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switched rover <-> server streams to rtsptcp, and moved mediamtx to be a server owned and configured child process!

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This commit is contained in:
legop3
2026-08-04 01:47:03 -04:00
parent 28fcbad902
commit c7c52eb39c
26 changed files with 641 additions and 186 deletions
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pi/roverd/config.go
+57 -50
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@@ -3,9 +3,11 @@ package roverd
import (
"errors"
"fmt"
"net"
"net/url"
"os"
"regexp"
"strconv"
"strings"
"time"
@@ -77,10 +79,10 @@ type HornConfig struct {
}
type MediaConfig struct {
// PublishPort is shared by the derived video, microphone, and forwarded-audio
// SRT URLs. Keeping it at this level prevents each nested block from needing
// RTSPPort is shared by the derived video, microphone, and forwarded-audio
// RTSP URLs. Keeping it at this level prevents each nested block from needing
// to repeat the same server port when the common MediaMTX listener is used.
PublishPort int `yaml:"publishPort" json:"-"`
RTSPPort int `yaml:"rtspPort" json:"-"`
Manage bool `yaml:"manage" json:"manage"`
HealthURL string `yaml:"healthUrl" json:"healthUrl,omitempty"`
HealthInterval Duration `yaml:"healthInterval" json:"-"`
@@ -93,10 +95,12 @@ type VideoMediaConfig struct {
// Publisher selects the installed publisher script/pipeline family. The
// first pass uses pi-libcamera for current rovers; laptop-v4l2 can be added
// without changing the server-facing media shape again.
Enabled bool `yaml:"enabled" json:"enabled"`
Service string `yaml:"service" json:"service,omitempty"`
Publisher string `yaml:"publisher" json:"publisher,omitempty"`
PublishURL string `yaml:"publishUrl" json:"publishUrl,omitempty"`
Enabled bool `yaml:"enabled" json:"enabled"`
Service string `yaml:"service" json:"service,omitempty"`
Publisher string `yaml:"publisher" json:"publisher,omitempty"`
// PublishURL is derived during validation. It remains in rover metadata for server-side
// consumers, but is not a second hand-written endpoint in /etc/roverd.yaml.
PublishURL string `yaml:"-" json:"publishUrl,omitempty"`
Device string `yaml:"device" json:"device,omitempty"`
InputFormat string `yaml:"inputFormat" json:"-"`
Width int `yaml:"width" json:"-"`
@@ -111,9 +115,10 @@ type AudioCaptureConfig struct {
// AudioCapture describes the rover microphone stream that browsers can
// subscribe to as "<rover>-audio". A disabled capture block still has
// normalized defaults so enabling it only requires flipping enabled: true.
Enabled bool `yaml:"enabled" json:"enabled"`
Service string `yaml:"service" json:"service,omitempty"`
PublishURL string `yaml:"publishUrl" json:"publishUrl,omitempty"`
Enabled bool `yaml:"enabled" json:"enabled"`
Service string `yaml:"service" json:"service,omitempty"`
// PublishURL follows the same derived-only contract as the video path.
PublishURL string `yaml:"-" json:"publishUrl,omitempty"`
Device string `yaml:"device" json:"device,omitempty"`
SampleRate int `yaml:"sampleRate" json:"-"`
Channels int `yaml:"channels" json:"-"`
@@ -125,9 +130,10 @@ type AudioPlaybackConfig struct {
// MediaMTX for playback on the rover speaker. The URL is a request/read URL
// for the rover listener, while the server converts it to publish mode when
// it needs to inject audio.
Enabled bool `yaml:"enabled" json:"enabled"`
Service string `yaml:"service" json:"service,omitempty"`
ForwardURL string `yaml:"forwardUrl" json:"forwardUrl,omitempty"`
Enabled bool `yaml:"enabled" json:"enabled"`
Service string `yaml:"service" json:"service,omitempty"`
// ForwardURL is derived because the server and rover must agree on the exact -fwd path.
ForwardURL string `yaml:"-" json:"forwardUrl,omitempty"`
Device string `yaml:"device" json:"device,omitempty"`
Normalize bool `yaml:"normalize" json:"-"`
NormalizeFilter string `yaml:"normalizeFilter" json:"-"`
@@ -230,7 +236,7 @@ func LoadConfig(path string) (*Config, error) {
},
},
Media: MediaConfig{
PublishPort: 9000,
RTSPPort: 8554,
HealthInterval: Duration{Duration: 30 * time.Second},
Video: VideoMediaConfig{
Enabled: true,
@@ -349,8 +355,8 @@ func LoadConfig(path string) (*Config, error) {
if cfg.BRC.GPIOChip == "" {
cfg.BRC.GPIOChip = "gpiochip0"
}
if cfg.Media.PublishPort <= 0 {
cfg.Media.PublishPort = 9000
if cfg.Media.RTSPPort <= 0 {
cfg.Media.RTSPPort = 8554
}
if err := validateMediaConfig(&cfg.Media, cfg.ServerURL, cfg.Name); err != nil {
return nil, fmt.Errorf("media: %w", err)
@@ -432,25 +438,25 @@ func validateMediaConfig(cfg *MediaConfig, serverURL string, roverName string) e
file is written. This keeps the Pi behavior stable while making laptop
and future publisher variants explicit configuration choices.
*/
if cfg.PublishPort <= 0 {
cfg.PublishPort = 9000
if cfg.RTSPPort <= 0 {
cfg.RTSPPort = 8554
}
if cfg.HealthInterval.Duration <= 0 {
cfg.HealthInterval = Duration{Duration: 30 * time.Second}
}
if err := validateVideoMediaConfig(&cfg.Video, serverURL, roverName, cfg.PublishPort); err != nil {
if err := validateVideoMediaConfig(&cfg.Video, serverURL, roverName, cfg.RTSPPort); err != nil {
return fmt.Errorf("video: %w", err)
}
if err := validateAudioCaptureConfig(&cfg.AudioCapture, serverURL, roverName, cfg.PublishPort); err != nil {
if err := validateAudioCaptureConfig(&cfg.AudioCapture, serverURL, roverName, cfg.RTSPPort); err != nil {
return fmt.Errorf("audioCapture: %w", err)
}
if err := validateAudioPlaybackConfig(&cfg.AudioPlayback, serverURL, roverName, cfg.PublishPort); err != nil {
if err := validateAudioPlaybackConfig(&cfg.AudioPlayback, serverURL, roverName, cfg.RTSPPort); err != nil {
return fmt.Errorf("audioPlayback: %w", err)
}
return nil
}
func validateVideoMediaConfig(cfg *VideoMediaConfig, serverURL string, roverName string, publishPort int) error {
func validateVideoMediaConfig(cfg *VideoMediaConfig, serverURL string, roverName string, rtspPort int) error {
if cfg.Service == "" {
cfg.Service = "video-publisher.service"
}
@@ -476,17 +482,19 @@ func validateVideoMediaConfig(cfg *VideoMediaConfig, serverURL string, roverName
if cfg.SensorMode == "" && cfg.Publisher == "pi-libcamera" {
cfg.SensorMode = "1296:972"
}
if cfg.PublishURL == "" {
derived, err := derivePublishURL(serverURL, roverName, publishPort)
if err != nil {
return fmt.Errorf("derive publishUrl: %w", err)
}
cfg.PublishURL = derived
/*
Always derive this endpoint. Older rover configs can contain an explicit SRT publishUrl;
honoring it after a binary update would silently leave that rover on the old transport.
*/
derived, err := derivePublishURL(serverURL, roverName, rtspPort)
if err != nil {
return fmt.Errorf("derive publishUrl: %w", err)
}
cfg.PublishURL = derived
return nil
}
func validateAudioCaptureConfig(cfg *AudioCaptureConfig, serverURL string, roverName string, publishPort int) error {
func validateAudioCaptureConfig(cfg *AudioCaptureConfig, serverURL string, roverName string, rtspPort int) error {
if cfg.Service == "" {
cfg.Service = "audio-only-publisher.service"
}
@@ -502,17 +510,15 @@ func validateAudioCaptureConfig(cfg *AudioCaptureConfig, serverURL string, rover
if cfg.Bitrate <= 0 {
cfg.Bitrate = 510000
}
if cfg.PublishURL == "" {
derived, err := derivePublishURL(serverURL, roverName+"-audio", publishPort)
if err != nil {
return fmt.Errorf("derive publishUrl: %w", err)
}
cfg.PublishURL = derived
derived, err := derivePublishURL(serverURL, roverName+"-audio", rtspPort)
if err != nil {
return fmt.Errorf("derive publishUrl: %w", err)
}
cfg.PublishURL = derived
return nil
}
func validateAudioPlaybackConfig(cfg *AudioPlaybackConfig, serverURL string, roverName string, publishPort int) error {
func validateAudioPlaybackConfig(cfg *AudioPlaybackConfig, serverURL string, roverName string, rtspPort int) error {
if cfg.Service == "" {
cfg.Service = "audio-forward-listener.service"
}
@@ -522,13 +528,11 @@ func validateAudioPlaybackConfig(cfg *AudioPlaybackConfig, serverURL string, rov
if cfg.NormalizeFilter == "" {
cfg.NormalizeFilter = "dynaudnorm=f=75:g=15:m=10:p=0.9,alimiter=limit=0.85:level=disabled"
}
if cfg.ForwardURL == "" {
derived, err := deriveReadURL(serverURL, roverName+"-fwd", publishPort)
if err != nil {
return fmt.Errorf("derive forwardUrl: %w", err)
}
cfg.ForwardURL = derived
derived, err := deriveReadURL(serverURL, roverName+"-fwd", rtspPort)
if err != nil {
return fmt.Errorf("derive forwardUrl: %w", err)
}
cfg.ForwardURL = derived
return nil
}
@@ -577,20 +581,17 @@ func validateAutoSideBrushConfig(cfg *AutoSideBrushConfig) {
}
func derivePublishURL(serverURL, streamName string, port int) (string, error) {
return deriveSRTURL(serverURL, streamName, port, "publish")
return deriveRTSPURL(serverURL, streamName, port)
}
func deriveReadURL(serverURL, streamName string, port int) (string, error) {
return deriveSRTURL(serverURL, streamName, port, "request")
return deriveRTSPURL(serverURL, streamName, port)
}
func deriveSRTURL(serverURL, streamName string, port int, mode string) (string, error) {
func deriveRTSPURL(serverURL, streamName string, port int) (string, error) {
if streamName == "" {
return "", errors.New("missing stream name for publishUrl")
}
if mode == "" {
mode = "publish"
}
parsed, err := url.Parse(serverURL)
if err != nil {
return "", err
@@ -600,10 +601,16 @@ func deriveSRTURL(serverURL, streamName string, port int, mode string) (string,
return "", errors.New("serverUrl missing host")
}
if port <= 0 {
port = 9000
port = 8554
}
/*
JoinHostPort handles both ordinary hostnames and bracketed IPv6 addresses. The rover name
is a MediaMTX path, so it is escaped independently instead of interpolated into the host.
RTSP distinguishes publishing from reading through protocol methods, which is why both
directions intentionally use the same URL shape.
*/
escaped := url.PathEscape(streamName)
return fmt.Sprintf("srt://%s:%d?streamid=#!::r=%s,m=%s&latency=10&mode=caller&transtype=live&pkt_size=1316", host, port, escaped, mode), nil
return fmt.Sprintf("rtsp://%s/%s", net.JoinHostPort(host, strconv.Itoa(port)), escaped), nil
}
var hexColorRe = regexp.MustCompile(`^#[0-9A-Fa-f]{6}$`)