gstreamer.rs — Video Streaming

Receives H.264 video from the rover over UDP, decodes it, and serves it as MJPEG over HTTP so the frontend can display it in <img> tags. 
 Pipeline per camera 
 udpsrc (UDP port) → rtpjitterbuffer → rtph264depay → avdec_h264 → videoconvert → jpegenc → appsink 
 Each decoded JPEG frame is placed into a shared FrameBuffer ( Arc<Mutex<Option<Bytes>>> ). A separate async HTTP server (using warp ) reads from that buffer and streams it as multipart/x-mixed-replace — the standard MJPEG format. 
 Port mapping 
 UDP input port HTTP output port Camera 4500 5000 Depth / front camera 4501 5001 Secondary camera 4502 5002 Arm camera 
 Feed health monitoring 
 A background task ( watch_feed_health ) polls each stream every 500ms. If no frame has been received within 2 seconds, the stream is considered stale. The backend emits a camera-feed-status Tauri event to the frontend with the payload: 
 { "port": 5000, "stale": true } 
 The frontend listens for this event to show feed status indicators. 
 For development without rover hardware , run the fake_camera_gstreamer . For instructions see Common Operations .