Luminus Core-1 Hardware Node

Architecture & Overview

Built upon NVIDIA Jetson Orin AGX/NX compute hardware, the Core-1 node comes custom-flashed with our hardened Linux PREEMPT_RT realtime kernel. It locks control threads to SCHED_FIFO 99 priority, guaranteeing < 1.5μs loop jitter under intense GPU compute loads.

Key Technical Deliverables

• Pre-flashed PREEMPT_RT low-jitter Linux kernel environment.
• Embedded stop-on-contact hardware safety clamps.
• Native MCAP telemetry log streaming over USB 3.2 / EtherCAT.
• Seamless IPC ring-buffer bridge for Python / C++ policy execution.

// dbw_low_jitter_engine.cpp - Core-1 Realtime Loop
#include <sys/mman.h>
#include <pthread.h>
#include <iostream>

void pin_thread_to_rt_priority(pthread_t thread) {
    struct sched_param param;
    param.sched_priority = 99; // Maximum priority
    if (pthread_setschedparam(thread, SCHED_FIFO, &param) != 0) {
        std::cerr << "[-] Error setting PREEMPT_RT priority" << std::endl;
    }
}

int main() {
    mlockall(MCL_CURRENT | MCL_FUTURE); // Lock memory pages
    std::cout << "[+] Luminus Core-1 DBW Engine initialized." << std::endl;
    return 0;
}