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

server/src/services/audioForwardService/policy.js

@@ -30,25 +30,13 @@ function createAudioForwardPolicy(deps) {
     }
   }
 
-  function forcePublishStreamMode(rawUrl) {
-    const value = String(rawUrl || '').trim();
-    if (!value) return '';
-    if (!/[?&]streamid=#!::/.test(value)) return value;
-    if (/,m=publish\b/.test(value)) return value;
-    if (/,m=[a-zA-Z]+\b/.test(value)) return value.replace(/,m=[a-zA-Z]+\b/, ',m=publish');
-    return value.replace(/([?&]streamid=#!::[^&]*)/, '$1,m=publish');
-  }
-
   function resolveForwardUrl(roverId) {
-    const record = roverManager.rovers.get(roverId);
-    // Rovers listen to the playback stream with a request/read URL. The VIP
-    // upload path needs to publish into that same stream, so the configured
-    // nested playback URL is converted to publish mode below.
-    const configured = record?.meta?.media?.audioPlayback?.forwardUrl;
-    if (configured) return forcePublishStreamMode(configured);
-    return `srt://127.0.0.1:9000?streamid=#!::r=${encodeURIComponent(
-      roverId + streamSuffix,
-    )},m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316`;
+    /*
+      The server publishes to its own MediaMTX child, so loopback is the stable and correct
+      route regardless of which hostname a rover uses to reach this machine. RTSP uses the
+      same path for publish and read; ANNOUNCE/RECORD and DESCRIBE/PLAY distinguish direction.
+    */
+    return `rtsp://127.0.0.1:8554/${encodeURIComponent(roverId + streamSuffix)}`;
   }
 
   function resolveForwardPathId(roverId) {

server/src/services/audioForwardService/policy.test.js

@@ -25,3 +25,8 @@ test('preserves normal audio forwarding for an unmuted verified driver', () => {
   const policy = createPolicy();
   assert.doesNotThrow(() => policy.ensureAudioForwardPermission({}, 'rover'));
 });
+
+test('publishes forwarded audio to the local MediaMTX RTSP path', () => {
+  const policy = createPolicy();
+  assert.equal(policy.resolveForwardUrl('rover one'), 'rtsp://127.0.0.1:8554/rover%20one-fwd');
+});

server/src/services/audioForwardService/workerEngine.js

@@ -86,7 +86,7 @@ function createAudioForwardWorkerEngine(deps) {
       exited = true;
     };
     // ChildProcess.killed only means Node successfully sent a signal, not that
-    // ffmpeg actually exited. Track the real exit event so FIFO/SRT hangs still
+    // ffmpeg actually exited. Track the real exit event so FIFO/publisher hangs still
     // get escalated to SIGKILL instead of making systemd wait for its timeout.
     proc.once('exit', markExited);
     try {
@@ -145,7 +145,13 @@ function createAudioForwardWorkerEngine(deps) {
       '-muxpreload',
       '0',
       '-f',
-      'mpegts',
+      'rtsp',
+      /*
+        The MediaMTX listener accepts RTSP over TCP only. Pinning it here makes the server's
+        own publisher follow the same reliable transport contract as every rover publisher.
+      */
+      '-rtsp_transport',
+      'tcp',
       outputUrl,
     ];
   }