mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 09:31:20 -04:00
update video publisher
This commit is contained in:
legop3
+112
-51
@@ -1,83 +1,144 @@
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#!/usr/bin/env bash
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set -euo pipefail
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# Disable history expansion so PUBLISH_URL values with "!" are safe when sourcing env files.
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# Keep history expansion off so values containing "!" are safe.
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set +H
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ENV_FILE="${VIDEO_ENV_FILE:-/var/lib/roverd/video.env}"
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if [[ ! -f "$ENV_FILE" ]]; then
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echo "Environment file ${ENV_FILE} missing; cannot publish" >&2
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exit 1
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echo "Environment file ${ENV_FILE} missing; cannot publish" >&2
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exit 1
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fi
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# shellcheck disable=SC1090
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source "$ENV_FILE"
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# Load KEY=VALUE pairs from ENV_FILE WITHOUT evaluating shell metacharacters.
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# This makes URLs containing characters like '&' and '#!' safe without requiring quoting.
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load_env_file() {
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local content=""
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if [[ -r "$ENV_FILE" ]]; then
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content="$(cat "$ENV_FILE")"
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elif command -v sudo >/dev/null 2>&1; then
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# Try to read via sudo without prompting (useful when the service runs as an unprivileged user)
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content="$(sudo -n cat "$ENV_FILE" 2>/dev/null || true)"
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fi
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if [[ -z "$content" ]]; then
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echo "Cannot read ${ENV_FILE} (permission denied). Run as a user that can read it, or allow sudo -n for cat." >&2
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exit 1
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fi
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local line key val
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while IFS= read -r line || [[ -n "$line" ]]; do
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# Skip blank lines and full-line comments.
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[[ "$line" =~ ^[[:space:]]*$ ]] && continue
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[[ "$line" =~ ^[[:space:]]*# ]] && continue
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# Support optional leading 'export '
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if [[ "$line" =~ ^[[:space:]]*export[[:space:]]+([A-Za-z_][A-Za-z0-9_]*)=(.*)$ ]]; then
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key="${BASH_REMATCH[1]}"
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val="${BASH_REMATCH[2]}"
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elif [[ "$line" =~ ^[[:space:]]*([A-Za-z_][A-Za-z0-9_]*)=(.*)$ ]]; then
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key="${BASH_REMATCH[1]}"
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val="${BASH_REMATCH[2]}"
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else
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# Ignore anything that isn't a simple assignment.
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continue
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fi
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# Trim leading/trailing whitespace in value.
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val="${val#${val%%[![:space:]]*}}"
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val="${val%${val##*[![:space:]]}}"
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# If value is wrapped in matching single or double quotes, unwrap.
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if [[ "$val" =~ ^\".*\"$ ]]; then
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val="${val:1:${#val}-2}"
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elif [[ "$val" =~ ^\'.*\'$ ]]; then
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val="${val:1:${#val}-2}"
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fi
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# Assign without evaluation.
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printf -v "$key" '%s' "$val"
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export "$key"
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done <<< "$content"
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}
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load_env_file
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: "${PUBLISH_URL:?PUBLISH_URL not set in ${ENV_FILE}}"
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VIDEO_WIDTH="${VIDEO_WIDTH:-1920}"
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VIDEO_HEIGHT="${VIDEO_HEIGHT:-1080}"
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# Defaults tuned for OV5647: use 4:3 output and force the common 2x2 binned full-FOV mode.
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VIDEO_WIDTH="${VIDEO_WIDTH:-640}"
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VIDEO_HEIGHT="${VIDEO_HEIGHT:-480}"
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VIDEO_FPS="${VIDEO_FPS:-30}"
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VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}"
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VIDEO_SENSOR_MODE="${VIDEO_SENSOR_MODE:-1296:972}"
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# Flip the camera 180deg (supported by rpicam-vid/libcamera-vid)
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FLIP_ARGS=(--rotation 180)
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MODE_ARGS=()
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if [[ -n "${VIDEO_SENSOR_MODE}" ]]; then
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MODE_ARGS=(--mode "${VIDEO_SENSOR_MODE}")
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fi
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if [[ -n "${LIBCAMERA_BIN:-}" ]]; then
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LIBCAMERA_BIN_PATH="$LIBCAMERA_BIN"
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LIBCAMERA_BIN_PATH="$LIBCAMERA_BIN"
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elif command -v rpicam-vid >/dev/null 2>&1; then
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LIBCAMERA_BIN_PATH="$(command -v rpicam-vid)"
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LIBCAMERA_BIN_PATH="$(command -v rpicam-vid)"
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elif command -v libcamera-vid >/dev/null 2>&1; then
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LIBCAMERA_BIN_PATH="$(command -v libcamera-vid)"
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LIBCAMERA_BIN_PATH="$(command -v libcamera-vid)"
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else
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echo "Neither rpicam-vid nor libcamera-vid found; install libcamera-apps." >&2
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exit 1
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echo "Neither rpicam-vid nor libcamera-vid found; install libcamera-apps." >&2
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exit 1
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fi
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if [[ -n "${FFMPEG_BIN:-}" ]]; then
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FFMPEG_BIN_PATH="$FFMPEG_BIN"
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FFMPEG_BIN_PATH="$FFMPEG_BIN"
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elif command -v ffmpeg >/dev/null 2>&1; then
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FFMPEG_BIN_PATH="$(command -v ffmpeg)"
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FFMPEG_BIN_PATH="$(command -v ffmpeg)"
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else
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echo "ffmpeg not found; install it via apt install ffmpeg." >&2
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exit 1
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echo "ffmpeg not found; install it via apt install ffmpeg." >&2
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exit 1
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fi
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run_pipeline() {
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"${LIBCAMERA_BIN_PATH}" \
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--inline \
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--timeout 0 \
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--width "${VIDEO_WIDTH}" \
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--height "${VIDEO_HEIGHT}" \
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"${FLIP_ARGS[@]}" \
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--framerate "${VIDEO_FPS}" \
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--bitrate "${VIDEO_BITRATE}" \
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--codec h264 \
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--profile baseline \
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--denoise auto \
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--nopreview \
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--metering centre \
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--ev 0.1 \
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--awb auto \
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--saturation 0.6 \
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--brightness 0 \
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--output - \
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| "${FFMPEG_BIN_PATH}" \
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-hide_banner \
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-loglevel warning \
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-fflags nobuffer \
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-use_wallclock_as_timestamps 1 \
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-f h264 \
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-i pipe:0 \
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-c:v copy \
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-an \
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-flush_packets 1 \
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-f mpegts \
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"${PUBLISH_URL}"
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"${LIBCAMERA_BIN_PATH}" \
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--inline \
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--timeout 0 \
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"${MODE_ARGS[@]}" \
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--width "${VIDEO_WIDTH}" \
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--height "${VIDEO_HEIGHT}" \
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"${FLIP_ARGS[@]}" \
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--framerate "${VIDEO_FPS}" \
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--bitrate "${VIDEO_BITRATE}" \
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--codec h264 \
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--profile baseline \
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--denoise auto \
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--nopreview \
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--metering centre \
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--ev 0.1 \
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--awb auto \
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--saturation 0.6 \
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--brightness 0 \
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--output - \
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| "${FFMPEG_BIN_PATH}" \
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-hide_banner \
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-loglevel warning \
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-fflags nobuffer \
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-use_wallclock_as_timestamps 1 \
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-f h264 \
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-i pipe:0 \
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-c:v copy \
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-an \
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-flush_packets 1 \
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-f mpegts \
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"${PUBLISH_URL}"
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}
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while true; do
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if run_pipeline; then
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exit 0
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fi
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echo "Video publisher exited, restarting in 2s..." >&2
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sleep 2
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if run_pipeline; then
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exit 0
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fi
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echo "Video publisher exited, restarting in 2s..." >&2
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sleep 2
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done
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