update video publisher

pi/bin/video-publisher.sh

@@ -1,6 +1,7 @@
 #!/usr/bin/env bash
 set -euo pipefail
-# Disable history expansion so PUBLISH_URL values with "!" are safe when sourcing env files.
+
+# Keep history expansion off so values containing "!" are safe.
 set +H
 
 ENV_FILE="${VIDEO_ENV_FILE:-/var/lib/roverd/video.env}"
@@ -10,17 +11,76 @@ if [[ ! -f "$ENV_FILE" ]]; then
   exit 1
 fi
 
-# shellcheck disable=SC1090
+# Load KEY=VALUE pairs from ENV_FILE WITHOUT evaluating shell metacharacters.
-source "$ENV_FILE"
+# This makes URLs containing characters like '&' and '#!' safe without requiring quoting.
+load_env_file() {
+  local content=""
+
+  if [[ -r "$ENV_FILE" ]]; then
+    content="$(cat "$ENV_FILE")"
+  elif command -v sudo >/dev/null 2>&1; then
+    # Try to read via sudo without prompting (useful when the service runs as an unprivileged user)
+    content="$(sudo -n cat "$ENV_FILE" 2>/dev/null || true)"
+  fi
+
+  if [[ -z "$content" ]]; then
+    echo "Cannot read ${ENV_FILE} (permission denied). Run as a user that can read it, or allow sudo -n for cat." >&2
+    exit 1
+  fi
+
+  local line key val
+  while IFS= read -r line || [[ -n "$line" ]]; do
+    # Skip blank lines and full-line comments.
+    [[ "$line" =~ ^[[:space:]]*$ ]] && continue
+    [[ "$line" =~ ^[[:space:]]*# ]] && continue
+
+    # Support optional leading 'export '
+    if [[ "$line" =~ ^[[:space:]]*export[[:space:]]+([A-Za-z_][A-Za-z0-9_]*)=(.*)$ ]]; then
+      key="${BASH_REMATCH[1]}"
+      val="${BASH_REMATCH[2]}"
+    elif [[ "$line" =~ ^[[:space:]]*([A-Za-z_][A-Za-z0-9_]*)=(.*)$ ]]; then
+      key="${BASH_REMATCH[1]}"
+      val="${BASH_REMATCH[2]}"
+    else
+      # Ignore anything that isn't a simple assignment.
+      continue
+    fi
+
+    # Trim leading/trailing whitespace in value.
+    val="${val#${val%%[![:space:]]*}}"
+    val="${val%${val##*[![:space:]]}}"
+
+    # If value is wrapped in matching single or double quotes, unwrap.
+    if [[ "$val" =~ ^\".*\"$ ]]; then
+      val="${val:1:${#val}-2}"
+    elif [[ "$val" =~ ^\'.*\'$ ]]; then
+      val="${val:1:${#val}-2}"
+    fi
+
+    # Assign without evaluation.
+    printf -v "$key" '%s' "$val"
+    export "$key"
+  done <<< "$content"
+}
+
+load_env_file
 : "${PUBLISH_URL:?PUBLISH_URL not set in ${ENV_FILE}}"
 
-VIDEO_WIDTH="${VIDEO_WIDTH:-1920}"
+# Defaults tuned for OV5647: use 4:3 output and force the common 2x2 binned full-FOV mode.
-VIDEO_HEIGHT="${VIDEO_HEIGHT:-1080}"
+VIDEO_WIDTH="${VIDEO_WIDTH:-640}"
+VIDEO_HEIGHT="${VIDEO_HEIGHT:-480}"
 VIDEO_FPS="${VIDEO_FPS:-30}"
 VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}"
+VIDEO_SENSOR_MODE="${VIDEO_SENSOR_MODE:-1296:972}"
+
 # Flip the camera 180deg (supported by rpicam-vid/libcamera-vid)
 FLIP_ARGS=(--rotation 180)
 
+MODE_ARGS=()
+if [[ -n "${VIDEO_SENSOR_MODE}" ]]; then
+  MODE_ARGS=(--mode "${VIDEO_SENSOR_MODE}")
+fi
+
 if [[ -n "${LIBCAMERA_BIN:-}" ]]; then
   LIBCAMERA_BIN_PATH="$LIBCAMERA_BIN"
 elif command -v rpicam-vid >/dev/null 2>&1; then
@@ -45,6 +105,7 @@ run_pipeline() {
   "${LIBCAMERA_BIN_PATH}" \
     --inline \
     --timeout 0 \
+    "${MODE_ARGS[@]}" \
     --width "${VIDEO_WIDTH}" \
     --height "${VIDEO_HEIGHT}" \
     "${FLIP_ARGS[@]}" \