1 files changed, 12 insertions, 5 deletions
diff --git a/src/camera/veyeimx287m.h b/src/camera/veyeimx287m.h
index 2b5c28c..a9311ba 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 {
@@ -112,15 +113,20 @@ private:
     {
         Semaphore()
         {
-            rawBufferIndices.reserve(BUFFER_COUNT);
+            // rawBufferIndices.reserve(BUFFER_COUNT);
             rotatedBufferIndices.reserve(BUFFER_COUNT);
         }
         const uint8_t maxSize{BUFFER_COUNT};
 
-        QQueue<size_t> rawBufferIndices;
-        QSemaphore freeRawBuffers{BUFFER_COUNT};
-        QSemaphore usedRawBuffers{};
+        sem_queue<size_t, BUFFER_COUNT> rawSemQueue;
+        sem_queue<size_t, BUFFER_COUNT> rotSemQueue;
 
+        // std::mutex rawBufferMtx;
+        // QQueue<size_t> rawBufferIndices;
+        // QSemaphore freeRawBuffers{BUFFER_COUNT};
+        // QSemaphore usedRawBuffers{};
+
+        std::mutex rotatedBufferMtx;
         QQueue<size_t> rotatedBufferIndices;
         QSemaphore freeRotatedBuffers{BUFFER_COUNT};
         QSemaphore usedRotatedBuffers{};
@@ -141,7 +147,8 @@ private:
     // 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_calcPixelsThreads[2];
+    size_t m_lastProcessedIdx{std::numeric_limits<size_t>::max()};
 
     std::shared_ptr<veye::imx287m::i2c> m_i2c;
     std::shared_ptr<HttpServer> m_httpServer;