mikkeli
084960e41e
Replaces `type: default` — one value across every document, read by nothing, so it discriminated nothing. Types are now reference, guidelines, plan and report, applied to every markdown file with no exceptions for the hub. Plans carry status and updated, reports carry date. REPOS.md already noted that plans go stale and reports do not, but nothing made that visible: a plan from months ago looked identical to one written today. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_013kj58Jugkic783b8ZrtTVZ
2.0 KiB
type, status, updated
| type | status | updated |
|---|---|---|
| plan | active | 2026-09-04 |
Initial plan
Scope
Turn a GNSS fix plus a destination into guidance on the bus. Nothing about rendering — that belongs to the display client.
Order
- Confirm Valhalla builds and runs on the Jetson (arm64). This is the one real integration risk in the whole navigation workstream — upstream's arm64 container story is unsettled. Do it before anything else.
- Stand up Valhalla against artifacts from
tool-mapmint, serving HTTP locally. - Define the routing provider interface, with Valhalla as the first implementation.
- Bridge: subscribe to
yukart/gnss/fix, publishyukart/nav/guidance. - Meili map matching over recorded sessions — see below.
Why map matching comes early
Meili's trace_attributes snaps a recorded GNSS trace onto OSM and returns road
attribution along it: speed limit, road class, geometry. That is ground truth for
validating reverse-engineered CAN signals, which is otherwise guesswork. It is
worth having before any navigation UI exists.
Blocked on
Live guidance needs a GNSS fix, which needs gpsd, which needs the SIM7600 brought up in orin-nano-env-setup. Everything else here can be built and validated against a replayed trace.
Links
| Link | Shape | Initiator |
|---|---|---|
yukart/gnss/fix |
subscribe | — |
yukart/nav/{guidance,route} |
publish, retained | — |
| Route requests | request/response, HTTP | svc-gw |
| Cloud routing API, if used | request/response | this service, outbound only |
svc-nav never talks to a display. Guidance reaches the app as bus state via
svc-gw, and route requests arrive proxied. Nav does not know displays exist.
GNSS is scaffolding for now
The PCBs are not assembled, so there is no real fix yet. Positions come from a
replayed trace publishing yukart/gnss/fix with the real schema — see the
fixtures rule in ARCHITECTURE.md. Everything
downstream is then identical when the hardware lands.