diff --git a/CMakeLists.txt b/CMakeLists.txt
index 92bcb5b6..2d5a7b21 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,6 +28,38 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
 include(FindExternalLib)
 set(ARCH "x86")
 setup_external_libs(${ARCH})
+
+# Intel oneVPL / VA-API runtime. The shared libraries in lib/ are installed
+# by setup_external_libs(); the VA-API driver plugin directory is installed
+# separately because it must retain its dri layout.
+set(INTEL_MEDIA_STACK_ROOT
+        "${PROJECT_SOURCE_DIR}/dependency/${ARCH}/third_party/intel-media-stack/vpl-2.17"
+)
+set(INTEL_MEDIA_DRIVER_DIR "${INTEL_MEDIA_STACK_ROOT}/lib/dri")
+set(INTEL_IHD_DRIVER "${INTEL_MEDIA_DRIVER_DIR}/iHD_drv_video.so")
+
+if(NOT EXISTS "${INTEL_IHD_DRIVER}")
+    message(FATAL_ERROR "Intel iHD VA-API driver not found: ${INTEL_IHD_DRIVER}")
+endif()
+
+message(STATUS "Intel media stack: ${INTEL_MEDIA_STACK_ROOT}")
+install(
+        DIRECTORY "${INTEL_MEDIA_DRIVER_DIR}/"
+        DESTINATION lib/dri
+)
+install(CODE [=[
+    find_program(CMVR_PATCHELF_EXECUTABLE patchelf REQUIRED)
+    set(_cmvr_ihd_driver
+            "${CMAKE_INSTALL_PREFIX}/lib/dri/iHD_drv_video.so"
+    )
+    execute_process(
+            COMMAND "${CMVR_PATCHELF_EXECUTABLE}"
+                    --set-rpath "$ORIGIN/.."
+                    "${_cmvr_ihd_driver}"
+            COMMAND_ERROR_IS_FATAL ANY
+    )
+]=])
+
 # 在调用 setup_external_libs 之后
 message(STATUS "CMAKE_EXE_LINKER_FLAGS: ${CMAKE_EXE_LINKER_FLAGS}")
 message(STATUS "CMAKE_SHARED_LINKER_FLAGS: ${CMAKE_SHARED_LINKER_FLAGS}")
diff --git a/cmvr-es/devices/motor/abstract_motor.h b/cmvr-es/devices/motor/abstract_motor.h
index 28a7d288..eea33acb 100644
--- a/cmvr-es/devices/motor/abstract_motor.h
+++ b/cmvr-es/devices/motor/abstract_motor.h
@@ -7,6 +7,9 @@
 
 #pragma once
 
+#include <cstdint>
+#include <mutex>
+
 #include "devices/abstract_device.h"
 #include "common/base/logging/logger.h"
 #include "motor/motor_protocol_interface.h"
@@ -212,6 +215,11 @@ namespace cmvr::device{
             return  protocol_->getQd(node_id_);
         }
 
+        // Returns the actual motor current in mA when supported by the driver.
+        virtual std::int16_t getCurrent() {
+            return 0;
+        }
+
 
         // 使用的通讯协议
         virtual void setProtocol(std::shared_ptr<MotorProtocolInterface> protocol) {
diff --git a/cmvr-es/devices/motor/bus_runtime/ethercat/include/ethercat_motor_bus_runtime.h b/cmvr-es/devices/motor/bus_runtime/ethercat/include/ethercat_motor_bus_runtime.h
index 02150507..21727952 100644
--- a/cmvr-es/devices/motor/bus_runtime/ethercat/include/ethercat_motor_bus_runtime.h
+++ b/cmvr-es/devices/motor/bus_runtime/ethercat/include/ethercat_motor_bus_runtime.h
@@ -121,6 +121,12 @@ public:
         return true;
     }
 
+    bool readSdoString(int motor_id,
+                       std::uint16_t index,
+                       std::uint8_t subindex,
+                       std::string& value,
+                       std::size_t max_size = 128);
+
 private:
     struct PdoEntryRuntime {
         EthercatPdoEntryConfig cfg;
diff --git a/cmvr-es/devices/motor/bus_runtime/ethercat/src/ethercat_motor_bus_runtime.cpp b/cmvr-es/devices/motor/bus_runtime/ethercat/src/ethercat_motor_bus_runtime.cpp
index d6148be4..d29e64b6 100644
--- a/cmvr-es/devices/motor/bus_runtime/ethercat/src/ethercat_motor_bus_runtime.cpp
+++ b/cmvr-es/devices/motor/bus_runtime/ethercat/src/ethercat_motor_bus_runtime.cpp
@@ -1025,6 +1025,68 @@ bool EthercatMotorBusRuntime::readSdoRaw_(const int motor_id,
     return true;
 }
 
+bool EthercatMotorBusRuntime::readSdoString(const int motor_id,
+                                            const std::uint16_t index,
+                                            const std::uint8_t subindex,
+                                            std::string& value,
+                                            const std::size_t max_size)
+{
+    value.clear();
+    if (max_size == 0) {
+        CMVR_LOG(ERROR) << "[EthercatMotorBusRuntime] invalid SDO string buffer size: "
+                        << max_size << ", object=" << hexIndex_(index)
+                        << ":" << static_cast<int>(subindex)
+                        << ", motor_id=" << motor_id;
+        return false;
+    }
+
+    const auto slave_it = slaves_by_motor_id_.find(motor_id);
+    if (slave_it == slaves_by_motor_id_.end()) {
+        CMVR_LOG(ERROR) << "[EthercatMotorBusRuntime] missing motor for SDO string read: "
+                        << motor_id << ", object=" << hexIndex_(index)
+                        << ":" << static_cast<int>(subindex);
+        return false;
+    }
+    if (!master_) {
+        CMVR_LOG(ERROR) << "[EthercatMotorBusRuntime] runtime is not initialized for SDO string read: "
+                        << id_ << ", motor_id=" << motor_id
+                        << ", object=" << hexIndex_(index)
+                        << ":" << static_cast<int>(subindex);
+        return false;
+    }
+
+    std::vector<std::uint8_t> data(max_size);
+    std::size_t result_size = 0;
+    std::uint32_t abort_code = 0;
+    const auto& slave = slave_it->second;
+    const int result = ecrt_master_sdo_upload(
+        master_,
+        static_cast<std::uint16_t>(slave.cfg.position()),
+        index,
+        subindex,
+        data.data(),
+        data.size(),
+        &result_size,
+        &abort_code);
+    if (result != 0 || result_size > data.size()) {
+        CMVR_LOG(ERROR) << "[EthercatMotorBusRuntime] failed to read SDO string: "
+                        << "group=" << id_ << ", motor_id=" << motor_id
+                        << ", slave_position=" << slave.cfg.position()
+                        << ", object=" << hexIndex_(index)
+                        << ":" << static_cast<int>(subindex)
+                        << ", max_size=" << max_size
+                        << ", result=" << result
+                        << ", result_size=" << result_size
+                        << ", abort_code=" << hexIndex_(abort_code);
+        return false;
+    }
+
+    const auto string_end = std::find(data.begin(), data.begin() + result_size, 0);
+    value.assign(reinterpret_cast<const char*>(data.data()),
+                 static_cast<std::size_t>(string_end - data.begin()));
+    return true;
+}
+
 std::uint32_t EthercatMotorBusRuntime::pdoEntryKey_(const std::uint16_t index,
                                                     const std::uint8_t subindex)
 {
diff --git a/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_cia402_pdo_mapping.h b/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_cia402_pdo_mapping.h
index 0993dd57..782f119f 100644
--- a/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_cia402_pdo_mapping.h
+++ b/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_cia402_pdo_mapping.h
@@ -62,6 +62,7 @@ inline EthercatPdoMapping createEyouCia402PdoMapping()
         entry(msgs::CIA402_ACTUAL_POSITION_6064, 0x00, 32, "Actual Position"),
         entry(msgs::CIA402_ACTUAL_VELOCITY_606C, 0x00, 32, "Actual Velocity"),
         entry(msgs::CIA402_ACTUAL_TORQUE_6077, 0x00, 16, "Actual Torque"),
+        entry(msgs::CIA402_ACTUAL_CURRENT_6078, 0x00, 16, "Actual Current"),
         entry(msgs::CIA402_MODE_DISPLAY_6061, 0x00, 8, "Mode Of Operation Display"),
         entry(msgs::CIA402_ERROR_CODE_603F, 0x00, 16, "Error Code"),
         entry(0x0000, 0x00, 8, "Padding"),
diff --git a/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_motor.h b/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_motor.h
index 4bdc2154..067c97ba 100644
--- a/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_motor.h
+++ b/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_motor.h
@@ -24,6 +24,7 @@ public:
     void setLimitQd(double qd) override;
     bool calibrateZeroQ() override;
     bool brakeRelease() override;
+    std::int16_t getCurrent() override;
 
     static bool commandCyclicPositionsAtomic(
         const std::vector<std::shared_ptr<AbstractMotor>>& motors,
diff --git a/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_motor_adapter.h b/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_motor_adapter.h
index c177a313..cf85e802 100644
--- a/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_motor_adapter.h
+++ b/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_motor_adapter.h
@@ -3,6 +3,7 @@
 
 #include <cstdint>
 #include <memory>
+#include <string>
 
 #include "devices/motor/bus_runtime/ethercat/include/ethercat_motor_bus_runtime.h"
 #include "devices/motor/drivers/ethercat_motor/include/vendor/motor_vendor_adapter.h"
@@ -24,6 +25,11 @@ public:
                        std::int64_t counts_per_joint_revolution,
                        std::int32_t& zeroed_position) override;
     bool brakeRelease(std::uint8_t node_id) override;
+    bool readActualCurrent(std::uint8_t node_id,
+                           std::int16_t& current_value) const;
+    bool readMotorIdentity(std::uint8_t node_id,
+                           std::string& motor_model,
+                           std::string& motor_version) const;
 
 private:
     std::shared_ptr<EthercatMotorBusRuntime> bus_runtime_;
diff --git a/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_objects.h b/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_objects.h
index cee1369d..bcaaae8b 100644
--- a/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_objects.h
+++ b/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_objects.h
@@ -5,6 +5,9 @@
 
 namespace cmvr::device::eyou {
 
+inline constexpr std::uint16_t EYOU_DEVICE_NAME_1008 = 0x1008;
+inline constexpr std::uint16_t EYOU_SOFTWARE_VERSION_100A = 0x100A;
+
 inline constexpr std::uint16_t EYOU_SOFT_LIMIT_STATE_2003 = 0x2003;
 
 inline constexpr std::uint16_t EYOU_BRAKE_CONTROL_2014 = 0x2014;
diff --git a/cmvr-es/devices/motor/drivers/ethercat_motor/src/cia402/cia402_status_monitor.cpp b/cmvr-es/devices/motor/drivers/ethercat_motor/src/cia402/cia402_status_monitor.cpp
index 1e0eeb5f..d5e3b47f 100644
--- a/cmvr-es/devices/motor/drivers/ethercat_motor/src/cia402/cia402_status_monitor.cpp
+++ b/cmvr-es/devices/motor/drivers/ethercat_motor/src/cia402/cia402_status_monitor.cpp
@@ -153,8 +153,11 @@ void Cia402StatusMonitor::reportStatuswordTransition_(
     const StatusSample& previous,
     const StatusSample& current) const
 {
-    const bool status_changed =
+    const bool device_state_changed =
         !had_previous || !previous.read_ok ||
+        (previous.statusword & 0x006F) != (current.statusword & 0x006F);
+    const bool status_changed =
+        device_state_changed ||
         previous.status_problem != current.status_problem ||
         (previous.statusword & 0x0888) != (current.statusword & 0x0888);
     if (current.status_problem && status_changed) {
@@ -178,9 +181,20 @@ void Cia402StatusMonitor::reportStatuswordTransition_(
                previous.status_problem) {
         CMVR_LOG(INFO) << "[Cia402StatusMonitor] [statusword] recovered"
                        << ", node=" << static_cast<int>(node_id)
+                       << ", current_statusword=0x" << std::hex << std::uppercase
+                       << std::setw(4) << std::setfill('0') << current.statusword
+                       << std::dec << std::nouppercase << std::setfill(' ')
+                       << ' ' << deviceStateName_(current.statusword)
                        << ", previous_statusword=0x" << std::hex << std::uppercase
                        << std::setw(4) << std::setfill('0') << previous.statusword
                        << std::dec << std::nouppercase << std::setfill(' ');
+    } else if (device_state_changed) {
+        CMVR_LOG(INFO) << "[Cia402StatusMonitor] [statusword] 0x"
+                       << std::hex << std::uppercase << std::setw(4)
+                       << std::setfill('0') << current.statusword
+                       << std::dec << std::nouppercase << std::setfill(' ')
+                       << ' ' << deviceStateName_(current.statusword)
+                       << ", node=" << static_cast<int>(node_id);
     }
 }
 
diff --git a/cmvr-es/devices/motor/drivers/ethercat_motor/src/vendor/eyou/eyou_motor.cpp b/cmvr-es/devices/motor/drivers/ethercat_motor/src/vendor/eyou/eyou_motor.cpp
index 20fcbfa2..d294bdb0 100644
--- a/cmvr-es/devices/motor/drivers/ethercat_motor/src/vendor/eyou/eyou_motor.cpp
+++ b/cmvr-es/devices/motor/drivers/ethercat_motor/src/vendor/eyou/eyou_motor.cpp
@@ -6,12 +6,31 @@
 #include <cstdint>
 #include <functional>
 #include <mutex>
+#include <limits>
+#include <map>
+#include <string>
 #include <utility>
 
 #include "common/base/logging/logger.h"
 
 namespace cmvr::device {
 
+namespace {
+
+struct MotorCurrentInfo {
+    double adc_amperes_per_count;
+    double rated_current_amperes;
+};
+
+const std::map<std::string, MotorCurrentInfo> kMotorCurrentMap = {
+    {"EuPH11", {0.005371094, 3.8}},
+    {"EuPH14", {0.007672991, 3.9}},
+    {"EuPH17", {0.007672991, 3.9}},
+    {"EuPH20", {0.013427734, 6.9}},
+};
+
+} // namespace
+
 EyouMotor::EyouMotor(const config::MotorConfigItem& config,
                      std::shared_ptr<Cia402Protocol> cia402_protocol,
                      std::unique_ptr<EyouMotorAdapter> vendor_adapter)
@@ -46,6 +65,7 @@ bool EyouMotor::init()
         CMVR_LOG(ERROR) << "[EyouMotor] failed to init vendor adapter: " << info_.joint_name;
         return false;
     }
+    configureCurrentConversion_();
     cia402_protocol_->setMotorConversion(node_id_, encoder_counts_per_rev_, gear_ratio_);
 
     cia402_protocol_->setLimitQd(node_id_, info_.limit_qd);
@@ -212,6 +232,29 @@ bool EyouMotor::brakeRelease()
     return vendor_adapter_->brakeRelease(node_id_);
 }
 
+std::int16_t EyouMotor::getCurrent()
+{
+    std::scoped_lock lock(mtx_);
+    if (!hasDependencies_()) {
+        return 0;
+    }
+
+    std::int16_t raw_current = 0;
+    if (!vendor_adapter_->readActualCurrent(node_id_, raw_current)) {
+        CMVR_LOG(ERROR) << "[EyouMotor] failed to read actual current: "
+                        << info_.joint_name;
+        return 0;
+    }
+
+    const double current_ma = static_cast<double>(raw_current) *
+                              current_scale_ma_per_count_;
+    const double clamped_current_ma = std::clamp(
+        current_ma,
+        static_cast<double>(std::numeric_limits<std::int16_t>::min()),
+        static_cast<double>(std::numeric_limits<std::int16_t>::max()));
+    return static_cast<std::int16_t>(clamped_current_ma);
+}
+
 bool EyouMotor::hasDependencies_() const
 {
     if (!cia402_protocol_ || !vendor_adapter_) {
@@ -260,6 +303,37 @@ bool EyouMotor::writeVendorVelocityLimit_() const
     return vendor_adapter_->writeVelocityLimit(node_id_, radPerSecToCounts_(info_.limit_qd));
 }
 
+void EyouMotor::configureCurrentConversion_()
+{
+    std::string motor_model;
+    std::string motor_version;
+    if (!vendor_adapter_->readMotorIdentity(node_id_, motor_model, motor_version)) {
+        CMVR_LOG(WARNING) << "[EyouMotor] failed to read motor identity; actual current "
+                          << "will use the raw PDO value: " << info_.joint_name;
+        return;
+    }
+
+    std::string model_prefix = motor_model;
+    const auto dash_pos = motor_model.find('-');
+    if (dash_pos != std::string::npos) {
+        model_prefix = motor_model.substr(0, dash_pos);
+    } else if (motor_model.rfind("EuPH", 0) == 0 && motor_model.size() >= 6) {
+        model_prefix = motor_model.substr(0, 6);
+    }
+
+    const auto current_info = kMotorCurrentMap.find(model_prefix);
+    if (current_info == kMotorCurrentMap.end()) {
+        CMVR_LOG(WARNING) << "[EyouMotor] unsupported motor model for current conversion: "
+                          << motor_model << ", actual current will use the raw PDO value";
+        return;
+    }
+
+    const bool is_v145 = motor_version.find("V145") != std::string::npos;
+    current_scale_ma_per_count_ = is_v145
+        ? current_info->second.rated_current_amperes
+        : current_info->second.adc_amperes_per_count * 1000.0;
+}
+
 std::int32_t EyouMotor::radToCounts_(const double angle_rad) const
 {
     const double rev = angle_rad / (2.0 * M_PI);
diff --git a/cmvr-es/devices/motor/drivers/ethercat_motor/src/vendor/eyou/eyou_motor_adapter.cpp b/cmvr-es/devices/motor/drivers/ethercat_motor/src/vendor/eyou/eyou_motor_adapter.cpp
index 04e0fcfa..99848f49 100644
--- a/cmvr-es/devices/motor/drivers/ethercat_motor/src/vendor/eyou/eyou_motor_adapter.cpp
+++ b/cmvr-es/devices/motor/drivers/ethercat_motor/src/vendor/eyou/eyou_motor_adapter.cpp
@@ -373,4 +373,25 @@ bool EyouMotorAdapter::brakeRelease(const std::uint8_t node_id)
     return false;
 }
 
+bool EyouMotorAdapter::readActualCurrent(const std::uint8_t node_id,
+                                         std::int16_t& current_value) const
+{
+    return bus_runtime_ &&
+           bus_runtime_->readPdo<std::int16_t>(
+               node_id, msgs::CIA402_ACTUAL_CURRENT_6078, 0x00, current_value);
+}
+
+bool EyouMotorAdapter::readMotorIdentity(const std::uint8_t node_id,
+                                         std::string& motor_model,
+                                         std::string& motor_version) const
+{
+    if (!bus_runtime_) {
+        return false;
+    }
+    return bus_runtime_->readSdoString(
+               node_id, eyou::EYOU_DEVICE_NAME_1008, 0x00, motor_model) &&
+           bus_runtime_->readSdoString(
+               node_id, eyou::EYOU_SOFTWARE_VERSION_100A, 0x00, motor_version);
+}
+
 } // namespace cmvr::device
diff --git a/cmvr-es/manager/media_source_hub/include/media_source_hub.h b/cmvr-es/manager/media_source_hub/include/media_source_hub.h
index c7dcb553..39daa7bd 100644
--- a/cmvr-es/manager/media_source_hub/include/media_source_hub.h
+++ b/cmvr-es/manager/media_source_hub/include/media_source_hub.h
@@ -123,6 +123,10 @@ private:
     std::shared_ptr<Impl> impl_;
 };
 
+// Compatibility alias for older protocol tests and integrations. New code should
+// use MediaSourceHub directly.
+using MediaSourceManager = MediaSourceHub;
+
 } // namespace cmvr::media
 
 #endif // CMVR_ES_MANAGER_MEDIA_SOURCE_HUB_H
diff --git a/cmvr-es/manager/media_source_hub/src/device_media_source_adapter.cpp b/cmvr-es/manager/media_source_hub/src/device_media_source_adapter.cpp
index 36b21653..de6f1338 100644
--- a/cmvr-es/manager/media_source_hub/src/device_media_source_adapter.cpp
+++ b/cmvr-es/manager/media_source_hub/src/device_media_source_adapter.cpp
@@ -32,10 +32,12 @@ std::string normalizedCodec(std::string codec) {
 
 Codec videoCodec(const std::string& value) {
     const std::string codec = normalizedCodec(value);
-    if (codec == "h264" || codec == "avc" || codec == "avc1" || codec == "libx264") {
+    if (codec == "h264" || codec == "avc" || codec == "avc1" ||
+        codec == "libx264" || codec == "h264qsv") {
         return Codec::H264;
     }
-    if (codec == "h265" || codec == "hevc" || codec == "hvc1" || codec == "libx265") {
+    if (codec == "h265" || codec == "hevc" || codec == "hvc1" ||
+        codec == "libx265" || codec == "h265qsv" || codec == "hevcqsv") {
         return Codec::H265;
     }
     return Codec::UNKNOWN;
diff --git a/cmvr-es/service/grpc/src/grpc_camera_service.cpp b/cmvr-es/service/grpc/src/grpc_camera_service.cpp
index 5ca371ef..43cec91a 100644
--- a/cmvr-es/service/grpc/src/grpc_camera_service.cpp
+++ b/cmvr-es/service/grpc/src/grpc_camera_service.cpp
@@ -203,7 +203,9 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImage(grpc::ServerContext* context,
         }
         Rs2Intrinsics intrinsics = {0};
         dev->getRGBImage(image,intrinsics);
-        response->mutable_header()->set_success(true);
+        if (image.empty()) {
+            return failResponse(response, "Camera returned an empty RGB image: " + dev_id);
+        }
 
         response->mutable_intrinsics()->set_fx(intrinsics.fx);
         response->mutable_intrinsics()->set_fy(intrinsics.fy);
@@ -256,6 +258,9 @@ grpc::Status gRPCCameraServiceImpl::GetDepthImage(grpc::ServerContext* context,
         }
         Rs2Intrinsics intrinsics = {0};
         dev->getDepthImage(image,intrinsics);
+        if (image.empty()) {
+            return failResponse(response, "Camera returned an empty depth image: " + dev_id);
+        }
         response->mutable_header()->set_success(true);
 
         response->mutable_intrinsics()->set_fx(intrinsics.fx);
@@ -312,6 +317,12 @@ grpc::Status gRPCCameraServiceImpl::GetRGBDImages(grpc::ServerContext* context,
         }
         Rs2Intrinsics intrinsics = {0};
         dev->getRGBDImages(color_image,depth_image, intrinsics);
+        if (color_image.empty()) {
+            return failResponse(response, "Camera returned an empty RGB image: " + dev_id);
+        }
+        if (depth_image.empty()) {
+            return failResponse(response, "Camera returned an empty depth image: " + dev_id);
+        }
         response->mutable_header()->set_success(true);
 
         response->mutable_intrinsics()->set_fx(intrinsics.fx);
@@ -324,7 +335,8 @@ grpc::Status gRPCCameraServiceImpl::GetRGBDImages(grpc::ServerContext* context,
         response->mutable_header()->set_success(true);
         setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
 
-        // color image
+        // color image is serialized in the existing OpenCV BGR byte order;
+        // clients convert it once when constructing an RGB image.
         if (color_image.type() == CV_8UC3) {
             response->mutable_color_frame()->set_type(api::FrameData::U8C3);
         }
@@ -353,6 +365,9 @@ grpc::Status gRPCCameraServiceImpl::GetRGBDImages(grpc::ServerContext* context,
         else if (depth_image.type() == CV_32FC1) {
             response->mutable_depth_frame()->set_type(api::FrameData::F32C1);
         }
+        else {
+            return failResponse(response, "unsupported depth image type");
+        }
         response->mutable_depth_frame()->set_data(
             reinterpret_cast<const char*>(depth_image.data), depth_image.total() * depth_image.elemSize());
         response->mutable_depth_frame()->set_height(depth_image.rows);
@@ -504,11 +519,12 @@ grpc::Status gRPCCameraServiceImpl::GetDepthImageStream(grpc::ServerContext* con
                 !frame_data.depthFrame.empty()) {
                 response.mutable_header()->set_success(true);
                 setCurrentTimestamp(response.mutable_header()->mutable_timestamp());
+                response.mutable_depth_frame()->set_type(api::FrameData::U16C1);
                 response.mutable_depth_frame()->set_data(frame_data.depthFrame.data(), frame_data.depthFrame.size());
                 response.mutable_depth_frame()->set_is_key_frame(frame_data.depthKey);
-                response.mutable_depth_frame()->set_codec(frame_data.codec);
-                response.mutable_depth_frame()->set_width(frame_data.width);
-                response.mutable_depth_frame()->set_height(frame_data.height);
+                response.mutable_depth_frame()->set_codec("none");
+                response.mutable_depth_frame()->set_width(frame_data.depth_width > 0 ? frame_data.depth_width : frame_data.width);
+                response.mutable_depth_frame()->set_height(frame_data.depth_height > 0 ? frame_data.depth_height : frame_data.height);
 
                 response.mutable_intrinsics()->set_fx(frame_data.intrinsics.fx);
                 response.mutable_intrinsics()->set_fy(frame_data.intrinsics.fy);
@@ -590,11 +606,12 @@ grpc::Status gRPCCameraServiceImpl::GetRGBDImagesStream(grpc::ServerContext* con
                 response.mutable_color_frame()->set_width(frame_data.width);
                 response.mutable_color_frame()->set_height(frame_data.height);
 
+                response.mutable_depth_frame()->set_type(api::FrameData::U16C1);
                 response.mutable_depth_frame()->set_data(frame_data.depthFrame.data(), frame_data.depthFrame.size());
                 response.mutable_depth_frame()->set_is_key_frame(frame_data.depthKey);
-                response.mutable_depth_frame()->set_codec(frame_data.codec);
-                response.mutable_depth_frame()->set_width(frame_data.width);
-                response.mutable_depth_frame()->set_height(frame_data.height);
+                response.mutable_depth_frame()->set_codec("none");
+                response.mutable_depth_frame()->set_width(frame_data.depth_width > 0 ? frame_data.depth_width : frame_data.width);
+                response.mutable_depth_frame()->set_height(frame_data.depth_height > 0 ? frame_data.depth_height : frame_data.height);
 
                 response.mutable_intrinsics()->set_fx(frame_data.intrinsics.fx);
                 response.mutable_intrinsics()->set_fy(frame_data.intrinsics.fy);
@@ -667,7 +684,40 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImageStream(grpc::ServerContext* conte
             return grpc::Status::OK;
         }
 
+        std::atomic<bool> client_eof_requested{false};
+        std::atomic<bool> request_stream_closed{false};
+        std::atomic<uint64_t> control_requests_read{1};
+        std::thread request_reader([&] {
+            api::GetRGBImageStreamCommand_Request control_request;
+            while (stream->Read(&control_request)) {
+                ++control_requests_read;
+                if (control_request.eof()) {
+                    client_eof_requested.store(true, std::memory_order_release);
+                    CMVR_LOG(INFO) << "[gRPCCameraServiceImpl] client requested RGB stream EOF"
+                                   << ", id=" << dev_id
+                                   << ", peer=" << context->peer()
+                                   << ", control_requests=" << control_requests_read.load();
+                    break;
+                }
+            }
+            request_stream_closed.store(true, std::memory_order_release);
+        });
+        struct RequestReaderJoiner {
+            std::thread& thread;
+            ~RequestReaderJoiner() {
+                if (thread.joinable()) {
+                    thread.join();
+                }
+            }
+        } request_reader_joiner{request_reader};
+        const auto join_request_reader = [&] {
+            if (request_reader.joinable()) {
+                request_reader.join();
+            }
+        };
+
         bool waiting_for_key_frame = true;
+        const char* exit_reason = "unknown";
         auto last_key_frame_request = std::chrono::steady_clock::now();
         auto last_latency_log = std::chrono::steady_clock::time_point{};
         uint64_t discarded_since_log = 0;
@@ -713,15 +763,25 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImageStream(grpc::ServerContext* conte
         };
         while (true)
         {
+            if (client_eof_requested.load(std::memory_order_acquire)) {
+                exit_reason = "client_eof";
+                break;
+            }
             if (context->IsCancelled())
             {
-                CMVR_LOG(INFO) << "[gRPCCameraServiceImpl](GetRGBImageStream) context is cancelled,id=" << dev_id;
+                exit_reason = "context_cancelled";
+                CMVR_LOG(INFO) << "[gRPCCameraServiceImpl](GetRGBImageStream) context is cancelled"
+                               << ", id=" << dev_id
+                               << ", peer=" << context->peer()
+                               << ", client_eof=" << client_eof_requested.load()
+                               << ", request_stream_closed=" << request_stream_closed.load();
                 break;
             }
 
             const auto read = subscription.waitRead(std::chrono::milliseconds(100));
             if (!read || !read->value || read->value->empty()) {
                 if (!subscription.valid()) {
+                    exit_reason = "subscription_invalid";
                     break;
                 }
                 if (waiting_for_key_frame) {
@@ -765,6 +825,7 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImageStream(grpc::ServerContext* conte
                     "Unsupported camera stream codec or payload format: " + dev_id);
                 setCurrentTimestamp(response.mutable_header()->mutable_timestamp());
                 stream->Write(response);
+                exit_reason = "unsupported_stream";
                 break;
             }
             if (read->dropped_since_last_read > 0 || read->generation_changed || frame.discontinuity) {
@@ -808,7 +869,17 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImageStream(grpc::ServerContext* conte
 
             const auto write_started = std::chrono::steady_clock::now();
             if (!stream->Write(response)) {
-                CMVR_LOG(INFO) << "[gRPCCameraServiceImpl] (stream->Write) failed,id=" << dev_id;
+                exit_reason = "write_failed";
+                CMVR_LOG(INFO) << "[gRPCCameraServiceImpl] (stream->Write) failed"
+                               << ", id=" << dev_id
+                               << ", peer=" << context->peer()
+                               << ", context_cancelled=" << context->IsCancelled()
+                               << ", client_eof=" << client_eof_requested.load()
+                               << ", request_stream_closed=" << request_stream_closed.load()
+                               << ", control_requests=" << control_requests_read.load()
+                               << ", write_ms="
+                               << std::chrono::duration_cast<std::chrono::microseconds>(
+                                      std::chrono::steady_clock::now() - write_started).count() / 1000.0;
                 break;
             }
             last_write_duration = std::chrono::duration_cast<std::chrono::microseconds>(