legop3/MultiRoombaRover
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legop3
2025-11-27 19:21:25 -05:00
parent 6eac64beab
commit 63f788c16e
4 changed files with 12 additions and 10 deletions
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pi/asound.conf
+3 -3
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@@ -4,11 +4,11 @@ options snd_rpi_googlevoicehat_soundcard index=0
# Simple defaults: direct playback/capture on the voice HAT # Simple defaults: direct playback/capture on the voice HAT
pcm.!default { pcm.!default {
type asym type asym
playback.pcm "plughw:sndrpigooglevoi,0" playback.pcm "plughw:0,0"
capture.pcm "plughw:sndrpigooglevoi,0" capture.pcm "plughw:0,0"
} }
ctl.!default { ctl.!default {
type hw type hw
card sndrpigooglevoi card 0
} }
pi/bin/video-publisher.sh
+7 -5
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@@ -19,14 +19,14 @@ VIDEO_HEIGHT="${VIDEO_HEIGHT:-1080}"
VIDEO_FPS="${VIDEO_FPS:-30}" VIDEO_FPS="${VIDEO_FPS:-30}"
VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}" VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}"
AUDIO_ENABLE="${AUDIO_ENABLE:-0}" AUDIO_ENABLE="${AUDIO_ENABLE:-0}"
AUDIO_DEVICE="${AUDIO_DEVICE:-plughw:sndrpigooglevoi,0}" AUDIO_DEVICE="${AUDIO_DEVICE:-plughw:0,0}"
AUDIO_RATE="${AUDIO_RATE:-16000}" AUDIO_RATE="${AUDIO_RATE:-16000}"
AUDIO_CHANNELS="${AUDIO_CHANNELS:-1}" AUDIO_CHANNELS="${AUDIO_CHANNELS:-1}"
AUDIO_BITRATE="${AUDIO_BITRATE:-64000}" AUDIO_BITRATE="${AUDIO_BITRATE:-64000}"
# Normalize device if env still says "default" # Normalize device if env still says "default"
if [[ "${AUDIO_DEVICE}" == "default" ]]; then if [[ "${AUDIO_DEVICE}" == "default" ]]; then
AUDIO_DEVICE="plughw:sndrpigooglevoi,0" AUDIO_DEVICE="plughw:0,0"
fi fi
# Flip the camera 180deg (supported by rpicam-vid/libcamera-vid) # Flip the camera 180deg (supported by rpicam-vid/libcamera-vid)
FLIP_ARGS=(--rotation 180) FLIP_ARGS=(--rotation 180)
@@ -77,18 +77,19 @@ run_pipeline() {
-loglevel warning \ -loglevel warning \
-fflags nobuffer \ -fflags nobuffer \
-use_wallclock_as_timestamps 1 \ -use_wallclock_as_timestamps 1 \
-thread_queue_size 512 \
-f h264 \ -f h264 \
-i pipe:0 \ -i pipe:0 \
-f alsa \ -f alsa \
-thread_queue_size 512 \ -thread_queue_size 1024 \
-ac "${AUDIO_CHANNELS}" \ -ac "${AUDIO_CHANNELS}" \
-ar "${AUDIO_RATE}" \ -ar "${AUDIO_RATE}" \
-i "${AUDIO_DEVICE}" \ -i "${AUDIO_DEVICE}" \
-c:v copy \ -c:v copy \
-c:a aac \ -c:a pcm_alaw \
-b:a "${AUDIO_BITRATE}" \
-ac "${AUDIO_CHANNELS}" \ -ac "${AUDIO_CHANNELS}" \
-ar "${AUDIO_RATE}" \ -ar "${AUDIO_RATE}" \
-af "aresample=async=1:min_hard_comp=0.100:first_pts=0" \
-flush_packets 1 \ -flush_packets 1 \
-f mpegts \ -f mpegts \
"${PUBLISH_URL}" "${PUBLISH_URL}"
@@ -119,6 +120,7 @@ run_pipeline() {
-loglevel warning \ -loglevel warning \
-fflags nobuffer \ -fflags nobuffer \
-use_wallclock_as_timestamps 1 \ -use_wallclock_as_timestamps 1 \
-thread_queue_size 512 \
-f h264 \ -f h264 \
-i pipe:0 \ -i pipe:0 \
-c:v copy \ -c:v copy \
pi/roverd/config.go
+1 -1
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@@ -142,7 +142,7 @@ func LoadConfig(path string) (*Config, error) {
}, },
Audio: AudioConfig{ Audio: AudioConfig{
CaptureEnabled: true, CaptureEnabled: true,
CaptureDevice: "plughw:sndrpigooglevoi,0", CaptureDevice: "plughw:0,0",
SampleRate: 16000, SampleRate: 16000,
Channels: 1, Channels: 1,
Bitrate: 64000, Bitrate: 64000,
pi/roverd/roverd.sample.yaml
+1 -1
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@@ -39,7 +39,7 @@ cameraServo:
allowRawPulse: false allowRawPulse: false
audio: audio:
captureEnabled: true captureEnabled: true
captureDevice: plughw:sndrpigooglevoi,0 captureDevice: plughw:0,0
sampleRate: 16000 sampleRate: 16000
channels: 1 channels: 1
bitrate: 64000 bitrate: 64000