Merge pull request #12 from legop3/laptoprover

Laptoprover

pi/asound.debian-laptop.conf

@@ -0,0 +1,88 @@
+# 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
+}

pi/bin/debian-laptop-video-publisher.sh

@@ -0,0 +1,143 @@
+#!/usr/bin/env bash
+set -euo pipefail
+set +H
+
+ENV_FILE="${ROVERD_MEDIA_ENV_FILE:-/var/lib/roverd/media.env}"
+
+if [[ ! -f "$ENV_FILE" ]]; then
+	echo "Environment file ${ENV_FILE} missing; cannot publish laptop video" >&2
+	exit 1
+fi
+
+# Load roverd's generated media.env as data instead of sourcing it as shell.
+# The SRT publish URL contains normal query-string characters like '&' and '#!',
+# so evaluating the file would be both fragile and unnecessary.
+load_env_file() {
+	local content=""
+
+	if [[ -r "$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:]]}}"
+		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 ${ENV_FILE}}"
+: "${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
+	exit 0
+fi
+
+if [[ -z "${ROVERD_VIDEO_DEVICE}" ]]; then
+	echo "ROVERD_VIDEO_DEVICE is required for the debian-laptop V4L2 publisher" >&2
+	exit 1
+fi
+
+INPUT_FORMAT_ARGS=()
+if [[ -n "${ROVERD_VIDEO_INPUT_FORMAT}" ]]; then
+	# 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.
+	INPUT_FORMAT_ARGS=(-input_format "${ROVERD_VIDEO_INPUT_FORMAT}")
+fi
+
+if [[ -n "${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
+
+VIDEO_FILTER_ARGS=()
+if [[ "${ROVERD_VIDEO_INVERT}" -ne 0 ]]; then
+	# The Pi publisher uses libcamera rotation. With a generic webcam, ffmpeg's
+	# transpose pair gives the same 180-degree correction without assuming a
+	# camera-specific driver feature.
+	VIDEO_FILTER_ARGS=(-vf "transpose=2,transpose=2")
+fi
+
+run_pipeline() {
+	"${FFMPEG_BIN_PATH}" \
+		-hide_banner \
+		-loglevel warning \
+		-fflags nobuffer \
+		-flags low_delay \
+		-thread_queue_size 4096 \
+		-f v4l2 \
+		"${INPUT_FORMAT_ARGS[@]}" \
+		-framerate "${ROVERD_VIDEO_FPS}" \
+		-video_size "${ROVERD_VIDEO_WIDTH}x${ROVERD_VIDEO_HEIGHT}" \
+		-i "${ROVERD_VIDEO_DEVICE}" \
+		"${VIDEO_FILTER_ARGS[@]}" \
+		-an \
+		-c:v libx264 \
+		-preset veryfast \
+		-tune zerolatency \
+		-profile:v baseline \
+		-pix_fmt yuv420p \
+		-b:v "${ROVERD_VIDEO_BITRATE}" \
+		-maxrate "${ROVERD_VIDEO_BITRATE}" \
+		-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

pi/install/common.sh

@@ -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"
+}

pi/install/debian_laptop_profile.sh

@@ -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
+}

pi/install/media_env.sh

@@ -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
+}

pi/install/pi_profile.sh

@@ -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
+}

pi/install/profiles.sh

@@ -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
+}

pi/install/self_update.sh

@@ -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"
+}

pi/install/systemd.sh

@@ -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
+}

pi/install_roverd.sh

@@ -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"
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd -P)"
-CONFIG_SRC="pi/roverd/roverd.sample.yaml"
+REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd -P)"
-REPO_ROOT="$(pwd -P)"
 
-usage() {
+# The helper scripts use repository-relative paths because those same paths are
-	cat <<'USAGE'
+# shown in docs and logs. Moving to the repository root once keeps every module
-Usage: sudo ./pi/install_roverd.sh [options]
+# simple and prevents each function from needing its own path resolver.
+cd "$REPO_ROOT"
 
-Options:
+source pi/install/common.sh
-  -b, --binary <path>   Path to the roverd binary (default: dist/roverd)
+source pi/install/profiles.sh
-  -c, --config <path>   Source config to install if /etc/roverd.yaml is missing
+source pi/install/self_update.sh
-                        (default: pi/roverd/roverd.sample.yaml)
+source pi/install/pi_profile.sh
-  -h, --help            Show this help text
+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:
+main() {
-  * create system users/groups if needed
+	parse_args "$@"
-  * install /usr/local/bin/roverd and /etc/roverd.yaml
+	select_profile
-  * install /usr/local/bin/video/audio helpers and systemd units
+	require_root
-  * install fixed-location Google Chrome TTS assets for roverd
+	validate_install_inputs
-  * install the fixed-command self-update helper used by admin-triggered updates
+
-  * enable roverd.service and media publisher/listener services
+	install_roverd_binary
-USAGE
+	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 [[ $# -gt 0 ]]; do
+main "$@"
-	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"

pi/roverd/Makefile

@@ -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:
+build: pi-build debian-laptop dummy
-	go build -o $(BIN_DIR)/roverd ./cmd/roverd
 
-pi-build:
+verifier-tools:
-	GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/roverd ./cmd/roverd
 	GOOS=$(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

pi/roverd/brc.go

@@ -1,4 +1,4 @@
-//go:build !dummy
+//go:build !dummy && !debian_laptop
 
 package roverd
 

pi/roverd/brc_debian_laptop.go

@@ -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) {}

pi/roverd/camera_servo.go

@@ -1,4 +1,4 @@
-//go:build !dummy
+//go:build !dummy && !debian_laptop
 
 package roverd
 

pi/roverd/camera_servo_debian_laptop.go

@@ -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
+}

pi/roverd/config.go

@@ -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"`
+	Enabled     bool   `yaml:"enabled" json:"enabled"`
-	Service    string `yaml:"service" json:"service,omitempty"`
+	Service     string `yaml:"service" json:"service,omitempty"`
-	Publisher  string `yaml:"publisher" json:"publisher,omitempty"`
+	Publisher   string `yaml:"publisher" json:"publisher,omitempty"`
-	PublishURL string `yaml:"publishUrl" json:"publishUrl,omitempty"`
+	PublishURL  string `yaml:"publishUrl" json:"publishUrl,omitempty"`
-	Device     string `yaml:"device" json:"device,omitempty"`
+	Device      string `yaml:"device" json:"device,omitempty"`
-	Width      int    `yaml:"width" json:"-"`
+	InputFormat string `yaml:"inputFormat" json:"-"`
-	Height     int    `yaml:"height" json:"-"`
+	Width       int    `yaml:"width" json:"-"`
-	FPS        int    `yaml:"fps" json:"-"`
+	Height      int    `yaml:"height" json:"-"`
-	Bitrate    int    `yaml:"bitrate" json:"-"`
+	FPS         int    `yaml:"fps" json:"-"`
-	Inverted   bool   `yaml:"inverted" json:"-"`
+	Bitrate     int    `yaml:"bitrate" json:"-"`
-	SensorMode string `yaml:"sensorMode" 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
 	}

pi/roverd/gpio_toggle.go

@@ -1,4 +1,4 @@
-//go:build !dummy
+//go:build !dummy && !debian_laptop
 
 package roverd
 

pi/roverd/gpio_toggle_debian_laptop.go

@@ -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
+}

pi/roverd/media_env.go

@@ -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)

pi/roverd/roverd.debian-laptop.sample.yaml

@@ -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

pi/systemd/debian-laptop-video-publisher.service

@@ -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

to-do.md

@@ -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.....
+2. pagewide system for "why was i removed from a rover", instead of the link to spectator page thing
-3.  fix this:
+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]:         ^