Better way to restart camera stream without stoping the camera?

[dragonnn]

Hi!
I recently started rewriting this project I found https://github.com/dans98/pi-h264-to-browser using rust by using rascam.
Got an already working prototype and the performance is much better then with that python project (~18% cpu vs 7% cpu usage when streaming to one client on a Pi Zero).
Here is my project
https://gitlab.com/dragonn/h264rcam/
The only issue that I am facing that restarting the stream after 5-10 times always end with a deadlock, looks like a firmware issue from dmesg:
https://gitlab.com/dragonn/h264rcam/-/blob/master/crash.txt
But they must be a better way to handle a new incoming client then restarting the whole stream like I am doing:
https://gitlab.com/dragonn/h264rcam/-/blob/master/src/camera.rs#L97
Since pi-h264-to-browser doesn't have this issue and is doing something else because the stream doesn't go black for a few frames when a new client connects.
Any advice how would that be better done?
Thanks for the great project!