MultiRoombaRover/server/install_server.sh

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

MEDIAMTX_VERSION="1.15.3"
NEOLINK_VERSION="0.6.2"
MEDIAMTX_BASE_URL="https://github.com/bluenviron/mediamtx/releases/download/v${MEDIAMTX_VERSION}"
NEOLINK_BASE_URL="https://github.com/QuantumEntangledAndy/neolink/releases/download/v${NEOLINK_VERSION}"
MEDIAMTX_BIN="/usr/local/bin/mediamtx"
NEOLINK_BIN="/usr/local/bin/neolink"
CHROMEGTTS_WAV_BIN="/usr/local/bin/chromegtts-wav"
MEDIAMTX_CONF_DIR="/etc/mediamtx"
MEDIAMTX_CONFIG="$MEDIAMTX_CONF_DIR/mediamtx.yml"
ROVER_SNAPSHOT_WRITER_BIN="/usr/local/bin/rover-snapshot-writer.sh"
MEDIAMTX_SERVICE="/etc/systemd/system/mediamtx.service"
MULTIROVER_SERVICE="/etc/systemd/system/multirover.service"
SNAPSHOT_DIR="/var/lib/rover-snapshots"
REPLAY_SEGMENT_DIR="/var/lib/replay-segments"
KINECT_UDEV_RULE="/etc/udev/rules.d/99-kinect-world.rules"
BALANCE_BOARD_UDEV_RULE="/etc/udev/rules.d/99-multirover-balance-board.rules"

if [[ $EUID -ne 0 ]]; then
  echo "This installer must be run with sudo/root." >&2
  exit 1
fi

if [[ -z "${SUDO_USER:-}" || "${SUDO_USER}" == "root" ]]; then
  echo "Run this script via 'sudo' from the normal user that owns the repo." >&2
  exit 1
fi

TARGET_USER="$SUDO_USER"
SCRIPT_DIR=$(cd "$(dirname "$0")" && pwd)
SERVER_DIR="$SCRIPT_DIR"
BALANCE_BOARD_NATIVE_DIR="$SCRIPT_DIR/src/services/balanceBoardService/native"
BALANCE_BOARD_WORKER="$BALANCE_BOARD_NATIVE_DIR/balance_board_worker"
CONFIG_PATH="$SERVER_DIR/config.yaml"
MEDIAMTX_TEMPLATE="$SERVER_DIR/mediamtx/mediamtx.yml"
ROVER_SNAPSHOT_WRITER_TEMPLATE="$SERVER_DIR/mediamtx/rover-snapshot-writer.sh"
CHROMEGTTS_WAV_TEMPLATE="$SERVER_DIR/bin/chromegtts-wav.py"

install_google_tts_assets() {
  local asset_dir="/opt/roverd/googletts"
  local voice_dir="${asset_dir}/en-us-x-multi-r30"
  local dist_url="https://storage.googleapis.com/chromeos-localmirror/distfiles/googletts-26.5.tar.xz"
  local lib_member=""
  local arch_name
  arch_name=$(uname -m)

  # The PTZ camera is not a rover, so Google speech must be synthesized on the
  # server before neolink sends a WAV to the camera. These assets are the same
  # offline ChromeOS local TTS assets that rover installers already use; keeping
  # the layout identical lets the server helper and rover daemon share loader
  # assumptions.
  if [[ -f "${asset_dir}/libchrometts.so" && -f "${voice_dir}/pipeline.pb" ]]; then
    echo "      Google TTS assets already installed"
    return
  fi

  case "$arch_name" in
    x86_64|amd64)
      lib_member="libchrometts_x86_64.so"
      ;;
    aarch64)
      lib_member="libchrometts_arm64.so"
      ;;
    armv7l|armv6l)
      lib_member="libchrometts_armv7.so"
      ;;
    *)
      echo "Unsupported Google TTS architecture: $arch_name" >&2
      exit 1
      ;;
  esac

  echo "      Installing Google TTS assets -> $asset_dir"
  curl -L -o "$tmpdir/googletts-26.5.tar.xz" "$dist_url"
  tar -xf "$tmpdir/googletts-26.5.tar.xz" -C "$tmpdir" en-us-x-multi.zvoice "$lib_member"
  install -d -o root -g root -m 0755 "$asset_dir"
  install -o root -g root -m 0644 "$tmpdir/$lib_member" "${asset_dir}/libchrometts.so"
  rm -rf "$voice_dir"
  install -d -o root -g root -m 0755 "$voice_dir"
  # The .zvoice member is a zip archive inside the outer tar.xz. Match the
  # rover installers here; trying to untar it fails after the large download.
  unzip -q "$tmpdir/en-us-x-multi.zvoice" -d "$voice_dir"
  chown -R root:root "$asset_dir"
  find "$asset_dir" -type d -exec chmod 0755 {} +
  find "$asset_dir" -type f -exec chmod 0644 {} +
}

verify_google_tts_helper() {
  local smoke_wav="$tmpdir/chromegtts-smoke.wav"

  echo "      Verifying Chrome Google TTS helper"
  # libchrometts is a native ChromeOS library. Rendering one tiny WAV during
  # install catches missing shared-library dependencies, bad asset extraction,
  # and helper path mistakes before multirover.service starts accepting PTZ TTS
  # requests that would fail later in logs.
  if ! "$CHROMEGTTS_WAV_BIN" \
    --text "test" \
    --voice tpf \
    --pitch 1 \
    --speed 1 \
    --output "$smoke_wav"; then
    echo "Chrome Google TTS helper smoke render failed." >&2
    return 1
  fi
  if [[ ! -s "$smoke_wav" ]]; then
    echo "Chrome Google TTS helper did not create a WAV file." >&2
    return 1
  fi
}

echo "[1/6] Installing dependencies..."
# The Kinect tooling uses a native libfreenect worker/probe rather than a
# Python wrapper.  Install both runtime and development headers here so a fresh
# Fedora server can build the worker locally and then run it under the same
# normal user that owns the rover service.
dnf install -y \
  nodejs \
  npm \
  curl \
  tar \
  unzip \
  xz \
  gcc-c++ \
  make \
  pkgconf-pkg-config \
  flite \
  espeak \
  python3 \
  libcxx \
  libcxxabi \
  gstreamer1 \
  gstreamer1-plugins-base \
  gstreamer1-plugins-good \
  gstreamer1-plugins-bad-free \
  gstreamer1-rtsp-server \
  libfreenect \
  libfreenect-devel \
  libusb1-devel \
  bluez \
  libcap >/dev/null
NODE_BIN="$(command -v node)"

echo "      Installing Kinect udev rule -> $KINECT_UDEV_RULE"
cat > "$KINECT_UDEV_RULE" <<'EOF'
# Xbox 360 / Kinect v1 exposes motor, audio, and camera as separate Microsoft
# USB devices.  Fedora/OpenNI PrimeSense rules can leave the camera node as
# root:primesense 0660, which makes libfreenect fail with LIBUSB_ERROR_ACCESS
# when the rover server runs as the normal service user.  This late 99-* rule is
# intentionally broad for local rover hardware: every Microsoft Kinect sibling
# gets world read/write access so the native libfreenect worker can open the
# camera without running the whole server as root.
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", MODE="0666", GROUP="root", TAG+="uaccess"
EOF
chmod 644 "$KINECT_UDEV_RULE"
udevadm control --reload-rules

echo "      Installing Balance Board input rule -> $BALANCE_BOARD_UDEV_RULE"
cat > "$BALANCE_BOARD_UDEV_RULE" <<EOF
# hid-wiimote creates a calibrated evdev device specifically for the Balance
# Board extension. Give only the rover service owner access to that exact input
# name; the Node process and unrelated local users do not receive broad access
# to keyboards, mice, or every device in the input group.
SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="Nintendo Wii Remote Balance Board", OWNER="$TARGET_USER", MODE="0660", TAG+="uaccess"
EOF
chmod 644 "$BALANCE_BOARD_UDEV_RULE"
udevadm control --reload-rules

if [[ ! -f "$CHROMEGTTS_WAV_TEMPLATE" ]]; then
  echo "Chrome Google TTS WAV helper missing at $CHROMEGTTS_WAV_TEMPLATE" >&2
  exit 1
fi
echo "      Installing Chrome Google TTS WAV helper -> $CHROMEGTTS_WAV_BIN"
install -m 0755 "$CHROMEGTTS_WAV_TEMPLATE" "$CHROMEGTTS_WAV_BIN"

echo "[2/6] Installing Node production deps..."
runuser -u "$TARGET_USER" -- bash -c "cd '$SERVER_DIR' && npm install --production"

if [[ -f "$SERVER_DIR/src/services/kinectService/native/Makefile" ]]; then
  echo "      Building native Kinect worker..."
  runuser -u "$TARGET_USER" -- bash -c "cd '$SERVER_DIR/src/services/kinectService/native' && make"
fi

if [[ -f "$BALANCE_BOARD_NATIVE_DIR/Makefile" ]]; then
  echo "      Building native Balance Board bridge..."
  runuser -u "$TARGET_USER" -- bash -c "cd '$BALANCE_BOARD_NATIVE_DIR' && make"
  if [[ ! -x "$BALANCE_BOARD_WORKER" ]]; then
    echo "Balance Board worker build did not create $BALANCE_BOARD_WORKER" >&2
    exit 1
  fi
  # Only this small audited bridge needs the management socket used for the
  # board's raw six-byte pairing PIN. Never grant CAP_NET_ADMIN to node or the
  # full multirover service executable.
  setcap cap_net_admin+ep "$BALANCE_BOARD_WORKER"
fi

if [[ ! -f "$CONFIG_PATH" ]]; then
  cp "$SERVER_DIR/config.example.yaml" "$CONFIG_PATH"
  chown "$TARGET_USER":"$TARGET_USER" "$CONFIG_PATH"
  echo "Copied config.example.yaml to config.yaml; edit it before exposing the service."
fi

tmpdir=$(mktemp -d)
trap 'rm -rf "$tmpdir"' EXIT

arch=$(uname -m)
case "$arch" in
  x86_64|amd64)
    mediamtx_pkg="mediamtx_v${MEDIAMTX_VERSION}_linux_amd64.tar.gz"
    neolink_pkg="neolink_linux_x86_64_ubuntu.zip"
    ;;
  aarch64)
    mediamtx_pkg="mediamtx_v${MEDIAMTX_VERSION}_linux_arm64.tar.gz"
    neolink_pkg="neolink_linux_arm64.zip"
    ;;
  armv7l)
    mediamtx_pkg="mediamtx_v${MEDIAMTX_VERSION}_linux_armv7.tar.gz"
    neolink_pkg="neolink_linux_armhf.zip"
    ;;
  *)
    echo "Unsupported architecture: $arch" >&2
    exit 1
    ;;
esac

echo "[3/6] Installing mediaMTX ${MEDIAMTX_VERSION}..."
curl -L "$MEDIAMTX_BASE_URL/$mediamtx_pkg" -o "$tmpdir/mediamtx.tgz"
tar -xzf "$tmpdir/mediamtx.tgz" -C "$tmpdir" mediamtx
install -m 0755 "$tmpdir/mediamtx" "$MEDIAMTX_BIN"

echo "      Installing neolink ${NEOLINK_VERSION} -> $NEOLINK_BIN"
curl -L "$NEOLINK_BASE_URL/$neolink_pkg" -o "$tmpdir/neolink.zip"
unzip -q "$tmpdir/neolink.zip" -d "$tmpdir/neolink"
neolink_extracted=$(find "$tmpdir/neolink" -type f -name neolink -perm /111 | head -n 1)
if [[ -z "$neolink_extracted" ]]; then
  neolink_extracted=$(find "$tmpdir/neolink" -type f -name neolink | head -n 1)
fi
if [[ -z "$neolink_extracted" ]]; then
  echo "neolink binary missing from $neolink_pkg" >&2
  exit 1
fi
install -m 0755 "$neolink_extracted" "$NEOLINK_BIN"
install_google_tts_assets
if ! verify_google_tts_helper; then
  echo "      Reinstalling Google TTS assets after failed verification"
  rm -rf /opt/roverd/googletts
  install_google_tts_assets
  verify_google_tts_helper
fi

mkdir -p "$MEDIAMTX_CONF_DIR"
if [[ ! -f "$MEDIAMTX_TEMPLATE" ]]; then
  echo "mediaMTX template missing at $MEDIAMTX_TEMPLATE" >&2
  exit 1
fi
if [[ ! -f "$ROVER_SNAPSHOT_WRITER_TEMPLATE" ]]; then
  echo "Snapshot writer template missing at $ROVER_SNAPSHOT_WRITER_TEMPLATE" >&2
  exit 1
fi
if [[ -f "$MEDIAMTX_CONFIG" ]]; then
  echo "      Preserving existing mediaMTX config -> $MEDIAMTX_CONFIG"
else
  echo "      Installing mediaMTX config -> $MEDIAMTX_CONFIG"
  install -m 0644 "$MEDIAMTX_TEMPLATE" "$MEDIAMTX_CONFIG"
fi
echo "      Installing rover snapshot writer -> $ROVER_SNAPSHOT_WRITER_BIN"
install -m 0755 "$ROVER_SNAPSHOT_WRITER_TEMPLATE" "$ROVER_SNAPSHOT_WRITER_BIN"
chown -R "$TARGET_USER":"$TARGET_USER" "$MEDIAMTX_CONF_DIR"

echo "[4/6] Writing systemd units..."
mkdir -p "$SNAPSHOT_DIR"
chown "$TARGET_USER":"$TARGET_USER" "$SNAPSHOT_DIR"
mkdir -p "$REPLAY_SEGMENT_DIR"
chown "$TARGET_USER":"$TARGET_USER" "$REPLAY_SEGMENT_DIR"
cat > "$MEDIAMTX_SERVICE" <<EOF
[Unit]
Description=mediaMTX WebRTC Server
After=network-online.target
Wants=network-online.target

[Service]
User=$TARGET_USER
Group=$TARGET_USER
WorkingDirectory=$MEDIAMTX_CONF_DIR
Environment=ROVER_SNAPSHOT_DIR=$SNAPSHOT_DIR
ExecStart=$MEDIAMTX_BIN $MEDIAMTX_CONFIG
Restart=on-failure
RestartSec=2

[Install]
WantedBy=multi-user.target
EOF

cat > "$MULTIROVER_SERVICE" <<EOF
[Unit]
Description=Multi-Roomba Rover control server
After=network-online.target mediamtx.service
Wants=network-online.target

[Service]
User=$TARGET_USER
Group=$TARGET_USER
WorkingDirectory=$SERVER_DIR
Environment=NODE_ENV=production
Environment=SERVER_CONFIG=$CONFIG_PATH
Environment=ROVER_SNAPSHOT_DIR=$SNAPSHOT_DIR
Environment=REPLAY_SEGMENT_DIR=$REPLAY_SEGMENT_DIR
ExecStart=$NODE_BIN $SERVER_DIR/index.js
Restart=on-failure
RestartSec=2
SuccessExitStatus=130 143

[Install]
WantedBy=multi-user.target
EOF

chmod 644 "$MEDIAMTX_SERVICE" "$MULTIROVER_SERVICE"

echo "[5/6] Enabling services..."
systemctl daemon-reload
systemctl enable --now mediamtx.service
systemctl enable --now multirover.service
systemctl restart mediamtx.service
systemctl restart multirover.service

echo "[6/6] Done."
echo
echo "Services installed:"
echo "  mediamtx.service (WebRTC fan-out)"
echo "  multirover.service (Node.js control server)"
echo
echo "Update $CONFIG_PATH to set admins, lockdown settings, and media parameters."
echo "Kinect/libfreenect packages and udev permissions were installed."
echo "If a Kinect is already plugged in, unplug/replug its USB/power before testing so the new udev rule applies."
echo "Wii Balance Board Bluetooth support and the restricted input rule were installed."
echo "Enable balanceBoard in config.yaml, then press the red Sync button once to commission it."