Compiling and running

jfj-combined/include/JfjFrameCache.hpp

@@ -3,6 +3,8 @@
 
 #include <iostream>
 #include <cstring>
+#include <deque>
+#include <thread>
 #include <vector>
 #include <functional>
 #include <shared_mutex>
@@ -81,7 +83,7 @@ public:
 
         // Queue for draining
         if(m_fill[idx]==m_MOD-1){
-            std::cout << "Complete frame at " << idx << "\t(queued for draining)" <<std::endl;
+            // std::cout << "Complete frame at " << idx << "\t(queued for draining)\tqueue size: " << drain_queue.size() << std::endl;
             drain_queue.push_back(idx);
         }
     }
@@ -130,10 +132,12 @@ protected:
     NOTE : It does not lock, that must be done externally!        **/
     void drain_loop(){
         while(true){
-            if(!drain_fifo.empty()){
-                uint32_t idx = drain_queue.pop_front();
-                std::cout << "\tDraining " << idx << std::endl;
+            if(!drain_queue.empty()){
+                uint32_t idx = drain_queue.front();
+                drain_queue.pop_front();
                 flush_line(idx);
+            } else {
+                std::this_thread::sleep_for(std::chrono::milliseconds(2));
             }
         }
     }
@@ -155,7 +159,7 @@ protected:
     /** Watchdog timer and flush queue **/
     Watchdog *m_watchdog;
      std::thread m_drainer;
-    std::deque<uint32_t> drain_queue();
+    std::deque<uint32_t> drain_queue;
 
 };
 

jfj-combined/include/ZmqImagePublisher.hpp

@@ -29,7 +29,6 @@
     It also has an internal mutex that can be used for thread-safe
     access to the underlying connection;
 **/
-template <size_t ZMQ_PUB_IO_THREADS>
 class ZmqPublisher {
     protected:
         const uint16_t m_port;
@@ -39,8 +38,8 @@ class ZmqPublisher {
         std::mutex g_zmq_socket;
 
     public:
-        ZmqPublisher(std::string ip, uint16_t port) :
-            m_port(port), m_address("tcp://*:" + std::to_string(port)), m_ctx(ZMQ_PUB_IO_THREADS), m_socket(m_ctx, ZMQ_PUB) {
+        ZmqPublisher(std::string ip, uint16_t port, uint32_t n_threads) :
+            m_port(port), m_address("tcp://*:" + std::to_string(port)), m_ctx(n_threads), m_socket(m_ctx, ZMQ_PUB) {
             // Bind the socket
             m_socket.bind(m_address.c_str());
             std::cout << "Initialized ZMQ publisher at " << m_address << std::endl;
@@ -55,10 +54,9 @@ class ZmqPublisher {
     Specialized publisher to send 'ImageBinaryFormat' data format as
     multipart message. It also takes care of thread safety.
 **/
-template <size_t ZMQ_PUB_IO_THREADS>
-class ZmqImagePublisher: public ZmqPublisher<ZMQ_PUB_IO_THREADS> {
+class ZmqImagePublisher: public ZmqPublisher {
     public:
-        ZmqImagePublisher(std::string ip, uint16_t port) : ZmqPublisher(ip, port) {};
+        ZmqImagePublisher(std::string ip, uint16_t port, uint32_t n_threads) : ZmqPublisher(ip, port, n_threads) {};
         const std::string topic = "IMAGEDATA";
 
         void sendImage(ImageBinaryFormat& image){

jfj-combined/src/main.cpp

@@ -20,7 +20,7 @@ int main (int argc, char *argv[]) {
 
 
     std::cout << "Creating ZMQ socket..." << std::endl;
-    ZmqImagePublisher<2> pub("*", 5200);
+    ZmqImagePublisher pub("*", 5200, 2);
     // ... and extracting sender function
     std::function<void(ImageBinaryFormat&)> zmq_publish =
         std::bind(&ZmqImagePublisher::sendImage, &pub, std::placeholders::_1);