mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-15 17:12:59 -04:00
installer splitup and laptop alsa stuff
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legop3
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# ALSA routing for the Debian laptop rover profile.
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#
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# This file intentionally mirrors the logical device names used by the Pi rover
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# audio setup. roverd can keep sending horn audio to "horn", forwarded browser
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# audio to "forward", and TTS to ALSA's default playback path without caring
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# which physical sound card is underneath the profile.
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pcm.roverd_playback {
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type plug
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# Use the system's first normal ALSA playback device as the physical sink.
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# This avoids referencing "default" here, because this file replaces
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# pcm.!default below and using it as a slave would recurse.
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slave.pcm "sysdefault"
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}
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pcm.roverd_capture {
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type plug
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# The media publisher records from "default"; with pcm.!default below that
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# capture side resolves here. Keeping capture separate from playback lets the
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# asym default expose ordinary microphone input while playback goes through
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# the TTS softvol path.
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slave.pcm "sysdefault"
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}
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pcm.tts_softvol {
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type softvol
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slave.pcm "roverd_playback"
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control {
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name "TTSMaster"
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card 0
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}
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min_dB -60.0
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max_dB 12.0
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}
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pcm.horn_softvol {
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type softvol
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slave.pcm "roverd_playback"
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control {
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name "HornMaster"
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card 0
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}
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min_dB -60.0
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max_dB 12.0
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}
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pcm.forward_softvol {
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type softvol
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slave.pcm "roverd_playback"
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control {
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name "ForwardMaster"
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card 0
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}
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min_dB -60.0
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max_dB 12.0
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}
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pcm.tts {
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type plug
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slave.pcm "tts_softvol"
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}
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pcm.horn {
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type plug
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slave.pcm "horn_softvol"
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}
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pcm.forward {
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type plug
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slave.pcm "forward_softvol"
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}
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pcm.!default {
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type asym
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# Existing TTS engines play to their default ALSA output, so default playback
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# is intentionally the TTS path. This preserves the current TTS execution
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# model while still making the TTS volume control meaningful on laptops.
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playback.pcm "tts"
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capture.pcm "roverd_capture"
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}
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ctl.!default {
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type hw
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card 0
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}
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@@ -0,0 +1,79 @@
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#!/usr/bin/env bash
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CONFIG_DEST="/etc/roverd.yaml"
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log() {
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echo "[$(date -u +%Y-%m-%dT%H:%M:%SZ)] $*"
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}
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ensure_user() {
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local user="$1"
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local groups="${2:-}"
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local existing_groups=""
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local group
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if [[ -n "$groups" ]]; then
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IFS=',' read -ra group_list <<< "$groups"
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for group in "${group_list[@]}"; do
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if getent group "$group" >/dev/null 2>&1; then
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existing_groups="${existing_groups:+$existing_groups,}$group"
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else
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# Different Debian-family installs expose slightly different
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# hardware groups. Skipping missing optional groups lets one
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# profile script cover ordinary laptops and Raspberry Pi OS.
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log "Skipping missing system group '$group' for $user"
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fi
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done
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fi
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if ! id -u "$user" >/dev/null 2>&1; then
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if [[ -n "$existing_groups" ]]; then
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useradd -r -s /usr/sbin/nologin -G "$existing_groups" "$user"
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else
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useradd -r -s /usr/sbin/nologin "$user"
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fi
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elif [[ -n "$existing_groups" ]]; then
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usermod -a -G "$existing_groups" "$user"
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fi
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}
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require_root() {
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if [[ "${EUID}" -ne 0 ]]; then
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echo "Please run as root (sudo)" >&2
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exit 1
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fi
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}
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validate_install_inputs() {
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if [[ ! -f "$BINARY_SRC" ]]; then
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echo "Binary not found at $BINARY_SRC" >&2
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exit 1
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fi
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if [[ ! -f "$CONFIG_SRC" ]]; then
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echo "Config source not found at $CONFIG_SRC" >&2
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exit 1
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fi
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}
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install_roverd_binary() {
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ensure_user roverd "$ROVERD_GROUPS"
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install -o roverd -g roverd -m 0755 "$BINARY_SRC" /usr/local/bin/roverd
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log "Installed roverd binary for profile $PROFILE"
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}
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install_roverd_config() {
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CONFIG_EXISTS=0
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if [[ -f "$CONFIG_DEST" ]]; then
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CONFIG_EXISTS=1
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log "Existing $CONFIG_DEST found; leaving it in place"
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else
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install -D -o roverd -g roverd -m 0640 "$CONFIG_SRC" "$CONFIG_DEST"
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log "Installed sample config to $CONFIG_DEST (edit before starting service)"
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fi
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}
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install_roverd_unit() {
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install -m 0644 pi/systemd/roverd.service /etc/systemd/system/roverd.service
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log "Installed roverd systemd unit"
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}
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@@ -0,0 +1,42 @@
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#!/usr/bin/env bash
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install_debian_laptop_deps() {
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# This profile is deliberately Debian-only. Using apt directly is simpler
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# than adding a fake cross-distro layer, and it keeps the installed package
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# set easy to inspect on the actual rover laptop.
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if command -v ffmpeg >/dev/null 2>&1 \
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&& command -v arecord >/dev/null 2>&1 \
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&& command -v aplay >/dev/null 2>&1 \
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&& command -v amixer >/dev/null 2>&1 \
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&& command -v v4l2-ctl >/dev/null 2>&1 \
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&& command -v flite >/dev/null 2>&1 \
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&& command -v espeak >/dev/null 2>&1; then
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log "Debian laptop media/audio dependencies already installed; skipping apt install"
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return
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fi
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log "Installing Debian laptop dependencies (ffmpeg, ALSA tools, V4L2 tools, flite, espeak)..."
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apt-get update
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apt-get install -y --no-install-recommends ffmpeg alsa-utils v4l-utils ca-certificates flite espeak
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}
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install_debian_laptop_audio_support() {
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if [[ ! -f pi/asound.debian-laptop.conf ]]; then
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log "WARNING: pi/asound.debian-laptop.conf missing; skipping Debian laptop ALSA config install"
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return
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fi
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# The laptop profile still uses roverd's existing audio contract: TTS plays
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# to ALSA's default output, horn plays to the named "horn" device, and
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# forwarded web audio plays to the named "forward" device. Installing one
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# profile-specific asound.conf gives those paths independent softvol mixer
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# controls without changing the TTS runtime code.
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install -m 0644 pi/asound.debian-laptop.conf /etc/asound.conf
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log "Installed Debian laptop ALSA config to /etc/asound.conf"
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log "ALSA config updated; restarting audio clients or rebooting is recommended before testing laptop audio"
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}
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install_debian_laptop_profile() {
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install_debian_laptop_deps
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install_debian_laptop_audio_support
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}
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@@ -0,0 +1,89 @@
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#!/usr/bin/env bash
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write_media_env_placeholder() {
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install -d -o roverd -g roverd /var/lib/roverd
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case "$PROFILE" in
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pi)
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# roverd rewrites media.env after loading /etc/roverd.yaml. These
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# values only make the services syntactically usable before the first
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# successful roverd run, so they mirror the Pi defaults instead of
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# trying to become a second source of truth.
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cat > /var/lib/roverd/media.env <<'ENV'
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# Managed by roverd; placeholder values will be overwritten at runtime.
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ROVERD_VIDEO_ENABLE=1
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ROVERD_VIDEO_PUBLISHER=pi-libcamera
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ROVERD_VIDEO_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
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ROVERD_VIDEO_DEVICE=
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ROVERD_VIDEO_INPUT_FORMAT=
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ROVERD_VIDEO_WIDTH=640
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ROVERD_VIDEO_HEIGHT=480
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ROVERD_VIDEO_FPS=30
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ROVERD_VIDEO_BITRATE=2000000
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ROVERD_VIDEO_INVERT=1
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ROVERD_VIDEO_SENSOR_MODE=1296:972
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ROVERD_AUDIO_CAPTURE_ENABLE=0
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ROVERD_AUDIO_CAPTURE_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-audio,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
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ROVERD_AUDIO_CAPTURE_DEVICE=hw:0,0
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ROVERD_AUDIO_CAPTURE_SAMPLE_RATE=48000
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ROVERD_AUDIO_CAPTURE_CHANNELS=2
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ROVERD_AUDIO_CAPTURE_BITRATE=510000
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ROVERD_AUDIO_PLAYBACK_ENABLE=1
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ROVERD_AUDIO_PLAYBACK_FORWARD_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-fwd,m=request&latency=10&mode=caller&transtype=live&pkt_size=1316
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ROVERD_AUDIO_PLAYBACK_DEVICE=forward
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ROVERD_AUDIO_PLAYBACK_NORMALIZE=1
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ROVERD_AUDIO_PLAYBACK_NORMALIZE_FILTER=dynaudnorm=f=75:g=15:m=10:p=0.9,alimiter=limit=0.85:level=disabled
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ENV
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;;
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debian-laptop)
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# The laptop placeholder uses the same logical ALSA names as the
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# installed laptop asound.conf. That keeps forwarded audio under the
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# ForwardMaster mixer control while TTS and horn keep their own paths.
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cat > /var/lib/roverd/media.env <<'ENV'
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# Managed by roverd; placeholder values will be overwritten at runtime.
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ROVERD_VIDEO_ENABLE=1
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ROVERD_VIDEO_PUBLISHER=debian-laptop-v4l2
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ROVERD_VIDEO_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
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ROVERD_VIDEO_DEVICE=/dev/video0
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ROVERD_VIDEO_INPUT_FORMAT=mjpeg
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ROVERD_VIDEO_WIDTH=640
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ROVERD_VIDEO_HEIGHT=480
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ROVERD_VIDEO_FPS=30
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ROVERD_VIDEO_BITRATE=2000000
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ROVERD_VIDEO_INVERT=0
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ROVERD_VIDEO_SENSOR_MODE=
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ROVERD_AUDIO_CAPTURE_ENABLE=1
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ROVERD_AUDIO_CAPTURE_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-audio,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
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ROVERD_AUDIO_CAPTURE_DEVICE=default
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ROVERD_AUDIO_CAPTURE_SAMPLE_RATE=48000
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ROVERD_AUDIO_CAPTURE_CHANNELS=2
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ROVERD_AUDIO_CAPTURE_BITRATE=510000
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ROVERD_AUDIO_PLAYBACK_ENABLE=1
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ROVERD_AUDIO_PLAYBACK_FORWARD_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-fwd,m=request&latency=10&mode=caller&transtype=live&pkt_size=1316
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ROVERD_AUDIO_PLAYBACK_DEVICE=forward
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ROVERD_AUDIO_PLAYBACK_NORMALIZE=1
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ROVERD_AUDIO_PLAYBACK_NORMALIZE_FILTER=dynaudnorm=f=75:g=15:m=10:p=0.9,alimiter=limit=0.85:level=disabled
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ENV
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;;
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esac
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chown roverd:roverd /var/lib/roverd/media.env
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chmod 0640 /var/lib/roverd/media.env
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}
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install_audio_fifo() {
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local fifo_path="/var/lib/roverd/audio.pcm"
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# The capture service and publisher service meet at this FIFO. Recreating
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# it only when it is missing or the path is not a FIFO preserves a working
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# service pipe while still fixing accidental regular-file leftovers.
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if [[ -p "$fifo_path" ]]; then
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chown roverd:audio "$fifo_path"
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chmod 0660 "$fifo_path"
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else
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rm -f "$fifo_path"
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mkfifo "$fifo_path"
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chown roverd:audio "$fifo_path"
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chmod 0660 "$fifo_path"
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fi
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}
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@@ -0,0 +1,160 @@
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#!/usr/bin/env bash
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install_pi_video_deps() {
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if command -v ffmpeg >/dev/null 2>&1 && (command -v rpicam-vid >/dev/null 2>&1 || command -v libcamera-vid >/dev/null 2>&1); then
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log "Video dependencies already installed; skipping apt install"
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return
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fi
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log "Installing video dependencies (libcamera-apps, ffmpeg)..."
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apt-get update
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apt-get install -y --no-install-recommends libcamera-apps ffmpeg
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}
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find_boot_config() {
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if [[ -f /boot/firmware/config.txt ]]; then
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printf "/boot/firmware/config.txt"
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return 0
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fi
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if [[ -f /boot/config.txt ]]; then
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printf "/boot/config.txt"
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return 0
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fi
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return 1
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}
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ensure_pwm_overlay() {
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local boot_config
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if ! boot_config="$(find_boot_config)"; then
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log "WARNING: unable to locate /boot config.txt; please ensure dtoverlay=pwm-2chan is added manually for servo support"
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return
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fi
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if grep -Eq '^\s*dtoverlay=pwm(-2chan)?' "$boot_config"; then
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log "PWM overlay already present in $boot_config"
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return
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fi
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local backup="${boot_config}.roverd.$(date +%Y%m%d%H%M%S).bak"
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cp "$boot_config" "$backup"
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{
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echo ""
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echo "# Added by roverd installer to expose PWM hardware for camera servo control on GPIO12/13 (leaves GPIO18/19 free for I2S)"
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echo "dtoverlay=pwm-2chan,pin=12,func=4,pin2=13,func2=4"
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} >> "$boot_config"
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log "Enabled dtoverlay=pwm-2chan on GPIO12/13 in $boot_config (backup at $backup). Reboot required for changes to apply."
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}
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install_pi_audio_support() {
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local boot_config
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if ! boot_config="$(find_boot_config)"; then
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log "WARNING: unable to locate /boot config.txt; please enable googlevoicehat-soundcard overlay manually"
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else
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# Ensure onboard audio is disabled (prevents card index flapping)
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if grep -Eq '^\s*dtparam=audio=on\b' "$boot_config"; then
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log "Disabling onboard audio (dtparam=audio=on -> off) in $boot_config"
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sed -i 's/^\s*dtparam=audio=on\b/# roverd disabled onboard audio\ndtparam=audio=off/' "$boot_config"
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fi
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if ! grep -Eq '^\s*dtparam=audio=off\b' "$boot_config"; then
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log "Adding dtparam=audio=off to $boot_config"
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echo "dtparam=audio=off" >> "$boot_config"
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fi
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if ! grep -Eq '^\s*dtparam=i2s=on\b' "$boot_config"; then
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log "Adding dtparam=i2s=on to $boot_config"
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echo "dtparam=i2s=on" >> "$boot_config"
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fi
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if ! grep -Eq '^\s*dtoverlay=googlevoicehat-soundcard\b' "$boot_config"; then
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local backup="${boot_config}.roverd.$(date +%Y%m%d%H%M%S).bak"
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cp "$boot_config" "$backup"
|
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{
|
||||
echo ""
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||||
echo "# Added by roverd installer to enable Google AIY v1 sound card"
|
||||
echo "dtoverlay=googlevoicehat-soundcard"
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} >> "$boot_config"
|
||||
log "Enabled googlevoicehat-soundcard overlay in $boot_config (backup at $backup). Reboot required."
|
||||
else
|
||||
log "googlevoicehat-soundcard overlay already present in $boot_config"
|
||||
fi
|
||||
fi
|
||||
if [[ -f pi/asound.conf ]]; then
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||||
install -m 0644 pi/asound.conf /etc/asound.conf
|
||||
log "Installed ALSA config to /etc/asound.conf"
|
||||
alsa_reload_notice=1
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else
|
||||
log "WARNING: pi/asound.conf missing; skipping ALSA config install"
|
||||
fi
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||||
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||||
if [[ "${alsa_reload_notice:-0}" -eq 1 ]]; then
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log "ALSA config updated; reboot recommended for overlay + audio changes"
|
||||
fi
|
||||
|
||||
log "Installing TTS/audio packages (flite, espeak, Chrome TTS runtime deps)..."
|
||||
if command -v flite >/dev/null 2>&1 \
|
||||
&& command -v espeak >/dev/null 2>&1 \
|
||||
&& command -v python3 >/dev/null 2>&1 \
|
||||
&& command -v curl >/dev/null 2>&1 \
|
||||
&& command -v xz >/dev/null 2>&1 \
|
||||
&& command -v unzip >/dev/null 2>&1 \
|
||||
&& command -v aplay >/dev/null 2>&1 \
|
||||
&& ldconfig -p 2>/dev/null | grep -q 'libc++\.so\.1' \
|
||||
&& ldconfig -p 2>/dev/null | grep -q 'libc++abi\.so\.1'; then
|
||||
log "Core TTS packages already installed; skipping apt install"
|
||||
else
|
||||
apt-get update
|
||||
apt-get install -y --no-install-recommends flite espeak python3 curl xz-utils unzip alsa-utils libc++1 libc++abi1 \
|
||||
|| apt-get install -y --no-install-recommends flite espeak python3 curl xz-utils unzip alsa-utils libc++1-14 libc++abi1-14
|
||||
fi
|
||||
|
||||
install -D -o root -g root -m 0755 pi/bin/chromegtts-daemon.py /usr/local/bin/chromegtts-daemon
|
||||
log "Installed chromegtts daemon"
|
||||
|
||||
install_google_tts_assets
|
||||
}
|
||||
|
||||
install_google_tts_assets() {
|
||||
local asset_dir="/opt/roverd/googletts"
|
||||
local voice_dir="${asset_dir}/en-us-x-multi-r30"
|
||||
local dist_url="https://storage.googleapis.com/chromeos-localmirror/distfiles/googletts-26.5.tar.xz"
|
||||
local tmp_dir
|
||||
local lib_member
|
||||
|
||||
case "$(uname -m)" in
|
||||
aarch64|arm64)
|
||||
lib_member="libchrometts_arm64.so"
|
||||
;;
|
||||
armv7l|armhf)
|
||||
lib_member="libchrometts_armv7.so"
|
||||
;;
|
||||
*)
|
||||
log "WARNING: unsupported Chrome TTS architecture $(uname -m); skipping Google TTS assets"
|
||||
return
|
||||
;;
|
||||
esac
|
||||
|
||||
if [[ -f "${asset_dir}/libchrometts.so" && -f "${voice_dir}/pipeline.pb" ]]; then
|
||||
log "Google Chrome TTS assets already installed; skipping download"
|
||||
return
|
||||
fi
|
||||
|
||||
tmp_dir="$(mktemp -d)"
|
||||
log "Downloading Google Chrome TTS assets..."
|
||||
curl -L -o "${tmp_dir}/googletts-26.5.tar.xz" "$dist_url"
|
||||
tar -xf "${tmp_dir}/googletts-26.5.tar.xz" -C "$tmp_dir" en-us-x-multi.zvoice "$lib_member"
|
||||
|
||||
install -d -o root -g root -m 0755 "$asset_dir"
|
||||
install -o root -g root -m 0644 "${tmp_dir}/${lib_member}" "${asset_dir}/libchrometts.so"
|
||||
rm -rf "$voice_dir"
|
||||
install -d -o root -g root -m 0755 "$voice_dir"
|
||||
unzip -q "${tmp_dir}/en-us-x-multi.zvoice" -d "$voice_dir"
|
||||
chown -R root:root "$asset_dir"
|
||||
find "$asset_dir" -type d -exec chmod 0755 {} +
|
||||
find "$asset_dir" -type f -exec chmod 0644 {} +
|
||||
rm -rf "$tmp_dir"
|
||||
log "Installed Google Chrome TTS assets to $asset_dir"
|
||||
}
|
||||
|
||||
install_pi_profile() {
|
||||
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 libcamera-apps."
|
||||
fi
|
||||
install_pi_video_deps
|
||||
ensure_pwm_overlay
|
||||
install_pi_audio_support
|
||||
}
|
||||
@@ -0,0 +1,105 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
PROFILE="pi"
|
||||
BINARY_SRC=""
|
||||
CONFIG_SRC=""
|
||||
|
||||
usage() {
|
||||
cat <<'USAGE'
|
||||
Usage: sudo ./pi/install_roverd.sh [options]
|
||||
|
||||
Options:
|
||||
--profile <name> Install profile: pi or debian-laptop (default: pi)
|
||||
--debian-laptop Shortcut for --profile debian-laptop
|
||||
-b, --binary <path> Path to the roverd binary (default depends on profile)
|
||||
-c, --config <path> Source config to install if /etc/roverd.yaml is missing
|
||||
(default depends on profile)
|
||||
-h, --help Show this help text
|
||||
|
||||
The script must run from the repository root and as root (sudo). It will:
|
||||
* create system users/groups if needed
|
||||
* install /usr/local/bin/roverd and /etc/roverd.yaml
|
||||
* install profile-specific video helpers and shared audio helpers
|
||||
* install profile-specific ALSA/system audio setup
|
||||
* install the fixed-command self-update helper used by admin-triggered updates
|
||||
* enable roverd.service and media publisher/listener services
|
||||
USAGE
|
||||
}
|
||||
|
||||
parse_args() {
|
||||
while [[ $# -gt 0 ]]; do
|
||||
case "$1" in
|
||||
--profile)
|
||||
PROFILE="${2:-}"
|
||||
shift 2
|
||||
;;
|
||||
--debian-laptop)
|
||||
PROFILE="debian-laptop"
|
||||
shift
|
||||
;;
|
||||
-b|--binary)
|
||||
BINARY_SRC="${2:-}"
|
||||
shift 2
|
||||
;;
|
||||
-c|--config)
|
||||
CONFIG_SRC="${2:-}"
|
||||
shift 2
|
||||
;;
|
||||
-h|--help)
|
||||
usage
|
||||
exit 0
|
||||
;;
|
||||
*)
|
||||
echo "Unknown option: $1" >&2
|
||||
usage
|
||||
exit 1
|
||||
;;
|
||||
esac
|
||||
done
|
||||
}
|
||||
|
||||
select_profile() {
|
||||
case "$PROFILE" in
|
||||
pi)
|
||||
BINARY_SRC="${BINARY_SRC:-dist/roverd}"
|
||||
CONFIG_SRC="${CONFIG_SRC:-pi/roverd/roverd.sample.yaml}"
|
||||
VIDEO_HELPER_SRC="pi/bin/video-publisher.sh"
|
||||
VIDEO_HELPER_DEST="/usr/local/bin/video-publisher"
|
||||
VIDEO_SERVICE_SRC="pi/systemd/video-publisher.service"
|
||||
VIDEO_SERVICE_NAME="video-publisher.service"
|
||||
ROVERD_GROUPS="dialout,gpio,video,render,audio"
|
||||
;;
|
||||
debian-laptop)
|
||||
BINARY_SRC="${BINARY_SRC:-dist/roverd-debian-laptop}"
|
||||
CONFIG_SRC="${CONFIG_SRC:-pi/roverd/roverd.debian-laptop.sample.yaml}"
|
||||
VIDEO_HELPER_SRC="pi/bin/debian-laptop-video-publisher.sh"
|
||||
VIDEO_HELPER_DEST="/usr/local/bin/debian-laptop-video-publisher"
|
||||
VIDEO_SERVICE_SRC="pi/systemd/debian-laptop-video-publisher.service"
|
||||
VIDEO_SERVICE_NAME="debian-laptop-video-publisher.service"
|
||||
ROVERD_GROUPS="dialout,video,render,audio"
|
||||
;;
|
||||
*)
|
||||
echo "Unknown profile: $PROFILE" >&2
|
||||
usage
|
||||
exit 1
|
||||
;;
|
||||
esac
|
||||
}
|
||||
|
||||
install_selected_profile() {
|
||||
case "$PROFILE" in
|
||||
pi)
|
||||
# The Pi profile owns the board-specific camera, PWM, and AIY audio
|
||||
# setup. Keeping that hardware work behind this dispatcher prevents
|
||||
# the laptop profile from accidentally inheriting Pi overlays or
|
||||
# card-index assumptions.
|
||||
install_pi_profile
|
||||
;;
|
||||
debian-laptop)
|
||||
# The Debian laptop profile only installs ordinary Debian packages
|
||||
# and a laptop ALSA routing file. Anything that depends on Pi GPIO,
|
||||
# overlays, or the Google Voice HAT stays out of this path.
|
||||
install_debian_laptop_profile
|
||||
;;
|
||||
esac
|
||||
}
|
||||
@@ -0,0 +1,38 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
install_self_update_support() {
|
||||
local sudoers_file="/etc/sudoers.d/roverd-self-update"
|
||||
local update_env="/etc/roverd-update.env"
|
||||
local quoted_repo_root
|
||||
|
||||
# The self-update helper must know which checkout should receive the git
|
||||
# pull. Recording the repository root during the normal installer run keeps
|
||||
# the runtime websocket command simple and prevents the rover from accepting
|
||||
# a caller-controlled path.
|
||||
printf -v quoted_repo_root '%q' "$REPO_ROOT"
|
||||
install -D -o root -g root -m 0644 /dev/null "$update_env"
|
||||
cat > "$update_env" <<ENV
|
||||
# Managed by pi/install_roverd.sh.
|
||||
# This path is intentionally captured from the installer working directory so
|
||||
# admin-triggered rover updates always operate on the same full repository that
|
||||
# was used for the manual install.
|
||||
ROVERD_REPO_DIR=$quoted_repo_root
|
||||
ENV
|
||||
log "Registered roverd update repository at $REPO_ROOT"
|
||||
|
||||
# The helper is root-owned and argument-free. sudoers grants the roverd
|
||||
# service user exactly this command and nothing broader, which is important
|
||||
# because update requests arrive over the rover websocket.
|
||||
install -D -o root -g root -m 0755 pi/bin/roverd-self-update.sh /usr/local/sbin/roverd-self-update
|
||||
cat > "$sudoers_file" <<'SUDOERS'
|
||||
# Managed by pi/install_roverd.sh.
|
||||
# Allow only the roverd service account to run the fixed self-update helper.
|
||||
roverd ALL=(root) NOPASSWD: /usr/local/sbin/roverd-self-update
|
||||
SUDOERS
|
||||
chown root:root "$sudoers_file"
|
||||
chmod 0440 "$sudoers_file"
|
||||
if command -v visudo >/dev/null 2>&1; then
|
||||
visudo -cf "$sudoers_file" >/dev/null
|
||||
fi
|
||||
log "Installed roverd self-update helper and sudoers rule"
|
||||
}
|
||||
@@ -0,0 +1,43 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
install_media_units() {
|
||||
# Video publishing is the only profile-specific media service right now:
|
||||
# Pi uses libcamera/rpicam, while Debian laptops publish from a V4L2 webcam.
|
||||
install -D -o root -g root -m 0755 "$VIDEO_HELPER_SRC" "$VIDEO_HELPER_DEST"
|
||||
log "Installed $PROFILE video publisher helper"
|
||||
install -m 0644 "$VIDEO_SERVICE_SRC" "/etc/systemd/system/$VIDEO_SERVICE_NAME"
|
||||
log "Installed $PROFILE video publisher systemd unit"
|
||||
|
||||
# Audio capture publishing and forwarded-audio playback use the same ffmpeg
|
||||
# and ALSA contract on both profiles, so they stay as shared installer work.
|
||||
install -D -o root -g root -m 0755 pi/bin/audio-only-publisher.sh /usr/local/bin/audio-only-publisher
|
||||
install -m 0644 pi/systemd/audio-only-publisher.service /etc/systemd/system/audio-only-publisher.service
|
||||
log "Installed audio-only publisher helper + systemd unit"
|
||||
|
||||
install -D -o root -g root -m 0755 pi/bin/audio-forward-listener.sh /usr/local/bin/audio-forward-listener
|
||||
install -m 0644 pi/systemd/audio-forward-listener.service /etc/systemd/system/audio-forward-listener.service
|
||||
log "Installed audio-forward listener helper + systemd unit"
|
||||
}
|
||||
|
||||
enable_and_restart_units() {
|
||||
systemctl daemon-reload
|
||||
systemctl enable roverd.service
|
||||
systemctl enable "$VIDEO_SERVICE_NAME"
|
||||
systemctl enable audio-only-publisher.service
|
||||
systemctl enable audio-forward-listener.service
|
||||
|
||||
if [[ $CONFIG_EXISTS -eq 1 ]]; then
|
||||
# An existing config means this host was already configured, so restart
|
||||
# immediately to pick up the new binary, helpers, units, and media env.
|
||||
systemctl restart roverd.service
|
||||
systemctl restart "$VIDEO_SERVICE_NAME"
|
||||
systemctl restart audio-only-publisher.service
|
||||
systemctl restart audio-forward-listener.service
|
||||
log "Restarted roverd + media publishers/listener"
|
||||
else
|
||||
# A freshly installed sample config usually still has placeholder names
|
||||
# and URLs. Enabling without starting avoids connecting a half-configured
|
||||
# rover to the control server by accident.
|
||||
log "Skipped auto-start because config is the sample; edit $CONFIG_DEST then run: sudo systemctl restart roverd ${VIDEO_SERVICE_NAME%.service} audio-only-publisher audio-forward-listener"
|
||||
fi
|
||||
}
|
||||
+38
-503
@@ -1,513 +1,48 @@
|
||||
#!/usr/bin/env bash
|
||||
#
|
||||
# Installer for the roverd agent on Raspberry Pi and Debian laptop rover hosts.
|
||||
# Installer entry point for roverd hosts.
|
||||
#
|
||||
# The detailed work lives in pi/install/*.sh so platform-specific setup stays
|
||||
# local to the profile that needs it. This file should read like the install
|
||||
# order: choose a profile, validate inputs, install shared roverd pieces,
|
||||
# install profile support, then enable the services.
|
||||
|
||||
set -euo pipefail
|
||||
|
||||
PROFILE="pi"
|
||||
BINARY_SRC=""
|
||||
CONFIG_SRC=""
|
||||
REPO_ROOT="$(pwd -P)"
|
||||
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd -P)"
|
||||
REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd -P)"
|
||||
|
||||
usage() {
|
||||
cat <<'USAGE'
|
||||
Usage: sudo ./pi/install_roverd.sh [options]
|
||||
# The helper scripts use repository-relative paths because those same paths are
|
||||
# shown in docs and logs. Moving to the repository root once keeps every module
|
||||
# simple and prevents each function from needing its own path resolver.
|
||||
cd "$REPO_ROOT"
|
||||
|
||||
Options:
|
||||
--profile <name> Install profile: pi or debian-laptop (default: pi)
|
||||
--debian-laptop Shortcut for --profile debian-laptop
|
||||
-b, --binary <path> Path to the roverd binary (default: dist/roverd)
|
||||
-c, --config <path> Source config to install if /etc/roverd.yaml is missing
|
||||
(default: pi/roverd/roverd.sample.yaml)
|
||||
-h, --help Show this help text
|
||||
source pi/install/common.sh
|
||||
source pi/install/profiles.sh
|
||||
source pi/install/self_update.sh
|
||||
source pi/install/pi_profile.sh
|
||||
source pi/install/debian_laptop_profile.sh
|
||||
source pi/install/media_env.sh
|
||||
source pi/install/systemd.sh
|
||||
|
||||
The script must run from the repository root and as root (sudo). It will:
|
||||
* create system users/groups if needed
|
||||
* install /usr/local/bin/roverd and /etc/roverd.yaml
|
||||
* install profile-specific video helpers and shared audio helpers
|
||||
* install Pi-only Google Chrome TTS assets when using the pi profile
|
||||
* install the fixed-command self-update helper used by admin-triggered updates
|
||||
* enable roverd.service and media publisher/listener services
|
||||
USAGE
|
||||
main() {
|
||||
parse_args "$@"
|
||||
select_profile
|
||||
require_root
|
||||
validate_install_inputs
|
||||
|
||||
install_roverd_binary
|
||||
install_self_update_support
|
||||
install_roverd_config
|
||||
install_roverd_unit
|
||||
|
||||
install_selected_profile
|
||||
install_media_units
|
||||
write_media_env_placeholder
|
||||
install_audio_fifo
|
||||
enable_and_restart_units
|
||||
|
||||
log "Install complete for profile $PROFILE"
|
||||
}
|
||||
|
||||
while [[ $# -gt 0 ]]; do
|
||||
case "$1" in
|
||||
--profile)
|
||||
PROFILE="${2:-}"
|
||||
shift 2
|
||||
;;
|
||||
--debian-laptop)
|
||||
PROFILE="debian-laptop"
|
||||
shift
|
||||
;;
|
||||
-b|--binary)
|
||||
BINARY_SRC="${2:-}"
|
||||
shift 2
|
||||
;;
|
||||
-c|--config)
|
||||
CONFIG_SRC="${2:-}"
|
||||
shift 2
|
||||
;;
|
||||
-h|--help)
|
||||
usage
|
||||
exit 0
|
||||
;;
|
||||
*)
|
||||
echo "Unknown option: $1" >&2
|
||||
usage
|
||||
exit 1
|
||||
;;
|
||||
esac
|
||||
done
|
||||
|
||||
case "$PROFILE" in
|
||||
pi)
|
||||
BINARY_SRC="${BINARY_SRC:-dist/roverd}"
|
||||
CONFIG_SRC="${CONFIG_SRC:-pi/roverd/roverd.sample.yaml}"
|
||||
VIDEO_HELPER_SRC="pi/bin/video-publisher.sh"
|
||||
VIDEO_HELPER_DEST="/usr/local/bin/video-publisher"
|
||||
VIDEO_SERVICE_SRC="pi/systemd/video-publisher.service"
|
||||
VIDEO_SERVICE_NAME="video-publisher.service"
|
||||
ROVERD_GROUPS="dialout,gpio,video,render,audio"
|
||||
;;
|
||||
debian-laptop)
|
||||
BINARY_SRC="${BINARY_SRC:-dist/roverd-debian-laptop}"
|
||||
CONFIG_SRC="${CONFIG_SRC:-pi/roverd/roverd.debian-laptop.sample.yaml}"
|
||||
VIDEO_HELPER_SRC="pi/bin/debian-laptop-video-publisher.sh"
|
||||
VIDEO_HELPER_DEST="/usr/local/bin/debian-laptop-video-publisher"
|
||||
VIDEO_SERVICE_SRC="pi/systemd/debian-laptop-video-publisher.service"
|
||||
VIDEO_SERVICE_NAME="debian-laptop-video-publisher.service"
|
||||
ROVERD_GROUPS="dialout,video,render,audio"
|
||||
;;
|
||||
*)
|
||||
echo "Unknown profile: $PROFILE" >&2
|
||||
usage
|
||||
exit 1
|
||||
;;
|
||||
esac
|
||||
|
||||
if [[ "${EUID}" -ne 0 ]]; then
|
||||
echo "Please run as root (sudo)" >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [[ ! -f "$BINARY_SRC" ]]; then
|
||||
echo "Binary not found at $BINARY_SRC" >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [[ ! -f "$CONFIG_SRC" ]]; then
|
||||
echo "Config source not found at $CONFIG_SRC" >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
ensure_user() {
|
||||
local user="$1"
|
||||
local groups="${2:-}"
|
||||
local existing_groups=""
|
||||
if ! id -u "$user" >/dev/null 2>&1; then
|
||||
if [[ -n "$groups" ]]; then
|
||||
local group
|
||||
IFS=',' read -ra group_list <<< "$groups"
|
||||
for group in "${group_list[@]}"; do
|
||||
if getent group "$group" >/dev/null 2>&1; then
|
||||
existing_groups="${existing_groups:+$existing_groups,}$group"
|
||||
else
|
||||
log "Skipping missing system group '$group' for $user"
|
||||
fi
|
||||
done
|
||||
fi
|
||||
if [[ -n "$existing_groups" ]]; then
|
||||
useradd -r -s /usr/sbin/nologin -G "$existing_groups" "$user"
|
||||
else
|
||||
useradd -r -s /usr/sbin/nologin "$user"
|
||||
fi
|
||||
elif [[ -n "$groups" ]]; then
|
||||
local group
|
||||
IFS=',' read -ra group_list <<< "$groups"
|
||||
for group in "${group_list[@]}"; do
|
||||
if getent group "$group" >/dev/null 2>&1; then
|
||||
existing_groups="${existing_groups:+$existing_groups,}$group"
|
||||
else
|
||||
log "Skipping missing system group '$group' for $user"
|
||||
fi
|
||||
done
|
||||
if [[ -n "$existing_groups" ]]; then
|
||||
usermod -a -G "$existing_groups" "$user"
|
||||
fi
|
||||
fi
|
||||
}
|
||||
|
||||
log() {
|
||||
echo "[$(date -u +%Y-%m-%dT%H:%M:%SZ)] $*"
|
||||
}
|
||||
|
||||
if [[ "$PROFILE" == "pi" ]] && ! 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 libcamera-apps."
|
||||
fi
|
||||
|
||||
install_video_deps() {
|
||||
if command -v ffmpeg >/dev/null 2>&1 && (command -v rpicam-vid >/dev/null 2>&1 || command -v libcamera-vid >/dev/null 2>&1); then
|
||||
log "Video dependencies already installed; skipping apt install"
|
||||
return
|
||||
fi
|
||||
log "Installing video dependencies (libcamera-apps, ffmpeg)..."
|
||||
apt-get update
|
||||
apt-get install -y --no-install-recommends libcamera-apps ffmpeg
|
||||
}
|
||||
|
||||
install_debian_laptop_deps() {
|
||||
# The debian-laptop profile is intentionally Debian-specific, so using apt
|
||||
# and systemd directly is simpler than pretending this installer is a
|
||||
# cross-distro abstraction. v4l-utils is included for local camera inspection
|
||||
# with tools such as v4l2-ctl while ffmpeg owns publishing.
|
||||
if command -v ffmpeg >/dev/null 2>&1 \
|
||||
&& command -v arecord >/dev/null 2>&1 \
|
||||
&& command -v aplay >/dev/null 2>&1 \
|
||||
&& command -v v4l2-ctl >/dev/null 2>&1; then
|
||||
log "Debian laptop media dependencies already installed; skipping apt install"
|
||||
return
|
||||
fi
|
||||
log "Installing Debian laptop media dependencies (ffmpeg, ALSA tools, V4L2 tools)..."
|
||||
apt-get update
|
||||
apt-get install -y --no-install-recommends ffmpeg alsa-utils v4l-utils ca-certificates
|
||||
}
|
||||
|
||||
find_boot_config() {
|
||||
if [[ -f /boot/firmware/config.txt ]]; then
|
||||
printf "/boot/firmware/config.txt"
|
||||
return 0
|
||||
fi
|
||||
if [[ -f /boot/config.txt ]]; then
|
||||
printf "/boot/config.txt"
|
||||
return 0
|
||||
fi
|
||||
return 1
|
||||
}
|
||||
|
||||
ensure_pwm_overlay() {
|
||||
local boot_config
|
||||
if ! boot_config="$(find_boot_config)"; then
|
||||
log "WARNING: unable to locate /boot config.txt; please ensure dtoverlay=pwm-2chan is added manually for servo support"
|
||||
return
|
||||
fi
|
||||
if grep -Eq '^\s*dtoverlay=pwm(-2chan)?' "$boot_config"; then
|
||||
log "PWM overlay already present in $boot_config"
|
||||
return
|
||||
fi
|
||||
local backup="${boot_config}.roverd.$(date +%Y%m%d%H%M%S).bak"
|
||||
cp "$boot_config" "$backup"
|
||||
{
|
||||
echo ""
|
||||
echo "# Added by roverd installer to expose PWM hardware for camera servo control on GPIO12/13 (leaves GPIO18/19 free for I2S)"
|
||||
echo "dtoverlay=pwm-2chan,pin=12,func=4,pin2=13,func2=4"
|
||||
} >> "$boot_config"
|
||||
log "Enabled dtoverlay=pwm-2chan on GPIO12/13 in $boot_config (backup at $backup). Reboot required for changes to apply."
|
||||
}
|
||||
|
||||
install_profile_dependencies() {
|
||||
case "$PROFILE" in
|
||||
pi)
|
||||
install_video_deps
|
||||
ensure_pwm_overlay
|
||||
;;
|
||||
debian-laptop)
|
||||
install_debian_laptop_deps
|
||||
;;
|
||||
esac
|
||||
}
|
||||
|
||||
install_profile_audio_support() {
|
||||
case "$PROFILE" in
|
||||
pi)
|
||||
install_audio_support
|
||||
;;
|
||||
debian-laptop)
|
||||
# Laptop audio uses the distro's normal ALSA "default" device by
|
||||
# default. Avoid installing the Raspberry Pi AIY asound.conf because
|
||||
# that would break ordinary laptop sound routing.
|
||||
log "Skipping Pi AIY audio setup for debian-laptop profile"
|
||||
;;
|
||||
esac
|
||||
}
|
||||
|
||||
ensure_user roverd "$ROVERD_GROUPS"
|
||||
install -o roverd -g roverd -m 0755 "$BINARY_SRC" /usr/local/bin/roverd
|
||||
log "Installed roverd binary for profile $PROFILE"
|
||||
|
||||
install_self_update_support() {
|
||||
local sudoers_file="/etc/sudoers.d/roverd-self-update"
|
||||
local update_env="/etc/roverd-update.env"
|
||||
local quoted_repo_root
|
||||
|
||||
# The self-update helper must know which checkout should receive the git
|
||||
# pull. Recording the repository root during the normal installer run keeps
|
||||
# the runtime websocket command simple and prevents the rover from accepting
|
||||
# a caller-controlled path.
|
||||
printf -v quoted_repo_root '%q' "$REPO_ROOT"
|
||||
install -D -o root -g root -m 0644 /dev/null "$update_env"
|
||||
cat > "$update_env" <<ENV
|
||||
# Managed by pi/install_roverd.sh.
|
||||
# This path is intentionally captured from the installer working directory so
|
||||
# admin-triggered rover updates always operate on the same full repository that
|
||||
# was used for the manual install.
|
||||
ROVERD_REPO_DIR=$quoted_repo_root
|
||||
ENV
|
||||
log "Registered roverd update repository at $REPO_ROOT"
|
||||
|
||||
# The helper is root-owned and argument-free. sudoers grants the roverd
|
||||
# service user exactly this command and nothing broader, which is important
|
||||
# because update requests arrive over the rover websocket.
|
||||
install -D -o root -g root -m 0755 pi/bin/roverd-self-update.sh /usr/local/sbin/roverd-self-update
|
||||
cat > "$sudoers_file" <<'SUDOERS'
|
||||
# Managed by pi/install_roverd.sh.
|
||||
# Allow only the roverd service account to run the fixed self-update helper.
|
||||
roverd ALL=(root) NOPASSWD: /usr/local/sbin/roverd-self-update
|
||||
SUDOERS
|
||||
chown root:root "$sudoers_file"
|
||||
chmod 0440 "$sudoers_file"
|
||||
if command -v visudo >/dev/null 2>&1; then
|
||||
visudo -cf "$sudoers_file" >/dev/null
|
||||
fi
|
||||
log "Installed roverd self-update helper and sudoers rule"
|
||||
}
|
||||
|
||||
install_self_update_support
|
||||
|
||||
CONFIG_DEST="/etc/roverd.yaml"
|
||||
CONFIG_EXISTS=0
|
||||
if [[ -f "$CONFIG_DEST" ]]; then
|
||||
CONFIG_EXISTS=1
|
||||
log "Existing $CONFIG_DEST found; leaving it in place"
|
||||
else
|
||||
install -D -o roverd -g roverd -m 0640 "$CONFIG_SRC" "$CONFIG_DEST"
|
||||
log "Installed sample config to $CONFIG_DEST (edit before starting service)"
|
||||
fi
|
||||
|
||||
install -m 0644 pi/systemd/roverd.service /etc/systemd/system/roverd.service
|
||||
log "Installed roverd systemd unit"
|
||||
|
||||
install_profile_dependencies
|
||||
|
||||
# Enable Google AIY v1 sound card, ALSA defaults, and TTS engines
|
||||
install_audio_support() {
|
||||
local boot_config
|
||||
if ! boot_config="$(find_boot_config)"; then
|
||||
log "WARNING: unable to locate /boot config.txt; please enable googlevoicehat-soundcard overlay manually"
|
||||
else
|
||||
# Ensure onboard audio is disabled (prevents card index flapping)
|
||||
if grep -Eq '^\s*dtparam=audio=on\b' "$boot_config"; then
|
||||
log "Disabling onboard audio (dtparam=audio=on -> off) in $boot_config"
|
||||
sed -i 's/^\s*dtparam=audio=on\b/# roverd disabled onboard audio\ndtparam=audio=off/' "$boot_config"
|
||||
fi
|
||||
if ! grep -Eq '^\s*dtparam=audio=off\b' "$boot_config"; then
|
||||
log "Adding dtparam=audio=off to $boot_config"
|
||||
echo "dtparam=audio=off" >> "$boot_config"
|
||||
fi
|
||||
if ! grep -Eq '^\s*dtparam=i2s=on\b' "$boot_config"; then
|
||||
log "Adding dtparam=i2s=on to $boot_config"
|
||||
echo "dtparam=i2s=on" >> "$boot_config"
|
||||
fi
|
||||
if ! grep -Eq '^\s*dtoverlay=googlevoicehat-soundcard\b' "$boot_config"; then
|
||||
local backup="${boot_config}.roverd.$(date +%Y%m%d%H%M%S).bak"
|
||||
cp "$boot_config" "$backup"
|
||||
{
|
||||
echo ""
|
||||
echo "# Added by roverd installer to enable Google AIY v1 sound card"
|
||||
echo "dtoverlay=googlevoicehat-soundcard"
|
||||
} >> "$boot_config"
|
||||
log "Enabled googlevoicehat-soundcard overlay in $boot_config (backup at $backup). Reboot required."
|
||||
else
|
||||
log "googlevoicehat-soundcard overlay already present in $boot_config"
|
||||
fi
|
||||
fi
|
||||
if [[ -f pi/asound.conf ]]; then
|
||||
install -m 0644 pi/asound.conf /etc/asound.conf
|
||||
log "Installed ALSA config to /etc/asound.conf"
|
||||
alsa_reload_notice=1
|
||||
else
|
||||
log "WARNING: pi/asound.conf missing; skipping ALSA config install"
|
||||
fi
|
||||
|
||||
if [[ "${alsa_reload_notice:-0}" -eq 1 ]]; then
|
||||
log "ALSA config updated; reboot recommended for overlay + audio changes"
|
||||
fi
|
||||
|
||||
log "Installing TTS/audio packages (flite, espeak, Chrome TTS runtime deps)..."
|
||||
# check for flite and espeak before installing, and then install them if either is missing
|
||||
if command -v flite >/dev/null 2>&1 \
|
||||
&& command -v espeak >/dev/null 2>&1 \
|
||||
&& command -v python3 >/dev/null 2>&1 \
|
||||
&& command -v curl >/dev/null 2>&1 \
|
||||
&& command -v xz >/dev/null 2>&1 \
|
||||
&& command -v unzip >/dev/null 2>&1 \
|
||||
&& command -v aplay >/dev/null 2>&1 \
|
||||
&& ldconfig -p 2>/dev/null | grep -q 'libc++\.so\.1' \
|
||||
&& ldconfig -p 2>/dev/null | grep -q 'libc++abi\.so\.1'; then
|
||||
log "Core TTS packages already installed; skipping apt install"
|
||||
else
|
||||
apt-get update
|
||||
apt-get install -y --no-install-recommends flite espeak python3 curl xz-utils unzip alsa-utils libc++1 libc++abi1 \
|
||||
|| apt-get install -y --no-install-recommends flite espeak python3 curl xz-utils unzip alsa-utils libc++1-14 libc++abi1-14
|
||||
fi
|
||||
|
||||
install -D -o root -g root -m 0755 pi/bin/chromegtts-daemon.py /usr/local/bin/chromegtts-daemon
|
||||
log "Installed chromegtts daemon"
|
||||
|
||||
install_google_tts_assets
|
||||
}
|
||||
|
||||
install_google_tts_assets() {
|
||||
local asset_dir="/opt/roverd/googletts"
|
||||
local voice_dir="${asset_dir}/en-us-x-multi-r30"
|
||||
local dist_url="https://storage.googleapis.com/chromeos-localmirror/distfiles/googletts-26.5.tar.xz"
|
||||
local tmp_dir
|
||||
local lib_member
|
||||
|
||||
case "$(uname -m)" in
|
||||
aarch64|arm64)
|
||||
lib_member="libchrometts_arm64.so"
|
||||
;;
|
||||
armv7l|armhf)
|
||||
lib_member="libchrometts_armv7.so"
|
||||
;;
|
||||
*)
|
||||
log "WARNING: unsupported Chrome TTS architecture $(uname -m); skipping Google TTS assets"
|
||||
return
|
||||
;;
|
||||
esac
|
||||
|
||||
if [[ -f "${asset_dir}/libchrometts.so" && -f "${voice_dir}/pipeline.pb" ]]; then
|
||||
log "Google Chrome TTS assets already installed; skipping download"
|
||||
return
|
||||
fi
|
||||
|
||||
tmp_dir="$(mktemp -d)"
|
||||
log "Downloading Google Chrome TTS assets..."
|
||||
curl -L -o "${tmp_dir}/googletts-26.5.tar.xz" "$dist_url"
|
||||
tar -xf "${tmp_dir}/googletts-26.5.tar.xz" -C "$tmp_dir" en-us-x-multi.zvoice "$lib_member"
|
||||
|
||||
install -d -o root -g root -m 0755 "$asset_dir"
|
||||
install -o root -g root -m 0644 "${tmp_dir}/${lib_member}" "${asset_dir}/libchrometts.so"
|
||||
rm -rf "$voice_dir"
|
||||
install -d -o root -g root -m 0755 "$voice_dir"
|
||||
unzip -q "${tmp_dir}/en-us-x-multi.zvoice" -d "$voice_dir"
|
||||
chown -R root:root "$asset_dir"
|
||||
find "$asset_dir" -type d -exec chmod 0755 {} +
|
||||
find "$asset_dir" -type f -exec chmod 0644 {} +
|
||||
rm -rf "$tmp_dir"
|
||||
log "Installed Google Chrome TTS assets to $asset_dir"
|
||||
}
|
||||
|
||||
# Install the profile-specific video publisher. The audio publisher/listener are
|
||||
# shared because both Pi and Debian laptop profiles use the same media.env audio
|
||||
# contract and ffmpeg/ALSA command shape.
|
||||
install -D -o root -g root -m 0755 "$VIDEO_HELPER_SRC" "$VIDEO_HELPER_DEST"
|
||||
log "Installed $PROFILE video publisher helper"
|
||||
install -m 0644 "$VIDEO_SERVICE_SRC" "/etc/systemd/system/$VIDEO_SERVICE_NAME"
|
||||
log "Installed $PROFILE video publisher systemd unit"
|
||||
# Install audio-only publisher assets
|
||||
install -D -o root -g root -m 0755 pi/bin/audio-only-publisher.sh /usr/local/bin/audio-only-publisher
|
||||
install -m 0644 pi/systemd/audio-only-publisher.service /etc/systemd/system/audio-only-publisher.service
|
||||
log "Installed audio-only publisher helper + systemd unit"
|
||||
# Install audio-forward listener assets
|
||||
install -D -o root -g root -m 0755 pi/bin/audio-forward-listener.sh /usr/local/bin/audio-forward-listener
|
||||
install -m 0644 pi/systemd/audio-forward-listener.service /etc/systemd/system/audio-forward-listener.service
|
||||
log "Installed audio-forward listener helper + systemd unit"
|
||||
install -d -o roverd -g roverd /var/lib/roverd
|
||||
case "$PROFILE" in
|
||||
pi)
|
||||
cat > /var/lib/roverd/media.env <<'ENV'
|
||||
# Managed by roverd; placeholder values will be overwritten at runtime.
|
||||
ROVERD_VIDEO_ENABLE=1
|
||||
ROVERD_VIDEO_PUBLISHER=pi-libcamera
|
||||
ROVERD_VIDEO_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
|
||||
ROVERD_VIDEO_DEVICE=
|
||||
ROVERD_VIDEO_INPUT_FORMAT=
|
||||
ROVERD_VIDEO_WIDTH=640
|
||||
ROVERD_VIDEO_HEIGHT=480
|
||||
ROVERD_VIDEO_FPS=30
|
||||
ROVERD_VIDEO_BITRATE=2000000
|
||||
ROVERD_VIDEO_INVERT=1
|
||||
ROVERD_VIDEO_SENSOR_MODE=1296:972
|
||||
ROVERD_AUDIO_CAPTURE_ENABLE=0
|
||||
ROVERD_AUDIO_CAPTURE_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-audio,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
|
||||
ROVERD_AUDIO_CAPTURE_DEVICE=hw:0,0
|
||||
ROVERD_AUDIO_CAPTURE_SAMPLE_RATE=48000
|
||||
ROVERD_AUDIO_CAPTURE_CHANNELS=2
|
||||
ROVERD_AUDIO_CAPTURE_BITRATE=510000
|
||||
ROVERD_AUDIO_PLAYBACK_ENABLE=1
|
||||
ROVERD_AUDIO_PLAYBACK_FORWARD_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-fwd,m=request&latency=10&mode=caller&transtype=live&pkt_size=1316
|
||||
ROVERD_AUDIO_PLAYBACK_DEVICE=forward
|
||||
ROVERD_AUDIO_PLAYBACK_NORMALIZE=1
|
||||
ROVERD_AUDIO_PLAYBACK_NORMALIZE_FILTER=dynaudnorm=f=75:g=15:m=10:p=0.9,alimiter=limit=0.85:level=disabled
|
||||
ENV
|
||||
;;
|
||||
debian-laptop)
|
||||
cat > /var/lib/roverd/media.env <<'ENV'
|
||||
# Managed by roverd; placeholder values will be overwritten at runtime.
|
||||
ROVERD_VIDEO_ENABLE=1
|
||||
ROVERD_VIDEO_PUBLISHER=debian-laptop-v4l2
|
||||
ROVERD_VIDEO_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
|
||||
ROVERD_VIDEO_DEVICE=/dev/video0
|
||||
ROVERD_VIDEO_INPUT_FORMAT=mjpeg
|
||||
ROVERD_VIDEO_WIDTH=640
|
||||
ROVERD_VIDEO_HEIGHT=480
|
||||
ROVERD_VIDEO_FPS=30
|
||||
ROVERD_VIDEO_BITRATE=2000000
|
||||
ROVERD_VIDEO_INVERT=0
|
||||
ROVERD_VIDEO_SENSOR_MODE=
|
||||
ROVERD_AUDIO_CAPTURE_ENABLE=1
|
||||
ROVERD_AUDIO_CAPTURE_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-audio,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
|
||||
ROVERD_AUDIO_CAPTURE_DEVICE=default
|
||||
ROVERD_AUDIO_CAPTURE_SAMPLE_RATE=48000
|
||||
ROVERD_AUDIO_CAPTURE_CHANNELS=2
|
||||
ROVERD_AUDIO_CAPTURE_BITRATE=510000
|
||||
ROVERD_AUDIO_PLAYBACK_ENABLE=1
|
||||
ROVERD_AUDIO_PLAYBACK_FORWARD_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-fwd,m=request&latency=10&mode=caller&transtype=live&pkt_size=1316
|
||||
ROVERD_AUDIO_PLAYBACK_DEVICE=default
|
||||
ROVERD_AUDIO_PLAYBACK_NORMALIZE=1
|
||||
ROVERD_AUDIO_PLAYBACK_NORMALIZE_FILTER=dynaudnorm=f=75:g=15:m=10:p=0.9,alimiter=limit=0.85:level=disabled
|
||||
ENV
|
||||
;;
|
||||
esac
|
||||
chown roverd:roverd /var/lib/roverd/media.env
|
||||
chmod 0640 /var/lib/roverd/media.env
|
||||
# Create persistent audio FIFO for capture -> publisher
|
||||
FIFO_PATH="/var/lib/roverd/audio.pcm"
|
||||
if [[ -p "$FIFO_PATH" ]]; then
|
||||
chown roverd:audio "$FIFO_PATH"
|
||||
chmod 0660 "$FIFO_PATH"
|
||||
else
|
||||
rm -f "$FIFO_PATH"
|
||||
mkfifo "$FIFO_PATH"
|
||||
chown roverd:audio "$FIFO_PATH"
|
||||
chmod 0660 "$FIFO_PATH"
|
||||
fi
|
||||
if [[ "$PROFILE" == "pi" ]]; then
|
||||
# Ensure ALSA config is in place for the Raspberry Pi Google Voice HAT
|
||||
# rovermic/forward devices. Debian laptop installs should keep their normal
|
||||
# distro sound configuration and use device: default in roverd.yaml.
|
||||
install -m 0644 pi/asound.conf /etc/asound.conf
|
||||
log "Installed ALSA config (/etc/asound.conf)"
|
||||
fi
|
||||
|
||||
install_profile_audio_support
|
||||
|
||||
systemctl daemon-reload
|
||||
systemctl enable roverd.service
|
||||
systemctl enable "$VIDEO_SERVICE_NAME"
|
||||
systemctl enable audio-only-publisher.service
|
||||
systemctl enable audio-forward-listener.service
|
||||
if [[ $CONFIG_EXISTS -eq 1 ]]; then
|
||||
systemctl restart roverd.service
|
||||
systemctl restart "$VIDEO_SERVICE_NAME"
|
||||
systemctl restart audio-only-publisher.service
|
||||
systemctl restart audio-forward-listener.service
|
||||
log "Restarted roverd + media publishers/listener"
|
||||
else
|
||||
log "Skipped auto-start because config is the sample; edit $CONFIG_DEST then run: sudo systemctl restart roverd ${VIDEO_SERVICE_NAME%.service} audio-only-publisher audio-forward-listener"
|
||||
fi
|
||||
|
||||
log "Install complete for profile $PROFILE"
|
||||
main "$@"
|
||||
|
||||
@@ -50,17 +50,27 @@ media:
|
||||
audioPlayback:
|
||||
enabled: true
|
||||
service: audio-forward-listener.service
|
||||
device: default
|
||||
# The Debian laptop installer creates a named "forward" ALSA device so
|
||||
# browser-forwarded audio has its own ForwardMaster mixer control instead
|
||||
# of sharing the TTS default output path.
|
||||
device: forward
|
||||
normalize: true
|
||||
|
||||
cameraServo:
|
||||
enabled: false
|
||||
|
||||
audio:
|
||||
ttsEnabled: false
|
||||
# TTS does not need Pi-specific hardware. The laptop ALSA profile maps the
|
||||
# normal default playback device through the TTSMaster softvol control, so
|
||||
# the existing flite/espeak execution path can stay unchanged.
|
||||
ttsEnabled: true
|
||||
defaultEngine: flite
|
||||
|
||||
horn:
|
||||
enabled: false
|
||||
# Horn audio is generated locally by roverd and plays through the named
|
||||
# "horn" ALSA device by default, which the laptop installer wires to a
|
||||
# separate HornMaster softvol control.
|
||||
enabled: true
|
||||
|
||||
headlight:
|
||||
enabled: false
|
||||
|
||||
@@ -1,6 +1,9 @@
|
||||
1. improve spectator page, options on what to see and what not to see
|
||||
2. fix private rover requests not working.....
|
||||
3. fix this:
|
||||
2. pagewide system for "why was i removed from a rover", instead of the link to spectator page thing
|
||||
3. admin command for kicking people off of rovers. just a kick, nothing persistent
|
||||
4. kick people off rover after 3 consecurtive bump-off attempts
|
||||
5. make signaling more clear for idle skips and idle skip kicks
|
||||
6. fix this:
|
||||
`Jun 18 15:14:18 roombaserver.local node[216731]: /home/daniel/MultiRoombaRover/server/src/services/roverManager/socketHandlers.js:92
|
||||
Jun 18 15:14:18 roombaserver.local node[216731]: cb({ error: err.message });
|
||||
Jun 18 15:14:18 roombaserver.local node[216731]: ^
|
||||
|
||||
Reference in New Issue
Block a user