1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
|
/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
* Copyright (C) 2019, Google Inc.
*
* uvcvideo.cpp - Pipeline handler for uvcvideo devices
*/
#include <algorithm>
#include <iomanip>
#include <tuple>
#include <libcamera/camera.h>
#include <libcamera/control_ids.h>
#include <libcamera/controls.h>
#include <libcamera/request.h>
#include <libcamera/stream.h>
#include "device_enumerator.h"
#include "log.h"
#include "media_device.h"
#include "pipeline_handler.h"
#include "utils.h"
#include "v4l2_controls.h"
#include "v4l2_videodevice.h"
namespace libcamera {
LOG_DEFINE_CATEGORY(UVC)
class UVCCameraData : public CameraData
{
public:
UVCCameraData(PipelineHandler *pipe)
: CameraData(pipe), video_(nullptr)
{
}
~UVCCameraData()
{
delete video_;
}
int init(MediaEntity *entity);
void bufferReady(Buffer *buffer);
V4L2VideoDevice *video_;
Stream stream_;
};
class UVCCameraConfiguration : public CameraConfiguration
{
public:
UVCCameraConfiguration();
Status validate() override;
};
class PipelineHandlerUVC : public PipelineHandler
{
public:
PipelineHandlerUVC(CameraManager *manager);
CameraConfiguration *generateConfiguration(Camera *camera,
const StreamRoles &roles) override;
int configure(Camera *camera, CameraConfiguration *config) override;
int allocateBuffers(Camera *camera,
const std::set<Stream *> &streams) override;
int freeBuffers(Camera *camera,
const std::set<Stream *> &streams) override;
int start(Camera *camera) override;
void stop(Camera *camera) override;
int queueRequest(Camera *camera, Request *request) override;
bool match(DeviceEnumerator *enumerator) override;
private:
int processControls(UVCCameraData *data, Request *request);
UVCCameraData *cameraData(const Camera *camera)
{
return static_cast<UVCCameraData *>(
PipelineHandler::cameraData(camera));
}
};
UVCCameraConfiguration::UVCCameraConfiguration()
: CameraConfiguration()
{
}
CameraConfiguration::Status UVCCameraConfiguration::validate()
{
Status status = Valid;
if (config_.empty())
return Invalid;
/* Cap the number of entries to the available streams. */
if (config_.size() > 1) {
config_.resize(1);
status = Adjusted;
}
StreamConfiguration &cfg = config_[0];
const StreamFormats &formats = cfg.formats();
const unsigned int pixelFormat = cfg.pixelFormat;
const Size size = cfg.size;
const std::vector<unsigned int> pixelFormats = formats.pixelformats();
auto iter = std::find(pixelFormats.begin(), pixelFormats.end(), pixelFormat);
if (iter == pixelFormats.end()) {
cfg.pixelFormat = pixelFormats.front();
LOG(UVC, Debug)
<< "Adjusting pixel format from " << pixelFormat
<< " to " << cfg.pixelFormat;
status = Adjusted;
}
const std::vector<Size> &formatSizes = formats.sizes(cfg.pixelFormat);
cfg.size = formatSizes.front();
for (const Size &formatsSize : formatSizes) {
if (formatsSize > size)
break;
cfg.size = formatsSize;
}
if (cfg.size != size) {
LOG(UVC, Debug)
<< "Adjusting size from " << size.toString()
<< " to " << cfg.size.toString();
status = Adjusted;
}
cfg.bufferCount = 4;
return status;
}
PipelineHandlerUVC::PipelineHandlerUVC(CameraManager *manager)
: PipelineHandler(manager)
{
}
CameraConfiguration *PipelineHandlerUVC::generateConfiguration(Camera *camera,
const StreamRoles &roles)
{
UVCCameraData *data = cameraData(camera);
CameraConfiguration *config = new UVCCameraConfiguration();
if (roles.empty())
return config;
ImageFormats v4l2formats = data->video_->formats();
StreamFormats formats(v4l2formats.data());
StreamConfiguration cfg(formats);
cfg.pixelFormat = formats.pixelformats().front();
cfg.size = formats.sizes(cfg.pixelFormat).back();
cfg.bufferCount = 4;
config->addConfiguration(cfg);
config->validate();
return config;
}
int PipelineHandlerUVC::configure(Camera *camera, CameraConfiguration *config)
{
UVCCameraData *data = cameraData(camera);
StreamConfiguration &cfg = config->at(0);
int ret;
V4L2DeviceFormat format = {};
format.fourcc = cfg.pixelFormat;
format.size = cfg.size;
ret = data->video_->setFormat(&format);
if (ret)
return ret;
if (format.size != cfg.size ||
format.fourcc != cfg.pixelFormat)
return -EINVAL;
cfg.setStream(&data->stream_);
return 0;
}
int PipelineHandlerUVC::allocateBuffers(Camera *camera,
const std::set<Stream *> &streams)
{
UVCCameraData *data = cameraData(camera);
Stream *stream = *streams.begin();
const StreamConfiguration &cfg = stream->configuration();
LOG(UVC, Debug) << "Requesting " << cfg.bufferCount << " buffers";
if (stream->memoryType() == InternalMemory)
return data->video_->exportBuffers(&stream->bufferPool());
else
return data->video_->importBuffers(&stream->bufferPool());
}
int PipelineHandlerUVC::freeBuffers(Camera *camera,
const std::set<Stream *> &streams)
{
UVCCameraData *data = cameraData(camera);
return data->video_->releaseBuffers();
}
int PipelineHandlerUVC::start(Camera *camera)
{
UVCCameraData *data = cameraData(camera);
return data->video_->streamOn();
}
void PipelineHandlerUVC::stop(Camera *camera)
{
UVCCameraData *data = cameraData(camera);
data->video_->streamOff();
}
int PipelineHandlerUVC::processControls(UVCCameraData *data, Request *request)
{
V4L2ControlList controls(data->video_->controls());
for (auto it : request->controls()) {
const ControlId &id = *it.first;
ControlValue &value = it.second;
if (id == controls::Brightness) {
controls.set(V4L2_CID_BRIGHTNESS, value);
} else if (id == controls::Contrast) {
controls.set(V4L2_CID_CONTRAST, value);
} else if (id == controls::Saturation) {
controls.set(V4L2_CID_SATURATION, value);
} else if (id == controls::ManualExposure) {
controls.set(V4L2_CID_EXPOSURE_AUTO, static_cast<int32_t>(1));
controls.set(V4L2_CID_EXPOSURE_ABSOLUTE, value);
} else if (id == controls::ManualGain) {
controls.set(V4L2_CID_GAIN, value);
}
}
for (const auto &ctrl : controls)
LOG(UVC, Debug)
<< "Setting control " << ctrl.first->name()
<< " to " << ctrl.second.toString();
int ret = data->video_->setControls(&controls);
if (ret) {
LOG(UVC, Error) << "Failed to set controls: " << ret;
return ret < 0 ? ret : -EINVAL;
}
return ret;
}
int PipelineHandlerUVC::queueRequest(Camera *camera, Request *request)
{
UVCCameraData *data = cameraData(camera);
Buffer *buffer = request->findBuffer(&data->stream_);
if (!buffer) {
LOG(UVC, Error)
<< "Attempt to queue request with invalid stream";
return -ENOENT;
}
int ret = processControls(data, request);
if (ret < 0)
return ret;
ret = data->video_->queueBuffer(buffer);
if (ret < 0)
return ret;
PipelineHandler::queueRequest(camera, request);
return 0;
}
bool PipelineHandlerUVC::match(DeviceEnumerator *enumerator)
{
MediaDevice *media;
DeviceMatch dm("uvcvideo");
media = acquireMediaDevice(enumerator, dm);
if (!media)
return false;
std::unique_ptr<UVCCameraData> data = utils::make_unique<UVCCameraData>(this);
/* Locate and initialise the camera data with the default video node. */
for (MediaEntity *entity : media->entities()) {
if (entity->flags() & MEDIA_ENT_FL_DEFAULT) {
if (data->init(entity))
return false;
break;
}
}
if (!data) {
LOG(UVC, Error) << "Could not find a default video device";
return false;
}
/* Create and register the camera. */
std::set<Stream *> streams{ &data->stream_ };
std::shared_ptr<Camera> camera = Camera::create(this, media->model(), streams);
registerCamera(std::move(camera), std::move(data));
/* Enable hot-unplug notifications. */
hotplugMediaDevice(media);
return true;
}
int UVCCameraData::init(MediaEntity *entity)
{
int ret;
/* Create and open the video device. */
video_ = new V4L2VideoDevice(entity);
ret = video_->open();
if (ret)
return ret;
video_->bufferReady.connect(this, &UVCCameraData::bufferReady);
/* Initialise the supported controls. */
const V4L2ControlInfoMap &controls = video_->controls();
for (const auto &ctrl : controls) {
const ControlRange &range = ctrl.second;
const ControlId *id;
switch (ctrl.first->id()) {
case V4L2_CID_BRIGHTNESS:
id = &controls::Brightness;
break;
case V4L2_CID_CONTRAST:
id = &controls::Contrast;
break;
case V4L2_CID_SATURATION:
id = &controls::Saturation;
break;
case V4L2_CID_EXPOSURE_ABSOLUTE:
id = &controls::ManualExposure;
break;
case V4L2_CID_GAIN:
id = &controls::ManualGain;
break;
default:
continue;
}
controlInfo_.emplace(std::piecewise_construct,
std::forward_as_tuple(id),
std::forward_as_tuple(range));
}
return 0;
}
void UVCCameraData::bufferReady(Buffer *buffer)
{
Request *request = buffer->request();
pipe_->completeBuffer(camera_, request, buffer);
pipe_->completeRequest(camera_, request);
}
REGISTER_PIPELINE_HANDLER(PipelineHandlerUVC);
} /* namespace libcamera */
|