mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-15 17:12:59 -04:00
266 lines
8.8 KiB
Bash
Executable File
266 lines
8.8 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -euo pipefail
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MEDIAMTX_VERSION="1.15.3"
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NEOLINK_VERSION="0.6.2"
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MEDIAMTX_BASE_URL="https://github.com/bluenviron/mediamtx/releases/download/v${MEDIAMTX_VERSION}"
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NEOLINK_BASE_URL="https://github.com/QuantumEntangledAndy/neolink/releases/download/v${NEOLINK_VERSION}"
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MEDIAMTX_BIN="/usr/local/bin/mediamtx"
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NEOLINK_BIN="/usr/local/bin/neolink"
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CHROMEGTTS_WAV_BIN="/usr/local/bin/chromegtts-wav"
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MEDIAMTX_CONF_DIR="/etc/mediamtx"
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MEDIAMTX_CONFIG="$MEDIAMTX_CONF_DIR/mediamtx.yml"
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ROVER_SNAPSHOT_WRITER_BIN="/usr/local/bin/rover-snapshot-writer.sh"
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MEDIAMTX_SERVICE="/etc/systemd/system/mediamtx.service"
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MULTIROVER_SERVICE="/etc/systemd/system/multirover.service"
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SNAPSHOT_DIR="/var/lib/rover-snapshots"
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REPLAY_SEGMENT_DIR="/var/lib/replay-segments"
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KINECT_UDEV_RULE="/etc/udev/rules.d/99-kinect-world.rules"
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if [[ $EUID -ne 0 ]]; then
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echo "This installer must be run with sudo/root." >&2
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exit 1
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fi
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if [[ -z "${SUDO_USER:-}" || "${SUDO_USER}" == "root" ]]; then
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echo "Run this script via 'sudo' from the normal user that owns the repo." >&2
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exit 1
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fi
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TARGET_USER="$SUDO_USER"
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SCRIPT_DIR=$(cd "$(dirname "$0")" && pwd)
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SERVER_DIR="$SCRIPT_DIR"
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CONFIG_PATH="$SERVER_DIR/config.yaml"
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MEDIAMTX_TEMPLATE="$SERVER_DIR/mediamtx/mediamtx.yml"
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ROVER_SNAPSHOT_WRITER_TEMPLATE="$SERVER_DIR/mediamtx/rover-snapshot-writer.sh"
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CHROMEGTTS_WAV_TEMPLATE="$SERVER_DIR/bin/chromegtts-wav.py"
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install_google_tts_assets() {
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local asset_dir="/opt/roverd/googletts"
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local voice_dir="${asset_dir}/en-us-x-multi-r30"
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local dist_url="https://storage.googleapis.com/chromeos-localmirror/distfiles/googletts-26.5.tar.xz"
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local lib_member=""
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local arch_name
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arch_name=$(uname -m)
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# The PTZ camera is not a rover, so Google speech must be synthesized on the
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# server before neolink sends a WAV to the camera. These assets are the same
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# offline ChromeOS local TTS assets that rover installers already use; keeping
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# the layout identical lets the server helper and rover daemon share loader
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# assumptions.
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if [[ -f "${asset_dir}/libchrometts.so" && -f "${voice_dir}/pipeline.pb" ]]; then
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echo " Google TTS assets already installed"
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return
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fi
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case "$arch_name" in
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x86_64|amd64)
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lib_member="libchrometts_x86_64.so"
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;;
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aarch64)
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lib_member="libchrometts_arm64.so"
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;;
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armv7l|armv6l)
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lib_member="libchrometts_armv7.so"
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;;
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*)
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echo "Unsupported Google TTS architecture: $arch_name" >&2
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exit 1
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;;
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esac
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echo " Installing Google TTS assets -> $asset_dir"
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curl -L -o "$tmpdir/googletts-26.5.tar.xz" "$dist_url"
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tar -xf "$tmpdir/googletts-26.5.tar.xz" -C "$tmpdir" en-us-x-multi.zvoice "$lib_member"
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mkdir -p "$voice_dir"
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tar -xf "$tmpdir/en-us-x-multi.zvoice" -C "$voice_dir"
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install -o root -g root -m 0644 "$tmpdir/$lib_member" "${asset_dir}/libchrometts.so"
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}
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echo "[1/6] Installing dependencies..."
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# The Kinect tooling uses a native libfreenect worker/probe rather than a
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# Python wrapper. Install both runtime and development headers here so a fresh
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# Fedora server can build the worker locally and then run it under the same
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# normal user that owns the rover service.
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dnf install -y \
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nodejs \
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npm \
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curl \
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tar \
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unzip \
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xz \
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gcc-c++ \
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make \
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pkgconf-pkg-config \
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flite \
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espeak \
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python3 \
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gstreamer1 \
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gstreamer1-plugins-base \
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gstreamer1-plugins-good \
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gstreamer1-plugins-bad-free \
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gstreamer1-rtsp-server \
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libfreenect \
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libfreenect-devel \
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libusb1-devel >/dev/null
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NODE_BIN="$(command -v node)"
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echo " Installing Kinect udev rule -> $KINECT_UDEV_RULE"
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cat > "$KINECT_UDEV_RULE" <<'EOF'
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# Xbox 360 / Kinect v1 exposes motor, audio, and camera as separate Microsoft
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# USB devices. Fedora/OpenNI PrimeSense rules can leave the camera node as
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# root:primesense 0660, which makes libfreenect fail with LIBUSB_ERROR_ACCESS
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# when the rover server runs as the normal service user. This late 99-* rule is
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# intentionally broad for local rover hardware: every Microsoft Kinect sibling
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# gets world read/write access so the native libfreenect worker can open the
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# camera without running the whole server as root.
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SUBSYSTEM=="usb", ATTR{idVendor}=="045e", MODE="0666", GROUP="root", TAG+="uaccess"
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EOF
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chmod 644 "$KINECT_UDEV_RULE"
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udevadm control --reload-rules
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if [[ ! -f "$CHROMEGTTS_WAV_TEMPLATE" ]]; then
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echo "Chrome Google TTS WAV helper missing at $CHROMEGTTS_WAV_TEMPLATE" >&2
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exit 1
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fi
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echo " Installing Chrome Google TTS WAV helper -> $CHROMEGTTS_WAV_BIN"
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install -m 0755 "$CHROMEGTTS_WAV_TEMPLATE" "$CHROMEGTTS_WAV_BIN"
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echo "[2/6] Installing Node production deps..."
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runuser -u "$TARGET_USER" -- bash -c "cd '$SERVER_DIR' && npm install --production"
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if [[ -f "$SERVER_DIR/src/services/kinectService/native/Makefile" ]]; then
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echo " Building native Kinect worker..."
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runuser -u "$TARGET_USER" -- bash -c "cd '$SERVER_DIR/src/services/kinectService/native' && make"
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fi
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if [[ ! -f "$CONFIG_PATH" ]]; then
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cp "$SERVER_DIR/config.example.yaml" "$CONFIG_PATH"
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chown "$TARGET_USER":"$TARGET_USER" "$CONFIG_PATH"
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echo "Copied config.example.yaml to config.yaml; edit it before exposing the service."
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fi
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tmpdir=$(mktemp -d)
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trap 'rm -rf "$tmpdir"' EXIT
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arch=$(uname -m)
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case "$arch" in
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x86_64|amd64)
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mediamtx_pkg="mediamtx_v${MEDIAMTX_VERSION}_linux_amd64.tar.gz"
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neolink_pkg="neolink_linux_x86_64_ubuntu.zip"
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;;
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aarch64)
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mediamtx_pkg="mediamtx_v${MEDIAMTX_VERSION}_linux_arm64.tar.gz"
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neolink_pkg="neolink_linux_arm64.zip"
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;;
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armv7l)
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mediamtx_pkg="mediamtx_v${MEDIAMTX_VERSION}_linux_armv7.tar.gz"
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neolink_pkg="neolink_linux_armhf.zip"
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;;
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*)
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echo "Unsupported architecture: $arch" >&2
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exit 1
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;;
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esac
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echo "[3/6] Installing mediaMTX ${MEDIAMTX_VERSION}..."
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curl -L "$MEDIAMTX_BASE_URL/$mediamtx_pkg" -o "$tmpdir/mediamtx.tgz"
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tar -xzf "$tmpdir/mediamtx.tgz" -C "$tmpdir" mediamtx
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install -m 0755 "$tmpdir/mediamtx" "$MEDIAMTX_BIN"
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echo " Installing neolink ${NEOLINK_VERSION} -> $NEOLINK_BIN"
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curl -L "$NEOLINK_BASE_URL/$neolink_pkg" -o "$tmpdir/neolink.zip"
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unzip -q "$tmpdir/neolink.zip" -d "$tmpdir/neolink"
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neolink_extracted=$(find "$tmpdir/neolink" -type f -name neolink -perm /111 | head -n 1)
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if [[ -z "$neolink_extracted" ]]; then
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neolink_extracted=$(find "$tmpdir/neolink" -type f -name neolink | head -n 1)
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fi
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if [[ -z "$neolink_extracted" ]]; then
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echo "neolink binary missing from $neolink_pkg" >&2
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exit 1
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fi
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install -m 0755 "$neolink_extracted" "$NEOLINK_BIN"
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install_google_tts_assets
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mkdir -p "$MEDIAMTX_CONF_DIR"
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if [[ ! -f "$MEDIAMTX_TEMPLATE" ]]; then
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echo "mediaMTX template missing at $MEDIAMTX_TEMPLATE" >&2
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exit 1
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fi
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if [[ ! -f "$ROVER_SNAPSHOT_WRITER_TEMPLATE" ]]; then
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echo "Snapshot writer template missing at $ROVER_SNAPSHOT_WRITER_TEMPLATE" >&2
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exit 1
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fi
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echo " Installing mediaMTX config -> $MEDIAMTX_CONFIG"
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rm -f "$MEDIAMTX_CONFIG"
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install -m 0644 "$MEDIAMTX_TEMPLATE" "$MEDIAMTX_CONFIG"
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echo " Installing rover snapshot writer -> $ROVER_SNAPSHOT_WRITER_BIN"
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install -m 0755 "$ROVER_SNAPSHOT_WRITER_TEMPLATE" "$ROVER_SNAPSHOT_WRITER_BIN"
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chown -R "$TARGET_USER":"$TARGET_USER" "$MEDIAMTX_CONF_DIR"
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echo "[4/6] Writing systemd units..."
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mkdir -p "$SNAPSHOT_DIR"
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chown "$TARGET_USER":"$TARGET_USER" "$SNAPSHOT_DIR"
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mkdir -p "$REPLAY_SEGMENT_DIR"
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chown "$TARGET_USER":"$TARGET_USER" "$REPLAY_SEGMENT_DIR"
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cat > "$MEDIAMTX_SERVICE" <<EOF
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[Unit]
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Description=mediaMTX WebRTC Server
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After=network-online.target
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Wants=network-online.target
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[Service]
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User=$TARGET_USER
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Group=$TARGET_USER
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WorkingDirectory=$MEDIAMTX_CONF_DIR
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Environment=ROVER_SNAPSHOT_DIR=$SNAPSHOT_DIR
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ExecStart=$MEDIAMTX_BIN $MEDIAMTX_CONFIG
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Restart=on-failure
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RestartSec=2
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[Install]
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WantedBy=multi-user.target
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EOF
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cat > "$MULTIROVER_SERVICE" <<EOF
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[Unit]
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Description=Multi-Roomba Rover control server
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After=network-online.target mediamtx.service
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Wants=network-online.target
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[Service]
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User=$TARGET_USER
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Group=$TARGET_USER
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WorkingDirectory=$SERVER_DIR
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Environment=NODE_ENV=production
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Environment=SERVER_CONFIG=$CONFIG_PATH
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Environment=ROVER_SNAPSHOT_DIR=$SNAPSHOT_DIR
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Environment=REPLAY_SEGMENT_DIR=$REPLAY_SEGMENT_DIR
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ExecStart=$NODE_BIN $SERVER_DIR/index.js
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Restart=on-failure
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RestartSec=2
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SuccessExitStatus=130 143
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[Install]
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WantedBy=multi-user.target
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EOF
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chmod 644 "$MEDIAMTX_SERVICE" "$MULTIROVER_SERVICE"
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echo "[5/6] Enabling services..."
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systemctl daemon-reload
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systemctl enable --now mediamtx.service
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systemctl enable --now multirover.service
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systemctl restart mediamtx.service
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systemctl restart multirover.service
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echo "[6/6] Done."
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echo
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echo "Services installed:"
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echo " mediamtx.service (WebRTC fan-out)"
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echo " multirover.service (Node.js control server)"
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echo
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echo "Update $CONFIG_PATH to set admins, lockdown settings, and media parameters."
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echo "Kinect/libfreenect packages and udev permissions were installed."
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echo "If a Kinect is already plugged in, unplug/replug its USB/power before testing so the new udev rule applies."
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