Attribution-ShareAlike 4.0 International
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Creative Commons Attribution-ShareAlike 4.0 International Public
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Section 6 -- Term and Termination.
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/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
* Copyright (C) 2019-2021, Raspberry Pi (Trading) Ltd.
*
* raspberrypi.cpp - Pipeline handler for Raspberry Pi devices
*/
#include <algorithm>
#include <assert.h>
#include <fcntl.h>
#include <memory>
#include <mutex>
#include <queue>
#include <sys/mman.h>
#include <unordered_set>
#include <libcamera/camera.h>
#include <libcamera/control_ids.h>
#include <libcamera/file_descriptor.h>
#include <libcamera/formats.h>
#include <libcamera/ipa/raspberrypi.h>
#include <libcamera/ipa/raspberrypi_ipa_interface.h>
#include <libcamera/ipa/raspberrypi_ipa_proxy.h>
#include <libcamera/logging.h>
#include <libcamera/property_ids.h>
#include <libcamera/request.h>
#include <libcamera/base/utils.h>
#include <linux/bcm2835-isp.h>
#include <linux/videodev2.h>
#include "libcamera/internal/bayer_format.h"
#include "libcamera/internal/camera_sensor.h"
#include "libcamera/internal/delayed_controls.h"
#include "libcamera/internal/device_enumerator.h"
#include "libcamera/internal/framebuffer.h"
#include "libcamera/internal/ipa_manager.h"
#include "libcamera/internal/media_device.h"
#include "libcamera/internal/pipeline_handler.h"
#include "libcamera/internal/v4l2_videodevice.h"
#include "dma_heaps.h"
#include "rpi_stream.h"
namespace libcamera {
LOG_DEFINE_CATEGORY(RPI)
namespace {
bool isRaw(PixelFormat &pixFmt)
{
/*
* The isRaw test might be redundant right now the pipeline handler only
* supports RAW sensors. Leave it in for now, just as a sanity check.
*/
const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt);
if (!info.isValid())
return false;
return info.colourEncoding == PixelFormatInfo::ColourEncodingRAW;
}
double scoreFormat(double desired, double actual)
{
double score = desired - actual;
/* Smaller desired dimensions are preferred. */
if (score < 0.0)
score = (-score) / 8;
/* Penalise non-exact matches. */
if (actual != desired)
score *= 2;
return score;
}
V4L2DeviceFormat findBestMode(V4L2VideoDevice::Formats &formatsMap,
const Size &req)
{
double bestScore = std::numeric_limits<double>::max(), score;
V4L2DeviceFormat bestMode;
#define PENALTY_AR 1500.0
#define PENALTY_8BIT 2000.0
#define PENALTY_10BIT 1000.0
#define PENALTY_12BIT 0.0
#define PENALTY_UNPACKED 500.0
/* Calculate the closest/best mode from the user requested size. */
for (const auto &iter : formatsMap) {
V4L2PixelFormat v4l2Format = iter.first;
const PixelFormatInfo &info = PixelFormatInfo::info(v4l2Format);
for (const SizeRange &sz : iter.second) {
double modeWidth = sz.contains(req) ? req.width : sz.max.width;
double modeHeight = sz.contains(req) ? req.height : sz.max.height;
double reqAr = static_cast<double>(req.width) / req.height;
double modeAr = modeWidth / modeHeight;
/* Score the dimensions for closeness. */
score = scoreFormat(req.width, modeWidth);
score += scoreFormat(req.height, modeHeight);
score += PENALTY_AR * scoreFormat(reqAr, modeAr);
/* Add any penalties... this is not an exact science! */
if (!info.packed)
score += PENALTY_UNPACKED;
if (info.bitsPerPixel == 12)
score += PENALTY_12BIT;
else if (info.bitsPerPixel == 10)
score += PENALTY_10BIT;
else if (info.bitsPerPixel == 8)
score += PENALTY_8BIT;
if (score <= bestScore) {
bestScore = score;
bestMode.fourcc = v4l2Format;
bestMode.size = Size(modeWidth, modeHeight);
}
LOG(RPI, Info) << "Mode: " << modeWidth << "x" << modeHeight
<< " fmt " << v4l2Format.toString()
<< " Score: " << score
<< " (best " << bestScore << ")";
}
}
return bestMode;
}
enum class Unicam : unsigned int { Image, Embedded };
enum class Isp : unsigned int { Input, Output0, Output1, Stats };
} /* namespace */
class RPiCameraData : public CameraData
{
public:
RPiCameraData(PipelineHandler *pipe)
: CameraData(pipe), state_(State::Stopped),
supportsFlips_(false), flipsAlterBayerOrder_(false),
dropFrameCount_(0), ispOutputCount_(0)
{
}
void frameStarted(uint32_t sequence);
int loadIPA(ipa::RPi::SensorConfig *sensorConfig);
int configureIPA(const CameraConfiguration *config);
void statsMetadataComplete(uint32_t bufferId, const ControlList &controls);
void runIsp(uint32_t bufferId);
void embeddedComplete(uint32_t bufferId);
void setIspControls(const ControlList &controls);
void setDelayedControls(const ControlList &controls);
void setSensorControls(ControlList &controls);
/* bufferComplete signal handlers. */
void unicamBufferDequeue(FrameBuffer *buffer);
void ispInputDequeue(FrameBuffer *buffer);
void ispOutputDequeue(FrameBuffer *buffer);
void clearIncompleteRequests();
void handleStreamBuffer(FrameBuffer *buffer, RPi::Stream *stream);
void handleExternalBuffer(FrameBuffer *buffer, RPi::Stream *stream);
void handleState();
void applyScalerCrop(const ControlList &controls);
std::unique_ptr<ipa::RPi::IPAProxyRPi> ipa_;
std::unique_ptr<CameraSensor> sensor_;
/* Array of Unicam and ISP device streams and associated buffers/streams. */
RPi::Device<Unicam, 2> unicam_;
RPi::Device<Isp, 4> isp_;
/* The vector below is just for convenience when iterating over all streams. */
std::vector<RPi::Stream *> streams_;
/* Stores the ids of the buffers mapped in the IPA. */
std::unordered_set<unsigned int> ipaBuffers_;
/* DMAHEAP allocation helper. */
RPi::DmaHeap dmaHeap_;
FileDescriptor lsTable_;
std::unique_ptr<DelayedControls> delayedCtrls_;
bool sensorMetadata_;
/*
* All the functions in this class are called from a single calling
* thread. So, we do not need to have any mutex to protect access to any
* of the variables below.
*/
enum class State { Stopped, Idle, Busy, IpaComplete };
State state_;
struct BayerFrame {
FrameBuffer *buffer;
ControlList controls;
};
std::queue<BayerFrame> bayerQueue_;
std::queue<FrameBuffer *> embeddedQueue_;
std::deque<Request *> requestQueue_;
/*
* Manage horizontal and vertical flips supported (or not) by the
* sensor. Also store the "native" Bayer order (that is, with no
* transforms applied).
*/
bool supportsFlips_;
bool flipsAlterBayerOrder_;
BayerFormat::Order nativeBayerOrder_;
/* For handling digital zoom. */
IPACameraSensorInfo sensorInfo_;
Rectangle ispCrop_; /* crop in ISP (camera mode) pixels */
Rectangle scalerCrop_; /* crop in sensor native pixels */
Size ispMinCropSize_;
unsigned int dropFrameCount_;
private:
void checkRequestCompleted();
void fillRequestMetadata(const ControlList &bufferControls,
Request *request);
void tryRunPipeline();
bool findMatchingBuffers(BayerFrame &bayerFrame, FrameBuffer *&embeddedBuffer);
unsigned int ispOutputCount_;
};
class RPiCameraConfiguration : public CameraConfiguration
{
public:
RPiCameraConfiguration(const RPiCameraData *data);
Status validate() override;
/* Cache the combinedTransform_ that will be applied to the sensor */
Transform combinedTransform_;
private:
const RPiCameraData *data_;
};
class PipelineHandlerRPi : public PipelineHandler
{
public:
PipelineHandlerRPi(CameraManager *manager);
CameraConfiguration *generateConfiguration(Camera *camera, const StreamRoles &roles) override;
int configure(Camera *camera, CameraConfiguration *config) override;
int exportFrameBuffers(Camera *camera, Stream *stream,
std::vector<std::unique_ptr<FrameBuffer>> *buffers) override;
int start(Camera *camera, const ControlList *controls) override;
void stop(Camera *camera) override;
int queueRequestDevice(Camera *camera, Request *request) override;
bool match(DeviceEnumerator *enumerator) override;
private:
RPiCameraData *cameraData(const Camera *camera)
{
return static_cast<RPiCameraData *>(PipelineHandler::cameraData(camera));
}
int queueAllBuffers(Camera *camera);
int prepareBuffers(Camera *camera);
void freeBuffers(Camera *camera);
void mapBuffers(Camera *camera, const RPi::BufferMap &buffers, unsigned int mask);
MediaDevice *unicam_;
MediaDevice *isp_;
};
RPiCameraConfiguration::RPiCameraConfiguration(const RPiCameraData *data)
: CameraConfiguration(), data_(data)
{
}
CameraConfiguration::Status RPiCameraConfiguration::validate()
{
Status status = Valid;
if (config_.empty())
return Invalid;
/*
* What if the platform has a non-90 degree rotation? We can't even
* "adjust" the configuration and carry on. Alternatively, raising an
* error means the platform can never run. Let's just print a warning
* and continue regardless; the rotation is effectively set to zero.
*/
int32_t rotation = data_->sensor_->properties().get(properties::Rotation);
bool success;
Transform rotationTransform = transformFromRotation(rotation, &success);
if (!success)
LOG(RPI, Warning) << "Invalid rotation of " << rotation
<< " degrees - ignoring";
Transform combined = transform * rotationTransform;
/*
* We combine the platform and user transform, but must "adjust away"
* any combined result that includes a transform, as we can't do those.
* In this case, flipping only the transpose bit is helpful to
* applications - they either get the transform they requested, or have
* to do a simple transpose themselves (they don't have to worry about
* the other possible cases).
*/
if (!!(combined & Transform::Transpose)) {
/*
* Flipping the transpose bit in "transform" flips it in the
* combined result too (as it's the last thing that happens),
* which is of course clearing it.
*/
transform ^= Transform::Transpose;
combined &= ~Transform::Transpose;
status = Adjusted;
}
/*
* We also check if the sensor doesn't do h/vflips at all, in which
* case we clear them, and the application will have to do everything.
*/
if (!data_->supportsFlips_ && !!combined) {
/*
* If the sensor can do no transforms, then combined must be
* changed to the identity. The only user transform that gives
* rise to this the inverse of the rotation. (Recall that
* combined = transform * rotationTransform.)
*/
transform = -rotationTransform;
combined = Transform::Identity;
status = Adjusted;
}
/*
* Store the final combined transform that configure() will need to
* apply to the sensor to save us working it out again.
*/
combinedTransform_ = combined;
unsigned int rawCount = 0, outCount = 0, count = 0, maxIndex = 0;
std::pair<int, Size> outSize[2];
Size maxSize;
for (StreamConfiguration &cfg : config_) {
if (isRaw(cfg.pixelFormat)) {
/*
* Calculate the best sensor mode we can use based on
* the user request.
*/
V4L2VideoDevice::Formats fmts = data_->unicam_[Unicam::Image].dev()->formats();
V4L2DeviceFormat sensorFormat = findBestMode(fmts, cfg.size);
int ret = data_->unicam_[Unicam::Image].dev()->tryFormat(&sensorFormat);
if (ret)
return Invalid;
/*
* Some sensors change their Bayer order when they are
* h-flipped or v-flipped, according to the transform.
* If this one does, we must advertise the transformed
* Bayer order in the raw stream. Note how we must
* fetch the "native" (i.e. untransformed) Bayer order,
* because the sensor may currently be flipped!
*/
V4L2PixelFormat fourcc = sensorFormat.fourcc;
if (data_->flipsAlterBayerOrder_) {
BayerFormat bayer = BayerFormat::fromV4L2PixelFormat(fourcc);
bayer.order = data_->nativeBayerOrder_;
bayer = bayer.transform(combined);
fourcc = bayer.toV4L2PixelFormat();
}
PixelFormat sensorPixFormat = fourcc.toPixelFormat();
if (cfg.size != sensorFormat.size ||
cfg.pixelFormat != sensorPixFormat) {
cfg.size = sensorFormat.size;
cfg.pixelFormat = sensorPixFormat;
status = Adjusted;
}
cfg.stride = sensorFormat.planes[0].bpl;
cfg.frameSize = sensorFormat.planes[0].size;
rawCount++;
} else {
outSize[outCount] = std::make_pair(count, cfg.size);
/* Record the largest resolution for fixups later. */
if (maxSize < cfg.size) {
maxSize = cfg.size;
maxIndex = outCount;
}
outCount++;
}
count++;
/* Can only output 1 RAW stream, or 2 YUV/RGB streams. */
if (rawCount > 1 || outCount > 2) {
LOG(RPI, Error) << "Invalid number of streams requested";
return Invalid;
}
}
/*
* Now do any fixups needed. For the two ISP outputs, one stream must be
* equal or smaller than the other in all dimensions.
*/
for (unsigned int i = 0; i < outCount; i++) {
outSize[i].second.width = std::min(outSize[i].second.width,
maxSize.width);
outSize[i].second.height = std::min(outSize[i].second.height,
maxSize.height);
if (config_.at(outSize[i].first).size != outSize[i].second) {
config_.at(outSize[i].first).size = outSize[i].second;
status = Adjusted;
}
/*
* Also validate the correct pixel formats here.
* Note that Output0 and Output1 support a different
* set of formats.
*
* Output 0 must be for the largest resolution. We will
* have that fixed up in the code above.
*
*/
StreamConfiguration &cfg = config_.at(outSize[i].first);
PixelFormat &cfgPixFmt = cfg.pixelFormat;
V4L2VideoDevice *dev;
if (i == maxIndex)
dev = data_->isp_[Isp::Output0].dev();
else
dev = data_->isp_[Isp::Output1].dev();
V4L2VideoDevice::Formats fmts = dev->formats();
if (fmts.find(V4L2PixelFormat::fromPixelFormat(cfgPixFmt, false)) == fmts.end()) {
/* If we cannot find a native format, use a default one. */
cfgPixFmt = formats::NV12;
status = Adjusted;
}
V4L2DeviceFormat format;
format.fourcc = dev->toV4L2PixelFormat(cfg.pixelFormat);
format.size = cfg.size;
int ret = dev->tryFormat(&format);
if (ret)
return Invalid;
cfg.stride = format.planes[0].bpl;
cfg.frameSize = format.planes[0].size;
}
return status;
}
PipelineHandlerRPi::PipelineHandlerRPi(CameraManager *manager)
: PipelineHandler(manager), unicam_(nullptr), isp_(nullptr)
{
}
CameraConfiguration *PipelineHandlerRPi::generateConfiguration(Camera *camera,
const StreamRoles &roles)
{
RPiCameraData *data = cameraData(camera);
CameraConfiguration *config = new RPiCameraConfiguration(data);
V4L2DeviceFormat sensorFormat;
unsigned int bufferCount;
PixelFormat pixelFormat;
V4L2VideoDevice::Formats fmts;
Size size;
if (roles.empty())
return config;
unsigned int rawCount = 0;
unsigned int outCount = 0;
for (const StreamRole role : roles) {
switch (role) {
case StreamRole::Raw:
size = data->sensor_->resolution();
fmts = data->unicam_[Unicam::Image].dev()->formats();
sensorFormat = findBestMode(fmts, size);
pixelFormat = sensorFormat.fourcc.toPixelFormat();
ASSERT(pixelFormat.isValid());
bufferCount = 2;
rawCount++;
break;
case StreamRole::StillCapture:
fmts = data->isp_[Isp::Output0].dev()->formats();
pixelFormat = formats::NV12;
/* Return the largest sensor resolution. */
size = data->sensor_->resolution();
bufferCount = 1;
outCount++;
break;
case StreamRole::VideoRecording:
/*
* The colour denoise algorithm requires the analysis
* image, produced by the second ISP output, to be in
* YUV420 format. Select this format as the default, to
* maximize chances that it will be picked by
* applications and enable usage of the colour denoise
* algorithm.
*/
fmts = data->isp_[Isp::Output0].dev()->formats();
pixelFormat = formats::YUV420;
size = { 1920, 1080 };
bufferCount = 4;
outCount++;
break;
case StreamRole::Viewfinder:
fmts = data->isp_[Isp::Output0].dev()->formats();
pixelFormat = formats::ARGB8888;
size = { 800, 600 };
bufferCount = 4;
outCount++;
break;
default:
LOG(RPI, Error) << "Requested stream role not supported: "
<< role;
delete config;
return nullptr;
}
if (rawCount > 1 || outCount > 2) {
LOG(RPI, Error) << "Invalid stream roles requested";
delete config;
return nullptr;
}
/* Translate the V4L2PixelFormat to PixelFormat. */
std::map<PixelFormat, std::vector<SizeRange>> deviceFormats;
for (const auto &format : fmts) {
PixelFormat pf = format.first.toPixelFormat();
if (pf.isValid())
deviceFormats[pf] = format.second;
}
/* Add the stream format based on the device node used for the use case. */
StreamFormats formats(deviceFormats);
StreamConfiguration cfg(formats);
cfg.size = size;
cfg.pixelFormat = pixelFormat;
cfg.bufferCount = bufferCount;
config->addConfiguration(cfg);
}
config->validate();
return config;
}
int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config)
{
RPiCameraData *data = cameraData(camera);
int ret;
/* Start by resetting the Unicam and ISP stream states. */
for (auto const stream : data->streams_)
stream->reset();
Size maxSize, sensorSize;
unsigned int maxIndex = 0;
bool rawStream = false;
/*
* Look for the RAW stream (if given) size as well as the largest
* ISP output size.
*/
for (unsigned i = 0; i < config->size(); i++) {
StreamConfiguration &cfg = config->at(i);
if (isRaw(cfg.pixelFormat)) {
/*
* If we have been given a RAW stream, use that size
* for setting up the sensor.
*/
sensorSize = cfg.size;
rawStream = true;
} else {
if (cfg.size > maxSize) {
maxSize = config->at(i).size;
maxIndex = i;
}
}
}
/* First calculate the best sensor mode we can use based on the user request. */
V4L2VideoDevice::Formats fmts = data->unicam_[Unicam::Image].dev()->formats();
V4L2DeviceFormat sensorFormat = findBestMode(fmts, rawStream ? sensorSize : maxSize);
/*
* Unicam image output format. The ISP input format gets set at start,
* just in case we have swapped bayer orders due to flips.
*/
ret = data->unicam_[Unicam::Image].dev()->setFormat(&sensorFormat);
if (ret)
return ret;
/*
* The control ranges associated with the sensor may need updating
* after a format change.
* \todo Use the CameraSensor::setFormat API instead.
*/
data->sensor_->updateControlInfo();
LOG(RPI, Info) << "Sensor: " << camera->id()
<< " - Selected mode: " << sensorFormat.toString();
/*
* This format may be reset on start() if the bayer order has changed
* because of flips in the sensor.
*/
ret = data->isp_[Isp::Input].dev()->setFormat(&sensorFormat);
if (ret)
return ret;
/*
* See which streams are requested, and route the user
* StreamConfiguration appropriately.
*/
V4L2DeviceFormat format;
bool output0Set = false, output1Set = false;
for (unsigned i = 0; i < config->size(); i++) {
StreamConfiguration &cfg = config->at(i);
if (isRaw(cfg.pixelFormat)) {
cfg.setStream(&data->unicam_[Unicam::Image]);
data->unicam_[Unicam::Image].setExternal(true);
continue;
}
/* The largest resolution gets routed to the ISP Output 0 node. */
RPi::Stream *stream = i == maxIndex ? &data->isp_[Isp::Output0]
: &data->isp_[Isp::Output1];
V4L2PixelFormat fourcc = stream->dev()->toV4L2PixelFormat(cfg.pixelFormat);
format.size = cfg.size;
format.fourcc = fourcc;
LOG(RPI, Debug) << "Setting " << stream->name() << " to "
<< format.toString();
ret = stream->dev()->setFormat(&format);
if (ret)
return -EINVAL;
if (format.size != cfg.size || format.fourcc != fourcc) {
LOG(RPI, Error)
<< "Failed to set requested format on " << stream->name()
<< ", returned " << format.toString();
return -EINVAL;
}
cfg.setStream(stream);
stream->setExternal(true);
if (i != maxIndex)
output1Set = true;
else
output0Set = true;
}
/*
* If ISP::Output0 stream has not been configured by the application,
* we must allow the hardware to generate an output so that the data
* flow in the pipeline handler remains consistent, and we still generate
* statistics for the IPA to use. So enable the output at a very low
* resolution for internal use.
*
* \todo Allow the pipeline to work correctly without Output0 and only
* statistics coming from the hardware.
*/
if (!output0Set) {
maxSize = Size(320, 240);
format = {};
format.size = maxSize;
format.fourcc = V4L2PixelFormat::fromPixelFormat(formats::YUV420, false);
ret = data->isp_[Isp::Output0].dev()->setFormat(&format);
if (ret) {
LOG(RPI, Error)
<< "Failed to set default format on ISP Output0: "
<< ret;
return -EINVAL;
}
LOG(RPI, Debug) << "Defaulting ISP Output0 format to "
<< format.toString();
}
/*
* If ISP::Output1 stream has not been requested by the application, we
* set it up for internal use now. This second stream will be used for
* fast colour denoise, and must be a quarter resolution of the ISP::Output0
* stream. However, also limit the maximum size to 1200 pixels in the
* larger dimension, just to avoid being wasteful with buffer allocations
* and memory bandwidth.
*
* \todo If Output 1 format is not YUV420, Output 1 ought to be disabled as
* colour denoise will not run.
*/
if (!output1Set) {
V4L2DeviceFormat output1Format = format;
constexpr Size maxDimensions(1200, 1200);
const Size limit = maxDimensions.boundedToAspectRatio(format.size);
output1Format.size = (format.size / 2).boundedTo(limit).alignedDownTo(2, 2);
LOG(RPI, Debug) << "Setting ISP Output1 (internal) to "
<< output1Format.toString();
ret = data->isp_[Isp::Output1].dev()->setFormat(&output1Format);
if (ret) {
LOG(RPI, Error) << "Failed to set format on ISP Output1: "
<< ret;
return -EINVAL;
}
}
/* ISP statistics output format. */
format = {};
format.fourcc = V4L2PixelFormat(V4L2_META_FMT_BCM2835_ISP_STATS);
ret = data->isp_[Isp::Stats].dev()->setFormat(&format);
if (ret) {
LOG(RPI, Error) << "Failed to set format on ISP stats stream: "
<< format.toString();
return ret;
}
/* Figure out the smallest selection the ISP will allow. */
Rectangle testCrop(0, 0, 1, 1);
data->isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &testCrop);
data->ispMinCropSize_ = testCrop.size();
/* Adjust aspect ratio by providing crops on the input image. */
Size size = sensorFormat.size.boundedToAspectRatio(maxSize);
Rectangle crop = size.centeredTo(Rectangle(sensorFormat.size).center());
data->ispCrop_ = crop;
data->isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &crop);
ret = data->configureIPA(config);
if (ret)
LOG(RPI, Error) << "Failed to configure the IPA: " << ret;
/*
* Configure the Unicam embedded data output format only if the sensor
* supports it.
*/
if (data->sensorMetadata_) {
format = {};
format.fourcc = V4L2PixelFormat(V4L2_META_FMT_SENSOR_DATA);
LOG(RPI, Debug) << "Setting embedded data format.";
ret = data->unicam_[Unicam::Embedded].dev()->setFormat(&format);
if (ret) {
LOG(RPI, Error) << "Failed to set format on Unicam embedded: "
<< format.toString();
return ret;
}
/*
* If a RAW/Bayer stream has been requested by the application,
* we must set both Unicam streams as external, even though the
* application may only request RAW frames. This is because we
* match timestamps on both streams to synchronise buffers.
*/
if (rawStream)
data->unicam_[Unicam::Embedded].setExternal(true);
}
/*
* Update the ScalerCropMaximum to the correct value for this camera mode.
* For us, it's the same as the "analogue crop".
*
* \todo Make this property the ScalerCrop maximum value when dynamic
* controls are available and set it at validate() time
*/
data->properties_.set(properties::ScalerCropMaximum, data->sensorInfo_.analogCrop);
return ret;
}
int PipelineHandlerRPi::exportFrameBuffers([[maybe_unused]] Camera *camera, Stream *stream,
std::vector<std::unique_ptr<FrameBuffer>> *buffers)
{
RPi::Stream *s = static_cast<RPi::Stream *>(stream);
unsigned int count = stream->configuration().bufferCount;
int ret = s->dev()->exportBuffers(count, buffers);
s->setExportedBuffers(buffers);
return ret;
}
int PipelineHandlerRPi::start(Camera *camera, const ControlList *controls)
{
RPiCameraData *data = cameraData(camera);
int ret;
/* Allocate buffers for internal pipeline usage. */
ret = prepareBuffers(camera);
if (ret) {
LOG(RPI, Error) << "Failed to allocate buffers";
stop(camera);
return ret;
}
/* Check if a ScalerCrop control was specified. */
if (controls)
data->applyScalerCrop(*controls);
/* Start the IPA. */
ipa::RPi::StartConfig startConfig;
data->ipa_->start(controls ? *controls : ControlList{}, &startConfig);
/* Apply any gain/exposure settings that the IPA may have passed back. */
if (!startConfig.controls.empty())
data->setSensorControls(startConfig.controls);
/* Configure the number of dropped frames required on startup. */
data->dropFrameCount_ = startConfig.dropFrameCount;
/* We need to set the dropFrameCount_ before queueing buffers. */
ret = queueAllBuffers(camera);
if (ret) {
LOG(RPI, Error) << "Failed to queue buffers";
stop(camera);
return ret;
}
/*
* IPA configure may have changed the sensor flips - hence the bayer
* order. Get the sensor format and set the ISP input now.
*/
V4L2DeviceFormat sensorFormat;
data->unicam_[Unicam::Image].dev()->getFormat(&sensorFormat);
ret = data->isp_[Isp::Input].dev()->setFormat(&sensorFormat);
if (ret) {
stop(camera);
return ret;
}
/* Enable SOF event generation. */
data->unicam_[Unicam::Image].dev()->setFrameStartEnabled(true);
/*
* Reset the delayed controls with the gain and exposure values set by
* the IPA.
*/
data->delayedCtrls_->reset();
data->state_ = RPiCameraData::State::Idle;
/* Start all streams. */
for (auto const stream : data->streams_) {
ret = stream->dev()->streamOn();
if (ret) {
stop(camera);
return ret;
}
}
return 0;
}
void PipelineHandlerRPi::stop(Camera *camera)
{
RPiCameraData *data = cameraData(camera);
data->state_ = RPiCameraData::State::Stopped;
/* Disable SOF event generation. */
data->unicam_[Unicam::Image].dev()->setFrameStartEnabled(false);
for (auto const stream : data->streams_)
stream->dev()->streamOff();
data->clearIncompleteRequests();
data->bayerQueue_ = {};
data->embeddedQueue_ = {};
/* Stop the IPA. */
data->ipa_->stop();
freeBuffers(camera);
}
int PipelineHandlerRPi::queueRequestDevice(Camera *camera, Request *request)
{
RPiCameraData *data = cameraData(camera);
if (data->state_ == RPiCameraData::State::Stopped)
return -EINVAL;
LOG(RPI, Debug) << "queueRequestDevice: New request.";
/* Push all buffers supplied in the Request to the respective streams. */
for (auto stream : data->streams_) {
if (!stream->isExternal())
continue;
FrameBuffer *buffer = request->findBuffer(stream);
if (buffer && stream->getBufferId(buffer) == -1) {
/*
* This buffer is not recognised, so it must have been allocated
* outside the v4l2 device. Store it in the stream buffer list
* so we can track it.
*/
stream->setExternalBuffer(buffer);
}
/*
* If no buffer is provided by the request for this stream, we
* queue a nullptr to the stream to signify that it must use an
* internally allocated buffer for this capture request. This
* buffer will not be given back to the application, but is used
* to support the internal pipeline flow.
*
* The below queueBuffer() call will do nothing if there are not
* enough internal buffers allocated, but this will be handled by
* queuing the request for buffers in the RPiStream object.
*/
int ret = stream->queueBuffer(buffer);
if (ret)
return ret;
}
/* Push the request to the back of the queue. */
data->requestQueue_.push_back(request);
data->handleState();
return 0;
}
bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator)
{
DeviceMatch unicam("unicam");
DeviceMatch isp("bcm2835-isp");
unicam.add("unicam-embedded");
unicam.add("unicam-image");
isp.add("bcm2835-isp0-output0"); /* Input */
isp.add("bcm2835-isp0-capture1"); /* Output 0 */
isp.add("bcm2835-isp0-capture2"); /* Output 1 */
isp.add("bcm2835-isp0-capture3"); /* Stats */
unicam_ = acquireMediaDevice(enumerator, unicam);
if (!unicam_)
return false;
isp_ = acquireMediaDevice(enumerator, isp);
if (!isp_)
return false;
std::unique_ptr<RPiCameraData> data = std::make_unique<RPiCameraData>(this);
if (!data->dmaHeap_.isValid())
return false;
/* Locate and open the unicam video streams. */
data->unicam_[Unicam::Embedded] = RPi::Stream("Unicam Embedded", unicam_->getEntityByName("unicam-embedded"));
data->unicam_[Unicam::Image] = RPi::Stream("Unicam Image", unicam_->getEntityByName("unicam-image"));
/* Tag the ISP input stream as an import stream. */
data->isp_[Isp::Input] = RPi::Stream("ISP Input", isp_->getEntityByName("bcm2835-isp0-output0"), true);
data->isp_[Isp::Output0] = RPi::Stream("ISP Output0", isp_->getEntityByName("bcm2835-isp0-capture1"));
data->isp_[Isp::Output1] = RPi::Stream("ISP Output1", isp_->getEntityByName("bcm2835-isp0-capture2"));
data->isp_[Isp::Stats] = RPi::Stream("ISP Stats", isp_->getEntityByName("bcm2835-isp0-capture3"));
/* Wire up all the buffer connections. */
data->unicam_[Unicam::Image].dev()->frameStart.connect(data.get(), &RPiCameraData::frameStarted);
data->unicam_[Unicam::Image].dev()->bufferReady.connect(data.get(), &RPiCameraData::unicamBufferDequeue);
data->unicam_[Unicam::Embedded].dev()->bufferReady.connect(data.get(), &RPiCameraData::unicamBufferDequeue);
data->isp_[Isp::Input].dev()->bufferReady.connect(data.get(), &RPiCameraData::ispInputDequeue);
data->isp_[Isp::Output0].dev()->bufferReady.connect(data.get(), &RPiCameraData::ispOutputDequeue);
data->isp_[Isp::Output1].dev()->bufferReady.connect(data.get(), &RPiCameraData::ispOutputDequeue);
data->isp_[Isp::Stats].dev()->bufferReady.connect(data.get(), &RPiCameraData::ispOutputDequeue);
/* Identify the sensor. */
for (MediaEntity *entity : unicam_->entities()) {
if (entity->function() == MEDIA_ENT_F_CAM_SENSOR) {
data->sensor_ = std::make_unique<CameraSensor>(entity);
break;
}
}
if (!data->sensor_)
return false;
if (data->sensor_->init())
return false;
ipa::RPi::SensorConfig sensorConfig;
if (data->loadIPA(&sensorConfig)) {
LOG(RPI, Error) << "Failed to load a suitable IPA library";
return false;
}
/*
* Open all Unicam and ISP streams. The exception is the embedded data
* stream, which only gets opened below if the IPA reports that the sensor
* supports embedded data.
*
* The below grouping is just for convenience so that we can easily
* iterate over all streams in one go.
*/
data->streams_.push_back(&data->unicam_[Unicam::Image]);
if (sensorConfig.sensorMetadata)
data->streams_.push_back(&data->unicam_[Unicam::Embedded]);
for (auto &stream : data->isp_)
data->streams_.push_back(&stream);
for (auto stream : data->streams_) {
if (stream->dev()->open())
return false;
}
/*
* Setup our delayed control writer with the sensor default
* gain and exposure delays. Mark VBLANK for priority write.
*/
std::unordered_map<uint32_t, DelayedControls::ControlParams> params = {
{ V4L2_CID_ANALOGUE_GAIN, { sensorConfig.gainDelay, false } },
{ V4L2_CID_EXPOSURE, { sensorConfig.exposureDelay, false } },
{ V4L2_CID_VBLANK, { sensorConfig.vblankDelay, true } }
};
data->delayedCtrls_ = std::make_unique<DelayedControls>(data->unicam_[Unicam::Image].dev(), params);
data->sensorMetadata_ = sensorConfig.sensorMetadata;
/* Register the controls that the Raspberry Pi IPA can handle. */
data->controlInfo_ = RPi::Controls;
/* Initialize the camera properties. */
data->properties_ = data->sensor_->properties();
/*
* Set a default value for the ScalerCropMaximum property to show
* that we support its use, however, initialise it to zero because
* it's not meaningful until a camera mode has been chosen.
*/
data->properties_.set(properties::ScalerCropMaximum, Rectangle{});
/*
* We cache three things about the sensor in relation to transforms
* (meaning horizontal and vertical flips).
*
* Firstly, does it support them?
* Secondly, if you use them does it affect the Bayer ordering?
* Thirdly, what is the "native" Bayer order, when no transforms are
* applied?
*
* As part of answering the final question, we reset the camera to
* no transform at all.
*/
V4L2VideoDevice *dev = data->unicam_[Unicam::Image].dev();
const struct v4l2_query_ext_ctrl *hflipCtrl = dev->controlInfo(V4L2_CID_HFLIP);
if (hflipCtrl) {
/* We assume it will support vflips too... */
data->supportsFlips_ = true;
data->flipsAlterBayerOrder_ = hflipCtrl->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT;
ControlList ctrls(dev->controls());
ctrls.set(V4L2_CID_HFLIP, 0);
ctrls.set(V4L2_CID_VFLIP, 0);
data->setSensorControls(ctrls);
}
/* Look for a valid Bayer format. */
BayerFormat bayerFormat;
for (const auto &iter : dev->formats()) {
V4L2PixelFormat v4l2Format = iter.first;
bayerFormat = BayerFormat::fromV4L2PixelFormat(v4l2Format);
if (bayerFormat.isValid())
break;
}
if (!bayerFormat.isValid()) {
LOG(RPI, Error) << "No Bayer format found";
return false;
}
data->nativeBayerOrder_ = bayerFormat.order;
/*
* List the available streams an application may request. At present, we
* do not advertise Unicam Embedded and ISP Statistics streams, as there
* is no mechanism for the application to request non-image buffer formats.
*/
std::set<Stream *> streams;
streams.insert(&data->unicam_[Unicam::Image]);
streams.insert(&data->isp_[Isp::Output0]);
streams.insert(&data->isp_[Isp::Output1]);
/* Create and register the camera. */
std::shared_ptr<Camera> camera =
Camera::create(this, data->sensor_->id(), streams);
registerCamera(std::move(camera), std::move(data));
return true;
}
int PipelineHandlerRPi::queueAllBuffers(Camera *camera)
{
RPiCameraData *data = cameraData(camera);
int ret;
for (auto const stream : data->streams_) {
if (!stream->isExternal()) {
ret = stream->queueAllBuffers();
if (ret < 0)
return ret;
} else {
/*
* For external streams, we must queue up a set of internal
* buffers to handle the number of drop frames requested by
* the IPA. This is done by passing nullptr in queueBuffer().
*
* The below queueBuffer() call will do nothing if there
* are not enough internal buffers allocated, but this will
* be handled by queuing the request for buffers in the
* RPiStream object.
*/
unsigned int i;
for (i = 0; i < data->dropFrameCount_; i++) {
ret = stream->queueBuffer(nullptr);
if (ret)
return ret;
}
}
}
return 0;
}
int PipelineHandlerRPi::prepareBuffers(Camera *camera)
{
RPiCameraData *data = cameraData(camera);
int ret;
/*
* Decide how many internal buffers to allocate. For now, simply look
* at how many external buffers will be provided. We'll need to improve
* this logic. However, we really must have all streams allocate the same
* number of buffers to simplify error handling in queueRequestDevice().
*/
unsigned int maxBuffers = 0;
for (const Stream *s : camera->streams())
if (static_cast<const RPi::Stream *>(s)->isExternal())
maxBuffers = std::max(maxBuffers, s->configuration().bufferCount);
for (auto const stream : data->streams_) {
ret = stream->prepareBuffers(maxBuffers);
if (ret < 0)
return ret;
}
/*
* Pass the stats and embedded data buffers to the IPA. No other
* buffers need to be passed.
*/
mapBuffers(camera, data->isp_[Isp::Stats].getBuffers(), ipa::RPi::MaskStats);
if (data->sensorMetadata_)
mapBuffers(camera, data->unicam_[Unicam::Embedded].getBuffers(),
ipa::RPi::MaskEmbeddedData);
return 0;
}
void PipelineHandlerRPi::mapBuffers(Camera *camera, const RPi::BufferMap &buffers, unsigned int mask)
{
RPiCameraData *data = cameraData(camera);
std::vector<IPABuffer> ipaBuffers;
/*
* Link the FrameBuffers with the id (key value) in the map stored in
* the RPi stream object - along with an identifier mask.
*
* This will allow us to identify buffers passed between the pipeline
* handler and the IPA.
*/
for (auto const &it : buffers) {
ipaBuffers.push_back(IPABuffer(mask | it.first,
it.second->planes()));
data->ipaBuffers_.insert(mask | it.first);
}
data->ipa_->mapBuffers(ipaBuffers);
}
void PipelineHandlerRPi::freeBuffers(Camera *camera)
{
RPiCameraData *data = cameraData(camera);
/* Copy the buffer ids from the unordered_set to a vector to pass to the IPA. */
std::vector<unsigned int> ipaBuffers(data->ipaBuffers_.begin(), data->ipaBuffers_.end());
data->ipa_->unmapBuffers(ipaBuffers);
data->ipaBuffers_.clear();
for (auto const stream : data->streams_)
stream->releaseBuffers();
}
void RPiCameraData::frameStarted(uint32_t sequence)
{
LOG(RPI, Debug) << "frame start " << sequence;
/* Write any controls for the next frame as soon as we can. */
delayedCtrls_->applyControls(sequence);
}
int RPiCameraData::loadIPA(ipa::RPi::SensorConfig *sensorConfig)
{
ipa_ = IPAManager::createIPA<ipa::RPi::IPAProxyRPi>(pipe_, 1, 1);
if (!ipa_)
return -ENOENT;
ipa_->statsMetadataComplete.connect(this, &RPiCameraData::statsMetadataComplete);
ipa_->runIsp.connect(this, &RPiCameraData::runIsp);
ipa_->embeddedComplete.connect(this, &RPiCameraData::embeddedComplete);
ipa_->setIspControls.connect(this, &RPiCameraData::setIspControls);
ipa_->setDelayedControls.connect(this, &RPiCameraData::setDelayedControls);
/*
* The configuration (tuning file) is made from the sensor name unless
* the environment variable overrides it.
*/
std::string configurationFile;
char const *configFromEnv = utils::secure_getenv("LIBCAMERA_RPI_TUNING_FILE");
if (!configFromEnv || *configFromEnv == '\0')
configurationFile = ipa_->configurationFile(sensor_->model() + ".json");
else
configurationFile = std::string(configFromEnv);
IPASettings settings(configurationFile, sensor_->model());
return ipa_->init(settings, sensorConfig);
}
int RPiCameraData::configureIPA(const CameraConfiguration *config)
{
/* We know config must be an RPiCameraConfiguration. */
const RPiCameraConfiguration *rpiConfig =
static_cast<const RPiCameraConfiguration *>(config);
std::map<unsigned int, IPAStream> streamConfig;
std::map<unsigned int, ControlInfoMap> entityControls;
ipa::RPi::IPAConfig ipaConfig;
/* Inform IPA of stream configuration and sensor controls. */
unsigned int i = 0;
for (auto const &stream : isp_) {
if (stream.isExternal()) {
streamConfig[i++] = IPAStream(
stream.configuration().pixelFormat,
stream.configuration().size);
}
}
entityControls.emplace(0, unicam_[Unicam::Image].dev()->controls());
entityControls.emplace(1, isp_[Isp::Input].dev()->controls());
/* Always send the user transform to the IPA. */
ipaConfig.transform = static_cast<unsigned int>(config->transform);
/* Allocate the lens shading table via dmaHeap and pass to the IPA. */
if (!lsTable_.isValid()) {
lsTable_ = dmaHeap_.alloc("ls_grid", ipa::RPi::MaxLsGridSize);
if (!lsTable_.isValid())
return -ENOMEM;
/* Allow the IPA to mmap the LS table via the file descriptor. */
/*
* \todo Investigate if mapping the lens shading table buffer
* could be handled with mapBuffers().
*/
ipaConfig.lsTableHandle = lsTable_;
}
/* We store the IPACameraSensorInfo for digital zoom calculations. */
int ret = sensor_->sensorInfo(&sensorInfo_);
if (ret) {
LOG(RPI, Error) << "Failed to retrieve camera sensor info";
return ret;
}
/* Ready the IPA - it must know about the sensor resolution. */
ControlList controls;
ret = ipa_->configure(sensorInfo_, streamConfig, entityControls, ipaConfig,
&controls);
if (ret < 0) {
LOG(RPI, Error) << "IPA configuration failed!";
return -EPIPE;
}
/*
* Configure the H/V flip controls based on the combination of
* the sensor and user transform.
*/
if (supportsFlips_) {
controls.set(V4L2_CID_HFLIP,
static_cast<int32_t>(!!(rpiConfig->combinedTransform_ & Transform::HFlip)));
controls.set(V4L2_CID_VFLIP,
static_cast<int32_t>(!!(rpiConfig->combinedTransform_ & Transform::VFlip)));
}
if (!controls.empty())
setSensorControls(controls);
return 0;
}
void RPiCameraData::statsMetadataComplete(uint32_t bufferId, const ControlList &controls)
{
if (state_ == State::Stopped)
return;
FrameBuffer *buffer = isp_[Isp::Stats].getBuffers().at(bufferId);
handleStreamBuffer(buffer, &isp_[Isp::Stats]);
/* Add to the Request metadata buffer what the IPA has provided. */
Request *request = requestQueue_.front();
request->metadata().merge(controls);
state_ = State::IpaComplete;
handleState();
}
void RPiCameraData::runIsp(uint32_t bufferId)
{
if (state_ == State::Stopped)
return;
FrameBuffer *buffer = unicam_[Unicam::Image].getBuffers().at(bufferId);
LOG(RPI, Debug) << "Input re-queue to ISP, buffer id " << bufferId
<< ", timestamp: " << buffer->metadata().timestamp;
isp_[Isp::Input].queueBuffer(buffer);
ispOutputCount_ = 0;
handleState();
}
void RPiCameraData::embeddedComplete(uint32_t bufferId)
{
if (state_ == State::Stopped)
return;
FrameBuffer *buffer = unicam_[Unicam::Embedded].getBuffers().at(bufferId);
handleStreamBuffer(buffer, &unicam_[Unicam::Embedded]);
handleState();
}
void RPiCameraData::setIspControls(const ControlList &controls)
{
ControlList ctrls = controls;
if (ctrls.contains(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING)) {
ControlValue &value =
const_cast<ControlValue &>(ctrls.get(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING));
Span<uint8_t> s = value.data();
bcm2835_isp_lens_shading *ls =
reinterpret_cast<bcm2835_isp_lens_shading *>(s.data());
ls->dmabuf = lsTable_.fd();
}
isp_[Isp::Input].dev()->setControls(&ctrls);
handleState();
}
void RPiCameraData::setDelayedControls(const ControlList &controls)
{
if (!delayedCtrls_->push(controls))
LOG(RPI, Error) << "V4L2 DelayedControl set failed";
handleState();
}
void RPiCameraData::setSensorControls(ControlList &controls)
{
/*
* We need to ensure that if both VBLANK and EXPOSURE are present, the
* former must be written ahead of, and separately from EXPOSURE to avoid
* V4L2 rejecting the latter. This is identical to what DelayedControls
* does with the priority write flag.
*
* As a consequence of the below logic, VBLANK gets set twice, and we
* rely on the v4l2 framework to not pass the second control set to the
* driver as the actual control value has not changed.
*/
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