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fixed srt stream url stuff

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legop3
2026-06-27 16:18:55 -04:00
parent 8e322ed57b
commit 0cfc16528b
7 changed files with 12 additions and 62 deletions
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dist/hornverifier
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dist/roverd
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dist/servoverifier
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pi/install_roverd.sh
+3 -3
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@@ -314,9 +314,9 @@ log "Installed audio-forward listener helper + systemd unit"
install -d -o roverd -g roverd /var/lib/roverd
cat > /var/lib/roverd/video.env <<'ENV'
# Managed by roverd; placeholder values will be overwritten at runtime.
PUBLISH_URL=srt://192.168.0.86:9000?streamid=%23%21::r=CHANGE_ME,m=publish&latency=20000&mode=caller&transtype=live&pkt_size=1316
AUDIO_PUBLISH_URL=srt://192.168.0.86:9000?streamid=%23%21::r=CHANGE_ME-audio,m=publish&latency=20000&mode=caller&transtype=live&pkt_size=1316
AUDIO_FORWARD_URL=srt://192.168.0.86:9000?streamid=%23%21::r=CHANGE_ME-fwd,m=request&latency=20000&mode=caller&transtype=live&pkt_size=1316
PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
AUDIO_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-audio,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
AUDIO_FORWARD_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-fwd,m=request&latency=10&mode=caller&transtype=live&pkt_size=1316
VIDEO_BITRATE=2000000
AUDIO_ENABLE=0
AUDIO_DEVICE=hw:0,0
pi/roverd/config.go
+1 -35
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@@ -316,9 +316,6 @@ func LoadConfig(path string) (*Config, error) {
}
cfg.Media.AudioForwardURL = derived
}
cfg.Media.PublishURL = normalizeSRTURLForLowLatency(cfg.Media.PublishURL)
cfg.Media.AudioPublishURL = normalizeSRTURLForLowLatency(cfg.Media.AudioPublishURL)
cfg.Media.AudioForwardURL = normalizeSRTURLForLowLatency(cfg.Media.AudioForwardURL)
if err := validateServoConfig(&cfg.CameraServo); err != nil {
return nil, fmt.Errorf("cameraServo: %w", err)
}
@@ -466,40 +463,9 @@ func deriveSRTURL(serverURL, streamName string, port int, mode string) (string,
port = 9000
}
escaped := url.PathEscape(streamName)
return fmt.Sprintf("srt://%s:%d?streamid=%%23%%21::r=%s,m=%s&latency=20000&mode=caller&transtype=live&pkt_size=1316", host, port, escaped, mode), nil
return fmt.Sprintf("srt://%s:%d?streamid=#!::r=%s,m=%s&latency=10&mode=caller&transtype=live&pkt_size=1316", host, port, escaped, mode), nil
}
func normalizeSRTURLForLowLatency(raw string) string {
trimmed := strings.TrimSpace(raw)
if trimmed == "" || !strings.HasPrefix(trimmed, "srt://") {
return raw
}
// SRT stream IDs commonly start with "#!::". In a URL, a literal "#"
// begins the fragment section, so ffmpeg/libsrt can ignore query options
// placed after it. MediaMTX then falls back to the SRT default latency,
// which showed up in diagnostics as a 120 ms receive delay even though the
// URL text contained latency=10. Percent-encoding only the "#!" prefix keeps
// MediaMTX's stream ID parser behavior while allowing latency/mode/transtype
// to remain real SRT query parameters.
normalized := strings.ReplaceAll(trimmed, "streamid=#!::", "streamid=%23%21::")
// ffmpeg's SRT latency URL option is expressed in microseconds. Use 20 ms as
// the default interactive rover target: much lower than the 120 ms fallback,
// but not so aggressive that tiny LAN jitter immediately causes drops.
if srtLegacyLatencyRe.MatchString(normalized) {
normalized = srtLegacyLatencyRe.ReplaceAllString(normalized, "${1}20000${2}")
} else if !strings.Contains(normalized, "latency=") {
separator := "&"
if !strings.Contains(normalized, "?") {
separator = "?"
}
normalized += separator + "latency=20000"
}
return normalized
}
var srtLegacyLatencyRe = regexp.MustCompile(`([?&]latency=)10($|&)`)
var hexColorRe = regexp.MustCompile(`^#[0-9A-Fa-f]{6}$`)
func normalizeHexColor(raw string) (string, error) {
pi/roverd/roverd.sample.yaml
+2 -2
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@@ -17,8 +17,8 @@ battery:
urgent: 1650
maxWheelSpeed: 350
media:
publishUrl: srt://192.168.0.86:9000?streamid=%23%21::r=roomba-alpha,m=publish&latency=20000&mode=caller&transtype=live&pkt_size=1316
audioForwardUrl: srt://192.168.0.86:9000?streamid=%23%21::r=roomba-alpha-fwd,m=request&latency=20000&mode=caller&transtype=live&pkt_size=1316
publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
audioForwardUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha-fwd,m=request&latency=10&mode=caller&transtype=live&pkt_size=1316
publishPort: 9000
# Default assumes camera is mounted upside down; set false for upright mounts.
cameraInverted: true
server/src/services/audioForwardService/policy.js
+6 -22
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@@ -29,35 +29,19 @@ function createAudioForwardPolicy(deps) {
function forcePublishStreamMode(rawUrl) {
const value = String(rawUrl || '').trim();
if (!value) return '';
const normalized = value
/*
A literal "#" inside the SRT stream ID turns the rest of the URL into a
fragment for normal URL parsers. Encoding the "#!" prefix keeps MediaMTX
receiving the same stream ID while allowing latency/mode/transtype to be
parsed as real SRT options instead of being accidentally hidden inside
the stream ID text.
*/
.replace(/([?&]streamid=)#!::/, '$1%23%21::')
/*
SRT latency is expressed in microseconds by ffmpeg/libsrt. The previous
latency=10 value was both too small to be a sane target and, because of
the unescaped stream ID, was not being applied in practice. Use the same
20 ms target as rover publishing.
*/
.replace(/([?&]latency=)10\b/, (_, prefix) => `${prefix}20000`);
if (!/[?&]streamid=(?:#!::|%23%21::)/.test(normalized)) return normalized;
if (/,m=publish\b/.test(normalized)) return normalized;
if (/,m=[a-zA-Z]+\b/.test(normalized)) return normalized.replace(/,m=[a-zA-Z]+\b/, ',m=publish');
return normalized.replace(/([?&]streamid=(?:#!::|%23%21::)[^&]*)/, '$1,m=publish');
if (!/[?&]streamid=#!::/.test(value)) return value;
if (/,m=publish\b/.test(value)) return value;
if (/,m=[a-zA-Z]+\b/.test(value)) return value.replace(/,m=[a-zA-Z]+\b/, ',m=publish');
return value.replace(/([?&]streamid=#!::[^&]*)/, '$1,m=publish');
}
function resolveForwardUrl(roverId) {
const record = roverManager.rovers.get(roverId);
const configured = record?.meta?.media?.audioForwardUrl;
if (configured) return forcePublishStreamMode(configured);
return `srt://127.0.0.1:9000?streamid=%23%21::r=${encodeURIComponent(
return `srt://127.0.0.1:9000?streamid=#!::r=${encodeURIComponent(
roverId + streamSuffix,
)},m=publish&latency=20000&mode=caller&transtype=live&pkt_size=1316`;
)},m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316`;
}
function resolveForwardPathId(roverId) {