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legop3
2025-11-14 21:18:35 -05:00
parent 6f6104792b
commit 0d233677f6
10 changed files with 88 additions and 126 deletions
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pi/bin/whip-publisher.sh → pi/bin/video-publisher.sh
+8 -8
View File
@@ -1,7 +1,7 @@
#!/usr/bin/env bash
set -euo pipefail
ENV_FILE="${WHIP_ENV_FILE:-/var/lib/roverd/whip.env}"
ENV_FILE="${VIDEO_ENV_FILE:-/var/lib/roverd/video.env}"
if [[ ! -f "$ENV_FILE" ]]; then
echo "Environment file ${ENV_FILE} missing; cannot publish" >&2
@@ -11,7 +11,7 @@ fi
# shellcheck disable=SC1090
source "$ENV_FILE"
: "${WHIP_URL:?WHIP_URL not set in ${ENV_FILE}}"
: "${PUBLISH_URL:?PUBLISH_URL not set in ${ENV_FILE}}"
VIDEO_WIDTH="${VIDEO_WIDTH:-1280}"
VIDEO_HEIGHT="${VIDEO_HEIGHT:-720}"
@@ -31,12 +31,10 @@ fi
if [[ -n "${FFMPEG_BIN:-}" ]]; then
FFMPEG_BIN_PATH="$FFMPEG_BIN"
elif command -v ffmpeg-whip >/dev/null 2>&1; then
FFMPEG_BIN_PATH="$(command -v ffmpeg-whip)"
elif command -v ffmpeg >/dev/null 2>&1; then
FFMPEG_BIN_PATH="$(command -v ffmpeg)"
else
echo "ffmpeg not found; install it or run the installer to fetch ffmpeg-whip." >&2
echo "ffmpeg not found; install it via apt install ffmpeg." >&2
exit 1
fi
@@ -57,18 +55,20 @@ run_pipeline() {
-hide_banner \
-loglevel warning \
-fflags nobuffer \
-use_wallclock_as_timestamps 1 \
-f h264 \
-i pipe:0 \
-c:v copy \
-an \
-f whip \
"${WHIP_URL}"
-flush_packets 1 \
-f mpegts \
"${PUBLISH_URL}"
}
while true; do
if run_pipeline; then
exit 0
fi
echo "WHIP publisher exited, restarting in 2s..." >&2
echo "Video publisher exited, restarting in 2s..." >&2
sleep 2
done
pi/install_roverd.sh
+21 -62
View File
@@ -6,9 +6,6 @@ set -euo pipefail
BINARY_SRC="dist/roverd"
CONFIG_SRC="pi/roverd/roverd.sample.yaml"
FFMPEG_SRC_REF="master"
FFMPEG_WHIP_DIR="/usr/local/lib/ffmpeg-whip"
FFMPEG_WHIP_BIN="/usr/local/bin/ffmpeg-whip"
usage() {
cat <<'USAGE'
@@ -23,8 +20,8 @@ Options:
The script must run from the repository root and as root (sudo). It will:
* create system users/groups if needed
* install /usr/local/bin/roverd and /etc/roverd.yaml
* install /usr/local/bin/whip-publisher and its systemd unit
* enable roverd.service and whip-publisher.service
* install /usr/local/bin/video-publisher and its systemd unit
* enable roverd.service and video-publisher.service
USAGE
}
@@ -87,52 +84,14 @@ if ! command -v rpicam-vid >/dev/null 2>&1 && ! command -v libcamera-vid >/dev/n
log "WARNING: neither rpicam-vid nor libcamera-vid found in PATH; install libcamera-apps."
fi
ensure_ffmpeg_build_deps() {
log "Installing FFmpeg build dependencies (this may take a while)..."
apt-get update
apt-get install -y --no-install-recommends \
git curl ca-certificates build-essential pkg-config yasm nasm \
libssl-dev libx264-dev libopus-dev \
libx11-dev libxext-dev libxcb1-dev libxcb-shm0-dev libxcb-xfixes0-dev libxcb-shape0-dev
}
install_ffmpeg_whip() {
if [[ -x "$FFMPEG_WHIP_BIN" && -f "$FFMPEG_WHIP_DIR/bin/ffmpeg" && -d "$FFMPEG_WHIP_DIR/lib" ]]; then
log "ffmpeg-whip already present; skipping build"
install_video_deps() {
if command -v ffmpeg >/dev/null 2>&1 && (command -v rpicam-vid >/dev/null 2>&1 || command -v libcamera-vid >/dev/null 2>&1); then
log "Video dependencies already installed; skipping apt install"
return
}
ensure_ffmpeg_build_deps
log "Building ffmpeg with WHIP muxer (this can take several minutes)..."
rm -rf "$FFMPEG_WHIP_DIR"
mkdir -p "$FFMPEG_WHIP_DIR"
tmp="$(mktemp -d)"
git clone --depth 1 --branch "$FFMPEG_SRC_REF" https://git.ffmpeg.org/ffmpeg.git "$tmp/ffmpeg"
pushd "$tmp/ffmpeg" >/dev/null
./configure \
--prefix="$FFMPEG_WHIP_DIR" \
--disable-debug --disable-doc --disable-ffplay --disable-ffprobe \
--enable-shared --disable-static \
--enable-openssl \
--enable-protocol=http,https,tcp,udp,dtls,file,pipe \
--enable-muxer=whip \
--enable-gpl --enable-version3 \
--enable-libx264 --enable-libopus \
--enable-encoder=libx264,libopus \
--enable-parser=h264 \
--enable-bsf=h264_mp4toannexb \
--enable-filter=scale,fps,format,aresample \
--enable-indev=x11grab,xcbgrab
make -j"$(nproc)"
make install
popd >/dev/null
rm -rf "$tmp"
cat > "${FFMPEG_WHIP_BIN}" <<'EOF'
#!/usr/bin/env bash
export LD_LIBRARY_PATH=/usr/local/lib/ffmpeg-whip/lib:${LD_LIBRARY_PATH}
exec /usr/local/lib/ffmpeg-whip/bin/ffmpeg "$@"
EOF
chmod 0755 "${FFMPEG_WHIP_BIN}"
log "Installed ffmpeg-whip ($(${FFMPEG_WHIP_BIN} -version | head -n1))"
log "Installing video dependencies (libcamera-apps, ffmpeg)..."
apt-get update
apt-get install -y --no-install-recommends libcamera-apps ffmpeg
}
ensure_user roverd "dialout,gpio,video,render"
@@ -152,34 +111,34 @@ fi
install -m 0644 pi/systemd/roverd.service /etc/systemd/system/roverd.service
log "Installed roverd systemd unit"
install_ffmpeg_whip
install_video_deps
# Install WHIP publisher assets
install -D -o root -g root -m 0755 pi/bin/whip-publisher.sh /usr/local/bin/whip-publisher
install -m 0644 pi/systemd/whip-publisher.service /etc/systemd/system/whip-publisher.service
# Install video publisher assets
install -D -o root -g root -m 0755 pi/bin/video-publisher.sh /usr/local/bin/video-publisher
install -m 0644 pi/systemd/video-publisher.service /etc/systemd/system/video-publisher.service
install -d -o roverd -g roverd /var/lib/roverd
if [[ ! -f /var/lib/roverd/whip.env ]]; then
cat > /var/lib/roverd/whip.env <<'ENV'
if [[ ! -f /var/lib/roverd/video.env ]]; then
cat > /var/lib/roverd/video.env <<'ENV'
# Managed by roverd; placeholder values will be overwritten at runtime.
WHIP_URL=http://192.168.0.86:8889/whip/CHANGE_ME
PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316
VIDEO_WIDTH=1280
VIDEO_HEIGHT=720
VIDEO_FPS=30
VIDEO_BITRATE=3000000
ENV
chown roverd:roverd /var/lib/roverd/whip.env
chmod 0640 /var/lib/roverd/whip.env
chown roverd:roverd /var/lib/roverd/video.env
chmod 0640 /var/lib/roverd/video.env
fi
systemctl daemon-reload
systemctl enable roverd.service
systemctl enable whip-publisher.service
systemctl enable video-publisher.service
if [[ $CONFIG_EXISTS -eq 1 ]]; then
systemctl restart roverd.service
systemctl restart whip-publisher.service
log "Restarted roverd + WHIP publisher"
systemctl restart video-publisher.service
log "Restarted roverd + video publisher"
else
log "Skipped auto-start because config is the sample; edit $CONFIG_DEST then run: sudo systemctl restart roverd whip-publisher"
log "Skipped auto-start because config is the sample; edit $CONFIG_DEST then run: sudo systemctl restart roverd video-publisher"
fi
log "Install complete"
pi/roverd/config.go
+5 -8
View File
@@ -94,7 +94,7 @@ func LoadConfig(path string) (*Config, error) {
},
},
Media: MediaConfig{
PublishPort: 8889,
PublishPort: 9000,
HealthInterval: Duration{Duration: 30 * time.Second},
VideoWidth: 1280,
VideoHeight: 720,
@@ -142,7 +142,7 @@ func LoadConfig(path string) (*Config, error) {
cfg.Media.VideoBitrate = 3000000
}
if cfg.Media.PublishPort <= 0 {
cfg.Media.PublishPort = 8889
cfg.Media.PublishPort = 9000
}
if cfg.Media.PublishURL == "" {
derived, err := derivePublishURL(cfg.ServerURL, cfg.Name, cfg.Media.PublishPort)
@@ -166,12 +166,9 @@ func derivePublishURL(serverURL, roverName string, port int) (string, error) {
if host == "" {
return "", errors.New("serverUrl missing host")
}
scheme := "http"
if parsed.Scheme == "wss" || parsed.Scheme == "https" {
scheme = "https"
}
if port <= 0 {
port = 8889
port = 9000
}
return fmt.Sprintf("%s://%s:%d/whip/%s", scheme, host, port, url.PathEscape(roverName)), nil
streamName := url.PathEscape(roverName)
return fmt.Sprintf("srt://%s:%d?streamid=#!::r=%s,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316", host, port, streamName), nil
}
pi/roverd/media_env.go
+2 -2
View File
@@ -7,7 +7,7 @@ import (
"path/filepath"
)
const publisherEnvPath = "/var/lib/roverd/whip.env"
const publisherEnvPath = "/var/lib/roverd/video.env"
func UpdatePublisherEnv(cfg MediaConfig) error {
if cfg.PublishURL == "" {
@@ -20,7 +20,7 @@ func UpdatePublisherEnv(cfg MediaConfig) error {
return err
}
var buf bytes.Buffer
fmt.Fprintf(&buf, "WHIP_URL=%s\n", cfg.PublishURL)
fmt.Fprintf(&buf, "PUBLISH_URL=%s\n", cfg.PublishURL)
fmt.Fprintf(&buf, "VIDEO_WIDTH=%d\n", cfg.VideoWidth)
fmt.Fprintf(&buf, "VIDEO_HEIGHT=%d\n", cfg.VideoHeight)
fmt.Fprintf(&buf, "VIDEO_FPS=%d\n", cfg.VideoFPS)
pi/roverd/roverd.sample.yaml
+3 -3
View File
@@ -15,13 +15,13 @@ battery:
urgent: 1650
maxWheelSpeed: 350
media:
publishUrl: http://192.168.0.86:8889/whip/roomba-alpha
publishPort: 8889
publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316
publishPort: 9000
videoWidth: 1280
videoHeight: 720
videoFps: 30
videoBitrate: 3000000
manage: true
service: whip-publisher.service
service: video-publisher.service
healthUrl: ""
healthInterval: 30s
pi/systemd/whip-publisher.service → pi/systemd/video-publisher.service
+3 -3
View File
@@ -1,5 +1,5 @@
[Unit]
Description=Rover WHIP Publisher
Description=Rover Video Publisher (libcamera -> SRT)
After=network-online.target roverd.service
Wants=network-online.target
@@ -8,8 +8,8 @@ Type=simple
User=roverd
Group=roverd
WorkingDirectory=/var/lib/roverd
EnvironmentFile=/var/lib/roverd/whip.env
ExecStart=/usr/local/bin/whip-publisher
EnvironmentFile=/var/lib/roverd/video.env
ExecStart=/usr/local/bin/video-publisher
Restart=always
RestartSec=2