debian-laptop

pi/bin/debian-laptop-video-publisher.sh

@@ -0,0 +1,131 @@
+#!/usr/bin/env bash
+set -euo pipefail
+set +H
+
+ENV_FILE="${ROVERD_MEDIA_ENV_FILE:-/var/lib/roverd/media.env}"
+
+if [[ ! -f "$ENV_FILE" ]]; then
+	echo "Environment file ${ENV_FILE} missing; cannot publish laptop video" >&2
+	exit 1
+fi
+
+# Load roverd's generated media.env as data instead of sourcing it as shell.
+# The SRT publish URL contains normal query-string characters like '&' and '#!',
+# so evaluating the file would be both fragile and unnecessary.
+load_env_file() {
+	local content=""
+
+	if [[ -r "$ENV_FILE" ]]; then
+		content="$(cat "$ENV_FILE")"
+	elif command -v sudo >/dev/null 2>&1; then
+		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
+		[[ "$line" =~ ^[[:space:]]*$ ]] && continue
+		[[ "$line" =~ ^[[:space:]]*# ]] && continue
+
+		if [[ "$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
+			continue
+		fi
+
+		val="${val#${val%%[![:space:]]*}}"
+		val="${val%${val##*[![:space:]]}}"
+		if [[ "$val" =~ ^\".*\"$ ]]; then
+			val="${val:1:${#val}-2}"
+		elif [[ "$val" =~ ^\'.*\'$ ]]; then
+			val="${val:1:${#val}-2}"
+		fi
+
+		printf -v "$key" '%s' "$val"
+		export "$key"
+	done <<< "$content"
+}
+
+load_env_file
+: "${ROVERD_VIDEO_ENABLE:?ROVERD_VIDEO_ENABLE not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_PUBLISH_URL:?ROVERD_VIDEO_PUBLISH_URL not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_DEVICE:?ROVERD_VIDEO_DEVICE not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_WIDTH:?ROVERD_VIDEO_WIDTH not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_HEIGHT:?ROVERD_VIDEO_HEIGHT not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_FPS:?ROVERD_VIDEO_FPS not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_BITRATE:?ROVERD_VIDEO_BITRATE not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_INVERT:?ROVERD_VIDEO_INVERT not set in ${ENV_FILE}}"
+
+if [[ "${ROVERD_VIDEO_ENABLE}" -ne 1 ]]; then
+	echo "Laptop video publisher disabled by roverd media config; skipping" >&2
+	exit 0
+fi
+
+if [[ -z "${ROVERD_VIDEO_DEVICE}" ]]; then
+	echo "ROVERD_VIDEO_DEVICE is required for the debian-laptop V4L2 publisher" >&2
+	exit 1
+fi
+
+if [[ -n "${FFMPEG_BIN:-}" ]]; then
+	FFMPEG_BIN_PATH="$FFMPEG_BIN"
+elif command -v ffmpeg >/dev/null 2>&1; then
+	FFMPEG_BIN_PATH="$(command -v ffmpeg)"
+else
+	echo "ffmpeg not found; install it via apt install ffmpeg." >&2
+	exit 1
+fi
+
+VIDEO_FILTER_ARGS=()
+if [[ "${ROVERD_VIDEO_INVERT}" -ne 0 ]]; then
+	# The Pi publisher uses libcamera rotation. With a generic webcam, ffmpeg's
+	# transpose pair gives the same 180-degree correction without assuming a
+	# camera-specific driver feature.
+	VIDEO_FILTER_ARGS=(-vf "transpose=2,transpose=2")
+fi
+
+run_pipeline() {
+	"${FFMPEG_BIN_PATH}" \
+		-hide_banner \
+		-loglevel warning \
+		-fflags nobuffer \
+		-flags low_delay \
+		-thread_queue_size 4096 \
+		-f v4l2 \
+		-framerate "${ROVERD_VIDEO_FPS}" \
+		-video_size "${ROVERD_VIDEO_WIDTH}x${ROVERD_VIDEO_HEIGHT}" \
+		-i "${ROVERD_VIDEO_DEVICE}" \
+		"${VIDEO_FILTER_ARGS[@]}" \
+		-an \
+		-c:v libx264 \
+		-preset veryfast \
+		-tune zerolatency \
+		-profile:v baseline \
+		-pix_fmt yuv420p \
+		-b:v "${ROVERD_VIDEO_BITRATE}" \
+		-maxrate "${ROVERD_VIDEO_BITRATE}" \
+		-bufsize "$((ROVERD_VIDEO_BITRATE / 2))" \
+		-g "${ROVERD_VIDEO_FPS}" \
+		-keyint_min "${ROVERD_VIDEO_FPS}" \
+		-sc_threshold 0 \
+		-flush_packets 1 \
+		-muxdelay 0 \
+		-muxpreload 0 \
+		-f mpegts \
+		"${ROVERD_VIDEO_PUBLISH_URL}"
+}
+
+while true; do
+	if run_pipeline; then
+		exit 0
+	fi
+	echo "Debian laptop video publisher exited, restarting in 2s..." >&2
+	sleep 2
+done

pi/install_roverd.sh

@@ -1,11 +1,12 @@
 #!/usr/bin/env bash
 #
-# Installer for the roverd agent on Raspberry Pi
+# Installer for the roverd agent on Raspberry Pi and Debian laptop rover hosts.
 
 set -euo pipefail
 
-BINARY_SRC="dist/roverd"
-CONFIG_SRC="pi/roverd/roverd.sample.yaml"
+PROFILE="pi"
+BINARY_SRC=""
+CONFIG_SRC=""
 REPO_ROOT="$(pwd -P)"
 
 usage() {
@@ -13,6 +14,8 @@ usage() {
 Usage: sudo ./pi/install_roverd.sh [options]
 
 Options:
+  --profile <name>      Install profile: pi or debian-laptop (default: pi)
+  --debian-laptop       Shortcut for --profile debian-laptop
   -b, --binary <path>   Path to the roverd binary (default: dist/roverd)
   -c, --config <path>   Source config to install if /etc/roverd.yaml is missing
                         (default: pi/roverd/roverd.sample.yaml)
@@ -21,8 +24,8 @@ 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/video/audio helpers and systemd units
-  * install fixed-location Google Chrome TTS assets for roverd
+  * install profile-specific video helpers and shared audio helpers
+  * install Pi-only Google Chrome TTS assets when using the pi profile
   * install the fixed-command self-update helper used by admin-triggered updates
   * enable roverd.service and media publisher/listener services
 USAGE
@@ -30,6 +33,14 @@ USAGE
 
 while [[ $# -gt 0 ]]; do
 	case "$1" in
+		--profile)
+			PROFILE="${2:-}"
+			shift 2
+			;;
+		--debian-laptop)
+			PROFILE="debian-laptop"
+			shift
+			;;
 		-b|--binary)
 			BINARY_SRC="${2:-}"
 			shift 2
@@ -50,6 +61,32 @@ while [[ $# -gt 0 ]]; do
 	esac
 done
 
+case "$PROFILE" in
+	pi)
+		BINARY_SRC="${BINARY_SRC:-dist/roverd}"
+		CONFIG_SRC="${CONFIG_SRC:-pi/roverd/roverd.sample.yaml}"
+		VIDEO_HELPER_SRC="pi/bin/video-publisher.sh"
+		VIDEO_HELPER_DEST="/usr/local/bin/video-publisher"
+		VIDEO_SERVICE_SRC="pi/systemd/video-publisher.service"
+		VIDEO_SERVICE_NAME="video-publisher.service"
+		ROVERD_GROUPS="dialout,gpio,video,render,audio"
+		;;
+	debian-laptop)
+		BINARY_SRC="${BINARY_SRC:-dist/roverd-debian-laptop}"
+		CONFIG_SRC="${CONFIG_SRC:-pi/roverd/roverd.debian-laptop.sample.yaml}"
+		VIDEO_HELPER_SRC="pi/bin/debian-laptop-video-publisher.sh"
+		VIDEO_HELPER_DEST="/usr/local/bin/debian-laptop-video-publisher"
+		VIDEO_SERVICE_SRC="pi/systemd/debian-laptop-video-publisher.service"
+		VIDEO_SERVICE_NAME="debian-laptop-video-publisher.service"
+		ROVERD_GROUPS="dialout,video,render,audio"
+		;;
+	*)
+		echo "Unknown profile: $PROFILE" >&2
+		usage
+		exit 1
+		;;
+esac
+
 if [[ "${EUID}" -ne 0 ]]; then
 	echo "Please run as root (sudo)" >&2
 	exit 1
@@ -68,14 +105,37 @@ fi
 ensure_user() {
 	local user="$1"
 	local groups="${2:-}"
+	local existing_groups=""
 	if ! id -u "$user" >/dev/null 2>&1; then
 		if [[ -n "$groups" ]]; then
-			useradd -r -s /usr/sbin/nologin -G "$groups" "$user"
+			local group
+			IFS=',' read -ra group_list <<< "$groups"
+			for group in "${group_list[@]}"; do
+				if getent group "$group" >/dev/null 2>&1; then
+					existing_groups="${existing_groups:+$existing_groups,}$group"
+				else
+					log "Skipping missing system group '$group' for $user"
+				fi
+			done
+		fi
+		if [[ -n "$existing_groups" ]]; then
+			useradd -r -s /usr/sbin/nologin -G "$existing_groups" "$user"
 		else
 			useradd -r -s /usr/sbin/nologin "$user"
 		fi
 	elif [[ -n "$groups" ]]; then
-		usermod -a -G "$groups" "$user"
+		local group
+		IFS=',' read -ra group_list <<< "$groups"
+		for group in "${group_list[@]}"; do
+			if getent group "$group" >/dev/null 2>&1; then
+				existing_groups="${existing_groups:+$existing_groups,}$group"
+			else
+				log "Skipping missing system group '$group' for $user"
+			fi
+		done
+		if [[ -n "$existing_groups" ]]; then
+			usermod -a -G "$existing_groups" "$user"
+		fi
 	fi
 }
 
@@ -83,7 +143,7 @@ log() {
 	echo "[$(date -u +%Y-%m-%dT%H:%M:%SZ)] $*"
 }
 
-if ! command -v rpicam-vid >/dev/null 2>&1 && ! command -v libcamera-vid >/dev/null 2>&1; then
+if [[ "$PROFILE" == "pi" ]] && ! command -v rpicam-vid >/dev/null 2>&1 && ! command -v libcamera-vid >/dev/null 2>&1; then
 	log "WARNING: neither rpicam-vid nor libcamera-vid found in PATH; install libcamera-apps."
 fi
 
@@ -97,6 +157,23 @@ install_video_deps() {
 	apt-get install -y --no-install-recommends libcamera-apps ffmpeg
 }
 
+install_debian_laptop_deps() {
+	# The debian-laptop profile is intentionally Debian-specific, so using apt
+	# and systemd directly is simpler than pretending this installer is a
+	# cross-distro abstraction. v4l-utils is included for local camera inspection
+	# with tools such as v4l2-ctl while ffmpeg owns publishing.
+	if command -v ffmpeg >/dev/null 2>&1 \
+		&& command -v arecord >/dev/null 2>&1 \
+		&& command -v aplay >/dev/null 2>&1 \
+		&& command -v v4l2-ctl >/dev/null 2>&1; then
+		log "Debian laptop media dependencies already installed; skipping apt install"
+		return
+	fi
+	log "Installing Debian laptop media dependencies (ffmpeg, ALSA tools, V4L2 tools)..."
+	apt-get update
+	apt-get install -y --no-install-recommends ffmpeg alsa-utils v4l-utils ca-certificates
+}
+
 find_boot_config() {
 	if [[ -f /boot/firmware/config.txt ]]; then
 		printf "/boot/firmware/config.txt"
@@ -129,9 +206,35 @@ ensure_pwm_overlay() {
 	log "Enabled dtoverlay=pwm-2chan on GPIO12/13 in $boot_config (backup at $backup). Reboot required for changes to apply."
 }
 
-ensure_user roverd "dialout,gpio,video,render,audio"
+install_profile_dependencies() {
+	case "$PROFILE" in
+		pi)
+			install_video_deps
+			ensure_pwm_overlay
+			;;
+		debian-laptop)
+			install_debian_laptop_deps
+			;;
+	esac
+}
+
+install_profile_audio_support() {
+	case "$PROFILE" in
+		pi)
+			install_audio_support
+			;;
+		debian-laptop)
+			# Laptop audio uses the distro's normal ALSA "default" device by
+			# default. Avoid installing the Raspberry Pi AIY asound.conf because
+			# that would break ordinary laptop sound routing.
+			log "Skipping Pi AIY audio setup for debian-laptop profile"
+			;;
+	esac
+}
+
+ensure_user roverd "$ROVERD_GROUPS"
 install -o roverd -g roverd -m 0755 "$BINARY_SRC" /usr/local/bin/roverd
-log "Installed roverd binary"
+log "Installed roverd binary for profile $PROFILE"
 
 install_self_update_support() {
 	local sudoers_file="/etc/sudoers.d/roverd-self-update"
@@ -185,8 +288,7 @@ fi
 install -m 0644 pi/systemd/roverd.service /etc/systemd/system/roverd.service
 log "Installed roverd systemd unit"
 
-install_video_deps
-ensure_pwm_overlay
+install_profile_dependencies
 
 # Enable Google AIY v1 sound card, ALSA defaults, and TTS engines
 install_audio_support() {
@@ -298,11 +400,13 @@ install_google_tts_assets() {
 	log "Installed Google Chrome TTS assets to $asset_dir"
 }
 
-# Install video publisher assets
-install -D -o root -g root -m 0755 pi/bin/video-publisher.sh /usr/local/bin/video-publisher
-log "Installed video-publisher helper"
-install -m 0644 pi/systemd/video-publisher.service /etc/systemd/system/video-publisher.service
-log "Installed video-publisher systemd unit"
+# Install the profile-specific video publisher. The audio publisher/listener are
+# shared because both Pi and Debian laptop profiles use the same media.env audio
+# contract and ffmpeg/ALSA command shape.
+install -D -o root -g root -m 0755 "$VIDEO_HELPER_SRC" "$VIDEO_HELPER_DEST"
+log "Installed $PROFILE video publisher helper"
+install -m 0644 "$VIDEO_SERVICE_SRC" "/etc/systemd/system/$VIDEO_SERVICE_NAME"
+log "Installed $PROFILE video publisher systemd unit"
 # Install audio-only publisher assets
 install -D -o root -g root -m 0755 pi/bin/audio-only-publisher.sh /usr/local/bin/audio-only-publisher
 install -m 0644 pi/systemd/audio-only-publisher.service /etc/systemd/system/audio-only-publisher.service
@@ -312,7 +416,9 @@ install -D -o root -g root -m 0755 pi/bin/audio-forward-listener.sh /usr/local/b
 install -m 0644 pi/systemd/audio-forward-listener.service /etc/systemd/system/audio-forward-listener.service
 log "Installed audio-forward listener helper + systemd unit"
 install -d -o roverd -g roverd /var/lib/roverd
-cat > /var/lib/roverd/media.env <<'ENV'
+case "$PROFILE" in
+	pi)
+		cat > /var/lib/roverd/media.env <<'ENV'
 # Managed by roverd; placeholder values will be overwritten at runtime.
 ROVERD_VIDEO_ENABLE=1
 ROVERD_VIDEO_PUBLISHER=pi-libcamera
@@ -336,6 +442,34 @@ ROVERD_AUDIO_PLAYBACK_DEVICE=forward
 ROVERD_AUDIO_PLAYBACK_NORMALIZE=1
 ROVERD_AUDIO_PLAYBACK_NORMALIZE_FILTER=dynaudnorm=f=75:g=15:m=10:p=0.9,alimiter=limit=0.85:level=disabled
 ENV
+		;;
+	debian-laptop)
+		cat > /var/lib/roverd/media.env <<'ENV'
+# Managed by roverd; placeholder values will be overwritten at runtime.
+ROVERD_VIDEO_ENABLE=1
+ROVERD_VIDEO_PUBLISHER=debian-laptop-v4l2
+ROVERD_VIDEO_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
+ROVERD_VIDEO_DEVICE=/dev/video0
+ROVERD_VIDEO_WIDTH=640
+ROVERD_VIDEO_HEIGHT=480
+ROVERD_VIDEO_FPS=30
+ROVERD_VIDEO_BITRATE=2000000
+ROVERD_VIDEO_INVERT=0
+ROVERD_VIDEO_SENSOR_MODE=
+ROVERD_AUDIO_CAPTURE_ENABLE=1
+ROVERD_AUDIO_CAPTURE_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-audio,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
+ROVERD_AUDIO_CAPTURE_DEVICE=default
+ROVERD_AUDIO_CAPTURE_SAMPLE_RATE=48000
+ROVERD_AUDIO_CAPTURE_CHANNELS=2
+ROVERD_AUDIO_CAPTURE_BITRATE=510000
+ROVERD_AUDIO_PLAYBACK_ENABLE=1
+ROVERD_AUDIO_PLAYBACK_FORWARD_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-fwd,m=request&latency=10&mode=caller&transtype=live&pkt_size=1316
+ROVERD_AUDIO_PLAYBACK_DEVICE=default
+ROVERD_AUDIO_PLAYBACK_NORMALIZE=1
+ROVERD_AUDIO_PLAYBACK_NORMALIZE_FILTER=dynaudnorm=f=75:g=15:m=10:p=0.9,alimiter=limit=0.85:level=disabled
+ENV
+		;;
+esac
 chown roverd:roverd /var/lib/roverd/media.env
 chmod 0640 /var/lib/roverd/media.env
 # Create persistent audio FIFO for capture -> publisher
@@ -349,25 +483,29 @@ else
 	chown roverd:audio "$FIFO_PATH"
 	chmod 0660 "$FIFO_PATH"
 fi
-# Ensure ALSA config is in place for rovermic device
-install -m 0644 pi/asound.conf /etc/asound.conf
-log "Installed ALSA config (/etc/asound.conf)"
+if [[ "$PROFILE" == "pi" ]]; then
+	# Ensure ALSA config is in place for the Raspberry Pi Google Voice HAT
+	# rovermic/forward devices. Debian laptop installs should keep their normal
+	# distro sound configuration and use device: default in roverd.yaml.
+	install -m 0644 pi/asound.conf /etc/asound.conf
+	log "Installed ALSA config (/etc/asound.conf)"
+fi
 
-install_audio_support
+install_profile_audio_support
 
 systemctl daemon-reload
 systemctl enable roverd.service
-systemctl enable video-publisher.service
+systemctl enable "$VIDEO_SERVICE_NAME"
 systemctl enable audio-only-publisher.service
 systemctl enable audio-forward-listener.service
 if [[ $CONFIG_EXISTS -eq 1 ]]; then
 	systemctl restart roverd.service
-	systemctl restart video-publisher.service
+	systemctl restart "$VIDEO_SERVICE_NAME"
 	systemctl restart audio-only-publisher.service
 	systemctl restart audio-forward-listener.service
 	log "Restarted roverd + media publishers/listener"
 else
-	log "Skipped auto-start because config is the sample; edit $CONFIG_DEST then run: sudo systemctl restart roverd video-publisher audio-only-publisher audio-forward-listener"
+	log "Skipped auto-start because config is the sample; edit $CONFIG_DEST then run: sudo systemctl restart roverd ${VIDEO_SERVICE_NAME%.service} audio-only-publisher audio-forward-listener"
 fi
 
-log "Install complete"
+log "Install complete for profile $PROFILE"

pi/roverd/Makefile

@@ -3,18 +3,22 @@ GOOS ?= linux
 GOARCH ?= arm
 GOARM ?= 6
 
-.PHONY: build pi-build dummy clean
+.PHONY: build pi-build debian-laptop dummy verifier-tools clean
 
-build:
-	go build -o $(BIN_DIR)/roverd ./cmd/roverd
+build: pi-build debian-laptop dummy
 
-pi-build:
-	GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/roverd ./cmd/roverd
+verifier-tools:
 	GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/servoverifier ./cmd/servoverifier
 	GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/hornverifier ./cmd/hornverifier
 
+pi-build: verifier-tools
+	GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/roverd ./cmd/roverd
+
+debian-laptop:
+	GOOS=linux GOARCH=amd64 go build -trimpath -ldflags="-s -w" -tags debian_laptop -o $(BIN_DIR)/roverd-debian-laptop ./cmd/roverd
+
 dummy:
 	GOOS=linux GOARCH=amd64 go build -tags dummy -o $(BIN_DIR)/roverd-dummy ./cmd/roverd
 
 clean:
-	rm -f $(BIN_DIR)/roverd $(BIN_DIR)/servoverifier $(BIN_DIR)/hornverifier
+	rm -f $(BIN_DIR)/roverd $(BIN_DIR)/roverd-debian-laptop $(BIN_DIR)/roverd-dummy $(BIN_DIR)/servoverifier $(BIN_DIR)/hornverifier

pi/roverd/brc.go

@@ -1,4 +1,4 @@
-//go:build !dummy
+//go:build !dummy && !debian_laptop
 
 package roverd
 

pi/roverd/brc_debian_laptop.go

@@ -0,0 +1,25 @@
+//go:build debian_laptop
+
+package roverd
+
+import (
+	"context"
+	"fmt"
+	"log"
+)
+
+type BRCPulser struct{}
+
+func NewBRCPulser(_ BRCConfig, _ *log.Logger) (*BRCPulser, error) {
+	/*
+		The first Debian laptop profile keeps BRC disabled instead of pretending a
+		USB serial modem-control line has already been selected and tested. The
+		config can set brc.gpioPin: -1 to skip construction entirely; if someone
+		enables it, fail loudly so the rover does not silently miss wake pulses.
+	*/
+	return nil, fmt.Errorf("brc is not supported in the debian-laptop build yet")
+}
+
+func (b *BRCPulser) Close() {}
+
+func (b *BRCPulser) Start(ctx context.Context) {}

pi/roverd/camera_servo.go

@@ -1,4 +1,4 @@
-//go:build !dummy
+//go:build !dummy && !debian_laptop
 
 package roverd
 

pi/roverd/camera_servo_debian_laptop.go

@@ -0,0 +1,38 @@
+//go:build debian_laptop
+
+package roverd
+
+import (
+	"fmt"
+	"log"
+)
+
+type CameraServo struct{}
+
+func NewCameraServo(_ CameraServoConfig, _ *log.Logger) (*CameraServo, error) {
+	/*
+		The Debian laptop profile starts with the laptop's built-in webcam and no
+		Pi PWM servo. If a laptop rover eventually grows an external servo board,
+		it should get its own implementation instead of reusing Raspberry Pi GPIO
+		assumptions.
+	*/
+	return nil, fmt.Errorf("camera servo not supported in the debian-laptop build")
+}
+
+func (c *CameraServo) Close() {}
+
+func (c *CameraServo) SetAngle(angle float64) error {
+	return fmt.Errorf("camera servo disabled")
+}
+
+func (c *CameraServo) Nudge(delta float64) error {
+	return fmt.Errorf("camera servo disabled")
+}
+
+func (c *CameraServo) SetPulseWidth(micros int) error {
+	return fmt.Errorf("camera servo disabled")
+}
+
+func (c *CameraServo) CurrentAngle() float64 {
+	return 0
+}

pi/roverd/gpio_toggle.go

@@ -1,4 +1,4 @@
-//go:build !dummy
+//go:build !dummy && !debian_laptop
 
 package roverd
 

pi/roverd/gpio_toggle_debian_laptop.go

@@ -0,0 +1,32 @@
+//go:build debian_laptop
+
+package roverd
+
+import (
+	"fmt"
+	"log"
+)
+
+type GPIOToggle struct {
+	name string
+}
+
+func NewGPIOToggle(name string, _ GPIOToggleConfig, _ *log.Logger) (*GPIOToggle, error) {
+	/*
+		A Debian laptop has no Raspberry Pi GPIO character-device contract for
+		headlights or lasers. Returning an error when enabled makes bad laptop
+		configs fail during startup instead of advertising controls that cannot
+		change any hardware.
+	*/
+	return nil, fmt.Errorf("%s not supported in the debian-laptop build", name)
+}
+
+func (g *GPIOToggle) Close() {}
+
+func (g *GPIOToggle) HandleAction(action string) error {
+	return fmt.Errorf("%s not supported in the debian-laptop build", g.name)
+}
+
+func (g *GPIOToggle) On() bool {
+	return false
+}

pi/roverd/roverd.debian-laptop.sample.yaml

@@ -0,0 +1,84 @@
+# Sample configuration for roverd on a Debian laptop rover.
+name: laptop-rover
+description: "Debian laptop rover using USB serial, webcam, mic, and speakers."
+color: "#4DB6AC"
+serverUrl: ws://control-server.local:8080/rover
+
+serial:
+  device: /dev/ttyUSB0
+  baud: 115200
+
+# BRC is disabled in the first Debian laptop profile because USB serial
+# RTS/DTR wake-pulse support needs adapter-specific testing before it should be
+# trusted to keep a Roomba awake.
+brc:
+  gpioPin: -1
+
+battery:
+  full: 2068
+  warn: 1700
+  urgent: 1650
+
+maxWheelSpeed: 350
+
+media:
+  publishPort: 9000
+  manage: true
+  healthUrl: ""
+  healthInterval: 30s
+  video:
+    enabled: true
+    service: debian-laptop-video-publisher.service
+    publisher: debian-laptop-v4l2
+    device: /dev/video0
+    width: 640
+    height: 480
+    fps: 30
+    bitrate: 2000000
+    inverted: false
+  audioCapture:
+    enabled: true
+    service: audio-only-publisher.service
+    device: default
+    sampleRate: 48000
+    channels: 2
+    bitrate: 510000
+  audioPlayback:
+    enabled: true
+    service: audio-forward-listener.service
+    device: default
+    normalize: true
+
+cameraServo:
+  enabled: false
+
+audio:
+  ttsEnabled: false
+
+horn:
+  enabled: false
+
+headlight:
+  enabled: false
+
+laser:
+  enabled: false
+
+autoSideBrush:
+  enabled: true
+  speed: 20
+
+private:
+  enabled: false
+  safety:
+    speedLimitEnabled: false
+    speedLimitMaxWheelSpeed: 250
+    hardOvercurrentEnabled: false
+    overcurrentStopMs: 300
+    hardBumpEnabled: false
+    bumpBackoffSpeed: 250
+    bumpBackoffMs: 350
+    cliffEnabled: false
+    cliffBackoffSpeed: 250
+    cliffBackoffMs: 500
+    triggerCooldownMs: 800

pi/systemd/debian-laptop-video-publisher.service

@@ -0,0 +1,17 @@
+[Unit]
+Description=Rover Debian Laptop Video Publisher (V4L2 -> SRT)
+After=network-online.target roverd.service
+Wants=network-online.target
+
+[Service]
+Type=simple
+User=roverd
+Group=roverd
+WorkingDirectory=/var/lib/roverd
+EnvironmentFile=/var/lib/roverd/media.env
+ExecStart=/usr/local/bin/debian-laptop-video-publisher
+Restart=always
+RestartSec=2
+
+[Install]
+WantedBy=multi-user.target