path: root/ipu3.cpp

/* SPDX-License-Identifier: Apache-2.0 */
/*
 * Copyright (C) 2020, Google Inc.
 *
 * ipu3.cpp - IPU3 Image Processing Algorithms
 */

#include <stdint.h>
#include <sys/mman.h>

#include <linux/intel-ipu3.h>
#include <linux/v4l2-controls.h>

#include <libcamera/control_ids.h>
#include <libcamera/framebuffer.h>
#include <libcamera/ipa/ipa_interface.h>
#include <libcamera/ipa/ipa_module_info.h>
#include <libcamera/ipa/ipu3_ipa_interface.h>
#include <libcamera/request.h>

#include <libcamera/base/log.h>

#include <libcamera/logging.h>

#include "libcamera-helpers/mapped_buffer.h"

/* IA AIQ Wrapper API */
#include "aic/aic.h"
#include "aiq/aiq.h"
#include "binary_data.h"

namespace libcamera {

LOG_DEFINE_CATEGORY(IPAIPU3)

namespace ipa::ipu3 {

class IPAIPU3 : public IPAIPU3Interface
{
public:
	int init(const IPASettings &settings) override;

	int start() override;
	void stop() override {}

	int configure(const IPAConfigInfo &configInfo) override;

	void mapBuffers(const std::vector<IPABuffer> &buffers) override;
	void unmapBuffers(const std::vector<unsigned int> &ids) override;
	void processEvent(const IPU3Event &event) override;

private:
	void processControls(unsigned int frame, const ControlList &metadata);
	void fillParams(unsigned int frame, ipu3_uapi_params *params);
	void parseStatistics(unsigned int frame,
			     int64_t frameTimestamp,
			     const ipu3_uapi_stats_3a *stats);

	void setControls(unsigned int frame);

	std::map<unsigned int, MappedFrameBuffer> buffers_;

	ControlInfoMap ctrls_;

	IPACameraSensorInfo sensorInfo_;

	/* Camera sensor controls. */
	uint32_t exposure_;
	uint32_t minExposure_;
	uint32_t maxExposure_;
	uint32_t gain_;
	uint32_t minGain_;
	uint32_t maxGain_;

	/* Intel Library Instances. */
	aiq::AIQ aiq_;
	aic::AIC aic_;

	/* Temporary storage until we have a FrameContext object / struct */
	aiq::AiqInputParameters aiqInputParams_;
	aiq::AiqResults results_;

	BinaryData aiqb_;
	BinaryData nvm_;
	BinaryData aiqd_;

	uint64_t lastFrameTimestamp_;
};

int IPAIPU3::init(const IPASettings &settings)
{
	int ret;

	logSetFile("/tmp/ipu3ipa.log");

	/*
	* Temporary mapping of the sensor name to the AIQB data file.
	*
	* \todo: This mapping table should be handled more generically
	* or through the configuration interfaces perhaps.
	*/
	std::map<std::string, std::string> aiqb_paths = {
		{ "ov13858", "/usr/share/libcamera/ipa/ipu3/00ov13858.aiqb" },
		{ "ov5670", "/usr/share/libcamera/ipa/ipu3/01ov5670.aiqb" },
		{ "imx258", "/etc/camera/ipu3/00imx258.aiqb" },
	};

	LOG(IPAIPU3, Info) << "Initialising IPA IPU3 for "
			   << settings.sensorModel;

	auto it = aiqb_paths.find(settings.sensorModel);
	if (it == aiqb_paths.end()) {
		LOG(IPAIPU3, Error) << "Failed to identify tuning data";
		return -EINVAL;
	}

	LOG(IPAIPU3, Info) << "Using tuning file: " << it->second;
	ret = aiqb_.load(it->second.c_str());
	if (ret) {
		LOG(IPAIPU3, Error) << "Failed to load AIQB";
		return -ENODATA;
	}

	/*
	* Todo: nvm_ and aiqd_ are left as empty nullptrs.
	* These need to be identified and loaded as required.
	*/

	ret = aiq_.init(aiqb_, nvm_, aiqd_);
	if (ret)
		return ret;

	ret = aic_.init(aiqb_);
	if (ret)
		return ret;

	aiqInputParams_.init();

	return 0;
}

int IPAIPU3::start()
{
	setControls(0);

	return 0;
}

int IPAIPU3::configure(const IPAConfigInfo &configInfo)
{
	if (configInfo.entityControls.empty()) {
		LOG(IPAIPU3, Error) << "No controls provided";
		return -ENODATA;
	}

	sensorInfo_ = configInfo.sensorInfo;

	ctrls_ = configInfo.entityControls.at(0);

	const auto itExp = ctrls_.find(V4L2_CID_EXPOSURE);
	if (itExp == ctrls_.end()) {
		LOG(IPAIPU3, Error) << "Can't find exposure control";
		return -EINVAL;
	}

	const auto itGain = ctrls_.find(V4L2_CID_ANALOGUE_GAIN);
	if (itGain == ctrls_.end()) {
		LOG(IPAIPU3, Error) << "Can't find gain control";
		return -EINVAL;
	}

	minExposure_ = std::max(itExp->second.min().get<int32_t>(), 1);
	maxExposure_ = itExp->second.max().get<int32_t>();
	exposure_ = maxExposure_;

	minGain_ = std::max(itGain->second.min().get<int32_t>(), 1);
	maxGain_ = itGain->second.max().get<int32_t>();
	gain_ = maxGain_;

	int ret;

	ret = aiq_.configure();
	if (ret) {
		LOG(IPAIPU3, Error) << "Failed to configure the AIQ";
		return ret;
	}

	ret = aiqInputParams_.configure(configInfo);
	if (ret) {
		LOG(IPAIPU3, Error) << "Failed to configure AiqInputParams";
		return ret;
	}

	ret = aic_.configure(configInfo);
	if (ret) {
		LOG(IPAIPU3, Error) << "Failed to configure the AIC";
		return ret;
	}

	/* Set AE/AWB defaults, this typically might not belong here */
	aiqInputParams_.setAeAwbAfDefaults();

	return 0;
}

void IPAIPU3::mapBuffers(const std::vector<IPABuffer> &buffers)
{
	for (const IPABuffer &buffer : buffers) {
		const FrameBuffer fb(buffer.planes);
		buffers_.emplace(buffer.id,
				 MappedFrameBuffer(&fb, PROT_READ | PROT_WRITE));
	}
}

void IPAIPU3::unmapBuffers(const std::vector<unsigned int> &ids)
{
	for (unsigned int id : ids) {
		auto it = buffers_.find(id);
		if (it == buffers_.end())
			continue;

		buffers_.erase(it);
	}
}

void IPAIPU3::processEvent(const IPU3Event &event)
{
	switch (event.op) {
	case EventProcessControls: {
		processControls(event.frame, event.controls);
		break;
	}
	case EventStatReady: {
		auto it = buffers_.find(event.bufferId);
		if (it == buffers_.end()) {
			LOG(IPAIPU3, Error) << "Could not find stats buffer!";
			return;
		}

		Span<uint8_t> mem = it->second.maps()[0];
		const ipu3_uapi_stats_3a *stats =
			reinterpret_cast<ipu3_uapi_stats_3a *>(mem.data());

		parseStatistics(event.frame, event.frameTimestamp, stats);
		break;
	}
	case EventFillParams: {
		auto it = buffers_.find(event.bufferId);
		if (it == buffers_.end()) {
			LOG(IPAIPU3, Error) << "Could not find param buffer!";
			return;
		}

		Span<uint8_t> mem = it->second.maps()[0];
		ipu3_uapi_params *params =
			reinterpret_cast<ipu3_uapi_params *>(mem.data());

		fillParams(event.frame, params);
		break;
	}
	default:
		LOG(IPAIPU3, Error) << "Unknown event " << event.op;
		break;
	}
}

void IPAIPU3::processControls([[maybe_unused]] unsigned int frame,
			      [[maybe_unused]] const ControlList &controls)
{
	/* \todo Start processing for 'frame' based on 'controls'. */
}

void IPAIPU3::fillParams(unsigned int frame, ipu3_uapi_params *params)
{
	/* Prepare parameters buffer. */
	memset(params, 0, sizeof(*params));

	/*
	* Call into the AIQ object, and set up the library with any requested
	* controls or settings from the incoming request.
	*
	* (statistics are fed into the library as a separate event
	*  when available)
	*
	* - Run algorithms
	*
	* - Fill params buffer with the results of the algorithms.
	*/

	/* Run algorithms into/using this context structure */
	if (frame % 10 == 0)
		aiq_.run2a(frame, aiqInputParams_, results_);

	aic_.updateRuntimeParams(results_);
	aic_.run(params);

	exposure_ = results_.ae()->exposures[0].sensor_exposure->coarse_integration_time;
	gain_ = results_.ae()->exposures[0].sensor_exposure->analog_gain_code_global;
	setControls(frame);

	IPU3Action op;
	op.op = ActionParamFilled;

	queueFrameAction.emit(frame, op);
}

void IPAIPU3::parseStatistics(unsigned int frame,
			      int64_t frameTimestamp,
			      const ipu3_uapi_stats_3a *stats)
{
	ControlList ctrls(controls::controls);

	/* \todo React to statistics and update internal state machine. */

	/* *stats comes from the IPU3 hardware. We need to give this data into
	 * the AIQ library.
	 */

	ASSERT (frameTimestamp > 0);
	aiq_.setStatistics(frame, frameTimestamp, results_, stats);

	/* Set frame durations from exposure results */
	ia_aiq_exposure_sensor_parameters *sensorExposure = results_.ae()->exposures->sensor_exposure;
	int64_t frameDuration = (sensorExposure->line_length_pixels * sensorExposure->frame_length_lines) /
				(sensorInfo_.pixelRate / 1e6);
	ctrls.set(controls::FrameDuration, frameDuration);

	double fps = frameTimestamp - lastFrameTimestamp_;
	fps = lastFrameTimestamp_ != 0 && fps ? 1000000000.0 / fps : 0.0;
	lastFrameTimestamp_ = frameTimestamp;

	LOG(IPAIPU3, Info) << "Frame " << frame << ": fps " << fps;

	IPU3Action op;
	op.op = ActionMetadataReady;
	op.controls = ctrls;

	queueFrameAction.emit(frame, op);
}

void IPAIPU3::setControls(unsigned int frame)
{
	IPU3Action op;
	op.op = ActionSetSensorControls;

	ControlList ctrls(ctrls_);
	ctrls.set(V4L2_CID_EXPOSURE, static_cast<int32_t>(exposure_));
	ctrls.set(V4L2_CID_ANALOGUE_GAIN, static_cast<int32_t>(gain_));
	op.controls = ctrls;

	queueFrameAction.emit(frame, op);
}

} /* namespace ipa::ipu3 */

/*
 * External IPA module interface
 */

extern "C" {
const struct IPAModuleInfo ipaModuleInfo = {
	IPA_MODULE_API_VERSION,
	1,
	"PipelineHandlerIPU3",
	"ipu3",
};

IPAInterface *ipaCreate()
{
	return new ipa::ipu3::IPAIPU3();
}
}

} /* namespace libcamera */