legop3/MultiRoombaRover
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legop3
2025-11-27 20:49:18 -05:00
parent 1b1c9d1699
commit a73c6dfd6b
4 changed files with 16 additions and 17 deletions
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pi/bin/video-publisher.sh
+7 -8
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@@ -20,15 +20,15 @@ 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:-plughw:0,0}" AUDIO_DEVICE="${AUDIO_DEVICE:-plughw:0,0}"
AUDIO_RATE="${AUDIO_RATE:-48000}" AUDIO_RATE="${AUDIO_RATE:-8000}"
AUDIO_CHANNELS="${AUDIO_CHANNELS:-2}" AUDIO_CHANNELS="${AUDIO_CHANNELS:-1}"
AUDIO_BITRATE="${AUDIO_BITRATE:-32000}" AUDIO_BITRATE="${AUDIO_BITRATE:-64000}"
# Normalize device/rate to match the HAT capture (2ch/48k S32_LE); plughw handles any minor conversions. # Normalize device/rate to match the HAT capture (2ch/48k S32_LE); plughw handles any minor conversions.
AUDIO_DEVICE="plughw:0,0" AUDIO_DEVICE="plughw:0,0"
AUDIO_RATE=48000 AUDIO_RATE=8000
AUDIO_CHANNELS=2 AUDIO_CHANNELS=1
AUDIO_BITRATE=32000 AUDIO_BITRATE=64000
# Flip the camera 180deg (supported by rpicam-vid/libcamera-vid) # Flip the camera 180deg (supported by rpicam-vid/libcamera-vid)
FLIP_ARGS=(--rotation 180) FLIP_ARGS=(--rotation 180)
@@ -87,8 +87,7 @@ run_pipeline() {
-ar "${AUDIO_RATE}" \ -ar "${AUDIO_RATE}" \
-i "${AUDIO_DEVICE}" \ -i "${AUDIO_DEVICE}" \
-c:v copy \ -c:v copy \
-c:a aac \ -c:a pcm_mulaw \
-b:a "${AUDIO_BITRATE}" \
-ac:a "${AUDIO_CHANNELS}" \ -ac:a "${AUDIO_CHANNELS}" \
-ar:a "${AUDIO_RATE}" \ -ar:a "${AUDIO_RATE}" \
-af "aresample=async=1:min_hard_comp=0.050:first_pts=0" \ -af "aresample=async=1:min_hard_comp=0.050:first_pts=0" \
pi/install_roverd.sh
+3 -3
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@@ -206,9 +206,9 @@ VIDEO_FPS=30
VIDEO_BITRATE=3000000 VIDEO_BITRATE=3000000
AUDIO_ENABLE=1 AUDIO_ENABLE=1
AUDIO_DEVICE=plughw:0,0 AUDIO_DEVICE=plughw:0,0
AUDIO_RATE=48000 AUDIO_RATE=8000
AUDIO_CHANNELS=2 AUDIO_CHANNELS=1
AUDIO_BITRATE=32000 AUDIO_BITRATE=64000
ENV ENV
chown roverd:roverd /var/lib/roverd/video.env chown roverd:roverd /var/lib/roverd/video.env
chmod 0640 /var/lib/roverd/video.env chmod 0640 /var/lib/roverd/video.env
pi/roverd/config.go
+3 -3
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@@ -143,9 +143,9 @@ func LoadConfig(path string) (*Config, error) {
Audio: AudioConfig{ Audio: AudioConfig{
CaptureEnabled: true, CaptureEnabled: true,
CaptureDevice: "plughw:0,0", CaptureDevice: "plughw:0,0",
SampleRate: 48000, SampleRate: 8000,
Channels: 2, Channels: 1,
Bitrate: 32000, Bitrate: 64000,
TTSEnabled: false, TTSEnabled: false,
DefaultEngine: "flite", DefaultEngine: "flite",
DefaultVoice: "rms", DefaultVoice: "rms",
pi/roverd/roverd.sample.yaml
+3 -3
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@@ -40,9 +40,9 @@ cameraServo:
audio: audio:
captureEnabled: true captureEnabled: true
captureDevice: plughw:0,0 captureDevice: plughw:0,0
sampleRate: 48000 sampleRate: 8000
channels: 2 channels: 1
bitrate: 32000 bitrate: 64000
ttsEnabled: false ttsEnabled: false
defaultEngine: flite defaultEngine: flite
defaultVoice: rms defaultVoice: rms