push! PUSH!!

README.md

@@ -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.

docs/pi-deployment.md

@@ -92,9 +92,9 @@ If you set `media.manage: true` in `/etc/roverd.yaml`, make sure the `roverd` se
    sudo systemctl enable --now mediamtx.service
    ```
 
-The sample config uses the Raspberry Pi camera module as the source and enables the local mediaMTX HTTP API so `roverd` can health-check the service. Edit `/etc/mediamtx/mediamtx.yml` to point its WHIP client at your central media server (see `mediamtx_server_integration.md` for details).  
+The sample config uses the Raspberry Pi camera module as the source, enables the local mediaMTX HTTP API so `roverd` can health-check the service, and includes a placeholder WHIP target pointing at the control server (`http://192.168.0.86:8889/whip/ROVER_ID`). Replace `ROVER_ID` with the value of `name` from `/etc/roverd.yaml` so every rover pushes to a unique publish path.  
 Expose the mediaMTX HTTP API locally (default `http://127.0.0.1:9997`) and set `media.healthUrl` so `roverd` can monitor the pipeline; `media.service` should match the systemd unit name (default `mediamtx.service`).  
-Finally, edit `/etc/mediamtx/mediamtx.yml` so the Pi publishes the camera feed to your central control server via WHIP (for example by pointing it at `https://control.example.com/whip/<roverName>`). The Pi never serves viewers directly—drivers and spectators always watch through the control server.
+Once the WHIP URL points at the server, the Pi continuously publishes to `192.168.0.86`; the server-side mediaMTX fans the stream out to every driver/spectator via WHEP—no Pi ever serves viewers directly.
 
 ## Server + UI
 

mediamtx_server_integration.md

@@ -1,20 +0,0 @@
-# mediaMTX Integration
-
-Each rover runs mediaMTX locally to capture the Pi camera, and the control server hosts a central mediaMTX instance that fans video out to drivers and spectators. When a rover connects, the Node server asks the central mediaMTX to _pull_ the rover’s local WHEP stream and expose it under the rover’s name.
-
-## Pi (publisher)
-
-- mediaMTX samples the Pi camera (`paths.rovercam.source: rpiCamera`) and exposes the HTTP API on `http://127.0.0.1:9997`.
-- `roverd` automatically detects the Pi’s own WHEP endpoint (e.g. `http://roomba-alpha.local:8889/whep/rovercam`) and reports a `bridgeWhepUrl` (converted to `whep://.../whep`) to the server. No manual per-rover video URL configuration is required.
-- The `media.manage` flag keeps the local service alive via `systemctl` and hits the API for health checks (`media.healthUrl`, defaults to `http://127.0.0.1:9997/v3/paths/list`).
-
-## Control server (viewer)
-
-- The central mediaMTX instance serves WHEP playback at `/whep/<roverId>` and exposes its control API on `http://127.0.0.1:9997`.
-- When a rover connects, the Node server calls `POST /v3/config/paths/replace/<roverId>` and sets `source: whep://<pi-ip>:8889/rovercam/whep`. When the rover disconnects, the path is removed.
-- Viewers still use `video:request` to obtain a session token. They POST their SDP offer to `/whep/<roverId>` with `Authorization: Basic base64(token:token)`. mediaMTX forwards the `token` to `/mediamtx/auth` (in the `user` field) before allowing the stream to start, and the Node server enforces lockdown/role rules there.
-
-## Driver / spectator UIs
-
-- When a user requests video the browser asks the Node server for a session token, and if the current mode/role allows it, the server returns the WHEP URL plus the session id.
-- Spectator mode and lockdown are enforced purely on the Node server: no direct Pi URLs are ever exposed, and once a user has a session it remains valid until they disconnect or lockdown revokes it.

pi/mediamtx/mediamtx.yml

@@ -18,3 +18,6 @@ paths:
     rpiCameraExposure: long
     rpiCameraHFlip: false
     rpiCameraVFlip: false
+    # Replace ROVER_ID with the rover's configured name before deploy.
+    whipPublishURLs:
+      - http://192.168.0.86:8889/whip/ROVER_ID

pi/roverd/config.go

@@ -4,7 +4,6 @@ import (
 	"errors"
 	"fmt"
 	"net"
-	"net/url"
 	"os"
 	"strings"
 	"time"
@@ -60,7 +59,6 @@ type MediaConfig struct {
 	WhepPort       int      `yaml:"whepPort" json:"-"`
 	WhepPath       string   `yaml:"whepPath" json:"-"`
 	LegacyPublish  string   `yaml:"publishUrl,omitempty" json:"-"`
-	BridgeWhepURL  string   `yaml:"-" json:"bridgeWhepUrl,omitempty"`
 	Manage         bool     `yaml:"manage"`
 	Service        string   `yaml:"service"`
 	HealthURL      string   `yaml:"healthUrl"`
@@ -143,38 +141,9 @@ func LoadConfig(path string) (*Config, error) {
 		scheme := "http"
 		cfg.Media.WhepURL = fmt.Sprintf("%s://%s:%d%s", scheme, ip, effectivePort(cfg.Media.WhepPort), path)
 	}
-	if bridge, err := buildBridgeURL(cfg.Media.WhepURL); err == nil {
-		cfg.Media.BridgeWhepURL = bridge
-	}
 	return &cfg, nil
 }
 
-func buildBridgeURL(src string) (string, error) {
-	if src == "" {
-		return "", errors.New("empty whep url")
-	}
-	parsed, err := url.Parse(src)
-	if err != nil {
-		return "", err
-	}
-	if parsed.Host == "" {
-		return "", errors.New("missing host")
-	}
-	proto := "whep"
-	if parsed.Scheme == "https" {
-		proto = "wheps"
-	}
-	path := strings.Trim(parsed.Path, "/")
-	if strings.HasPrefix(path, "whep/") {
-		path = strings.TrimPrefix(path, "whep/")
-	}
-	path = strings.Trim(path, "/")
-	if path == "" {
-		path = "rovercam"
-	}
-	return fmt.Sprintf("%s://%s/%s/whep", proto, parsed.Host, path), nil
-}
-
 func ensureLeadingSlash(path string) string {
 	if !strings.HasPrefix(path, "/") {
 		return "/" + path

server/config.example.yaml

@@ -8,5 +8,5 @@ admins:
     discord_id: "0987654321"
     lockdown: true
 media:
-  whepBaseUrl: "http://control-server.local:8889/whep"
+  whepBaseUrl: "http://192.168.0.86:8889/whep"
   mediamtxApiUrl: "http://127.0.0.1:9997"

server/index.js

@@ -14,7 +14,6 @@ require('./src/services/roverManager');
 require('./src/services/commandService');
 require('./src/services/roverConnectionService');
 require('./src/services/assignmentService');
-require('./src/services/mediaBridgeService');
 require('./src/services/videoSessions');
 require('./src/services/videoAuthService');
 require('./src/services/videoSocketService');

server/src/services/mediaBridgeService.js

@@ -1,104 +0,0 @@
-const { loadConfig } = require('../helpers/configLoader');
-const logger = require('../globals/logger').child('mediaBridge');
-const { managerEvents, rovers } = require('./roverManager');
-
-const mediaConfig = loadConfig().media || {};
-const apiBase = (mediaConfig.mediamtxApiUrl || '').replace(/\/$/, '');
-
-if (!apiBase) {
-  logger.info('media bridge disabled (media.mediamtxApiUrl not set)');
-  return;
-}
-
-const activeSources = new Map(); // roverId -> source
-
-managerEvents.on('rover', (evt) => {
-  if (evt.action === 'upsert' && evt.record) {
-    syncRover(evt.record).catch((err) => {
-      logger.error('failed to sync rover %s: %s', evt.roverId, err.message);
-    });
-  } else if (evt.action === 'removed') {
-    removePath(evt.roverId).catch((err) => {
-      logger.error('failed to remove rover %s path: %s', evt.roverId, err.message);
-    });
-  }
-});
-// guh
-// Initialize existing rovers (in case service loads after they connect)
-for (const record of rovers.values()) {
-  syncRover(record).catch((err) => {
-    logger.error('failed to sync rover %s on init: %s', record.id, err.message);
-  });
-}
-
-async function syncRover(record) {
-  if (!record?.meta?.media) {
-    await removePath(record?.id);
-    return;
-  }
-  const source = record.meta.media.bridgeWhepUrl;
-  if (!source) {
-    logger.warn(
-      'rover %s missing bridgeWhepUrl; video bridge disabled for this rover',
-      record.id
-    );
-    await removePath(record.id);
-    return;
-  }
-  if (activeSources.get(record.id) === source) {
-    return;
-  }
-  await upsertPath(record.id, source);
-  activeSources.set(record.id, source);
-  logger.info('bridge path ready for %s -> %s', record.id, source);
-}
-
-async function upsertPath(roverId, source) {
-  const body = {
-    source,
-    sourceOnDemand: false,
-  };
-  try {
-    await callApi('POST', `/v3/config/paths/replace/${encodeURIComponent(roverId)}`, body);
-  } catch (err) {
-    if (err.status === 404) {
-      await callApi('POST', `/v3/config/paths/add/${encodeURIComponent(roverId)}`, body);
-    } else {
-      throw err;
-    }
-  }
-}
-
-async function removePath(roverId) {
-  if (!roverId || !activeSources.has(roverId)) {
-    activeSources.delete(roverId);
-    return;
-  }
-  activeSources.delete(roverId);
-  try {
-    await callApi('POST', `/v3/config/paths/delete/${encodeURIComponent(roverId)}`, {});
-    logger.info('bridge path removed for %s', roverId);
-  } catch (err) {
-    if (err.status !== 404) {
-      throw err;
-    }
-  }
-}
-
-async function callApi(method, path, body) {
-  const url = `${apiBase}${path}`;
-  const res = await fetch(url, {
-    method,
-    headers: {
-      'Content-Type': 'application/json',
-    },
-    body: body ? JSON.stringify(body) : undefined,
-  });
-  if (!res.ok) {
-    const text = await res.text().catch(() => '');
-    const err = new Error(`HTTP ${res.status} ${text}`);
-    err.status = res.status;
-    throw err;
-  }
-  return res.headers.get('content-type')?.includes('application/json') ? res.json() : null;
-}

server/src/services/videoSocketService.js

@@ -33,6 +33,9 @@ io.on('connection', (socket) => {
       if (!roverId) {
         throw new Error('roverId required');
       }
+      if (!roverManager.rovers.has(roverId)) {
+        throw new Error('Rover offline');
+      }
       if (!canView(socket, roverId)) {
         throw new Error('Not authorized for video');
       }