legop3/MultiRoombaRover
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legop3
2025-11-28 01:51:57 -05:00
parent 8be04781a5
commit 2f969ff05d
1 changed files with 20 additions and 6 deletions
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pi/bin/video-publisher.sh
+18 -4
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@@ -66,16 +66,30 @@ run_pipeline() {
AUDIO_FIFO="$(mktemp -u /tmp/roverd-audio.XXXXXX)" AUDIO_FIFO="$(mktemp -u /tmp/roverd-audio.XXXXXX)"
rm -f "${AUDIO_FIFO}" rm -f "${AUDIO_FIFO}"
mkfifo "${AUDIO_FIFO}" mkfifo "${AUDIO_FIFO}"
ACTIVE_AUDIO_DEVICE="${AUDIO_DEVICE}"
ACTIVE_AUDIO_FORMAT="${AUDIO_FORMAT}"
ACTIVE_AUDIO_CODEC="${AUDIO_CODEC}"
# Background ALSA capture; keep it simple to avoid CPU on ffmpeg. # Background ALSA capture; keep it simple to avoid CPU on ffmpeg.
if ! arecord -D "${AUDIO_DEVICE}" -f "${AUDIO_FORMAT}" -r "${AUDIO_RATE}" -c "${AUDIO_CHANNELS}" -q -t raw "${AUDIO_FIFO}" & if ! arecord -D "${ACTIVE_AUDIO_DEVICE}" -f "${ACTIVE_AUDIO_FORMAT}" -r "${AUDIO_RATE}" -c "${AUDIO_CHANNELS}" -q -t raw "${AUDIO_FIFO}" &
then then
echo "Audio capture failed (arecord); falling back to video-only" >&2 echo "Audio capture failed (arecord, ${ACTIVE_AUDIO_DEVICE} ${ACTIVE_AUDIO_FORMAT}); trying fallback to plughw S16_LE" >&2
ACTIVE_AUDIO_DEVICE="plughw:0,0"
ACTIVE_AUDIO_FORMAT="S16_LE"
ACTIVE_AUDIO_CODEC="pcm_s16le"
if ! arecord -D "${ACTIVE_AUDIO_DEVICE}" -f "${ACTIVE_AUDIO_FORMAT}" -r "${AUDIO_RATE}" -c "${AUDIO_CHANNELS}" -q -t raw "${AUDIO_FIFO}" &
then
echo "Audio capture failed (fallback); falling back to video-only" >&2
AUDIO_ENABLE=0 AUDIO_ENABLE=0
rm -f "${AUDIO_FIFO}" rm -f "${AUDIO_FIFO}"
else else
ARECORD_PID=$! ARECORD_PID=$!
trap 'kill "${ARECORD_PID}" >/dev/null 2>&1 || true; wait "${ARECORD_PID}" 2>/dev/null || true; rm -f "${AUDIO_FIFO}"' EXIT INT TERM trap 'kill "${ARECORD_PID}" >/dev/null 2>&1 || true; wait "${ARECORD_PID}" 2>/dev/null || true; rm -f "${AUDIO_FIFO}"' EXIT INT TERM
fi fi
else
ARECORD_PID=$!
trap 'kill "${ARECORD_PID}" >/dev/null 2>&1 || true; wait "${ARECORD_PID}" 2>/dev/null || true; rm -f "${AUDIO_FIFO}"' EXIT INT TERM
fi
ACTIVE_AUDIO_FORMAT_FFMPEG="$(printf '%s' "${ACTIVE_AUDIO_FORMAT}" | tr 'A-Z' 'a-z')"
# Try audio + video; if audio device is missing, fallback to video-only. # Try audio + video; if audio device is missing, fallback to video-only.
if [[ "${AUDIO_ENABLE}" -eq 1 ]] && ! "${LIBCAMERA_BIN_PATH}" \ if [[ "${AUDIO_ENABLE}" -eq 1 ]] && ! "${LIBCAMERA_BIN_PATH}" \
@@ -101,12 +115,12 @@ run_pipeline() {
-thread_queue_size 512 \ -thread_queue_size 512 \
-f h264 \ -f h264 \
-i pipe:0 \ -i pipe:0 \
-f "${AUDIO_FORMAT_FFMPEG}" \ -f "${ACTIVE_AUDIO_FORMAT_FFMPEG}" \
-ar "${AUDIO_RATE}" \ -ar "${AUDIO_RATE}" \
-ac "${AUDIO_CHANNELS}" \ -ac "${AUDIO_CHANNELS}" \
-i "${AUDIO_FIFO}" \ -i "${AUDIO_FIFO}" \
-c:v copy \ -c:v copy \
-c:a "${AUDIO_CODEC}" \ -c:a "${ACTIVE_AUDIO_CODEC}" \
-ar:a "${AUDIO_RATE}" \ -ar:a "${AUDIO_RATE}" \
-ac:a "${AUDIO_CHANNELS}" \ -ac:a "${AUDIO_CHANNELS}" \
-flush_packets 1 \ -flush_packets 1 \