#!/usr/bin/python3 # SPDX-License-Identifier: GPL-2.0-or-later # Copyright (C) 2018, Google Inc. # # Author: Laurent Pinchart # # checkstyle.py - A patch style checker script based on clang-format # # TODO: # # - Support other formatting tools and checkers (cppcheck, cpplint, kwstyle, ...) # - Split large hunks to minimize context noise # - Improve style issues counting # import argparse import difflib import fnmatch import os.path import re import shutil import subprocess import sys dependencies = { 'clang-format': True, 'git': True, } # ------------------------------------------------------------------------------ # Colour terminal handling # class Colours: Default = 0 Black = 0 Red = 31 Green = 32 Yellow = 33 Blue = 34 Magenta = 35 Cyan = 36 LightGrey = 37 DarkGrey = 90 LightRed = 91 LightGreen = 92 Lightyellow = 93 LightBlue = 94 LightMagenta = 95 LightCyan = 96 White = 97 @staticmethod def fg(colour): if sys.stdout.isatty(): return '\033[%um' % colour else: return '' @staticmethod def bg(colour): if sys.stdout.isatty(): return '\033[%um' % (colour + 10) else: return '' @staticmethod def reset(): if sys.stdout.isatty(): return '\033[0m' else: return '' # ------------------------------------------------------------------------------ # Diff parsing, handling and printing # class DiffHunkSide(object): """A side of a diff hunk, recording line numbers""" def __init__(self, start): self.start = start self.touched = [] self.untouched = [] def __len__(self): return len(self.touched) + len(self.untouched) class DiffHunk(object): diff_header_regex = re.compile(r'@@ -([0-9]+),?([0-9]+)? \+([0-9]+),?([0-9]+)? @@') def __init__(self, line): match = DiffHunk.diff_header_regex.match(line) if not match: raise RuntimeError("Malformed diff hunk header '%s'" % line) self.__from_line = int(match.group(1)) self.__to_line = int(match.group(3)) self.__from = DiffHunkSide(self.__from_line) self.__to = DiffHunkSide(self.__to_line) self.lines = [] def __repr__(self): s = '%s@@ -%u,%u +%u,%u @@\n' % \ (Colours.fg(Colours.Cyan), self.__from.start, len(self.__from), self.__to.start, len(self.__to)) for line in self.lines: if line[0] == '-': s += Colours.fg(Colours.Red) elif line[0] == '+': s += Colours.fg(Colours.Green) if line[0] == '-': spaces = 0 for i in range(len(line)): if line[-i-1].isspace(): spaces += 1 else: break spaces = len(line) - spaces line = line[0:spaces] + Colours.bg(Colours.Red) + line[spaces:] s += line s += Colours.reset() s += '\n' return s[:-1] def append(self, line): if line[0] == ' ': self.__from.untouched.append(self.__from_line) self.__from_line += 1 self.__to.untouched.append(self.__to_line) self.__to_line += 1 elif line[0] == '-': self.__from.touched.append(self.__from_line) self.__from_line += 1 elif line[0] == '+': self.__to.touched.append(self.__to_line) self.__to_line += 1 self.lines.append(line.rstrip('\n')) def intersects(self, lines): for line in lines: if line in self.__from.touched: return True return False def side(self, side): if side == 'from': return self.__from else: return self.__to def parse_diff(diff): hunks = [] hunk = None for line in diff: if line.startswith('@@'): if hunk: hunks.append(hunk) hunk = DiffHunk(line) elif hunk is not None: hunk.append(line) if hunk: hunks.append(hunk) return hunks # ------------------------------------------------------------------------------ # Commit, Staged Changes & Amendments # class CommitFile: def __init__(self, name): info = name.split() self.__status = info[0][0] # For renamed files, store the new name if self.__status == 'R': self.__filename = info[2] else: self.__filename = info[1] @property def filename(self): return self.__filename @property def status(self): return self.__status class Commit: def __init__(self, commit): self.commit = commit self._parse() def _parse(self): # Get the commit title and list of files. ret = subprocess.run(['git', 'show', '--pretty=oneline', '--name-status', self.commit], stdout=subprocess.PIPE).stdout.decode('utf-8') files = ret.splitlines() self._files = [CommitFile(f) for f in files[1:]] self._title = files[0] def files(self, filter='AMR'): return [f.filename for f in self._files if f.status in filter] @property def title(self): return self._title def get_diff(self, top_level, filename): diff = subprocess.run(['git', 'diff', '%s~..%s' % (self.commit, self.commit), '--', '%s/%s' % (top_level, filename)], stdout=subprocess.PIPE).stdout.decode('utf-8') return parse_diff(diff.splitlines(True)) def get_file(self, filename): return subprocess.run(['git', 'show', '%s:%s' % (self.commit, filename)], stdout=subprocess.PIPE).stdout.decode('utf-8') class StagedChanges(Commit): def __init__(self): Commit.__init__(self, '') def _parse(self): ret = subprocess.run(['git', 'diff', '--staged', '--name-status'], stdout=subprocess.PIPE).stdout.decode('utf-8') self._title = "Staged changes" self._files = [CommitFile(f) for f in ret.splitlines()] def get_diff(self, top_level, filename): diff = subprocess.run(['git', 'diff', '--staged', '--', '%s/%s' % (top_level, filename)], stdout=subprocess.PIPE).stdout.decode('utf-8') return parse_diff(diff.splitlines(True)) class Amendment(StagedChanges): def __init__(self): StagedChanges.__init__(self) def _parse(self): # Create a title using HEAD commit ret = subprocess.run(['git', 'show', '--pretty=oneline', '--no-patch'], stdout=subprocess.PIPE).stdout.decode('utf-8') self._title = 'Amendment of ' + ret.strip() # Extract the list of modified files ret = subprocess.run(['git', 'diff', '--staged', '--name-status', 'HEAD~'], stdout=subprocess.PIPE).stdout.decode('utf-8') self._files = [CommitFile(f) for f in ret.splitlines()] def get_diff(self, top_level, filename): diff = subprocess.run(['git', 'diff', '--staged', 'HEAD~', '--', '%s/%s' % (top_level, filename)], stdout=subprocess.PIPE).stdout.decode('utf-8') return parse_diff(diff.splitlines(True)) # ------------------------------------------------------------------------------ # Helpers # class ClassRegistry(type): def __new__(cls, clsname, bases, attrs): newclass = super().__new__(cls, clsname, bases, attrs) if bases: bases[0].subclasses.append(newclass) return newclass # ------------------------------------------------------------------------------ # Commit Checkers # class CommitChecker(metaclass=ClassRegistry): subclasses = [] def __init__(self): pass # # Class methods # @classmethod def checkers(cls): for checker in cls.subclasses: yield checker class CommitIssue(object): def __init__(self, msg): self.msg = msg class HeaderAddChecker(CommitChecker): @classmethod def check(cls, commit, top_level): issues = [] meson_files = [f for f in commit.files('M') if os.path.basename(f) == 'meson.build'] for filename in commit.files('AR'): if not filename.startswith('include/libcamera/') or \ not filename.endswith('.h'): continue meson = os.path.dirname(filename) + '/meson.build' header = os.path.basename(filename) issue = CommitIssue('Header %s added without corresponding update to %s' % (filename, meson)) if meson not in meson_files: issues.append(issue) continue diff = commit.get_diff(top_level, meson) found = False for hunk in diff: for line in hunk.lines: if line[0] != '+': continue if line.find("'%s'" % header) != -1: found = True break if found: break if not found: issues.append(issue) return issues # ------------------------------------------------------------------------------ # Style Checkers # class StyleChecker(metaclass=ClassRegistry): subclasses = [] def __init__(self): pass # # Class methods # @classmethod def checkers(cls, filename): for checker in cls.subclasses: if checker.supports(filename): yield checker @classmethod def supports(cls, filename): for pattern in cls.patterns: if fnmatch.fnmatch(os.path.basename(filename), pattern): return True return False @classmethod def all_patterns(cls): patterns = set() for checker in cls.subclasses: patterns.update(checker.patterns) return patterns class StyleIssue(object): def __init__(self, line_number, line, msg): self.line_number = line_number self.line = line self.msg = msg class IncludeChecker(StyleChecker): patterns = ('*.cpp', '*.h') headers = ('assert', 'ctype', 'errno', 'fenv', 'float', 'inttypes', 'limits', 'locale', 'setjmp', 'signal', 'stdarg', 'stddef', 'stdint', 'stdio', 'stdlib', 'string', 'time', 'uchar', 'wchar', 'wctype') include_regex = re.compile('^#include ') def __init__(self, content): super().__init__() self.__content = content def check(self, line_numbers): issues = [] for line_number in line_numbers: line = self.__content[line_number - 1] match = IncludeChecker.include_regex.match(line) if not match: continue header = match.group(1) if header not in IncludeChecker.headers: continue issues.append(StyleIssue(line_number, line, 'C compatibility header <%s.h> is preferred' % header)) return issues class LogCategoryChecker(StyleChecker): log_regex = re.compile('\\bLOG\((Debug|Info|Warning|Error|Fatal)\)') patterns = ('*.cpp',) def __init__(self, content): super().__init__() self.__content = content def check(self, line_numbers): issues = [] for line_number in line_numbers: line = self.__content[line_number-1] if not LogCategoryChecker.log_regex.search(line): continue issues.append(StyleIssue(line_number, line, 'LOG() should use categories')) return issues class MesonChecker(StyleChecker): patterns = ('meson.build',) def __init__(self, content): super().__init__() self.__content = content def check(self, line_numbers): issues = [] for line_number in line_numbers: line = self.__content[line_number-1] if line.find('\t') != -1: issues.append(StyleIssue(line_number, line, 'meson.build should use spaces for indentation')) return issues class Pep8Checker(StyleChecker): patterns = ('*.py',) results_regex = re.compile('stdin:([0-9]+):([0-9]+)(.*)') def __init__(self, content): super().__init__() self.__content = content def check(self, line_numbers): issues = [] data = ''.join(self.__content).encode('utf-8') try: ret = subprocess.run(['pycodestyle', '--ignore=E501', '-'], input=data, stdout=subprocess.PIPE) except FileNotFoundError: issues.append(StyleIssue(0, None, "Please install pycodestyle to validate python additions")) return issues results = ret.stdout.decode('utf-8').splitlines() for item in results: search = re.search(Pep8Checker.results_regex, item) line_number = int(search.group(1)) position = int(search.group(2)) msg = search.group(3) if line_number in line_numbers: line = self.__content[line_number - 1] issues.append(StyleIssue(line_number, line, msg)) return issues class ShellChecker(StyleChecker): patterns = ('*.sh',) results_line_regex = re.compile('In - line ([0-9]+):') def __init__(self, content): super().__init__() self.__content = content def check(self, line_numbers): issues = [] data = ''.join(self.__content).encode('utf-8') try: ret = subprocess.run(['shellcheck', '-Cnever', '-'], input=data, stdout=subprocess.PIPE) except FileNotFoundError: issues.append(StyleIssue(0, None, "Please install shellcheck to validate shell script additions")) return issues results = ret.stdout.decode('utf-8').splitlines() for nr, item in enumerate(results): search = re.search(ShellChecker.results_line_regex, item) if search is None: continue line_number = int(search.group(1)) line = results[nr + 1] msg = results[nr + 2] # Determined, but not yet used position = msg.find('^') + 1 if line_number in line_numbers: issues.append(StyleIssue(line_number, line, msg)) return issues # ------------------------------------------------------------------------------ # Formatters # class Formatter(metaclass=ClassRegistry): subclasses = [] def __init__(self): pass # # Class methods # @classmethod def formatters(cls, filename): for formatter in cls.subclasses: if formatter.supports(filename): yield formatter @classmethod def supports(cls, filename): for pattern in cls.patterns: if fnmatch.fnmatch(os.path.basename(filename), pattern): return True return False @classmethod def all_patterns(cls): patterns = set() for formatter in cls.subclasses: patterns.update(formatter.patterns) return patterns class CLangFormatter(Formatter): patterns = ('*.c', '*.cpp', '*.h') @classmethod def format(cls, filename, data): ret = subprocess.run(['clang-format', '-style=file', '-assume-filename=' + filename], input=data.encode('utf-8'), stdout=subprocess.PIPE) return ret.stdout.decode('utf-8') class DoxygenFormatter(Formatter): patterns = ('*.c', '*.cpp') return_regex = re.compile(' +\\* +\\\\return +[a-z]') @classmethod def format(cls, filename, data): lines = [] in_doxygen = False for line in data.split('\n'): if line.find('/**') != -1: in_doxygen = True if not in_doxygen: lines.append(line) continue line = cls.return_regex.sub(lambda m: m.group(0)[:-1] + m.group(0)[-1].upper(), line) if line.find('*/') != -1: in_doxygen = False lines.append(line) return '\n'.join(lines) class DPointerFormatter(Formatter): # Ensure consistent naming of variables related to the d-pointer design # pattern. patterns = ('*.cpp', '*.h') # The clang formatter runs first, we can thus rely on appropriate coding # style. declare_regex = re.compile(r'^(\t*)(const )?([a-zA-Z0-9_]+) \*( ?const )?([a-zA-Z0-9_]+) = (LIBCAMERA_[DO]_PTR)\(([a-zA-Z0-9_]+)\);$') @classmethod def format(cls, filename, data): lines = [] for line in data.split('\n'): match = cls.declare_regex.match(line) if match: indent = match.group(1) or '' const = match.group(2) or '' macro = match.group(6) klass = match.group(7) if macro == 'LIBCAMERA_D_PTR': var = 'Private *const d' else: var = f'{klass} *const o' line = f'{indent}{const}{var} = {macro}({klass});' lines.append(line) return '\n'.join(lines) class IncludeOrderFormatter(Formatter): patterns = ('*.cpp', '*.h') include_regex = re.compile('^#include ["<]([^">]*)[">]') @classmethod def format(cls, filename, data): lines = [] includes = [] # Parse blocks of #include statements, and output them as a sorted list # when we reach a non #include statement. for line in data.split('\n'): match = IncludeOrderFormatter.include_regex.match(line) if match: # If the current line is an #include statement, add it to the # includes group and continue to the next line. includes.append((line, match.group(1))) continue # The current line is not an #include statement, output the sorted # stashed includes first, and then the current line. if len(includes): includes.sort(key=lambda i: i[1]) for include in includes: lines.append(include[0]) includes = [] lines.append(line) # In the unlikely case the file ends with an #include statement, make # sure we output the stashed includes. if len(includes): includes.sort(key=lambda i: i[1]) for include in includes: lines.append(include[0]) includes = [] return '\n'.join(lines) class StripTrailingSpaceFormatter(Formatter): patterns = ('*.c', '*.cpp', '*.h', '*.py', 'meson.build') @classmethod def format(cls, filename, data): lines = data.split('\n') for i in range(len(lines)): lines[i] = lines[i].rstrip() + '\n' return ''.join(lines) # ------------------------------------------------------------------------------ # Style checking # def check_file(top_level, commit, filename): # Extract the line numbers touched by the commit. commit_diff = commit.get_diff(top_level, filename) lines = [] for hunk in commit_diff: lines.extend(hunk.side('to').touched) # Skip commits that don't add any line. if len(lines) == 0: return 0 # Format the file after the commit with all formatters and compute the diff # between the unformatted and formatted contents. after = commit.get_file(filename) formatted = after for formatter in Formatter.formatters(filename): formatted = formatter.format(filename, formatted) after = after.splitlines(True) formatted = formatted.splitlines(True) diff = difflib.unified_diff(after, formatted) # Split the diff in hunks, recording line number ranges for each hunk, and # filter out hunks that are not touched by the commit. formatted_diff = parse_diff(diff) formatted_diff = [hunk for hunk in formatted_diff if hunk.intersects(lines)] # Check for code issues not related to formatting. issues = [] for checker in StyleChecker.checkers(filename): checker = checker(after) for hunk in commit_diff: issues += checker.check(hunk.side('to').touched) # Print the detected issues. if len(issues) == 0 and len(formatted_diff) == 0: return 0 print('%s---' % Colours.fg(Colours.Red), filename) print('%s+++' % Colours.fg(Colours.Green), filename) if len(formatted_diff): for hunk in formatted_diff: print(hunk) if len(issues): issues = sorted(issues, key=lambda i: i.line_number) for issue in issues: print('%s#%u: %s' % (Colours.fg(Colours.Yellow), issue.line_number, issue.msg)) if issue.line is not None: print('+%s%s' % (issue.line.rstrip(), Colours.reset())) return len(formatted_diff) + len(issues) def check_style(top_level, commit): separator = '-' * len(commit.title) print(separator) print(commit.title) print(separator) issues = 0 # Apply the commit checkers first. for checker in CommitChecker.checkers(): for issue in checker.check(commit, top_level): print('%s%s%s' % (Colours.fg(Colours.Yellow), issue.msg, Colours.reset())) issues += 1 # Filter out files we have no checker for. patterns = set() patterns.update(StyleChecker.all_patterns()) patterns.update(Formatter.all_patterns()) files = [f for f in commit.files() if len([p for p in patterns if fnmatch.fnmatch(os.path.basename(f), p)])] for f in files: issues += check_file(top_level, commit, f) if issues == 0: print("No issue detected") else: print('---') print("%u potential %s detected, please review" % (issues, 'issue' if issues == 1 else 'issues')) return issues def extract_commits(revs): """Extract a list of commits on which to operate from a revision or revision range. """ ret = subprocess.run(['git', 'rev-parse', revs], stdout=subprocess.PIPE, stderr=subprocess.PIPE) if ret.returncode != 0: print(ret.stderr.decode('utf-8').splitlines()[0]) return [] revlist = ret.stdout.decode('utf-8').splitlines() # If the revlist contains more than one item, pass it to git rev-list to list # each commit individually. if len(revlist) > 1: ret = subprocess.run(['git', 'rev-list', *revlist], stdout=subprocess.PIPE) revlist = ret.stdout.decode('utf-8').splitlines() revlist.reverse() return [Commit(x) for x in revlist] def git_top_level(): """Get the absolute path of the git top-level directory.""" ret = subprocess.run(['git', 'rev-parse', '--show-toplevel'], stdout=subprocess.PIPE, stderr=subprocess.PIPE) if ret.returncode != 0: print(ret.stderr.decode('utf-8').splitlines()[0]) return None return ret.stdout.decode('utf-8').strip() def main(argv): # Parse command line arguments parser = argparse.ArgumentParser() parser.add_argument('--staged', '-s', action='store_true', help='Include the changes in the index. Defaults to False') parser.add_argument('--amend', '-a', action='store_true', help='Include changes in the index and the previous patch combined. Defaults to False') parser.add_argument('revision_range', type=str, default=None, nargs='?', help='Revision range (as defined by git rev-parse). Defaults to HEAD if not specified.') args = parser.parse_args(argv[1:]) # Check for required dependencies. for command, mandatory in dependencies.items(): found = shutil.which(command) if mandatory and not found: print("Executable %s not found" % command) return 1 dependencies[command] = found # Get the top level directory to pass absolute file names to git diff # commands, in order to support execution from subdirectories of the git # tree. top_level = git_top_level() if top_level is None: return 1 commits = [] if args.staged: commits.append(StagedChanges()) if args.amend: commits.append(Amendment()) # If none of --staged or --amend was passed if len(commits) == 0: # And no revisions were passed, then default to HEAD if not args.revision_range: args.revision_range = 'HEAD' if args.revision_range: commits += extract_commits(args.revision_range) issues = 0 for commit in commits: issues += check_style(top_level, commit) print('') if issues: return 1 else: return 0 if __name__ == 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/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
 * Copyright (C) 2019-2020, Raspberry Pi (Trading) Ltd.
 *
 * raspberrypi.cpp - Pipeline handler for Raspberry Pi devices
 */
#include <algorithm>
#include <assert.h>
#include <fcntl.h>
#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/logging.h>
#include <libcamera/property_ids.h>
#include <libcamera/request.h>

#include <linux/videodev2.h>

#include "libcamera/internal/bayer_format.h"
#include "libcamera/internal/buffer.h"
#include "libcamera/internal/camera_sensor.h"
#include "libcamera/internal/device_enumerator.h"
#include "libcamera/internal/ipa_manager.h"
#include "libcamera/internal/media_device.h"
#include "libcamera/internal/pipeline_handler.h"
#include "libcamera/internal/utils.h"
#include "libcamera/internal/v4l2_controls.h"
#include "libcamera/internal/v4l2_videodevice.h"

#include "dma_heaps.h"
#include "rpi_stream.h"
#include "staggered_ctrl.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), sensor_(nullptr), state_(State::Stopped),
		  supportsFlips_(false), flipsAlterBayerOrder_(false),
		  updateScalerCrop_(true), dropFrameCount_(0), ispOutputCount_(0)
	{
	}

	void frameStarted(uint32_t sequence);

	int loadIPA();
	int configureIPA(const CameraConfiguration *config);

	void queueFrameAction(unsigned int frame, const IPAOperationData &action);

	/* 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();

	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_;

	/*
	 * Map of (internal) mmaped embedded data buffers, to avoid having to
	 * map/unmap on every frame.
	 */
	std::map<unsigned int, MappedFrameBuffer> mappedEmbeddedBuffers_;

	/* DMAHEAP allocation helper. */
	RPi::DmaHeap dmaHeap_;
	FileDescriptor lsTable_;

	RPi::StaggeredCtrl staggeredCtrl_;
	uint32_t expectedSequence_;
	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_;
	std::queue<FrameBuffer *> 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. */
	CameraSensorInfo sensorInfo_;
	Rectangle ispCrop_; /* crop in ISP (camera mode) pixels */
	Rectangle scalerCrop_; /* crop in sensor native pixels */
	bool updateScalerCrop_;
	Size ispMinCropSize_;

	unsigned int dropFrameCount_;

private:
	void checkRequestCompleted();
	void tryRunPipeline();
	bool findMatchingBuffers(FrameBuffer *&bayerBuffer, 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) 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(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:
			fmts = data->isp_[Isp::Output0].dev()->formats();
			pixelFormat = formats::NV12;
			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;

	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;
	for (unsigned i = 0; i < config->size(); i++) {
		StreamConfiguration &cfg = config->at(i);

		if (isRaw(cfg.pixelFormat)) {
			cfg.setStream(&data->unicam_[Unicam::Image]);
			/*
			 * 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.
			 */
			data->unicam_[Unicam::Image].setExternal(true);
			data->unicam_[Unicam::Embedded].setExternal(true);
			continue;
		}

		if (i == maxIndex) {
			/* ISP main output format. */
			V4L2VideoDevice *dev = data->isp_[Isp::Output0].dev();
			V4L2PixelFormat fourcc = dev->toV4L2PixelFormat(cfg.pixelFormat);
			format.size = cfg.size;
			format.fourcc = fourcc;

			ret = dev->setFormat(&format);
			if (ret)
				return -EINVAL;

			if (format.size != cfg.size || format.fourcc != fourcc) {
				LOG(RPI, Error)
					<< "Failed to set format on ISP capture0 device: "
					<< format.toString();
				return -EINVAL;
			}

			cfg.setStream(&data->isp_[Isp::Output0]);
			data->isp_[Isp::Output0].setExternal(true);
		}

		/*
		 * ISP second output format. This fallthrough means that if a
		 * second output stream has not been configured, we simply use
		 * the Output0 configuration.
		 */
		V4L2VideoDevice *dev = data->isp_[Isp::Output1].dev();
		format.fourcc = dev->toV4L2PixelFormat(cfg.pixelFormat);
		format.size = cfg.size;

		ret = dev->setFormat(&format);
		if (ret) {
			LOG(RPI, Error)
				<< "Failed to set format on ISP capture1 device: "
				<< format.toString();
			return ret;
		}
		/*
		 * If we have not yet provided a stream for this config, it
		 * means this is to be routed from Output1.
		 */
		if (!cfg.stream()) {
			cfg.setStream(&data->isp_[Isp::Output1]);
			data->isp_[Isp::Output1].setExternal(true);
		}
	}

	/* 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;
	}

	/* Unicam embedded data output format. */
	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;
	}

	/* 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;

	/*
	 * 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)
{
	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;
	}

	ret = queueAllBuffers(camera);
	if (ret) {
		LOG(RPI, Error) << "Failed to queue buffers";
		stop(camera);
		return ret;
	}

	/* Start the IPA. */
	ret = data->ipa_->start();
	if (ret) {
		LOG(RPI, Error)
			<< "Failed to start IPA for " << camera->id();
		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);

	/*
	 * Write the last set of gain and exposure values to the camera before
	 * starting. First check that the staggered ctrl has been initialised
	 * by configure().
	 */
	ASSERT(data->staggeredCtrl_);
	data->staggeredCtrl_.reset();
	data->staggeredCtrl_.write();
	data->expectedSequence_ = 0;

	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);

	/* This also stops the streams. */
	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"));