feat: 修复启动bash路径、将丢失连接时的视频稍微不堆积

python/tests/test_sessions.py

@@ -174,7 +174,7 @@ def test_kcp_idle_video_peers_survive_without_receive_loop() -> None:
     port = _reserve_port()
     listen_addr = f'127.0.0.1:{port}'
     sender_id = 'peer-b-video'
-    receiver_id = 'peer-a-video'
+    receiver_id = 'pytest-kcp-video-idle-receiver'
 
     with _run_server('kcpserver', listen_addr):
         sender = _connect_with_retry(Session, transport='kcp', server_addr=listen_addr, peer_id=sender_id)
@@ -194,6 +194,22 @@ def test_kcp_idle_video_peers_survive_without_receive_loop() -> None:
             receiver.close()
 
 
+def test_kcp_peer_a_video_stale_receiver_is_evicted() -> None:
+    port = _reserve_port()
+    listen_addr = f'127.0.0.1:{port}'
+    receiver_id = 'peer-a-video'
+
+    with _run_server('kcpserver', listen_addr):
+        receiver = _connect_with_retry(Session, transport='kcp', server_addr=listen_addr, peer_id=receiver_id)
+
+        try:
+            time.sleep(5.0)
+            with pytest.raises(OSError):
+                receiver.recv(timeout_ms=1000)
+        finally:
+            receiver.close()
+
+
 def test_udp_session_close_interrupts_blocking_recv() -> None:
     port = _reserve_port()
     listen_addr = f'127.0.0.1:{port}'

scripts/dev/README.md

@@ -17,6 +17,7 @@ The scripts assume:
 - `robot-command-center` is a sibling directory next to it
 
 If your `robot-command-center` is elsewhere, set `ROBOT_COMMAND_CENTER_ROOT` in `robot-remote.env.local`.
+`start-backend.sh` and `start-frontend.sh` need that repo; `start-ros-receiver.sh` and `start-b-side-omnid.sh` do not.
 
 ## Files
 

scripts/dev/load-env.sh

@@ -19,6 +19,12 @@ is_robot_command_center_root() {
   [[ -f "${dir}/backend/config/asgi.py" && -f "${dir}/frontend/package.json" ]]
 }
 
+require_robot_command_center_root() {
+  if ! is_robot_command_center_root "${ROBOT_COMMAND_CENTER_ROOT}"; then
+    die "ROBOT_COMMAND_CENTER_ROOT must point to the robot-command-center repo root. Current value: ${ROBOT_COMMAND_CENTER_ROOT}. Set it in ${SCRIPT_DIR}/robot-remote.env.local if needed."
+  fi
+}
+
 export OMNISOCKETGO_ROOT="${OMNISOCKETGO_ROOT:-${DEFAULT_OMNISOCKETGO_ROOT}}"
 
 ENV_FILES=(
@@ -42,10 +48,6 @@ if ! is_omnisocketgo_root "${OMNISOCKETGO_ROOT}"; then
   die "OMNISOCKETGO_ROOT must point to the OmniSocketGo repo root. Current value: ${OMNISOCKETGO_ROOT}"
 fi
 
-if ! is_robot_command_center_root "${ROBOT_COMMAND_CENTER_ROOT}"; then
-  die "ROBOT_COMMAND_CENTER_ROOT must point to the robot-command-center repo root. Current value: ${ROBOT_COMMAND_CENTER_ROOT}. Set it in ${SCRIPT_DIR}/robot-remote.env.local if needed."
-fi
-
 export BACKEND_DIR="${BACKEND_DIR:-${ROBOT_COMMAND_CENTER_ROOT}/backend}"
 export FRONTEND_DIR="${FRONTEND_DIR:-${ROBOT_COMMAND_CENTER_ROOT}/frontend}"
 export ROS_CONTROL_PY_DIR="${ROS_CONTROL_PY_DIR:-${OMNISOCKETGO_ROOT}/ros-control-py}"

scripts/dev/start-backend.sh

@@ -4,6 +4,7 @@ set -euo pipefail
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 # shellcheck disable=SC1091
 source "${SCRIPT_DIR}/load-env.sh"
+require_robot_command_center_root
 
 if [[ ! -d "${PYTHON_VENV_PATH}" ]]; then
   "${PYTHON3_BIN}" -m venv "${PYTHON_VENV_PATH}"

scripts/dev/start-frontend.sh

@@ -4,6 +4,7 @@ set -euo pipefail
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 # shellcheck disable=SC1091
 source "${SCRIPT_DIR}/load-env.sh"
+require_robot_command_center_root
 
 cd "${FRONTEND_DIR}"
 exec npm run dev -- --host "${FRONTEND_HOST}" --port "${FRONTEND_PORT}"

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;
 }