legop3/MultiRoombaRover
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legop3
2025-11-27 19:49:10 -05:00
parent acec70a69c
commit a14062909b
4 changed files with 8 additions and 5 deletions
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pi/bin/video-publisher.sh
+5 -2
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@@ -20,15 +20,17 @@ VIDEO_FPS="${VIDEO_FPS:-30}"
VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}" VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}"
AUDIO_ENABLE="${AUDIO_ENABLE:-0}" AUDIO_ENABLE="${AUDIO_ENABLE:-0}"
AUDIO_DEVICE="${AUDIO_DEVICE:-hw:0,0}" AUDIO_DEVICE="${AUDIO_DEVICE:-hw:0,0}"
AUDIO_RATE="${AUDIO_RATE:-8000}" AUDIO_RATE="${AUDIO_RATE:-16000}"
AUDIO_CHANNELS="${AUDIO_CHANNELS:-1}" AUDIO_CHANNELS="${AUDIO_CHANNELS:-1}"
AUDIO_BITRATE="${AUDIO_BITRATE:-64000}" AUDIO_BITRATE="${AUDIO_BITRATE:-64000}"
AUDIO_FORMAT="${AUDIO_FORMAT:-s32le}"
# Normalize device/rate aggressively to reduce CPU and match the HAT on card0 # Normalize device/rate aggressively to reduce CPU and match the HAT on card0
AUDIO_DEVICE="hw:0,0" AUDIO_DEVICE="hw:0,0"
AUDIO_RATE=8000 AUDIO_RATE=16000
AUDIO_CHANNELS=1 AUDIO_CHANNELS=1
AUDIO_BITRATE=64000 AUDIO_BITRATE=64000
AUDIO_FORMAT="s32le"
# Flip the camera 180deg (supported by rpicam-vid/libcamera-vid) # Flip the camera 180deg (supported by rpicam-vid/libcamera-vid)
FLIP_ARGS=(--rotation 180) FLIP_ARGS=(--rotation 180)
@@ -85,6 +87,7 @@ run_pipeline() {
-thread_queue_size 1024 \ -thread_queue_size 1024 \
-ac "${AUDIO_CHANNELS}" \ -ac "${AUDIO_CHANNELS}" \
-ar "${AUDIO_RATE}" \ -ar "${AUDIO_RATE}" \
-sample_fmt "${AUDIO_FORMAT}" \
-i "${AUDIO_DEVICE}" \ -i "${AUDIO_DEVICE}" \
-c:v copy \ -c:v copy \
-c:a pcm_s16le \ -c:a pcm_s16le \
pi/install_roverd.sh
+1 -1
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@@ -206,7 +206,7 @@ VIDEO_FPS=30
VIDEO_BITRATE=3000000 VIDEO_BITRATE=3000000
AUDIO_ENABLE=1 AUDIO_ENABLE=1
AUDIO_DEVICE=hw:0,0 AUDIO_DEVICE=hw:0,0
AUDIO_RATE=8000 AUDIO_RATE=16000
AUDIO_CHANNELS=1 AUDIO_CHANNELS=1
AUDIO_BITRATE=64000 AUDIO_BITRATE=64000
ENV ENV
pi/roverd/config.go
+1 -1
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@@ -143,7 +143,7 @@ func LoadConfig(path string) (*Config, error) {
Audio: AudioConfig{ Audio: AudioConfig{
CaptureEnabled: true, CaptureEnabled: true,
CaptureDevice: "hw:0,0", CaptureDevice: "hw:0,0",
SampleRate: 8000, SampleRate: 16000,
Channels: 1, Channels: 1,
Bitrate: 64000, Bitrate: 64000,
TTSEnabled: false, TTSEnabled: false,
pi/roverd/roverd.sample.yaml
+1 -1
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@@ -40,7 +40,7 @@ cameraServo:
audio: audio:
captureEnabled: true captureEnabled: true
captureDevice: hw:0,0 captureDevice: hw:0,0
sampleRate: 8000 sampleRate: 16000
channels: 1 channels: 1
bitrate: 64000 bitrate: 64000
ttsEnabled: false ttsEnabled: false