mirror of
https://github.com/legop3/MultiRoombaRover.git
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112 lines
5.3 KiB
Markdown
112 lines
5.3 KiB
Markdown
# Pi Deployment Guide
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## Tooling
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Fedora 43:
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```bash
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sudo dnf install golang libgpiod
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```
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Cross-compiling roverd for Pi Zero 2 W (ARMv7):
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```bash
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cd pi/roverd
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mkdir -p ../../dist
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make pi-build
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```
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The binary is placed in `dist/roverd` (relative to the repo root).
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### Dummy rover build (for local testing)
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If you need extra “virtual” rovers on your laptop/CI box, build the dummy binary:
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```bash
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cd pi/roverd
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mkdir -p ../../dist
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make dummy
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```
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Run the resulting `dist/roverd-dummy` on any machine; it will connect to the server, stream fake Group 100 sensor data, and log drive commands so you can test multi-rover features without additional hardware.
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## Automated installation (recommended)
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Install the Raspberry Pi camera helpers (Bookworm ships them):
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```bash
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sudo apt update
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sudo apt install libcamera-apps
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```
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Once the binary (and repo) are on the Pi, run the helper script from the repo root:
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```bash
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cd ~/MultiRoombaRover
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sudo ./pi/install_roverd.sh
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```
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What the script does:
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- creates the `roverd` service account (dialout/gpio/video groups) if missing and installs `/usr/local/bin/roverd`
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- copies `pi/roverd/roverd.sample.yaml` to `/etc/roverd.yaml` if the file is absent (existing configs are left untouched)
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- installs/enables the `roverd.service` systemd unit, restarting it automatically when a config already exists
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- installs `/usr/local/bin/video-publisher`, drops `video-publisher.service`, and enables it so video is published automatically on boot
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Flags:
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| Flag | Purpose |
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|------|---------|
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| `-b PATH` | use a different roverd binary (defaults to `dist/roverd`) |
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| `-c PATH` | seed `/etc/roverd.yaml` from another template |
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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.publishUrl`. When left blank, roverd automatically publishes to `srt://<server-host>:9000?streamid=#!::r=<name>,m=publish…` (the host comes from `serverUrl`).
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## Manual installation
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1. Copy the binary and config:
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```bash
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sudo useradd -r -s /usr/sbin/nologin roverd || true
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sudo install -o roverd -g roverd -m 0755 dist/roverd /usr/local/bin/roverd
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sudo install -o roverd -g roverd -m 0640 pi/roverd/roverd.sample.yaml /etc/roverd.yaml
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```
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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.
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2. Install the systemd unit:
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```bash
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sudo install -m 0644 pi/systemd/roverd.service /etc/systemd/system/roverd.service
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sudo systemctl daemon-reload
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sudo systemctl enable --now roverd.service
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```
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`roverd` requires access to `/dev/ttyAMA0` and `/dev/gpiochip*`; keeping it under its own user ensures the rest of the system stays isolated—just make sure the account belongs to the `dialout` and `gpio` groups so it can reach the UART and libgpiod.
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The WHIP publisher needs read access to the camera devices (`/dev/media*`, `/dev/video*`), so the install script adds the `roverd` service account to the `video` group; if you created the user manually, make sure it belongs to `video`.
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**BRC note:** configure `brc.gpioPin` (and `brc.gpioChip` if you’re not using `gpiochip0`) and ensure the `roverd` user has permission to toggle that line—no root privileges are required anymore.
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If you set `media.manage: true` in `/etc/roverd.yaml`, make sure the `roverd` service account can invoke `systemctl <action> <media.service>` (the installer wires `video-publisher.service` to run as `roverd`, so no sudo tweaks are required unless you rename it).
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## Video publisher details
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The `video-publisher.service` unit runs `/usr/local/bin/video-publisher`, piping `rpicam-vid`/`libcamera-vid` straight into the stock FFmpeg package:
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```bash
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rpicam-vid (or libcamera-vid) --inline --timeout 0 --width=WIDTH --height=HEIGHT \
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--framerate=FPS --bitrate=BITRATE --codec h264 --profile baseline --output - \
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| ffmpeg -hide_banner -loglevel warning -fflags nobuffer \
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-f h264 -i pipe:0 -c:v copy -an -flush_packets 1 -f mpegts $PUBLISH_URL
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```
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`/var/lib/roverd/video.env` carries all tunables (`PUBLISH_URL`, resolution, FPS, bitrate). `roverd` rewrites the file whenever you restart it or hit the “Restart Camera” button so the publisher always inherits the correct rover ID + bitrate knobs. Because we now use the distro FFmpeg build with SRT enabled, the installer is much faster—no custom compile steps.
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Use `sudo systemctl status video-publisher` to watch logs; the unit auto-restarts whenever the connection drops or FFmpeg exits with an error.
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## Server + UI
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From the repo root:
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```bash
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cd server
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npm install
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npm run start
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```
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This launches the HTTP server (serving the barebones UI) and the rover WebSocket endpoint at `ws://<server>:8080/rover`. The UI expects `roverd` instances to send `hello` frames so it can populate the rover list. Use the mode buttons to emit Start/Safe/Full/Passive/Dock commands (they send the raw OI opcode bytes), tap the sensor toggle to request Group 100 streaming, and use WASD for drive testing; the UI emits Drive Direct commands ~8 times per second, so the rover sees them immediately.
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