diff --git a/README.md b/README.md index 220e768b..1ff6e5b5 100644 --- a/README.md +++ b/README.md @@ -56,7 +56,7 @@ cd ~/MultiRoombaRover sudo ./pi/install_roverd.sh ``` -Then point each rover's `/etc/roverd.yaml` at `ws://:8080/rover`, set `name` to the rover’s ID, and (optionally) override `media.publishUrl` if your control server isn’t `192.168.0.86`. The new WHIP publisher service (`whip-publisher.service`) continuously captures the Pi camera with `libcamera-vid`, pipes it through FFmpeg, and publishes straight into the server’s mediaMTX instance at `http://:8889/whip/`. Use the “Restart Camera” button if you enable media management so roverd can bounce the publisher service remotely. +Then point each rover's `/etc/roverd.yaml` at `ws://:8080/rover`, set `name` to the rover’s ID, and (optionally) override `media.publishUrl` if your control server isn’t `192.168.0.86`. The new WHIP publisher service (`whip-publisher.service`) uses GStreamer (`gst-launch-1.0 libcamerasrc ! ... ! whipclientsink`) to encode the Pi camera to H264 and publish straight into the server’s mediaMTX instance at `http://:8889/whip/`. Install `libcamera-apps` plus `gstreamer1.0-tools gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libcamera` on each Pi so the pipeline is available. Use the “Restart Camera” button if you enable media management so roverd can bounce the publisher service remotely. Heads-up: the BRC pulser now uses libgpiod; make sure the `roverd` service account is in the `gpio` group (or otherwise allowed to access `/dev/gpiochip*`) and set `brc.gpioChip` if your hardware exposes a different chip name. ## Fedora server deployment diff --git a/docs/pi-deployment.md b/docs/pi-deployment.md index 2b597647..e64bd906 100644 --- a/docs/pi-deployment.md +++ b/docs/pi-deployment.md @@ -32,6 +32,16 @@ Run the resulting `dist/roverd-dummy` on any machine; it will connect to the ser ## Automated installation (recommended) +Make sure the Pi has GStreamer 1.22+ plus the libcamera + bad plugin sets (Bookworm ships them): + +```bash +sudo apt update +sudo apt install libcamera-apps \ + gstreamer1.0-tools gstreamer1.0-plugins-good \ + gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly \ + gstreamer1.0-libcamera +``` + Once the binary (and repo) are on the Pi, run the helper script from the repo root: ```bash @@ -79,8 +89,16 @@ If you set `media.manage: true` in `/etc/roverd.yaml`, make sure the `roverd` se ## WHIP publisher details -The `whip-publisher.service` unit runs `/usr/local/bin/whip-publisher`, a small shell wrapper that pipes `libcamera-vid` into FFmpeg and POSTs the result to `media.publishUrl`. roverd writes `/var/lib/roverd/whip.env` on startup (and whenever you restart the service) so the publisher inherits the correct `WHIP_URL`, resolution, FPS, and bitrate. Tweak those knobs under `media.videoWidth`, `media.videoHeight`, `media.videoFps`, and `media.videoBitrate` in `/etc/roverd.yaml` if you need different camera settings. -Use `sudo systemctl status whip-publisher` to watch the pipeline logs; the unit auto-restarts whenever the network drops or FFmpeg exits. +The `whip-publisher.service` unit runs `/usr/local/bin/whip-publisher`, a small shell wrapper that launches: + +```bash +gst-launch-1.0 libcamerasrc ! video/x-raw,width=WIDTH,height=HEIGHT,framerate=FPS/1 \ + ! videoconvert ! x264enc tune=zerolatency bitrate=BITRATE_KB key-int-max=FPS \ + ! h264parse config-interval=1 ! whipclientsink signaller::whip-endpoint=$WHIP_URL +``` + +roverd writes `/var/lib/roverd/whip.env` on startup (and whenever you restart the service) so the publisher inherits the correct `WHIP_URL`, resolution, FPS, and bitrate. Tweak those knobs under `media.videoWidth`, `media.videoHeight`, `media.videoFps`, and `media.videoBitrate` in `/etc/roverd.yaml` if you need different camera settings. +Use `sudo systemctl status whip-publisher` to watch the pipeline logs; the unit auto-restarts whenever the network drops or GStreamer exits. ## Server + UI diff --git a/pi/bin/whip-publisher.sh b/pi/bin/whip-publisher.sh index 70426b02..d84dc762 100644 --- a/pi/bin/whip-publisher.sh +++ b/pi/bin/whip-publisher.sh @@ -18,49 +18,31 @@ VIDEO_HEIGHT="${VIDEO_HEIGHT:-720}" VIDEO_FPS="${VIDEO_FPS:-30}" VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}" -FFMPEG_BIN="${FFMPEG_BIN:-/usr/bin/ffmpeg}" +GST_BIN="${GST_BIN:-/usr/bin/gst-launch-1.0}" -if [[ -n "${LIBCAMERA_BIN:-}" ]]; then - LIBCAMERA_BIN_PATH="$LIBCAMERA_BIN" -elif command -v rpicam-vid >/dev/null 2>&1; then - LIBCAMERA_BIN_PATH="$(command -v rpicam-vid)" -elif command -v libcamera-vid >/dev/null 2>&1; then - LIBCAMERA_BIN_PATH="$(command -v libcamera-vid)" -else - echo "Neither rpicam-vid nor libcamera-vid found; install the libcamera apps." >&2 - exit 1 -fi - -if [[ ! -x "$LIBCAMERA_BIN_PATH" ]]; then - echo "Video capture binary not executable at ${LIBCAMERA_BIN_PATH}" >&2 - exit 1 -fi -if [[ ! -x "$FFMPEG_BIN" ]]; then - echo "ffmpeg not found at ${FFMPEG_BIN}" >&2 - exit 1 +if [[ ! -x "$GST_BIN" ]]; then + if command -v gst-launch-1.0 >/dev/null 2>&1; then + GST_BIN="$(command -v gst-launch-1.0)" + else + echo "gst-launch-1.0 not found; install gstreamer1.0-tools and plugins." >&2 + exit 1 + fi fi run_pipeline() { - "${LIBCAMERA_BIN_PATH}" \ - --inline \ - --timeout 0 \ - --width "${VIDEO_WIDTH}" \ - --height "${VIDEO_HEIGHT}" \ - --framerate "${VIDEO_FPS}" \ - --bitrate "${VIDEO_BITRATE}" \ - --codec h264 \ - --denoise cdn_off \ - --nopreview \ - --output - | - "${FFMPEG_BIN}" \ - -hide_banner \ - -loglevel warning \ - -f h264 \ - -i pipe:0 \ - -c:v copy \ - -an \ - -f whip \ - "${WHIP_URL}" + local bitrate_kbps=$((VIDEO_BITRATE / 1000)) + if [[ "$bitrate_kbps" -le 0 ]]; then + bitrate_kbps=3000 + fi + "${GST_BIN}" -e \ + libcamerasrc \ + ! "video/x-raw,width=${VIDEO_WIDTH},height=${VIDEO_HEIGHT},framerate=${VIDEO_FPS}/1" \ + ! queue \ + ! videoconvert \ + ! x264enc speed-preset=ultrafast tune=zerolatency bitrate="${bitrate_kbps}" key-int-max="${VIDEO_FPS}" byte-stream=true \ + ! "video/x-h264,profile=baseline" \ + ! h264parse config-interval=1 \ + ! whipclientsink signaller::whip-endpoint="${WHIP_URL}" } while true; do diff --git a/pi/install_roverd.sh b/pi/install_roverd.sh index 218bf929..d187fb43 100755 --- a/pi/install_roverd.sh +++ b/pi/install_roverd.sh @@ -80,11 +80,22 @@ log() { echo "[$(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 the Raspberry Pi libcamera apps (sudo apt install libcamera-apps)." -fi -if ! command -v ffmpeg >/dev/null 2>&1; then - log "WARNING: ffmpeg not found in PATH; install ffmpeg for WHIP publishing" +if ! command -v gst-launch-1.0 >/dev/null 2>&1; then + log "WARNING: gst-launch-1.0 not found; install GStreamer (sudo apt install gstreamer1.0-tools gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-libcamera)." +else + if command -v gst-inspect-1.0 >/dev/null 2>&1; then + if ! gst-inspect-1.0 whipclientsink >/dev/null 2>&1; then + log "WARNING: whipclientsink element missing; install gstreamer1.0-plugins-bad (1.22+)." + fi + if ! gst-inspect-1.0 libcamerasrc >/dev/null 2>&1; then + log "WARNING: libcamerasrc plugin missing; install gstreamer1.0-libcamera." + fi + if ! gst-inspect-1.0 x264enc >/dev/null 2>&1; then + log "WARNING: x264enc element missing; install gstreamer1.0-plugins-ugly." + fi + else + log "WARNING: gst-inspect-1.0 not found; unable to verify GStreamer plugins." + fi fi ensure_user roverd "dialout,gpio,video"