mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-15 17:12:59 -04:00
legop3
Vendored
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@@ -0,0 +1,88 @@
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||||
# ALSA routing for the Debian laptop rover profile.
|
||||
#
|
||||
# This file intentionally mirrors the logical device names used by the Pi rover
|
||||
# audio setup. roverd can keep sending horn audio to "horn", forwarded browser
|
||||
# audio to "forward", and TTS to ALSA's default playback path without caring
|
||||
# which physical sound card is underneath the profile.
|
||||
|
||||
pcm.roverd_playback {
|
||||
type plug
|
||||
|
||||
# Use the system's first normal ALSA playback device as the physical sink.
|
||||
# This avoids referencing "default" here, because this file replaces
|
||||
# pcm.!default below and using it as a slave would recurse.
|
||||
slave.pcm "sysdefault"
|
||||
}
|
||||
|
||||
pcm.roverd_capture {
|
||||
type plug
|
||||
|
||||
# The media publisher records from "default"; with pcm.!default below that
|
||||
# capture side resolves here. Keeping capture separate from playback lets the
|
||||
# asym default expose ordinary microphone input while playback goes through
|
||||
# the TTS softvol path.
|
||||
slave.pcm "sysdefault"
|
||||
}
|
||||
|
||||
pcm.tts_softvol {
|
||||
type softvol
|
||||
slave.pcm "roverd_playback"
|
||||
control {
|
||||
name "TTSMaster"
|
||||
card 0
|
||||
}
|
||||
min_dB -60.0
|
||||
max_dB 12.0
|
||||
}
|
||||
|
||||
pcm.horn_softvol {
|
||||
type softvol
|
||||
slave.pcm "roverd_playback"
|
||||
control {
|
||||
name "HornMaster"
|
||||
card 0
|
||||
}
|
||||
min_dB -60.0
|
||||
max_dB 12.0
|
||||
}
|
||||
|
||||
pcm.forward_softvol {
|
||||
type softvol
|
||||
slave.pcm "roverd_playback"
|
||||
control {
|
||||
name "ForwardMaster"
|
||||
card 0
|
||||
}
|
||||
min_dB -60.0
|
||||
max_dB 12.0
|
||||
}
|
||||
|
||||
pcm.tts {
|
||||
type plug
|
||||
slave.pcm "tts_softvol"
|
||||
}
|
||||
|
||||
pcm.horn {
|
||||
type plug
|
||||
slave.pcm "horn_softvol"
|
||||
}
|
||||
|
||||
pcm.forward {
|
||||
type plug
|
||||
slave.pcm "forward_softvol"
|
||||
}
|
||||
|
||||
pcm.!default {
|
||||
type asym
|
||||
|
||||
# Existing TTS engines play to their default ALSA output, so default playback
|
||||
# is intentionally the TTS path. This preserves the current TTS execution
|
||||
# model while still making the TTS volume control meaningful on laptops.
|
||||
playback.pcm "tts"
|
||||
capture.pcm "roverd_capture"
|
||||
}
|
||||
|
||||
ctl.!default {
|
||||
type hw
|
||||
card 0
|
||||
}
|
||||
Executable
+143
@@ -0,0 +1,143 @@
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||||
#!/usr/bin/env bash
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||||
set -euo pipefail
|
||||
set +H
|
||||
|
||||
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 ${ENV_FILE} missing; cannot publish laptop video" >&2
|
||||
exit 1
|
||||
fi
|
||||
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||||
# Load roverd's generated media.env as data instead of sourcing it as shell.
|
||||
# The SRT publish URL contains normal query-string characters like '&' and '#!',
|
||||
# so evaluating the file would be both fragile and unnecessary.
|
||||
load_env_file() {
|
||||
local content=""
|
||||
|
||||
if [[ -r "$ENV_FILE" ]]; then
|
||||
content="$(cat "$ENV_FILE")"
|
||||
elif command -v sudo >/dev/null 2>&1; then
|
||||
content="$(sudo -n cat "$ENV_FILE" 2>/dev/null || true)"
|
||||
fi
|
||||
|
||||
if [[ -z "$content" ]]; then
|
||||
echo "Cannot read ${ENV_FILE} (permission denied). Run as a user that can read it, or allow sudo -n for cat." >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
local line key val
|
||||
while IFS= read -r line || [[ -n "$line" ]]; do
|
||||
[[ "$line" =~ ^[[:space:]]*$ ]] && continue
|
||||
[[ "$line" =~ ^[[:space:]]*# ]] && continue
|
||||
|
||||
if [[ "$line" =~ ^[[:space:]]*export[[:space:]]+([A-Za-z_][A-Za-z0-9_]*)=(.*)$ ]]; then
|
||||
key="${BASH_REMATCH[1]}"
|
||||
val="${BASH_REMATCH[2]}"
|
||||
elif [[ "$line" =~ ^[[:space:]]*([A-Za-z_][A-Za-z0-9_]*)=(.*)$ ]]; then
|
||||
key="${BASH_REMATCH[1]}"
|
||||
val="${BASH_REMATCH[2]}"
|
||||
else
|
||||
continue
|
||||
fi
|
||||
|
||||
val="${val#${val%%[![:space:]]*}}"
|
||||
val="${val%${val##*[![:space:]]}}"
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||||
if [[ "$val" =~ ^\".*\"$ ]]; then
|
||||
val="${val:1:${#val}-2}"
|
||||
elif [[ "$val" =~ ^\'.*\'$ ]]; then
|
||||
val="${val:1:${#val}-2}"
|
||||
fi
|
||||
|
||||
printf -v "$key" '%s' "$val"
|
||||
export "$key"
|
||||
done <<< "$content"
|
||||
}
|
||||
|
||||
load_env_file
|
||||
: "${ROVERD_VIDEO_ENABLE:?ROVERD_VIDEO_ENABLE not set in ${ENV_FILE}}"
|
||||
: "${ROVERD_VIDEO_PUBLISH_URL:?ROVERD_VIDEO_PUBLISH_URL not set in ${ENV_FILE}}"
|
||||
: "${ROVERD_VIDEO_DEVICE:?ROVERD_VIDEO_DEVICE not set in ${ENV_FILE}}"
|
||||
: "${ROVERD_VIDEO_INPUT_FORMAT:?ROVERD_VIDEO_INPUT_FORMAT not set in ${ENV_FILE}}"
|
||||
: "${ROVERD_VIDEO_WIDTH:?ROVERD_VIDEO_WIDTH not set in ${ENV_FILE}}"
|
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: "${ROVERD_VIDEO_HEIGHT:?ROVERD_VIDEO_HEIGHT not set in ${ENV_FILE}}"
|
||||
: "${ROVERD_VIDEO_FPS:?ROVERD_VIDEO_FPS not set in ${ENV_FILE}}"
|
||||
: "${ROVERD_VIDEO_BITRATE:?ROVERD_VIDEO_BITRATE not set in ${ENV_FILE}}"
|
||||
: "${ROVERD_VIDEO_INVERT:?ROVERD_VIDEO_INVERT not set in ${ENV_FILE}}"
|
||||
|
||||
if [[ "${ROVERD_VIDEO_ENABLE}" -ne 1 ]]; then
|
||||
echo "Laptop video publisher disabled by roverd media config; skipping" >&2
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||||
exit 0
|
||||
fi
|
||||
|
||||
if [[ -z "${ROVERD_VIDEO_DEVICE}" ]]; then
|
||||
echo "ROVERD_VIDEO_DEVICE is required for the debian-laptop V4L2 publisher" >&2
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exit 1
|
||||
fi
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||||
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||||
INPUT_FORMAT_ARGS=()
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if [[ -n "${ROVERD_VIDEO_INPUT_FORMAT}" ]]; then
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# Many laptop webcams expose both compressed MJPEG and raw YUYV modes. The
|
||||
# wrong negotiated format can still produce a decodable stream, but the
|
||||
# picture appears as green/noisy mush because ffmpeg is interpreting the
|
||||
# frame bytes with the wrong pixel format. Passing input_format pins V4L2 to
|
||||
# the camera mode selected in roverd.yaml.
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INPUT_FORMAT_ARGS=(-input_format "${ROVERD_VIDEO_INPUT_FORMAT}")
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fi
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if [[ -n "${FFMPEG_BIN:-}" ]]; then
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FFMPEG_BIN_PATH="$FFMPEG_BIN"
|
||||
elif command -v ffmpeg >/dev/null 2>&1; then
|
||||
FFMPEG_BIN_PATH="$(command -v ffmpeg)"
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||||
else
|
||||
echo "ffmpeg not found; install it via apt install ffmpeg." >&2
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||||
exit 1
|
||||
fi
|
||||
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||||
VIDEO_FILTER_ARGS=()
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||||
if [[ "${ROVERD_VIDEO_INVERT}" -ne 0 ]]; then
|
||||
# The Pi publisher uses libcamera rotation. With a generic webcam, ffmpeg's
|
||||
# transpose pair gives the same 180-degree correction without assuming a
|
||||
# camera-specific driver feature.
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||||
VIDEO_FILTER_ARGS=(-vf "transpose=2,transpose=2")
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fi
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||||
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||||
run_pipeline() {
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||||
"${FFMPEG_BIN_PATH}" \
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||||
-hide_banner \
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||||
-loglevel warning \
|
||||
-fflags nobuffer \
|
||||
-flags low_delay \
|
||||
-thread_queue_size 4096 \
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||||
-f v4l2 \
|
||||
"${INPUT_FORMAT_ARGS[@]}" \
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||||
-framerate "${ROVERD_VIDEO_FPS}" \
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||||
-video_size "${ROVERD_VIDEO_WIDTH}x${ROVERD_VIDEO_HEIGHT}" \
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-i "${ROVERD_VIDEO_DEVICE}" \
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||||
"${VIDEO_FILTER_ARGS[@]}" \
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||||
-an \
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||||
-c:v libx264 \
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||||
-preset veryfast \
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||||
-tune zerolatency \
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||||
-profile:v baseline \
|
||||
-pix_fmt yuv420p \
|
||||
-b:v "${ROVERD_VIDEO_BITRATE}" \
|
||||
-maxrate "${ROVERD_VIDEO_BITRATE}" \
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||||
-bufsize "$((ROVERD_VIDEO_BITRATE / 2))" \
|
||||
-g "${ROVERD_VIDEO_FPS}" \
|
||||
-keyint_min "${ROVERD_VIDEO_FPS}" \
|
||||
-sc_threshold 0 \
|
||||
-flush_packets 1 \
|
||||
-muxdelay 0 \
|
||||
-muxpreload 0 \
|
||||
-f mpegts \
|
||||
"${ROVERD_VIDEO_PUBLISH_URL}"
|
||||
}
|
||||
|
||||
while true; do
|
||||
if run_pipeline; then
|
||||
exit 0
|
||||
fi
|
||||
echo "Debian laptop video publisher exited, restarting in 2s..." >&2
|
||||
sleep 2
|
||||
done
|
||||
@@ -0,0 +1,79 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
CONFIG_DEST="/etc/roverd.yaml"
|
||||
|
||||
log() {
|
||||
echo "[$(date -u +%Y-%m-%dT%H:%M:%SZ)] $*"
|
||||
}
|
||||
|
||||
ensure_user() {
|
||||
local user="$1"
|
||||
local groups="${2:-}"
|
||||
local existing_groups=""
|
||||
local group
|
||||
|
||||
if [[ -n "$groups" ]]; then
|
||||
IFS=',' read -ra group_list <<< "$groups"
|
||||
for group in "${group_list[@]}"; do
|
||||
if getent group "$group" >/dev/null 2>&1; then
|
||||
existing_groups="${existing_groups:+$existing_groups,}$group"
|
||||
else
|
||||
# Different Debian-family installs expose slightly different
|
||||
# hardware groups. Skipping missing optional groups lets one
|
||||
# profile script cover ordinary laptops and Raspberry Pi OS.
|
||||
log "Skipping missing system group '$group' for $user"
|
||||
fi
|
||||
done
|
||||
fi
|
||||
|
||||
if ! id -u "$user" >/dev/null 2>&1; then
|
||||
if [[ -n "$existing_groups" ]]; then
|
||||
useradd -r -s /usr/sbin/nologin -G "$existing_groups" "$user"
|
||||
else
|
||||
useradd -r -s /usr/sbin/nologin "$user"
|
||||
fi
|
||||
elif [[ -n "$existing_groups" ]]; then
|
||||
usermod -a -G "$existing_groups" "$user"
|
||||
fi
|
||||
}
|
||||
|
||||
require_root() {
|
||||
if [[ "${EUID}" -ne 0 ]]; then
|
||||
echo "Please run as root (sudo)" >&2
|
||||
exit 1
|
||||
fi
|
||||
}
|
||||
|
||||
validate_install_inputs() {
|
||||
if [[ ! -f "$BINARY_SRC" ]]; then
|
||||
echo "Binary not found at $BINARY_SRC" >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [[ ! -f "$CONFIG_SRC" ]]; then
|
||||
echo "Config source not found at $CONFIG_SRC" >&2
|
||||
exit 1
|
||||
fi
|
||||
}
|
||||
|
||||
install_roverd_binary() {
|
||||
ensure_user roverd "$ROVERD_GROUPS"
|
||||
install -o roverd -g roverd -m 0755 "$BINARY_SRC" /usr/local/bin/roverd
|
||||
log "Installed roverd binary for profile $PROFILE"
|
||||
}
|
||||
|
||||
install_roverd_config() {
|
||||
CONFIG_EXISTS=0
|
||||
if [[ -f "$CONFIG_DEST" ]]; then
|
||||
CONFIG_EXISTS=1
|
||||
log "Existing $CONFIG_DEST found; leaving it in place"
|
||||
else
|
||||
install -D -o roverd -g roverd -m 0640 "$CONFIG_SRC" "$CONFIG_DEST"
|
||||
log "Installed sample config to $CONFIG_DEST (edit before starting service)"
|
||||
fi
|
||||
}
|
||||
|
||||
install_roverd_unit() {
|
||||
install -m 0644 pi/systemd/roverd.service /etc/systemd/system/roverd.service
|
||||
log "Installed roverd systemd unit"
|
||||
}
|
||||
@@ -0,0 +1,42 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
install_debian_laptop_deps() {
|
||||
# This profile is deliberately Debian-only. Using apt directly is simpler
|
||||
# than adding a fake cross-distro layer, and it keeps the installed package
|
||||
# set easy to inspect on the actual rover laptop.
|
||||
if command -v ffmpeg >/dev/null 2>&1 \
|
||||
&& command -v arecord >/dev/null 2>&1 \
|
||||
&& command -v aplay >/dev/null 2>&1 \
|
||||
&& command -v amixer >/dev/null 2>&1 \
|
||||
&& command -v v4l2-ctl >/dev/null 2>&1 \
|
||||
&& command -v flite >/dev/null 2>&1 \
|
||||
&& command -v espeak >/dev/null 2>&1; then
|
||||
log "Debian laptop media/audio dependencies already installed; skipping apt install"
|
||||
return
|
||||
fi
|
||||
|
||||
log "Installing Debian laptop dependencies (ffmpeg, ALSA tools, V4L2 tools, flite, espeak)..."
|
||||
apt-get update
|
||||
apt-get install -y --no-install-recommends ffmpeg alsa-utils v4l-utils ca-certificates flite espeak
|
||||
}
|
||||
|
||||
install_debian_laptop_audio_support() {
|
||||
if [[ ! -f pi/asound.debian-laptop.conf ]]; then
|
||||
log "WARNING: pi/asound.debian-laptop.conf missing; skipping Debian laptop ALSA config install"
|
||||
return
|
||||
fi
|
||||
|
||||
# The laptop profile still uses roverd's existing audio contract: TTS plays
|
||||
# to ALSA's default output, horn plays to the named "horn" device, and
|
||||
# forwarded web audio plays to the named "forward" device. Installing one
|
||||
# profile-specific asound.conf gives those paths independent softvol mixer
|
||||
# controls without changing the TTS runtime code.
|
||||
install -m 0644 pi/asound.debian-laptop.conf /etc/asound.conf
|
||||
log "Installed Debian laptop ALSA config to /etc/asound.conf"
|
||||
log "ALSA config updated; restarting audio clients or rebooting is recommended before testing laptop audio"
|
||||
}
|
||||
|
||||
install_debian_laptop_profile() {
|
||||
install_debian_laptop_deps
|
||||
install_debian_laptop_audio_support
|
||||
}
|
||||
@@ -0,0 +1,89 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
write_media_env_placeholder() {
|
||||
install -d -o roverd -g roverd /var/lib/roverd
|
||||
|
||||
case "$PROFILE" in
|
||||
pi)
|
||||
# roverd rewrites media.env after loading /etc/roverd.yaml. These
|
||||
# values only make the services syntactically usable before the first
|
||||
# successful roverd run, so they mirror the Pi defaults instead of
|
||||
# trying to become a second source of truth.
|
||||
cat > /var/lib/roverd/media.env <<'ENV'
|
||||
# Managed by roverd; placeholder values will be overwritten at runtime.
|
||||
ROVERD_VIDEO_ENABLE=1
|
||||
ROVERD_VIDEO_PUBLISHER=pi-libcamera
|
||||
ROVERD_VIDEO_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
|
||||
ROVERD_VIDEO_DEVICE=
|
||||
ROVERD_VIDEO_INPUT_FORMAT=
|
||||
ROVERD_VIDEO_WIDTH=640
|
||||
ROVERD_VIDEO_HEIGHT=480
|
||||
ROVERD_VIDEO_FPS=30
|
||||
ROVERD_VIDEO_BITRATE=2000000
|
||||
ROVERD_VIDEO_INVERT=1
|
||||
ROVERD_VIDEO_SENSOR_MODE=1296:972
|
||||
ROVERD_AUDIO_CAPTURE_ENABLE=0
|
||||
ROVERD_AUDIO_CAPTURE_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-audio,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
|
||||
ROVERD_AUDIO_CAPTURE_DEVICE=hw:0,0
|
||||
ROVERD_AUDIO_CAPTURE_SAMPLE_RATE=48000
|
||||
ROVERD_AUDIO_CAPTURE_CHANNELS=2
|
||||
ROVERD_AUDIO_CAPTURE_BITRATE=510000
|
||||
ROVERD_AUDIO_PLAYBACK_ENABLE=1
|
||||
ROVERD_AUDIO_PLAYBACK_FORWARD_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-fwd,m=request&latency=10&mode=caller&transtype=live&pkt_size=1316
|
||||
ROVERD_AUDIO_PLAYBACK_DEVICE=forward
|
||||
ROVERD_AUDIO_PLAYBACK_NORMALIZE=1
|
||||
ROVERD_AUDIO_PLAYBACK_NORMALIZE_FILTER=dynaudnorm=f=75:g=15:m=10:p=0.9,alimiter=limit=0.85:level=disabled
|
||||
ENV
|
||||
;;
|
||||
debian-laptop)
|
||||
# The laptop placeholder uses the same logical ALSA names as the
|
||||
# installed laptop asound.conf. That keeps forwarded audio under the
|
||||
# ForwardMaster mixer control while TTS and horn keep their own paths.
|
||||
cat > /var/lib/roverd/media.env <<'ENV'
|
||||
# Managed by roverd; placeholder values will be overwritten at runtime.
|
||||
ROVERD_VIDEO_ENABLE=1
|
||||
ROVERD_VIDEO_PUBLISHER=debian-laptop-v4l2
|
||||
ROVERD_VIDEO_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
|
||||
ROVERD_VIDEO_DEVICE=/dev/video0
|
||||
ROVERD_VIDEO_INPUT_FORMAT=mjpeg
|
||||
ROVERD_VIDEO_WIDTH=640
|
||||
ROVERD_VIDEO_HEIGHT=480
|
||||
ROVERD_VIDEO_FPS=30
|
||||
ROVERD_VIDEO_BITRATE=2000000
|
||||
ROVERD_VIDEO_INVERT=0
|
||||
ROVERD_VIDEO_SENSOR_MODE=
|
||||
ROVERD_AUDIO_CAPTURE_ENABLE=1
|
||||
ROVERD_AUDIO_CAPTURE_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-audio,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
|
||||
ROVERD_AUDIO_CAPTURE_DEVICE=default
|
||||
ROVERD_AUDIO_CAPTURE_SAMPLE_RATE=48000
|
||||
ROVERD_AUDIO_CAPTURE_CHANNELS=2
|
||||
ROVERD_AUDIO_CAPTURE_BITRATE=510000
|
||||
ROVERD_AUDIO_PLAYBACK_ENABLE=1
|
||||
ROVERD_AUDIO_PLAYBACK_FORWARD_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-fwd,m=request&latency=10&mode=caller&transtype=live&pkt_size=1316
|
||||
ROVERD_AUDIO_PLAYBACK_DEVICE=forward
|
||||
ROVERD_AUDIO_PLAYBACK_NORMALIZE=1
|
||||
ROVERD_AUDIO_PLAYBACK_NORMALIZE_FILTER=dynaudnorm=f=75:g=15:m=10:p=0.9,alimiter=limit=0.85:level=disabled
|
||||
ENV
|
||||
;;
|
||||
esac
|
||||
|
||||
chown roverd:roverd /var/lib/roverd/media.env
|
||||
chmod 0640 /var/lib/roverd/media.env
|
||||
}
|
||||
|
||||
install_audio_fifo() {
|
||||
local fifo_path="/var/lib/roverd/audio.pcm"
|
||||
|
||||
# The capture service and publisher service meet at this FIFO. Recreating
|
||||
# it only when it is missing or the path is not a FIFO preserves a working
|
||||
# service pipe while still fixing accidental regular-file leftovers.
|
||||
if [[ -p "$fifo_path" ]]; then
|
||||
chown roverd:audio "$fifo_path"
|
||||
chmod 0660 "$fifo_path"
|
||||
else
|
||||
rm -f "$fifo_path"
|
||||
mkfifo "$fifo_path"
|
||||
chown roverd:audio "$fifo_path"
|
||||
chmod 0660 "$fifo_path"
|
||||
fi
|
||||
}
|
||||
@@ -0,0 +1,160 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
install_pi_video_deps() {
|
||||
if command -v ffmpeg >/dev/null 2>&1 && (command -v rpicam-vid >/dev/null 2>&1 || command -v libcamera-vid >/dev/null 2>&1); then
|
||||
log "Video dependencies already installed; skipping apt install"
|
||||
return
|
||||
fi
|
||||
log "Installing video dependencies (libcamera-apps, ffmpeg)..."
|
||||
apt-get update
|
||||
apt-get install -y --no-install-recommends libcamera-apps ffmpeg
|
||||
}
|
||||
|
||||
find_boot_config() {
|
||||
if [[ -f /boot/firmware/config.txt ]]; then
|
||||
printf "/boot/firmware/config.txt"
|
||||
return 0
|
||||
fi
|
||||
if [[ -f /boot/config.txt ]]; then
|
||||
printf "/boot/config.txt"
|
||||
return 0
|
||||
fi
|
||||
return 1
|
||||
}
|
||||
|
||||
ensure_pwm_overlay() {
|
||||
local boot_config
|
||||
if ! boot_config="$(find_boot_config)"; then
|
||||
log "WARNING: unable to locate /boot config.txt; please ensure dtoverlay=pwm-2chan is added manually for servo support"
|
||||
return
|
||||
fi
|
||||
if grep -Eq '^\s*dtoverlay=pwm(-2chan)?' "$boot_config"; then
|
||||
log "PWM overlay already present in $boot_config"
|
||||
return
|
||||
fi
|
||||
local backup="${boot_config}.roverd.$(date +%Y%m%d%H%M%S).bak"
|
||||
cp "$boot_config" "$backup"
|
||||
{
|
||||
echo ""
|
||||
echo "# Added by roverd installer to expose PWM hardware for camera servo control on GPIO12/13 (leaves GPIO18/19 free for I2S)"
|
||||
echo "dtoverlay=pwm-2chan,pin=12,func=4,pin2=13,func2=4"
|
||||
} >> "$boot_config"
|
||||
log "Enabled dtoverlay=pwm-2chan on GPIO12/13 in $boot_config (backup at $backup). Reboot required for changes to apply."
|
||||
}
|
||||
|
||||
install_pi_audio_support() {
|
||||
local boot_config
|
||||
if ! boot_config="$(find_boot_config)"; then
|
||||
log "WARNING: unable to locate /boot config.txt; please enable googlevoicehat-soundcard overlay manually"
|
||||
else
|
||||
# Ensure onboard audio is disabled (prevents card index flapping)
|
||||
if grep -Eq '^\s*dtparam=audio=on\b' "$boot_config"; then
|
||||
log "Disabling onboard audio (dtparam=audio=on -> off) in $boot_config"
|
||||
sed -i 's/^\s*dtparam=audio=on\b/# roverd disabled onboard audio\ndtparam=audio=off/' "$boot_config"
|
||||
fi
|
||||
if ! grep -Eq '^\s*dtparam=audio=off\b' "$boot_config"; then
|
||||
log "Adding dtparam=audio=off to $boot_config"
|
||||
echo "dtparam=audio=off" >> "$boot_config"
|
||||
fi
|
||||
if ! grep -Eq '^\s*dtparam=i2s=on\b' "$boot_config"; then
|
||||
log "Adding dtparam=i2s=on to $boot_config"
|
||||
echo "dtparam=i2s=on" >> "$boot_config"
|
||||
fi
|
||||
if ! grep -Eq '^\s*dtoverlay=googlevoicehat-soundcard\b' "$boot_config"; then
|
||||
local backup="${boot_config}.roverd.$(date +%Y%m%d%H%M%S).bak"
|
||||
cp "$boot_config" "$backup"
|
||||
{
|
||||
echo ""
|
||||
echo "# Added by roverd installer to enable Google AIY v1 sound card"
|
||||
echo "dtoverlay=googlevoicehat-soundcard"
|
||||
} >> "$boot_config"
|
||||
log "Enabled googlevoicehat-soundcard overlay in $boot_config (backup at $backup). Reboot required."
|
||||
else
|
||||
log "googlevoicehat-soundcard overlay already present in $boot_config"
|
||||
fi
|
||||
fi
|
||||
if [[ -f pi/asound.conf ]]; then
|
||||
install -m 0644 pi/asound.conf /etc/asound.conf
|
||||
log "Installed ALSA config to /etc/asound.conf"
|
||||
alsa_reload_notice=1
|
||||
else
|
||||
log "WARNING: pi/asound.conf missing; skipping ALSA config install"
|
||||
fi
|
||||
|
||||
if [[ "${alsa_reload_notice:-0}" -eq 1 ]]; then
|
||||
log "ALSA config updated; reboot recommended for overlay + audio changes"
|
||||
fi
|
||||
|
||||
log "Installing TTS/audio packages (flite, espeak, Chrome TTS runtime deps)..."
|
||||
if command -v flite >/dev/null 2>&1 \
|
||||
&& command -v espeak >/dev/null 2>&1 \
|
||||
&& command -v python3 >/dev/null 2>&1 \
|
||||
&& command -v curl >/dev/null 2>&1 \
|
||||
&& command -v xz >/dev/null 2>&1 \
|
||||
&& command -v unzip >/dev/null 2>&1 \
|
||||
&& command -v aplay >/dev/null 2>&1 \
|
||||
&& ldconfig -p 2>/dev/null | grep -q 'libc++\.so\.1' \
|
||||
&& ldconfig -p 2>/dev/null | grep -q 'libc++abi\.so\.1'; then
|
||||
log "Core TTS packages already installed; skipping apt install"
|
||||
else
|
||||
apt-get update
|
||||
apt-get install -y --no-install-recommends flite espeak python3 curl xz-utils unzip alsa-utils libc++1 libc++abi1 \
|
||||
|| apt-get install -y --no-install-recommends flite espeak python3 curl xz-utils unzip alsa-utils libc++1-14 libc++abi1-14
|
||||
fi
|
||||
|
||||
install -D -o root -g root -m 0755 pi/bin/chromegtts-daemon.py /usr/local/bin/chromegtts-daemon
|
||||
log "Installed chromegtts daemon"
|
||||
|
||||
install_google_tts_assets
|
||||
}
|
||||
|
||||
install_google_tts_assets() {
|
||||
local asset_dir="/opt/roverd/googletts"
|
||||
local voice_dir="${asset_dir}/en-us-x-multi-r30"
|
||||
local dist_url="https://storage.googleapis.com/chromeos-localmirror/distfiles/googletts-26.5.tar.xz"
|
||||
local tmp_dir
|
||||
local lib_member
|
||||
|
||||
case "$(uname -m)" in
|
||||
aarch64|arm64)
|
||||
lib_member="libchrometts_arm64.so"
|
||||
;;
|
||||
armv7l|armhf)
|
||||
lib_member="libchrometts_armv7.so"
|
||||
;;
|
||||
*)
|
||||
log "WARNING: unsupported Chrome TTS architecture $(uname -m); skipping Google TTS assets"
|
||||
return
|
||||
;;
|
||||
esac
|
||||
|
||||
if [[ -f "${asset_dir}/libchrometts.so" && -f "${voice_dir}/pipeline.pb" ]]; then
|
||||
log "Google Chrome TTS assets already installed; skipping download"
|
||||
return
|
||||
fi
|
||||
|
||||
tmp_dir="$(mktemp -d)"
|
||||
log "Downloading Google Chrome TTS assets..."
|
||||
curl -L -o "${tmp_dir}/googletts-26.5.tar.xz" "$dist_url"
|
||||
tar -xf "${tmp_dir}/googletts-26.5.tar.xz" -C "$tmp_dir" en-us-x-multi.zvoice "$lib_member"
|
||||
|
||||
install -d -o root -g root -m 0755 "$asset_dir"
|
||||
install -o root -g root -m 0644 "${tmp_dir}/${lib_member}" "${asset_dir}/libchrometts.so"
|
||||
rm -rf "$voice_dir"
|
||||
install -d -o root -g root -m 0755 "$voice_dir"
|
||||
unzip -q "${tmp_dir}/en-us-x-multi.zvoice" -d "$voice_dir"
|
||||
chown -R root:root "$asset_dir"
|
||||
find "$asset_dir" -type d -exec chmod 0755 {} +
|
||||
find "$asset_dir" -type f -exec chmod 0644 {} +
|
||||
rm -rf "$tmp_dir"
|
||||
log "Installed Google Chrome TTS assets to $asset_dir"
|
||||
}
|
||||
|
||||
install_pi_profile() {
|
||||
if ! command -v rpicam-vid >/dev/null 2>&1 && ! command -v libcamera-vid >/dev/null 2>&1; then
|
||||
log "WARNING: neither rpicam-vid nor libcamera-vid found in PATH; install libcamera-apps."
|
||||
fi
|
||||
install_pi_video_deps
|
||||
ensure_pwm_overlay
|
||||
install_pi_audio_support
|
||||
}
|
||||
@@ -0,0 +1,105 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
PROFILE="pi"
|
||||
BINARY_SRC=""
|
||||
CONFIG_SRC=""
|
||||
|
||||
usage() {
|
||||
cat <<'USAGE'
|
||||
Usage: sudo ./pi/install_roverd.sh [options]
|
||||
|
||||
Options:
|
||||
--profile <name> Install profile: pi or debian-laptop (default: pi)
|
||||
--debian-laptop Shortcut for --profile debian-laptop
|
||||
-b, --binary <path> Path to the roverd binary (default depends on profile)
|
||||
-c, --config <path> Source config to install if /etc/roverd.yaml is missing
|
||||
(default depends on profile)
|
||||
-h, --help Show this help text
|
||||
|
||||
The script must run from the repository root and as root (sudo). It will:
|
||||
* create system users/groups if needed
|
||||
* install /usr/local/bin/roverd and /etc/roverd.yaml
|
||||
* install profile-specific video helpers and shared audio helpers
|
||||
* install profile-specific ALSA/system audio setup
|
||||
* install the fixed-command self-update helper used by admin-triggered updates
|
||||
* enable roverd.service and media publisher/listener services
|
||||
USAGE
|
||||
}
|
||||
|
||||
parse_args() {
|
||||
while [[ $# -gt 0 ]]; do
|
||||
case "$1" in
|
||||
--profile)
|
||||
PROFILE="${2:-}"
|
||||
shift 2
|
||||
;;
|
||||
--debian-laptop)
|
||||
PROFILE="debian-laptop"
|
||||
shift
|
||||
;;
|
||||
-b|--binary)
|
||||
BINARY_SRC="${2:-}"
|
||||
shift 2
|
||||
;;
|
||||
-c|--config)
|
||||
CONFIG_SRC="${2:-}"
|
||||
shift 2
|
||||
;;
|
||||
-h|--help)
|
||||
usage
|
||||
exit 0
|
||||
;;
|
||||
*)
|
||||
echo "Unknown option: $1" >&2
|
||||
usage
|
||||
exit 1
|
||||
;;
|
||||
esac
|
||||
done
|
||||
}
|
||||
|
||||
select_profile() {
|
||||
case "$PROFILE" in
|
||||
pi)
|
||||
BINARY_SRC="${BINARY_SRC:-dist/roverd}"
|
||||
CONFIG_SRC="${CONFIG_SRC:-pi/roverd/roverd.sample.yaml}"
|
||||
VIDEO_HELPER_SRC="pi/bin/video-publisher.sh"
|
||||
VIDEO_HELPER_DEST="/usr/local/bin/video-publisher"
|
||||
VIDEO_SERVICE_SRC="pi/systemd/video-publisher.service"
|
||||
VIDEO_SERVICE_NAME="video-publisher.service"
|
||||
ROVERD_GROUPS="dialout,gpio,video,render,audio"
|
||||
;;
|
||||
debian-laptop)
|
||||
BINARY_SRC="${BINARY_SRC:-dist/roverd-debian-laptop}"
|
||||
CONFIG_SRC="${CONFIG_SRC:-pi/roverd/roverd.debian-laptop.sample.yaml}"
|
||||
VIDEO_HELPER_SRC="pi/bin/debian-laptop-video-publisher.sh"
|
||||
VIDEO_HELPER_DEST="/usr/local/bin/debian-laptop-video-publisher"
|
||||
VIDEO_SERVICE_SRC="pi/systemd/debian-laptop-video-publisher.service"
|
||||
VIDEO_SERVICE_NAME="debian-laptop-video-publisher.service"
|
||||
ROVERD_GROUPS="dialout,video,render,audio"
|
||||
;;
|
||||
*)
|
||||
echo "Unknown profile: $PROFILE" >&2
|
||||
usage
|
||||
exit 1
|
||||
;;
|
||||
esac
|
||||
}
|
||||
|
||||
install_selected_profile() {
|
||||
case "$PROFILE" in
|
||||
pi)
|
||||
# The Pi profile owns the board-specific camera, PWM, and AIY audio
|
||||
# setup. Keeping that hardware work behind this dispatcher prevents
|
||||
# the laptop profile from accidentally inheriting Pi overlays or
|
||||
# card-index assumptions.
|
||||
install_pi_profile
|
||||
;;
|
||||
debian-laptop)
|
||||
# The Debian laptop profile only installs ordinary Debian packages
|
||||
# and a laptop ALSA routing file. Anything that depends on Pi GPIO,
|
||||
# overlays, or the Google Voice HAT stays out of this path.
|
||||
install_debian_laptop_profile
|
||||
;;
|
||||
esac
|
||||
}
|
||||
@@ -0,0 +1,38 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
install_self_update_support() {
|
||||
local sudoers_file="/etc/sudoers.d/roverd-self-update"
|
||||
local update_env="/etc/roverd-update.env"
|
||||
local quoted_repo_root
|
||||
|
||||
# The self-update helper must know which checkout should receive the git
|
||||
# pull. Recording the repository root during the normal installer run keeps
|
||||
# the runtime websocket command simple and prevents the rover from accepting
|
||||
# a caller-controlled path.
|
||||
printf -v quoted_repo_root '%q' "$REPO_ROOT"
|
||||
install -D -o root -g root -m 0644 /dev/null "$update_env"
|
||||
cat > "$update_env" <<ENV
|
||||
# Managed by pi/install_roverd.sh.
|
||||
# This path is intentionally captured from the installer working directory so
|
||||
# admin-triggered rover updates always operate on the same full repository that
|
||||
# was used for the manual install.
|
||||
ROVERD_REPO_DIR=$quoted_repo_root
|
||||
ENV
|
||||
log "Registered roverd update repository at $REPO_ROOT"
|
||||
|
||||
# The helper is root-owned and argument-free. sudoers grants the roverd
|
||||
# service user exactly this command and nothing broader, which is important
|
||||
# because update requests arrive over the rover websocket.
|
||||
install -D -o root -g root -m 0755 pi/bin/roverd-self-update.sh /usr/local/sbin/roverd-self-update
|
||||
cat > "$sudoers_file" <<'SUDOERS'
|
||||
# Managed by pi/install_roverd.sh.
|
||||
# Allow only the roverd service account to run the fixed self-update helper.
|
||||
roverd ALL=(root) NOPASSWD: /usr/local/sbin/roverd-self-update
|
||||
SUDOERS
|
||||
chown root:root "$sudoers_file"
|
||||
chmod 0440 "$sudoers_file"
|
||||
if command -v visudo >/dev/null 2>&1; then
|
||||
visudo -cf "$sudoers_file" >/dev/null
|
||||
fi
|
||||
log "Installed roverd self-update helper and sudoers rule"
|
||||
}
|
||||
@@ -0,0 +1,43 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
install_media_units() {
|
||||
# Video publishing is the only profile-specific media service right now:
|
||||
# Pi uses libcamera/rpicam, while Debian laptops publish from a V4L2 webcam.
|
||||
install -D -o root -g root -m 0755 "$VIDEO_HELPER_SRC" "$VIDEO_HELPER_DEST"
|
||||
log "Installed $PROFILE video publisher helper"
|
||||
install -m 0644 "$VIDEO_SERVICE_SRC" "/etc/systemd/system/$VIDEO_SERVICE_NAME"
|
||||
log "Installed $PROFILE video publisher systemd unit"
|
||||
|
||||
# Audio capture publishing and forwarded-audio playback use the same ffmpeg
|
||||
# and ALSA contract on both profiles, so they stay as shared installer work.
|
||||
install -D -o root -g root -m 0755 pi/bin/audio-only-publisher.sh /usr/local/bin/audio-only-publisher
|
||||
install -m 0644 pi/systemd/audio-only-publisher.service /etc/systemd/system/audio-only-publisher.service
|
||||
log "Installed audio-only publisher helper + systemd unit"
|
||||
|
||||
install -D -o root -g root -m 0755 pi/bin/audio-forward-listener.sh /usr/local/bin/audio-forward-listener
|
||||
install -m 0644 pi/systemd/audio-forward-listener.service /etc/systemd/system/audio-forward-listener.service
|
||||
log "Installed audio-forward listener helper + systemd unit"
|
||||
}
|
||||
|
||||
enable_and_restart_units() {
|
||||
systemctl daemon-reload
|
||||
systemctl enable roverd.service
|
||||
systemctl enable "$VIDEO_SERVICE_NAME"
|
||||
systemctl enable audio-only-publisher.service
|
||||
systemctl enable audio-forward-listener.service
|
||||
|
||||
if [[ $CONFIG_EXISTS -eq 1 ]]; then
|
||||
# An existing config means this host was already configured, so restart
|
||||
# immediately to pick up the new binary, helpers, units, and media env.
|
||||
systemctl restart roverd.service
|
||||
systemctl restart "$VIDEO_SERVICE_NAME"
|
||||
systemctl restart audio-only-publisher.service
|
||||
systemctl restart audio-forward-listener.service
|
||||
log "Restarted roverd + media publishers/listener"
|
||||
else
|
||||
# A freshly installed sample config usually still has placeholder names
|
||||
# and URLs. Enabling without starting avoids connecting a half-configured
|
||||
# rover to the control server by accident.
|
||||
log "Skipped auto-start because config is the sample; edit $CONFIG_DEST then run: sudo systemctl restart roverd ${VIDEO_SERVICE_NAME%.service} audio-only-publisher audio-forward-listener"
|
||||
fi
|
||||
}
|
||||
+38
-363
@@ -1,373 +1,48 @@
|
||||
#!/usr/bin/env bash
|
||||
#
|
||||
# Installer for the roverd agent on Raspberry Pi
|
||||
# Installer entry point for roverd hosts.
|
||||
#
|
||||
# The detailed work lives in pi/install/*.sh so platform-specific setup stays
|
||||
# local to the profile that needs it. This file should read like the install
|
||||
# order: choose a profile, validate inputs, install shared roverd pieces,
|
||||
# install profile support, then enable the services.
|
||||
|
||||
set -euo pipefail
|
||||
|
||||
BINARY_SRC="dist/roverd"
|
||||
CONFIG_SRC="pi/roverd/roverd.sample.yaml"
|
||||
REPO_ROOT="$(pwd -P)"
|
||||
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd -P)"
|
||||
REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd -P)"
|
||||
|
||||
usage() {
|
||||
cat <<'USAGE'
|
||||
Usage: sudo ./pi/install_roverd.sh [options]
|
||||
# The helper scripts use repository-relative paths because those same paths are
|
||||
# shown in docs and logs. Moving to the repository root once keeps every module
|
||||
# simple and prevents each function from needing its own path resolver.
|
||||
cd "$REPO_ROOT"
|
||||
|
||||
Options:
|
||||
-b, --binary <path> Path to the roverd binary (default: dist/roverd)
|
||||
-c, --config <path> Source config to install if /etc/roverd.yaml is missing
|
||||
(default: pi/roverd/roverd.sample.yaml)
|
||||
-h, --help Show this help text
|
||||
source pi/install/common.sh
|
||||
source pi/install/profiles.sh
|
||||
source pi/install/self_update.sh
|
||||
source pi/install/pi_profile.sh
|
||||
source pi/install/debian_laptop_profile.sh
|
||||
source pi/install/media_env.sh
|
||||
source pi/install/systemd.sh
|
||||
|
||||
The script must run from the repository root and as root (sudo). It will:
|
||||
* create system users/groups if needed
|
||||
* install /usr/local/bin/roverd and /etc/roverd.yaml
|
||||
* install /usr/local/bin/video/audio helpers and systemd units
|
||||
* install fixed-location Google Chrome TTS assets for roverd
|
||||
* install the fixed-command self-update helper used by admin-triggered updates
|
||||
* enable roverd.service and media publisher/listener services
|
||||
USAGE
|
||||
main() {
|
||||
parse_args "$@"
|
||||
select_profile
|
||||
require_root
|
||||
validate_install_inputs
|
||||
|
||||
install_roverd_binary
|
||||
install_self_update_support
|
||||
install_roverd_config
|
||||
install_roverd_unit
|
||||
|
||||
install_selected_profile
|
||||
install_media_units
|
||||
write_media_env_placeholder
|
||||
install_audio_fifo
|
||||
enable_and_restart_units
|
||||
|
||||
log "Install complete for profile $PROFILE"
|
||||
}
|
||||
|
||||
while [[ $# -gt 0 ]]; do
|
||||
case "$1" in
|
||||
-b|--binary)
|
||||
BINARY_SRC="${2:-}"
|
||||
shift 2
|
||||
;;
|
||||
-c|--config)
|
||||
CONFIG_SRC="${2:-}"
|
||||
shift 2
|
||||
;;
|
||||
-h|--help)
|
||||
usage
|
||||
exit 0
|
||||
;;
|
||||
*)
|
||||
echo "Unknown option: $1" >&2
|
||||
usage
|
||||
exit 1
|
||||
;;
|
||||
esac
|
||||
done
|
||||
|
||||
if [[ "${EUID}" -ne 0 ]]; then
|
||||
echo "Please run as root (sudo)" >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [[ ! -f "$BINARY_SRC" ]]; then
|
||||
echo "Binary not found at $BINARY_SRC" >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [[ ! -f "$CONFIG_SRC" ]]; then
|
||||
echo "Config source not found at $CONFIG_SRC" >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
ensure_user() {
|
||||
local user="$1"
|
||||
local groups="${2:-}"
|
||||
if ! id -u "$user" >/dev/null 2>&1; then
|
||||
if [[ -n "$groups" ]]; then
|
||||
useradd -r -s /usr/sbin/nologin -G "$groups" "$user"
|
||||
else
|
||||
useradd -r -s /usr/sbin/nologin "$user"
|
||||
fi
|
||||
elif [[ -n "$groups" ]]; then
|
||||
usermod -a -G "$groups" "$user"
|
||||
fi
|
||||
}
|
||||
|
||||
log() {
|
||||
echo "[$(date -u +%Y-%m-%dT%H:%M:%SZ)] $*"
|
||||
}
|
||||
|
||||
if ! command -v rpicam-vid >/dev/null 2>&1 && ! command -v libcamera-vid >/dev/null 2>&1; then
|
||||
log "WARNING: neither rpicam-vid nor libcamera-vid found in PATH; install libcamera-apps."
|
||||
fi
|
||||
|
||||
install_video_deps() {
|
||||
if command -v ffmpeg >/dev/null 2>&1 && (command -v rpicam-vid >/dev/null 2>&1 || command -v libcamera-vid >/dev/null 2>&1); then
|
||||
log "Video dependencies already installed; skipping apt install"
|
||||
return
|
||||
fi
|
||||
log "Installing video dependencies (libcamera-apps, ffmpeg)..."
|
||||
apt-get update
|
||||
apt-get install -y --no-install-recommends libcamera-apps ffmpeg
|
||||
}
|
||||
|
||||
find_boot_config() {
|
||||
if [[ -f /boot/firmware/config.txt ]]; then
|
||||
printf "/boot/firmware/config.txt"
|
||||
return 0
|
||||
fi
|
||||
if [[ -f /boot/config.txt ]]; then
|
||||
printf "/boot/config.txt"
|
||||
return 0
|
||||
fi
|
||||
return 1
|
||||
}
|
||||
|
||||
ensure_pwm_overlay() {
|
||||
local boot_config
|
||||
if ! boot_config="$(find_boot_config)"; then
|
||||
log "WARNING: unable to locate /boot config.txt; please ensure dtoverlay=pwm-2chan is added manually for servo support"
|
||||
return
|
||||
fi
|
||||
if grep -Eq '^\s*dtoverlay=pwm(-2chan)?' "$boot_config"; then
|
||||
log "PWM overlay already present in $boot_config"
|
||||
return
|
||||
fi
|
||||
local backup="${boot_config}.roverd.$(date +%Y%m%d%H%M%S).bak"
|
||||
cp "$boot_config" "$backup"
|
||||
{
|
||||
echo ""
|
||||
echo "# Added by roverd installer to expose PWM hardware for camera servo control on GPIO12/13 (leaves GPIO18/19 free for I2S)"
|
||||
echo "dtoverlay=pwm-2chan,pin=12,func=4,pin2=13,func2=4"
|
||||
} >> "$boot_config"
|
||||
log "Enabled dtoverlay=pwm-2chan on GPIO12/13 in $boot_config (backup at $backup). Reboot required for changes to apply."
|
||||
}
|
||||
|
||||
ensure_user roverd "dialout,gpio,video,render,audio"
|
||||
install -o roverd -g roverd -m 0755 "$BINARY_SRC" /usr/local/bin/roverd
|
||||
log "Installed roverd binary"
|
||||
|
||||
install_self_update_support() {
|
||||
local sudoers_file="/etc/sudoers.d/roverd-self-update"
|
||||
local update_env="/etc/roverd-update.env"
|
||||
local quoted_repo_root
|
||||
|
||||
# The self-update helper must know which checkout should receive the git
|
||||
# pull. Recording the repository root during the normal installer run keeps
|
||||
# the runtime websocket command simple and prevents the rover from accepting
|
||||
# a caller-controlled path.
|
||||
printf -v quoted_repo_root '%q' "$REPO_ROOT"
|
||||
install -D -o root -g root -m 0644 /dev/null "$update_env"
|
||||
cat > "$update_env" <<ENV
|
||||
# Managed by pi/install_roverd.sh.
|
||||
# This path is intentionally captured from the installer working directory so
|
||||
# admin-triggered rover updates always operate on the same full repository that
|
||||
# was used for the manual install.
|
||||
ROVERD_REPO_DIR=$quoted_repo_root
|
||||
ENV
|
||||
log "Registered roverd update repository at $REPO_ROOT"
|
||||
|
||||
# The helper is root-owned and argument-free. sudoers grants the roverd
|
||||
# service user exactly this command and nothing broader, which is important
|
||||
# because update requests arrive over the rover websocket.
|
||||
install -D -o root -g root -m 0755 pi/bin/roverd-self-update.sh /usr/local/sbin/roverd-self-update
|
||||
cat > "$sudoers_file" <<'SUDOERS'
|
||||
# Managed by pi/install_roverd.sh.
|
||||
# Allow only the roverd service account to run the fixed self-update helper.
|
||||
roverd ALL=(root) NOPASSWD: /usr/local/sbin/roverd-self-update
|
||||
SUDOERS
|
||||
chown root:root "$sudoers_file"
|
||||
chmod 0440 "$sudoers_file"
|
||||
if command -v visudo >/dev/null 2>&1; then
|
||||
visudo -cf "$sudoers_file" >/dev/null
|
||||
fi
|
||||
log "Installed roverd self-update helper and sudoers rule"
|
||||
}
|
||||
|
||||
install_self_update_support
|
||||
|
||||
CONFIG_DEST="/etc/roverd.yaml"
|
||||
CONFIG_EXISTS=0
|
||||
if [[ -f "$CONFIG_DEST" ]]; then
|
||||
CONFIG_EXISTS=1
|
||||
log "Existing $CONFIG_DEST found; leaving it in place"
|
||||
else
|
||||
install -D -o roverd -g roverd -m 0640 "$CONFIG_SRC" "$CONFIG_DEST"
|
||||
log "Installed sample config to $CONFIG_DEST (edit before starting service)"
|
||||
fi
|
||||
|
||||
install -m 0644 pi/systemd/roverd.service /etc/systemd/system/roverd.service
|
||||
log "Installed roverd systemd unit"
|
||||
|
||||
install_video_deps
|
||||
ensure_pwm_overlay
|
||||
|
||||
# Enable Google AIY v1 sound card, ALSA defaults, and TTS engines
|
||||
install_audio_support() {
|
||||
local boot_config
|
||||
if ! boot_config="$(find_boot_config)"; then
|
||||
log "WARNING: unable to locate /boot config.txt; please enable googlevoicehat-soundcard overlay manually"
|
||||
else
|
||||
# Ensure onboard audio is disabled (prevents card index flapping)
|
||||
if grep -Eq '^\s*dtparam=audio=on\b' "$boot_config"; then
|
||||
log "Disabling onboard audio (dtparam=audio=on -> off) in $boot_config"
|
||||
sed -i 's/^\s*dtparam=audio=on\b/# roverd disabled onboard audio\ndtparam=audio=off/' "$boot_config"
|
||||
fi
|
||||
if ! grep -Eq '^\s*dtparam=audio=off\b' "$boot_config"; then
|
||||
log "Adding dtparam=audio=off to $boot_config"
|
||||
echo "dtparam=audio=off" >> "$boot_config"
|
||||
fi
|
||||
if ! grep -Eq '^\s*dtparam=i2s=on\b' "$boot_config"; then
|
||||
log "Adding dtparam=i2s=on to $boot_config"
|
||||
echo "dtparam=i2s=on" >> "$boot_config"
|
||||
fi
|
||||
if ! grep -Eq '^\s*dtoverlay=googlevoicehat-soundcard\b' "$boot_config"; then
|
||||
local backup="${boot_config}.roverd.$(date +%Y%m%d%H%M%S).bak"
|
||||
cp "$boot_config" "$backup"
|
||||
{
|
||||
echo ""
|
||||
echo "# Added by roverd installer to enable Google AIY v1 sound card"
|
||||
echo "dtoverlay=googlevoicehat-soundcard"
|
||||
} >> "$boot_config"
|
||||
log "Enabled googlevoicehat-soundcard overlay in $boot_config (backup at $backup). Reboot required."
|
||||
else
|
||||
log "googlevoicehat-soundcard overlay already present in $boot_config"
|
||||
fi
|
||||
fi
|
||||
if [[ -f pi/asound.conf ]]; then
|
||||
install -m 0644 pi/asound.conf /etc/asound.conf
|
||||
log "Installed ALSA config to /etc/asound.conf"
|
||||
alsa_reload_notice=1
|
||||
else
|
||||
log "WARNING: pi/asound.conf missing; skipping ALSA config install"
|
||||
fi
|
||||
|
||||
if [[ "${alsa_reload_notice:-0}" -eq 1 ]]; then
|
||||
log "ALSA config updated; reboot recommended for overlay + audio changes"
|
||||
fi
|
||||
|
||||
log "Installing TTS/audio packages (flite, espeak, Chrome TTS runtime deps)..."
|
||||
# check for flite and espeak before installing, and then install them if either is missing
|
||||
if command -v flite >/dev/null 2>&1 \
|
||||
&& command -v espeak >/dev/null 2>&1 \
|
||||
&& command -v python3 >/dev/null 2>&1 \
|
||||
&& command -v curl >/dev/null 2>&1 \
|
||||
&& command -v xz >/dev/null 2>&1 \
|
||||
&& command -v unzip >/dev/null 2>&1 \
|
||||
&& command -v aplay >/dev/null 2>&1 \
|
||||
&& ldconfig -p 2>/dev/null | grep -q 'libc++\.so\.1' \
|
||||
&& ldconfig -p 2>/dev/null | grep -q 'libc++abi\.so\.1'; then
|
||||
log "Core TTS packages already installed; skipping apt install"
|
||||
else
|
||||
apt-get update
|
||||
apt-get install -y --no-install-recommends flite espeak python3 curl xz-utils unzip alsa-utils libc++1 libc++abi1 \
|
||||
|| apt-get install -y --no-install-recommends flite espeak python3 curl xz-utils unzip alsa-utils libc++1-14 libc++abi1-14
|
||||
fi
|
||||
|
||||
install -D -o root -g root -m 0755 pi/bin/chromegtts-daemon.py /usr/local/bin/chromegtts-daemon
|
||||
log "Installed chromegtts daemon"
|
||||
|
||||
install_google_tts_assets
|
||||
}
|
||||
|
||||
install_google_tts_assets() {
|
||||
local asset_dir="/opt/roverd/googletts"
|
||||
local voice_dir="${asset_dir}/en-us-x-multi-r30"
|
||||
local dist_url="https://storage.googleapis.com/chromeos-localmirror/distfiles/googletts-26.5.tar.xz"
|
||||
local tmp_dir
|
||||
local lib_member
|
||||
|
||||
case "$(uname -m)" in
|
||||
aarch64|arm64)
|
||||
lib_member="libchrometts_arm64.so"
|
||||
;;
|
||||
armv7l|armhf)
|
||||
lib_member="libchrometts_armv7.so"
|
||||
;;
|
||||
*)
|
||||
log "WARNING: unsupported Chrome TTS architecture $(uname -m); skipping Google TTS assets"
|
||||
return
|
||||
;;
|
||||
esac
|
||||
|
||||
if [[ -f "${asset_dir}/libchrometts.so" && -f "${voice_dir}/pipeline.pb" ]]; then
|
||||
log "Google Chrome TTS assets already installed; skipping download"
|
||||
return
|
||||
fi
|
||||
|
||||
tmp_dir="$(mktemp -d)"
|
||||
log "Downloading Google Chrome TTS assets..."
|
||||
curl -L -o "${tmp_dir}/googletts-26.5.tar.xz" "$dist_url"
|
||||
tar -xf "${tmp_dir}/googletts-26.5.tar.xz" -C "$tmp_dir" en-us-x-multi.zvoice "$lib_member"
|
||||
|
||||
install -d -o root -g root -m 0755 "$asset_dir"
|
||||
install -o root -g root -m 0644 "${tmp_dir}/${lib_member}" "${asset_dir}/libchrometts.so"
|
||||
rm -rf "$voice_dir"
|
||||
install -d -o root -g root -m 0755 "$voice_dir"
|
||||
unzip -q "${tmp_dir}/en-us-x-multi.zvoice" -d "$voice_dir"
|
||||
chown -R root:root "$asset_dir"
|
||||
find "$asset_dir" -type d -exec chmod 0755 {} +
|
||||
find "$asset_dir" -type f -exec chmod 0644 {} +
|
||||
rm -rf "$tmp_dir"
|
||||
log "Installed Google Chrome TTS assets to $asset_dir"
|
||||
}
|
||||
|
||||
# Install video publisher assets
|
||||
install -D -o root -g root -m 0755 pi/bin/video-publisher.sh /usr/local/bin/video-publisher
|
||||
log "Installed video-publisher helper"
|
||||
install -m 0644 pi/systemd/video-publisher.service /etc/systemd/system/video-publisher.service
|
||||
log "Installed video-publisher systemd unit"
|
||||
# Install audio-only publisher assets
|
||||
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/media.env <<'ENV'
|
||||
# Managed by roverd; placeholder values will be overwritten at runtime.
|
||||
ROVERD_VIDEO_ENABLE=1
|
||||
ROVERD_VIDEO_PUBLISHER=pi-libcamera
|
||||
ROVERD_VIDEO_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
|
||||
ROVERD_VIDEO_DEVICE=
|
||||
ROVERD_VIDEO_WIDTH=640
|
||||
ROVERD_VIDEO_HEIGHT=480
|
||||
ROVERD_VIDEO_FPS=30
|
||||
ROVERD_VIDEO_BITRATE=2000000
|
||||
ROVERD_VIDEO_INVERT=1
|
||||
ROVERD_VIDEO_SENSOR_MODE=1296:972
|
||||
ROVERD_AUDIO_CAPTURE_ENABLE=0
|
||||
ROVERD_AUDIO_CAPTURE_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-audio,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
|
||||
ROVERD_AUDIO_CAPTURE_DEVICE=hw:0,0
|
||||
ROVERD_AUDIO_CAPTURE_SAMPLE_RATE=48000
|
||||
ROVERD_AUDIO_CAPTURE_CHANNELS=2
|
||||
ROVERD_AUDIO_CAPTURE_BITRATE=510000
|
||||
ROVERD_AUDIO_PLAYBACK_ENABLE=1
|
||||
ROVERD_AUDIO_PLAYBACK_FORWARD_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-fwd,m=request&latency=10&mode=caller&transtype=live&pkt_size=1316
|
||||
ROVERD_AUDIO_PLAYBACK_DEVICE=forward
|
||||
ROVERD_AUDIO_PLAYBACK_NORMALIZE=1
|
||||
ROVERD_AUDIO_PLAYBACK_NORMALIZE_FILTER=dynaudnorm=f=75:g=15:m=10:p=0.9,alimiter=limit=0.85:level=disabled
|
||||
ENV
|
||||
chown roverd:roverd /var/lib/roverd/media.env
|
||||
chmod 0640 /var/lib/roverd/media.env
|
||||
# Create persistent audio FIFO for capture -> publisher
|
||||
FIFO_PATH="/var/lib/roverd/audio.pcm"
|
||||
if [[ -p "$FIFO_PATH" ]]; then
|
||||
chown roverd:audio "$FIFO_PATH"
|
||||
chmod 0660 "$FIFO_PATH"
|
||||
else
|
||||
rm -f "$FIFO_PATH"
|
||||
mkfifo "$FIFO_PATH"
|
||||
chown roverd:audio "$FIFO_PATH"
|
||||
chmod 0660 "$FIFO_PATH"
|
||||
fi
|
||||
# Ensure ALSA config is in place for rovermic device
|
||||
install -m 0644 pi/asound.conf /etc/asound.conf
|
||||
log "Installed ALSA config (/etc/asound.conf)"
|
||||
|
||||
install_audio_support
|
||||
|
||||
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
|
||||
systemctl restart audio-forward-listener.service
|
||||
log "Restarted roverd + media publishers/listener"
|
||||
else
|
||||
log "Skipped auto-start because config is the sample; edit $CONFIG_DEST then run: sudo systemctl restart roverd video-publisher audio-only-publisher audio-forward-listener"
|
||||
fi
|
||||
|
||||
log "Install complete"
|
||||
main "$@"
|
||||
|
||||
+10
-6
@@ -3,18 +3,22 @@ GOOS ?= linux
|
||||
GOARCH ?= arm
|
||||
GOARM ?= 6
|
||||
|
||||
.PHONY: build pi-build dummy clean
|
||||
.PHONY: build pi-build debian-laptop dummy verifier-tools clean
|
||||
|
||||
build:
|
||||
go build -o $(BIN_DIR)/roverd ./cmd/roverd
|
||||
build: pi-build debian-laptop dummy
|
||||
|
||||
pi-build:
|
||||
GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/roverd ./cmd/roverd
|
||||
verifier-tools:
|
||||
GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/servoverifier ./cmd/servoverifier
|
||||
GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/hornverifier ./cmd/hornverifier
|
||||
|
||||
pi-build: verifier-tools
|
||||
GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/roverd ./cmd/roverd
|
||||
|
||||
debian-laptop:
|
||||
GOOS=linux GOARCH=amd64 go build -trimpath -ldflags="-s -w" -tags debian_laptop -o $(BIN_DIR)/roverd-debian-laptop ./cmd/roverd
|
||||
|
||||
dummy:
|
||||
GOOS=linux GOARCH=amd64 go build -tags dummy -o $(BIN_DIR)/roverd-dummy ./cmd/roverd
|
||||
|
||||
clean:
|
||||
rm -f $(BIN_DIR)/roverd $(BIN_DIR)/servoverifier $(BIN_DIR)/hornverifier
|
||||
rm -f $(BIN_DIR)/roverd $(BIN_DIR)/roverd-debian-laptop $(BIN_DIR)/roverd-dummy $(BIN_DIR)/servoverifier $(BIN_DIR)/hornverifier
|
||||
|
||||
+1
-1
@@ -1,4 +1,4 @@
|
||||
//go:build !dummy
|
||||
//go:build !dummy && !debian_laptop
|
||||
|
||||
package roverd
|
||||
|
||||
|
||||
@@ -0,0 +1,25 @@
|
||||
//go:build debian_laptop
|
||||
|
||||
package roverd
|
||||
|
||||
import (
|
||||
"context"
|
||||
"fmt"
|
||||
"log"
|
||||
)
|
||||
|
||||
type BRCPulser struct{}
|
||||
|
||||
func NewBRCPulser(_ BRCConfig, _ *log.Logger) (*BRCPulser, error) {
|
||||
/*
|
||||
The first Debian laptop profile keeps BRC disabled instead of pretending a
|
||||
USB serial modem-control line has already been selected and tested. The
|
||||
config can set brc.gpioPin: -1 to skip construction entirely; if someone
|
||||
enables it, fail loudly so the rover does not silently miss wake pulses.
|
||||
*/
|
||||
return nil, fmt.Errorf("brc is not supported in the debian-laptop build yet")
|
||||
}
|
||||
|
||||
func (b *BRCPulser) Close() {}
|
||||
|
||||
func (b *BRCPulser) Start(ctx context.Context) {}
|
||||
@@ -1,4 +1,4 @@
|
||||
//go:build !dummy
|
||||
//go:build !dummy && !debian_laptop
|
||||
|
||||
package roverd
|
||||
|
||||
|
||||
@@ -0,0 +1,38 @@
|
||||
//go:build debian_laptop
|
||||
|
||||
package roverd
|
||||
|
||||
import (
|
||||
"fmt"
|
||||
"log"
|
||||
)
|
||||
|
||||
type CameraServo struct{}
|
||||
|
||||
func NewCameraServo(_ CameraServoConfig, _ *log.Logger) (*CameraServo, error) {
|
||||
/*
|
||||
The Debian laptop profile starts with the laptop's built-in webcam and no
|
||||
Pi PWM servo. If a laptop rover eventually grows an external servo board,
|
||||
it should get its own implementation instead of reusing Raspberry Pi GPIO
|
||||
assumptions.
|
||||
*/
|
||||
return nil, fmt.Errorf("camera servo not supported in the debian-laptop build")
|
||||
}
|
||||
|
||||
func (c *CameraServo) Close() {}
|
||||
|
||||
func (c *CameraServo) SetAngle(angle float64) error {
|
||||
return fmt.Errorf("camera servo disabled")
|
||||
}
|
||||
|
||||
func (c *CameraServo) Nudge(delta float64) error {
|
||||
return fmt.Errorf("camera servo disabled")
|
||||
}
|
||||
|
||||
func (c *CameraServo) SetPulseWidth(micros int) error {
|
||||
return fmt.Errorf("camera servo disabled")
|
||||
}
|
||||
|
||||
func (c *CameraServo) CurrentAngle() float64 {
|
||||
return 0
|
||||
}
|
||||
+16
-11
@@ -93,17 +93,18 @@ type VideoMediaConfig struct {
|
||||
// Publisher selects the installed publisher script/pipeline family. The
|
||||
// first pass uses pi-libcamera for current rovers; laptop-v4l2 can be added
|
||||
// without changing the server-facing media shape again.
|
||||
Enabled bool `yaml:"enabled" json:"enabled"`
|
||||
Service string `yaml:"service" json:"service,omitempty"`
|
||||
Publisher string `yaml:"publisher" json:"publisher,omitempty"`
|
||||
PublishURL string `yaml:"publishUrl" json:"publishUrl,omitempty"`
|
||||
Device string `yaml:"device" json:"device,omitempty"`
|
||||
Width int `yaml:"width" json:"-"`
|
||||
Height int `yaml:"height" json:"-"`
|
||||
FPS int `yaml:"fps" json:"-"`
|
||||
Bitrate int `yaml:"bitrate" json:"-"`
|
||||
Inverted bool `yaml:"inverted" json:"-"`
|
||||
SensorMode string `yaml:"sensorMode" json:"-"`
|
||||
Enabled bool `yaml:"enabled" json:"enabled"`
|
||||
Service string `yaml:"service" json:"service,omitempty"`
|
||||
Publisher string `yaml:"publisher" json:"publisher,omitempty"`
|
||||
PublishURL string `yaml:"publishUrl" json:"publishUrl,omitempty"`
|
||||
Device string `yaml:"device" json:"device,omitempty"`
|
||||
InputFormat string `yaml:"inputFormat" json:"-"`
|
||||
Width int `yaml:"width" json:"-"`
|
||||
Height int `yaml:"height" json:"-"`
|
||||
FPS int `yaml:"fps" json:"-"`
|
||||
Bitrate int `yaml:"bitrate" json:"-"`
|
||||
Inverted bool `yaml:"inverted" json:"-"`
|
||||
SensorMode string `yaml:"sensorMode" json:"-"`
|
||||
}
|
||||
|
||||
type AudioCaptureConfig struct {
|
||||
@@ -450,6 +451,10 @@ func validateVideoMediaConfig(cfg *VideoMediaConfig, serverURL string, roverName
|
||||
if cfg.Publisher == "" {
|
||||
cfg.Publisher = "pi-libcamera"
|
||||
}
|
||||
// V4L2 input formats are consumed by ffmpeg as lowercase names such as
|
||||
// mjpeg or yuyv422. Normalizing here keeps the publisher script simple and
|
||||
// makes hand-edited Debian laptop configs less sensitive to capitalization.
|
||||
cfg.InputFormat = strings.ToLower(strings.TrimSpace(cfg.InputFormat))
|
||||
if cfg.Width <= 0 {
|
||||
cfg.Width = 640
|
||||
}
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
//go:build !dummy
|
||||
//go:build !dummy && !debian_laptop
|
||||
|
||||
package roverd
|
||||
|
||||
|
||||
@@ -0,0 +1,32 @@
|
||||
//go:build debian_laptop
|
||||
|
||||
package roverd
|
||||
|
||||
import (
|
||||
"fmt"
|
||||
"log"
|
||||
)
|
||||
|
||||
type GPIOToggle struct {
|
||||
name string
|
||||
}
|
||||
|
||||
func NewGPIOToggle(name string, _ GPIOToggleConfig, _ *log.Logger) (*GPIOToggle, error) {
|
||||
/*
|
||||
A Debian laptop has no Raspberry Pi GPIO character-device contract for
|
||||
headlights or lasers. Returning an error when enabled makes bad laptop
|
||||
configs fail during startup instead of advertising controls that cannot
|
||||
change any hardware.
|
||||
*/
|
||||
return nil, fmt.Errorf("%s not supported in the debian-laptop build", name)
|
||||
}
|
||||
|
||||
func (g *GPIOToggle) Close() {}
|
||||
|
||||
func (g *GPIOToggle) HandleAction(action string) error {
|
||||
return fmt.Errorf("%s not supported in the debian-laptop build", g.name)
|
||||
}
|
||||
|
||||
func (g *GPIOToggle) On() bool {
|
||||
return false
|
||||
}
|
||||
@@ -36,6 +36,7 @@ func UpdatePublisherEnv(media MediaConfig) error {
|
||||
fmt.Fprintf(&buf, "ROVERD_VIDEO_PUBLISHER=%s\n", media.Video.Publisher)
|
||||
fmt.Fprintf(&buf, "ROVERD_VIDEO_PUBLISH_URL=%s\n", media.Video.PublishURL)
|
||||
fmt.Fprintf(&buf, "ROVERD_VIDEO_DEVICE=%s\n", media.Video.Device)
|
||||
fmt.Fprintf(&buf, "ROVERD_VIDEO_INPUT_FORMAT=%s\n", media.Video.InputFormat)
|
||||
fmt.Fprintf(&buf, "ROVERD_VIDEO_WIDTH=%d\n", media.Video.Width)
|
||||
fmt.Fprintf(&buf, "ROVERD_VIDEO_HEIGHT=%d\n", media.Video.Height)
|
||||
fmt.Fprintf(&buf, "ROVERD_VIDEO_FPS=%d\n", media.Video.FPS)
|
||||
|
||||
@@ -0,0 +1,98 @@
|
||||
# Sample configuration for roverd on a Debian laptop rover.
|
||||
name: laptop-rover
|
||||
description: "Debian laptop rover using USB serial, webcam, mic, and speakers."
|
||||
color: "#4DB6AC"
|
||||
serverUrl: ws://control-server.local:8080/rover
|
||||
|
||||
serial:
|
||||
device: /dev/ttyUSB0
|
||||
baud: 115200
|
||||
|
||||
# BRC is disabled in the first Debian laptop profile because USB serial
|
||||
# RTS/DTR wake-pulse support needs adapter-specific testing before it should be
|
||||
# trusted to keep a Roomba awake.
|
||||
brc:
|
||||
gpioPin: -1
|
||||
|
||||
battery:
|
||||
full: 2068
|
||||
warn: 1700
|
||||
urgent: 1650
|
||||
|
||||
maxWheelSpeed: 350
|
||||
|
||||
media:
|
||||
publishPort: 9000
|
||||
manage: true
|
||||
healthUrl: ""
|
||||
healthInterval: 30s
|
||||
video:
|
||||
enabled: true
|
||||
service: debian-laptop-video-publisher.service
|
||||
publisher: debian-laptop-v4l2
|
||||
device: /dev/video0
|
||||
# Check supported values with:
|
||||
# v4l2-ctl --device=/dev/video0 --list-formats-ext
|
||||
# Common working values are mjpeg and yuyv422.
|
||||
inputFormat: mjpeg
|
||||
width: 640
|
||||
height: 480
|
||||
fps: 30
|
||||
bitrate: 2000000
|
||||
inverted: false
|
||||
audioCapture:
|
||||
enabled: true
|
||||
service: audio-only-publisher.service
|
||||
device: default
|
||||
sampleRate: 48000
|
||||
channels: 2
|
||||
bitrate: 510000
|
||||
audioPlayback:
|
||||
enabled: true
|
||||
service: audio-forward-listener.service
|
||||
# The Debian laptop installer creates a named "forward" ALSA device so
|
||||
# browser-forwarded audio has its own ForwardMaster mixer control instead
|
||||
# of sharing the TTS default output path.
|
||||
device: forward
|
||||
normalize: true
|
||||
|
||||
cameraServo:
|
||||
enabled: false
|
||||
|
||||
audio:
|
||||
# TTS does not need Pi-specific hardware. The laptop ALSA profile maps the
|
||||
# normal default playback device through the TTSMaster softvol control, so
|
||||
# the existing flite/espeak execution path can stay unchanged.
|
||||
ttsEnabled: true
|
||||
defaultEngine: flite
|
||||
|
||||
horn:
|
||||
# Horn audio is generated locally by roverd and plays through the named
|
||||
# "horn" ALSA device by default, which the laptop installer wires to a
|
||||
# separate HornMaster softvol control.
|
||||
enabled: true
|
||||
|
||||
headlight:
|
||||
enabled: false
|
||||
|
||||
laser:
|
||||
enabled: false
|
||||
|
||||
autoSideBrush:
|
||||
enabled: true
|
||||
speed: 20
|
||||
|
||||
private:
|
||||
enabled: false
|
||||
safety:
|
||||
speedLimitEnabled: false
|
||||
speedLimitMaxWheelSpeed: 250
|
||||
hardOvercurrentEnabled: false
|
||||
overcurrentStopMs: 300
|
||||
hardBumpEnabled: false
|
||||
bumpBackoffSpeed: 250
|
||||
bumpBackoffMs: 350
|
||||
cliffEnabled: false
|
||||
cliffBackoffSpeed: 250
|
||||
cliffBackoffMs: 500
|
||||
triggerCooldownMs: 800
|
||||
@@ -0,0 +1,17 @@
|
||||
[Unit]
|
||||
Description=Rover Debian Laptop Video Publisher (V4L2 -> SRT)
|
||||
After=network-online.target roverd.service
|
||||
Wants=network-online.target
|
||||
|
||||
[Service]
|
||||
Type=simple
|
||||
User=roverd
|
||||
Group=roverd
|
||||
WorkingDirectory=/var/lib/roverd
|
||||
EnvironmentFile=/var/lib/roverd/media.env
|
||||
ExecStart=/usr/local/bin/debian-laptop-video-publisher
|
||||
Restart=always
|
||||
RestartSec=2
|
||||
|
||||
[Install]
|
||||
WantedBy=multi-user.target
|
||||
@@ -1,6 +1,10 @@
|
||||
1. improve spectator page, options on what to see and what not to see
|
||||
2. fix private rover requests not working.....
|
||||
3. fix this:
|
||||
2. pagewide system for "why was i removed from a rover", instead of the link to spectator page thing
|
||||
3. admin command for kicking people off of rovers. just a kick, nothing persistent
|
||||
4. kick people off rover after 3 consecurtive bump-off attempts
|
||||
5. add rs admin command for controlling light lock
|
||||
6. make signaling more clear for idle skips and idle skip kicks
|
||||
7. fix this:
|
||||
`Jun 18 15:14:18 roombaserver.local node[216731]: /home/daniel/MultiRoombaRover/server/src/services/roverManager/socketHandlers.js:92
|
||||
Jun 18 15:14:18 roombaserver.local node[216731]: cb({ error: err.message });
|
||||
Jun 18 15:14:18 roombaserver.local node[216731]: ^
|
||||
|
||||
Reference in New Issue
Block a user