unsynced but fast getting pixels and imageHEADmaster

3 files changed, 10 insertions, 102 deletions

diff --git a/src/camera/icamera.h b/src/camera/icamera.h
index 310e709..d618e57 100644
--- a/src/camera/icamera.h
+++ b/src/camera/icamera.h
@@ -52,6 +52,7 @@ public:
     // [[nodiscard]] virtual bool getImage(Image *image) = 0;
     // [[nodiscard]] virtual std::shared_ptr<Image> getImage() = 0;
     // [[nodiscard]] virtual std::optional<Image &> getImage() = 0;
+    // FIXME: this shit is not thread-safe: data can be changed
     [[nodiscard]] virtual Image *getImage() = 0;
 
 public:
diff --git a/src/camera/veyeimx287m.cpp b/src/camera/veyeimx287m.cpp
index c36caaa..845bcdc 100644
--- a/src/camera/veyeimx287m.cpp
+++ b/src/camera/veyeimx287m.cpp
@@ -285,9 +285,6 @@ bool VeyeIMX287m::init()
         return false;
     }
 
-    // if (!initHttpServer())
-    //     return false;
-
     return true;
 }
 
@@ -583,25 +580,23 @@ void VeyeIMX287m::getFramesLoop(std::stop_token stopToken)
         }
 
         futures[i] = QtConcurrent::run(/*&threadPool, */ [this, i]() {
+                         auto &image = m_images[i];
+                         image.rotate();
+                         // const auto &pixels = image.getPixels();
+                         // m_lastImageIdx = i;
+                         return i;
+                     }).then([this](const uint8_t i) {
             auto &image = m_images[i];
-            image.rotate();
-            // const auto pixels = image.sharedPixels();
             const auto &pixels = image.getPixels();
             m_lastImageIdx = i;
             return i;
-        }) /*.then([this](const uint8_t i) {
-            auto &image = m_images[i];
-            const auto pixels = image.sharedPixels();
-            return i;
-        })*/
-            ;
+        });
 
         ++processedCounter;
         ++threadIdx;
     }
 }
 
-// TODO: check if some of buffers are being overritten during processing
 bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
 {
     static struct timeval curr, prev;
@@ -682,18 +677,9 @@ bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
 
     imageIndex = buf.index;
 
-    // const auto &image = m_rawBuffers[buf.index].image;
-    // image->height = img_height;
-    // image->width = img_width;
-    // // TODO: fill
-    // // image.counters.encoderPosition = RotaryEncoder::instance()->position();
-    // image->counters.measurementCounter = buf.sequence;
-
     dropped_count += buf.sequence - m_previousFrameCounter.value_or(buf.sequence) - 1;
     m_previousFrameCounter = buf.sequence;
 
-    // image->counters.timestampUs = buf.timestamp.tv_sec * 1000 * 1000 + buf.timestamp.tv_usec;
-
     {
         std::lock_guard<std::mutex> lock(m_camMtx);
         ret = ioctl(m_cam_fd, VIDIOC_QBUF, &buf);
@@ -708,88 +694,7 @@ bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
     return true;
 }
 
-// bool VeyeIMX287m::getImage(Image *image)
-// {
-// return false;
-// if (!image) {
-//     std::cerr << __func__ << ": image is nullptr" << std::endl;
-
-//     return false;
-// }
-
-// size_t bufferIdx{};
-
-// if (!dequeueImageBuffer(bufferIdx)) {
-//     return false;
-// }
-
-// // TODO: remove this bullshit. return ptr to image or copy image metainfo
-// // only, then copy data
-// // *image = std::move(m_images[bufferIdx]);
-// *image = std::move(*m_rawBuffers[bufferIdx].image);
-// {
-//     QElapsedTimer t;
-//     t.start();
-//     std::lock_guard lock{m_imageMutexes[bufferIdx]};
-
-//     auto &src = *(Image::radxa_data_t *) m_rawBuffers[bufferIdx].mem;
-//     auto &dst = image->data;
-//     Image::copy(dst, src);
-//     get_elapsed_ns += t.nsecsElapsed();
-// }
-
-// return true;
-// }
-
 Image *VeyeIMX287m::getImage()
 {
     return m_lastImageIdx.has_value() ? &m_images[*m_lastImageIdx] : nullptr;
 }
-
-// std::shared_ptr<Image> VeyeIMX287m::getImage()
-// {
-// std::shared_ptr<Image> result;
-// std::shared_ptr<Image> result = std::make_shared<Image>();
-
-// if (m_lastProcessedImage != std::numeric_limits<size_t>::max()) {
-// if (m_lastProcessedImage) {
-// return m_rawBuffers[m_lastProcessedImage].image;
-// }
-
-// {
-// std::lock_guard l{m_lastImageMtx};
-// result = m_lastProcessedImage;
-// std::swap(result, m_lastProcessedImage);
-// }
-// return {};
-// {
-// return m_lastProcessedImage;
-//     result = m_lastProcessedImage;
-// }
-// return result;
-
-// size_t bufferIdx{};
-
-// if (!dequeueImageBuffer(bufferIdx)) {
-//     std::cerr << "cannot dequeue" << std::endl;
-//     return {};
-// }
-
-// // TODO: remove this bullshit. return ptr to image or copy image metainfo
-// // only, then copy data
-// // *image = std::move(m_images[bufferIdx]);
-// // result = m_rawBuffers[bufferIdx].image;
-// {
-//     QElapsedTimer t;
-//     t.start();
-//     std::lock_guard lock{m_imageMutexes[bufferIdx]};
-
-//     auto &src = *(Image::radxa_data_t *) m_rawBuffers[bufferIdx].mem;
-//     auto &dst = result->data;
-//     Image::copy(dst, src);
-//     get_elapsed_ns += t.nsecsElapsed();
-// }
-// // std::cerr << "ok" << std::endl;
-
-// return result;
-// }
diff --git a/src/image.h b/src/image.h
index 105711b..838180c 100644
--- a/src/image.h
+++ b/src/image.h
@@ -43,6 +43,8 @@ struct Image
     void rotate();
 
     // std::shared_ptr<Pixels> sharedPixels();
+    // FIXME: is not thread-safe: processing can be triggered from multiple
+    // threads at the same time
     Pixels &getPixels();
     void copyFromData(const void* src, size_t size);