try to use QFuture to keep frames order

1 files changed, 49 insertions, 45 deletions

diff --git a/src/camera/veyeimx287m.cpp b/src/camera/veyeimx287m.cpp
index 6df5a3e..c87480b 100644
--- a/src/camera/veyeimx287m.cpp
+++ b/src/camera/veyeimx287m.cpp
@@ -12,6 +12,7 @@
 #include <iostream>
 
 #include <QElapsedTimer>
+#include <QtConcurrent/QtConcurrentRun>
 
 // orpheus
 #include "camera/veye_i2c.h"
@@ -229,9 +230,7 @@ VeyeIMX287m::~VeyeIMX287m()
 
     if (m_cam_fd >= 0) {
         if (close(m_cam_fd) == -1) {
-            std::cout << __func__
-                      << ": cannot close camera: " << strerror(errno)
-                      << std::endl;
+            std::cout << __func__ << ": cannot close camera: " << strerror(errno) << std::endl;
         }
     };
 
@@ -270,8 +269,8 @@ bool VeyeIMX287m::startStream()
     const auto ret = ioctl(m_cam_fd, VIDIOC_STREAMON, &radxa_buf_type);
 
     if (ret != 0) {
-        std::cerr << "ioctl(VIDIOC_STREAMON) failed: " << errno << " ("
-                  << strerror(errno) << ")" << std::endl;
+        std::cerr << "ioctl(VIDIOC_STREAMON) failed: " << errno << " (" << strerror(errno) << ")"
+                  << std::endl;
         return false;
     }
 
@@ -314,8 +313,8 @@ bool VeyeIMX287m::set_autoExposure(const bool enable)
 {
     using namespace veye::imx287m;
 
-    const uint32_t value = static_cast<uint32_t>(
-        enable ? ExposureMode::AutoExposureContinious : ExposureMode::Manual);
+    const uint32_t value = static_cast<uint32_t>(enable ? ExposureMode::AutoExposureContinious
+                                                        : ExposureMode::Manual);
 
     return m_i2c->write(static_cast<uint16_t>(Register::Exposure_Mode), value);
 }
@@ -324,23 +323,21 @@ std::optional<bool> VeyeIMX287m::get_autoExposure()
 {
     using namespace veye::imx287m;
 
-    const auto value = m_i2c->read(
-        static_cast<uint32_t>(Register::Exposure_Mode));
+    const auto value = m_i2c->read(static_cast<uint32_t>(Register::Exposure_Mode));
 
     if (!value) {
         return {};
     }
 
-    return *value
-           == static_cast<uint32_t>(ExposureMode::AutoExposureContinious);
+    return *value == static_cast<uint32_t>(ExposureMode::AutoExposureContinious);
 }
 
 bool VeyeIMX287m::set_autoGain(const bool enable)
 {
     using namespace veye::imx287m;
 
-    const uint32_t value = static_cast<uint32_t>(
-        enable ? GainMode::AutoGainContinious : GainMode::Manual);
+    const uint32_t value = static_cast<uint32_t>(enable ? GainMode::AutoGainContinious
+                                                        : GainMode::Manual);
 
     return m_i2c->write(static_cast<uint16_t>(Register::Gain_Mode), value);
 }
@@ -402,10 +399,7 @@ bool VeyeIMX287m::openCam()
     m_cam_fd = open(videoDevice, O_RDWR);
 
     if (m_cam_fd < 0) {
-        fprintf(stderr,
-                "cannot open cam '%s', error: '%s'\n",
-                videoDevice,
-                strerror(errno));
+        fprintf(stderr, "cannot open cam '%s', error: '%s'\n", videoDevice, strerror(errno));
         return false;
     }
 
@@ -430,9 +424,7 @@ bool VeyeIMX287m::initCam()
         ret = ioctl(m_cam_fd, VIDIOC_TRY_FMT, &format);
 
         if (ret < 0) {
-            fprintf(stderr,
-                    "cannot try cam format: error - '%s'\n",
-                    strerror(errno));
+            fprintf(stderr, "cannot try cam format: error - '%s'\n", strerror(errno));
 
             return false;
         }
@@ -443,9 +435,7 @@ bool VeyeIMX287m::initCam()
         ret = ioctl(m_cam_fd, VIDIOC_S_FMT, &format);
 
         if (ret < 0) {
-            fprintf(stderr,
-                    "cannot set cam format: error - '%s'\n",
-                    strerror(errno));
+            fprintf(stderr, "cannot set cam format: error - '%s'\n", strerror(errno));
 
             return false;
         }
@@ -501,9 +491,7 @@ bool VeyeIMX287m::initCam()
     ret = ioctl(m_cam_fd, VIDIOC_REQBUFS, &rb);
 
     if (ret < 0) {
-        fprintf(stderr,
-                "cannot set cam request buffers: ioctl error - '%s'\n",
-                strerror(errno));
+        fprintf(stderr, "cannot set cam request buffers: ioctl error - '%s'\n", strerror(errno));
 
         return false;
     }
@@ -519,8 +507,7 @@ bool VeyeIMX287m::initCam()
     std::cout << "query buffers" << std::endl;
 
     for (uint32_t i = 0; i < rb.count; i++) {
-        std::cout << "-----------------------------------------------------"
-                  << std::endl;
+        std::cout << "-----------------------------------------------------" << std::endl;
         struct v4l2_buffer buf;
         struct v4l2_plane planes[VIDEO_MAX_PLANES];
 
@@ -536,8 +523,8 @@ bool VeyeIMX287m::initCam()
         ret = ioctl(m_cam_fd, VIDIOC_QUERYBUF, &buf);
 
         if (ret < 0) {
-            std::cerr << "ioctl(VIDIOC_QUERYBUF) failed: " << errno << " ("
-                      << strerror(errno) << ")" << std::endl;
+            std::cerr << "ioctl(VIDIOC_QUERYBUF) failed: " << errno << " (" << strerror(errno)
+                      << ")" << std::endl;
 
             return false;
         }
@@ -551,8 +538,7 @@ bool VeyeIMX287m::initCam()
         m_buffers[i].mem = mmap(0, length, PROT_READ | PROT_WRITE, MAP_SHARED, m_cam_fd, offset);
 
         if (m_buffers[i].mem == MAP_FAILED) {
-            std::cerr << "mmap() failed: " << errno << " (" << strerror(errno)
-                      << ")" << std::endl;
+            std::cerr << "mmap() failed: " << errno << " (" << strerror(errno) << ")" << std::endl;
             std::cerr << "length: " << length << std::endl;
             std::cerr << "offset: " << offset << std::endl;
 
@@ -564,8 +550,8 @@ bool VeyeIMX287m::initCam()
         ret = ioctl(m_cam_fd, VIDIOC_QBUF, &buf);
 
         if (ret != 0) {
-            std::cerr << "ioctl(VIDIOC_QBUF) failed: " << errno << " ("
-                      << strerror(errno) << ")" << std::endl;
+            std::cerr << "ioctl(VIDIOC_QBUF) failed: " << errno << " (" << strerror(errno) << ")"
+                      << std::endl;
             return false;
         }
     }
@@ -587,6 +573,9 @@ void VeyeIMX287m::getFrameLoop(std::stop_token stopToken)
 {
     QElapsedTimer t;
 
+    uint8_t threadIdx{0};
+    std::array<QFuture<uint8_t>, BUFFER_COUNT> futures;
+
     while (!stopToken.stop_requested()) {
         size_t bufferIdx{std::numeric_limits<size_t>::max()};
 
@@ -594,24 +583,39 @@ void VeyeIMX287m::getFrameLoop(std::stop_token stopToken)
             continue;
         }
 
-        const auto &image = m_buffers[bufferIdx].image;
+        const uint8_t i = threadIdx % BUFFER_COUNT;
+
+        futures[i].waitForFinished();
+
+        const auto &image = m_buffers[i].image;
 
         {
             t.start();
 
-            auto &src = *(Image::radxa_data_t *) m_buffers[bufferIdx].mem;
+            auto &src = *(Image::radxa_data_t *) m_buffers[i].mem;
             auto &dst = image->data;
             Image::copy(dst, src);
 
             get_elapsed_ns += t.nsecsElapsed();
         }
 
+        futures[i] = QtConcurrent::run([this, i]() {
+                         const auto image = m_buffers[i].image;
+                         image->rotate();
+                         return i;
+                     }).then([this](const uint8_t i) {
+            const auto image = m_buffers[i].image;
+            const auto pixels = image->sharedPixels();
+            return i;
+        });
+
         ++processedCounter;
-        m_sync.freeRawBuffers.acquire();
-        // TODO: check that queue cannot contain duplicate indices due to ioctl
-        // TODO: separate copied images from raw buffers
-        m_sync.rawBufferIndices.enqueue(bufferIdx);
-        m_sync.usedRawBuffers.release();
+        ++threadIdx;
+        // m_sync.freeRawBuffers.acquire();
+        // // TODO: check that queue cannot contain duplicate indices due to ioctl
+        // // TODO: separate copied images from raw buffers
+        // m_sync.rawBufferIndices.enqueue(bufferIdx);
+        // m_sync.usedRawBuffers.release();
 
         // image->rotate();
         // const auto pixels = image->sharedPixels();
@@ -715,8 +719,8 @@ bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
         }
 
         if (ret != 0) {
-            std::cerr << "ioctl(VIDIOC_DQBUF) failed: " << errno << " ("
-                      << strerror(errno) << ")" << std::endl;
+            std::cerr << "ioctl(VIDIOC_DQBUF) failed: " << errno << " (" << strerror(errno) << ")"
+                      << std::endl;
             return false;
         }
 
@@ -746,8 +750,8 @@ bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
     }
 
     if (ret != 0) {
-        std::cerr << "ioctl(VIDIOC_QBUF) failed: " << errno << " ("
-                  << strerror(errno) << ")" << std::endl;
+        std::cerr << "ioctl(VIDIOC_QBUF) failed: " << errno << " (" << strerror(errno) << ")"
+                  << std::endl;
         return false;
     }