Bump version: 0.77 → 0.78

This reverts commit 9f16de13fe.

.bumpversion.cfg

@@ -1,7 +1,7 @@
 [bumpversion]
 commit = True
 tag = True
-current_version = 0.74
+current_version = 0.78
 parse = (?P<major>\d+)\.(?P<minor>\d+)(\.(?P<patch>\d+)(\-(?P<release>[a-z]+))?)?
 serialize = 
 	{major}.{minor}

.gitignore

@@ -2,6 +2,7 @@
 /pkg/arch/src/
 /pkg/arch/v*.tar.gz
 /pkg/arch/ustreamer-*.pkg.tar.xz
+/config.mk
 /vgcore.*
 /ustreamer
 /*.sock

Makefile

@@ -1,23 +1,39 @@
+-include config.mk
+
+PROG ?= ustreamer
 DESTDIR ?=
 PREFIX ?= /usr/local
+
+CC ?= gcc
 CFLAGS ?= -O3
 LDFLAGS ?=
-CC ?= gcc
+
+RPI_VC_HEADERS ?= /opt/vc/include
+RPI_VC_LIBS ?= /opt/vc/lib
 
 
 # =====
 LIBS = -lm -ljpeg -pthread -levent -levent_pthreads -luuid
 override CFLAGS += -c -std=c11 -Wall -Wextra -D_GNU_SOURCE
 SOURCES = $(shell ls src/*.c src/http/*.c src/encoders/cpu/*.c src/encoders/hw/*.c)
-PROG = ustreamer
 
-ifeq ($(shell ls -d /opt/vc/include 2>/dev/null), /opt/vc/include)
-SOURCES += $(shell ls src/encoders/omx/*.c)
-LIBS += -lbcm_host -lvcos -lopenmaxil -L/opt/vc/lib
-override CFLAGS += -DWITH_OMX_ENCODER -DOMX_SKIP64BIT -I/opt/vc/include
+
+define optbool
+$(filter $(shell echo $(1) | tr A-Z a-z), yes on 1)
+endef
+
+
+ifneq ($(call optbool,$(WITH_OMX_ENCODER)),)
+	LIBS += -lbcm_host -lvcos -lopenmaxil -L$(RPI_VC_LIBS)
+	override CFLAGS += -DWITH_OMX_ENCODER -DOMX_SKIP64BIT -I$(RPI_VC_HEADERS)
+	SOURCES += $(shell ls src/encoders/omx/*.c)
 endif
 
-OBJECTS = $(SOURCES:.c=.o)
+
+ifneq ($(call optbool,$(WITH_WORKERS_GPIO_DEBUG)),)
+	LIBS += -lwiringPi
+	override CFLAGS += -DWITH_WORKERS_GPIO_DEBUG
+endif
 
 
 # =====
@@ -28,17 +44,32 @@ install: $(PROG)
 	install -Dm755 $(PROG) $(DESTDIR)$(PREFIX)/bin/$(PROG)
 
 
+install-strip: install
+	strip $(DESTDIR)$(PREFIX)/bin/$(PROG)
+
+
+uninstall:
+	rm $(DESTDIR)$(PREFIX)/bin/$(PROG)
+
+
 regen:
 	tools/make-jpeg-h.py src/http/data/blank.jpeg src/http/data/blank_jpeg.h BLANK
 	tools/make-html-h.py src/http/data/index.html src/http/data/index_html.h INDEX
 
 
-$(PROG): $(OBJECTS)
-	$(CC) $(LIBS) $(LDFLAGS) $(OBJECTS) -o $@
+$(PROG): $(SOURCES:.c=.o)
+	$(info -- LINKING $@)
+	@ $(CC) $(SOURCES:.c=.o) -o $@ $(LDFLAGS) $(LIBS)
+	$(info ===== Build complete =====)
+	$(info == CC      = $(CC))
+	$(info == LIBS    = $(LIBS))
+	$(info == CFLAGS  = $(CFLAGS))
+	$(info == LDFLAGS = $(LDFLAGS))
 
 
 .c.o:
-	$(CC) $(LIBS) $(CFLAGS) $< -o $@
+	$(info -- CC $<)
+	@ $(CC) $< -o $@ $(CFLAGS) $(LIBS)
 
 
 release:
@@ -50,13 +81,14 @@ release:
 
 
 bump:
-	bumpversion $(if $(V), $(V), minor)
+	bumpversion $(if $(V),$(V),minor)
 
 
 push:
 	git push
 	git push --tags
 
+
 clean-all: clean
 clean:
 	find src -name '*.o' -exec rm '{}' \;

README.md

@@ -11,7 +11,7 @@
 | Multithreaded JPEG encoding | ![#00aa00](https://placehold.it/15/00aa00/000000?text=+) Yes | ![#f03c15](https://placehold.it/15/f03c15/000000?text=+) No |
 | [OpenMAX IL](https://www.khronos.org/openmaxil) hardware acceleration<br>on Raspberry Pi | ![#00aa00](https://placehold.it/15/00aa00/000000?text=+) Yes | ![#f03c15](https://placehold.it/15/f03c15/000000?text=+) No |
 | Behavior when the device<br>is disconnected while streaming | ![#00aa00](https://placehold.it/15/00aa00/000000?text=+) Shows a black screen<br>with ```NO SIGNAL``` on it<br>until reconnected | ![#f03c15](https://placehold.it/15/f03c15/000000?text=+) Stops the broadcast <sup>1</sup> |
-| [DV-timings](https://linuxtv.org/downloads/v4l-dvb-apis/uapi/v4l/dv-timings.html) support -<br>the ability to change resolution<br>on the fly by source signal | ![#00aa00](https://placehold.it/15/00aa00/000000?text=+) Yes | ![#ffaa00](https://placehold.it/15/ffaa00/000000?text=+) Partially yes <sup>2</sup> |
+| [DV-timings](https://linuxtv.org/downloads/v4l-dvb-apis/uapi/v4l/dv-timings.html) support -<br>the ability to change resolution<br>on the fly by source signal | ![#00aa00](https://placehold.it/15/00aa00/000000?text=+) Yes | ![#ffaa00](https://placehold.it/15/ffaa00/000000?text=+) Partially yes <sup>1</sup> |
 | Option to skip frames when streaming<br>static images by HTTP to save traffic | ![#00aa00](https://placehold.it/15/00aa00/000000?text=+) Yes <sup>2</sup> | ![#f03c15](https://placehold.it/15/f03c15/000000?text=+) No |
 | Streaming via UNIX domain socket | ![#00aa00](https://placehold.it/15/00aa00/000000?text=+) Yes | ![#f03c15](https://placehold.it/15/f03c15/000000?text=+) No |
 | Debug logs without recompiling,<br>performance statistics log,<br>access to HTTP broadcast parameters | ![#00aa00](https://placehold.it/15/00aa00/000000?text=+) Yes | ![#f03c15](https://placehold.it/15/f03c15/000000?text=+) No |
@@ -31,7 +31,7 @@ If you're going to live-stream from your backyard webcam and need to control it,
 # Building
 You'll need  ```make```, ```gcc```, ```libevent``` with ```pthreads``` support, ```libjpeg8```/```libjpeg-turbo``` and ```libuuid```.
 
-It should compile automatically with OpenMAX IL on Raspberry Pi, if the corresponding headers are present in ```/opt/vc/include```.
+On Raspberry Pi you can build the program with OpenMAX IL. To do this pass option ```WITH_OMX_ENCODER=1``` to ```make```.
 
 ```
 $ git clone --depth=1 https://github.com/pi-kvm/ustreamer
@@ -40,7 +40,8 @@ $ make
 $ ./ustreamer --help
 ```
 
-AUR has a package for Arch Linux: https://aur.archlinux.org/packages/ustreamer
+AUR has a package for Arch Linux: https://aur.archlinux.org/packages/ustreamer. It should compile automatically with OpenMAX IL on Raspberry Pi, if the corresponding headers are present in ```/opt/vc/include```.  
+FreeBSD port: https://www.freshports.org/multimedia/ustreamer.
 
 -----
 # Usage

README.ru.md

@@ -11,7 +11,7 @@
 | Многопоточное кодирование JPEG | ![#00aa00](https://placehold.it/15/00aa00/000000?text=+) Есть | ![#f03c15](https://placehold.it/15/f03c15/000000?text=+) Нет |
 | Аппаратное кодирование с помощью [OpenMAX IL](https://www.khronos.org/openmaxil) на Raspberry Pi | ![#00aa00](https://placehold.it/15/00aa00/000000?text=+) Есть | ![#f03c15](https://placehold.it/15/f03c15/000000?text=+) Нет |
 | Поведение при физическом отключении<br>устройства от сервера во время работы | ![#00aa00](https://placehold.it/15/00aa00/000000?text=+) Транслирует черный экран<br>с надписью ```NO SIGNAL```,<br>пока устройство не будет подключено снова | ![#f03c15](https://placehold.it/15/f03c15/000000?text=+) Прерывает трансляцию <sup>1</sup> |
-| Поддержка [DV-таймингов](https://linuxtv.org/downloads/v4l-dvb-apis/uapi/v4l/dv-timings.html) - возможности<br>изменения  параметров разрешения<br>трансляции на лету по сигналу<br>источника (устройства видеозахвата) | ![#00aa00](https://placehold.it/15/00aa00/000000?text=+) Есть | ![#ffaa00](https://placehold.it/15/ffaa00/000000?text=+) Условно есть <sup>2</sup> |
+| Поддержка [DV-таймингов](https://linuxtv.org/downloads/v4l-dvb-apis/uapi/v4l/dv-timings.html) - возможности<br>изменения  параметров разрешения<br>трансляции на лету по сигналу<br>источника (устройства видеозахвата) | ![#00aa00](https://placehold.it/15/00aa00/000000?text=+) Есть | ![#ffaa00](https://placehold.it/15/ffaa00/000000?text=+) Условно есть <sup>1</sup> |
 | Возможность пропуска фреймов при передаче<br>статического изображения по HTTP<br>для экономии трафика | ![#00aa00](https://placehold.it/15/00aa00/000000?text=+) Есть <sup>2</sup> | ![#f03c15](https://placehold.it/15/f03c15/000000?text=+) Нет |
 | Стрим через UNIX domain socket | ![#00aa00](https://placehold.it/15/00aa00/000000?text=+) Есть | ![#f03c15](https://placehold.it/15/f03c15/000000?text=+) Нет |
 | Дебаг-логи без перекомпиляции,<br>логгирование статистики производительности,<br>возможность получения параметров<br>трансляции по HTTP | ![#00aa00](https://placehold.it/15/00aa00/000000?text=+) Есть | ![#f03c15](https://placehold.it/15/f03c15/000000?text=+) Нет |
@@ -31,7 +31,7 @@
 # Сборка
 Для сборки вам понадобятся ```make```, ```gcc```, ```libevent``` с поддержкой ```pthreads```, ```libjpeg8```/```libjpeg-turbo``` и ```libuuid```.
 
-На Raspberry Pi програма автоматически собирается с поддержкой OpenMAX IL, если обнаружит нужные хедеры в ```/opt/vc/include```.
+На Raspberry Pi программу можно собрать с поддержкой OpenMAX IL. Для этого передайте ```make``` параметр ```WITH_OMX_ENCODER=1```.
 
 ```
 $ git clone --depth=1 https://github.com/pi-kvm/ustreamer
@@ -40,7 +40,8 @@ $ make
 $ ./ustreamer --help
 ```
 
-Для Arch Linux в AUR есть готовый пакет: https://aur.archlinux.org/packages/ustreamer
+Для Arch Linux в AUR есть готовый пакет: https://aur.archlinux.org/packages/ustreamer. На Raspberry Pi програма автоматически собирается с поддержкой OpenMAX IL, если обнаружит нужные хедеры в ```/opt/vc/include```.  
+Порт для FreeBSD: https://www.freshports.org/multimedia/ustreamer.
 
 -----
 # Использование

pkg/arch/PKGBUILD

@@ -3,7 +3,7 @@
 
 
 pkgname=ustreamer
-pkgver=0.74
+pkgver=0.78
 pkgrel=1
 pkgdesc="Lightweight and fast MJPG-HTTP streamer"
 url="https://github.com/pi-kvm/ustreamer"
@@ -12,19 +12,23 @@ arch=(i686 x86_64 armv6h armv7h)
 depends=(libjpeg libevent libutil-linux)
 # optional: raspberrypi-firmware for OMX JPEG encoder
 makedepends=(gcc make)
-source=("$url/archive/v$pkgver.tar.gz")
+source=(${pkgname}::"git+https://github.com/pi-kvm/ustreamer#commit=v${pkgver}")
 md5sums=(SKIP)
 
 
 build() {
-	cd $srcdir
+	cd "$srcdir"
 	rm -rf $pkgname-build
-	cp -r $pkgname-$pkgver $pkgname-build
+	cp -r $pkgname $pkgname-build
 	cd $pkgname-build
-	make CFLAGS="$CFLAGS" LDFLAGS="$LDFLAGS" $MAKEFLAGS
+
+	local _options=""
+	[ -d /opt/vc/include ] && _options="$_options WITH_OMX_ENCODER=1"
+
+	make $_options CFLAGS="$CFLAGS" LDFLAGS="$LDFLAGS" $MAKEFLAGS
 }
 
 package() {
-	cd $srcdir/$pkgname-build
+	cd "$srcdir/$pkgname-build"
 	make DESTDIR="$pkgdir" PREFIX=/usr install
 }

pkg/openwrt/Makefile

@@ -6,7 +6,7 @@
 include $(TOPDIR)/rules.mk
 
 PKG_NAME:=ustreamer
-PKG_VERSION:=0.74
+PKG_VERSION:=0.78
 PKG_RELEASE:=1
 PKG_MAINTAINER:=Maxim Devaev <mdevaev@gmail.com>
 

src/config.h

@@ -22,4 +22,6 @@
 
 #pragma once
 
-#define VERSION "0.74"
+#ifndef VERSION
+#	define VERSION "0.78"
+#endif

src/device.c

@@ -30,6 +30,7 @@
 #include <errno.h>
 #include <assert.h>
 
+#include <sys/select.h>
 #include <sys/mman.h>
 #include <linux/videodev2.h>
 
@@ -85,6 +86,12 @@ struct device_t *device_init() {
 	struct controls_t *ctl;
 	struct device_runtime_t *run;
 	struct device_t *dev;
+	long cores_sysconf;
+	unsigned cores_available;
+
+	cores_sysconf = sysconf(_SC_NPROCESSORS_ONLN);
+	cores_sysconf = (cores_sysconf < 0 ? 0 : cores_sysconf);
+	cores_available = max_u(min_u(cores_sysconf, 4), 1);
 
 	A_CALLOC(ctl, 1);
 
@@ -97,8 +104,8 @@ struct device_t *device_init() {
 	dev->height = 480;
 	dev->format = V4L2_PIX_FMT_YUYV;
 	dev->standard = V4L2_STD_UNKNOWN;
-	dev->n_buffers = max_u(min_u(sysconf(_SC_NPROCESSORS_ONLN), 4), 1) + 1;
-	dev->n_workers = dev->n_buffers;
+	dev->n_buffers = cores_available + 1;
+	dev->n_workers = min_u(cores_available, dev->n_buffers);
 	dev->timeout = 1;
 	dev->error_delay = 1;
 	dev->ctl = ctl;
@@ -226,6 +233,39 @@ int device_switch_capturing(struct device_t *dev, bool enable) {
     return 0;
 }
 
+int device_select(struct device_t *dev, bool *has_read, bool *has_write, bool *has_error) {
+	struct timeval timeout;
+	int retval;
+
+#	define INIT_FD_SET(_set) \
+		fd_set _set; FD_ZERO(&_set); FD_SET(dev->run->fd, &_set);
+
+	INIT_FD_SET(read_fds);
+	INIT_FD_SET(write_fds);
+	INIT_FD_SET(error_fds);
+
+#	undef INIT_FD_SET
+
+	timeout.tv_sec = dev->timeout;
+	timeout.tv_usec = 0;
+
+	LOG_DEBUG("Calling select() on video device ...");
+
+	retval = select(dev->run->fd + 1, &read_fds, &write_fds, &error_fds, &timeout);
+	if (retval > 0) {
+		*has_read = FD_ISSET(dev->run->fd, &read_fds);
+		*has_write = FD_ISSET(dev->run->fd, &write_fds);
+		*has_error = FD_ISSET(dev->run->fd, &error_fds);
+	} else {
+		has_read = false;
+		has_write = false;
+		has_error = false;
+	}
+
+	LOG_DEBUG("Device select() --> %d", retval);
+	return retval;
+}
+
 int device_grab_buffer(struct device_t *dev) {
 	struct v4l2_buffer buf_info;
 
@@ -247,6 +287,7 @@ int device_grab_buffer(struct device_t *dev) {
 
 	dev->run->hw_buffers[buf_info.index].used = buf_info.bytesused;
 	memcpy(&dev->run->hw_buffers[buf_info.index].buf_info, &buf_info, sizeof(struct v4l2_buffer));
+	dev->run->pictures[buf_info.index].grab_time = get_now_monotonic();
 	return buf_info.index;
 }
 

src/device.h

@@ -120,6 +120,7 @@ int device_open(struct device_t *dev);
 void device_close(struct device_t *dev);
 
 int device_switch_capturing(struct device_t *dev, bool enable);
+int device_select(struct device_t *dev, bool *has_read, bool *has_write, bool *has_error);
 int device_grab_buffer(struct device_t *dev);
 int device_release_buffer(struct device_t *dev, unsigned index);
 int device_consume_event(struct device_t *dev);

src/encoder.c

@@ -188,6 +188,8 @@ int encoder_compress_buffer(struct encoder_t *encoder, struct device_t *dev, uns
 
 	assert(encoder->run->type != ENCODER_TYPE_UNKNOWN);
 
+	dev->run->pictures[buf_index].encode_begin_time = get_now_monotonic();
+
 	if (encoder->run->type == ENCODER_TYPE_CPU) {
 		cpu_encoder_compress_buffer(dev, buf_index, encoder->run->quality);
 	} else if (encoder->run->type == ENCODER_TYPE_HW) {
@@ -201,6 +203,8 @@ int encoder_compress_buffer(struct encoder_t *encoder, struct device_t *dev, uns
 	}
 #	endif
 
+	dev->run->pictures[buf_index].encode_end_time = get_now_monotonic();
+
 	return 0;
 
 #	pragma GCC diagnostic ignored "-Wunused-label"

src/encoders/cpu/encoder.c

@@ -105,8 +105,6 @@ void cpu_encoder_compress_buffer(struct device_t *dev, unsigned index, unsigned
 
 #	undef WRITE_SCANLINES
 
-	// TODO: process jpeg errors:
-	// https://stackoverflow.com/questions/19857766/error-handling-in-libjpeg
 	jpeg_finish_compress(&jpeg);
 	jpeg_destroy_compress(&jpeg);
 

src/http/blank.c

@@ -145,6 +145,7 @@ static int _jpeg_read_geometry(FILE *fp, unsigned *width, unsigned *height) {
 
 	jpeg_create_decompress(&jpeg);
 
+	// https://stackoverflow.com/questions/19857766/error-handling-in-libjpeg
 	jpeg.err = jpeg_std_error((struct jpeg_error_mgr *)&jpeg_error);
 	jpeg_error.mgr.error_exit = _jpeg_error_handler;
 	if (setjmp(jpeg_error.jmp) < 0) {

src/http/server.c

@@ -77,7 +77,7 @@ static void _http_callback_stream_error(struct bufferevent *buf_event, short wha
 static void _http_exposed_refresh(int fd, short event, void *v_server);
 static void _http_queue_send_stream(struct http_server_t *server, bool stream_updated, bool picture_updated);
 
-static bool _expose_new_picture(struct http_server_t *server);
+static bool _expose_new_picture_unsafe(struct http_server_t *server);
 static bool _expose_blank_picture(struct http_server_t *server);
 
 
@@ -807,7 +807,7 @@ static void _http_exposed_refresh(UNUSED int fd, UNUSED short what, void *v_serv
 		LOG_DEBUG("Refreshing HTTP exposed ...");
 		A_MUTEX_LOCK(&server->run->stream->mutex);
 		if (server->run->stream->picture.used > 0) { // If online
-			picture_updated = _expose_new_picture(server);
+			picture_updated = _expose_new_picture_unsafe(server);
 			UNLOCK_STREAM;
 		} else {
 			UNLOCK_STREAM;
@@ -825,7 +825,7 @@ static void _http_exposed_refresh(UNUSED int fd, UNUSED short what, void *v_serv
 	_http_queue_send_stream(server, stream_updated, picture_updated);
 }
 
-static bool _expose_new_picture(struct http_server_t *server) {
+static bool _expose_new_picture_unsafe(struct http_server_t *server) {
 #	define STREAM(_next) server->run->stream->_next
 #	define EXPOSED(_next) server->run->exposed->_next
 

src/logging.h

@@ -123,10 +123,10 @@ pthread_mutex_t log_mutex;
 
 
 INLINE char *errno_to_string(char *buf, size_t size) {
-#if defined(__GLIBC__) && defined(_GNU_SOURCE)
+#	if defined(__GLIBC__) && defined(_GNU_SOURCE)
 	return strerror_r(errno, buf, size);
-#else
+#	else
 	strerror_r(errno, buf, size);
 	return buf;
-#endif
+#	endif
 }

src/main.c

@@ -32,6 +32,10 @@
 
 #include <pthread.h>
 
+#ifdef WITH_WORKERS_GPIO_DEBUG
+#	include <wiringPi.h>
+#endif
+
 #include "config.h"
 #include "tools.h"
 #include "logging.h"
@@ -129,19 +133,19 @@ static void _help(struct device_t *dev, struct encoder_t *encoder, struct http_s
 	printf("    -z|--min-frame-size <N>  ──────── Drop frames smaller then this limit. Useful if the device\n");
 	printf("                                      produces small-sized garbage frames. Default: disabled.\n\n");
 	printf("    -n|--persistent  ──────────────── Don't re-initialize device on timeout. Default: disabled.\n\n");
-	printf("    -t|--dv-timings  ──────────────── Enable DV timings queriyng and events processing.\n");
-	printf("                                      Supports automatic resolution changing. Default: disabled.\n\n");
+	printf("    -t|--dv-timings  ──────────────── Enable DV timings queriyng and events processing\n");
+	printf("                                      to automatic resolution change. Default: disabled.\n\n");
 	printf("    -b|--buffers <N>  ─────────────── The number of buffers to receive data from the device.\n");
 	printf("                                      Each buffer may processed using an intermediate thread.\n");
-	printf("                                      Default: %u (the number of CPU cores (but not more 4) + 1).\n\n", dev->n_buffers);
+	printf("                                      Default: %u (the number of CPU cores (but not more than 4) + 1).\n\n", dev->n_buffers);
 	printf("    -w|--workers <N>  ─────────────── The number of worker threads but not more than buffers.\n");
-	printf("                                      Default: %u (== --buffers).\n\n", dev->n_workers);
+	printf("                                      Default: %u (the number of CPU cores (but not more than 4)).\n\n", dev->n_workers);
 	printf("    -q|--quality <N>  ─────────────── Set quality of JPEG encoding from 1 to 100 (best). Default: %u.\n\n", encoder->quality);
 	printf("    -c|--encoder <type>  ──────────── Use specified encoder. It may affects to workers number.\n");
 	printf("                                      Available: %s; default: CPU.\n\n", ENCODER_TYPES_STR);
-	printf("    --device-timeout <seconds>  ───── Timeout for device querying. Default: %u\n\n", dev->timeout);
+	printf("    --device-timeout <seconds>  ───── Timeout for device querying. Default: %u.\n\n", dev->timeout);
 	printf("    --device-error-delay <seconds>  ─ Delay before trying to connect to the device again\n");
-	printf("                                      after an error (timeout for example). Default: %u\n\n", dev->error_delay);
+	printf("                                      after an error (timeout for example). Default: %u.\n\n", dev->error_delay);
 	printf("Image control options:\n");
 	printf("══════════════════════\n");
 	printf("    --brightness <N>  ───────────── Set brightness. Default: no change.\n\n");
@@ -377,6 +381,15 @@ int main(int argc, char *argv[]) {
 
 	LOGGING_INIT;
 
+#	ifdef WITH_WORKERS_GPIO_DEBUG
+	if (wiringPiSetupGpio() < 0) {
+		LOG_PERROR("Can't initialize wiringPi GPIO");
+		return 1;
+	} else {
+		LOG_INFO("Using wiringPi to debug using GPIO");
+	}
+#	endif
+
 	dev = device_init();
 	encoder = encoder_init();
 	stream = stream_init(dev, encoder);

src/stream.c

@@ -20,6 +20,7 @@
 *****************************************************************************/
 
 
+#include <stdbool.h>
 #include <stdatomic.h>
 #include <unistd.h>
 #include <errno.h>
@@ -28,7 +29,6 @@
 
 #include <pthread.h>
 
-#include <sys/select.h>
 #include <linux/videodev2.h>
 
 #include "tools.h"
@@ -38,16 +38,70 @@
 #include "encoder.h"
 #include "stream.h"
 
+#ifdef WITH_WORKERS_GPIO_DEBUG
+#	include <wiringPi.h>
+#	ifndef WORKERS_GPIO_DEBUG_START_PIN
+#		define WORKERS_GPIO_DEBUG_START_PIN 5
+#	endif
+#endif
 
-static long double _stream_get_fluency_delay(struct device_t *dev, struct workers_pool_t *pool);
-static void _stream_expose_picture(struct stream_t *stream, unsigned buf_index);
 
-static int _stream_init_loop(struct stream_t *stream, struct workers_pool_t *pool);
-static int _stream_init(struct stream_t *stream, struct workers_pool_t *pool);
+struct _worker_t {
+	pthread_t			tid;
+	unsigned			number;
+	atomic_bool			*proc_stop;
+	atomic_bool			*workers_stop;
 
-static void _stream_init_workers(struct stream_t *stream, struct workers_pool_t *pool);
-static void *_stream_worker_thread(void *v_worker);
-static void _stream_destroy_workers(struct stream_t *stream, struct workers_pool_t *pool);
+	pthread_mutex_t		last_comp_time_mutex;
+	long double			last_comp_time;
+
+	pthread_mutex_t		has_job_mutex;
+	int					buf_index;
+	atomic_bool			has_job;
+	bool				job_timely;
+	bool				job_failed;
+	long double			job_start_time;
+	pthread_cond_t		has_job_cond;
+
+	pthread_mutex_t		*free_workers_mutex;
+	unsigned			*free_workers;
+	pthread_cond_t		*free_workers_cond;
+
+	struct _worker_t	*order_prev;
+	struct _worker_t	*order_next;
+
+	struct device_t		*dev;
+	struct encoder_t	*encoder;
+};
+
+struct _workers_pool_t {
+	unsigned			n_workers;
+	struct _worker_t	*workers;
+	struct _worker_t	*oldest_worker;
+	struct _worker_t	*latest_worker;
+
+	pthread_mutex_t		free_workers_mutex;
+	unsigned			free_workers;
+	pthread_cond_t		free_workers_cond;
+
+	atomic_bool			workers_stop;
+
+	long double			desired_frames_interval;
+};
+
+
+static struct _workers_pool_t *_stream_init_loop(struct stream_t *stream);
+static struct _workers_pool_t *_stream_init(struct stream_t *stream);
+static void _stream_expose_picture(struct stream_t *stream, unsigned buf_index, unsigned captured_fps);
+
+static struct _workers_pool_t *_workers_pool_init(struct stream_t *stream);
+static void _workers_pool_destroy(struct _workers_pool_t *pool);
+
+static void *__worker_thread(void *v_worker);
+
+static struct _worker_t *_workers_pool_wait(struct _workers_pool_t *pool);
+static void _workers_pool_assign(struct _workers_pool_t *pool, struct _worker_t *ready_worker, unsigned buf_index);
+static long double _workers_pool_get_fluency_delay(struct _workers_pool_t *pool);
 
 
 struct stream_t *stream_init(struct device_t *dev, struct encoder_t *encoder) {
@@ -74,20 +128,15 @@ void stream_destroy(struct stream_t *stream) {
 }
 
 void stream_loop(struct stream_t *stream) {
-	struct workers_pool_t pool;
-
-	MEMSET_ZERO(pool);
-	atomic_init(&pool.workers_stop, false);
-	pool.encoder = stream->encoder;
+	struct _workers_pool_t *pool;
 
 	LOG_INFO("Using V4L2 device: %s", stream->dev->path);
 	LOG_INFO("Using desired FPS: %u", stream->dev->desired_fps);
 
-	while (_stream_init_loop(stream, &pool) == 0) {
-		struct worker_t *oldest_worker = NULL;
-		struct worker_t *last_worker = NULL;
+	while ((pool = _stream_init_loop(stream)) != NULL) {
 		long double grab_after = 0;
 		unsigned fluency_passed = 0;
+		unsigned captured_fps = 0;
 		unsigned captured_fps_accum = 0;
 		long long captured_fps_second = 0;
 		bool persistent_timeout_reported = false;
@@ -98,43 +147,22 @@ void stream_loop(struct stream_t *stream) {
 		LOG_INFO("Capturing ...");
 
 		while (!atomic_load(&stream->proc->stop)) {
-			int free_worker_number = -1;
+			struct _worker_t *ready_worker;
 
 			SEP_DEBUG('-');
+			LOG_DEBUG("Waiting for worker ...");
 
-			LOG_DEBUG("Waiting for workers ...");
-			A_MUTEX_LOCK(&pool.free_workers_mutex);
-			A_COND_WAIT_TRUE(pool.free_workers, &pool.free_workers_cond, &pool.free_workers_mutex);
-			A_MUTEX_UNLOCK(&pool.free_workers_mutex);
+			ready_worker = _workers_pool_wait(pool);
 
-			if (oldest_worker && !atomic_load(&oldest_worker->has_job) && oldest_worker->buf_index >= 0) {
-				if (oldest_worker->job_failed) {
-					break;
+			if (!ready_worker->job_failed) {
+				if (ready_worker->job_timely) {
+					_stream_expose_picture(stream, ready_worker->buf_index, captured_fps);
+					LOG_PERF("##### Encoded picture exposed; worker = %u", ready_worker->number);
+				} else {
+					LOG_PERF("----- Encoded picture dropped; worker = %u", ready_worker->number);
 				}
-
-				_stream_expose_picture(stream, oldest_worker->buf_index);
-
-				free_worker_number = oldest_worker->number;
-				oldest_worker = oldest_worker->order_next;
-
-				LOG_PERF("##### Raw frame accepted; worker = %u", free_worker_number);
 			} else {
-				for (unsigned number = 0; number < stream->dev->run->n_workers; ++number) {
-					if (
-						!atomic_load(&pool.workers[number].has_job) && (
-							free_worker_number == -1
-							|| pool.workers[free_worker_number].job_start_time < pool.workers[number].job_start_time
-						)
-					) {
-						free_worker_number = number;
-						break;
-					}
-				}
-
-				assert(free_worker_number >= 0);
-				assert(!atomic_load(&pool.workers[free_worker_number].has_job));
-
-				LOG_PERF("----- Raw frame dropped;  worker = %u", free_worker_number);
+				break;
 			}
 
 			if (atomic_load(&stream->proc->stop)) {
@@ -145,30 +173,18 @@ void stream_loop(struct stream_t *stream) {
 				usleep(1000000);
 			}
 
-#			define INIT_FD_SET(_set) \
-				fd_set _set; FD_ZERO(&_set); FD_SET(stream->dev->run->fd, &_set);
+			bool has_read;
+			bool has_write;
+			bool has_error;
+			int selected = device_select(stream->dev, &has_read, &has_write, &has_error);
 
-			INIT_FD_SET(read_fds);
-			INIT_FD_SET(write_fds);
-			INIT_FD_SET(error_fds);
-
-#			undef INIT_FD_SET
-
-			struct timeval timeout;
-			timeout.tv_sec = stream->dev->timeout;
-			timeout.tv_usec = 0;
-
-			LOG_DEBUG("Calling select() on video device ...");
-			int retval = select(stream->dev->run->fd + 1, &read_fds, &write_fds, &error_fds, &timeout);
-			LOG_DEBUG("Device select() --> %d", retval);
-
-			if (retval < 0) {
+			if (selected < 0) {
 				if (errno != EINTR) {
 					LOG_PERROR("Mainloop select() error");
 					break;
 				}
 
-			} else if (retval == 0) {
+			} else if (selected == 0) {
 				if (stream->dev->persistent) {
 					if (!persistent_timeout_reported) {
 						LOG_ERROR("Mainloop select() timeout, polling ...")
@@ -183,7 +199,7 @@ void stream_loop(struct stream_t *stream) {
 			} else {
 				persistent_timeout_reported = false;
 
-				if (FD_ISSET(stream->dev->run->fd, &read_fds)) {
+				if (has_read) {
 					LOG_DEBUG("Frame is ready");
 
 					int buf_index;
@@ -193,7 +209,6 @@ void stream_loop(struct stream_t *stream) {
 					if ((buf_index = device_grab_buffer(stream->dev)) < 0) {
 						break;
 					}
-					stream->dev->run->pictures[buf_index].grab_time = now;
 
 					// Workaround for broken, corrupted frames:
 					// Under low light conditions corrupted frames may get captured.
@@ -201,7 +216,7 @@ void stream_loop(struct stream_t *stream) {
 					// For example a VGA (640x480) webcam picture is normally >= 8kByte large,
 					// corrupted frames are smaller.
 					if (stream->dev->run->hw_buffers[buf_index].used < stream->dev->min_frame_size) {
-						LOG_DEBUG("Dropping too small frame sized %zu bytes, assuming it as broken",
+						LOG_DEBUG("Dropped too small frame sized %zu bytes, assuming it was broken",
 							stream->dev->run->hw_buffers[buf_index].used);
 						goto pass_frame;
 					}
@@ -215,50 +230,20 @@ void stream_loop(struct stream_t *stream) {
 						fluency_passed = 0;
 
 						if (now_second != captured_fps_second) {
-							stream->captured_fps = captured_fps_accum;
+							captured_fps = captured_fps_accum;
 							captured_fps_accum = 0;
 							captured_fps_second = now_second;
-							LOG_PERF("Oldest worker complete, Captured-FPS = %u", stream->captured_fps);
+							LOG_PERF("A new second has come, Captured-FPS = %u", captured_fps);
 						}
 						captured_fps_accum += 1;
 
-						long double fluency_delay = _stream_get_fluency_delay(stream->dev, &pool);
+						long double fluency_delay = _workers_pool_get_fluency_delay(pool);
 
 						grab_after = now + fluency_delay;
 						LOG_VERBOSE("Fluency: delay=%.03Lf; grab_after=%.03Lf", fluency_delay, grab_after);
 					}
 
-#					define FREE_WORKER(_next) pool.workers[free_worker_number]._next
-
-					LOG_DEBUG("Grabbed a new frame to buffer %u", buf_index);
-
-					if (oldest_worker == NULL) {
-						oldest_worker = &pool.workers[free_worker_number];
-						last_worker = oldest_worker;
-					} else {
-						if (FREE_WORKER(order_next)) {
-							FREE_WORKER(order_next->order_prev) = FREE_WORKER(order_prev);
-						}
-						if (FREE_WORKER(order_prev)) {
-							FREE_WORKER(order_prev->order_next) = FREE_WORKER(order_next);
-						}
-						FREE_WORKER(order_prev) = last_worker;
-						last_worker->order_next = &pool.workers[free_worker_number];
-						last_worker = &pool.workers[free_worker_number];
-					}
-					last_worker->order_next = NULL;
-
-					A_MUTEX_LOCK(&FREE_WORKER(has_job_mutex));
-					FREE_WORKER(buf_index) = buf_index;
-					atomic_store(&FREE_WORKER(has_job), true);
-					A_MUTEX_UNLOCK(&FREE_WORKER(has_job_mutex));
-					A_COND_SIGNAL(&FREE_WORKER(has_job_cond));
-
-#					undef FREE_WORKER
-
-					A_MUTEX_LOCK(&pool.free_workers_mutex);
-					pool.free_workers -= 1;
-					A_MUTEX_UNLOCK(&pool.free_workers_mutex);
+					_workers_pool_assign(pool, ready_worker, buf_index);
 
 					goto next_handlers; // Поток сам освободит буфер
 
@@ -271,12 +256,12 @@ void stream_loop(struct stream_t *stream) {
 
 				next_handlers:
 
-				if (FD_ISSET(stream->dev->run->fd, &write_fds)) {
+				if (has_write) {
 					LOG_ERROR("Got unexpected writing event, seems device was disconnected");
 					break;
 				}
 
-				if (FD_ISSET(stream->dev->run->fd, &error_fds)) {
+				if (has_error) {
 					LOG_INFO("Got V4L2 event");
 					if (device_consume_event(stream->dev) < 0) {
 						break;
@@ -292,11 +277,11 @@ void stream_loop(struct stream_t *stream) {
 		stream->height = 0;
 		atomic_store(&stream->updated, true);
 		A_MUTEX_UNLOCK(&stream->mutex);
-	}
 
-	_stream_destroy_workers(stream, &pool);
-	device_switch_capturing(stream->dev, false);
-	device_close(stream->dev);
+		_workers_pool_destroy(pool);
+		device_switch_capturing(stream->dev, false);
+		device_close(stream->dev);
+	}
 }
 
 void stream_loop_break(struct stream_t *stream) {
@@ -307,7 +292,41 @@ void stream_switch_slowdown(struct stream_t *stream, bool slowdown) {
 	atomic_store(&stream->proc->slowdown, slowdown);
 }
 
-static void _stream_expose_picture(struct stream_t *stream, unsigned buf_index) {
+static struct _workers_pool_t *_stream_init_loop(struct stream_t *stream) {
+	struct _workers_pool_t *pool = NULL;
+
+	LOG_DEBUG("%s: stream->proc->stop = %d", __FUNCTION__, atomic_load(&stream->proc->stop));
+
+	while (!atomic_load(&stream->proc->stop)) {
+		SEP_INFO('=');
+
+		if ((pool = _stream_init(stream)) == NULL) {
+			LOG_INFO("Sleeping %u seconds before new stream init ...", stream->dev->error_delay);
+			sleep(stream->dev->error_delay);
+		} else {
+			break;
+		}
+	}
+	return pool;
+}
+
+static struct _workers_pool_t *_stream_init(struct stream_t *stream) {
+	if (device_open(stream->dev) < 0) {
+		goto error;
+	}
+	if (device_switch_capturing(stream->dev, true) < 0) {
+		goto error;
+	}
+
+	encoder_prepare(stream->encoder, stream->dev);
+	return _workers_pool_init(stream);
+
+	error:
+		device_close(stream->dev);
+		return NULL;
+}
+
+static void _stream_expose_picture(struct stream_t *stream, unsigned buf_index, unsigned captured_fps) {
 #	define PICTURE(_next) stream->dev->run->pictures[buf_index]._next
 
 	A_MUTEX_LOCK(&stream->mutex);
@@ -323,6 +342,7 @@ static void _stream_expose_picture(struct stream_t *stream, unsigned buf_index)
 
 	stream->width = stream->dev->run->width;
 	stream->height = stream->dev->run->height;
+	stream->captured_fps = captured_fps;
 	atomic_store(&stream->updated, true);
 
 	A_MUTEX_UNLOCK(&stream->mutex);
@@ -330,118 +350,98 @@ static void _stream_expose_picture(struct stream_t *stream, unsigned buf_index)
 #	undef PICTURE
 }
 
-static long double _stream_get_fluency_delay(struct device_t *dev, struct workers_pool_t *pool) {
-	long double sum_comp_time = 0;
-	long double avg_comp_time;
-	long double min_delay;
-	long double soft_delay;
+static struct _workers_pool_t *_workers_pool_init(struct stream_t *stream) {
+	struct _workers_pool_t *pool;
 
-	for (unsigned number = 0; number < dev->run->n_workers; ++number) {
-#		define WORKER(_next) pool->workers[number]._next
+	LOG_INFO("Creating pool with %u workers ...", stream->dev->run->n_workers);
 
-		A_MUTEX_LOCK(&WORKER(last_comp_time_mutex));
-		if (WORKER(last_comp_time) > 0) {
-			sum_comp_time += WORKER(last_comp_time);
-		}
-		A_MUTEX_UNLOCK(&WORKER(last_comp_time_mutex));
+	A_CALLOC(pool, 1);
 
-#		undef WORKER
-	}
-	avg_comp_time = sum_comp_time / dev->run->n_workers; // Среднее время работы воркеров
-
-	min_delay = avg_comp_time / dev->run->n_workers; // Среднее время работы размазывается на N воркеров
-
-	if (dev->desired_fps > 0 && min_delay > 0) {
-		// Искусственное время задержки на основе желаемого FPS, если включен --desired-fps
-		soft_delay = ((long double) 1) / dev->desired_fps - sum_comp_time;
-		return (min_delay > soft_delay ? min_delay : soft_delay);
-	}
-
-	return min_delay;
-}
-
-static int _stream_init_loop(struct stream_t *stream, struct workers_pool_t *pool) {
-	int retval = -1;
-
-	LOG_DEBUG("%s: stream->proc->stop = %d", __FUNCTION__, atomic_load(&stream->proc->stop));
-	while (!atomic_load(&stream->proc->stop)) {
-		if ((retval = _stream_init(stream, pool)) < 0) {
-			LOG_INFO("Sleeping %u seconds before new stream init ...", stream->dev->error_delay);
-			sleep(stream->dev->error_delay);
-		} else {
-			break;
-		}
-	}
-	return retval;
-}
-
-static int _stream_init(struct stream_t *stream, struct workers_pool_t *pool) {
-	_stream_destroy_workers(stream, pool);
-	device_switch_capturing(stream->dev, false);
-	device_close(stream->dev);
-
-	SEP_INFO('=');
-
-	if (device_open(stream->dev) < 0) {
-		goto error;
-	}
-	if (device_switch_capturing(stream->dev, true) < 0) {
-		goto error;
-	}
-
-	encoder_prepare(pool->encoder, stream->dev);
-
-	_stream_init_workers(stream, pool);
-
-	return 0;
-
-	error:
-		device_close(stream->dev);
-		return -1;
-}
-
-static void _stream_init_workers(struct stream_t *stream, struct workers_pool_t *pool) {
-	LOG_INFO("Spawning %u workers ...", stream->dev->run->n_workers);
-
-	atomic_store(&pool->workers_stop, false);
-	A_CALLOC(pool->workers, stream->dev->run->n_workers);
+	pool->n_workers = stream->dev->run->n_workers;
+	A_CALLOC(pool->workers, pool->n_workers);
 
 	A_MUTEX_INIT(&pool->free_workers_mutex);
 	A_COND_INIT(&pool->free_workers_cond);
 
-	for (unsigned number = 0; number < stream->dev->run->n_workers; ++number) {
-#		define WORKER(_next)	pool->workers[number]._next
+	atomic_init(&pool->workers_stop, false);
 
-		pool->free_workers += 1;
+	if (stream->dev->desired_fps > 0) {
+		pool->desired_frames_interval = (long double)1 / stream->dev->desired_fps;
+	}
+
+	for (unsigned number = 0; number < pool->n_workers; ++number) {
+#		define WORKER(_next) pool->workers[number]._next
 
 		A_MUTEX_INIT(&WORKER(has_job_mutex));
 		atomic_init(&WORKER(has_job), false);
 		A_COND_INIT(&WORKER(has_job_cond));
 
-		WORKER(number)			= number;
-		WORKER(proc_stop)		= &stream->proc->stop;
-		WORKER(workers_stop)	= &pool->workers_stop;
+		WORKER(number) = number;
+		WORKER(proc_stop) = &stream->proc->stop;
+		WORKER(workers_stop) = &pool->workers_stop;
 
-		WORKER(free_workers_mutex)	= &pool->free_workers_mutex;
-		WORKER(free_workers)		= &pool->free_workers;
-		WORKER(free_workers_cond)	= &pool->free_workers_cond;
+		WORKER(free_workers_mutex) = &pool->free_workers_mutex;
+		WORKER(free_workers) = &pool->free_workers;
+		WORKER(free_workers_cond) = &pool->free_workers_cond;
 
-		WORKER(dev)		= stream->dev;
-		WORKER(encoder)	= pool->encoder;
+		WORKER(dev) = stream->dev;
+		WORKER(encoder) = stream->encoder;
 
-		A_THREAD_CREATE(&WORKER(tid), _stream_worker_thread, (void *)&(pool->workers[number]));
+		A_THREAD_CREATE(&WORKER(tid), __worker_thread, (void *)&(pool->workers[number]));
+
+		pool->free_workers += 1;
 
 #		undef WORKER
 	}
+	return pool;
 }
 
-static void *_stream_worker_thread(void *v_worker) {
-	struct worker_t *worker = (struct worker_t *)v_worker;
+static void _workers_pool_destroy(struct _workers_pool_t *pool) {
+	LOG_INFO("Destroying workers pool ...");
+
+	atomic_store(&pool->workers_stop, true);
+	for (unsigned number = 0; number < pool->n_workers; ++number) {
+#		define WORKER(_next) pool->workers[number]._next
+
+		A_MUTEX_LOCK(&WORKER(has_job_mutex));
+		atomic_store(&WORKER(has_job), true); // Final job: die
+		A_MUTEX_UNLOCK(&WORKER(has_job_mutex));
+		A_COND_SIGNAL(&WORKER(has_job_cond));
+
+		A_THREAD_JOIN(WORKER(tid));
+		A_MUTEX_DESTROY(&WORKER(has_job_mutex));
+		A_COND_DESTROY(&WORKER(has_job_cond));
+
+#		undef WORKER
+	}
+
+	A_MUTEX_DESTROY(&pool->free_workers_mutex);
+	A_COND_DESTROY(&pool->free_workers_cond);
+
+	free(pool->workers);
+	free(pool);
+}
+
+static void *__worker_thread(void *v_worker) {
+	struct _worker_t *worker = (struct _worker_t *)v_worker;
 
 	LOG_DEBUG("Hello! I am a worker #%u ^_^", worker->number);
 
+#	ifdef WITH_WORKERS_GPIO_DEBUG
+#		define WORKER_GPIO_DEBUG_BUSY digitalWrite(WORKERS_GPIO_DEBUG_START_PIN + worker->number, HIGH)
+#		define WORKER_GPIO_DEBUG_FREE digitalWrite(WORKERS_GPIO_DEBUG_START_PIN + worker->number, LOW)
+	pinMode(WORKERS_GPIO_DEBUG_START_PIN + worker->number, OUTPUT);
+	WORKER_GPIO_DEBUG_FREE;
+#	else
+#		define WORKER_GPIO_DEBUG_BUSY
+#		define WORKER_GPIO_DEBUG_FREE
+#	endif
+
 	while (!atomic_load(worker->proc_stop) && !atomic_load(worker->workers_stop)) {
 		LOG_DEBUG("Worker %u waiting for a new job ...", worker->number);
+
+		WORKER_GPIO_DEBUG_FREE;
+
 		A_MUTEX_LOCK(&worker->has_job_mutex);
 		A_COND_WAIT_TRUE(atomic_load(&worker->has_job), &worker->has_job_cond, &worker->has_job_mutex);
 		A_MUTEX_UNLOCK(&worker->has_job_mutex);
@@ -451,11 +451,11 @@ static void *_stream_worker_thread(void *v_worker) {
 
 			LOG_DEBUG("Worker %u compressing JPEG from buffer %u ...", worker->number, worker->buf_index);
 
-			PICTURE(encode_begin_time) = get_now_monotonic();
+			WORKER_GPIO_DEBUG_BUSY;
+
 			if (encoder_compress_buffer(worker->encoder, worker->dev, worker->number, worker->buf_index) < 0) {
-				worker->job_failed = true;
+				worker->job_failed = false;
 			}
-			PICTURE(encode_end_time) = get_now_monotonic();
 
 			if (device_release_buffer(worker->dev, worker->buf_index) == 0) {
 				worker->job_start_time = PICTURE(encode_begin_time);
@@ -484,34 +484,96 @@ static void *_stream_worker_thread(void *v_worker) {
 	}
 
 	LOG_DEBUG("Bye-bye (worker %u)", worker->number);
+	WORKER_GPIO_DEBUG_FREE;
 	return NULL;
 }
 
-static void _stream_destroy_workers(struct stream_t *stream, struct workers_pool_t *pool) {
-	if (pool->workers) {
-		LOG_INFO("Destroying workers ...");
+static struct _worker_t *_workers_pool_wait(struct _workers_pool_t *pool) {
+	struct _worker_t *ready_worker = NULL;
 
-		atomic_store(&pool->workers_stop, true);
-		for (unsigned number = 0; number < stream->dev->run->n_workers; ++number) {
-#			define WORKER(_next) pool->workers[number]._next
+	A_MUTEX_LOCK(&pool->free_workers_mutex);
+	A_COND_WAIT_TRUE(pool->free_workers, &pool->free_workers_cond, &pool->free_workers_mutex);
+	A_MUTEX_UNLOCK(&pool->free_workers_mutex);
 
-			A_MUTEX_LOCK(&WORKER(has_job_mutex));
-			atomic_store(&WORKER(has_job), true); // Final job: die
-			A_MUTEX_UNLOCK(&WORKER(has_job_mutex));
-			A_COND_SIGNAL(&WORKER(has_job_cond));
-
-			A_THREAD_JOIN(WORKER(tid));
-			A_MUTEX_DESTROY(&WORKER(has_job_mutex));
-			A_COND_DESTROY(&WORKER(has_job_cond));
-
-#			undef WORKER
+	if (pool->oldest_worker && !atomic_load(&pool->oldest_worker->has_job) && pool->oldest_worker->buf_index >= 0) {
+		ready_worker = pool->oldest_worker;
+		ready_worker->job_timely = true;
+		pool->oldest_worker = pool->oldest_worker->order_next;
+	} else {
+		for (unsigned number = 0; number < pool->n_workers; ++number) {
+			if (
+				!atomic_load(&pool->workers[number].has_job) && (
+					ready_worker == NULL
+					|| ready_worker->job_start_time < pool->workers[number].job_start_time
+				)
+			) {
+				ready_worker = &pool->workers[number];
+				break;
+			}
 		}
-
-		A_MUTEX_DESTROY(&pool->free_workers_mutex);
-		A_COND_DESTROY(&pool->free_workers_cond);
-
-		free(pool->workers);
+		assert(ready_worker != NULL);
+		ready_worker->job_timely = false; // Освободился воркер, получивший задание позже (или самый первый при самом первом захвате)
 	}
-	pool->free_workers = 0;
-	pool->workers = NULL;
+	return ready_worker;
+}
+
+static void _workers_pool_assign(struct _workers_pool_t *pool, struct _worker_t *ready_worker, unsigned buf_index) {
+	if (pool->oldest_worker == NULL) {
+		pool->oldest_worker = ready_worker;
+		pool->latest_worker = pool->oldest_worker;
+	} else {
+		if (ready_worker->order_next) {
+			ready_worker->order_next->order_prev = ready_worker->order_prev;
+		}
+		if (ready_worker->order_prev) {
+			ready_worker->order_prev->order_next = ready_worker->order_next;
+		}
+		ready_worker->order_prev = pool->latest_worker;
+		pool->latest_worker->order_next = ready_worker;
+		pool->latest_worker = ready_worker;
+	}
+	pool->latest_worker->order_next = NULL;
+
+	A_MUTEX_LOCK(&ready_worker->has_job_mutex);
+	ready_worker->buf_index = buf_index;
+	atomic_store(&ready_worker->has_job, true);
+	A_MUTEX_UNLOCK(&ready_worker->has_job_mutex);
+	A_COND_SIGNAL(&ready_worker->has_job_cond);
+
+	A_MUTEX_LOCK(&pool->free_workers_mutex);
+	pool->free_workers -= 1;
+	A_MUTEX_UNLOCK(&pool->free_workers_mutex);
+
+	LOG_DEBUG("Assigned new frame in buffer %u to worker %u", buf_index, ready_worker->number);
+}
+
+static long double _workers_pool_get_fluency_delay(struct _workers_pool_t *pool) {
+	long double sum_comp_time = 0;
+	long double avg_comp_time;
+	long double min_delay;
+	long double soft_delay;
+
+	for (unsigned number = 0; number < pool->n_workers; ++number) {
+#		define WORKER(_next) pool->workers[number]._next
+
+		A_MUTEX_LOCK(&WORKER(last_comp_time_mutex));
+		if (WORKER(last_comp_time) > 0) {
+			sum_comp_time += WORKER(last_comp_time);
+		}
+		A_MUTEX_UNLOCK(&WORKER(last_comp_time_mutex));
+
+#		undef WORKER
+	}
+
+	avg_comp_time = sum_comp_time / pool->n_workers; // Среднее время работы воркеров
+
+	min_delay = avg_comp_time / pool->n_workers; // Среднее время работы размазывается на N воркеров
+
+	if (pool->desired_frames_interval > 0 && min_delay > 0) {
+		// Искусственное время задержки на основе желаемого FPS, если включен --desired-fps
+		soft_delay = pool->desired_frames_interval - sum_comp_time;
+		return (min_delay > soft_delay ? min_delay : soft_delay);
+	}
+
+	return min_delay;
 }

src/stream.h

@@ -22,53 +22,12 @@
 
 #pragma once
 
-#include <stdbool.h>
 #include <stdatomic.h>
 
-#include <pthread.h>
-
 #include "device.h"
 #include "encoder.h"
 
 
-struct worker_t {
-	pthread_t			tid;
-	unsigned			number;
-	atomic_bool			*proc_stop;
-	atomic_bool			*workers_stop;
-
-	pthread_mutex_t		last_comp_time_mutex;
-	long double			last_comp_time;
-
-	pthread_mutex_t		has_job_mutex;
-	int					buf_index;
-	atomic_bool			has_job;
-	bool				job_failed;
-	long double			job_start_time;
-	pthread_cond_t		has_job_cond;
-
-	pthread_mutex_t		*free_workers_mutex;
-	unsigned			*free_workers;
-	pthread_cond_t		*free_workers_cond;
-
-	struct worker_t		*order_prev;
-	struct worker_t		*order_next;
-
-	struct device_t		*dev;
-	struct encoder_t	*encoder;
-};
-
-struct workers_pool_t {
-	struct worker_t		*workers;
-	atomic_bool			workers_stop;
-
-	pthread_mutex_t		free_workers_mutex;
-	unsigned			free_workers;
-	pthread_cond_t		free_workers_cond;
-
-	struct encoder_t	*encoder;
-};
-
 struct process_t {
 	atomic_bool stop;
 	atomic_bool slowdown;