legop3/MultiRoombaRover
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legop3
2026-03-17 19:46:53 -04:00
parent 93204ec1f1
commit 73ef6261ed
8 changed files with 204 additions and 115 deletions
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server/public/assets/index-CtTWAec1.js → server/public/assets/index-CXj15_94.js
+11 -11
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File diff suppressed because one or more lines are too long
server/public/index.html
+1 -1
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@@ -11,7 +11,7 @@
<meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
<meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
<title>Multi Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-CtTWAec1.js"></script>
<script type="module" crossorigin src="/assets/index-CXj15_94.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-WqYsCIRI.css">
</head>
<body>
server/src/services/audioForwardService.js
+76 -70
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@@ -200,7 +200,7 @@ function buildPublisherArgs(fifoPath, outputUrl) {
'-application',
'lowdelay',
'-frame_duration',
'20',
'10',
'-compression_level',
'0',
'-fflags',
@@ -258,30 +258,6 @@ function buildUploadWriterArgs(filePath) {
];
}
function buildMicWriterArgs() {
return [
'-hide_banner',
'-loglevel',
'warning',
'-fflags',
'nobuffer',
'-flags',
'low_delay',
'-i',
'pipe:0',
'-vn',
'-af',
'aresample=16000',
'-f',
's16le',
'-ac',
'1',
'-ar',
'16000',
'pipe:1',
];
}
function attachWriterPipe(worker, proc) {
const writer = fs.createWriteStream(worker.fifoPath, { flags: 'w' });
writer.on('error', (err) => {
@@ -315,20 +291,36 @@ function cleanupUploadFile(worker) {
}
function stopContentWriter(worker) {
if (!worker?.contentProc) return;
if (!worker) return;
if (worker.micIdleTimer) {
clearTimeout(worker.micIdleTimer);
worker.micIdleTimer = null;
}
worker.micLastChunkAt = 0;
if (worker.contentProc.stdin && !worker.contentProc.stdin.destroyed) {
worker.micBackpressured = false;
if (worker.micWriter && !worker.micWriter.destroyed) {
try {
worker.micWriter.end();
} catch {
// noop
}
try {
worker.micWriter.destroy();
} catch {
// noop
}
}
worker.micWriter = null;
if (worker.contentProc && worker.contentProc.stdin && !worker.contentProc.stdin.destroyed) {
try {
worker.contentProc.stdin.destroy();
} catch {
// noop
}
}
stopProc(worker.contentProc);
if (worker.contentProc) {
stopProc(worker.contentProc);
}
worker.contentProc = null;
worker.contentKind = null;
worker.activeOwnerSocketId = null;
@@ -423,68 +415,80 @@ function startMicWriter(roverId, ownerSocketId = null) {
stopContentWriter(worker);
cleanupUploadFile(worker);
const proc = spawnProcess(roverId, 'mic-writer', buildMicWriterArgs(), {
captureStdout: true,
captureStdin: true,
const writer = fs.createWriteStream(worker.fifoPath, { flags: 'w' });
writer.on('error', (err) => {
const code = err?.code || 'unknown';
if (code !== 'EPIPE') {
logger.warn('mic fifo writer error', { roverId, code, message: err?.message || String(err) });
}
});
worker.contentProc = proc;
writer.on('drain', () => {
const current = workers.get(roverId);
if (!current || current.contentKind !== 'mic') return;
current.micBackpressured = false;
});
writer.on('close', () => {
const current = workers.get(roverId);
if (!current || current.contentKind !== 'mic') return;
current.micWriter = null;
current.micBackpressured = false;
});
worker.micWriter = writer;
worker.micBackpressured = false;
worker.contentProc = null;
worker.contentKind = 'mic';
worker.activeOwnerSocketId = ownerSocketId;
worker.micLastChunkAt = Date.now();
scheduleMicIdleTimeout(roverId);
const seq = ++worker.writerSeq;
attachWriterPipe(worker, proc);
proc.stdin?.on('error', (err) => {
const code = err?.code || 'unknown';
if (code !== 'EPIPE') {
logger.warn('mic writer stdin error', { roverId, code, message: err?.message || String(err) });
}
});
setState(roverId, { state: 'playing', source: 'mic', error: null, startedAt: Date.now() });
proc.on('exit', (code, signal) => {
const current = workers.get(roverId);
if (!current || current.stopping) return;
if (current.writerSeq !== seq || current.contentProc !== proc) return;
current.contentProc = null;
current.contentKind = null;
current.activeOwnerSocketId = null;
if (current.micIdleTimer) {
clearTimeout(current.micIdleTimer);
current.micIdleTimer = null;
}
current.micLastChunkAt = 0;
if (code != null && code !== 0 && signal !== 'SIGTERM') {
setState(roverId, { state: 'error', source: 'mic', error: `mic writer exited code=${code} signal=${signal || 'none'}` });
}
startSilenceWriter(roverId);
});
}
function pushMicChunk(roverId, ownerSocketId, dataBase64) {
function decodeMicChunk(payload = {}) {
const binary = payload?.data;
if (Buffer.isBuffer(binary)) {
return binary;
}
if (binary instanceof Uint8Array) {
return Buffer.from(binary.buffer, binary.byteOffset, binary.byteLength);
}
if (binary instanceof ArrayBuffer) {
return Buffer.from(binary);
}
if (typeof payload?.dataBase64 === 'string' && payload.dataBase64.trim()) {
return Buffer.from(payload.dataBase64.trim(), 'base64');
}
return Buffer.alloc(0);
}
function pushMicChunk(roverId, ownerSocketId, payload = {}) {
const worker = workers.get(roverId);
if (!worker) {
throw new Error('Audio forward worker unavailable');
}
if (worker.contentKind !== 'mic' || !worker.contentProc || worker.activeOwnerSocketId !== ownerSocketId) {
if (worker.contentKind !== 'mic' || !worker.micWriter || worker.activeOwnerSocketId !== ownerSocketId) {
throw new Error('Mic forwarding is not active');
}
const encoded = typeof dataBase64 === 'string' ? dataBase64.trim() : '';
if (!encoded) {
const bytes = decodeMicChunk(payload);
if (!bytes.length) {
throw new Error('Mic chunk missing');
}
const bytes = Buffer.from(encoded, 'base64');
if (!bytes.length) {
throw new Error('Mic chunk decode failed');
if (bytes.length > 64 * 1024) {
throw new Error('Mic chunk too large');
}
if (worker.contentProc.stdin?.writable !== true) {
if (worker.micWriter.writable !== true) {
throw new Error('Mic writer input is not writable');
}
if (worker.micBackpressured || worker.micWriter.writableNeedDrain) {
// Preserve low latency by dropping stale mic packets instead of queueing.
return;
}
worker.micLastChunkAt = Date.now();
worker.contentProc.stdin.write(bytes);
const wrote = worker.micWriter.write(bytes);
if (!wrote) {
worker.micBackpressured = true;
}
scheduleMicIdleTimeout(roverId);
}
@@ -520,8 +524,10 @@ function ensureWorker(roverId) {
contentKind: null,
activeOwnerSocketId: null,
activeUploadPath: null,
micWriter: null,
micLastChunkAt: 0,
micIdleTimer: null,
micBackpressured: false,
writerSeq: 0,
stopping: false,
};
@@ -691,7 +697,7 @@ io.on('connection', (socket) => {
try {
const normalized = String(payload?.roverId || '').trim();
ensureAudioForwardPermission(socket, normalized);
pushMicChunk(normalized, socket.id, payload?.dataBase64);
pushMicChunk(normalized, socket.id, payload);
if (typeof cb === 'function') cb({ success: true });
} catch (err) {
if (typeof cb === 'function') cb({ error: err.message });