mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 01:21:20 -04:00
141 lines
3.5 KiB
Bash
141 lines
3.5 KiB
Bash
#!/usr/bin/env bash
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set -euo pipefail
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# Disable history expansion so PUBLISH_URL values with "!" are safe when sourcing env files.
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set +H
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ENV_FILE="${VIDEO_ENV_FILE:-/var/lib/roverd/video.env}"
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if [[ ! -f "$ENV_FILE" ]]; then
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echo "Environment file ${ENV_FILE} missing; cannot publish" >&2
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exit 1
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fi
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# shellcheck disable=SC1090
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source "$ENV_FILE"
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: "${PUBLISH_URL:?PUBLISH_URL not set in ${ENV_FILE}}"
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VIDEO_WIDTH="${VIDEO_WIDTH:-1920}"
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VIDEO_HEIGHT="${VIDEO_HEIGHT:-1080}"
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VIDEO_FPS="${VIDEO_FPS:-30}"
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VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}"
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AUDIO_ENABLE="${AUDIO_ENABLE:-0}"
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AUDIO_DEVICE="${AUDIO_DEVICE:-plughw:0,0}"
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AUDIO_RATE="${AUDIO_RATE:-16000}"
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AUDIO_CHANNELS="${AUDIO_CHANNELS:-1}"
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AUDIO_BITRATE="${AUDIO_BITRATE:-64000}"
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# Normalize device if env still says "default"
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if [[ "${AUDIO_DEVICE}" == "default" ]]; then
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AUDIO_DEVICE="plughw:0,0"
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fi
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# Flip the camera 180deg (supported by rpicam-vid/libcamera-vid)
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FLIP_ARGS=(--rotation 180)
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if [[ -n "${LIBCAMERA_BIN:-}" ]]; then
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LIBCAMERA_BIN_PATH="$LIBCAMERA_BIN"
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elif command -v rpicam-vid >/dev/null 2>&1; then
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LIBCAMERA_BIN_PATH="$(command -v rpicam-vid)"
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elif command -v libcamera-vid >/dev/null 2>&1; then
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LIBCAMERA_BIN_PATH="$(command -v libcamera-vid)"
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else
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echo "Neither rpicam-vid nor libcamera-vid found; install libcamera-apps." >&2
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exit 1
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fi
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if [[ -n "${FFMPEG_BIN:-}" ]]; then
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FFMPEG_BIN_PATH="$FFMPEG_BIN"
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elif command -v ffmpeg >/dev/null 2>&1; then
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FFMPEG_BIN_PATH="$(command -v ffmpeg)"
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else
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echo "ffmpeg not found; install it via apt install ffmpeg." >&2
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exit 1
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fi
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# Flip using the native rotation flag (0/180 supported per rpicam-vid --help).
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FLIP_ARGS=(--rotation 180)
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run_pipeline() {
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if [[ "${AUDIO_ENABLE}" -eq 1 ]]; then
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# Try audio + video; if audio device is missing, fallback to video-only.
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if ! "${LIBCAMERA_BIN_PATH}" \
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--inline \
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--timeout 0 \
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--width "${VIDEO_WIDTH}" \
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--height "${VIDEO_HEIGHT}" \
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"${FLIP_ARGS[@]}" \
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--framerate "${VIDEO_FPS}" \
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--bitrate "${VIDEO_BITRATE}" \
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--codec h264 \
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--profile baseline \
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--denoise cdn_off \
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--nopreview \
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--awb custom \
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--awbgains 1.5,1.8 \
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--output - \
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| "${FFMPEG_BIN_PATH}" \
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-hide_banner \
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-loglevel warning \
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-fflags nobuffer \
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-use_wallclock_as_timestamps 1 \
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-thread_queue_size 512 \
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-f h264 \
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-i pipe:0 \
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-f alsa \
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-thread_queue_size 1024 \
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-ac "${AUDIO_CHANNELS}" \
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-ar "${AUDIO_RATE}" \
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-i "${AUDIO_DEVICE}" \
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-c:v copy \
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-c:a pcm_alaw \
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-ac "${AUDIO_CHANNELS}" \
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-ar "${AUDIO_RATE}" \
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-af "aresample=async=1:min_hard_comp=0.100:first_pts=0" \
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-flush_packets 1 \
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-f mpegts \
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"${PUBLISH_URL}"
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then
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echo "Audio pipeline failed; falling back to video-only this run" >&2
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AUDIO_ENABLE=0
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fi
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fi
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if [[ "${AUDIO_ENABLE}" -ne 1 ]]; then
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"${LIBCAMERA_BIN_PATH}" \
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--inline \
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--timeout 0 \
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--width "${VIDEO_WIDTH}" \
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--height "${VIDEO_HEIGHT}" \
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"${FLIP_ARGS[@]}" \
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--framerate "${VIDEO_FPS}" \
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--bitrate "${VIDEO_BITRATE}" \
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--codec h264 \
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--profile baseline \
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--denoise cdn_off \
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--nopreview \
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--awb custom \
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--awbgains 1.5,1.8 \
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--output - \
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| "${FFMPEG_BIN_PATH}" \
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-hide_banner \
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-loglevel warning \
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-fflags nobuffer \
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-use_wallclock_as_timestamps 1 \
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-thread_queue_size 512 \
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-f h264 \
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-i pipe:0 \
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-c:v copy \
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-an \
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-flush_packets 1 \
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-f mpegts \
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"${PUBLISH_URL}"
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fi
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}
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while true; do
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if run_pipeline; then
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exit 0
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fi
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echo "Video publisher exited, restarting in 2s..." >&2
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sleep 2
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done
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