MultiRoombaRover/pi/bin/video-publisher.sh

#!/usr/bin/env bash
set -euo pipefail

ENV_FILE="${VIDEO_ENV_FILE:-/var/lib/roverd/video.env}"

if [[ ! -f "$ENV_FILE" ]]; then
	echo "Environment file ${ENV_FILE} missing; cannot publish" >&2
	exit 1
fi

# shellcheck disable=SC1090
source "$ENV_FILE"

: "${PUBLISH_URL:?PUBLISH_URL not set in ${ENV_FILE}}"

VIDEO_WIDTH="${VIDEO_WIDTH:-1920}"
VIDEO_HEIGHT="${VIDEO_HEIGHT:-1080}"
VIDEO_FPS="${VIDEO_FPS:-30}"
VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}"

if [[ -n "${LIBCAMERA_BIN:-}" ]]; then
	LIBCAMERA_BIN_PATH="$LIBCAMERA_BIN"
elif command -v rpicam-vid >/dev/null 2>&1; then
	LIBCAMERA_BIN_PATH="$(command -v rpicam-vid)"
elif command -v libcamera-vid >/dev/null 2>&1; then
	LIBCAMERA_BIN_PATH="$(command -v libcamera-vid)"
else
	echo "Neither rpicam-vid nor libcamera-vid found; install libcamera-apps." >&2
	exit 1
fi

if [[ -n "${FFMPEG_BIN:-}" ]]; then
	FFMPEG_BIN_PATH="$FFMPEG_BIN"
elif command -v ffmpeg >/dev/null 2>&1; then
	FFMPEG_BIN_PATH="$(command -v ffmpeg)"
else
	echo "ffmpeg not found; install it via apt install ffmpeg." >&2
	exit 1
fi

run_pipeline() {
	"${LIBCAMERA_BIN_PATH}" \
		--inline \
		--timeout 0 \
		--width "${VIDEO_WIDTH}" \
		--height "${VIDEO_HEIGHT}" \
		--framerate "${VIDEO_FPS}" \
		--bitrate "${VIDEO_BITRATE}" \
		--codec h264 \
		--profile baseline \
		--denoise cdn_off \
		--nopreview \
		--output - \
		| "${FFMPEG_BIN_PATH}" \
			-hide_banner \
			-loglevel warning \
			-fflags nobuffer \
			-use_wallclock_as_timestamps 1 \
			-f h264 \
			-i pipe:0 \
			-c:v copy \
			-an \
			-flush_packets 1 \
			-f mpegts \
			"${PUBLISH_URL}"
}

while true; do
	if run_pipeline; then
		exit 0
	fi
	echo "Video publisher exited, restarting in 2s..." >&2
	sleep 2
done