From 1664027209ea3b8eb327b7755e4111577e66a2ee Mon Sep 17 00:00:00 2001
From: Nikita Kostovsky <nikita@kostovsky.me>
Date: Sat, 29 Nov 2025 19:55:00 +0100
Subject: 1x2x2 no crashes

---
 src/camera/veyeimx287m.h | 36 +++++++++---------------------------
 1 file changed, 9 insertions(+), 27 deletions(-)

(limited to 'src/camera/veyeimx287m.h')

diff --git a/src/camera/veyeimx287m.h b/src/camera/veyeimx287m.h
index a9311ba..b875bb7 100644
--- a/src/camera/veyeimx287m.h
+++ b/src/camera/veyeimx287m.h
@@ -92,7 +92,7 @@ private:
      */
     std::optional<int64_t> m_previousFrameCounter{};
 
-    static constexpr uint8_t BUFFER_COUNT{16};
+    static constexpr uint8_t BUFFER_COUNT{4};
 
     // std::array<Image, BUFFER_COUNT> m_images;
     /*!
@@ -105,35 +105,16 @@ private:
     struct buffer
     {
         void *mem{nullptr};
-        std::shared_ptr<Image> image{std::make_shared<Image>()};
+        // 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};
-
-        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{};
-
-        // 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;
@@ -148,7 +129,8 @@ private:
     // TODO: sync all loops somehow to guarantee frames order
     std::jthread m_rotateThreads[2];
     std::jthread m_calcPixelsThreads[2];
-    size_t m_lastProcessedIdx{std::numeric_limits<size_t>::max()};
+    std::mutex m_lastImageMtx;
+    std::shared_ptr<Image> m_lastProcessedImage{};
 
     std::shared_ptr<veye::imx287m::i2c> m_i2c;
     std::shared_ptr<HttpServer> m_httpServer;
-- 
cgit v1.2.3-70-g09d2