legop3/MultiRoombaRover
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legop3
2025-11-27 19:35:07 -05:00
parent 63f788c16e
commit 470d1f930d
4 changed files with 11 additions and 12 deletions
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pi/bin/video-publisher.sh
+4 -5
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@@ -19,14 +19,14 @@ VIDEO_HEIGHT="${VIDEO_HEIGHT:-1080}"
VIDEO_FPS="${VIDEO_FPS:-30}" VIDEO_FPS="${VIDEO_FPS:-30}"
VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}" VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}"
AUDIO_ENABLE="${AUDIO_ENABLE:-0}" AUDIO_ENABLE="${AUDIO_ENABLE:-0}"
AUDIO_DEVICE="${AUDIO_DEVICE:-plughw:0,0}" AUDIO_DEVICE="${AUDIO_DEVICE:-hw:0,0}"
AUDIO_RATE="${AUDIO_RATE:-16000}" AUDIO_RATE="${AUDIO_RATE:-8000}"
AUDIO_CHANNELS="${AUDIO_CHANNELS:-1}" AUDIO_CHANNELS="${AUDIO_CHANNELS:-1}"
AUDIO_BITRATE="${AUDIO_BITRATE:-64000}" AUDIO_BITRATE="${AUDIO_BITRATE:-64000}"
# Normalize device if env still says "default" # Normalize device if env still says "default"
if [[ "${AUDIO_DEVICE}" == "default" ]]; then if [[ "${AUDIO_DEVICE}" == "default" ]]; then
AUDIO_DEVICE="plughw:0,0" AUDIO_DEVICE="hw:0,0"
fi fi
# Flip the camera 180deg (supported by rpicam-vid/libcamera-vid) # Flip the camera 180deg (supported by rpicam-vid/libcamera-vid)
FLIP_ARGS=(--rotation 180) FLIP_ARGS=(--rotation 180)
@@ -86,10 +86,9 @@ run_pipeline() {
-ar "${AUDIO_RATE}" \ -ar "${AUDIO_RATE}" \
-i "${AUDIO_DEVICE}" \ -i "${AUDIO_DEVICE}" \
-c:v copy \ -c:v copy \
-c:a pcm_alaw \ -c:a pcm_s16le \
-ac "${AUDIO_CHANNELS}" \ -ac "${AUDIO_CHANNELS}" \
-ar "${AUDIO_RATE}" \ -ar "${AUDIO_RATE}" \
-af "aresample=async=1:min_hard_comp=0.100:first_pts=0" \
-flush_packets 1 \ -flush_packets 1 \
-f mpegts \ -f mpegts \
"${PUBLISH_URL}" "${PUBLISH_URL}"
pi/install_roverd.sh
+3 -3
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@@ -126,7 +126,7 @@ ensure_pwm_overlay() {
log "Enabled dtoverlay=pwm-2chan on GPIO12/13 in $boot_config (backup at $backup). Reboot required for changes to apply." log "Enabled dtoverlay=pwm-2chan on GPIO12/13 in $boot_config (backup at $backup). Reboot required for changes to apply."
} }
ensure_user roverd "dialout,gpio,video,render" ensure_user roverd "dialout,gpio,video,render,audio"
install -o roverd -g roverd -m 0755 "$BINARY_SRC" /usr/local/bin/roverd install -o roverd -g roverd -m 0755 "$BINARY_SRC" /usr/local/bin/roverd
log "Installed roverd binary" log "Installed roverd binary"
@@ -205,8 +205,8 @@ VIDEO_HEIGHT=720
VIDEO_FPS=30 VIDEO_FPS=30
VIDEO_BITRATE=3000000 VIDEO_BITRATE=3000000
AUDIO_ENABLE=1 AUDIO_ENABLE=1
AUDIO_DEVICE=plughw:sndrpigooglevoi,0 AUDIO_DEVICE=hw:0,0
AUDIO_RATE=16000 AUDIO_RATE=8000
AUDIO_CHANNELS=1 AUDIO_CHANNELS=1
AUDIO_BITRATE=64000 AUDIO_BITRATE=64000
ENV ENV
pi/roverd/config.go
+2 -2
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@@ -142,8 +142,8 @@ func LoadConfig(path string) (*Config, error) {
}, },
Audio: AudioConfig{ Audio: AudioConfig{
CaptureEnabled: true, CaptureEnabled: true,
CaptureDevice: "plughw:0,0", CaptureDevice: "hw:0,0",
SampleRate: 16000, SampleRate: 8000,
Channels: 1, Channels: 1,
Bitrate: 64000, Bitrate: 64000,
TTSEnabled: false, TTSEnabled: false,
pi/roverd/roverd.sample.yaml
+2 -2
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@@ -39,8 +39,8 @@ cameraServo:
allowRawPulse: false allowRawPulse: false
audio: audio:
captureEnabled: true captureEnabled: true
captureDevice: plughw:0,0 captureDevice: hw:0,0
sampleRate: 16000 sampleRate: 8000
channels: 1 channels: 1
bitrate: 64000 bitrate: 64000
ttsEnabled: false ttsEnabled: false