reboot command beside poweroff, one polkit grant; forward yukart/gnss/+; mock uses current names

--allow-poweroff becomes --allow-power. deploy/50-yukart-gw-power.pkla adds logind's
reboot actions and the deploy removes the old poweroff-only file.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz

deploy/50-yukart-gw-power.pkla

@@ -1,12 +1,13 @@
-# polkit (0.105, local authority): lets the svc-gw user power the host off through
-# logind, with no sudo. svc-gw runs `systemctl poweroff` for the display's
-# `poweroff` command (contracts BOUNDARY.md). Nothing else is granted.
+# polkit (0.105, local authority): lets the svc-gw user power the host off or reboot it
+# through logind, with no sudo. svc-gw runs `systemctl poweroff` / `systemctl reboot`
+# for the display's `poweroff` and `reboot` commands (contracts BOUNDARY.md). Nothing
+# else is granted.
 # Installed to /etc/polkit-1/localauthority/50-local.d/ by scripts/deploy.sh.
 # multiple-sessions: an ssh login is another session; ignore-inhibit: no inhibitor lock
 # (none are taken on this host today) should leave the button silently doing nothing.
-[yukart-gw: power off]
+[yukart-gw: power off and reboot]
 Identity=unix-user:mikkeli
-Action=org.freedesktop.login1.power-off;org.freedesktop.login1.power-off-multiple-sessions;org.freedesktop.login1.power-off-ignore-inhibit
+Action=org.freedesktop.login1.power-off;org.freedesktop.login1.power-off-multiple-sessions;org.freedesktop.login1.power-off-ignore-inhibit;org.freedesktop.login1.reboot;org.freedesktop.login1.reboot-multiple-sessions;org.freedesktop.login1.reboot-ignore-inhibit
 ResultAny=yes
 ResultInactive=yes
 ResultActive=yes

deploy/yukart-gw.service

@@ -8,8 +8,8 @@ StartLimitIntervalSec=0
 [Service]
 User=mikkeli
 # Add --mock only on a bench unit: every message then says so, and displays must show it.
-# --allow-poweroff: the display may shut this host down (contracts BOUNDARY.md, poweroff). Only on the Orin.
-ExecStart=/usr/local/bin/yukart-gw --listen 0.0.0.0:7700 --allow-poweroff
+# --allow-power: the display may power this host off or reboot it (contracts BOUNDARY.md). Only on the Orin.
+ExecStart=/usr/local/bin/yukart-gw --listen 0.0.0.0:7700 --allow-power
 Restart=always
 RestartSec=2
 

docs/impl/plans/INITIAL.md

@@ -23,8 +23,8 @@ directly.
 0. **Boundary v0** — in place: WebSocket on `:7700`, hello, heartbeats both ways,
    `mark` forwarded to the recorder's control socket, mock state behind `--mock`.
    Protocol in contracts [`docs/BOUNDARY.md`](gitea:yukart/contracts).
-   **Bus input** — in place (2026-10-12): subscribes to `yukart/vehicle/+` and
-   `yukart/host/+`, keeps the newest envelope per signal, marks stale after 5 s
+   **Bus input** — in place (2026-10-12): subscribes to `yukart/vehicle/+`,
+   `yukart/host/+` and `yukart/gnss/+`, keeps the newest envelope per signal, marks stale after 5 s
    or when known only from a retained copy. Bus or mock, never both.
 1. Static file serving for the basemap — smallest useful thing, unblocks the map.
 2. Nav HTTP proxy to [svc-nav](gitea:yukart/svc-nav).

scripts/deploy.sh

@@ -6,8 +6,8 @@
 #   env:   BUILD_HOST                      (default: mikkeli-orin-nano-2)
 #
 # Builds what is pushed, not the working tree: the build host pulls master of
-# svc-gw and contracts under ~/dev/yukart/. Native on purpose: the poweroff command
-# runs systemctl, and std::process::Command cross-compiled against the workstation's
+# svc-gw and contracts under ~/dev/yukart/. Native on purpose: the poweroff and reboot
+# commands run systemctl, and std::process::Command cross-compiled against the workstation's
 # newer glibc links GLIBC_2.39 symbols (pidfd_spawnp) the car cannot load.
 set -euo pipefail
 
@@ -31,13 +31,15 @@ scripts/check-glibc.sh "$BIN"
 ssh "$HOST" 'mkdir -p ~/infra/svc-gw'
 scp -q "$BIN" "$HOST:infra/svc-gw/svc-gw.new"
 scp -q deploy/yukart-gw.service "$HOST:infra/svc-gw/yukart-gw.service"
-scp -q deploy/50-yukart-gw-poweroff.pkla "$HOST:infra/svc-gw/50-yukart-gw-poweroff.pkla"
+scp -q deploy/50-yukart-gw-power.pkla "$HOST:infra/svc-gw/50-yukart-gw-power.pkla"
 ssh "$HOST" 'set -e
   mv ~/infra/svc-gw/svc-gw.new ~/infra/svc-gw/svc-gw
   sudo ln -sfn "$HOME/infra/svc-gw/svc-gw" /usr/local/bin/yukart-gw
   sudo install -m 0644 ~/infra/svc-gw/yukart-gw.service /etc/systemd/system/yukart-gw.service
-  # polkit, not sudo, lets the service power the host off (the poweroff command).
-  sudo install -m 0644 ~/infra/svc-gw/50-yukart-gw-poweroff.pkla /etc/polkit-1/localauthority/50-local.d/50-yukart-gw-poweroff.pkla
+  # polkit, not sudo, lets the service power the host off or reboot it (the poweroff and
+  # reboot commands). The file was named 50-yukart-gw-poweroff.pkla before reboot joined.
+  sudo install -m 0644 ~/infra/svc-gw/50-yukart-gw-power.pkla /etc/polkit-1/localauthority/50-local.d/50-yukart-gw-power.pkla
+  sudo rm -f /etc/polkit-1/localauthority/50-local.d/50-yukart-gw-poweroff.pkla ~/infra/svc-gw/50-yukart-gw-poweroff.pkla
   sudo systemctl daemon-reload
   sudo systemctl enable yukart-gw.service >/dev/null
   sudo systemctl restart yukart-gw.service

src/bus.rs

@@ -15,7 +15,7 @@ use std::time::{Duration, Instant};
 use rumqttc::{Client, Event, MqttOptions, Packet, QoS};
 use serde_json::{json, Map, Value};
 
-const TOPICS: [&str; 2] = ["yukart/vehicle/+", "yukart/host/+"];
+const TOPICS: [&str; 3] = ["yukart/vehicle/+", "yukart/host/+", "yukart/gnss/+"];
 const STALE: Duration = Duration::from_secs(5);
 
 struct Entry {

src/client.rs

@@ -26,8 +26,8 @@ pub struct Ctx {
     pub hub: Hub,
     pub hello: Value,
     pub recorder_ctl: String,
-    /// `--allow-poweroff`: off by default, so a gateway on a workstation can never shut it down.
-    pub allow_poweroff: bool,
+    /// `--allow-power`: off by default, so a gateway on a workstation can never shut it down or reboot it.
+    pub allow_power: bool,
     /// Acks by command id, shared across connections so a retry after reconnect is answered, not re-run.
     pub acks: Mutex<VecDeque<(String, Value)>>,
 }
@@ -130,39 +130,41 @@ fn run(ctx: &Ctx, msg: &Value) -> (bool, String) {
                 Err(e) => (false, format!("recorder unreachable: {e}")),
             }
         }
-        "poweroff" => poweroff(ctx, &msg["args"]),
+        "poweroff" => power(ctx, &msg["args"], "poweroff"),
+        "reboot" => power(ctx, &msg["args"], "reboot"),
         other => (false, format!("unknown command '{other}'")),
     }
 }
 
-/// The host's boot id: a poweroff command must carry the current one, so a resend
+/// The host's boot id: a poweroff or reboot command must carry the current one, so a resend
 /// from before a reboot cannot shut the next boot down.
 pub fn boot_id() -> String {
     std::fs::read_to_string("/proc/sys/kernel/random/boot_id").unwrap_or_default().trim().to_string()
 }
 
-fn poweroff(ctx: &Ctx, args: &Value) -> (bool, String) {
-    if !ctx.allow_poweroff {
-        return (false, "poweroff not enabled on this gateway (--allow-poweroff)".into());
+/// `poweroff` or `reboot`: the same guards, the same grant, a different systemctl verb.
+fn power(ctx: &Ctx, args: &Value, verb: &'static str) -> (bool, String) {
+    if !ctx.allow_power {
+        return (false, format!("{verb} not enabled on this gateway (--allow-power)"));
     }
-    if args["confirm"].as_str() != Some("poweroff") {
-        return (false, "poweroff needs args.confirm = \"poweroff\"".into());
+    if args["confirm"].as_str() != Some(verb) {
+        return (false, format!("{verb} needs args.confirm = \"{verb}\""));
     }
     if args["boot_id"].as_str() != Some(boot_id().as_str()) {
-        return (false, "poweroff refused: boot_id is not this boot's".into());
+        return (false, format!("{verb} refused: boot_id is not this boot's"));
     }
-    eprintln!("svc-gw: poweroff requested by a client");
+    eprintln!("svc-gw: {verb} requested by a client");
     // Ack first: the reply has to reach the client before the services stop.
-    thread::spawn(|| {
+    thread::spawn(move || {
         thread::sleep(Duration::from_secs(2));
-        // Unprivileged: polkit grants this user logind's power-off (deploy/50-yukart-gw-poweroff.pkla).
-        match Command::new("systemctl").args(["poweroff", "--no-ask-password"]).status() {
+        // Unprivileged: polkit grants this user logind's power-off and reboot (deploy/50-yukart-gw-power.pkla).
+        match Command::new("systemctl").args([verb, "--no-ask-password"]).status() {
             Ok(s) if s.success() => {}
-            Ok(s) => eprintln!("svc-gw: systemctl poweroff exited {s}"),
-            Err(e) => eprintln!("svc-gw: systemctl poweroff: {e}"),
+            Ok(s) => eprintln!("svc-gw: systemctl {verb} exited {s}"),
+            Err(e) => eprintln!("svc-gw: systemctl {verb}: {e}"),
         }
     });
-    (true, "shutting down in 2 s".into())
+    (true, if verb == "reboot" { "rebooting in 2 s" } else { "shutting down in 2 s" }.into())
 }
 
 fn recorder(path: &str, line: &str) -> std::io::Result<String> {

src/main.rs

@@ -25,7 +25,7 @@ usage: svc-gw [options]
   --mock              synthesise vehicle state, flagged as mock in every message (no bus)
   --broker HOST:PORT  MQTT broker; '' for none                (127.0.0.1:1883)
   --recorder-ctl PATH recorder control socket, for 'mark'   (/run/yukart-recorder/ctl.sock)
-  --allow-poweroff    accept the 'poweroff' command (the Orin's unit only; never on a workstation)";
+  --allow-power       accept the 'poweroff' and 'reboot' commands (the Orin's unit only; never on a workstation)";
 
 pub fn now_us() -> i64 {
     let d = std::time::SystemTime::now().duration_since(std::time::UNIX_EPOCH).unwrap_or_default();
@@ -54,13 +54,13 @@ fn main() -> ExitCode {
     let mut listen = "0.0.0.0:7700".to_string();
     let mut mock = false;
     let mut recorder_ctl = "/run/yukart-recorder/ctl.sock".to_string();
-    let mut allow_poweroff = false;
+    let mut allow_power = false;
     let mut broker = "127.0.0.1:1883".to_string();
     let mut args = std::env::args().skip(1);
     while let Some(a) = args.next() {
         match a.as_str() {
             "--mock" => mock = true,
-            "--allow-poweroff" => allow_poweroff = true,
+            "--allow-power" => allow_power = true,
             "--listen" => listen = args.next().unwrap_or_default(),
             "--recorder-ctl" => recorder_ctl = args.next().unwrap_or_default(),
             "--broker" => broker = args.next().unwrap_or_default(),
@@ -99,7 +99,7 @@ fn main() -> ExitCode {
             "timeout_ms": client::TIMEOUT.as_millis() as u64,
         }),
         recorder_ctl,
-        allow_poweroff,
+        allow_power,
         acks: Mutex::new(Default::default()),
     });
 

src/mock.rs

@@ -40,20 +40,20 @@ impl Mock {
             s.insert(name.to_string(), reg.envelope(name, v, q, true));
         };
         put("engine_rpm", json!(rpm.round()), None);
-        put("vehicle_speed_kph", json!((speed * 10.0_f64).round() / 10.0), None);
-        put("coolant_temp_c", json!(self.coolant.round()), None);
-        // Throttle drops out for 5 s in every 40: a signal that disappears.
+        put("gnss_speed_kph", json!((speed * 10.0_f64).round() / 10.0), None);
+        put("obd_coolant_temp_c", json!(self.coolant.round()), None);
+        // The pedal drops out for 5 s in every 40: a signal that disappears.
         if t % 40.0 >= 5.0 {
-            put("throttle_pct", json!(throttle), None);
+            put("accel_pedal_pct", json!(throttle), None);
         }
         // Intake temperature is stuck at its last value and marked stale for 10 s in every 30.
         if t % 30.0 < 10.0 {
-            put("intake_air_temp_c", json!(31.0), Some("stale"));
+            put("obd_intake_air_temp_c", json!(31.0), Some("stale"));
         } else {
-            put("intake_air_temp_c", json!((31.0 + (t * 0.05).sin()).round()), None);
+            put("obd_intake_air_temp_c", json!((31.0 + (t * 0.05).sin()).round()), None);
         }
         // Fuel level is known but has no value: the registry has it, the car never sent it.
-        put("fuel_level_pct", Value::Null, None);
+        put("obd_fuel_level_pct", Value::Null, None);
         s
     }
 }