radar

velocity.report

A privacy-focused traffic logging tool for neighbourhood change-makers.

Measure vehicle speeds, make streets safer.

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Overview

velocity.report is a complete citizen radar system for neighbourhood traffic monitoring. The system consists of four main components:

• Go Server - High-performance data collection and API server
• Python PDF Generator - Professional PDF report generation with LaTeX
• Web Frontend - Real-time data visualisation (Svelte)
• macOS Visualiser - Native 3D visualisation for LiDAR tracking (M1+ Macs)

The system collects vehicle speed data from radar/LIDAR sensors, stores it in SQLite, and provides multiple ways to visualise and report on the data—all while maintaining complete privacy (no license plate recognition, no video recording).

Privacy & Ethics

This project is designed with privacy as a core principle:

• ✅ No license plate recognition
• ✅ No video recording
• ✅ No personally identifiable information

The goal is to empower communities to make data-driven decisions about street safety without compromising individual privacy.

Quick Start

For Go Server Development

git clone git@github.com:banshee-data/velocity.report.git
cd velocity.report
make build-radar-local
./velocity-report-local --disable-radar

If an existing SQLite database is available, place it in ./sensor_data.db (the default location for development). For production deployments, use the --db-path flag to specify a different location (see Deployment section).

For PDF Report Generation

See tools/pdf-generator/README.md for detailed instructions.

Quick version:

cd tools/pdf-generator
make install-python         # One-time setup
make pdf-config             # Create config template
make pdf-report CONFIG=config.json

For Web Frontend Development

See web/README.md for detailed instructions.

For macOS Visualiser (LiDAR 3D Tracking)

The macOS visualiser provides real-time 3D visualisation of LiDAR point clouds, object tracking, and debug overlays. Requires macOS 14+ and Apple Silicon (M1/M2/M3) or Intel Mac with Metal support.

See tools/visualiser-macos/README.md for detailed instructions.

Quick version:

# Build the visualiser
make build-mac

# Start synthetic data server for testing
go run ./cmd/tools/visualiser-server -rate 10 -points 5000

# Launch the visualiser
open tools/visualiser-macos/build/Build/Products/Release/VelocityVisualiser.app

# Or replay recorded data
go run ./cmd/tools/visualiser-server -mode replay -log /path/to/recording.vrlog

M1 Features (Milestone 1):

• ✅ Recorder/Replayer with deterministic playback
• ✅ Pause/Play/Seek/Rate control via gRPC
• ✅ Frame-by-frame navigation
• ✅ Timeline scrubbing
• ✅ 3D camera controls (orbit, pan, zoom)
• ✅ Mouse/trackpad gesture support

Project Structure

velocity.report/
├── cmd/                      # Go CLI applications
│   ├── radar/                # Radar/LiDAR sensor integration
│   ├── deploy/               # Deployment management tool
│   ├── sweep/                # Parameter sweep utilities
│   ├── tools/                # Go utility tools
│   │   ├── visualiser-server/ # Synthetic data generator and replay server
│   │   ├── gen-vrlog/        # Generate sample .vrlog recordings
│   │   ├── pcap-analyse/     # PCAP packet analysis
│   │   └── ...               # Other utilities
│   └── transit-backfill/     # Transit data backfill tool
├── internal/                 # Go server internals (private packages)
│   ├── api/                  # HTTP API endpoints
│   ├── db/                   # SQLite database layer + migrations
│   ├── radar/                # Radar sensor logic
│   ├── lidar/                # LiDAR sensor logic + tracking
│   │   └── visualiser/       # gRPC streaming for 3D visualisation
│   │       └── recorder/     # Record/replay .vrlog files
│   ├── monitoring/           # System monitoring
│   ├── security/             # Path validation and security
│   ├── serialmux/            # Serial port multiplexing
│   ├── units/                # Unit conversion utilities
│   └── version/              # Version information
├── web/                      # Svelte web frontend
│   ├── src/                  # Frontend source code
│   └── static/               # Static assets
├── tools/                    # Python tooling and native apps
│   ├── pdf-generator/        # PDF report generation (Python)
│   │   ├── pdf_generator/    # Python package
│   │   │   ├── cli/          # CLI tools
│   │   │   ├── core/         # Core modules
│   │   │   └── tests/        # Test suite
│   │   └── output/           # Generated PDFs
│   └── visualiser-macos/     # macOS LiDAR visualiser (Swift/Metal)
│       ├── VelocityVisualiser/       # SwiftUI app
│       │   ├── App/          # Application entry
│       │   ├── gRPC/         # gRPC client
│       │   ├── Rendering/    # Metal renderer
│       │   └── UI/           # SwiftUI views
│       └── VelocityVisualiserTests/  # XCTest suite
├── data/                     # Sample data and alignment utilities
├── docs/                     # Internal project documentation
├── public_html/              # Public documentation site (Eleventy)
├── scripts/                  # Development shell scripts
└── static/                   # Static server assets

Architecture

Data Flow

   ┌───────────────────┐     ┌───────────────────┐     ┌───────────────────┐
   │     Sensors       │────►│     Go Server     │◄───►│  SQLite Database  │
   │ (Radar / LIDAR)   │     │ (API/Processing)  │     │ (Time-series)     │
   └───────────────────┘     └───────────────────┘     └───────────────────┘
                                       │
                                       │
                     ┌─────────────────┴──────────────────┐
                     │                                    │
                     ▼                                    ▼
     ┌─────────────────────────────┐       ┌─────────────────────────────┐
     │        Web Frontend         │       │    Python PDF Generator     │
     │   (Real-time via Svelte)    │       │ (Offline Reports via LaTeX) │
     └─────────────────────────────┘       └─────────────────────────────┘

Components

1. Go Server (/cmd/, /internal/)

• Collects data from radar/LIDAR sensors
• Stores time-series data in SQLite
• Provides HTTP API for data access
• Handles background processing tasks
• Runs as systemd service on Raspberry Pi

2. Python PDF Generator (/tools/pdf-generator/)

• Generates professional PDF reports using LaTeX
• Creates charts and visualisations with matplotlib
• Processes statistical summaries
• Highly configurable via JSON
• Comprehensive test suite

3. Web Frontend (/web/)

• Real-time data visualisation
• Interactive charts and graphs
• Built with Svelte and TypeScript
• Responsive design

See ARCHITECTURE.md for detailed architecture documentation.

Development

Prerequisites

For Go Development:

• Go 1.25+ (installation guide)
• SQLite3

For Python PDF Generation:

• Python 3.11+
• LaTeX distribution (XeLaTeX)
• See tools/pdf-generator/README.md

For Web Frontend:

• Node.js 18+
• pnpm
• See web/README.md

Go Server Development

Build the development server:

make build-radar-local
./velocity-report-local --disable-radar

Run tests:

make test

Build for production (Raspberry Pi):

make build-radar-linux
# or manually:
GOOS=linux GOARCH=arm64 go build -o velocity-report-linux-arm64 ./cmd/radar

Python PDF Generator Development

The repository uses a single shared Python virtual environment for all Python tools (PDF generator, data visualisation, analysis scripts).

Setup:

make install-python  # Creates .venv and installs all dependencies

Activate manually (optional):

source .venv/bin/activate

What's installed:

• PDF generation: PyLaTeX
• Data analysis: pandas, numpy
• Visualisation: matplotlib, seaborn
• Testing: pytest, pytest-cov
• Formatting: black, ruff

Run PDF Generator:

make pdf-test         # Run test suite
make pdf-demo         # Run interactive demo
make pdf-config       # Create config template
make pdf-report CONFIG=config.json  # Generate PDF report

Code Formatting

Option 1: Format on demand (recommended for new contributors)

make format        # Format all code before commit
make lint          # Verify formatting (what CI checks)

Option 2: Editor integration

• VS Code: Install Prettier, ESLint, Go extensions
• Format-on-save handles most cases

Option 3: Pre-commit hooks (recommended for regular contributors)

pip install pre-commit
pre-commit install

Hooks auto-format code on every commit — no manual make format needed.

What runs on commit (if hooks enabled):

• File hygiene (trailing whitespace, large files, etc.)
• Go formatting (gofmt)
• Python formatting (ruff + black) for PDF generator code
• Web formatting (prettier)

Note: CI lint jobs are advisory (non-blocking), so PRs can merge even without perfect formatting. A weekly automated PR cleans up any missed formatting issues. See CONTRIBUTING.md and .github/workflows/lint-autofix.yml for details.

Web Frontend Development

cd web
pnpm install
pnpm dev

See web/README.md for details.

Deployment

Go Server (Raspberry Pi)

The Go server runs as a systemd service on Raspberry Pi. Use the new velocity-deploy tool for comprehensive deployment management.

Quick Start - Deploy to Raspberry Pi:

# Build the binary and deployment tool
make build-radar-linux
make build-deploy

# Deploy to remote Pi
./velocity-deploy install \
  --target pi@192.168.1.100 \
  --ssh-key ~/.ssh/id_rsa \
  --binary ./velocity-report-linux-arm64

Or use Make shortcuts for local deployment:

make build-radar-linux
make deploy-install

The deployment will:

• Install the binary to /usr/local/bin/velocity-report
• Create a dedicated service user and working directory
• Install and enable the systemd service
• Optionally migrate existing database

Upgrade to new version:

make build-radar-linux
./velocity-deploy upgrade --target pi@192.168.1.100 --binary ./velocity-report-linux-arm64

Monitor service health:

# Comprehensive health check
./velocity-deploy health --target pi@192.168.1.100

# Check status
./velocity-deploy status --target pi@192.168.1.100

# View logs
sudo journalctl -u velocity-report.service -f

See also:

• public_html/src/guides/setup.md - Complete setup and deployment guide
• cmd/deploy/README.md - velocity-deploy CLI reference
• docs/radar/operations/remote-host-upgrade-runbook.md - Manual SSH upgrade runbook for existing hosts and VS Code Ask mode agents

Legacy deployment:

Legacy deployment automation is deprecated. For a script-free upgrade of an existing host over SSH, use the manual runbook above.

Python PDF Generator

The PDF generator is deployed as a Python package via PYTHONPATH:

cd tools/pdf-generator
make install-python
# PDF generator is now ready at tools/pdf-generator/pdf_generator/

No installation required - use PYTHONPATH method as documented in tools/pdf-generator/README.md.

Documentation

• ARCHITECTURE.md - System architecture and component relationships
• DESIGN.md - Frontend and visualisation design language (colour palette, chart rules, CSS standards)
• docs/COVERAGE.md - Code coverage setup and usage guide
• internal/db/migrations/README.md - Database migration guide and reference
• CHANGELOG.md - Version history and release notes
• web/README.md - Web frontend documentation
• tools/pdf-generator/README.md - PDF generator documentation
• docs/README.md - Internal project documentation
• public_html/README.md - Public documentation site

Testing

Go Tests

make test

Performance regression testing:

make test-perf NAME=kirk0  # Run performance test against baseline

This compares current performance against saved baselines. If no baseline exists, it creates one.

Python Tests (PDF Generator)

cd tools/pdf-generator
make pdf-test
# or with coverage:
make test-python-cov

Make Targets

The project uses a consistent naming scheme for all make targets: <action>-<subsystem>[-<variant>]

• action should be an imperative verb (for example: build, test, check, sync).
• subsystem should name the functional surface (for example: go, web, config).
• variant is optional and narrows behaviour (for example: strict, cov, linux).

For config consistency workflows, canonical targets are verb-first (check-*, sync-*). Legacy aliases are kept for compatibility.

Core Subsystem Targets

Cross-cutting formatting targets:

• format-sql - Format SQL files (migrations and schema)

Aggregate Targets

• test - Run all tests (Go + Python + Web + macOS)
• format - Format all code (Go + Python + Web + macOS + SQL + Markdown)
• lint - Lint all code (Go + Python + Web), fails if formatting needed
• coverage - Generate coverage reports for all components

Build Targets (Go cross-compilation)

• build-radar-linux - Build for Linux ARM64 (no pcap)
• build-radar-linux-pcap - Build for Linux ARM64 with pcap
• build-radar-mac - Build for macOS ARM64 with pcap
• build-radar-mac-intel - Build for macOS AMD64 with pcap
• build-radar-local - Build for local development with pcap
• build-tools - Build sweep tool
• build-deploy - Build velocity-deploy deployment manager
• build-deploy-linux - Build velocity-deploy for Linux ARM64
• build-web - Build web frontend (SvelteKit)
• build-docs - Build documentation site (Eleventy)

Testing Targets

• test - Run all tests (Go + Python + Web + macOS)
• test-go - Run Go unit tests
• test-go-cov - Run Go tests with coverage
• test-go-coverage-summary - Show coverage summary for cmd/ and internal/
• test-python - Run Python PDF generator tests
• test-python-cov - Run Python tests with coverage
• test-web - Run web tests (Jest)
• test-web-cov - Run web tests with coverage
• test-mac - Run macOS visualiser tests (XCTest)
• test-perf - Run performance regression tests (NAME=kirk0)
• coverage - Generate coverage reports for all components

macOS Visualiser Targets

• build-mac - Build macOS LiDAR visualiser (Xcode)
• clean-mac - Clean macOS visualiser build artifacts
• run-mac - Run macOS visualiser (requires build-mac)
• dev-mac - Kill, build, and run macOS visualiser
• test-mac - Run macOS visualiser tests (XCTest)
• format-mac - Format macOS Swift code (swift-format)

Protobuf Code Generation

• proto-gen - Generate protobuf stubs for all languages
• proto-gen-go - Generate Go protobuf stubs
• proto-gen-swift - Generate Swift protobuf stubs (macOS visualiser)

Deployment Targets (deprecated)

These targets are deprecated. Removal is gated on the retirement conditions — not before v0.7.0.

• setup-radar - Install server on this host (requires sudo, deprecated)
• deploy-install - Install using velocity-deploy (deprecated)
• deploy-upgrade - Upgrade using velocity-deploy (deprecated)
• deploy-status - Check service status using velocity-deploy (deprecated)
• deploy-health - Run health check using velocity-deploy (deprecated)
• deploy-install-latex - Install LaTeX on remote target (deprecated)
• deploy-update-deps - Update source, LaTeX, and Python deps on remote target (deprecated)

Formatting Targets

• format - Format all code (Go + Python + Web + macOS + SQL + Markdown)
• format-go - Format Go code (gofmt)
• format-python - Format Python code (black + ruff)
• format-web - Format web code (prettier)
• format-mac - Format macOS Swift code (swift-format)
• format-docs - Format Markdown files (prettier)
• format-sql - Format SQL files (sql-formatter)

Linting Targets

• lint - Lint all code (Go + Python + Web), fails if formatting needed
• lint-go - Check Go formatting
• lint-python - Check Python formatting
• lint-web - Check web formatting

Config Schema Consistency Targets

• check-config-order - Validate canonical tuning key order across config and docs surfaces
• sync-config-order - Rewrite config/docs targets to canonical tuning key order
• check-config-maths - Validate README.maths keys against docs JSON, tuning*.json, and Go schema sources
• check-config-maths-strict - Strict parity mode; also requires full webserver POST schema parity Current status: optional in CI until webserver schema parity backlog is complete.
• Compatibility aliases: config-order-check, config-order-sync, readme-maths-check, readme-maths-check-strict

Database Migration Targets

• migrate-up - Apply all pending migrations
• migrate-down - Rollback one migration
• migrate-status - Show current migration status
• migrate-detect - Detect schema version (for legacy databases)
• migrate-version - Migrate to specific version (VERSION=N)
• migrate-force - Force version (recovery, VERSION=N)
• migrate-baseline - Set baseline version (VERSION=N)
• schema-sync - Regenerate schema.sql from latest migrations

PDF Generator Targets

• pdf-report - Generate PDF from config file
• pdf-config - Create example configuration
• pdf-demo - Run configuration demo
• pdf-test - Run PDF tests (alias for test-python)
• pdf - Convenience alias for pdf-report

Utility Targets

• set-version - Update version across codebase (VER=0.4.0 TARGETS='--all')
• log-go-tail - Tail most recent Go server log
• log-go-cat - Cat most recent Go server log
• log-go-tail-all - Tail most recent Go server log plus debug log
• git-fs - Show the git files that differ from main

Data Visualisation Targets

• plot-noise-sweep - Generate noise sweep line plot (FILE=data.csv)
• plot-multisweep - Generate multi-parameter grid (FILE=data.csv)
• plot-noise-buckets - Generate per-noise bar charts (FILE=data.csv)
• stats-live - Capture live LiDAR snapshots (INTERVAL=10 DURATION=60)
• stats-pcap - Capture PCAP replay snapshots (PCAP=file.pcap INTERVAL=5)

API Shortcut Targets (LiDAR HTTP API)

Grid endpoints:

• api-grid-status - Get grid status
• api-grid-reset - Reset background grid
• api-grid-heatmap - Get grid heatmap

Snapshot endpoints:

• api-snapshot - Get current snapshot
• api-snapshots - List all snapshots

Acceptance endpoints:

• api-acceptance - Get acceptance metrics
• api-acceptance-reset - Reset acceptance counters

Parameter endpoints:

• api-params - Get algorithm parameters
• api-params-set - Set parameters (PARAMS='{}')

Persistence and export endpoints:

• api-persist - Trigger snapshot persistence
• api-export-snapshot - Export specific snapshot
• api-export-next-frame - Export next LiDAR frame

Status & data source endpoints:

• api-status - Get server status
• api-start-pcap - Start PCAP replay (PCAP=file.pcap)
• api-stop-pcap - Stop PCAP replay
• api-switch-data-source - Switch live/pcap (SOURCE=live|pcap)

Run make help or make to see all available targets with descriptions.

Contributing

We welcome contributions! Please see CONTRIBUTING.md for:

• Development workflow (Go + Python + Web)
• Testing requirements
• Code style guidelines
• Pull request process

License

Apache License 2.0 - See LICENSE for details.

Community

Join our Discord community to discuss the project, get help, and contribute to making streets safer.