Bridge robot: --no-mic

CMakeLists.txt

@@ -179,6 +179,20 @@ else()
   set(RUST_TARGET_DIR "${RUST_ROOT}/target")
 endif()
 
+# Detect the GCC toolchain's library directory so cargo can find the matching libstdc++.
+# This is needed when using a non-system GCC (e.g. GCC 14) on an older distro whose
+# system libstdc++ lacks symbols like __cxa_call_terminate.
+set(GCC_LIB_DIR "")
+if(NOT WIN32)
+  get_filename_component(_gcc_bin_dir "${CMAKE_C_COMPILER}" DIRECTORY)
+  get_filename_component(_gcc_root "${_gcc_bin_dir}" DIRECTORY)
+  if(IS_DIRECTORY "${_gcc_root}/lib64")
+    set(GCC_LIB_DIR "${_gcc_root}/lib64")
+  elseif(IS_DIRECTORY "${_gcc_root}/lib")
+    set(GCC_LIB_DIR "${_gcc_root}/lib")
+  endif()
+endif()
+
 set(RUN_CARGO_SCRIPT ${LIVEKIT_BINARY_DIR}/run_cargo.cmake)
 file(WRITE ${RUN_CARGO_SCRIPT}
 "if(NOT DEFINED CFG)
@@ -204,6 +218,11 @@ endif()
 message(STATUS \"[run_cargo.cmake] CFG=\${CFG}  CARGO=\${CARGO}  PROTOC=\${PROTOC_PATH}\")
 set(ENV{PROTOC} \"\${PROTOC_PATH}\")
 
+if(DEFINED GCC_LIB_DIR AND NOT GCC_LIB_DIR STREQUAL \"\")
+  set(ENV{RUSTFLAGS} \"-L \${GCC_LIB_DIR} \$ENV{RUSTFLAGS}\")
+  set(ENV{LD_LIBRARY_PATH} \"\${GCC_LIB_DIR}:\$ENV{LD_LIBRARY_PATH}\")
+endif()
+
 execute_process(
   COMMAND \"\${CARGO}\" \${ARGS}
   WORKING_DIRECTORY \"\${RUST_ROOT}\"
@@ -286,6 +305,7 @@ add_custom_command(
           -DCARGO=${CARGO_EXECUTABLE}
           -DPROTOC_PATH=${Protobuf_PROTOC_EXECUTABLE}
           -DRUST_TARGET=${RUST_TARGET_TRIPLE}
+          -DGCC_LIB_DIR=${GCC_LIB_DIR}
           -P "${RUN_CARGO_SCRIPT}"
   WORKING_DIRECTORY "${RUST_ROOT}"
   DEPENDS ${RUST_SOURCES}

examples/CMakeLists.txt

@@ -117,46 +117,46 @@ target_link_libraries(SimpleRpc
     spdlog::spdlog
 )
 
-# --- SimpleRobot example (robot + human executables with shared json_utils) ---
+# --- SimpleJoystick example (sender + receiver executables with shared json_utils) ---
 
-add_library(simple_robot_json_utils STATIC
-  simple_robot/json_utils.cpp
-  simple_robot/json_utils.h
-  simple_robot/utils.cpp
-  simple_robot/utils.h
+add_library(simple_joystick_json_utils STATIC
+  simple_joystick/json_utils.cpp
+  simple_joystick/json_utils.h
+  simple_joystick/utils.cpp
+  simple_joystick/utils.h
 )
 
-target_include_directories(simple_robot_json_utils PUBLIC
-  ${CMAKE_CURRENT_SOURCE_DIR}/simple_robot
+target_include_directories(simple_joystick_json_utils PUBLIC
+  ${CMAKE_CURRENT_SOURCE_DIR}/simple_joystick
 )
 
-target_link_libraries(simple_robot_json_utils
+target_link_libraries(simple_joystick_json_utils
   PUBLIC
     nlohmann_json::nlohmann_json
 )
 
-add_executable(SimpleRobot
-  simple_robot/robot.cpp
+add_executable(SimpleJoystickReceiver
+  simple_joystick/receiver.cpp
 )
 
-target_include_directories(SimpleRobot PRIVATE ${EXAMPLES_PRIVATE_INCLUDE_DIRS})
+target_include_directories(SimpleJoystickReceiver PRIVATE ${EXAMPLES_PRIVATE_INCLUDE_DIRS})
 
-target_link_libraries(SimpleRobot
+target_link_libraries(SimpleJoystickReceiver
   PRIVATE
-    simple_robot_json_utils
+    simple_joystick_json_utils
     livekit
     spdlog::spdlog
 )
 
-add_executable(SimpleHuman
-  simple_robot/human.cpp
+add_executable(SimpleJoystickSender
+  simple_joystick/sender.cpp
 )
 
-target_include_directories(SimpleHuman PRIVATE ${EXAMPLES_PRIVATE_INCLUDE_DIRS})
+target_include_directories(SimpleJoystickSender PRIVATE ${EXAMPLES_PRIVATE_INCLUDE_DIRS})
 
-target_link_libraries(SimpleHuman
+target_link_libraries(SimpleJoystickSender
   PRIVATE
-    simple_robot_json_utils
+    simple_joystick_json_utils
     livekit
     spdlog::spdlog
 )
@@ -269,7 +269,7 @@ if(WIN32)
   )
 
   # Copy DLLs to each example's output directory
-  foreach(EXAMPLE SimpleRoom SimpleRpc SimpleRobot SimpleHuman SimpleDataStream LoggingLevelsBasicUsage LoggingLevelsCustomSinks BridgeRobot BridgeHuman)
+  foreach(EXAMPLE SimpleRoom SimpleRpc SimpleJoystickSender SimpleJoystickReceiver SimpleDataStream LoggingLevelsBasicUsage LoggingLevelsCustomSinks BridgeRobot BridgeHuman)
     foreach(DLL ${REQUIRED_DLLS})
       add_custom_command(TARGET ${EXAMPLE} POST_BUILD
         COMMAND ${CMAKE_COMMAND} -E copy_if_different
@@ -304,7 +304,7 @@ if(UNIX)
   endif()
 
   # Copy shared library to each example's output directory
-  foreach(EXAMPLE SimpleRoom SimpleRpc SimpleRobot SimpleHuman SimpleDataStream LoggingLevelsBasicUsage LoggingLevelsCustomSinks BridgeRobot BridgeHuman)
+  foreach(EXAMPLE SimpleRoom SimpleRpc SimpleJoystickSender SimpleJoystickReceiver SimpleDataStream LoggingLevelsBasicUsage LoggingLevelsCustomSinks BridgeRobot BridgeHuman)
     add_custom_command(TARGET ${EXAMPLE} POST_BUILD
       COMMAND ${CMAKE_COMMAND} -E copy_if_different
               "${LIVEKIT_LIB_DIR}/${FFI_SHARED_LIB}"

examples/bridge_human_robot/human.cpp

@@ -43,11 +43,11 @@
  * Run alongside the "robot" example (which publishes with identity "robot").
  */
 
-#include "lk_log.h"
 #include "livekit/audio_frame.h"
 #include "livekit/track.h"
 #include "livekit/video_frame.h"
 #include "livekit_bridge/livekit_bridge.h"
+#include "lk_log.h"
 #include "sdl_media.h"
 
 #include <SDL3/SDL.h>
@@ -115,9 +115,25 @@ int main(int argc, char *argv[]) {
   }
 
   std::string url, token;
+  auto is_ws_url = [](const std::string &s) {
+    return (s.size() >= 5 && s.compare(0, 5, "ws://") == 0) ||
+           (s.size() >= 6 && s.compare(0, 6, "wss://") == 0);
+  };
   if (positional.size() >= 2) {
-    url = positional[0];
-    token = positional[1];
+    for (const auto &arg : positional) {
+      if (is_ws_url(arg)) {
+        url = arg;
+        break;
+      }
+    }
+    for (const auto &arg : positional) {
+      if (arg != url) {
+        token = arg;
+        break;
+      }
+    }
+    if (url.empty())
+      url = positional[0], token = positional[1]; // fallback by position
   } else {
     const char *e = std::getenv("LIVEKIT_URL");
     if (e)