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legop3
2025-11-14 03:45:51 -05:00
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@@ -56,7 +56,7 @@ cd ~/MultiRoombaRover
sudo ./pi/install_roverd.sh --mediamtx
```
Then point each rover's `/etc/roverd.yaml` at `ws://<server>:8080/rover`, enable the sensor stream from the UI, and drive with WASD. `roverd` automatically advertises its local mediaMTX WHEP endpoint (derived from the Pi’s DHCP address), so no video URL configuration is required unless you want to override the defaults.
Then point each rover's `/etc/roverd.yaml` at `ws://<server>:8080/rover`, set `name` to the rover’s ID, and edit `/etc/mediamtx/mediamtx.yml` so `whipPublishURLs` contains `http://192.168.0.86:8889/whip/<name>`. The Pi continuously pushes WebRTC media to the control server; drivers/spectators always watch through the server-side mediaMTX, so no browser ever talks to the Pi directly.
Use the “Restart Camera” button if you enable media management so roverd can bounce the mediamtx service remotely.
Heads-up: the BRC pulser now uses libgpiod; make sure the `roverd` service account is in the `gpio` group (or otherwise allowed to access `/dev/gpiochip*`) and set `brc.gpioChip` if your hardware exposes a different chip name.
@@ -87,9 +87,9 @@ authHTTPExclude:
Then restart `mediamtx.service` so WHIP pushes from the Pis stop getting rejected.
Once finished, update `server/config.yaml` with your admin passwords, `media.whepBaseUrl` (public playback URL), and the new `media.mediamtxApiUrl` (usually `http://127.0.0.1:9997`). The Node server uses that API to create per-rover pull paths so the central mediaMTX automatically connects to each Pi’s WHEP feed as rovers come and go. Restart `multirover.service` whenever you edit the config. To pull updates later, just `git pull`, re-run `npm install --production` inside `server/`, and restart the service—no need to rerun the installer.
Once finished, update `server/config.yaml` with your admin passwords, `media.whepBaseUrl` (`http://192.168.0.86:8889/whep`), and `media.mediamtxApiUrl` (usually `http://127.0.0.1:9997`). The Node server hits that API for health checks and token hooks while mediaMTX fans WHIP publishers back out as WHEP viewers. Restart `multirover.service` whenever you edit the config. To pull updates later, just `git pull`, re-run `npm install --production` inside `server/`, and restart the service—no need to rerun the installer.
### Video handshake + diagnostics
- Every `video:request` returns `{ url, token }`. The browser posts the SDP offer to `url` and includes `Authorization: Basic base64(token:token)`. mediaMTX forwards the `token` to `/mediamtx/auth`, which checks the socket’s permissions and either returns 200 or 401—no query parameters are involved anymore.
- To see what mediaMTX is pulling, run `npm run check:media` (or `node scripts/checkMedia.js`). It hits `/v3/paths/list` and prints each rover’s `ready` state and byte counters so you can instantly spot bridge issues.
- To see what mediaMTX is ingesting from the Pis, run `npm run check:media` (or `node scripts/checkMedia.js`). It hits `/v3/paths/list` and prints each rover’s `ready` state and byte counters so you can instantly spot publish issues.