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-helpers/mapped_framebuffer.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,
		 const IPACameraSensorInfo &sensorInfo,
		 const ControlInfoMap &sensorControls,
		 ControlInfoMap *ipaControls) override;

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

	int configure(const IPAConfigInfo &configInfo,
		      ControlInfoMap *ipaControls) override;

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

	void queueRequest(const uint32_t frame, const ControlList &controls) override;
	void fillParamsBuffer(const uint32_t frame, const uint32_t bufferId) override;
	void processStatsBuffer(const uint32_t frame, const int64_t frameTimestamp,
				const uint32_t bufferId,
				const ControlList &sensorControls) override;
private:
	void updateControls(const IPACameraSensorInfo &sensorInfo,
			    const ControlInfoMap &sensorControls,
			    ControlInfoMap *ipaControls);
	void runAiq(unsigned int frame);

	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_;
	int32_t lensPosition_;

	/* Intel AF library relies on timestamp to wait for lens movement */
	uint64_t lensMovementStartTime_;

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

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

	BinaryData aiqb_;
	BinaryData nvm_;
	BinaryData aiqd_;
};

/*
 * Compute camera controls using the sensor information and the sensor
 * v4l2 controls.
 *
 * Some of the camera controls are computed by the pipeline handler, some others
 * by the IPA module which is in charge of handling, for example, the exposure
 * time and the frame duration.
 *
 * This function computes:
 * - controls::ExposureTime
 * - controls::FrameDurationLimits
 */
void IPAIPU3::updateControls(const IPACameraSensorInfo &sensorInfo,
			     const ControlInfoMap &sensorControls,
			     ControlInfoMap *ipaControls)
{
	ControlInfoMap::Map controls{};

	/*
	 * Compute exposure time limits by using line length and pixel rate
	 * converted to microseconds. Use the V4L2_CID_EXPOSURE control to get
	 * exposure min, max and default and convert it from lines to
	 * microseconds.
	 */
	double lineDuration = sensorInfo.lineLength / (sensorInfo.pixelRate / 1e6);
	const ControlInfo &v4l2Exposure = sensorControls.find(V4L2_CID_EXPOSURE)->second;
	int32_t minExposure = v4l2Exposure.min().get<int32_t>() * lineDuration;
	int32_t maxExposure = v4l2Exposure.max().get<int32_t>() * lineDuration;
	int32_t defExposure = v4l2Exposure.def().get<int32_t>() * lineDuration;
	controls[&controls::ExposureTime] = ControlInfo(minExposure, maxExposure,
							defExposure);

	/*
	 * Compute the frame duration limits.
	 *
	 * The frame length is computed assuming a fixed line length combined
	 * with the vertical frame sizes.
	 */
	const ControlInfo &v4l2HBlank = sensorControls.find(V4L2_CID_HBLANK)->second;
	uint32_t hblank = v4l2HBlank.def().get<int32_t>();
	uint32_t lineLength = sensorInfo.outputSize.width + hblank;

	const ControlInfo &v4l2VBlank = sensorControls.find(V4L2_CID_VBLANK)->second;
	std::array<uint32_t, 3> frameHeights{
		v4l2VBlank.min().get<int32_t>() + sensorInfo.outputSize.height,
		v4l2VBlank.max().get<int32_t>() + sensorInfo.outputSize.height,
		v4l2VBlank.def().get<int32_t>() + sensorInfo.outputSize.height,
	};

	std::array<int64_t, 3> frameDurations;
	for (unsigned int i = 0; i < frameHeights.size(); ++i) {
		uint64_t frameSize = lineLength * frameHeights[i];
		frameDurations[i] = frameSize / (sensorInfo.pixelRate / 1000000U);
	}

	controls[&controls::FrameDurationLimits] = ControlInfo(frameDurations[0],
							       frameDurations[1],
							       frameDurations[2]);

	*ipaControls = ControlInfoMap(std::move(controls), controls::controls);
}

int IPAIPU3::init(const IPASettings &settings,
		  const IPACameraSensorInfo &sensorInfo,
		  const ControlInfoMap &sensorControls,
		  ControlInfoMap *ipaControls)
{
	int ret;

	/*
	 * Temporary mapping of the sensor name to the AIQB data file.
	 *
	 * The tuningPath used here is specific to ChromeOS.
	 *
	 * \todo This mapping table should be handled more generically
	 * or through the configuration interfaces.
	 */
	std::map<std::string, std::string> aiqb_paths = {
		{ "ov13858", "00ov13858.aiqb" },
		{ "ov5670", "01ov5670.aiqb" },
		{ "imx258", "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;
	}

	std::string tuningPath = "/etc/camera/ipu3/";
	std::string tuningFile = tuningPath + it->second;

	LOG(IPAIPU3, Info) << "Using tuning file: " << tuningFile;
	ret = aiqb_.load(tuningFile.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();

	/* Initialize controls. */
	updateControls(sensorInfo, sensorControls, ipaControls);

	return 0;
}

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

	return 0;
}

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

	sensorInfo_ = configInfo.sensorInfo;

	/*
	 * Compute the sensor V4L2 controls to be used by the algorithms and
	 * to be set on the sensor.
	 */
	ctrls_ = configInfo.sensorControls;

	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_;

	lensMovementStartTime_ = 0;
	lensPosition_ = 0;

	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();

	/* Upate the camera controls using the new sensor settings. */
	updateControls(sensorInfo_, ctrls_, ipaControls);

	resultsHistory_.reset();

	return 0;
}

void IPAIPU3::mapBuffers(const std::vector<IPABuffer> &buffers)
{
	/*
	 * todo: Statistics buffers could be mapped read-only if they
	 * could be easily identified.
	 */
	for (const IPABuffer &buffer : buffers) {
		const FrameBuffer fb(buffer.planes);
		buffers_.emplace(buffer.id,
				 MappedFrameBuffer(&fb, MappedFrameBuffer::MapFlag::ReadWrite));
	}
}

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

void IPAIPU3::fillParamsBuffer(const uint32_t frame, const uint32_t bufferId)
{
	auto it = buffers_.find(bufferId);
	if (it == buffers_.end()) {
		LOG(IPAIPU3, Error) << "Could not find params buffer";
		return;
	}

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

	/* 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.
	 */
	runAiq(frame);

	aiq::AiqResults& latestResults = resultsHistory_.latest();
	aic_.updateRuntimeParams(latestResults);
	aic_.run(params);

	setControls(frame);

	paramsBufferReady.emit(frame);
}

void IPAIPU3::processStatsBuffer(const uint32_t frame, const int64_t frameTimestamp,
				 const uint32_t bufferId, const ControlList &sensorControls)
{
	auto it = buffers_.find(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());

	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);

	/*
	 * Ae algorithm expects the statistics to be set with its corresponding
	 * Ae result, i.e., the Ae result should match the exposure time and
	 * analog gain with the the effective sensor controls of the statistics.
	 * Search the required Ae result in the result history and combine it
	 * with the latest result as the input to AIQ::setStatistics().
	 */

	int32_t effectiveExpo = 0;
	int32_t effectiveGain = 0;
	ControlValue ctrlValue;

	ctrlValue = sensorControls.get(V4L2_CID_EXPOSURE);
	if (!ctrlValue.isNone())
		effectiveExpo = ctrlValue.get<int32_t>();

	ctrlValue = sensorControls.get(V4L2_CID_ANALOGUE_GAIN);
	if (!ctrlValue.isNone())
		effectiveGain = ctrlValue.get<int32_t>();

	auto pred = [effectiveExpo, effectiveGain] (aiq::AiqResults& result) {
		ia_aiq_exposure_sensor_parameters* sensorExposure =
			result.ae()->exposures[0].sensor_exposure;

		return (effectiveExpo == sensorExposure->coarse_integration_time ||
			effectiveGain == sensorExposure->analog_gain_code_global);
	};

	aiq::AiqResults& latestResults = resultsHistory_.latest();
	aiq::AiqResults& aeMatchedResults = resultsHistory_.searchBackward(pred, latestResults);

	aiq::AiqResults combinedResults = latestResults;
	combinedResults.setAe(aeMatchedResults.ae());

	/* Aiq library expects timestamp in microseconds */
	aiq_.setStatistics(frame, (frameTimestamp / 1000), combinedResults, stats);

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

	metadataReady.emit(frame, ctrls);
}

void IPAIPU3::runAiq([[maybe_unused]] unsigned int frame)
{
	/* Run algorithms into/using this context structure */
	resultsHistory_.extendOne();
	aiq::AiqResults& latestResults = resultsHistory_.latest();

	/* Todo: Refactor AiqInputParameters interface to set following parameters. */
	aiqInputParams_.afParams.lens_position = lensPosition_;
	aiqInputParams_.afParams.lens_movement_start_timestamp = lensMovementStartTime_;

	aiq_.run2a(frame, aiqInputParams_, latestResults);

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

	/*
	 * Af algorithm compares the timestamp of start of the lens movement and
	 * that of the statistics generated to estimate whether next lens
	 * position should be produced.
	 * \todo use the lens movement start time reported by the pipeline handler.
	 */
	if (lensPosition_ != latestResults.af()->next_lens_position) {
		utils::time_point time = utils::clock::now();
		uint64_t usecs = std::chrono::duration_cast<std::chrono::microseconds>(time.time_since_epoch()).count();
		lensMovementStartTime_ = usecs;
	}
	lensPosition_ = latestResults.af()->next_lens_position;
}

void IPAIPU3::setControls(unsigned int frame)
{
	ControlList sensorCtrls(ctrls_);
	sensorCtrls.set(V4L2_CID_EXPOSURE, static_cast<int32_t>(exposure_));
	sensorCtrls.set(V4L2_CID_ANALOGUE_GAIN, static_cast<int32_t>(gain_));

	ControlList lensCtrls(ctrls_);
	lensCtrls.set(V4L2_CID_FOCUS_ABSOLUTE, lensPosition_);

	setSensorControls.emit(frame, sensorCtrls, lensCtrls);
}

} /* 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 */