confirm MQTT holds up at real CAN rates (decision 4
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in [ARCHITECTURE.md](ARCHITECTURE.md) is still *proposed*)
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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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- [ ] `app-esp32` — RLCD/e-ink glanceable subset. Deferred, no hardware in scope
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## Phase 5 — Camera and inference · *separate task*
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Deliberately deferred. It is the reason the compute is a Jetson rather than a
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Pi, but it shares nothing with the CAN work beyond the bus.
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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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