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include/v4l2worker.h

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+#pragma once
+#include <QObject>
+#include <QImage>
+#include <QString>
+#include <atomic>
+#include <thread>
+
+class V4l2Worker : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit V4l2Worker(QObject *parent = nullptr);
+    ~V4l2Worker();
+
+public slots:
+    void startCapture(const QString &device, int width = 1920, int height = 1080);
+    void stopCapture();
+
+signals:
+    void newFrame(const QImage &frame);
+    void captureStarted(const QString &device, int width, int height, const QString &format);
+    void captureStopped();
+    void errorOccurred(const QString &message);
+
+private:
+    void stop();           // joins m_captureThread, closes device – safe from any thread
+    void captureLoop();    // runs inside m_captureThread
+    bool openDevice(const QString &device, int width, int height);
+    void closeDevice();
+    bool initMmap();
+    void freeMmap();
+    QImage convertToImage(const void *data, size_t size, int width, int height);
+    QImage yuyv2Rgb(const uchar *src, int width, int height);
+    QImage nv122Rgb(const uchar *src, int width, int height);
+
+    int           m_fd       = -1;
+    int           m_width    = 1920;
+    int           m_height   = 1080;
+    uint32_t      m_pixFmt   = 0;
+
+    static constexpr int MMAP_BUFFERS = 4;
+    struct MmapBuffer { void *start = nullptr; size_t length = 0; };
+    MmapBuffer    m_buffers[MMAP_BUFFERS];
+    int           m_nBuffers = 0;
+
+    std::atomic<bool> m_running{false};
+    std::thread       m_captureThread;   // dedicated capture thread – not the Qt event thread
+};