mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-17 01:50:47 -04:00
debian-laptop
This commit is contained in:
legop3
+164
-26
@@ -1,11 +1,12 @@
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#!/usr/bin/env bash
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#
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# Installer for the roverd agent on Raspberry Pi
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# Installer for the roverd agent on Raspberry Pi and Debian laptop rover hosts.
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set -euo pipefail
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BINARY_SRC="dist/roverd"
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CONFIG_SRC="pi/roverd/roverd.sample.yaml"
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PROFILE="pi"
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BINARY_SRC=""
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CONFIG_SRC=""
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REPO_ROOT="$(pwd -P)"
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usage() {
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@@ -13,6 +14,8 @@ usage() {
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Usage: sudo ./pi/install_roverd.sh [options]
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Options:
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--profile <name> Install profile: pi or debian-laptop (default: pi)
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--debian-laptop Shortcut for --profile debian-laptop
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-b, --binary <path> Path to the roverd binary (default: dist/roverd)
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-c, --config <path> Source config to install if /etc/roverd.yaml is missing
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(default: pi/roverd/roverd.sample.yaml)
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@@ -21,8 +24,8 @@ Options:
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The script must run from the repository root and as root (sudo). It will:
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* create system users/groups if needed
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* install /usr/local/bin/roverd and /etc/roverd.yaml
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* install /usr/local/bin/video/audio helpers and systemd units
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* install fixed-location Google Chrome TTS assets for roverd
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* install profile-specific video helpers and shared audio helpers
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* install Pi-only Google Chrome TTS assets when using the pi profile
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* install the fixed-command self-update helper used by admin-triggered updates
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* enable roverd.service and media publisher/listener services
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USAGE
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@@ -30,6 +33,14 @@ USAGE
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--profile)
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PROFILE="${2:-}"
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shift 2
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;;
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--debian-laptop)
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PROFILE="debian-laptop"
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shift
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;;
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-b|--binary)
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BINARY_SRC="${2:-}"
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shift 2
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@@ -50,6 +61,32 @@ while [[ $# -gt 0 ]]; do
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esac
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done
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case "$PROFILE" in
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pi)
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BINARY_SRC="${BINARY_SRC:-dist/roverd}"
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CONFIG_SRC="${CONFIG_SRC:-pi/roverd/roverd.sample.yaml}"
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VIDEO_HELPER_SRC="pi/bin/video-publisher.sh"
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VIDEO_HELPER_DEST="/usr/local/bin/video-publisher"
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VIDEO_SERVICE_SRC="pi/systemd/video-publisher.service"
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VIDEO_SERVICE_NAME="video-publisher.service"
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ROVERD_GROUPS="dialout,gpio,video,render,audio"
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;;
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debian-laptop)
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BINARY_SRC="${BINARY_SRC:-dist/roverd-debian-laptop}"
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CONFIG_SRC="${CONFIG_SRC:-pi/roverd/roverd.debian-laptop.sample.yaml}"
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VIDEO_HELPER_SRC="pi/bin/debian-laptop-video-publisher.sh"
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VIDEO_HELPER_DEST="/usr/local/bin/debian-laptop-video-publisher"
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VIDEO_SERVICE_SRC="pi/systemd/debian-laptop-video-publisher.service"
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VIDEO_SERVICE_NAME="debian-laptop-video-publisher.service"
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ROVERD_GROUPS="dialout,video,render,audio"
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;;
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*)
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echo "Unknown profile: $PROFILE" >&2
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usage
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exit 1
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;;
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esac
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if [[ "${EUID}" -ne 0 ]]; then
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echo "Please run as root (sudo)" >&2
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exit 1
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@@ -68,14 +105,37 @@ fi
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ensure_user() {
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local user="$1"
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local groups="${2:-}"
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local existing_groups=""
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if ! id -u "$user" >/dev/null 2>&1; then
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if [[ -n "$groups" ]]; then
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useradd -r -s /usr/sbin/nologin -G "$groups" "$user"
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local group
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IFS=',' read -ra group_list <<< "$groups"
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for group in "${group_list[@]}"; do
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if getent group "$group" >/dev/null 2>&1; then
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existing_groups="${existing_groups:+$existing_groups,}$group"
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else
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log "Skipping missing system group '$group' for $user"
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fi
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done
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fi
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if [[ -n "$existing_groups" ]]; then
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useradd -r -s /usr/sbin/nologin -G "$existing_groups" "$user"
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else
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useradd -r -s /usr/sbin/nologin "$user"
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fi
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elif [[ -n "$groups" ]]; then
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usermod -a -G "$groups" "$user"
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local group
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IFS=',' read -ra group_list <<< "$groups"
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for group in "${group_list[@]}"; do
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if getent group "$group" >/dev/null 2>&1; then
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existing_groups="${existing_groups:+$existing_groups,}$group"
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else
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log "Skipping missing system group '$group' for $user"
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fi
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done
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if [[ -n "$existing_groups" ]]; then
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usermod -a -G "$existing_groups" "$user"
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fi
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fi
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}
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@@ -83,7 +143,7 @@ log() {
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echo "[$(date -u +%Y-%m-%dT%H:%M:%SZ)] $*"
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}
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if ! command -v rpicam-vid >/dev/null 2>&1 && ! command -v libcamera-vid >/dev/null 2>&1; then
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if [[ "$PROFILE" == "pi" ]] && ! command -v rpicam-vid >/dev/null 2>&1 && ! command -v libcamera-vid >/dev/null 2>&1; then
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log "WARNING: neither rpicam-vid nor libcamera-vid found in PATH; install libcamera-apps."
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fi
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@@ -97,6 +157,23 @@ install_video_deps() {
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apt-get install -y --no-install-recommends libcamera-apps ffmpeg
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}
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install_debian_laptop_deps() {
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# The debian-laptop profile is intentionally Debian-specific, so using apt
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# and systemd directly is simpler than pretending this installer is a
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# cross-distro abstraction. v4l-utils is included for local camera inspection
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# with tools such as v4l2-ctl while ffmpeg owns publishing.
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if command -v ffmpeg >/dev/null 2>&1 \
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&& command -v arecord >/dev/null 2>&1 \
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&& command -v aplay >/dev/null 2>&1 \
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&& command -v v4l2-ctl >/dev/null 2>&1; then
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log "Debian laptop media dependencies already installed; skipping apt install"
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return
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fi
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log "Installing Debian laptop media dependencies (ffmpeg, ALSA tools, V4L2 tools)..."
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apt-get update
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apt-get install -y --no-install-recommends ffmpeg alsa-utils v4l-utils ca-certificates
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}
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find_boot_config() {
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if [[ -f /boot/firmware/config.txt ]]; then
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printf "/boot/firmware/config.txt"
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@@ -129,9 +206,35 @@ ensure_pwm_overlay() {
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log "Enabled dtoverlay=pwm-2chan on GPIO12/13 in $boot_config (backup at $backup). Reboot required for changes to apply."
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}
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ensure_user roverd "dialout,gpio,video,render,audio"
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install_profile_dependencies() {
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case "$PROFILE" in
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pi)
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install_video_deps
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ensure_pwm_overlay
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;;
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debian-laptop)
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install_debian_laptop_deps
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;;
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esac
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}
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install_profile_audio_support() {
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case "$PROFILE" in
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pi)
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install_audio_support
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;;
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debian-laptop)
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# Laptop audio uses the distro's normal ALSA "default" device by
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# default. Avoid installing the Raspberry Pi AIY asound.conf because
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# that would break ordinary laptop sound routing.
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log "Skipping Pi AIY audio setup for debian-laptop profile"
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;;
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esac
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}
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ensure_user roverd "$ROVERD_GROUPS"
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install -o roverd -g roverd -m 0755 "$BINARY_SRC" /usr/local/bin/roverd
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log "Installed roverd binary"
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log "Installed roverd binary for profile $PROFILE"
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install_self_update_support() {
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local sudoers_file="/etc/sudoers.d/roverd-self-update"
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@@ -185,8 +288,7 @@ fi
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install -m 0644 pi/systemd/roverd.service /etc/systemd/system/roverd.service
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log "Installed roverd systemd unit"
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install_video_deps
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ensure_pwm_overlay
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install_profile_dependencies
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# Enable Google AIY v1 sound card, ALSA defaults, and TTS engines
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install_audio_support() {
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@@ -298,11 +400,13 @@ install_google_tts_assets() {
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log "Installed Google Chrome TTS assets to $asset_dir"
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}
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# Install video publisher assets
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install -D -o root -g root -m 0755 pi/bin/video-publisher.sh /usr/local/bin/video-publisher
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log "Installed video-publisher helper"
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install -m 0644 pi/systemd/video-publisher.service /etc/systemd/system/video-publisher.service
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log "Installed video-publisher systemd unit"
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# Install the profile-specific video publisher. The audio publisher/listener are
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# shared because both Pi and Debian laptop profiles use the same media.env audio
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# contract and ffmpeg/ALSA command shape.
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install -D -o root -g root -m 0755 "$VIDEO_HELPER_SRC" "$VIDEO_HELPER_DEST"
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log "Installed $PROFILE video publisher helper"
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install -m 0644 "$VIDEO_SERVICE_SRC" "/etc/systemd/system/$VIDEO_SERVICE_NAME"
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log "Installed $PROFILE video publisher systemd unit"
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# Install audio-only publisher assets
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install -D -o root -g root -m 0755 pi/bin/audio-only-publisher.sh /usr/local/bin/audio-only-publisher
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install -m 0644 pi/systemd/audio-only-publisher.service /etc/systemd/system/audio-only-publisher.service
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@@ -312,7 +416,9 @@ install -D -o root -g root -m 0755 pi/bin/audio-forward-listener.sh /usr/local/b
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install -m 0644 pi/systemd/audio-forward-listener.service /etc/systemd/system/audio-forward-listener.service
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log "Installed audio-forward listener helper + systemd unit"
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install -d -o roverd -g roverd /var/lib/roverd
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cat > /var/lib/roverd/media.env <<'ENV'
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case "$PROFILE" in
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pi)
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cat > /var/lib/roverd/media.env <<'ENV'
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# Managed by roverd; placeholder values will be overwritten at runtime.
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ROVERD_VIDEO_ENABLE=1
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ROVERD_VIDEO_PUBLISHER=pi-libcamera
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@@ -336,6 +442,34 @@ ROVERD_AUDIO_PLAYBACK_DEVICE=forward
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ROVERD_AUDIO_PLAYBACK_NORMALIZE=1
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ROVERD_AUDIO_PLAYBACK_NORMALIZE_FILTER=dynaudnorm=f=75:g=15:m=10:p=0.9,alimiter=limit=0.85:level=disabled
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ENV
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;;
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debian-laptop)
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cat > /var/lib/roverd/media.env <<'ENV'
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# Managed by roverd; placeholder values will be overwritten at runtime.
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ROVERD_VIDEO_ENABLE=1
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ROVERD_VIDEO_PUBLISHER=debian-laptop-v4l2
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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
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ROVERD_VIDEO_DEVICE=/dev/video0
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ROVERD_VIDEO_WIDTH=640
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ROVERD_VIDEO_HEIGHT=480
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ROVERD_VIDEO_FPS=30
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ROVERD_VIDEO_BITRATE=2000000
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ROVERD_VIDEO_INVERT=0
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ROVERD_VIDEO_SENSOR_MODE=
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ROVERD_AUDIO_CAPTURE_ENABLE=1
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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
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ROVERD_AUDIO_CAPTURE_DEVICE=default
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ROVERD_AUDIO_CAPTURE_SAMPLE_RATE=48000
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ROVERD_AUDIO_CAPTURE_CHANNELS=2
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ROVERD_AUDIO_CAPTURE_BITRATE=510000
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ROVERD_AUDIO_PLAYBACK_ENABLE=1
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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
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ROVERD_AUDIO_PLAYBACK_DEVICE=default
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ROVERD_AUDIO_PLAYBACK_NORMALIZE=1
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ROVERD_AUDIO_PLAYBACK_NORMALIZE_FILTER=dynaudnorm=f=75:g=15:m=10:p=0.9,alimiter=limit=0.85:level=disabled
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ENV
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;;
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esac
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chown roverd:roverd /var/lib/roverd/media.env
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chmod 0640 /var/lib/roverd/media.env
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# Create persistent audio FIFO for capture -> publisher
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@@ -349,25 +483,29 @@ else
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chown roverd:audio "$FIFO_PATH"
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chmod 0660 "$FIFO_PATH"
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fi
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# Ensure ALSA config is in place for rovermic device
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install -m 0644 pi/asound.conf /etc/asound.conf
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log "Installed ALSA config (/etc/asound.conf)"
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if [[ "$PROFILE" == "pi" ]]; then
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# Ensure ALSA config is in place for the Raspberry Pi Google Voice HAT
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# rovermic/forward devices. Debian laptop installs should keep their normal
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# distro sound configuration and use device: default in roverd.yaml.
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install -m 0644 pi/asound.conf /etc/asound.conf
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log "Installed ALSA config (/etc/asound.conf)"
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fi
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install_audio_support
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install_profile_audio_support
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systemctl daemon-reload
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systemctl enable roverd.service
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systemctl enable video-publisher.service
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systemctl enable "$VIDEO_SERVICE_NAME"
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systemctl enable audio-only-publisher.service
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systemctl enable audio-forward-listener.service
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if [[ $CONFIG_EXISTS -eq 1 ]]; then
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systemctl restart roverd.service
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systemctl restart video-publisher.service
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systemctl restart "$VIDEO_SERVICE_NAME"
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systemctl restart audio-only-publisher.service
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systemctl restart audio-forward-listener.service
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log "Restarted roverd + media publishers/listener"
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else
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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"
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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"
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fi
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log "Install complete"
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log "Install complete for profile $PROFILE"
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