mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 09:31:20 -04:00
config reshape
This commit is contained in:
legop3
@@ -2,20 +2,70 @@
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set -euo pipefail
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set +H
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ENV_FILE="${VIDEO_ENV_FILE:-/var/lib/roverd/video.env}"
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ENV_FILE="${ROVERD_MEDIA_ENV_FILE:-/var/lib/roverd/media.env}"
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if [[ ! -f "$ENV_FILE" ]]; then
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echo "Environment file ${ENV_FILE} missing; cannot start audio forward listener" >&2
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exit 1
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fi
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# shellcheck disable=SC1090
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source "$ENV_FILE"
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# Load KEY=VALUE pairs from media.env without evaluating shell syntax. The
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# forward URL is data produced by roverd, and treating it as shell code would
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# break on normal SRT query-string characters such as '&'.
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load_env_file() {
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local content=""
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: "${AUDIO_FORWARD_URL:?AUDIO_FORWARD_URL not set in ${ENV_FILE}}"
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PLAYBACK_DEVICE="${AUDIO_PLAYBACK_DEVICE:-forward}"
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AUDIO_NORMALIZE_ENABLE="${AUDIO_NORMALIZE_ENABLE:-1}"
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AUDIO_NORMALIZE_FILTER="${AUDIO_NORMALIZE_FILTER:-dynaudnorm=f=75:g=15:m=10:p=0.9,alimiter=limit=0.85:level=disabled}"
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if [[ -r "$ENV_FILE" ]]; then
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content="$(cat "$ENV_FILE")"
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elif command -v sudo >/dev/null 2>&1; then
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content="$(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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[[ "$line" =~ ^[[:space:]]*$ ]] && continue
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[[ "$line" =~ ^[[:space:]]*# ]] && continue
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if [[ "$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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continue
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fi
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val="${val#${val%%[![:space:]]*}}"
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val="${val%${val##*[![:space:]]}}"
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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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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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: "${ROVERD_AUDIO_PLAYBACK_ENABLE:?ROVERD_AUDIO_PLAYBACK_ENABLE not set in ${ENV_FILE}}"
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if [[ "${ROVERD_AUDIO_PLAYBACK_ENABLE}" -ne 1 ]]; then
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echo "Audio playback disabled by roverd media config; skipping audio forward listener" >&2
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exit 0
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fi
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: "${ROVERD_AUDIO_PLAYBACK_FORWARD_URL:?ROVERD_AUDIO_PLAYBACK_FORWARD_URL not set in ${ENV_FILE}}"
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: "${ROVERD_AUDIO_PLAYBACK_DEVICE:?ROVERD_AUDIO_PLAYBACK_DEVICE not set in ${ENV_FILE}}"
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: "${ROVERD_AUDIO_PLAYBACK_NORMALIZE:?ROVERD_AUDIO_PLAYBACK_NORMALIZE not set in ${ENV_FILE}}"
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: "${ROVERD_AUDIO_PLAYBACK_NORMALIZE_FILTER:?ROVERD_AUDIO_PLAYBACK_NORMALIZE_FILTER not set in ${ENV_FILE}}"
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PLAYBACK_DEVICE="${ROVERD_AUDIO_PLAYBACK_DEVICE}"
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if [[ -n "${FFMPEG_BIN:-}" ]]; then
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FFMPEG_BIN_PATH="$FFMPEG_BIN"
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@@ -45,12 +95,12 @@ run_pipeline() {
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-flags low_delay
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-analyzeduration 200k
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-probesize 32k
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-i "${AUDIO_FORWARD_URL}"
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-i "${ROVERD_AUDIO_PLAYBACK_FORWARD_URL}"
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-vn
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)
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if [[ "${AUDIO_NORMALIZE_ENABLE}" -ne 0 ]]; then
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ffmpeg_args+=(-af "${AUDIO_NORMALIZE_FILTER}")
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if [[ "${ROVERD_AUDIO_PLAYBACK_NORMALIZE}" -ne 0 ]]; then
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ffmpeg_args+=(-af "${ROVERD_AUDIO_PLAYBACK_NORMALIZE_FILTER}")
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fi
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ffmpeg_args+=(
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@@ -2,26 +2,74 @@
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set -euo pipefail
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set +H
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ENV_FILE="${VIDEO_ENV_FILE:-/var/lib/roverd/video.env}"
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ENV_FILE="${ROVERD_MEDIA_ENV_FILE:-/var/lib/roverd/media.env}"
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if [[ ! -f "$ENV_FILE" ]]; then
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echo "Environment file ${ENV_FILE} missing; cannot publish audio" >&2
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exit 1
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fi
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# shellcheck disable=SC1090
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source "$ENV_FILE"
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AUDIO_ENABLE="${AUDIO_ENABLE:-0}"
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if [[ "${AUDIO_ENABLE}" -ne 1 ]]; then
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# Load KEY=VALUE pairs from media.env without evaluating shell syntax. SRT URLs
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# contain characters such as '&' and '#!', so sourcing this file would treat a
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# data file as code and can split a valid URL into shell control operators.
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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 "$ENV_FILE")"
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elif command -v sudo >/dev/null 2>&1; then
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content="$(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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[[ "$line" =~ ^[[:space:]]*$ ]] && continue
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[[ "$line" =~ ^[[:space:]]*# ]] && continue
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if [[ "$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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continue
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fi
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val="${val#${val%%[![:space:]]*}}"
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val="${val%${val##*[![:space:]]}}"
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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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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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: "${ROVERD_AUDIO_CAPTURE_ENABLE:?ROVERD_AUDIO_CAPTURE_ENABLE not set in ${ENV_FILE}}"
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if [[ "${ROVERD_AUDIO_CAPTURE_ENABLE}" -ne 1 ]]; then
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echo "Audio capture disabled; skipping audio-only publisher" >&2
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exit 0
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fi
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: "${AUDIO_PUBLISH_URL:?AUDIO_PUBLISH_URL not set in ${ENV_FILE}}"
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: "${ROVERD_AUDIO_CAPTURE_PUBLISH_URL:?ROVERD_AUDIO_CAPTURE_PUBLISH_URL not set in ${ENV_FILE}}"
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: "${ROVERD_AUDIO_CAPTURE_DEVICE:?ROVERD_AUDIO_CAPTURE_DEVICE not set in ${ENV_FILE}}"
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: "${ROVERD_AUDIO_CAPTURE_SAMPLE_RATE:?ROVERD_AUDIO_CAPTURE_SAMPLE_RATE not set in ${ENV_FILE}}"
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: "${ROVERD_AUDIO_CAPTURE_CHANNELS:?ROVERD_AUDIO_CAPTURE_CHANNELS not set in ${ENV_FILE}}"
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: "${ROVERD_AUDIO_CAPTURE_BITRATE:?ROVERD_AUDIO_CAPTURE_BITRATE not set in ${ENV_FILE}}"
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AUDIO_DEVICE="${AUDIO_DEVICE:-hw:0,0}"
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CAPTURE_DEVICE="${ROVERD_AUDIO_CAPTURE_DEVICE}"
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# The old 65,536-byte ALSA buffer represented about 171 ms before ffmpeg could
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# even publish the microphone audio:
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# At the default 48 kHz stereo S32_LE capture format, the old 65,536-byte ALSA
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# buffer represented about 171 ms before ffmpeg could publish microphone audio:
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# 65,536 / (48,000 samples * 2 channels * 4 bytes) = 0.1707 seconds
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# Keep the defaults much smaller because this publisher feeds an interactive
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# rover stream, where late-but-smooth audio is less useful than fresher audio.
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@@ -51,8 +99,8 @@ run_pipeline() {
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# format and so the published audio stays full-band stereo before the
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# Opus encoder sees it.
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-f s32le
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-ar 48000
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-ac 2
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-ar "${ROVERD_AUDIO_CAPTURE_SAMPLE_RATE}"
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-ac "${ROVERD_AUDIO_CAPTURE_CHANNELS}"
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-i pipe:0
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# Keep the known-required microphone boost, but remove the old
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@@ -64,9 +112,9 @@ run_pipeline() {
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# the highest practical quality browsers and MediaMTX can carry without
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# trying to push raw PCM through the live path.
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-c:a libopus
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-b:a 510000
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-ar:a 48000
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-ac:a 2
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-b:a "${ROVERD_AUDIO_CAPTURE_BITRATE}"
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-ar:a "${ROVERD_AUDIO_CAPTURE_SAMPLE_RATE}"
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-ac:a "${ROVERD_AUDIO_CAPTURE_CHANNELS}"
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# Use the audio profile for quality. Latency is still controlled by the
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# 20 ms Opus frame size and the low-buffering capture/publish options
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@@ -82,13 +130,13 @@ run_pipeline() {
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-muxdelay 0
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-muxpreload 0
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-f mpegts
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"${AUDIO_PUBLISH_URL}"
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"${ROVERD_AUDIO_CAPTURE_PUBLISH_URL}"
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)
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# The Google Voice HAT microphone path is intentionally fixed instead of
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# configurable. The previous env-driven sample rate/channel knobs made it
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# easy for the rover config and the actual ffmpeg pipeline to drift apart,
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# while the hardware path we install is always 48 kHz stereo capture.
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# The capture format comes from roverd's normalized media config. Keeping
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# arecord and ffmpeg on the same env-backed values prevents the publisher
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# script from quietly disagreeing with roverd.yaml about sample rate or
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# channel count.
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#
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# The buffer and period are byte counts because arecord interprets -B/-F in
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# microseconds only when the value has an explicit time suffix. Keeping them
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@@ -96,7 +144,7 @@ run_pipeline() {
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# defaults are roughly 43 ms total buffer and 2.7 ms wakeup periods at
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# 48 kHz stereo S32_LE, which removes about 128 ms of avoidable capture
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# latency compared with the old 65,536-byte buffer.
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arecord -D "${AUDIO_DEVICE}" -f S32_LE -c 2 -r 48000 -B "${AUDIO_ALSA_BUFFER_BYTES}" -F "${AUDIO_ALSA_PERIOD_BYTES}" -q -t raw \
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arecord -D "${CAPTURE_DEVICE}" -f S32_LE -c "${ROVERD_AUDIO_CAPTURE_CHANNELS}" -r "${ROVERD_AUDIO_CAPTURE_SAMPLE_RATE}" -B "${AUDIO_ALSA_BUFFER_BYTES}" -F "${AUDIO_ALSA_PERIOD_BYTES}" -q -t raw \
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| "${FFMPEG_BIN_PATH}" "${ffmpeg_args[@]}"
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}
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+22
-18
@@ -4,7 +4,7 @@ set -euo pipefail
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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="${VIDEO_ENV_FILE:-/var/lib/roverd/video.env}"
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ENV_FILE="${ROVERD_MEDIA_ENV_FILE:-/var/lib/roverd/media.env}"
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if [[ ! -f "$ENV_FILE" ]]; then
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echo "Environment file ${ENV_FILE} missing; cannot publish" >&2
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@@ -64,25 +64,29 @@ load_env_file() {
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}
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load_env_file
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: "${PUBLISH_URL:?PUBLISH_URL not set in ${ENV_FILE}}"
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: "${ROVERD_VIDEO_ENABLE:?ROVERD_VIDEO_ENABLE not set in ${ENV_FILE}}"
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: "${ROVERD_VIDEO_PUBLISH_URL:?ROVERD_VIDEO_PUBLISH_URL not set in ${ENV_FILE}}"
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: "${ROVERD_VIDEO_WIDTH:?ROVERD_VIDEO_WIDTH not set in ${ENV_FILE}}"
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: "${ROVERD_VIDEO_HEIGHT:?ROVERD_VIDEO_HEIGHT not set in ${ENV_FILE}}"
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: "${ROVERD_VIDEO_FPS:?ROVERD_VIDEO_FPS not set in ${ENV_FILE}}"
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: "${ROVERD_VIDEO_BITRATE:?ROVERD_VIDEO_BITRATE not set in ${ENV_FILE}}"
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: "${ROVERD_VIDEO_INVERT:?ROVERD_VIDEO_INVERT not set in ${ENV_FILE}}"
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# Defaults tuned for OV5647: use 4:3 output and force the common 2x2 binned full-FOV mode.
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VIDEO_WIDTH="640"
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VIDEO_HEIGHT="480"
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VIDEO_FPS="30"
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VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}"
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VIDEO_INVERT="${VIDEO_INVERT:-1}"
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VIDEO_SENSOR_MODE="${VIDEO_SENSOR_MODE:-1296:972}"
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if [[ "${ROVERD_VIDEO_ENABLE}" -ne 1 ]]; then
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echo "Video publisher disabled by roverd media config; skipping" >&2
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exit 0
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fi
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# Flip the camera 180deg by default; allow upright camera mounts via VIDEO_INVERT=0.
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# The inversion decision is made in roverd.yaml and written into media.env, so
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# this script only converts the configured logical value into libcamera flags.
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FLIP_ARGS=()
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if [[ "${VIDEO_INVERT}" -ne 0 ]]; then
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if [[ "${ROVERD_VIDEO_INVERT}" -ne 0 ]]; then
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FLIP_ARGS=(--rotation 180)
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fi
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MODE_ARGS=()
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if [[ -n "${VIDEO_SENSOR_MODE}" ]]; then
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MODE_ARGS=(--mode "${VIDEO_SENSOR_MODE}")
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if [[ -n "${ROVERD_VIDEO_SENSOR_MODE:-}" ]]; then
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MODE_ARGS=(--mode "${ROVERD_VIDEO_SENSOR_MODE}")
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fi
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if [[ -n "${LIBCAMERA_BIN:-}" ]]; then
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@@ -110,11 +114,11 @@ run_pipeline() {
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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 "${VIDEO_HEIGHT}" \
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--width "${ROVERD_VIDEO_WIDTH}" \
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--height "${ROVERD_VIDEO_HEIGHT}" \
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"${FLIP_ARGS[@]}" \
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--framerate "${VIDEO_FPS}" \
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--bitrate "${VIDEO_BITRATE}" \
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--framerate "${ROVERD_VIDEO_FPS}" \
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--bitrate "${ROVERD_VIDEO_BITRATE}" \
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--codec h264 \
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--profile baseline \
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--denoise auto \
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@@ -138,7 +142,7 @@ run_pipeline() {
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-muxdelay 0 \
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-muxpreload 0 \
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-f mpegts \
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"${PUBLISH_URL}"
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"${ROVERD_VIDEO_PUBLISH_URL}"
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}
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while true; do
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Block a user