things

pi/roverd/config.go

@@ -56,6 +56,7 @@ type BatteryConfig struct {
 type AudioConfig struct {
 	CaptureEnabled bool   `yaml:"captureEnabled" json:"captureEnabled"`
 	CaptureDevice  string `yaml:"captureDevice" json:"captureDevice,omitempty"`
+	PlaybackDevice string `yaml:"playbackDevice" json:"playbackDevice,omitempty"`
 	SampleRate     int    `yaml:"sampleRate" json:"sampleRate,omitempty"`
 	Channels       int    `yaml:"channels" json:"channels,omitempty"`
 	Bitrate        int    `yaml:"bitrate" json:"bitrate,omitempty"`
@@ -79,6 +80,7 @@ type HornConfig struct {
 type MediaConfig struct {
 	PublishURL      string   `yaml:"publishUrl" json:"publishUrl,omitempty"`
 	AudioPublishURL string   `yaml:"audioPublishUrl" json:"audioPublishUrl,omitempty"`
+	AudioForwardURL string   `yaml:"audioForwardUrl" json:"audioForwardUrl,omitempty"`
 	PublishPort     int      `yaml:"publishPort" json:"-"`
 	Manage          bool     `yaml:"manage"`
 	ManageAudio     bool     `yaml:"manageAudio"`
@@ -170,6 +172,7 @@ func LoadConfig(path string) (*Config, error) {
 		Audio: AudioConfig{
 			CaptureEnabled: false,
 			CaptureDevice:  "rovermic",
+			PlaybackDevice: "default",
 			SampleRate:     48000,
 			Channels:       2,
 			Bitrate:        24000,
@@ -245,6 +248,13 @@ func LoadConfig(path string) (*Config, error) {
 		}
 		cfg.Media.AudioPublishURL = derived
 	}
+	if cfg.Media.AudioForwardURL == "" {
+		derived, err := deriveReadURL(cfg.ServerURL, cfg.Name+"-fwd", cfg.Media.PublishPort)
+		if err != nil {
+			return nil, fmt.Errorf("derive audioForwardUrl: %w", err)
+		}
+		cfg.Media.AudioForwardURL = derived
+	}
 	if err := validateServoConfig(&cfg.CameraServo); err != nil {
 		return nil, fmt.Errorf("cameraServo: %w", err)
 	}
@@ -304,6 +314,9 @@ func validateAudioConfig(cfg *AudioConfig) {
 	if cfg.CaptureEnabled && cfg.CaptureDevice == "" {
 		cfg.CaptureDevice = "hw:0,0"
 	}
+	if cfg.PlaybackDevice == "" {
+		cfg.PlaybackDevice = "default"
+	}
 	if cfg.SampleRate <= 0 {
 		cfg.SampleRate = 48000
 	}
@@ -369,9 +382,20 @@ func validateAutoSideBrushConfig(cfg *AutoSideBrushConfig) {
 }
 
 func derivePublishURL(serverURL, streamName string, port int) (string, error) {
+	return deriveSRTURL(serverURL, streamName, port, "publish")
+}
+
+func deriveReadURL(serverURL, streamName string, port int) (string, error) {
+	return deriveSRTURL(serverURL, streamName, port, "read")
+}
+
+func deriveSRTURL(serverURL, streamName string, port int, mode string) (string, error) {
 	if streamName == "" {
 		return "", errors.New("missing stream name for publishUrl")
 	}
+	if mode == "" {
+		mode = "publish"
+	}
 	parsed, err := url.Parse(serverURL)
 	if err != nil {
 		return "", err
@@ -384,5 +408,5 @@ func derivePublishURL(serverURL, streamName string, port int) (string, error) {
 		port = 9000
 	}
 	escaped := url.PathEscape(streamName)
-	return fmt.Sprintf("srt://%s:%d?streamid=#!::r=%s,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316", host, port, escaped), nil
+	return fmt.Sprintf("srt://%s:%d?streamid=#!::r=%s,m=%s&latency=10&mode=caller&transtype=live&pkt_size=1316", host, port, escaped, mode), nil
 }

pi/roverd/media_env.go

@@ -27,6 +27,9 @@ func UpdatePublisherEnv(media MediaConfig, audio AudioConfig) error {
 	if audio.CaptureEnabled && media.AudioPublishURL != "" {
 		fmt.Fprintf(&buf, "AUDIO_PUBLISH_URL=%s\n", media.AudioPublishURL)
 	}
+	if media.AudioForwardURL != "" {
+		fmt.Fprintf(&buf, "AUDIO_FORWARD_URL=%s\n", media.AudioForwardURL)
+	}
 	if media.VideoWidth > 0 {
 		fmt.Fprintf(&buf, "VIDEO_WIDTH=%d\n", media.VideoWidth)
 	}
@@ -49,6 +52,11 @@ func UpdatePublisherEnv(media MediaConfig, audio AudioConfig) error {
 	}
 	fmt.Fprintf(&buf, "AUDIO_ENABLE=%d\n", boolToInt(audio.CaptureEnabled))
 	fmt.Fprintf(&buf, "AUDIO_DEVICE=%s\n", audioDevice)
+	playbackDevice := audio.PlaybackDevice
+	if playbackDevice == "" {
+		playbackDevice = "default"
+	}
+	fmt.Fprintf(&buf, "AUDIO_PLAYBACK_DEVICE=%s\n", playbackDevice)
 	fmt.Fprintf(&buf, "AUDIO_RATE=%d\n", audio.SampleRate)
 	fmt.Fprintf(&buf, "AUDIO_CHANNELS=%d\n", audio.Channels)
 	if err := os.WriteFile(publisherEnvPath, buf.Bytes(), 0o640); err != nil {

pi/roverd/roverd.sample.yaml

@@ -16,6 +16,7 @@ battery:
 maxWheelSpeed: 350
 media:
   publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
+  audioForwardUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha-fwd,m=read&latency=10&mode=caller&transtype=live&pkt_size=1316
   publishPort: 9000
   videoBitrate: 2000000
   manage: true
@@ -38,6 +39,7 @@ cameraServo:
 audio:
   captureEnabled: false
   captureDevice: hw:0,0
+  playbackDevice: default
   sampleRate: 48000
   channels: 2
   bitrate: 24000