feat: 修复启动bash路径、将丢失连接时的视频稍微不堆积

src/server_kcp_hub.c

@@ -113,11 +113,17 @@ static int kcp_hub_peer_is_telemetry(const char *peer_id) {
     return kcp_hub_peer_id_has_suffix(peer_id, "-telemetry");
 }
 
+static int kcp_hub_peer_is_video_receiver(const char *peer_id) {
+    return peer_id != NULL && strcmp(peer_id, "peer-a-video") == 0;
+}
+
 static int kcp_hub_peer_uses_server_lease(const char *peer_id) {
     if (peer_id == NULL || peer_id[0] == '\0') {
         return 0;
     }
-    return kcp_hub_peer_id_has_suffix(peer_id, "-ctrl") || kcp_hub_peer_is_telemetry(peer_id);
+    return kcp_hub_peer_id_has_suffix(peer_id, "-ctrl")
+        || kcp_hub_peer_is_telemetry(peer_id)
+        || kcp_hub_peer_is_video_receiver(peer_id);
 }
 
 static const char *kcp_hub_peer_node_id(const char *peer_id) {

src/video_pipeline.c

@@ -566,6 +566,32 @@ static int video_sender_init(video_sender_t *sender, const video_pipeline_config
     return 0;
 }
 
+static int video_sender_drain_pending_messages(video_sender_t *sender) {
+    if (sender == NULL || sender->client == NULL) {
+        errno = EINVAL;
+        return -1;
+    }
+
+    for (;;) {
+        message_t msg;
+        int rc;
+
+        protocol_message_init(&msg);
+        rc = kcp_client_receive_timed(sender->client, &msg, 1);
+        if (rc == 1) {
+            protocol_message_clear(&msg);
+            return 0;
+        }
+        if (rc != 0) {
+            protocol_message_clear(&msg);
+            return -1;
+        }
+
+        // Drain unread server errors so an offline receiver cannot back up the reverse KCP stream.
+        protocol_message_clear(&msg);
+    }
+}
+
 static int video_sender_send_packet(video_sender_t *sender, const AVPacket *encoded_pkt, uint64_t timestamp) {
     uint8_t *payload;
     size_t payload_len;
@@ -585,6 +611,10 @@ static int video_sender_send_packet(video_sender_t *sender, const AVPacket *enco
     memcpy(payload, encoded_pkt->data, (size_t) encoded_pkt->size);
     memcpy(payload + encoded_pkt->size, &timestamp, sizeof(timestamp));
     rc = kcp_client_send_binary(sender->client, sender->target_peer, payload, payload_len);
+    if (rc != 0) {
+        return rc;
+    }
+    rc = video_sender_drain_pending_messages(sender);
     return rc;
 }
 

src/video_pipeline_gps.c

@@ -566,6 +566,32 @@ static int video_sender_init(video_sender_t *sender, const video_pipeline_config
     return 0;
 }
 
+static int video_sender_drain_pending_messages(video_sender_t *sender) {
+    if (sender == NULL || sender->client == NULL) {
+        errno = EINVAL;
+        return -1;
+    }
+
+    for (;;) {
+        message_t msg;
+        int rc;
+
+        protocol_message_init(&msg);
+        rc = kcp_client_receive_timed(sender->client, &msg, 1);
+        if (rc == 1) {
+            protocol_message_clear(&msg);
+            return 0;
+        }
+        if (rc != 0) {
+            protocol_message_clear(&msg);
+            return -1;
+        }
+
+        // Drain unread server errors so an offline receiver cannot back up the reverse KCP stream.
+        protocol_message_clear(&msg);
+    }
+}
+
 static int video_sender_send_packet(video_sender_t *sender, const AVPacket *encoded_pkt, uint64_t timestamp) {
     uint8_t *payload;
     size_t payload_len;
@@ -585,6 +611,10 @@ static int video_sender_send_packet(video_sender_t *sender, const AVPacket *enco
     memcpy(payload, encoded_pkt->data, (size_t) encoded_pkt->size);
     memcpy(payload + encoded_pkt->size, &timestamp, sizeof(timestamp));
     rc = kcp_client_send_binary(sender->client, sender->target_peer, payload, payload_len);
+    if (rc != 0) {
+        return rc;
+    }
+    rc = video_sender_drain_pending_messages(sender);
     return rc;
 }