Save current changes before reorganizing drivers and cleaning workspace

video_stream.py

@@ -136,6 +136,46 @@ class VideoStreamServer:
         except Exception as e:
             print(f"Failed to start UDP stream server: {e}")
 
+    def restart_tcp_server(self):
+        """Re-initializes the TCP stream server socket after a fatal error."""
+        print("Restarting TCP Stream Server...")
+        self.close_tcp_client()
+        try:
+            if self.tcp_server:
+                self.tcp_server.close()
+        except:
+            pass
+        self.tcp_server = None
+        time.sleep_ms(100)
+        try:
+            self.tcp_server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            self.tcp_server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+            self.tcp_server.bind(('', self.tcp_port))
+            self.tcp_server.listen(1)
+            self.tcp_server.setblocking(False)
+            print(f"TCP Stream Server restarted on port {self.tcp_port}")
+        except Exception as e:
+            print(f"Failed to restart TCP stream server: {e}")
+
+    def restart_udp_sock(self):
+        """Re-initializes the UDP stream server socket after a fatal error."""
+        print("Restarting UDP Stream Server...")
+        try:
+            if self.udp_sock:
+                self.udp_sock.close()
+        except:
+            pass
+        self.udp_sock = None
+        time.sleep_ms(100)
+        try:
+            self.udp_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+            self.udp_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+            self.udp_sock.bind(('', self.udp_port))
+            self.udp_sock.setblocking(False)
+            print(f"UDP Stream Server restarted on port {self.udp_port}")
+        except Exception as e:
+            print(f"Failed to restart UDP stream server: {e}")
+
     def update(self):
         """Updates connection states and checks for incoming video data.
         Call this periodically in the main execution loop.
@@ -195,7 +235,16 @@ class VideoStreamServer:
                             self._draw_frame()
                             self.chunks_received = 0  # Reset for next frame
                 except OSError as e:
-                    break # EWOULDBLOCK (no data available)
+                    import errno
+                    err = getattr(e, 'errno', None)
+                    if err is None and e.args:
+                        err = e.args[0]
+                    ewouldblock = getattr(errno, 'EWOULDBLOCK', errno.EAGAIN)
+                    if err in (errno.EAGAIN, ewouldblock) or err is None:
+                        break # EAGAIN/EWOULDBLOCK (no data available)
+                    print(f"Fatal UDP socket error in update(): {e}. Re-initializing UDP socket...")
+                    self.restart_udp_sock()
+                    break
 
         # 3. Handle TCP stream
         if self.tcp_server:
@@ -208,8 +257,15 @@ class VideoStreamServer:
                     self.active = True
                     self.last_packet_time = now
                     print(f"TCP Stream client connected from: {addr}")
-                except OSError:
-                    pass
+                except OSError as e:
+                    import errno
+                    err = getattr(e, 'errno', None)
+                    if err is None and e.args:
+                        err = e.args[0]
+                    ewouldblock = getattr(errno, 'EWOULDBLOCK', errno.EAGAIN)
+                    if err not in (errno.EAGAIN, ewouldblock) and err is not None:
+                        print(f"Fatal TCP stream server socket error in accept(): {e}. Re-initializing...")
+                        self.restart_tcp_server()
             
             # If client is connected, read data
             if self.tcp_client is not None: