eSlider/swarm-house
1
0
Fork 0
Code Issues 2 Pull Requests 3 Actions Packages Projects 1 Releases 13 Wiki Activity

docs: align wire-spec and mark implemented vs proposed
CI & Release / Verify simulator (push) Successful in 18s
Details
CI & Release / Trivy scan (push) Successful in 18s
Details
CI & Release / Semantic Release (push) Successful in 6s
Details

Browse Source 
Keep the 45-byte pose frame consistent across docs, simulator, and
prototype, clarify MinIO is not peer sync, and state clearly that the
repo is a from-scratch platform sketch with options rather than mandates.
This commit is contained in:
eSlider
2026-07-17 12:16:39 +01:00
parent ed531f9fb6
commit 2a6b50929c
9 changed files with 85 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/02-architecture.md
+11 -8
View File
@@ -20,8 +20,9 @@ graph TB
subgraph serving [Layer 3 — Serving and sync]
HOOK["event hook<br/>fires on new derived data"]
PUB["state publisher<br/>pub/sub broadcast"]
MINIO["MinIO<br/>derived datasets bucket"]
QAPI["query API<br/>peer data requests"]
BULK["bulk sync<br/>rsync over SSH"]
MINIO["MinIO<br/>optional derived bucket"]
QAPI["query API<br/>SQL-over-SSH"]
end
end
@@ -33,12 +34,14 @@ graph TB
WRITER -->|derived rows| HOOK
HOOK --> PUB
HOOK --> MINIO
HOOK --> BULK
QAPI --> DUCK
PUB -.->|mesh| PEERS["peer drones"]
MINIO -.->|replication| PEERS
PUB -.->|mesh pose| PEERS["peer drones"]
BULK -.->|sealed partitions| PEERS
QAPI -.->|on demand| PEERS
```
MinIO stays available where an S3 API helps (on-board derived datasets, ground warehouse). **In-flight peer bulk sync is SSH/rsync**, not object-store replication — see [04 — Swarm sync](04-swarm-sync.md).
### Layer 1 — Ingestion
- `sensor-ingest` subscribes to sensor sources (ROS 2 topics where available, raw drivers otherwise) and normalizes them into typed streams: IMU, barometer, temperature, LiDAR, RSSI, power, and so on.
@@ -53,10 +56,10 @@ graph TB
### Layer 3 — Serving and sync
- The **event hook** is the on-board "lambda": when the writer lands new *derived* rows (state, detections), it triggers registered actions — broadcast, MinIO upload, or a local mission-logic callback. Nothing polls.
- The **state publisher** broadcasts compact position/attitude/detection payloads over the mesh pub/sub (transport analysis in [04 — Swarm sync](04-swarm-sync.md)).
- **Bulk sync** pulls sealed derived partitions from peers over persistent SSH (rsync delta transfer); MinIO remains optional where an S3 API is wanted.
- **Peer queries** are read-only DuckDB SQL over SSH forced commands — SELECT-only gate, read-only OS user, columnar responses (the design decision and its reasoning are in [04](04-swarm-sync.md)).
- The **event hook** is the on-board "lambda": when the writer lands new *derived* rows (state, detections), it triggers registered actions — broadcast, optional MinIO put, bulk-sync hint, or a local mission-logic callback. Nothing polls.
- The **state publisher** broadcasts compact position/attitude/detection payloads over the mesh pub/sub (UDP in the PoC; Zenoh proposed — [04](04-swarm-sync.md)).
- **Bulk sync** pulls sealed derived partitions from peers over persistent SSH (rsync delta transfer). MinIO is optional where an S3 API is wanted; it is **not** the in-flight peer replication path.
- **Peer queries** are read-only DuckDB SQL — HTTP explorer gate in the PoC; **SSH forced commands** proposed for flight (SELECT-only gate, read-only OS user, columnar responses — [04](04-swarm-sync.md)).
## Communication planes