mikkeli
1f47943e57
Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_013kj58Jugkic783b8ZrtTVZ
52 lines
2.0 KiB
Markdown
52 lines
2.0 KiB
Markdown
---
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type: default
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---
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# Initial plan
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## Scope
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Turn a GNSS fix plus a destination into guidance on the bus. Nothing about
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rendering — that belongs to the display client.
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## Order
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1. Confirm Valhalla builds and runs on the Jetson (arm64). This is the one real
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integration risk in the whole navigation workstream — upstream's arm64
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container story is unsettled. Do it before anything else.
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2. Stand up Valhalla against artifacts from `tool-mapmint`, serving HTTP locally.
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3. Define the routing provider interface, with Valhalla as the first implementation.
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4. Bridge: subscribe to `yukart/gnss/fix`, publish `yukart/nav/guidance`.
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5. Meili map matching over recorded sessions — see below.
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## Why map matching comes early
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Meili's `trace_attributes` snaps a recorded GNSS trace onto OSM and returns road
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attribution along it: speed limit, road class, geometry. That is ground truth for
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validating reverse-engineered CAN signals, which is otherwise guesswork. It is
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worth having before any navigation UI exists.
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## Blocked on
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Live guidance needs a GNSS fix, which needs gpsd, which needs the SIM7600 brought
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up in [orin-nano-env-setup](gitea:yukart/orin-nano-env-setup). Everything else here
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can be built and validated against a replayed trace.
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## Links
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| Link | Shape | Initiator |
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|---|---|---|
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| `yukart/gnss/fix` | subscribe | — |
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| `yukart/nav/{guidance,route}` | publish, retained | — |
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| Route requests | request/response, HTTP | `svc-gw` |
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| Cloud routing API, if used | request/response | this service, outbound only |
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`svc-nav` never talks to a display. Guidance reaches the app as bus state via
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`svc-gw`, and route requests arrive proxied. Nav does not know displays exist.
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## GNSS is scaffolding for now
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The PCBs are not assembled, so there is no real fix yet. Positions come from a
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replayed trace publishing `yukart/gnss/fix` with the **real schema** — see the
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fixtures rule in [ARCHITECTURE.md](gitea:yukart/project-yukart). Everything
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downstream is then identical when the hardware lands.
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