1 files changed, 28 insertions, 20 deletions

diff --git a/src/camera/veyeimx287m.h b/src/camera/veyeimx287m.h
index 7946d2f..ab7e3e5 100644
--- a/src/camera/veyeimx287m.h
+++ b/src/camera/veyeimx287m.h
@@ -6,6 +6,7 @@
 #include <thread>
 
 #include <QReadWriteLock>
+#include <QSemaphore>
 
 #include "constants.h"
 #include "image.h"
@@ -40,6 +41,7 @@ public:
     bool dequeueImageBuffer(size_t &image);
     // bool getImage(Image &image);
     bool getImage(Image *image) override;
+    std::shared_ptr<Image> getImage() override;
 
     bool init();
 
@@ -71,7 +73,8 @@ private:
     bool initI2C();
     // bool initHttpServer();
 
-    void calcFrameLoop(std::stop_token stopToken);
+    void getFrameLoop(std::stop_token stopToken);
+    void rotateFrameLoop(std::stop_token stopToken);
 
 private:
     /*!
@@ -79,42 +82,47 @@ private:
      */
     int m_cam_fd{-1};
 
-    static constexpr uint8_t BUFFER_COUNT{16};
+    /*!
+     * \brief m_previousFrameCounter - used to detect dropped frames
+     */
+    std::optional<int64_t> m_previousFrameCounter{};
 
-    struct MA
-    {
-        QReadWriteLock rwLock;
-        Image image;
-    } bbbbb[BUFFER_COUNT];
+    static constexpr uint8_t BUFFER_COUNT{16};
 
-    std::array<Image, BUFFER_COUNT> m_images;
+    // std::array<Image, BUFFER_COUNT> m_images;
     /*!
      * \brief m_imageMutexes - lock while processing image from m_images
      */
     std::array<std::mutex, BUFFER_COUNT> m_imageMutexes;
-    /*!
-     * \todo copy image right after dequeue to avoid situation with ioctl writing
-     * to m_videoBuffers[i] which is being copied to m_images[i]. In theory, it
-     * should not overlap if BUFFER_COUNT > theads count
-     */
-    std::array<uint8_t *, BUFFER_COUNT> m_videoBuffers{0};
 
     struct buffer
     {
-        unsigned int padding[VIDEO_MAX_PLANES]{std::numeric_limits<unsigned int>::max()};
-        unsigned int size[VIDEO_MAX_PLANES]{std::numeric_limits<unsigned int>::max()};
-        // void *mem[VIDEO_MAX_PLANES]{nullptr};
+        unsigned int padding{0};
+        unsigned int size{0};
         void *mem{nullptr};
+        std::shared_ptr<Image> image{std::make_shared<Image>()};
     };
     std::vector<buffer> m_buffers;
 
+    struct Semaphore
+    {
+        const uint8_t maxSize{BUFFER_COUNT};
+        uint8_t bufferIdx{std::numeric_limits<decltype(bufferIdx)>::max()};
+        std::binary_semaphore main2calc{0};
+        std::binary_semaphore calc2main{0};
+    } m_receiverCalculatorSem;
+
     // std::mutex m_queueMtx;
     std::mutex m_camMtx;
-    std::queue<size_t> m_buffersQueue;
+    /*!
+     * \brief m_buffersQueue - queue of buffers which require extracting pixels
+     */
+    std::queue<std::remove_const<decltype(BUFFER_COUNT)>> m_buffersQueue;
 
     std::jthread m_streamThread;
-    // std::jthread m_calcThreads[1];
-    std::jthread m_calcThreads[4];
+    // std::jthread m_getThreads[1];
+    std::jthread m_getThreads[4];
+    std::jthread m_rotateThreads[1];
 
     std::shared_ptr<veye::imx287m::i2c> m_i2c;
     std::shared_ptr<HttpServer> m_httpServer;