libcamera/jmondi/libcamera.git - Jacopo Mondi's clone of libcamera

/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
 * Copyright (C) 2019, Google Inc.
 *
 * v4l2_videodevice.cpp - V4L2 Video Device
 */

#include "v4l2_videodevice.h"

#include <fcntl.h>
#include <iomanip>
#include <sstream>
#include <string.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <sys/time.h>
#include <unistd.h>
#include <vector>

#include <libcamera/buffer.h>
#include <libcamera/event_notifier.h>

#include "log.h"
#include "media_device.h"
#include "media_object.h"

/**
 * \file v4l2_videodevice.h
 * \brief V4L2 Video Device
 */
namespace libcamera {

LOG_DECLARE_CATEGORY(V4L2)

/**
 * \struct V4L2Capability
 * \brief struct v4l2_capability object wrapper and helpers
 *
 * The V4L2Capability structure manages the information returned by the
 * VIDIOC_QUERYCAP ioctl.
 */

/**
 * \fn V4L2Capability::driver()
 * \brief Retrieve the driver module name
 * \return The string containing the name of the driver module
 */

/**
 * \fn V4L2Capability::card()
 * \brief Retrieve the video device card name
 * \return The string containing the video device name
 */

/**
 * \fn V4L2Capability::bus_info()
 * \brief Retrieve the location of the video device in the system
 * \return The string containing the video device location
 */

/**
 * \fn V4L2Capability::device_caps()
 * \brief Retrieve the capabilities of the video device
 * \return The video device specific capabilities if V4L2_CAP_DEVICE_CAPS is
 * set or driver capabilities otherwise
 */

/**
 * \fn V4L2Capability::isMultiplanar()
 * \brief Identify if the video device implements the V4L2 multiplanar APIs
 * \return True if the video device supports multiplanar APIs
 */

/**
 * \fn V4L2Capability::isCapture()
 * \brief Identify if the video device captures data
 * \return True if the video device can capture data
 */

/**
 * \fn V4L2Capability::isOutput()
 * \brief Identify if the video device outputs data
 * \return True if the video device can output data
 */

/**
 * \fn V4L2Capability::isVideo()
 * \brief Identify if the video device captures or outputs images
 * \return True if the video device can capture or output images
 */

/**
 * \fn V4L2Capability::isMeta()
 * \brief Identify if the video device captures or outputs image meta-data
 * \return True if the video device can capture or output image meta-data
 */

/**
 * \fn V4L2Capability::isVideoCapture()
 * \brief Identify if the video device captures images
 * \return True if the video device can capture images
 */

/**
 * \fn V4L2Capability::isVideoOutput()
 * \brief Identify if the video device outputs images
 * \return True if the video device can output images
 */

/**
 * \fn V4L2Capability::isMetaCapture()
 * \brief Identify if the video device captures image meta-data
 * \return True if the video device can capture image meta-data
 */

/**
 * \fn V4L2Capability::isMetaOutput()
 * \brief Identify if the video device outputs image meta-data
 * \return True if the video device can output image meta-data
 */

/**
 * \fn V4L2Capability::hasStreaming()
 * \brief Determine if the video device can perform Streaming I/O
 * \return True if the video device provides Streaming I/O IOCTLs
 */

/**
 * \class V4L2DeviceFormat
 * \brief The V4L2 video device image format and sizes
 *
 * This class describes the image format and resolution to be programmed on a
 * V4L2 video device. The image format is defined by a fourcc code (as specified
 * by the V4L2 API with the V4L2_PIX_FMT_* macros), a resolution (width and
 * height) and one to three planes with configurable line stride and a total
 * per-plane size in bytes.
 *
 * Image formats, as defined by the V4L2 APIs, are categorised as packed,
 * semi-planar and planar, and describe the layout of the image pixel components
 * stored in memory.
 *
 * Packed image formats store pixel components one after the other, in a
 * contiguous memory area. Examples of packed image formats are YUYV
 * permutations, RGB with different pixel sub-sampling ratios such as RGB565 or
 * RGB666 or Raw-Bayer formats such as SRGGB8 or SGRBG12.
 *
 * Semi-planar and planar image formats store the pixel components in separate
 * and possibly non-contiguous memory areas, named planes, whose sizes depend on
 * the pixel components sub-sampling ratios, which are defined by the format.
 * Semi-planar formats use two planes to store pixel components and notable
 * examples of such formats are the NV12 and NV16 formats, while planar formats
 * use three planes to store pixel components and notable examples are YUV422
 * and YUV420.
 *
 * Image formats supported by the V4L2 API are defined and described in Section
 * number 2 of the "Part I - Video for Linux API" chapter of the "Linux Media
 * Infrastructure userspace API", part of the Linux kernel documentation.
 *
 * In the context of this document, packed image formats are referred to as
 * "packed formats" and semi-planar and planar image formats are referred to as
 * "planar formats".
 *
 * V4L2 also defines two different sets of APIs to work with devices that store
 * planes in contiguous or separate memory areas. They are named "Single-plane
 * APIs" and "Multi-plane APIs" respectively and are documented in Section 2.1
 * and Section 2.2 of the above mentioned "Part I - Video for Linux API"
 * documentation.
 *
 * The single-plane API allows, among other parameters, the configuration of the
 * image resolution, the pixel format and the stride length. In that case the
 * stride applies to all planes (possibly sub-sampled). The multi-plane API
 * allows configuring the resolution, the pixel format and a per-plane stride
 * length and total size.
 *
 * Packed image formats, which occupy a single memory area, are easily described
 * through the single-plane API. When used on a video device that implements the
 * multi-plane API, only the size and stride information contained in the first
 * plane are taken into account.
 *
 * Planar image formats, which occupy distinct memory areas, are easily
 * described through the multi-plane APIs. When used on a video device that
 * implements the single-plane API, all planes are stored one after the other
 * in a contiguous memory area, and it is not possible to configure per-plane
 * stride length and size, but only a global stride length which is applied to
 * all planes.
 *
 * The V4L2DeviceFormat class describes both packed and planar image formats,
 * regardless of the API type (single or multi plane) implemented by the video
 * device the format has to be applied to. The total size and bytes per line
 * of images represented with packed formats are configured using the first
 * entry of the V4L2DeviceFormat::planes array, while the per-plane size and
 * per-plane stride length of images represented with planar image formats are
 * configured using the opportune number of entries of the
 * V4L2DeviceFormat::planes array, as prescribed by the image format
 * definition (semi-planar formats use 2 entries, while planar formats use the
 * whole 3 entries). The number of valid entries of the
 * V4L2DeviceFormat::planes array is defined by the
 * V4L2DeviceFormat::planesCount value.
 */

/**
 * \var V4L2DeviceFormat::size
 * \brief The image size in pixels
 */

/**
 * \var V4L2DeviceFormat::fourcc
 * \brief The fourcc code describing the pixel encoding scheme
 *
 * The fourcc code, as defined by the V4L2 API with the V4L2_PIX_FMT_* macros,
 * that identifies the image format pixel encoding scheme.
 */

/**
 * \var V4L2DeviceFormat::planes
 * \brief The per-plane memory size information
 *
 * Images are stored in memory in one or more data planes. Each data plane has a
 * specific line stride and memory size, which could differ from the image
 * visible sizes to accommodate padding at the end of lines and end of planes.
 * Only the first \ref planesCount entries are considered valid.
 */

/**
 * \var V4L2DeviceFormat::planesCount
 * \brief The number of valid data planes
 */

/**
 * \brief Assemble and return a string describing the format
 * \return A string describing the V4L2DeviceFormat
 */
const std::string V4L2DeviceFormat::toString() const
{
	std::stringstream ss;

	ss.fill(0);
	ss << size.toString() << "-0x" << std::hex << std::setw(8) << fourcc;

	return ss.str();
}

/**
 * \class V4L2VideoDevice
 * \brief V4L2VideoDevice object and API
 *
 * The V4L2VideoDevice class models an instance of a V4L2 video device.
 * It is constructed with the path to a V4L2 video device node. The device node
 * is only opened upon a call to open() which must be checked for success.
 *
 * The video device capabilities are validated when the device is opened and the
 * device is rejected if it is not a suitable V4L2 capture or output video
 * device, or if the video device does not support streaming I/O.
 *
 * No API call other than open(), isOpen() and close() shall be called on an
 * unopened device instance.
 *
 * The V4L2VideoDevice class tracks queued buffers and handles buffer events. It
 * automatically dequeues completed buffers and emits the \ref bufferReady
 * signal.
 *
 * Upon destruction any device left open will be closed, and any resources
 * released.
 */

/**
 * \brief Construct a V4L2VideoDevice
 * \param[in] deviceNode The file-system path to the video device node
 */
V4L2VideoDevice::V4L2VideoDevice(const std::string &deviceNode)
	: V4L2Device(deviceNode), bufferPool_(nullptr),
	  queuedBuffersCount_(0), fdEvent_(nullptr)
{
	/*
	 * We default to an MMAP based CAPTURE video device, however this will
	 * be updated based upon the device capabilities.
	 */
	bufferType_ = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
	memoryType_ = V4L2_MEMORY_MMAP;
}

/**
 * \brief Construct a V4L2VideoDevice from a MediaEntity
 * \param[in] entity The MediaEntity to build the video device from
 *
 * Construct a V4L2VideoDevice from a MediaEntity's device node path.
 */
V4L2VideoDevice::V4L2VideoDevice(const MediaEntity *entity)
	: V4L2VideoDevice(entity->deviceNode())
{
}

V4L2VideoDevice::~V4L2VideoDevice()
{
	close();
}

/**
 * \brief Open a V4L2 video device and query its capabilities
 * \return 0 on success or a negative error code otherwise
 */
int V4L2VideoDevice::open()
{
	int ret;

	ret = V4L2Device::open(O_RDWR | O_NONBLOCK);
	if (ret < 0)
		return ret;

	ret = ioctl(VIDIOC_QUERYCAP, &caps_);
	if (ret < 0) {
		LOG(V4L2, Error)
			<< "Failed to query device capabilities: "
			<< strerror(-ret);
		return ret;
	}

	LOG(V4L2, Debug)
		<< "Opened device " << caps_.bus_info() << ": "
		<< caps_.driver() << ": " << caps_.card();

	if (!caps_.hasStreaming()) {
		LOG(V4L2, Error) << "Device does not support streaming I/O";
		return -EINVAL;
	}

	/*
	 * Set buffer type and wait for read notifications on CAPTURE video
	 * devices (POLLIN), and write notifications for OUTPUT video devices
	 * (POLLOUT).
	 */
	if (caps_.isVideoCapture()) {
		fdEvent_ = new EventNotifier(fd(), EventNotifier::Read);
		bufferType_ = caps_.isMultiplanar()
			    ? V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE
			    : V4L2_BUF_TYPE_VIDEO_CAPTURE;
	} else if (caps_.isVideoOutput()) {
		fdEvent_ = new EventNotifier(fd(), EventNotifier::Write);
		bufferType_ = caps_.isMultiplanar()
			    ? V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE
			    : V4L2_BUF_TYPE_VIDEO_OUTPUT;
	} else if (caps_.isMetaCapture()) {
		fdEvent_ = new EventNotifier(fd(), EventNotifier::Read);
		bufferType_ = V4L2_BUF_TYPE_META_CAPTURE;
	} else if (caps_.isMetaOutput()) {
		fdEvent_ = new EventNotifier(fd(), EventNotifier::Write);
		bufferType_ = V4L2_BUF_TYPE_META_OUTPUT;
	} else {
		LOG(V4L2, Error) << "Device is not a supported type";
		return -EINVAL;
	}

	fdEvent_->activated.connect(this, &V4L2VideoDevice::bufferAvailable);
	fdEvent_->setEnabled(false);

	return 0;
}

/**
 * \brief Close the video device, releasing any resources acquired by open()
 */
void V4L2VideoDevice::close()
{
	if (!isOpen())
		return;

	releaseBuffers();
	delete fdEvent_;

	V4L2Device::close();
}

/**
 * \fn V4L2VideoDevice::driverName()
 * \brief Retrieve the name of the V4L2 device driver
 * \return The string containing the driver name
 */

/**
 * \fn V4L2VideoDevice::deviceName()
 * \brief Retrieve the name of the V4L2 video device
 * \return The string containing the device name
 */

/**
 * \fn V4L2VideoDevice::busName()
 * \brief Retrieve the location of the device in the system
 * \return The string containing the device location
 */

std::string V4L2VideoDevice::logPrefix() const
{
	return deviceNode() + (V4L2_TYPE_IS_OUTPUT(bufferType_) ? "[out]" : "[cap]");
}

/**
 * \brief Retrieve the image format set on the V4L2 video device
 * \param[out] format The image format applied on the video device
 * \return 0 on success or a negative error code otherwise
 */
int V4L2VideoDevice::getFormat(V4L2DeviceFormat *format)
{
	if (caps_.isMeta())
		return getFormatMeta(format);
	else if (caps_.isMultiplanar())
		return getFormatMultiplane(format);
	else
		return getFormatSingleplane(format);
}

/**
 * \brief Configure an image format on the V4L2 video device
 * \param[inout] format The image format to apply to the video device
 *
 * Apply the supplied \a format to the video device, and return the actually
 * applied format parameters, as \ref V4L2VideoDevice::getFormat would do.
 *
 * \return 0 on success or a negative error code otherwise
 */
int V4L2VideoDevice::setFormat(V4L2DeviceFormat *format)
{
	if (caps_.isMeta())
		return setFormatMeta(format);
	else if (caps_.isMultiplanar())
		return setFormatMultiplane(format);
	else
		return setFormatSingleplane(format);
}

int V4L2VideoDevice::getFormatMeta(V4L2DeviceFormat *format)
{
	struct v4l2_format v4l2Format = {};
	struct v4l2_meta_format *pix = &v4l2Format.fmt.meta;
	int ret;

	v4l2Format.type = bufferType_;
	ret = ioctl(VIDIOC_G_FMT, &v4l2Format);
	if (ret) {
		LOG(V4L2, Error) << "Unable to get format: " << strerror(-ret);
		return ret;
	}

	format->size.width = 0;
	format->size.height = 0;
	format->fourcc = pix->dataformat;
	format->planesCount = 1;
	format->planes[0].bpl = pix->buffersize;
	format->planes[0].size = pix->buffersize;

	return 0;
}

int V4L2VideoDevice::setFormatMeta(V4L2DeviceFormat *format)
{
	struct v4l2_format v4l2Format = {};
	struct v4l2_meta_format *pix = &v4l2Format.fmt.meta;
	int ret;

	v4l2Format.type = bufferType_;
	pix->dataformat = format->fourcc;
	pix->buffersize = format->planes[0].size;
	ret = ioctl(VIDIOC_S_FMT, &v4l2Format);
	if (ret) {
		LOG(V4L2, Error) << "Unable to set format: " << strerror(-ret);
		return ret;
	}

	/*
	 * Return to caller the format actually applied on the video device,
	 * which might differ from the requested one.
	 */
	format->size.width = 0;
	format->size.height = 0;
	format->fourcc = format->fourcc;
	format->planesCount = 1;
	format->planes[0].bpl = pix->buffersize;
	format->planes[0].size = pix->buffersize;

	return 0;
}

int V4L2VideoDevice::getFormatMultiplane(V4L2DeviceFormat *format)
{
	struct v4l2_format v4l2Format = {};
	struct v4l2_pix_format_mplane *pix = &v4l2Format.fmt.pix_mp;
	int ret;

	v4l2Format.type = bufferType_;
	ret = ioctl(VIDIOC_G_FMT, &v4l2Format);
	if (ret) {
		LOG(V4L2, Error) << "Unable to get format: " << strerror(-ret);
		return ret;
	}

	format->size.width = pix->width;
	format->size.height = pix->height;
	format->fourcc = pix->pixelformat;
	format->planesCount = pix->num_planes;

	for (unsigned int i = 0; i < format->planesCount; ++i) {
		format->planes[i].bpl = pix->plane_fmt[i].bytesperline;
		format->planes[i].size = pix->plane_fmt[i].sizeimage;
	}

	return 0;
}

int V4L2VideoDevice::setFormatMultiplane(V4L2DeviceFormat *format)
{
	struct v4l2_format v4l2Format = {};
	struct v4l2_pix_format_mplane *pix = &v4l2Format.fmt.pix_mp;
	int ret;

	v4l2Format.type = bufferType_;
	pix->width = format->size.width;
	pix->height = format->size.height;
	pix->pixelformat = format->fourcc;
	pix->num_planes = format->planesCount;
	pix->field = V4L2_FIELD_NONE;

	for (unsigned int i = 0; i < pix->num_planes; ++i) {
		pix->plane_fmt[i].bytesperline = format->planes[i].bpl;
		pix->plane_fmt[i].sizeimage = format->planes[i].size;
	}

	ret = ioctl(VIDIOC_S_FMT, &v4l2Format);
	if (ret) {
		LOG(V4L2, Error) << "Unable to set format: " << strerror(-ret);
		return ret;
	}

	/*
	 * Return to caller the format actually applied on the video device,
	 * which might differ from the requested one.
	 */
	format->size.width = pix->width;
	format->size.height = pix->height;
	format->fourcc = pix->pixelformat;
	format->planesCount = pix->num_planes;
	for (unsigned int i = 0; i < format->planesCount; ++i) {
		format->planes[i].bpl = pix->plane_fmt[i].bytesperline;
		format->planes[i].size = pix->plane_fmt[i].sizeimage;
	}

	return 0;
}

int V4L2VideoDevice::getFormatSingleplane(V4L2DeviceFormat *format)
{
	struct v4l2_format v4l2Format = {};
	struct v4l2_pix_format *pix = &v4l2Format.fmt.pix;
	int ret;

	v4l2Format.type = bufferType_;
	ret = ioctl(VIDIOC_G_FMT, &v4l2Format);
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