fixes

snapshot)

raptor_eagle_acqproc.cpp

@@ -40,11 +40,11 @@ double JulianDay(const std::chrono::utc_clock::time_point& tm)
 
 }  // namespace details
 
-RaptorEagleCCD::AcquisitionProcess::AcquisitionProcess(RaptorEagleCCD* manager) : _manager(manager)
+RaptorEagleCCD::AcquisitionProcess::AcquisitionProcess()
 {
     std::stringstream st;
     st << std::this_thread::get_id();
-    _manager->logDebug("Create acquisition process (thread id: {})", st.str());
+    serverPtr->logDebug("Create acquisition process (thread id: {})", st.str());
 }
 
 
@@ -52,23 +52,22 @@ RaptorEagleCCD::AcquisitionProcess::~AcquisitionProcess()
 {
     std::stringstream st;
     st << std::this_thread::get_id();
-    _manager->logDebug("Delete acquisition process (thread id: {})", st.str());
+    serverPtr->logDebug("Delete acquisition process (thread id: {})", st.str());
 }
 
 
 void RaptorEagleCCD::AcquisitionProcess::start(const std::shared_ptr<acq_params_t>& params)
 {
-    // if (isAcqInProgress) {
-    //     throw std::system_error(RaptorEagleCCDError::ERROR_ACQUISITION_IN_PROGRESS);
-    // }
-
     isAcqInProgress = true;
 
-    // _acqParams = std::move(params);
     _acqParams = params;
-    // _acqParams->abortTime = std::chrono::utc_clock::time_point();  // to ensure the time point is in past
 
-    _snapAndCopyFuture = std::async(std::launch::async, [self = shared_from_this(), this]() {
+    std::thread([self = shared_from_this(), this]() {
+        {
+            std::lock_guard lock_guard(serverPtr->_acqProcessesMutex);
+            acqProcSptr.insert(self);
+        }
+
         std::chrono::milliseconds timeout =
             CAMERA_CAPTURE_TIMEOUT_ADD_CONSTANT +
             std::chrono::milliseconds(static_cast<std::chrono::milliseconds::rep>(_acqParams->expTime * 1000));
@@ -77,149 +76,116 @@ void RaptorEagleCCD::AcquisitionProcess::start(const std::shared_ptr<acq_params_
         std::stringstream st;
         st << std::this_thread::get_id();
 
-        _manager->logDebug("Arm grabber and wait for acquisition starting trigger (thread id: {}) ...", st.str());
+        serverPtr->logDebug("Arm grabber and wait for acquisition starting trigger (thread id: {}) ...", st.str());
 
-        _manager->xclibApiCall(pxd_doSnap(_manager->_cameraUnitmap, 1, timeout.count()),
-                               std::format("pxd_doSnap({}, 1, {})", _manager->_cameraUnitmap, timeout.count()));
+        _status = STATUS_ARMED;  // change to STATUS_ACQ will be made in RaptorEagleCCD::startAcquisition!!!
 
-        _manager->logDebug("Capture is finished  (thread id: {})!", st.str());
+        serverPtr->xclibApiCall(pxd_doSnap(serverPtr->_cameraUnitmap, 1, timeout.count()),
+                                std::format("pxd_doSnap({}, 1, {})", serverPtr->_cameraUnitmap, timeout.count()));
+
+        serverPtr->logDebug("Capture is finished  (thread id: {})!", st.str());
 
         if ((_acqParams->abortTime > _acqParams->startTime) &&
             !_acqParams->saveInAbort) {  // abort acquisition was occured! just exit
-            _manager->logInfo("It seems the acquisition was aborted! Do not save acquired image!");
 
             isAcqInProgress = false;
-
             _status = STATUS_IDLE;
-            // _status = std::string(CAMERA_ATTR_CAMERA_STATUS_IDLE.begin(), CAMERA_ATTR_CAMERA_STATUS_IDLE.end());
 
-            // _manager->_cameraStatus = CAMERA_ATTR_CAMERA_STATUS_IDLE;
+            serverPtr->logInfo("It seems the acquisition was aborted! Do not save acquired image!");
 
             return;
         }
 
-        _manager->logDebug("Image ROI [{}, {}, {}, {}] (binned {}x{})", _acqParams->roiStartX, _acqParams->roiStartY,
+        serverPtr->logDebug("Image ROI [{}, {}, {}, {}] (binned {}x{})", _acqParams->roiStartX, _acqParams->roiStartY,
                             _acqParams->roiWidth, _acqParams->roiHeight, _acqParams->binX, _acqParams->binY);
-        _manager->logDebug("Copy image from grabber to buffer (thread id: {}) ...", st.str());
+        serverPtr->logDebug("Copy image from grabber to buffer (thread id: {}) ...", st.str());
 
         // compute image dimension
         // NOTE:  _acqParams->roiWidth and _acqParams->roiHeight are expected in CCD pixels (not binned)!!!
 
-        // auto div = std::div(_acqParams->roiWidth - _acqParams->roiStartX, _acqParams->binX);
+
         auto div = std::div(_acqParams->roiWidth, _acqParams->binX);
         auto dimx = div.quot + (div.rem ? 1 : 0);
-        // div = std::div(_acqParams->roiHeight - _acqParams->roiStartY, _acqParams->binY);
+
         div = std::div(_acqParams->roiHeight, _acqParams->binY);
         auto dimy = div.quot + (div.rem ? 1 : 0);
 
-        // LONGLONG npix = _acqParams->roiWidth * _acqParams->roiHeight;
+
         LONGLONG npix = dimx * dimy;
 
         // NOTE:
-        auto ldiv = std::lldiv(npix, _manager->_dimCCD[0]);
-        _imageBufferRows = ldiv.quot + (ldiv.rem ? 1 : 0);
+        auto ldiv = std::lldiv(npix, serverPtr->_dimCCD[0]);
+        auto im_buffer_rows = ldiv.quot + (ldiv.rem ? 1 : 0);
 
         bool gap = false;
-        if ((_acqParams->roiWidth + _acqParams->roiStartX) < _manager->_dimCCD[0]) {
+        if ((_acqParams->roiWidth + _acqParams->roiStartX) < serverPtr->_dimCCD[0]) {
             /*  IT SEEMS IF MAX ROI X-COORDINATE IS LESS THAN CCD DIM
              *  EAGLE CAMERA CONTROLLER SETUP READING FOR WIDTH+1 ROI!!! */
             gap = true;
-            ++_imageBufferRows;
+            ++im_buffer_rows;
         }
 
-        // _imageBufferRows = static_cast<size_t>(std::ceil(npix / _manager->_dimCCD[0]));
 
         // read size
-        size_t sz = _imageBufferRows * _manager->_dimCCD[0];
+        auto im_buffer_size = im_buffer_rows * serverPtr->_dimCCD[0];
 
-        try {
-            // sz = _manager->_dimCCD[0] * _manager->_dimCCD[1];
-            if (_imageBufferSize < sz) {
-                _manager->logDebug("Reallocate image buffer to {} elements", sz);
-                _imageBufferSize = sz;
-                _imageBuffer.reset(new ushort[sz]);  // may thow std::bad_alloc here!
-            }
+        auto log_str = std::format("pxd_readushort({}, 1, 0, 0, -1, {}, {}, {}, \"{}\")", serverPtr->_cameraUnitmap,
+                                   im_buffer_rows, (void*)_acqParams->imageBufferPtr, im_buffer_size, color_space);
 
-            auto log_str = std::format("pxd_readushort({}, 1, 0, 0, -1, {}, {}, {}, \"{}\")", _manager->_cameraUnitmap,
-                                       _imageBufferRows, (void*)_imageBuffer.get(), _imageBufferSize, color_space);
-
-            // _manager->xclibApiCall(pxd_readushort(_manager->_cameraUnitmap, 1, 0, 0, -1, -1,
-            //                                       (ushort*)_imageBuffer.get(), _imageBufferSize, (char*)color_space),
-            //                        log_str);
-            _manager->xclibApiCall(pxd_readushort(_manager->_cameraUnitmap, 1, 0, 0, -1, _imageBufferRows,
-                                                  (ushort*)_imageBuffer.get(), _imageBufferSize, (char*)color_space),
+        serverPtr->xclibApiCall(pxd_readushort(serverPtr->_cameraUnitmap, 1, 0, 0, -1, im_buffer_rows,
+                                               _acqParams->imageBufferPtr, im_buffer_size, (char*)color_space),
                                 log_str);
 
+
         isAcqInProgress = false;
-        } catch (...) {
-            isAcqInProgress = false;
-
-            _status = STATUS_IDLE;
-            // _status = std::string(CAMERA_ATTR_CAMERA_STATUS_IDLE.begin(), CAMERA_ATTR_CAMERA_STATUS_IDLE.end());
-
-            // _manager->_cameraStatus = CAMERA_ATTR_CAMERA_STATUS_IDLE;
-
-            throw;
-        }
 
 
         // -------   save to FITS file   --------
 
         if (_acqParams->filename.empty()) {
-            _manager->logWarn("An empty FITS filename is given! Do not save acquired image!");
+            serverPtr->logWarn("An empty FITS filename is given! Do not save acquired image!");
 
             _status = STATUS_IDLE;
-            // _status = std::string(CAMERA_ATTR_CAMERA_STATUS_IDLE.begin(), CAMERA_ATTR_CAMERA_STATUS_IDLE.end());
-
-            // _manager->_cameraStatus = CAMERA_ATTR_CAMERA_STATUS_IDLE;
 
             return;
         }
 
         _status = STATUS_SAVE;
-        // _status = std::string(CAMERA_ATTR_CAMERA_STATUS_IDLE.begin(), CAMERA_ATTR_CAMERA_STATUS_IDLE.end()) +
-        //           std::format(" {}", _acqParams->filename);
-
-        // _manager->_cameraStatus = CAMERA_ATTR_CAMERA_STATUS_SAVE;
 
         std::string fname{"!"};  // to overwrite existing file
         fname += _acqParams->filename;
 
-        _manager->logInfo("Try to save FITS file with name '{}'", _acqParams->filename);
-        _manager->logTrace("Actual saving filename: {}", fname);
+        serverPtr->logInfo("Try to save FITS file with name '{}'", _acqParams->filename);
+        serverPtr->logTrace("Actual saving filename: {}", fname);
 
         fitsfile* fitsFilePtr;
         int status = 0;
 
         const int naxis = 2;
         long naxes[naxis] = {dimx, dimy};
-        // long naxes[2];
-        // naxes[0] = _acqParams->roiWidth;
-        // naxes[1] = _acqParams->roiHeight;
 
         char err_str[100];
 
         fits_clear_errmsg();
 
-        _manager->logDebug("Create an empty FITS file ...");
+        serverPtr->logDebug("Create an empty FITS file ...");
         fits_create_file(&fitsFilePtr, fname.c_str(), &status);
 
-        _manager->logDebug("Create primary FITS HDU (dim = [{}, {}])", naxes[0], naxes[1]);
+        serverPtr->logDebug("Create primary FITS HDU (dim = [{}, {}])", naxes[0], naxes[1]);
         fits_create_img(fitsFilePtr, USHORT_IMG, 2, naxes, &status);
 
-        _manager->logDebug("Write {} pixels to the HDU ...", npix);
+        serverPtr->logDebug("Write {} pixels to the HDU ...", npix);
         if (gap) {
             /*  IT SEEMS IF MAX ROI X-COORDINATE IS LESS THAN CCD DIM
              *  EAGLE CAMERA CONTROLLER SETUP READING FOR WIDTH+1 ROI!!!
              *  SO ONE NEEDS TO WRITE IMAGE PER ROW WITH SKIPPING EXTRA PIXEL
              *  AT THE END OF EACH ROW
              */
-            auto ptr = _imageBuffer.get();
-            for (size_t i = 0; i < dimy; ++i) {
-                fits_write_img(fitsFilePtr, TUSHORT, i * dimx + 1, dimx, _imageBuffer.get(), &status);
+            for (int i = 0; i < dimy; ++i) {
+                fits_write_img(fitsFilePtr, TUSHORT, i * dimx + 1, dimx, _acqParams->imageBufferPtr, &status);
             }
         } else {
-            fits_write_img(fitsFilePtr, TUSHORT, 1, npix, (void*)_imageBuffer.get(), &status);
+            fits_write_img(fitsFilePtr, TUSHORT, 1, npix, _acqParams->imageBufferPtr, &status);
         }
 
 
@@ -259,9 +225,9 @@ void RaptorEagleCCD::AcquisitionProcess::start(const std::shared_ptr<acq_params_
 
         if (_acqParams->startTime < _acqParams->abortTime) {  // acquisition was aborted
             std::chrono::duration<double> real_exp = _acqParams->abortTime - _acqParams->startTime;
-            _manager->logTrace("Acq. start time: {}; acq. abort time: {}", _acqParams->startTime,
+            serverPtr->logTrace("Acq. start time: {}; acq. abort time: {}", _acqParams->startTime,
                                 _acqParams->abortTime);
-            _manager->logDebug("Exposure was stopped! Recompute the exposure duration to {} secs", real_exp.count());
+            serverPtr->logDebug("Exposure was stopped! Recompute the exposure duration to {} secs", real_exp.count());
             _acqParams->expTime = real_exp.count();
         }
 
@@ -313,11 +279,11 @@ void RaptorEagleCCD::AcquisitionProcess::start(const std::shared_ptr<acq_params_
         if (!status) {
             // keywords from user template file
             if (_acqParams->templateFilename.size() && !status) {
-                _manager->logDebug("Copy keywords from '{}' template file", _acqParams->templateFilename);
+                serverPtr->logDebug("Copy keywords from '{}' template file", _acqParams->templateFilename);
                 fits_write_key_template(fitsFilePtr, _acqParams->templateFilename.c_str(), &status);
                 if (status) {  // ignore possible errors
                     fits_get_errstatus(status, err_str);
-                    _manager->logWarn(
+                    serverPtr->logWarn(
                         "An error occured while copy keywords from the template file '{}' (err = {}, msg = {})! "
                         "Ignore!",
                         _acqParams->templateFilename, status, err_str);
@@ -326,24 +292,25 @@ void RaptorEagleCCD::AcquisitionProcess::start(const std::shared_ptr<acq_params_
                 }
             }
 
-            // permanent keywords (may update keywords from template file!)
+
+            auto save_keywords = [&status, &err_str, &fitsFilePtr](auto& kwd_list, const std::string& mark) {
                 char card[81];
                 char kname[9] = "        ";
                 int k_type;
 
-            if (_acqParams->permanentKeywords.size()) {
-                _manager->logDebug("Copy {} permanent keywords", _acqParams->permanentKeywords.size());
+                if (kwd_list.size()) {
+                    serverPtr->logDebug("Copy {} {} keywords", mark, kwd_list.size());
                 } else {
-                _manager->logDebug("There is no one permanent keyword! Skip!");
+                    serverPtr->logDebug("There is no one permanent keyword! Skip!");
                 }
-            for (auto& s : _acqParams->permanentKeywords) {
+                for (auto& s : kwd_list) {
                     fits_parse_template(s.data(), card, &k_type, &status);
                     if (status) {  // ignore possible errors
                         fits_get_errstatus(status, err_str);
-                    _manager->logWarn(
-                        "An error occured while writing permanent keyword card [{}] (err = {}, msg = {})! "
+                        serverPtr->logWarn(
+                            "An error occured while writing {} keyword card [{}] (err = {}, msg = {})! "
                             "Ignore!",
-                        s, status, err_str);
+                            mark, s, status, err_str);
 
                         status = 0;
                     } else {
@@ -352,111 +319,89 @@ void RaptorEagleCCD::AcquisitionProcess::start(const std::shared_ptr<acq_params_
                         }
                     }
 
-                _manager->logTrace("Try to update [{}] FITS card (name = '{}')", card, kname);
+                    serverPtr->logTrace("Try to update [{}] FITS card (name = '{}')", card, kname);
 
                     fits_update_card(fitsFilePtr, kname, card, &status);
 
                     if (status) {
                         fits_get_errstatus(status, err_str);
-                    _manager->logWarn(
-                        "An error occured while updating FITS card (name = '{}') (err = {}, msg = {})! Skip!", kname,
-                        status, err_str);
+                        serverPtr->logWarn(
+                            "An error occured while updating FITS card (name = '{}') (err = {}, msg = {})! Skip!",
+                            kname, status, err_str);
                     } else {
-                    _manager->logTrace("The FITS card (name = '{}') was updated successfully", kname);
+                        serverPtr->logTrace("The FITS card (name = '{}') was updated successfully", kname);
                     }
                 }
+            };
 
+            // permanent keywords (may update keywords from template file!)
+            save_keywords(_acqParams->permanentKeywords, "permanent");
 
             // keyword from user (may update template file and permanent keywords!)
-            if (_acqParams->currentKeywords.size()) {
-                _manager->logDebug("Copy {} current keywords", _acqParams->currentKeywords.size());
-            } else {
-                _manager->logDebug("There is no one current keyword! Skip!");
-            }
-            for (auto& s : _acqParams->currentKeywords) {
-                fits_parse_template(s.data(), card, &k_type, &status);
-                if (status) {  // ignore possible errors
-                    fits_get_errstatus(status, err_str);
-                    _manager->logWarn(
-                        "An error occured while writing user keyword card [{}] (err = {}, msg = {})! "
-                        "Ignore!",
-                        s, status, err_str);
-
-                    status = 0;
-                } else {
-                    for (int i = 0; i < 8; ++i) {
-                        kname[i] = card[i];
-                    }
+            save_keywords(_acqParams->currentKeywords, "current");
         }
 
-                _manager->logTrace("Try to update [{}] FITS card (name = '{}')", card, kname);
-
-                fits_update_card(fitsFilePtr, kname, card, &status);
-
-                if (status) {
-                    fits_get_errstatus(status, err_str);
-                    _manager->logWarn(
-                        "An error occured while updating FITS card (name = '{}') (err = {}, msg = {})! Skip!", kname,
-                        status, err_str);
-                } else {
-                    _manager->logTrace("The FITS card (name = '{}') was updated successfully", kname);
-                }
-            }
-        }
 
         // hardcoded camera hardware version info keywords
 
-        fits_update_key_ulng(fitsFilePtr, "SERNUM", (ULONGLONG)_manager->_cameraSerialNumber, "Camera serial number",
+        fits_update_key_ulng(fitsFilePtr, "SERNUM", (ULONGLONG)serverPtr->_cameraSerialNumber, "Camera serial number",
                              &status);
 
-        str = std::format("{}.{}", _manager->_microVersion[0], _manager->_microVersion[1]);
+        str = std::format("{}.{}", serverPtr->_microVersion[0], serverPtr->_microVersion[1]);
         fits_update_key_str(fitsFilePtr, "MICROVER", str.c_str(), "Camera microcontroller version", &status);
 
-        str = std::format("{}.{}", _manager->_FPGAVersion[0], _manager->_FPGAVersion[1]);
+        str = std::format("{}.{}", serverPtr->_FPGAVersion[0], serverPtr->_FPGAVersion[1]);
         fits_update_key_str(fitsFilePtr, "FPGAVER", str.c_str(), "Camera FPGA version", &status);
 
-        str = std::format("{}", _manager->_buildDate);
+        str = std::format("{}", serverPtr->_buildDate);
         fits_update_key_str(fitsFilePtr, "BUILDDAT", str.c_str(), "Camera build date, YY-MM-DD", &status);
 
-        fits_update_key_str(fitsFilePtr, "BUILDCOD", sv2cstr(_manager->_buildCode), "Camera build code", &status);
+        fits_update_key_str(fitsFilePtr, "BUILDCOD", sv2cstr(serverPtr->_buildCode), "Camera build code", &status);
 
 
         fits_close_file(fitsFilePtr, &status);
 
         _status = STATUS_IDLE;
-        // _status = std::string(CAMERA_ATTR_CAMERA_STATUS_IDLE.begin(), CAMERA_ATTR_CAMERA_STATUS_IDLE.end());
-        // _manager->_cameraStatus = CAMERA_ATTR_CAMERA_STATUS_IDLE;
 
         fits_get_errstatus(status, err_str);
 
         if (status) {
-            _manager->logError("An error occured while writing FITS file '{}'! FITS status = {} ({})",
+            serverPtr->logError("An error occured while writing FITS file '{}'! FITS status = {} ({})",
                                 _acqParams->filename, status, err_str);
         } else {
-            _manager->logInfo("FITS file '{}' is saved", _acqParams->filename);
+            serverPtr->logInfo("FITS file '{}' is saved", _acqParams->filename);
         }
 
-        _imageBuffer.release();
-    });
+
+        std::lock_guard lock_guard(serverPtr->_acqProcessesMutex);
+
+        serverPtr->_acqRingFreeBufferPtrs.push(_acqParams->imageBufferPtr);  // return buffer pointer to queue of free
+
+        serverPtr->logDebug("Return buffer address {} to queue of free", (void*)_acqParams->imageBufferPtr);
+
+        acqProcSptr.erase(self);
+    }).detach();
 }
 
 
 void RaptorEagleCCD::AcquisitionProcess::stop(bool save)
 {
     if (isAcqInProgress) {
-        _manager->logInfo("Abort current acquisition process!");
+        serverPtr->logInfo("Abort current acquisition process!");
 
         _acqParams->saveInAbort = save;
 
-        auto bytes = _manager->readRegisters({0xD4});  // curent trigger mode register
+        // auto bytes = serverPtr->readRegisters({0xD4});  // current trigger mode register
 
-        bytes[0] |= CL_ABORT_CURRENT_EXP;  // set abort acquisition bit
+        // bytes[0] |= CL_ABORT_CURRENT_EXP;  // set abort acquisition bit
 
-        _acqParams->abortTime = std::chrono::utc_clock::now();
-        _manager->writeRegisters({0xD4}, bytes);
+        // _acqParams->abortTime = std::chrono::utc_clock::now();
+        // serverPtr->writeRegisters({0xD4}, bytes);
+
+        _acqParams->abortTime = serverPtr->setTriggerRegisterBit(CL_TRIGGER_MODE_ABORT_CURRENT_EXP_BIT);
 
     } else {
-        _manager->logWarn("There was no active acquisition process! Ignore!");
+        serverPtr->logWarn("There was no active acquisition process! Ignore!");
     }
 }
 
@@ -465,30 +410,35 @@ std::string RaptorEagleCCD::AcquisitionProcess::status()
 {
     std::lock_guard lock(_statusMutex);
 
+    std::string stat_str;
+
     switch (_status) {
         case STATUS_IDLE:
-            _statusString = std::format("{}", CAMERA_ATTR_CAMERA_STATUS_IDLE);
+            stat_str = std::format("{}", CAMERA_ATTR_CAMERA_STATUS_IDLE);
+            break;
+        case STATUS_ARMED:  // actually it should not be! but it presents here for debug reasons
+            stat_str = std::format("{}", CAMERA_ATTR_CAMERA_STATUS_ARMED);
             break;
         case STATUS_ACQ: {
             std::chrono::duration<double> curr_exp = std::chrono::utc_clock::now() - _acqParams->startTime;
             auto remain_exp = _acqParams->expTime - curr_exp.count();
             if (remain_exp < 0) {
                 _status = STATUS_READ;
-                _statusString = std::format("{} {}", CAMERA_ATTR_CAMERA_STATUS_READ, _acqParams->filename);
+                stat_str = std::format("{} {}", CAMERA_ATTR_CAMERA_STATUS_READ, _acqParams->filename);
             } else {
-                _statusString = std::format("{} {}", CAMERA_ATTR_CAMERA_STATUS_ACQ, remain_exp);
+                stat_str = std::format("{} {}", CAMERA_ATTR_CAMERA_STATUS_ACQ, remain_exp);
             }
             break;
         }
         case STATUS_READ:
-            _statusString = std::format("{} {}", CAMERA_ATTR_CAMERA_STATUS_READ, _acqParams->filename);
+            stat_str = std::format("{} {}", CAMERA_ATTR_CAMERA_STATUS_READ, _acqParams->filename);
             break;
         case STATUS_SAVE:
-            _statusString = std::format("{} {}", CAMERA_ATTR_CAMERA_STATUS_SAVE, _acqParams->filename);
+            stat_str = std::format("{} {}", CAMERA_ATTR_CAMERA_STATUS_SAVE, _acqParams->filename);
             break;
         default:
-            _statusString = "UNKNOWN";  // is should not be!!!
+            stat_str = "UNKNOWN";  // is should not be!!!
     }
 
-    return _statusString;
+    return stat_str;
 }

raptor_eagle_ccd.cpp

@@ -163,6 +163,8 @@ RaptorEagleCCD::RaptorEagleCCD(const adc::traits::adc_input_char_range auto& epi
         logInfo("Set video format filename: {}", _epixFmtVideoFilename);
     }
 
+    AcquisitionProcess::serverPtr = this;
+
     initAttrComm();
 
     openPIXCI();
@@ -177,8 +179,28 @@ RaptorEagleCCD::RaptorEagleCCD(std::shared_ptr<spdlog::logger> logger)
 
 RaptorEagleCCD::~RaptorEagleCCD()
 {
+    if (AcquisitionProcess::isAcqInProgress) {
+        (*this)[CAMERA_CMD_ABORT_EXP];
+    }
+
+    // wait for detached acquisition threads?
+    if (AcquisitionProcess::acqProcSptr.size()) {
+        logInfo("DTOR: waiting for the end of the acquisition process {} ...",
+                AcquisitionProcess::acqProcSptr.size() > 1 ? "threads" : "thread");
+
+        auto start = std::chrono::utc_clock::now();
+        while (AcquisitionProcess::acqProcSptr.size()) {
+            std::this_thread::sleep_for(std::chrono::milliseconds(200));
+
+            if ((std::chrono::utc_clock::now() - start) >= std::chrono::milliseconds(2000)) {
+                break;
+            }
+        }
+    }
+
     closePIXCI();
 
+
     logDebug("DTOR: Delete RaptorEagleCCD class instance");
 }
 
@@ -452,6 +474,28 @@ bool RaptorEagleCCD::initCamera(int unitmap)
     xclibApiCall(_bitsPerPixel = pxd_imageBdim(), "pxd_imageBdim()");
     xclibApiCall(_imageFrameBuffNumber = pxd_imageZdim(), "pxd_imageZdim()");
 
+    // memory
+    if (_acqRingBuffer.empty()) {  // the first init. allocate ring buffer
+        logDebug("Allocate memory for acquisition ring buffer");
+        _acqRingBuffer.resize(DEFAULT_ACQ_RING_BUFFER_SIZE);
+        try {
+            for (auto& uptr : _acqRingBuffer) {
+                uptr.reset(new ushort[_dimCCD[0] * _dimCCD[1]]);  // full CCD frame
+                _acqRingFreeBufferPtrs.push(uptr.get());
+            }
+        } catch (const std::bad_alloc&) {
+            logError("Cannot allocate memory for ring buffer!");
+            return false;
+        }
+    } else {  // re-initialization. just resize ring buffer to initial default size
+        _acqRingBuffer.resize(DEFAULT_ACQ_RING_BUFFER_SIZE);
+        _acqRingFreeBufferPtrs = std::queue<ushort*>();
+        for (auto& uptr : _acqRingBuffer) {
+            _acqRingFreeBufferPtrs.push(uptr.get());
+        }
+    }
+
+
     logDebug("-------  CCD and grabber hardware info  -------");
     logDebug("CCD full-frame dimension [{}, {}] pixels", _dimCCD[0], _dimCCD[1]);
     logDebug("CCD bits per pixel: {}", _bitsPerPixel);
@@ -965,6 +1009,28 @@ void RaptorEagleCCD::startAquisition()
         throw std::system_error(RaptorEagleCCDError::ERROR_EXT_TRIGGER_MODE);
     }
 
+
+    if (_acqRingFreeBufferPtrs.empty()) {
+        logDebug("There is no free image buffers! Try to shrink ring buffer ...");
+
+        std::lock_guard lock_guard(_acqProcessesMutex);
+
+        if (_acqRingBuffer.size() < DEFAULT_ACQ_RING_BUFFER_MAX_SIZE) {  // shrink
+            size_t N = 0;
+            for (auto i = _acqRingBuffer.size(); i < DEFAULT_ACQ_RING_BUFFER_MAX_SIZE; ++i, ++N) {
+                if (N == DEFAULT_ACQ_RING_BUFFER_SIZE) {
+                    break;
+                }
+                _acqRingBuffer.emplace_back(new ushort[_dimCCD[0] * _dimCCD[1]]);
+                _acqRingFreeBufferPtrs.push(_acqRingBuffer.back().get());
+            }
+            logDebug("{} new image buffers were allocated", N);
+        } else {
+            logError("Ring buffer exceeded maximum size!");
+            throw std::system_error(RaptorEagleCCDError::ERROR_NO_FREE_BUFFER);
+        }
+    }
+
     // check filesystem permissions
     std::string fname = (*this)[CAMERA_ATTR_FITS_FILENAME];
 
@@ -998,8 +1064,8 @@ void RaptorEagleCCD::startAquisition()
     logInfo("Start acquisition process ...");
 
 
-    auto acq_pars = std::make_shared<acq_params_t>(acq_params_t({
-        .startTime = std::chrono::utc_clock::time_point(),
+    auto acq_pars = std::make_shared<acq_params_t>(
+        acq_params_t({.startTime = std::chrono::utc_clock::time_point(),
                       .abortTime = std::chrono::utc_clock::time_point(),
                       .saveInAbort = false,
                       .expTime = (*this)[CAMERA_ATTR_EXPTIME],
@@ -1021,9 +1087,12 @@ void RaptorEagleCCD::startAquisition()
                       .filename = fname,
                       .templateFilename = (*this)[CAMERA_ATTR_FITS_TEMPLATE],
                       .permanentKeywords = _permanentFitsKeywords,         // copy
-        .currentKeywords = std::move(_currentFitsKeywords)  // move!!!
-    }));
+                      .currentKeywords = std::move(_currentFitsKeywords),  // move!!!
+                      .imageBufferPtr = _acqRingFreeBufferPtrs.front()}));
 
+    logDebug("Current acquisition buffer address: {}", (void*)_acqRingFreeBufferPtrs.front());
+
+    _acqRingFreeBufferPtrs.pop();
 
 
     // adjust geometry
@@ -1041,37 +1110,25 @@ void RaptorEagleCCD::startAquisition()
     }
 
 
-    std::lock_guard lock_guard(_acqProcessesMutex);
-
-    auto sptr = std::make_shared<AcquisitionProcess>(this);
-    for (auto it = _acqProcesses.begin(); it != _acqProcesses.end();) {
-        if (it->expired()) {
-            it = _acqProcesses.erase(it);
-        } else {
-            break;
-        }
-    }
-
-    _acqProcesses.emplace_back(sptr);
-    // arm grabber here
-    sptr->start(acq_pars);
-
-    // bits.set(CL_TRIGGER_MODE_SNAPSHOT_BIT);  // start snapshot bit
-    // bytes[0] = static_cast<uint8_t>(bits.to_ulong());
-
-    // acq_pars->startTime = std::chrono::utc_clock::now();
-    // writeRegisters({0xD4}, bytes);  // write to trigger mode register (start snapshot)
+    auto sptr = std::make_shared<AcquisitionProcess>();
+    sptr->start(acq_pars);  // asynchronous call!!!
 
     // start acquisition here
+    auto start = std::chrono::utc_clock::now();
+    while (sptr->_status != AcquisitionProcess::STATUS_ARMED) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        if ((std::chrono::utc_clock::now() - start) > CAMERA_START_ACQ_TIMEOUT) {
+            logError("CANNOT START ACQUIRING!!!");
+            throw std::system_error(RaptorEagleCCDError::ERROR_CANNOT_START_ACQUISITION);
+        }
+    }
     acq_pars->startTime = setTriggerRegisterBit(CL_TRIGGER_MODE_SNAPSHOT_BIT);
+    sptr->_status = AcquisitionProcess::STATUS_ACQ;
 
     int status;
     xclibApiCall(status = pxd_goneLive(_cameraUnitmap, 0), std::format("pxd_goneLive({}, 0)", _cameraUnitmap));
     if (status == 0) {
         logError("CANNOT START ACQUIRING!!!");
-        sptr->_status = AcquisitionProcess::STATUS_IDLE;
-    } else {
-        sptr->_status = AcquisitionProcess::STATUS_ACQ;
     }
 }
 
@@ -1080,13 +1137,10 @@ void RaptorEagleCCD::stopAcquisition(bool save_acq)
 {
     std::lock_guard lock_guard(_acqProcessesMutex);
 
-    for (auto it = _acqProcesses.begin(); it != _acqProcesses.end();) {
-        if (it->expired()) {
-            it = _acqProcesses.erase(it);
-        } else {
-            auto sptr = it->lock();
+    for (auto& sptr : AcquisitionProcess::acqProcSptr) {
+        if (sptr->_status == AcquisitionProcess::STATUS_ACQ) {
             sptr->stop(save_acq);
-            return;  // there was only the single active aquisition, so exit here!
+            return;  // the only one active acquisition process
         }
     }
 
@@ -1222,36 +1276,23 @@ void RaptorEagleCCD::initAttrComm()
     addAttribute(CAMERA_ATTR_CAMERA_STATUS, [this]() {
         std::lock_guard lock_guard(_acqProcessesMutex);
 
-        std::string s, s_head;
+        std::string s;
 
-        if (!_acqProcesses.empty()) {
-            for (auto it = _acqProcesses.begin(); it != _acqProcesses.end();) {
-                if (it->expired()) {
-                    it = _acqProcesses.erase(it);
-                } else {
-                    auto sptr = it->lock();
-                    auto st = sptr->status();
-                    if (st.substr(0, CAMERA_ATTR_CAMERA_STATUS_ACQ.size()) ==
-                        CAMERA_ATTR_CAMERA_STATUS_ACQ) {  // if the camera is acquiring then
-                        s_head = st + ",";                // return it at the beginning of the status string
-                    } else if (st.substr(0, CAMERA_ATTR_CAMERA_STATUS_IDLE.size()) == CAMERA_ATTR_CAMERA_STATUS_IDLE) {
-                        // here, cquisition process is already inactive
-                        it = _acqProcesses.erase(it);
-                        continue;
-                    } else {
-                        std::ranges::copy(st, std::back_inserter(s));
+        if (AcquisitionProcess::isAcqInProgress) {
+            s = CAMERA_ATTR_CAMERA_STATUS_ACQ;
             s += ",";
         }
-                    ++it;
+
+        if (AcquisitionProcess::acqProcSptr.size()) {
+            for (auto& sptr : AcquisitionProcess::acqProcSptr) {
+                if (sptr->_status != AcquisitionProcess::STATUS_ACQ) {
+                    s += sptr->status() + ",";
                 }
             }
         }
 
-        if (!s.empty() || !s_head.empty()) {
-            s = s_head + s;
-            // if (_acqProcesses.size() == 1) {
+        if (!s.empty()) {
             s.resize(s.size() - 1);  // delete trailing ","
-            // }
         } else {
             s = std::string{CAMERA_ATTR_CAMERA_STATUS_IDLE.begin(), CAMERA_ATTR_CAMERA_STATUS_IDLE.end()};
         }
@@ -1284,11 +1325,13 @@ void RaptorEagleCCD::initAttrComm()
     addAttribute(
         CAMERA_ATTR_FITS_TEMPLATE,
         [this]() {
-            logTrace("Return current FITS-image header template filename as {}", _currentTemplateFile);
+            logTrace("Return current FITS-image header template filename as {}",
+                     _currentTemplateFile.size() ? _currentTemplateFile : "<empty string>");
             return _currentTemplateFile;
         },
         [this](const std::string& filename) {
-            logDebug("Set current FITS-image header template filename to {}", filename);
+            logDebug("Set current FITS-image header template filename to {}",
+                     filename.size() ? filename : "<empty string>");
 
             _currentTemplateFile = filename;
         });

raptor_eagle_ccd.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <queue>
+#include <set>
 #ifdef USE_SPDLOG_LIBRARY
 #include <spdlog/sinks/null_sink.h>
 #endif
@@ -33,6 +35,7 @@ public:
     static constexpr std::string_view USER_FITS_KEY_SEP_SEQ{"\t"};
 
     static constexpr size_t DEFAULT_ACQ_RING_BUFFER_SIZE = 3;
+    static constexpr size_t DEFAULT_ACQ_RING_BUFFER_MAX_SIZE = 100;
 
     /*  some Eagle V camera constants   */
     // static constexpr double EAGLE_CAMERA_MAX_EXPTIME = 27487.7906944;  // in seconds (0xFFFFFFFFFF * 25nsec)
@@ -68,6 +71,9 @@ public:
                                                                           std::chrono::milliseconds(1000)};
 
 
+    // wait timeout to start acquisition (deadlock?!!)
+    static constexpr std::chrono::milliseconds CAMERA_START_ACQ_TIMEOUT{1000};  // 1 second
+
     // additive constant to timeout for capture process (see pxd_doSnap XCLIB function)
     // this constant will be added to exposure to compute actual timeout
     static constexpr std::chrono::milliseconds CAMERA_CAPTURE_TIMEOUT_ADD_CONSTANT{240000};  // 4 mins
@@ -149,6 +155,7 @@ public:
 
     // camera status
     static constexpr std::string_view CAMERA_ATTR_CAMERA_STATUS_IDLE{"IDLE"};
+    static constexpr std::string_view CAMERA_ATTR_CAMERA_STATUS_ARMED{"ARMED"};
     static constexpr std::string_view CAMERA_ATTR_CAMERA_STATUS_ACQ{"ACQ"};       // camera is acquiring
     static constexpr std::string_view CAMERA_ATTR_CAMERA_STATUS_READ{"READING"};  // camera is reading from CCD
     static constexpr std::string_view CAMERA_ATTR_CAMERA_STATUS_SAVE{"SAVING"};   // camera is saving to FITS file
@@ -197,6 +204,7 @@ private:
         // std::unique_ptr<ushort> imageBuffer;
         // size_t imageBufferSize;
         // size_t imageBufferRows;
+        ushort* imageBufferPtr;
     };
 
     class AcquisitionProcess : public std::enable_shared_from_this<AcquisitionProcess>
@@ -204,27 +212,24 @@ private:
         friend class RaptorEagleCCD;
 
     public:
-        AcquisitionProcess(RaptorEagleCCD*);
+        AcquisitionProcess();
         ~AcquisitionProcess();
 
         void start(const std::shared_ptr<acq_params_t>& params);  // asynchronous method!
         void stop(bool save = true);
         std::string status();
 
+        // static std::string acqProcStatus();
     private:
+        inline static RaptorEagleCCD* serverPtr = nullptr;
+
         inline static std::atomic_bool isAcqInProgress = false;
 
-        RaptorEagleCCD* _manager;
+        inline static std::set<std::shared_ptr<AcquisitionProcess>> acqProcSptr{};
+
         std::shared_ptr<acq_params_t> _acqParams{};
-        std::unique_ptr<ushort[]> _imageBuffer{};
-        size_t _imageBufferSize = 0;
-        size_t _imageBufferRows = 0;
 
-        std::future<void> _snapAndCopyFuture;
-        // std::future<void> _saveFitsFileFuture;
-
-        std::string _statusString{CAMERA_ATTR_CAMERA_STATUS_IDLE.begin(), CAMERA_ATTR_CAMERA_STATUS_IDLE.end()};
-        enum int8_t { STATUS_IDLE, STATUS_ACQ, STATUS_READ, STATUS_SAVE };
+        enum int8_t { STATUS_IDLE, STATUS_ARMED, STATUS_ACQ, STATUS_READ, STATUS_SAVE };
         std::atomic_int8_t _status = STATUS_IDLE;
         std::mutex _statusMutex;
     };
@@ -257,8 +262,8 @@ private:
     std::vector<std::string> _currentFitsKeywords{};    // current acquisition FITS keywords
     std::vector<std::string> _permanentFitsKeywords{};  // permanent user FITS keywords
 
-    // std::list<std::unique_ptr<ushort>> _acqRingBuffer;
-    std::list<std::pair<std::unique_ptr<ushort>, size_t>> _acqRingBuffer;
+    std::vector<std::unique_ptr<ushort[]>> _acqRingBuffer{};
+    std::queue<ushort*> _acqRingFreeBufferPtrs{};
 
 
     // hardware version info
@@ -280,7 +285,7 @@ private:
 
     // acquisition process members
     std::mutex _acqProcessesMutex;
-    std::list<std::weak_ptr<AcquisitionProcess>> _acqProcesses{};
+    // std::list<std::weak_ptr<AcquisitionProcess>> _acqProcesses{};
 
     // std::future<void> _doSnapAndCopyFuture;
     // std::future<void> _saveFitsFile;

raptor_eagle_exception.h

@@ -16,8 +16,10 @@ enum class RaptorEagleCCDError : int {
     ERROR_CANNOT_RESET_FPGA,
     ERROR_EXT_TRIGGER_MODE,
     ERROR_ACQUISITION_IN_PROGRESS,
+    ERROR_CANNOT_START_ACQUISITION,
     ERROR_INVALID_PATH,
-    ERROR_INSUFFICIENT_FILESYSTEM_PERMISSIONS
+    ERROR_INSUFFICIENT_FILESYSTEM_PERMISSIONS,
+    ERROR_NO_FREE_BUFFER
 };
 
 
@@ -64,10 +66,14 @@ struct RaptorEagleCCDErrorCategory : std::error_category {
                 return "try to use software trigger while external trigger mode is enabled";
             case RaptorEagleCCDError::ERROR_ACQUISITION_IN_PROGRESS:
                 return "acquisition is in progress";
+            case RaptorEagleCCDError::ERROR_CANNOT_START_ACQUISITION:
+                return "cannot start acquisition";
             case RaptorEagleCCDError::ERROR_INVALID_PATH:
                 return "invalid filesystem path";
             case RaptorEagleCCDError::ERROR_INSUFFICIENT_FILESYSTEM_PERMISSIONS:
                 return "insufficient filesystem permissions";
+            case RaptorEagleCCDError::ERROR_NO_FREE_BUFFER:
+                return "there is no free buffer in ring";
             default:
                 return "UNKNOWN ERROR";
         }