legop3/MultiRoombaRover
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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/roverd/config.go
+12
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@@ -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")