rc-car-actuator

A wire-controlled RC car drive actuator for robot-md-gateway.

The design in one sentence

Motion is a lease, not a command: execute() writes the setpoint, extends a deadman lease, and returns immediately — the car stops when the lease expires, not when anyone waits for it.

duration_s is how long the lease lasts, not how long the call sleeps. If the call slept for the duration it would hold the request path for the whole motion, and the next request — the one saying "stop" — would queue behind the motion it was meant to cancel.

The lease a receipt reports is the lease the deadman enforces

drive.set returns lease_s and stops_at_monotonic, the gateway signs them, and someone will later rely on them. So they are read back from the watchdog after it grants the lease rather than computed beside it, and every bound is applied in the watchdog itself:

lease_cut_by names which one did the cutting, and stop_detect_within_s (one watchdog tick, 50 ms) is the honest error bar: expiry is detected by polling, so the wheels go neutral in [stops_at_monotonic, + one tick] — never before the promised instant. drive.stop, drive.envelope.revoke and the e-stop outrank any live lease and take effect at once.

This is written down because it was once false. The driver reported lease_s: 2.0 while a fixed 0.4 s timeout stopped the car — safe by accident, and a signed untruth about when a vehicle stops. Every test asserted the reported number and none timed the vehicle, which is exactly how it shipped.

Safety status: NOT ROAD READY

The deadman is a Python thread on Linux. It covers a locked phone, a crashed app, dropped Wi-Fi, and a hung gateway, because it does not share a thread with the request path.

It does not cover the kernel stalling, this process being SIGKILLed, or the Pi browning out — and a brownout is most likely exactly when the motor draws current.

The authoritative stop must be a lease that expires in firmware, on an MCU between the Pi and the ESC, which survives Linux dying entirely. Until that exists, run this with the wheels off the ground.

PWMDrive has never been connected to a vehicle. Its pulse widths are the standard hobby-RC values and must be checked against the actual ESC first.

The envelope: one approval, many commands

A phone driving a car sends commands at 20 Hz. Approving each one is absurd; approving none means the vehicle moves on nobody's authority. So the unit of approval is not a command, it is an envelope: a bounded budget of motion a human authorises once, which every subsequent command draws down.

The budget only ever decreases. There is no renew, extend, or top-up — more motion requires a new approval. An envelope the spender could extend would authorise nothing.

Charging is by elapsed motion, not commands issued or leases granted. Per-lease billing would be catastrophic: at 20 Hz with a 0.5 s lease, one second of driving would be billed as ten. Idling and steering a stationary car are free.

A granted lease is capped by the remaining budget, so the deadman that already stops the car when a lease ends also stops it when the budget runs out — one mechanism rather than two racing ones.

Every motion receipt carries its envelope_id, so a signed record of the car moving traces back to the human decision that permitted it.

Capabilities

drive.stop and drive.envelope.revoke require only the read tier: a stop that can be refused is not a stop, and there is no failure mode where refusing to halt a moving vehicle is safer.