lesavka/server/src/main/eye_video.rs

impl Handler {
    async fn capture_video_reply(
        &self,
        req: MonitorRequest,
    ) -> Result<Response<VideoStream>, Status> {
        let id = req.id;
        if id > 1 {
            return Err(Status::invalid_argument("monitor id must be 0 or 1"));
        }
        let source_id = req.source_id.unwrap_or(id);
        if source_id > 1 {
            return Err(Status::invalid_argument("source id must be 0 or 1"));
        }
        let dev = if source_id == 0 {
            "/dev/lesavka_l_eye"
        } else {
            "/dev/lesavka_r_eye"
        };

        #[cfg(not(coverage))]
        {
            let rpc_id = runtime_support::next_stream_id();
            info!(
                rpc_id,
                id,
                source_id,
                max_bitrate = req.max_bitrate,
                requested_width = req.requested_width,
                requested_height = req.requested_height,
                requested_fps = req.requested_fps,
                "🎥 capture_video opened"
            );
            debug!(rpc_id, "🎥 streaming {dev}");
        }

        let hub = self
            .eye_hub(
                dev,
                EyeHubKey {
                    source_id,
                    requested_width: req.requested_width,
                    requested_height: req.requested_height,
                    requested_fps: req.requested_fps,
                },
                req.max_bitrate,
            )
            .await?;

        let hub_rx = hub.tx.subscribe();
        hub.subscribers.fetch_add(1, Ordering::AcqRel);
        let subscribers = Arc::clone(&hub.subscribers);
        let hub_for_task = Arc::clone(&hub);
        let (tx, rx) = tokio::sync::mpsc::channel(32);
        tokio::spawn(forward_eye_hub_packets(
            id,
            hub_rx,
            tx,
            subscribers,
            hub_for_task,
        ));

        Ok(Response::new(Box::pin(ReceiverStream::new(rx))))
    }

    async fn eye_hub(
        &self,
        dev: &str,
        key: EyeHubKey,
        max_bitrate_kbit: u32,
    ) -> Result<Arc<EyeHub>, Status> {
        let stale_hubs = {
            let mut hubs = self.eye_hubs.lock().await;
            if let Some(hub) = hubs.get(&key)
                && hub.running.load(Ordering::Relaxed)
            {
                return Ok(Arc::clone(hub));
            }
            take_conflicting_eye_hubs(&mut hubs, key)
        };
        #[cfg(not(coverage))]
        if !stale_hubs.is_empty() {
            info!(
                source_id = key.source_id,
                requested_width = key.requested_width,
                requested_height = key.requested_height,
                requested_fps = key.requested_fps,
                stale_hubs = stale_hubs.len(),
                "🎥 replacing stale/conflicting eye hubs before opening the source"
            );
        }
        for hub in stale_hubs {
            hub.shutdown();
        }

        let lease = self.capture_power.acquire().await;
        let stream = video::eye_ball_with_request(
            dev,
            key.source_id,
            max_bitrate_kbit,
            key.requested_width,
            key.requested_height,
            key.requested_fps,
        )
        .await
        .map_err(|e| Status::internal(format!("{e:#}")))?;

        let hub = EyeHub::spawn(stream, lease);
        let mut hubs = self.eye_hubs.lock().await;
        #[cfg(not(coverage))]
        if let Some(existing) = hubs.get(&key)
            && existing.running.load(Ordering::Relaxed)
        {
            hub.shutdown();
            return Ok(Arc::clone(existing));
        }
        hubs.insert(key, Arc::clone(&hub));
        Ok(hub)
    }

    #[cfg(test)]
    #[allow(dead_code)]
    async fn eye_hub_count(&self) -> usize {
        self.eye_hubs.lock().await.len()
    }

}

/// Fan out one shared eye hub into one RPC stream without letting stale frames
/// build latency when a receiver falls behind or disconnects.
async fn forward_eye_hub_packets(
    id: u32,
    mut hub_rx: broadcast::Receiver<VideoPacket>,
    tx: tokio::sync::mpsc::Sender<Result<VideoPacket, Status>>,
    subscribers: Arc<AtomicUsize>,
    hub_for_task: Arc<EyeHub>,
) {
    loop {
        match hub_rx.recv().await {
            Ok(mut pkt) => {
                pkt.id = id;
                if tx.send(Ok(pkt)).await.is_err() {
                    break;
                }
            }
            Err(broadcast::error::RecvError::Lagged(_)) => continue,
            Err(broadcast::error::RecvError::Closed) => break,
        }
    }
    if subscribers.fetch_sub(1, Ordering::AcqRel) == 1 {
        hub_for_task.shutdown();
    }
}