puj

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 `name` to the rover’s ID, and make sure the Pi’s mediaMTX is reachable at `http://<pi-ip>:8889/whep/rovercam` (the default). Each rover advertises that WHEP URL in its `hello` frame, and the server’s media bridge automatically creates a matching pull path so mediaMTX on 192.168.0.86 fans the stream out to drivers/spectators—browsers never talk to the Pi directly.
+Then point each rover's `/etc/roverd.yaml` at `ws://<server>:8080/rover`, set `name` to the rover’s ID, and make sure the Pi’s mediaMTX is reachable at `http://<pi-ip>:8889/rovercam/whep` (the default). Each rover advertises that WHEP URL in its `hello` frame, and the server’s media bridge automatically creates a matching pull path so mediaMTX on 192.168.0.86 fans the stream out to drivers/spectators—browsers never talk to the Pi directly.
 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.
 

docs/pi-deployment.md

@@ -55,7 +55,7 @@ Flags:
 | `--mediamtx` | download/install mediaMTX plus the provided config + unit |
 | `--mediamtx-version X.Y.Z` | override the mediaMTX release tag (default `1.15.3`) |
 
-If the script installs the sample config, it will remind you to edit `/etc/roverd.yaml` before manually restarting the service: set `name`, `serverUrl`, serial device, BRC pin, battery thresholds, and optionally override `media.whepUrl`. When left blank, roverd automatically uses the Pi’s primary IPv4 plus `:8889/whep/rovercam`.
+If the script installs the sample config, it will remind you to edit `/etc/roverd.yaml` before manually restarting the service: set `name`, `serverUrl`, serial device, BRC pin, battery thresholds, and optionally override `media.whepUrl`. When left blank, roverd automatically uses the Pi’s primary IPv4 plus `:8889/rovercam/whep`.
 
 ## Manual installation
 
@@ -65,7 +65,7 @@ If the script installs the sample config, it will remind you to edit `/etc/rover
    sudo install -o roverd -g roverd -m 0755 dist/roverd /usr/local/bin/roverd
    sudo install -o roverd -g roverd -m 0640 pi/roverd/roverd.sample.yaml /etc/roverd.yaml
    ```
-   Adjust `/etc/roverd.yaml` for each rover: `name`, `serverUrl` (e.g. `ws://control-server:8080/rover`), serial port path, battery thresholds, GPIO pin for BRC, and (if needed) the media `whepUrl` override. Otherwise, roverd fills in `http://<pi-ip>:8889/whep/rovercam` based on the DHCP-assigned address.
+   Adjust `/etc/roverd.yaml` for each rover: `name`, `serverUrl` (e.g. `ws://control-server:8080/rover`), serial port path, battery thresholds, GPIO pin for BRC, and (if needed) the media `whepUrl` override. Otherwise, roverd fills in `http://<pi-ip>:8889/rovercam/whep` based on the DHCP-assigned address.
 
 2. Install the systemd unit:
    ```bash
@@ -92,7 +92,7 @@ If you set `media.manage: true` in `/etc/roverd.yaml`, make sure the `roverd` se
    sudo systemctl enable --now mediamtx.service
    ```
 
-The sample config uses the Raspberry Pi camera module as the source, enables the local mediaMTX HTTP API so `roverd` can health-check the service, and serves WebRTC playback at `http://<pi-ip>:8889/whep/rovercam`. Keep that URL reachable from the control server—`roverd` advertises it automatically and the central media bridge pulls each rover’s feed over WHEP.  
+The sample config uses the Raspberry Pi camera module as the source, enables the local mediaMTX HTTP API so `roverd` can health-check the service, and serves WebRTC playback at `http://<pi-ip>:8889/rovercam/whep`. Keep that URL reachable from the control server—`roverd` advertises it automatically and the central media bridge pulls each rover’s feed over WHEP.  
 Expose the mediaMTX HTTP API locally (default `http://127.0.0.1:9997`) and set `media.healthUrl` so `roverd` can monitor the pipeline; `media.service` should match the systemd unit name (default `mediamtx.service`).  
 With that in place, the Pi only talks to the server over the trusted LAN while the server-side mediaMTX distributes video to every driver and spectator.
 

pi/roverd/config.go

@@ -94,7 +94,7 @@ func LoadConfig(path string) (*Config, error) {
 		},
 		Media: MediaConfig{
 			WhepPort:       8889,
-			WhepPath:       "/whep/rovercam",
+			WhepPath:       "/rovercam/whep",
 			HealthInterval: Duration{Duration: 30 * time.Second},
 		},
 	}
@@ -135,7 +135,7 @@ func LoadConfig(path string) (*Config, error) {
 		}
 		path := cfg.Media.WhepPath
 		if path == "" {
-			path = "/whep/rovercam"
+			path = "/rovercam/whep"
 		}
 		path = ensureLeadingSlash(path)
 		scheme := "http"

server/src/services/mediaBridgeService.js

@@ -93,23 +93,50 @@ function normalizeSource(raw) {
   if (!raw) return null;
   const trimmed = String(raw).trim();
   if (!trimmed) return null;
-  if (/^wheps?:\/\//i.test(trimmed)) {
-    return trimmed;
-  }
   try {
     const parsed = new URL(trimmed);
-    const protocol = parsed.protocol === 'https:' ? 'wheps' : 'whep';
-    let pathname = parsed.pathname || '/';
-    if (!pathname.startsWith('/')) {
-      pathname = `/${pathname}`;
+    let protocol = parsed.protocol;
+    if (!protocol || protocol === 'http:') {
+      protocol = 'whep:';
+    } else if (protocol === 'https:') {
+      protocol = 'wheps:';
+    } else if (protocol !== 'whep:' && protocol !== 'wheps:') {
+      throw new Error('unsupported protocol');
     }
-    return `${protocol}://${parsed.host}${pathname}${parsed.search || ''}`;
+    const host = parsed.host;
+    if (!host) {
+      throw new Error('missing host');
+    }
+    let pathname = parsed.pathname || '/';
+    pathname = normalizeWhepPath(pathname);
+    return `${protocol.slice(0, -1)}://${host}${pathname}${parsed.search || ''}`;
   } catch (err) {
     logger.warn('invalid WHEP URL provided by rover (%s): %s', raw, err.message);
     return null;
   }
 }
 
+function normalizeWhepPath(pathname) {
+  let result = pathname || '/';
+  if (!result.startsWith('/')) {
+    result = `/${result}`;
+  }
+  result = result.replace(/\/+/g, '/');
+  result = result.replace(/\/+$/, '');
+  if (result.startsWith('/whep/')) {
+    result = `/${result.slice(6)}`;
+  } else if (result === '/whep') {
+    result = '/rovercam';
+  }
+  if (!result || result === '/') {
+    result = '/rovercam';
+  }
+  if (!result.endsWith('/whep')) {
+    result = `${result}/whep`;
+  }
+  return result;
+}
+
 async function callApi(method, path, body) {
   const url = `${apiBase}${path}`;
   const res = await fetch(url, {