1 files changed, 40 insertions, 12 deletions

diff --git a/src/camera/veyeimx287m.cpp b/src/camera/veyeimx287m.cpp
index 6df5a3e..a97297d 100644
--- a/src/camera/veyeimx287m.cpp
+++ b/src/camera/veyeimx287m.cpp
@@ -602,16 +602,22 @@ void VeyeIMX287m::getFrameLoop(std::stop_token stopToken)
             auto &src = *(Image::radxa_data_t *) m_buffers[bufferIdx].mem;
             auto &dst = image->data;
             Image::copy(dst, src);
+            // image->rotate();
+            // const auto pixels = image->sharedPixels();
 
             get_elapsed_ns += t.nsecsElapsed();
         }
 
         ++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();
+        m_sync.rawSemQueue.enqueue(bufferIdx);
+        // m_sync.freeRawBuffers.acquire();
+        // // TODO: check that queue cannot contain duplicate indices due to ioctl
+        // // TODO: separate copied images from raw buffers
+        // {
+        //     std::lock_guard l{m_sync.rawBufferMtx};
+        //     m_sync.rawBufferIndices.enqueue(bufferIdx);
+        // }
+        // m_sync.usedRawBuffers.release();
 
         // image->rotate();
         // const auto pixels = image->sharedPixels();
@@ -623,15 +629,25 @@ void VeyeIMX287m::rotateFrameLoop(std::stop_token stopToken)
     while (!stopToken.stop_requested()) {
         // std::cout << __func__ << std::endl;
 
-        m_sync.usedRawBuffers.acquire();
-        const auto idx = m_sync.rawBufferIndices.dequeue();
+        // m_sync.usedRawBuffers.acquire();
+        // size_t idx = std::numeric_limits<size_t>::max();
+        // {
+        //     std::lock_guard l{m_sync.rawBufferMtx};
+        //     idx = m_sync.rawBufferIndices.dequeue();
+        // }
+        const auto idx = m_sync.rawSemQueue.dequeue();
         const auto &image = m_buffers[idx].image;
         image->rotate();
         // const auto pixels = image->sharedPixels();
-        m_sync.freeRawBuffers.release();
+        m_lastProcessedIdx = idx;
+        // m_sync.freeRawBuffers.release();
 
+        m_sync.rotSemQueue.enqueue(idx);
         // m_sync.freeRotatedBuffers.acquire();
-        // m_sync.rotatedBufferIndices.enqueue(idx);
+        // {
+        //     std::lock_guard l{m_sync.rotatedBufferMtx};
+        //     m_sync.rotatedBufferIndices.enqueue(idx);
+        // }
         // m_sync.usedRotatedBuffers.release();
     }
 }
@@ -639,11 +655,16 @@ void VeyeIMX287m::rotateFrameLoop(std::stop_token stopToken)
 void VeyeIMX287m::calcPixelsLoop(std::stop_token stopToken)
 {
     while (!stopToken.stop_requested()) {
-        m_sync.usedRotatedBuffers.acquire();
-        const auto idx = m_sync.rotatedBufferIndices.dequeue();
+        // m_sync.usedRotatedBuffers.acquire();
+        // size_t idx{std::numeric_limits<size_t>::max()};
+        // {
+        //     std::lock_guard l{m_sync.rotatedBufferMtx};
+        //     idx = m_sync.rotatedBufferIndices.dequeue();
+        // }
+        const auto idx = m_sync.rotSemQueue.dequeue();
         const auto &image = m_buffers[idx].image;
         const auto pixels = image->sharedPixels();
-        m_sync.freeRotatedBuffers.release();
+        // m_sync.freeRotatedBuffers.release();
     }
 }
 
@@ -756,6 +777,7 @@ bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
 
 bool VeyeIMX287m::getImage(Image *image)
 {
+    return false;
     if (!image) {
         std::cerr << __func__ << ": image is nullptr" << std::endl;
 
@@ -790,6 +812,12 @@ std::shared_ptr<Image> VeyeIMX287m::getImage()
 {
     std::shared_ptr<Image> result;
 
+    if (m_lastProcessedIdx != std::numeric_limits<size_t>::max()) {
+        return m_buffers[m_lastProcessedIdx].image;
+    }
+
+    return {};
+
     size_t bufferIdx{};
 
     if (!dequeueImageBuffer(bufferIdx)) {