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Decision 4: raw CAN rate confirmed on the car Orin

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No loss at a saturated bus; 10 ms batches cost the broker ~1 % of a core.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
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Mikkeli Matlock
2026-10-12 20:48:41 +09:00
parent b254bb2c55
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@@ -70,7 +70,9 @@ provides a cross-check for reverse-engineered ones.
- [x] Stand up the broker, 2026-10-12: mosquitto 2.0.11 on the car Orin,
localhost only. First publisher `orin-status` (svc-core,
`yukart/host/*`); `svc-gw` subscribes and serves it to the tablet
- [ ] Confirm MQTT holds up at real CAN rates (`yukart/can/raw`)
- [x] Confirm MQTT holds up at real CAN rates (`yukart/can/raw`), 2026-10-12:
no loss at a saturated bus, per frame or in 10 ms batches; batched costs
the broker ~1 % of a core (svc-core `BUS-BENCH.md`)
- [ ] Freeze v1 of topic names and payload schemas
- [ ] `telemetry-gw` — external client access, including the serial bridge