added new strate of threading to ui

Sources/src/Visnode/main.cpp

@@ -19,6 +19,7 @@ std::future<void> menudraw = std::async (ui::UiDrawer::drawMenu);
 ui::UiDrawer::drawStartupSequence();    //show startup sequence while camera manager is starting
 menudraw.get();
 fobj.get();
+
 cameraManager::runCapture();
 SerialPortManager::init();
 ui::UiController::exitCalled = false;
@@ -26,13 +27,13 @@ ui::UiController::runIntro = false;
 
 std::thread* t = new std::thread(ui::UiDrawer::runDrawUi);
 Threadweaver::stick_this_thread_to_core(t,1);
-Threadweaver::osUiDrawerThread = t;
+Threadweaver::gfxPipelineThread = t;
 
 while(!ui::UiController::exitCalled){
     sleep(5);
 }
 
-t->join();
+Threadweaver::gfxPipelineThread->join();
 
 return 0;
 }

Sources/src/Visnode/threadweaver/threadweaver.cpp

@@ -3,6 +3,7 @@
 std::vector<std::thread*> Threadweaver::captureThreads;
 std::thread* Threadweaver::hardwareWatcherThread;
 std::thread* Threadweaver::osUiDrawerThread;
+std::thread* Threadweaver::gfxPipelineThread;
 
 void Threadweaver::stick_this_thread_to_core(std::thread* t,int core_id){
     unsigned num_cpus = std::thread::hardware_concurrency();

Sources/src/Visnode/threadweaver/threadweaver.hpp

@@ -9,6 +9,7 @@ class Threadweaver{
     public:
     static std::vector<std::thread*> captureThreads;
     static std::thread* hardwareWatcherThread;
+    static std::thread* gfxPipelineThread;
     static std::thread* osUiDrawerThread;
 
     static void stick_this_thread_to_core(std::thread* t,int core_id);

Sources/src/Visnode/ui/_ui.hpp

@@ -26,7 +26,9 @@ namespace ui {
     //Defines a single ui window (by default two will be displayed)
     class Ui{
         public:
+        UMat drawBuffer;
         UMat drawSurface; //Current frame 
+        int id;
         std::string myWindow;
         void draw();
     };
@@ -47,9 +49,12 @@ namespace ui {
     };
         class UiManager{ //manager is static because we only ever need one
         public:
+        static vector<mutex*> accessLocks;
         static vector<Ui*> managedUIs;
+        static bool uiShouldRun;
         static void init();
-        static void cleanup();       
+        static void cleanup();
+        static void beginDrawRoutineForUi(Ui* u);     
     };
         class UiController{
         public:

Sources/src/Visnode/ui/ui.cpp

@@ -3,6 +3,10 @@
 void ui::Ui::draw(){
    if(drawSurface.empty())
       return;
-   imshow(this->myWindow, this->drawSurface);
-   waitKey(1);
+   UiManager::accessLocks.at(this->id)->lock();   
+   drawBuffer = drawSurface;
+   UiManager::accessLocks.at(this->id)->unlock(); 
+   
+   imshow(this->myWindow, this->drawBuffer);
+   waitKey(17);
 }

Sources/src/Visnode/ui/uiDrawer.cpp

@@ -37,8 +37,10 @@ namespace ui{
             
             cv::hconcat(mats,finished);
             DEBUG_LOG("concated mats")
+
+            UiManager::accessLocks.at(0)->lock();
             UiManager::managedUIs[0]->drawSurface = finished;  //write the final image to the psvr UI buffer
-            UiManager::managedUIs[0]->draw();               //send the image to the psvr
+            UiManager::accessLocks.at(0)->unlock();
     }
 
     void UiDrawer::drawStartupSequence(){

Sources/src/Visnode/ui/uiManager.cpp

@@ -2,9 +2,19 @@
 
 namespace ui{
     vector<Ui*> UiManager::managedUIs;
+    vector<mutex*> UiManager::accessLocks;
+    bool UiManager::uiShouldRun;
+
+    void UiManager::beginDrawRoutineForUi(Ui* u){
+        while(!ui::UiManager::uiShouldRun){}
+        while(ui::UiManager::uiShouldRun){
+            u->draw();
+        }
+    }
 
     //initializes the ui manager, following default values
     void UiManager::init(){
+        uiShouldRun = false;
         waitKey(1);
         for(int i=0; i<DEFAULT_UI_WINDOW_AMOUNT; i++){
             Ui* newUI = new Ui();
@@ -18,8 +28,16 @@ namespace ui{
 
             cout << "window: " << newUI->myWindow << " created at " << DEFAULT_UI_OFFSET_X+i*960 << " , " << DEFAULT_UI_OFFSET_Y << endl;
 
+            newUI->id = i;
+
             managedUIs.push_back(newUI);   //add new ui in the ui map, mapped to the window's name
+            accessLocks.push_back(new mutex());
+            accessLocks.at(i)->unlock();
+            std::thread* t = new std::thread(ui::UiManager::beginDrawRoutineForUi,newUI);
+            Threadweaver::stick_this_thread_to_core(t,0);
+            Threadweaver::osUiDrawerThread = t; //TODO fix?
         }
+        uiShouldRun = true;
     }
 
     void UiManager::cleanup(){