1 files changed, 23 insertions, 30 deletions

diff --git a/src/camera/veyeimx287m.cpp b/src/camera/veyeimx287m.cpp
index 2e4a4aa..6491d9d 100644
--- a/src/camera/veyeimx287m.cpp
+++ b/src/camera/veyeimx287m.cpp
@@ -212,8 +212,8 @@ VeyeIMX287m::~VeyeIMX287m()
     }
 
 #ifdef RADXA_ZERO_3E
-    for (const auto buffer : buffers) {
-        if (munmap(buffer.mem[0], radxa_raw_img_size) < 0) {
+    for (const auto buffer : m_buffers) {
+        if (munmap(buffer.mem, radxa_raw_img_size) < 0) {
             DBG("Munmap failed!!.");
         }
     }
@@ -500,17 +500,13 @@ bool VeyeIMX287m::initCam()
         return false;
     }
 
-    std::cout << "buffers requested" << std::endl;
-
     if (rb.count < BUFFER_COUNT) {
         fprintf(stderr, "cannot set cam request buffers\n");
 
         return false;
     }
 
-    std::cout << "buffers count is ok: " << rb.count << std::endl;
-
-    buffers.resize(rb.count);
+    m_buffers.resize(rb.count);
 
     std::cout << "query buffers" << std::endl;
 
@@ -529,7 +525,6 @@ bool VeyeIMX287m::initCam()
         buf.length = VIDEO_MAX_PLANES;
         buf.m.planes = planes;
 
-        std::cout << "run ioctl(VIDIOC_QUERYBUF) for buf #" << i << std::endl;
         ret = ioctl(m_cam_fd, VIDIOC_QUERYBUF, &buf);
 
         if (ret < 0) {
@@ -539,23 +534,15 @@ bool VeyeIMX287m::initCam()
             return false;
         }
 
-        std::cout << "ioctl(VIDIOC_QUERYBUF) is ok: " << std::endl;
-
         std::cout << "buffer.length: " << buf.length << std::endl;
         std::cout << "buffer.m.offset: " << buf.m.offset << std::endl;
-
-        buffers[i].idx = i;
+        std::cout << "buffer.index: " << buf.index << " " << i << std::endl;
 
         const auto length = buf.m.planes[0].length;
         const auto offset = buf.m.planes[0].m.mem_offset;
-        buffers[i].mem[0] = mmap(0,
-                                 length,
-                                 PROT_READ | PROT_WRITE,
-                                 MAP_SHARED,
-                                 m_cam_fd,
-                                 offset);
+        m_buffers[i].mem = mmap(0, length, PROT_READ | PROT_WRITE, MAP_SHARED, m_cam_fd, offset);
 
-        if (buffers[i].mem[0] == MAP_FAILED) {
+        if (m_buffers[i].mem == MAP_FAILED) {
             std::cerr << "mmap() failed: " << errno << " (" << strerror(errno)
                       << ")" << std::endl;
             std::cerr << "length: " << length << std::endl;
@@ -564,15 +551,17 @@ bool VeyeIMX287m::initCam()
             return false;
         }
 
-        m_videoBuffers[i] = (uint8_t *) buffers[i].mem[0];
+        m_videoBuffers[i] = (uint8_t *) m_buffers[i].mem;
 
-        buffers[i].size[i] = length;
-        buffers[i].padding[i] = 0;
+        auto p1 = (Image::radxa_data_t *) m_videoBuffers[i];
+        auto p2 = (Image::radxa_data_t *) m_buffers[i].mem;
+        if (p1 != p2) {
+            std::cout << "AAAAAAA: " << (void *) p1 << ' ' << (void *) p2 << std::endl;
+        }
+        m_buffers[i].size[i] = length;
+        m_buffers[i].padding[i] = 0;
 
-        printf("Buffer %u/%u mapped at address %p.\n",
-               buffers[i].idx,
-               i,
-               buffers[i].mem[0]);
+        printf("Buffer mapped at address %p.\n", m_buffers[i].mem);
 
         ret = ioctl(m_cam_fd, VIDIOC_QBUF, &buf);
 
@@ -581,15 +570,11 @@ bool VeyeIMX287m::initCam()
                       << strerror(errno) << ")" << std::endl;
             return false;
         }
-
-        std::cout << "ioctl(VIDIOC_QBUF) is OK" << std::endl;
     }
 
     fflush(stdout);
     fflush(stderr);
 
-    std::cout << "imx287 cam initialized" << std::endl;
-
     return true;
 }
 
@@ -628,7 +613,15 @@ void VeyeIMX287m::calcFrameLoop(std::stop_token stopToken)
         {
             t.start();
 
+            auto p1 = (void *) m_videoBuffers[bufferIdx];
+            auto p2 = (void *) m_buffers[bufferIdx].mem;
+
+            // if (p1 != p2) {
+            //     std::cout << (void *) p1 << ' ' << (void *) p2 << std::endl;
+            // }
+
             auto &src = *(Image::radxa_data_t *) m_videoBuffers[bufferIdx];
+            // auto &src = *(Image::radxa_data_t *) buffers[bufferIdx].mem[0];
             auto &dst = image.data;
             Image::copy(dst, src);