legop3/MultiRoombaRover
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legop3
2025-11-14 05:36:07 -05:00
parent f030376d35
commit 99f446679e
4 changed files with 58 additions and 47 deletions
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pi/bin/whip-publisher.sh
+21 -39
View File
@@ -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="${WHIP_URL}"
}
while true; do
pi/install_roverd.sh
+16 -5
View File
@@ -80,11 +80,22 @@ log() {
echo "[$(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"