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legop3
2026-03-15 22:43:05 -04:00
parent 2ea222355f
commit 95972af558
20 changed files with 552 additions and 134 deletions
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pi/roverd/config.go
+25 -1
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@@ -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
}