1 files changed, 31 insertions, 12 deletions

diff --git a/src/camera/veyeimx287m.h b/src/camera/veyeimx287m.h
index ab7e3e5..2b5c28c 100644
--- a/src/camera/veyeimx287m.h
+++ b/src/camera/veyeimx287m.h
@@ -1,17 +1,20 @@
 #pragma once
 
+// c/cpp
 #include <cstdint>
 #include <linux/videodev2.h>
 #include <queue>
 #include <thread>
 
+// qt
+#include <QQueue>
 #include <QReadWriteLock>
 #include <QSemaphore>
 
+// orpheus
 #include "constants.h"
-#include "image.h"
-
 #include "icamera.h"
+#include "image.h"
 
 namespace veye {
 namespace imx287m {
@@ -75,6 +78,7 @@ private:
 
     void getFrameLoop(std::stop_token stopToken);
     void rotateFrameLoop(std::stop_token stopToken);
+    void calcPixelsLoop(std::stop_token stopToken);
 
 private:
     /*!
@@ -95,10 +99,10 @@ private:
      */
     std::array<std::mutex, BUFFER_COUNT> m_imageMutexes;
 
+    // TODO: split this
+    // there should be no chance of changing image by ioctl during futher processing
     struct buffer
     {
-        unsigned int padding{0};
-        unsigned int size{0};
         void *mem{nullptr};
         std::shared_ptr<Image> image{std::make_shared<Image>()};
     };
@@ -106,13 +110,26 @@ private:
 
     struct Semaphore
     {
+        Semaphore()
+        {
+            rawBufferIndices.reserve(BUFFER_COUNT);
+            rotatedBufferIndices.reserve(BUFFER_COUNT);
+        }
         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;
+        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};
+    } m_sync;
+
     std::mutex m_camMtx;
     /*!
      * \brief m_buffersQueue - queue of buffers which require extracting pixels
@@ -120,9 +137,11 @@ private:
     std::queue<std::remove_const<decltype(BUFFER_COUNT)>> m_buffersQueue;
 
     std::jthread m_streamThread;
-    // std::jthread m_getThreads[1];
-    std::jthread m_getThreads[4];
-    std::jthread m_rotateThreads[1];
+    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::shared_ptr<veye::imx287m::i2c> m_i2c;
     std::shared_ptr<HttpServer> m_httpServer;