clean up whep delivery

README.md

@@ -56,7 +56,7 @@ cd ~/MultiRoombaRover
 sudo ./pi/install_roverd.sh --mediamtx
 ```
 
-Then point each rover's `/etc/roverd.yaml` at `ws://<server>:8080/rover`, set (or leave blank to auto-derive) `media.whepUrl` for the Pi’s mediaMTX instance (defaults to `http://<pi-ip>:8889/whep/rovercam`), enable the sensor stream from the UI, and drive with WASD.
+Then point each rover's `/etc/roverd.yaml` at `ws://<server>:8080/rover`, enable the sensor stream from the UI, and drive with WASD. `roverd` automatically advertises its local mediaMTX WHEP endpoint (derived from the Pi’s DHCP address), so no video URL configuration is required unless you want to override the defaults.
 Use the “Restart Camera” button if you enable media management so roverd can bounce the mediamtx 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.
 

dist/dummy1.yml

@@ -14,7 +14,6 @@ battery:
   urgent: 1650
 maxWheelSpeed: 350
 media:
-  whepUrl: http://dummy1.local:8889/whep/rovercam
   manage: false
   service: mediamtx.service
   healthUrl: http://127.0.0.1:9997/v3/paths/list

dist/dummy2.yml

@@ -14,7 +14,6 @@ battery:
   urgent: 1650
 maxWheelSpeed: 350
 media:
-  whepUrl: http://dummy2.local:8889/whep/rovercam
   manage: false
   service: mediamtx.service
   healthUrl: http://127.0.0.1:9997/v3/paths/list

mediamtx_server_integration.md

@@ -5,7 +5,7 @@ Each rover runs mediaMTX locally to capture the Pi camera, and the control serve
 ## Pi (publisher)
 
 - mediaMTX samples the Pi camera (`paths.rovercam.source: rpiCamera`) and exposes the HTTP API on `http://127.0.0.1:9997`.
-- `/etc/roverd.yaml` contains `media.whepUrl`, pointing at the Pi’s own WHEP endpoint (e.g. `http://roomba-alpha.local:8889/whep/rovercam`). This is what the central server will pull.
+- `roverd` automatically detects the Pi’s own WHEP endpoint (e.g. `http://roomba-alpha.local:8889/whep/rovercam`) and reports a `bridgeWhepUrl` (converted to `whep://.../whep`) to the server. No manual per-rover video URL configuration is required.
 - The `media.manage` flag keeps the local service alive via `systemctl` and hits the API for health checks (`media.healthUrl`, defaults to `http://127.0.0.1:9997/v3/paths/list`).
 
 ## Control server (viewer)

pi/roverd/config.go

@@ -4,6 +4,7 @@ import (
 	"errors"
 	"fmt"
 	"net"
+	"net/url"
 	"os"
 	"strings"
 	"time"
@@ -59,6 +60,7 @@ type MediaConfig struct {
 	WhepPort       int      `yaml:"whepPort" json:"-"`
 	WhepPath       string   `yaml:"whepPath" json:"-"`
 	LegacyPublish  string   `yaml:"publishUrl,omitempty" json:"-"`
+	BridgeWhepURL  string   `yaml:"-" json:"bridgeWhepUrl,omitempty"`
 	Manage         bool     `yaml:"manage"`
 	Service        string   `yaml:"service"`
 	HealthURL      string   `yaml:"healthUrl"`
@@ -141,9 +143,40 @@ func LoadConfig(path string) (*Config, error) {
 		scheme := "http"
 		cfg.Media.WhepURL = fmt.Sprintf("%s://%s:%d%s", scheme, ip, effectivePort(cfg.Media.WhepPort), path)
 	}
+	if bridge, err := buildBridgeURL(cfg.Media.WhepURL); err == nil {
+		cfg.Media.BridgeWhepURL = bridge
+	}
 	return &cfg, nil
 }
 
+func buildBridgeURL(src string) (string, error) {
+	if src == "" {
+		return "", errors.New("empty whep url")
+	}
+	parsed, err := url.Parse(src)
+	if err != nil {
+		return "", err
+	}
+	if parsed.Host == "" {
+		return "", errors.New("missing host")
+	}
+	proto := "whep"
+	if parsed.Scheme == "https" {
+		proto = "wheps"
+	}
+	path := parsed.Path
+	if path == "" || path == "/" {
+		path = "/"
+	}
+	if !strings.HasSuffix(path, "/whep") {
+		if !strings.HasSuffix(path, "/") {
+			path += "/"
+		}
+		path += "whep"
+	}
+	return fmt.Sprintf("%s://%s%s", proto, parsed.Host, path), nil
+}
+
 func ensureLeadingSlash(path string) string {
 	if !strings.HasPrefix(path, "/") {
 		return "/" + path

pi/roverd/roverd.sample.yaml

@@ -15,7 +15,6 @@ battery:
   urgent: 1650
 maxWheelSpeed: 350
 media:
-  whepUrl: http://roomba-alpha.local:8889/whep/rovercam
   manage: false
   service: mediamtx.service
   healthUrl: http://127.0.0.1:9997/v3/paths/list

pi/roverd/roverd.yaml

@@ -15,7 +15,6 @@ battery:
   urgent: 1650
 maxWheelSpeed: 350
 media:
-  whepUrl: http://roomba-alpha.local:8889/whep/rovercam
   manage: false
   service: mediamtx.service
   healthUrl: http://127.0.0.1:9997/v3/paths/list

server/src/services/mediaBridgeService.js

@@ -36,8 +36,12 @@ async function syncRover(record) {
     await removePath(record?.id);
     return;
   }
-  const source = normalizeSource(record.meta.media.whepUrl);
+  const source = record.meta.media.bridgeWhepUrl;
   if (!source) {
+    logger.warn(
+      'rover %s missing bridgeWhepUrl; video bridge disabled for this rover',
+      record.id
+    );
     await removePath(record.id);
     return;
   }
@@ -81,27 +85,6 @@ async function removePath(roverId) {
   }
 }
 
-function normalizeSource(raw) {
-  if (!raw) return null;
-  const trimmed = raw.trim();
-  if (!trimmed) return null;
-  try {
-    const parsed = new URL(/^[a-z]+:\/\//i.test(trimmed) ? trimmed : `http://${trimmed}`);
-    const protocol = parsed.protocol === 'https:' ? 'wheps' : 'whep';
-    let path = parsed.pathname || '/';
-    if (!path.endsWith('/whep')) {
-      if (!path.endsWith('/')) {
-        path += '/';
-      }
-      path += 'whep';
-    }
-    return `${protocol}://${parsed.host}${path}`;
-  } catch (err) {
-    logger.warn('invalid WHEP URL: %s (%s)', raw, err.message);
-    return null;
-  }
-}
-
 async function callApi(method, path, body) {
   const url = `${apiBase}${path}`;
   const res = await fetch(url, {