What is the relation between tty driver and line discipline
The process communicates with the discipline. But the discipline might be raw (a no-op, null discipline), in which case it does nothing more than pass the messages.
That's why the stack in the O'Reilly book has a passthrough on the left and a line discipline on the right. It's their way of explaining that no-op/raw/null line discipline (raw is the actual name, and you can set it with stty raw).