1 files changed, 11 insertions, 22 deletions

diff --git a/src/camera/veyeimx287m.h b/src/camera/veyeimx287m.h
index 2b5c28c..e4c02b0 100644
--- a/src/camera/veyeimx287m.h
+++ b/src/camera/veyeimx287m.h
@@ -15,6 +15,7 @@
 #include "constants.h"
 #include "icamera.h"
 #include "image.h"
+#include "utils/sem_queue.h"
 
 namespace veye {
 namespace imx287m {
@@ -106,42 +107,30 @@ private:
         void *mem{nullptr};
         std::shared_ptr<Image> image{std::make_shared<Image>()};
     };
-    std::vector<buffer> m_buffers;
+    std::vector<buffer> m_rawBuffers;
 
     struct Semaphore
     {
-        Semaphore()
-        {
-            rawBufferIndices.reserve(BUFFER_COUNT);
-            rotatedBufferIndices.reserve(BUFFER_COUNT);
-        }
-        const uint8_t maxSize{BUFFER_COUNT};
-
-        QQueue<size_t> rawBufferIndices;
-        QSemaphore freeRawBuffers{BUFFER_COUNT};
-        QSemaphore usedRawBuffers{};
-
-        QQueue<size_t> rotatedBufferIndices;
-        QSemaphore freeRotatedBuffers{BUFFER_COUNT};
-        QSemaphore usedRotatedBuffers{};
-
-        // uint8_t bufferIdx{std::numeric_limits<decltype(bufferIdx)>::max()};
-        // std::binary_semaphore main2calc{0};
-        // std::binary_semaphore calc2main{0};
+        // sem_queue<std::shared_ptr<Image>, BUFFER_COUNT> rawSemQueue;
+        // sem_queue<size_t, BUFFER_COUNT> rawSemQueue;
+        // sem_queue<std::shared_ptr<Image>, BUFFER_COUNT> rotSemQueue;
+        // sem_queue<size_t, BUFFER_COUNT> rotSemQueue;
     } m_sync;
 
     std::mutex m_camMtx;
     /*!
      * \brief m_buffersQueue - queue of buffers which require extracting pixels
      */
-    std::queue<std::remove_const<decltype(BUFFER_COUNT)>> m_buffersQueue;
+    // std::queue<std::remove_const<decltype(BUFFER_COUNT)>> m_buffersQueue;
 
     std::jthread m_streamThread;
     std::jthread m_getThreads[1];
     // std::jthread m_getThreads[4];
     // TODO: sync all loops somehow to guarantee frames order
-    std::jthread m_rotateThreads[2];
-    std::jthread m_calcPixelsThreads[1];
+    std::jthread m_rotateThreads[0];
+    std::jthread m_calcPixelsThreads[0];
+    std::mutex m_lastImageMtx;
+    std::shared_ptr<Image> m_lastProcessedImage{};
 
     std::shared_ptr<veye::imx287m::i2c> m_i2c;
     std::shared_ptr<HttpServer> m_httpServer;