diff --git a/dist/hornverifier b/dist/hornverifier index f4edd65b..47e4098f 100755 Binary files a/dist/hornverifier and b/dist/hornverifier differ diff --git a/dist/roverd b/dist/roverd index 5586611a..bc611709 100755 Binary files a/dist/roverd and b/dist/roverd differ diff --git a/dist/servoverifier b/dist/servoverifier index 2b623af4..96e66a6d 100755 Binary files a/dist/servoverifier and b/dist/servoverifier differ diff --git a/pi/install_roverd.sh b/pi/install_roverd.sh index 4e464f54..dd6b0db9 100755 --- a/pi/install_roverd.sh +++ b/pi/install_roverd.sh @@ -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 diff --git a/pi/roverd/config.go b/pi/roverd/config.go index bc0f66b6..b0526499 100644 --- a/pi/roverd/config.go +++ b/pi/roverd/config.go @@ -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) { diff --git a/pi/roverd/roverd.sample.yaml b/pi/roverd/roverd.sample.yaml index 8de7989e..c5618854 100644 --- a/pi/roverd/roverd.sample.yaml +++ b/pi/roverd/roverd.sample.yaml @@ -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 diff --git a/server/src/services/audioForwardService/policy.js b/server/src/services/audioForwardService/policy.js index 2ac86a42..bb72a80d 100644 --- a/server/src/services/audioForwardService/policy.js +++ b/server/src/services/audioForwardService/policy.js @@ -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) {