legop3/MultiRoombaRover
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whipwhep

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legop3
2026-03-20 22:52:35 -04:00
parent a58685fa91
commit 4542c9e6ae
17 changed files with 450 additions and 148 deletions
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pi/bin/audio-forward-listener.sh
Executable
+75
View File
@@ -0,0 +1,75 @@
#!/usr/bin/env bash
set -euo pipefail
set +H
ENV_FILE="${VIDEO_ENV_FILE:-/var/lib/roverd/video.env}"
if [[ ! -f "$ENV_FILE" ]]; then
echo "Environment file ${ENV_FILE} missing; cannot start audio forward listener" >&2
exit 1
fi
# shellcheck disable=SC1090
source "$ENV_FILE"
: "${AUDIO_FORWARD_URL:?AUDIO_FORWARD_URL not set in ${ENV_FILE}}"
PLAYBACK_DEVICE="${AUDIO_PLAYBACK_DEVICE:-forward}"
if [[ -n "${FFMPEG_BIN:-}" ]]; then
FFMPEG_BIN_PATH="$FFMPEG_BIN"
elif command -v ffmpeg >/dev/null 2>&1; then
FFMPEG_BIN_PATH="$(command -v ffmpeg)"
else
echo "ffmpeg not found; install it via apt install ffmpeg." >&2
exit 1
fi
if command -v aplay >/dev/null 2>&1; then
APLAY_BIN_PATH="$(command -v aplay)"
else
echo "aplay not found; install it via apt install alsa-utils." >&2
exit 1
fi
LAST_FFMPEG_STATUS="unknown"
LAST_APLAY_STATUS="unknown"
run_pipeline() {
set +e
"${FFMPEG_BIN_PATH}" \
-hide_banner \
-loglevel warning \
-fflags nobuffer \
-flags low_delay \
-analyzeduration 200k \
-probesize 32k \
-i "${AUDIO_FORWARD_URL}" \
-vn \
-ac 1 \
-ar 16000 \
-f s16le \
pipe:1 \
| "${APLAY_BIN_PATH}" \
-q \
-D "${PLAYBACK_DEVICE}" \
-t raw \
-f S16_LE \
-r 16000 \
-c 1
local rc=$?
local -a statuses=("${PIPESTATUS[@]}")
LAST_FFMPEG_STATUS="${statuses[0]:-unknown}"
LAST_APLAY_STATUS="${statuses[1]:-unknown}"
set -e
return "${rc}"
}
trap 'kill 0 2>/dev/null' EXIT INT TERM
while true; do
if run_pipeline; then
exit 0
fi
echo "Audio forward listener exited ffmpeg=${LAST_FFMPEG_STATUS:-unknown} aplay=${LAST_APLAY_STATUS:-unknown}, restarting in 2s..." >&2
sleep 2
done
pi/install_roverd.sh
+9 -2
View File
@@ -210,11 +210,16 @@ log "Installed video-publisher systemd unit"
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
log "Installed audio-only publisher helper + systemd unit"
# Install audio-forward listener assets
install -D -o root -g root -m 0755 pi/bin/audio-forward-listener.sh /usr/local/bin/audio-forward-listener
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/video.env <<'ENV'
# Managed by roverd; placeholder values will be overwritten at runtime.
PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
AUDIO_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-audio,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
AUDIO_FORWARD_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-fwd,m=request&latency=10&mode=caller&transtype=live&pkt_size=1316
VIDEO_BITRATE=2000000
AUDIO_ENABLE=0
AUDIO_DEVICE=hw:0,0
@@ -245,13 +250,15 @@ systemctl daemon-reload
systemctl enable roverd.service
systemctl enable video-publisher.service
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 audio-only-publisher.service
log "Restarted roverd + media publishers"
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"
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"
fi
log "Install complete"
pi/roverd/config.go
+12
View File
@@ -80,6 +80,7 @@ type HornConfig struct {
type MediaConfig struct {
PublishURL string `yaml:"publishUrl" json:"publishUrl,omitempty"`
AudioPublishURL string `yaml:"audioPublishUrl" json:"audioPublishUrl,omitempty"`
AudioForwardURL string `yaml:"audioForwardUrl" json:"audioForwardUrl,omitempty"`
PublishPort int `yaml:"publishPort" json:"-"`
Manage bool `yaml:"manage"`
ManageAudio bool `yaml:"manageAudio"`
@@ -247,6 +248,13 @@ func LoadConfig(path string) (*Config, error) {
}
cfg.Media.AudioPublishURL = derived
}
if cfg.Media.AudioForwardURL == "" {
derived, err := deriveReadURL(cfg.ServerURL, cfg.Name+"-fwd", cfg.Media.PublishPort)
if err != nil {
return nil, fmt.Errorf("derive audioForwardUrl: %w", err)
}
cfg.Media.AudioForwardURL = derived
}
if err := validateServoConfig(&cfg.CameraServo); err != nil {
return nil, fmt.Errorf("cameraServo: %w", err)
}
@@ -377,6 +385,10 @@ func derivePublishURL(serverURL, streamName string, port int) (string, error) {
return deriveSRTURL(serverURL, streamName, port, "publish")
}
func deriveReadURL(serverURL, streamName string, port int) (string, error) {
return deriveSRTURL(serverURL, streamName, port, "request")
}
func deriveSRTURL(serverURL, streamName string, port int, mode string) (string, error) {
if streamName == "" {
return "", errors.New("missing stream name for publishUrl")
pi/roverd/media_env.go
+3
View File
@@ -27,6 +27,9 @@ func UpdatePublisherEnv(media MediaConfig, audio AudioConfig) error {
if audio.CaptureEnabled && media.AudioPublishURL != "" {
fmt.Fprintf(&buf, "AUDIO_PUBLISH_URL=%s\n", media.AudioPublishURL)
}
if media.AudioForwardURL != "" {
fmt.Fprintf(&buf, "AUDIO_FORWARD_URL=%s\n", media.AudioForwardURL)
}
if media.VideoWidth > 0 {
fmt.Fprintf(&buf, "VIDEO_WIDTH=%d\n", media.VideoWidth)
}
pi/roverd/roverd.sample.yaml
+1
View File
@@ -16,6 +16,7 @@ battery:
maxWheelSpeed: 350
media:
publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
audioForwardUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha-fwd,m=request&latency=10&mode=caller&transtype=live&pkt_size=1316
publishPort: 9000
videoBitrate: 2000000
manage: true
pi/systemd/audio-forward-listener.service
+18
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@@ -0,0 +1,18 @@
[Unit]
Description=Rover Audio Forward Listener (SRT -> ALSA)
After=network-online.target roverd.service
Wants=network-online.target
[Service]
Type=simple
User=roverd
Group=roverd
EnvironmentFile=/var/lib/roverd/video.env
ExecStart=/usr/local/bin/audio-forward-listener
KillMode=control-group
TimeoutStopSec=5
Restart=on-failure
RestartSec=2
[Install]
WantedBy=multi-user.target