fix: 断联视频堆积问题与控制命令失效问题

scripts/dev/README.md

@@ -53,6 +53,11 @@ If you only want the shared environment for manual commands:
 source scripts/dev/load-env.sh
 ```
 
+When you launch via `start-*.sh`, you do not need to manually `export` the variables from
+`robot-remote.env` or `robot-remote.env.local`. `load-env.sh` loads those files with `set -a`,
+so the variables are exported automatically for the child process. Manual `export` is only needed
+if you bypass these scripts and start binaries directly from a clean shell.
+
 ## Customizing
 
 Edit `scripts/dev/robot-remote.env` for shared changes such as:
@@ -66,6 +71,11 @@ Edit `scripts/dev/robot-remote.env` for shared changes such as:
 - `OMNI_CAMERA_DEVICE`
 - `OMNI_VIDEO_PEER_ID`
 - `OMNI_CONTROL_PEER_ID`
+- `OMNI_VIDEO_SOFT_BACKPRESSURE_SEGMENTS`
+- `OMNI_VIDEO_HARD_BACKPRESSURE_SEGMENTS`
+- `OMNI_VIDEO_HARD_BACKPRESSURE_HOLD_MS`
+- `OMNI_CONTROL_SERVER_IDLE_RECONNECT_MS`
+- `OMNI_VIDEO_MAX_FRAME_AGE_MS`
 
 Role mapping:
 
@@ -73,6 +83,12 @@ Role mapping:
 - `start-b-side-omnid.sh` uses the `ROBOT_SIDE_*` address pair
 - `start-ros-receiver.sh` defaults to the robot-side address pair, but with `transport=unix_dgram` it usually does not need the server address
 
+New repair knobs:
+
+- `OMNI_VIDEO_SOFT_BACKPRESSURE_SEGMENTS`, `OMNI_VIDEO_HARD_BACKPRESSURE_SEGMENTS`, and `OMNI_VIDEO_HARD_BACKPRESSURE_HOLD_MS` are used by `b_side_omnid`
+- `OMNI_CONTROL_SERVER_IDLE_RECONNECT_MS` is used by `b_side_omnid`
+- `OMNI_VIDEO_MAX_FRAME_AGE_MS` is used by `start-backend.sh` on the A-side backend, not by `b_side_omnid`
+
 Put machine-specific overrides into `scripts/dev/robot-remote.env.local`. Example:
 
 ```bash

scripts/dev/robot-remote.env

@@ -40,10 +40,17 @@ OMNI_VIDEO_TARGET_PEER="peer-a-video"
 OMNI_CAMERA_DEVICE="/dev/video26"
 OMNI_VIDEO_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
 OMNI_VIDEO_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
+OMNI_VIDEO_SOFT_BACKPRESSURE_SEGMENTS="64"
+OMNI_VIDEO_HARD_BACKPRESSURE_SEGMENTS="192"
+OMNI_VIDEO_HARD_BACKPRESSURE_HOLD_MS="1000"
 OMNI_CONTROL_PEER_ID="peer-b-ctrl"
 OMNI_CONTROL_EXPECTED_SENDER="peer-a-ctrl"
 OMNI_CONTROL_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
 OMNI_CONTROL_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
 OMNI_CONTROL_UNIX_SOCKET_PATH="${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}"
+OMNI_CONTROL_SERVER_IDLE_RECONNECT_MS="3000"
+
+# A-side backend video freshness guard. Used by scripts/dev/start-backend.sh.
+OMNI_VIDEO_MAX_FRAME_AGE_MS="1000"
 
 B_SIDE_OMNID_USE_SUDO="1"