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legop3
2026-07-11 01:09:26 -04:00
parent aee1a9d563
commit 3af74870a5
7 changed files with 79 additions and 21 deletions
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server/config.example.yaml
+3
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@@ -140,6 +140,9 @@ ptzCamera:
# changes while the integration still remains a single-camera feature.
profileToken: "003"
turnDurationMs: 300000
# PTZ replay capture needs a known-good replay encoder on the server. Keep it
# off by default so adding live PTZ does not start a broken replay worker loop.
replayEnabled: false
kinect:
enabled: false
server/public/assets/index-B3VrYCWz.js.map
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server/public/assets/index-B3VrYCWz.js → server/public/assets/index-DrIw695l.js
+2 -2
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server/public/assets/index-DrIw695l.js.map
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server/public/index.html
+1 -1
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@@ -78,7 +78,7 @@
<script defer src="https://analytics.otter.land/script.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land"></script>
<script defer src="https://analytics.otter.land/recorder.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land" data-sample-rate="0.15" data-mask-level="moderate" data-max-duration="300000"></script>
<title>Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-B3VrYCWz.js"></script>
<script type="module" crossorigin src="/assets/index-DrIw695l.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-DwpUkSbG.css">
</head>
<body>
server/src/services/ptzCameraService/index.js
+63 -16
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@@ -25,6 +25,7 @@ const DEFAULT_ONVIF_PORT = 8000;
const DEFAULT_PROFILE_TOKEN = '003';
const DEFAULT_TURN_DURATION_MS = 5 * 60 * 1000;
const DOCK_GRACE_MS = 60 * 1000;
const DEFAULT_REPLAY_ENABLED = false;
const SNAPSHOT_DIR = process.env.ROVER_SNAPSHOT_DIR || '/var/lib/rover-snapshots';
const SNAPSHOT_POLL_MS = 300;
const SNAPSHOT_STREAM_INTERVAL_MS = 2000;
@@ -78,6 +79,15 @@ function getTurnDurationMs() {
return Number.isFinite(configured) && configured > 0 ? configured : DEFAULT_TURN_DURATION_MS;
}
function isReplayEnabled() {
/*
Keep this as a single helper so the replay source catalog and the replay
worker catalog cannot drift apart. If PTZ replay is off, the UI should not
advertise a source that no worker is recording.
*/
return cameraConfig.replayEnabled === undefined ? DEFAULT_REPLAY_ENABLED : Boolean(cameraConfig.replayEnabled);
}
function passesMode(socket) {
const mode = getMode();
if (mode === MODES.LOCKDOWN) return isLockdownAdmin(socket);
@@ -573,6 +583,23 @@ function sendSnapshotFrame(socket, buffer, ts) {
socket.emit('ptzCamera:snapshotFrame', { id: PTZ_CAMERA_ID, ts }, buffer);
}
function normalizeSocketArgs(firstArg, secondArg) {
/*
Socket.IO does not reserve a payload slot. If the browser emits only an ack
callback, the callback arrives as the first argument; if it emits no ack,
there is no callback at all. PTZ movement is sometimes fire-and-forget from
the shared rover control pipeline, so every handler needs the same small
normalizer before it calls back.
*/
if (typeof firstArg === 'function') {
return { payload: {}, cb: firstArg };
}
return {
payload: firstArg && typeof firstArg === 'object' ? firstArg : {},
cb: typeof secondArg === 'function' ? secondArg : () => {},
};
}
events.on('snapshot:frame', ({ buffer, ts }) => {
const subscribers = snapshotSubscribers.get(PTZ_CAMERA_ID);
if (!subscribers || !buffer) return;
@@ -598,56 +625,64 @@ events.on('snapshot:status', ({ error }) => {
function registerSocketHandlers() {
io.on('connection', (socket) => {
socket.on('ptzCamera:claim', async (_payload = {}, cb = () => {}) => {
socket.on('ptzCamera:claim', async (firstArg, secondArg) => {
const { cb } = normalizeSocketArgs(firstArg, secondArg);
try {
cb({ ok: true, state: await claim(socket) });
} catch (err) {
cb({ error: err.message });
}
});
socket.on('ptzCamera:release', async (_payload = {}, cb = () => {}) => {
socket.on('ptzCamera:release', async (firstArg, secondArg) => {
const { cb } = normalizeSocketArgs(firstArg, secondArg);
try {
cb({ ok: true, state: await release(socket) });
} catch (err) {
cb({ error: err.message });
}
});
socket.on('ptzCamera:move', async (payload = {}, cb = () => {}) => {
socket.on('ptzCamera:move', async (firstArg, secondArg) => {
const { payload, cb } = normalizeSocketArgs(firstArg, secondArg);
try {
cb(await move(socket, payload));
} catch (err) {
cb({ error: err.message });
}
});
socket.on('ptzCamera:stop', async (_payload = {}, cb = () => {}) => {
socket.on('ptzCamera:stop', async (firstArg, secondArg) => {
const { cb } = normalizeSocketArgs(firstArg, secondArg);
try {
cb(await stop(socket));
} catch (err) {
cb({ error: err.message });
}
});
socket.on('ptzCamera:status', async (_payload = {}, cb = () => {}) => {
socket.on('ptzCamera:status', async (firstArg, secondArg) => {
const { cb } = normalizeSocketArgs(firstArg, secondArg);
try {
cb({ ok: true, status: await getStatus(socket) });
} catch (err) {
cb({ error: err.message });
}
});
socket.on('ptzCamera:spotlight', async (payload = {}, cb = () => {}) => {
socket.on('ptzCamera:spotlight', async (firstArg, secondArg) => {
const { payload, cb } = normalizeSocketArgs(firstArg, secondArg);
try {
cb({ ok: true, light: await setSpotlight(socket, payload) });
} catch (err) {
cb({ error: err.message });
}
});
socket.on('ptzCamera:ir', async (payload = {}, cb = () => {}) => {
socket.on('ptzCamera:ir', async (firstArg, secondArg) => {
const { payload, cb } = normalizeSocketArgs(firstArg, secondArg);
try {
cb({ ok: true, ir: await setIr(socket, payload) });
} catch (err) {
cb({ error: err.message });
}
});
socket.on('ptzCamera:snapshotSubscribe', (_payload = {}, cb = () => {}) => {
socket.on('ptzCamera:snapshotSubscribe', (firstArg, secondArg) => {
const { cb } = normalizeSocketArgs(firstArg, secondArg);
try {
if (!passesMode(socket)) throw new Error('Not authorized for PTZ snapshots');
addSnapshotSubscription(socket);
@@ -705,12 +740,24 @@ module.exports = {
ptzCameraEvents: events,
getPublicState,
canRequestLiveVideo,
getReplaySource: () => enabled ? { type: 'ptz', id: PTZ_CAMERA_ID, label: cameraConfig.name || 'PTZ Camera' } : null,
getReplayWorkerSource: () => enabled ? {
id: PTZ_CAMERA_ID,
sourceType: 'ptz',
kind: 'video',
label: cameraConfig.name || 'PTZ Camera',
inputUrl: `srt://127.0.0.1:9000?streamid=read:${encodeURIComponent(PTZ_STREAM_PATH)}`,
} : null,
getReplaySource: () => enabled && isReplayEnabled()
? { type: 'ptz', id: PTZ_CAMERA_ID, label: cameraConfig.name || 'PTZ Camera' }
: null,
getReplayWorkerSource: () => {
/*
PTZ replay capture is optional because the server ffmpeg build must be
able to produce browser/Discord-friendly replay segments. The camera live
feed can remain raw for MediaMTX while replay capture is left off until
the actual server has a working encoder or a copy-only PTZ replay path is
intentionally designed.
*/
if (!enabled || !isReplayEnabled()) return null;
return {
id: PTZ_CAMERA_ID,
sourceType: 'ptz',
kind: 'video',
label: cameraConfig.name || 'PTZ Camera',
inputUrl: `srt://127.0.0.1:9000?streamid=read:${encodeURIComponent(PTZ_STREAM_PATH)}`,
};
},
};
webui/src/lib/whepPlayer.js
+9 -1
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@@ -113,7 +113,15 @@ export class WhepPlayer {
signal: this.abortController.signal,
});
if (!response.ok) {
throw new Error(`WHEP request failed: ${response.status}`);
/*
MediaMTX includes the useful rejection reason in the response body
for many 4xx WHEP failures, such as unsupported codecs or malformed
SDP. Surface that body so camera/video debugging does not stop at a
generic HTTP status code.
*/
const body = await response.text().catch(() => '');
const detail = body ? `: ${body.slice(0, 180)}` : '';
throw new Error(`WHEP request failed: ${response.status}${detail}`);
}
const answerSdp = await response.text();
await pc.setRemoteDescription({ type: 'answer', sdp: answerSdp });