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-rw-r--r--src/ipa/rpi/vc4/vc4.cpp2
-rw-r--r--src/libcamera/pipeline/rpi/common/meson.build1
-rw-r--r--src/libcamera/pipeline/rpi/common/pipeline_base.cpp1480
-rw-r--r--src/libcamera/pipeline/rpi/common/pipeline_base.h277
-rw-r--r--src/libcamera/pipeline/rpi/vc4/data/example.yaml4
-rw-r--r--src/libcamera/pipeline/rpi/vc4/meson.build2
-rw-r--r--src/libcamera/pipeline/rpi/vc4/raspberrypi.cpp2432
-rw-r--r--src/libcamera/pipeline/rpi/vc4/vc4.cpp973
8 files changed, 2735 insertions, 2436 deletions
diff --git a/src/ipa/rpi/vc4/vc4.cpp b/src/ipa/rpi/vc4/vc4.cpp
index e38024ac..789a345f 100644
--- a/src/ipa/rpi/vc4/vc4.cpp
+++ b/src/ipa/rpi/vc4/vc4.cpp
@@ -538,7 +538,7 @@ extern "C" {
const struct IPAModuleInfo ipaModuleInfo = {
IPA_MODULE_API_VERSION,
1,
- "PipelineHandlerRPi",
+ "PipelineHandlerVc4",
"rpi/vc4",
};
diff --git a/src/libcamera/pipeline/rpi/common/meson.build b/src/libcamera/pipeline/rpi/common/meson.build
index 2ad594cf..8fb7e823 100644
--- a/src/libcamera/pipeline/rpi/common/meson.build
+++ b/src/libcamera/pipeline/rpi/common/meson.build
@@ -2,5 +2,6 @@
libcamera_sources += files([
'delayed_controls.cpp',
+ 'pipeline_base.cpp',
'rpi_stream.cpp',
])
diff --git a/src/libcamera/pipeline/rpi/common/pipeline_base.cpp b/src/libcamera/pipeline/rpi/common/pipeline_base.cpp
new file mode 100644
index 00000000..69c67acd
--- /dev/null
+++ b/src/libcamera/pipeline/rpi/common/pipeline_base.cpp
@@ -0,0 +1,1480 @@
+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2019-2023, Raspberry Pi Ltd
+ *
+ * pipeline_base.cpp - Pipeline handler base class for Raspberry Pi devices
+ */
+
+#include "pipeline_base.h"
+
+#include <chrono>
+
+#include <linux/media-bus-format.h>
+#include <linux/videodev2.h>
+
+#include <libcamera/base/file.h>
+#include <libcamera/base/utils.h>
+
+#include <libcamera/formats.h>
+#include <libcamera/logging.h>
+#include <libcamera/property_ids.h>
+
+#include "libcamera/internal/camera_lens.h"
+#include "libcamera/internal/ipa_manager.h"
+#include "libcamera/internal/v4l2_subdevice.h"
+
+using namespace std::chrono_literals;
+
+namespace libcamera {
+
+using namespace RPi;
+
+LOG_DEFINE_CATEGORY(RPI)
+
+namespace {
+
+constexpr unsigned int defaultRawBitDepth = 12;
+
+bool isRaw(const PixelFormat &pixFmt)
+{
+ /* This test works for both Bayer and raw mono formats. */
+ return BayerFormat::fromPixelFormat(pixFmt).isValid();
+}
+
+PixelFormat mbusCodeToPixelFormat(unsigned int mbus_code,
+ BayerFormat::Packing packingReq)
+{
+ BayerFormat bayer = BayerFormat::fromMbusCode(mbus_code);
+
+ ASSERT(bayer.isValid());
+
+ bayer.packing = packingReq;
+ PixelFormat pix = bayer.toPixelFormat();
+
+ /*
+ * Not all formats (e.g. 8-bit or 16-bit Bayer formats) can have packed
+ * variants. So if the PixelFormat returns as invalid, use the non-packed
+ * conversion instead.
+ */
+ if (!pix.isValid()) {
+ bayer.packing = BayerFormat::Packing::None;
+ pix = bayer.toPixelFormat();
+ }
+
+ return pix;
+}
+
+SensorFormats populateSensorFormats(std::unique_ptr<CameraSensor> &sensor)
+{
+ SensorFormats formats;
+
+ for (auto const mbusCode : sensor->mbusCodes())
+ formats.emplace(mbusCode, sensor->sizes(mbusCode));
+
+ return formats;
+}
+
+bool isMonoSensor(std::unique_ptr<CameraSensor> &sensor)
+{
+ unsigned int mbusCode = sensor->mbusCodes()[0];
+ const BayerFormat &bayer = BayerFormat::fromMbusCode(mbusCode);
+
+ return bayer.order == BayerFormat::Order::MONO;
+}
+
+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;
+}
+
+V4L2SubdeviceFormat findBestFormat(const SensorFormats &formatsMap, const Size &req, unsigned int bitDepth)
+{
+ double bestScore = std::numeric_limits<double>::max(), score;
+ V4L2SubdeviceFormat bestFormat;
+ bestFormat.colorSpace = ColorSpace::Raw;
+
+ constexpr float penaltyAr = 1500.0;
+ constexpr float penaltyBitDepth = 500.0;
+
+ /* Calculate the closest/best mode from the user requested size. */
+ for (const auto &iter : formatsMap) {
+ const unsigned int mbusCode = iter.first;
+ const PixelFormat format = mbusCodeToPixelFormat(mbusCode,
+ BayerFormat::Packing::None);
+ const PixelFormatInfo &info = PixelFormatInfo::info(format);
+
+ for (const Size &size : iter.second) {
+ double reqAr = static_cast<double>(req.width) / req.height;
+ double fmtAr = static_cast<double>(size.width) / size.height;
+
+ /* Score the dimensions for closeness. */
+ score = scoreFormat(req.width, size.width);
+ score += scoreFormat(req.height, size.height);
+ score += penaltyAr * scoreFormat(reqAr, fmtAr);
+
+ /* Add any penalties... this is not an exact science! */
+ score += utils::abs_diff(info.bitsPerPixel, bitDepth) * penaltyBitDepth;
+
+ if (score <= bestScore) {
+ bestScore = score;
+ bestFormat.mbus_code = mbusCode;
+ bestFormat.size = size;
+ }
+
+ LOG(RPI, Debug) << "Format: " << size
+ << " fmt " << format
+ << " Score: " << score
+ << " (best " << bestScore << ")";
+ }
+ }
+
+ return bestFormat;
+}
+
+const std::vector<ColorSpace> validColorSpaces = {
+ ColorSpace::Sycc,
+ ColorSpace::Smpte170m,
+ ColorSpace::Rec709
+};
+
+std::optional<ColorSpace> findValidColorSpace(const ColorSpace &colourSpace)
+{
+ for (auto cs : validColorSpaces) {
+ if (colourSpace.primaries == cs.primaries &&
+ colourSpace.transferFunction == cs.transferFunction)
+ return cs;
+ }
+
+ return std::nullopt;
+}
+
+bool isRgb(const PixelFormat &pixFmt)
+{
+ const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt);
+ return info.colourEncoding == PixelFormatInfo::ColourEncodingRGB;
+}
+
+bool isYuv(const PixelFormat &pixFmt)
+{
+ /* The code below would return true for raw mono streams, so weed those out first. */
+ if (isRaw(pixFmt))
+ return false;
+
+ const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt);
+ return info.colourEncoding == PixelFormatInfo::ColourEncodingYUV;
+}
+
+} /* namespace */
+
+/*
+ * Raspberry Pi drivers expect the following colour spaces:
+ * - V4L2_COLORSPACE_RAW for raw streams.
+ * - One of V4L2_COLORSPACE_JPEG, V4L2_COLORSPACE_SMPTE170M, V4L2_COLORSPACE_REC709 for
+ * non-raw streams. Other fields such as transfer function, YCbCr encoding and
+ * quantisation are not used.
+ *
+ * The libcamera colour spaces that we wish to use corresponding to these are therefore:
+ * - ColorSpace::Raw for V4L2_COLORSPACE_RAW
+ * - ColorSpace::Sycc for V4L2_COLORSPACE_JPEG
+ * - ColorSpace::Smpte170m for V4L2_COLORSPACE_SMPTE170M
+ * - ColorSpace::Rec709 for V4L2_COLORSPACE_REC709
+ */
+CameraConfiguration::Status RPiCameraConfiguration::validateColorSpaces([[maybe_unused]] ColorSpaceFlags flags)
+{
+ Status status = Valid;
+ yuvColorSpace_.reset();
+
+ for (auto cfg : config_) {
+ /* First fix up raw streams to have the "raw" colour space. */
+ if (isRaw(cfg.pixelFormat)) {
+ /* If there was no value here, that doesn't count as "adjusted". */
+ if (cfg.colorSpace && cfg.colorSpace != ColorSpace::Raw)
+ status = Adjusted;
+ cfg.colorSpace = ColorSpace::Raw;
+ continue;
+ }
+
+ /* Next we need to find our shared colour space. The first valid one will do. */
+ if (cfg.colorSpace && !yuvColorSpace_)
+ yuvColorSpace_ = findValidColorSpace(cfg.colorSpace.value());
+ }
+
+ /* If no colour space was given anywhere, choose sYCC. */
+ if (!yuvColorSpace_)
+ yuvColorSpace_ = ColorSpace::Sycc;
+
+ /* Note the version of this that any RGB streams will have to use. */
+ rgbColorSpace_ = yuvColorSpace_;
+ rgbColorSpace_->ycbcrEncoding = ColorSpace::YcbcrEncoding::None;
+ rgbColorSpace_->range = ColorSpace::Range::Full;
+
+ /* Go through the streams again and force everyone to the same colour space. */
+ for (auto cfg : config_) {
+ if (cfg.colorSpace == ColorSpace::Raw)
+ continue;
+
+ if (isYuv(cfg.pixelFormat) && cfg.colorSpace != yuvColorSpace_) {
+ /* Again, no value means "not adjusted". */
+ if (cfg.colorSpace)
+ status = Adjusted;
+ cfg.colorSpace = yuvColorSpace_;
+ }
+ if (isRgb(cfg.pixelFormat) && cfg.colorSpace != rgbColorSpace_) {
+ /* Be nice, and let the YUV version count as non-adjusted too. */
+ if (cfg.colorSpace && cfg.colorSpace != yuvColorSpace_)
+ status = Adjusted;
+ cfg.colorSpace = rgbColorSpace_;
+ }
+ }
+
+ return status;
+}
+
+CameraConfiguration::Status RPiCameraConfiguration::validate()
+{
+ Status status = Valid;
+
+ if (config_.empty())
+ return Invalid;
+
+ status = validateColorSpaces(ColorSpaceFlag::StreamsShareColorSpace);
+
+ /*
+ * Validate the requested transform against the sensor capabilities and
+ * rotation and store the final combined transform that configure() will
+ * need to apply to the sensor to save us working it out again.
+ */
+ Transform requestedTransform = transform;
+ combinedTransform_ = data_->sensor_->validateTransform(&transform);
+ if (transform != requestedTransform)
+ status = Adjusted;
+
+ std::vector<CameraData::StreamParams> rawStreams, outStreams;
+ for (const auto &[index, cfg] : utils::enumerate(config_)) {
+ if (isRaw(cfg.pixelFormat))
+ rawStreams.emplace_back(index, &cfg);
+ else
+ outStreams.emplace_back(index, &cfg);
+ }
+
+ /* Sort the streams so the highest resolution is first. */
+ std::sort(rawStreams.begin(), rawStreams.end(),
+ [](auto &l, auto &r) { return l.cfg->size > r.cfg->size; });
+
+ std::sort(outStreams.begin(), outStreams.end(),
+ [](auto &l, auto &r) { return l.cfg->size > r.cfg->size; });
+
+ /* Do any platform specific fixups. */
+ status = data_->platformValidate(rawStreams, outStreams);
+ if (status == Invalid)
+ return Invalid;
+
+ /* Further fixups on the RAW streams. */
+ for (auto &raw : rawStreams) {
+ StreamConfiguration &cfg = config_.at(raw.index);
+ V4L2DeviceFormat rawFormat;
+
+ const PixelFormatInfo &info = PixelFormatInfo::info(cfg.pixelFormat);
+ unsigned int bitDepth = info.isValid() ? info.bitsPerPixel : defaultRawBitDepth;
+ V4L2SubdeviceFormat sensorFormat = findBestFormat(data_->sensorFormats_, cfg.size, bitDepth);
+
+ rawFormat.size = sensorFormat.size;
+ rawFormat.fourcc = raw.dev->toV4L2PixelFormat(cfg.pixelFormat);
+
+ int ret = raw.dev->tryFormat(&rawFormat);
+ 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 = rawFormat.fourcc;
+ if (data_->flipsAlterBayerOrder_) {
+ BayerFormat bayer = BayerFormat::fromV4L2PixelFormat(fourcc);
+ bayer.order = data_->nativeBayerOrder_;
+ bayer = bayer.transform(combinedTransform_);
+ fourcc = bayer.toV4L2PixelFormat();
+ }
+
+ PixelFormat inputPixFormat = fourcc.toPixelFormat();
+ if (raw.cfg->size != rawFormat.size || raw.cfg->pixelFormat != inputPixFormat) {
+ raw.cfg->size = rawFormat.size;
+ raw.cfg->pixelFormat = inputPixFormat;
+ status = Adjusted;
+ }
+
+ raw.cfg->stride = rawFormat.planes[0].bpl;
+ raw.cfg->frameSize = rawFormat.planes[0].size;
+ }
+
+ /* Further fixups on the ISP output streams. */
+ for (auto &out : outStreams) {
+ StreamConfiguration &cfg = config_.at(out.index);
+ PixelFormat &cfgPixFmt = cfg.pixelFormat;
+ V4L2VideoDevice::Formats fmts = out.dev->formats();
+
+ if (fmts.find(out.dev->toV4L2PixelFormat(cfgPixFmt)) == fmts.end()) {
+ /* If we cannot find a native format, use a default one. */
+ cfgPixFmt = formats::NV12;
+ status = Adjusted;
+ }
+
+ V4L2DeviceFormat format;
+ format.fourcc = out.dev->toV4L2PixelFormat(cfg.pixelFormat);
+ format.size = cfg.size;
+ /* We want to send the associated YCbCr info through to the driver. */
+ format.colorSpace = yuvColorSpace_;
+
+ LOG(RPI, Debug)
+ << "Try color space " << ColorSpace::toString(cfg.colorSpace);
+
+ int ret = out.dev->tryFormat(&format);
+ if (ret)
+ return Invalid;
+
+ /*
+ * But for RGB streams, the YCbCr info gets overwritten on the way back
+ * so we must check against what the stream cfg says, not what we actually
+ * requested (which carefully included the YCbCr info)!
+ */
+ if (cfg.colorSpace != format.colorSpace) {
+ status = Adjusted;
+ LOG(RPI, Debug)
+ << "Color space changed from "
+ << ColorSpace::toString(cfg.colorSpace) << " to "
+ << ColorSpace::toString(format.colorSpace);
+ }
+
+ cfg.colorSpace = format.colorSpace;
+ cfg.stride = format.planes[0].bpl;
+ cfg.frameSize = format.planes[0].size;
+ }
+
+ return status;
+}
+
+V4L2DeviceFormat PipelineHandlerBase::toV4L2DeviceFormat(const V4L2VideoDevice *dev,
+ const V4L2SubdeviceFormat &format,
+ BayerFormat::Packing packingReq)
+{
+ unsigned int mbus_code = format.mbus_code;
+ const PixelFormat pix = mbusCodeToPixelFormat(mbus_code, packingReq);
+ V4L2DeviceFormat deviceFormat;
+
+ deviceFormat.fourcc = dev->toV4L2PixelFormat(pix);
+ deviceFormat.size = format.size;
+ deviceFormat.colorSpace = format.colorSpace;
+ return deviceFormat;
+}
+
+std::unique_ptr<CameraConfiguration>
+PipelineHandlerBase::generateConfiguration(Camera *camera, const StreamRoles &roles)
+{
+ CameraData *data = cameraData(camera);
+ std::unique_ptr<CameraConfiguration> config =
+ std::make_unique<RPiCameraConfiguration>(data);
+ V4L2SubdeviceFormat sensorFormat;
+ unsigned int bufferCount;
+ PixelFormat pixelFormat;
+ V4L2VideoDevice::Formats fmts;
+ Size size;
+ std::optional<ColorSpace> colorSpace;
+
+ if (roles.empty())
+ return config;
+
+ Size sensorSize = data->sensor_->resolution();
+ for (const StreamRole role : roles) {
+ switch (role) {
+ case StreamRole::Raw:
+ size = sensorSize;
+ sensorFormat = findBestFormat(data->sensorFormats_, size, defaultRawBitDepth);
+ pixelFormat = mbusCodeToPixelFormat(sensorFormat.mbus_code,
+ BayerFormat::Packing::CSI2);
+ ASSERT(pixelFormat.isValid());
+ colorSpace = ColorSpace::Raw;
+ bufferCount = 2;
+ break;
+
+ case StreamRole::StillCapture:
+ fmts = data->ispFormats();
+ pixelFormat = formats::NV12;
+ /*
+ * Still image codecs usually expect the sYCC color space.
+ * Even RGB codecs will be fine as the RGB we get with the
+ * sYCC color space is the same as sRGB.
+ */
+ colorSpace = ColorSpace::Sycc;
+ /* Return the largest sensor resolution. */
+ size = sensorSize;
+ bufferCount = 1;
+ 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->ispFormats();
+ pixelFormat = formats::YUV420;
+ /*
+ * Choose a color space appropriate for video recording.
+ * Rec.709 will be a good default for HD resolutions.
+ */
+ colorSpace = ColorSpace::Rec709;
+ size = { 1920, 1080 };
+ bufferCount = 4;
+ break;
+
+ case StreamRole::Viewfinder:
+ fmts = data->ispFormats();
+ pixelFormat = formats::ARGB8888;
+ colorSpace = ColorSpace::Sycc;
+ size = { 800, 600 };
+ bufferCount = 4;
+ break;
+
+ default:
+ LOG(RPI, Error) << "Requested stream role not supported: "
+ << role;
+ return nullptr;
+ }
+
+ std::map<PixelFormat, std::vector<SizeRange>> deviceFormats;
+ if (role == StreamRole::Raw) {
+ /* Translate the MBUS codes to a PixelFormat. */
+ for (const auto &format : data->sensorFormats_) {
+ PixelFormat pf = mbusCodeToPixelFormat(format.first,
+ BayerFormat::Packing::CSI2);
+ if (pf.isValid())
+ deviceFormats.emplace(std::piecewise_construct, std::forward_as_tuple(pf),
+ std::forward_as_tuple(format.second.begin(), format.second.end()));
+ }
+ } else {
+ /*
+ * Translate the V4L2PixelFormat to PixelFormat. Note that we
+ * limit the recommended largest ISP output size to match the
+ * sensor resolution.
+ */
+ for (const auto &format : fmts) {
+ PixelFormat pf = format.first.toPixelFormat();
+ if (pf.isValid()) {
+ const SizeRange &ispSizes = format.second[0];
+ deviceFormats[pf].emplace_back(ispSizes.min, sensorSize,
+ ispSizes.hStep, ispSizes.vStep);
+ }
+ }
+ }
+
+ /* 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.colorSpace = colorSpace;
+ cfg.bufferCount = bufferCount;
+ config->addConfiguration(cfg);
+ }
+
+ config->validate();
+
+ return config;
+}
+
+int PipelineHandlerBase::configure(Camera *camera, CameraConfiguration *config)
+{
+ CameraData *data = cameraData(camera);
+ int ret;
+
+ /* Start by freeing all buffers and reset the stream states. */
+ data->freeBuffers();
+ for (auto const stream : data->streams_)
+ stream->setExternal(false);
+
+ std::vector<CameraData::StreamParams> rawStreams, ispStreams;
+ std::optional<BayerFormat::Packing> packing;
+ unsigned int bitDepth = defaultRawBitDepth;
+
+ for (unsigned i = 0; i < config->size(); i++) {
+ StreamConfiguration *cfg = &config->at(i);
+
+ if (isRaw(cfg->pixelFormat))
+ rawStreams.emplace_back(i, cfg);
+ else
+ ispStreams.emplace_back(i, cfg);
+ }
+
+ /* Sort the streams so the highest resolution is first. */
+ std::sort(rawStreams.begin(), rawStreams.end(),
+ [](auto &l, auto &r) { return l.cfg->size > r.cfg->size; });
+
+ std::sort(ispStreams.begin(), ispStreams.end(),
+ [](auto &l, auto &r) { return l.cfg->size > r.cfg->size; });
+
+ /*
+ * Calculate the best sensor mode we can use based on the user's request,
+ * and apply it to the sensor with the cached tranform, if any.
+ *
+ * If we have been given a RAW stream, use that size for setting up the sensor.
+ */
+ if (!rawStreams.empty()) {
+ BayerFormat bayerFormat = BayerFormat::fromPixelFormat(rawStreams[0].cfg->pixelFormat);
+ /* Replace the user requested packing/bit-depth. */
+ packing = bayerFormat.packing;
+ bitDepth = bayerFormat.bitDepth;
+ }
+
+ V4L2SubdeviceFormat sensorFormat = findBestFormat(data->sensorFormats_,
+ rawStreams.empty() ? ispStreams[0].cfg->size
+ : rawStreams[0].cfg->size,
+ bitDepth);
+ /* Apply any cached transform. */
+ const RPiCameraConfiguration *rpiConfig = static_cast<const RPiCameraConfiguration *>(config);
+
+ /* Then apply the format on the sensor. */
+ ret = data->sensor_->setFormat(&sensorFormat, rpiConfig->combinedTransform_);
+ if (ret)
+ return ret;
+
+ /*
+ * Platform specific internal stream configuration. This also assigns
+ * external streams which get configured below.
+ */
+ ret = data->platformConfigure(sensorFormat, packing, rawStreams, ispStreams);
+ if (ret)
+ return ret;
+
+ ipa::RPi::ConfigResult result;
+ ret = data->configureIPA(config, &result);
+ if (ret) {
+ LOG(RPI, Error) << "Failed to configure the IPA: " << ret;
+ return ret;
+ }
+
+ /*
+ * Set the scaler crop to the value we are using (scaled to native sensor
+ * coordinates).
+ */
+ data->scalerCrop_ = data->scaleIspCrop(data->ispCrop_);
+
+ /*
+ * 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);
+
+ /* Store the mode sensitivity for the application. */
+ data->properties_.set(properties::SensorSensitivity, result.modeSensitivity);
+
+ /* Update the controls that the Raspberry Pi IPA can handle. */
+ ControlInfoMap::Map ctrlMap;
+ for (auto const &c : result.controlInfo)
+ ctrlMap.emplace(c.first, c.second);
+
+ /* Add the ScalerCrop control limits based on the current mode. */
+ Rectangle ispMinCrop = data->scaleIspCrop(Rectangle(data->ispMinCropSize_));
+ ctrlMap[&controls::ScalerCrop] = ControlInfo(ispMinCrop, data->sensorInfo_.analogCrop, data->scalerCrop_);
+
+ data->controlInfo_ = ControlInfoMap(std::move(ctrlMap), result.controlInfo.idmap());
+
+ /* Setup the Video Mux/Bridge entities. */
+ for (auto &[device, link] : data->bridgeDevices_) {
+ /*
+ * Start by disabling all the sink pad links on the devices in the
+ * cascade, with the exception of the link connecting the device.
+ */
+ for (const MediaPad *p : device->entity()->pads()) {
+ if (!(p->flags() & MEDIA_PAD_FL_SINK))
+ continue;
+
+ for (MediaLink *l : p->links()) {
+ if (l != link)
+ l->setEnabled(false);
+ }
+ }
+
+ /*
+ * Next, enable the entity -> entity links, and setup the pad format.
+ *
+ * \todo Some bridge devices may chainge the media bus code, so we
+ * ought to read the source pad format and propagate it to the sink pad.
+ */
+ link->setEnabled(true);
+ const MediaPad *sinkPad = link->sink();
+ ret = device->setFormat(sinkPad->index(), &sensorFormat);
+ if (ret) {
+ LOG(RPI, Error) << "Failed to set format on " << device->entity()->name()
+ << " pad " << sinkPad->index()
+ << " with format " << sensorFormat
+ << ": " << ret;
+ return ret;
+ }
+
+ LOG(RPI, Debug) << "Configured media link on device " << device->entity()->name()
+ << " on pad " << sinkPad->index();
+ }
+
+ return 0;
+}
+
+int PipelineHandlerBase::exportFrameBuffers([[maybe_unused]] Camera *camera, libcamera::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 PipelineHandlerBase::start(Camera *camera, const ControlList *controls)
+{
+ CameraData *data = cameraData(camera);
+ int ret;
+
+ /* Check if a ScalerCrop control was specified. */
+ if (controls)
+ data->applyScalerCrop(*controls);
+
+ /* Start the IPA. */
+ ipa::RPi::StartResult result;
+ data->ipa_->start(controls ? *controls : ControlList{ controls::controls },
+ &result);
+
+ /* Apply any gain/exposure settings that the IPA may have passed back. */
+ if (!result.controls.empty())
+ data->setSensorControls(result.controls);
+
+ /* Configure the number of dropped frames required on startup. */
+ data->dropFrameCount_ = data->config_.disableStartupFrameDrops
+ ? 0 : result.dropFrameCount;
+
+ for (auto const stream : data->streams_)
+ stream->resetBuffers();
+
+ if (!data->buffersAllocated_) {
+ /* Allocate buffers for internal pipeline usage. */
+ ret = prepareBuffers(camera);
+ if (ret) {
+ LOG(RPI, Error) << "Failed to allocate buffers";
+ data->freeBuffers();
+ stop(camera);
+ return ret;
+ }
+ data->buffersAllocated_ = true;
+ }
+
+ /* 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;
+ }
+
+ /*
+ * Reset the delayed controls with the gain and exposure values set by
+ * the IPA.
+ */
+ data->delayedCtrls_->reset(0);
+ data->state_ = CameraData::State::Idle;
+
+ /* Enable SOF event generation. */
+ data->frontendDevice()->setFrameStartEnabled(true);
+
+ data->platformStart();
+
+ /* Start all streams. */
+ for (auto const stream : data->streams_) {
+ ret = stream->dev()->streamOn();
+ if (ret) {
+ stop(camera);
+ return ret;
+ }
+ }
+
+ return 0;
+}
+
+void PipelineHandlerBase::stopDevice(Camera *camera)
+{
+ CameraData *data = cameraData(camera);
+
+ data->state_ = CameraData::State::Stopped;
+ data->platformStop();
+
+ for (auto const stream : data->streams_)
+ stream->dev()->streamOff();
+
+ /* Disable SOF event generation. */
+ data->frontendDevice()->setFrameStartEnabled(false);
+
+ data->clearIncompleteRequests();
+
+ /* Stop the IPA. */
+ data->ipa_->stop();
+}
+
+void PipelineHandlerBase::releaseDevice(Camera *camera)
+{
+ CameraData *data = cameraData(camera);
+ data->freeBuffers();
+}
+
+int PipelineHandlerBase::queueRequestDevice(Camera *camera, Request *request)
+{
+ CameraData *data = cameraData(camera);
+
+ if (!data->isRunning())
+ 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)) {
+ /*
+ * 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(request);
+ data->handleState();
+
+ return 0;
+}
+
+int PipelineHandlerBase::registerCamera(std::unique_ptr<RPi::CameraData> &cameraData,
+ MediaDevice *frontend, const std::string &frontendName,
+ MediaDevice *backend, MediaEntity *sensorEntity)
+{
+ CameraData *data = cameraData.get();
+ int ret;
+
+ data->sensor_ = std::make_unique<CameraSensor>(sensorEntity);
+ if (!data->sensor_)
+ return -EINVAL;
+
+ if (data->sensor_->init())
+ return -EINVAL;
+
+ data->sensorFormats_ = populateSensorFormats(data->sensor_);
+
+ /*
+ * Enumerate all the Video Mux/Bridge devices across the sensor -> Fr
+ * chain. There may be a cascade of devices in this chain!
+ */
+ MediaLink *link = sensorEntity->getPadByIndex(0)->links()[0];
+ data->enumerateVideoDevices(link, frontendName);
+
+ ipa::RPi::InitResult result;
+ if (data->loadIPA(&result)) {
+ LOG(RPI, Error) << "Failed to load a suitable IPA library";
+ return -EINVAL;
+ }
+
+ /*
+ * Setup our delayed control writer with the sensor default
+ * gain and exposure delays. Mark VBLANK for priority write.
+ */
+ std::unordered_map<uint32_t, RPi::DelayedControls::ControlParams> params = {
+ { V4L2_CID_ANALOGUE_GAIN, { result.sensorConfig.gainDelay, false } },
+ { V4L2_CID_EXPOSURE, { result.sensorConfig.exposureDelay, false } },
+ { V4L2_CID_HBLANK, { result.sensorConfig.hblankDelay, false } },
+ { V4L2_CID_VBLANK, { result.sensorConfig.vblankDelay, true } }
+ };
+ data->delayedCtrls_ = std::make_unique<RPi::DelayedControls>(data->sensor_->device(), params);
+ data->sensorMetadata_ = result.sensorConfig.sensorMetadata;
+
+ /* Register initial controls that the Raspberry Pi IPA can handle. */
+ data->controlInfo_ = std::move(result.controlInfo);
+
+ /* Initialize the camera properties. */
+ data->properties_ = data->sensor_->properties();
+
+ /*
+ * The V4L2_CID_NOTIFY_GAINS control, if present, is used to inform the
+ * sensor of the colour gains. It is defined to be a linear gain where
+ * the default value represents a gain of exactly one.
+ */
+ auto it = data->sensor_->controls().find(V4L2_CID_NOTIFY_GAINS);
+ if (it != data->sensor_->controls().end())
+ data->notifyGainsUnity_ = it->second.def().get<int32_t>();
+
+ /*
+ * 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 two things about the sensor in relation to transforms
+ * (meaning horizontal and vertical flips): if they affect the Bayer
+ * ordering, and what the "native" Bayer order is, when no transforms
+ * are applied.
+ *
+ * If flips are supported verify if they affect the Bayer ordering
+ * and what the "native" Bayer order is, when no transforms are
+ * applied.
+ *
+ * We note that the sensor's cached list of supported formats is
+ * already in the "native" order, with any flips having been undone.
+ */
+ const V4L2Subdevice *sensor = data->sensor_->device();
+ const struct v4l2_query_ext_ctrl *hflipCtrl = sensor->controlInfo(V4L2_CID_HFLIP);
+ if (hflipCtrl) {
+ /* We assume it will support vflips too... */
+ data->flipsAlterBayerOrder_ = hflipCtrl->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT;
+ }
+
+ /* Look for a valid Bayer format. */
+ BayerFormat bayerFormat;
+ for (const auto &iter : data->sensorFormats_) {
+ bayerFormat = BayerFormat::fromMbusCode(iter.first);
+ if (bayerFormat.isValid())
+ break;
+ }
+
+ if (!bayerFormat.isValid()) {
+ LOG(RPI, Error) << "No Bayer format found";
+ return -EINVAL;
+ }
+ data->nativeBayerOrder_ = bayerFormat.order;
+
+ ret = data->loadPipelineConfiguration();
+ if (ret) {
+ LOG(RPI, Error) << "Unable to load pipeline configuration";
+ return ret;
+ }
+
+ ret = platformRegister(cameraData, frontend, backend);
+ if (ret)
+ return ret;
+
+ /* Setup the general IPA signal handlers. */
+ data->frontendDevice()->dequeueTimeout.connect(data, &RPi::CameraData::cameraTimeout);
+ data->frontendDevice()->frameStart.connect(data, &RPi::CameraData::frameStarted);
+ data->ipa_->setDelayedControls.connect(data, &CameraData::setDelayedControls);
+ data->ipa_->setLensControls.connect(data, &CameraData::setLensControls);
+ data->ipa_->metadataReady.connect(data, &CameraData::metadataReady);
+
+ return 0;
+}
+
+void PipelineHandlerBase::mapBuffers(Camera *camera, const BufferMap &buffers, unsigned int mask)
+{
+ CameraData *data = cameraData(camera);
+ std::vector<IPABuffer> bufferIds;
+ /*
+ * 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) {
+ bufferIds.push_back(IPABuffer(mask | it.first,
+ it.second->planes()));
+ data->bufferIds_.insert(mask | it.first);
+ }
+
+ data->ipa_->mapBuffers(bufferIds);
+}
+
+int PipelineHandlerBase::queueAllBuffers(Camera *camera)
+{
+ CameraData *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;
+}
+
+void CameraData::freeBuffers()
+{
+ if (ipa_) {
+ /*
+ * Copy the buffer ids from the unordered_set to a vector to
+ * pass to the IPA.
+ */
+ std::vector<unsigned int> bufferIds(bufferIds_.begin(),
+ bufferIds_.end());
+ ipa_->unmapBuffers(bufferIds);
+ bufferIds_.clear();
+ }
+
+ for (auto const stream : streams_)
+ stream->releaseBuffers();
+
+ platformFreeBuffers();
+
+ buffersAllocated_ = false;
+}
+
+/*
+ * enumerateVideoDevices() iterates over the Media Controller topology, starting
+ * at the sensor and finishing at the frontend. For each sensor, CameraData stores
+ * a unique list of any intermediate video mux or bridge devices connected in a
+ * cascade, together with the entity to entity link.
+ *
+ * Entity pad configuration and link enabling happens at the end of configure().
+ * We first disable all pad links on each entity device in the chain, and then
+ * selectively enabling the specific links to link sensor to the frontend across
+ * all intermediate muxes and bridges.
+ *
+ * In the cascaded topology below, if Sensor1 is used, the Mux2 -> Mux1 link
+ * will be disabled, and Sensor1 -> Mux1 -> Frontend links enabled. Alternatively,
+ * if Sensor3 is used, the Sensor2 -> Mux2 and Sensor1 -> Mux1 links are disabled,
+ * and Sensor3 -> Mux2 -> Mux1 -> Frontend links are enabled. All other links will
+ * remain unchanged.
+ *
+ * +----------+
+ * | FE |
+ * +-----^----+
+ * |
+ * +---+---+
+ * | Mux1 |<------+
+ * +--^---- |
+ * | |
+ * +-----+---+ +---+---+
+ * | Sensor1 | | Mux2 |<--+
+ * +---------+ +-^-----+ |
+ * | |
+ * +-------+-+ +---+-----+
+ * | Sensor2 | | Sensor3 |
+ * +---------+ +---------+
+ */
+void CameraData::enumerateVideoDevices(MediaLink *link, const std::string &frontend)
+{
+ const MediaPad *sinkPad = link->sink();
+ const MediaEntity *entity = sinkPad->entity();
+ bool frontendFound = false;
+
+ /* We only deal with Video Mux and Bridge devices in cascade. */
+ if (entity->function() != MEDIA_ENT_F_VID_MUX &&
+ entity->function() != MEDIA_ENT_F_VID_IF_BRIDGE)
+ return;
+
+ /* Find the source pad for this Video Mux or Bridge device. */
+ const MediaPad *sourcePad = nullptr;
+ for (const MediaPad *pad : entity->pads()) {
+ if (pad->flags() & MEDIA_PAD_FL_SOURCE) {
+ /*
+ * We can only deal with devices that have a single source
+ * pad. If this device has multiple source pads, ignore it
+ * and this branch in the cascade.
+ */
+ if (sourcePad)
+ return;
+
+ sourcePad = pad;
+ }
+ }
+
+ LOG(RPI, Debug) << "Found video mux device " << entity->name()
+ << " linked to sink pad " << sinkPad->index();
+
+ bridgeDevices_.emplace_back(std::make_unique<V4L2Subdevice>(entity), link);
+ bridgeDevices_.back().first->open();
+
+ /*
+ * Iterate through all the sink pad links down the cascade to find any
+ * other Video Mux and Bridge devices.
+ */
+ for (MediaLink *l : sourcePad->links()) {
+ enumerateVideoDevices(l, frontend);
+ /* Once we reach the Frontend entity, we are done. */
+ if (l->sink()->entity()->name() == frontend) {
+ frontendFound = true;
+ break;
+ }
+ }
+
+ /* This identifies the end of our entity enumeration recursion. */
+ if (link->source()->entity()->function() == MEDIA_ENT_F_CAM_SENSOR) {
+ /*
+ * If the frontend is not at the end of this cascade, we cannot
+ * configure this topology automatically, so remove all entity
+ * references.
+ */
+ if (!frontendFound) {
+ LOG(RPI, Warning) << "Cannot automatically configure this MC topology!";
+ bridgeDevices_.clear();
+ }
+ }
+}
+
+int CameraData::loadPipelineConfiguration()
+{
+ config_ = {
+ .disableStartupFrameDrops = false,
+ .cameraTimeoutValue = 0,
+ };
+
+ /* Initial configuration of the platform, in case no config file is present */
+ platformPipelineConfigure({});
+
+ char const *configFromEnv = utils::secure_getenv("LIBCAMERA_RPI_CONFIG_FILE");
+ if (!configFromEnv || *configFromEnv == '\0')
+ return 0;
+
+ std::string filename = std::string(configFromEnv);
+ File file(filename);
+
+ if (!file.open(File::OpenModeFlag::ReadOnly)) {
+ LOG(RPI, Error) << "Failed to open configuration file '" << filename << "'";
+ return -EIO;
+ }
+
+ LOG(RPI, Info) << "Using configuration file '" << filename << "'";
+
+ std::unique_ptr<YamlObject> root = YamlParser::parse(file);
+ if (!root) {
+ LOG(RPI, Warning) << "Failed to parse configuration file, using defaults";
+ return 0;
+ }
+
+ std::optional<double> ver = (*root)["version"].get<double>();
+ if (!ver || *ver != 1.0) {
+ LOG(RPI, Error) << "Unexpected configuration file version reported";
+ return -EINVAL;
+ }
+
+ const YamlObject &phConfig = (*root)["pipeline_handler"];
+
+ config_.disableStartupFrameDrops =
+ phConfig["disable_startup_frame_drops"].get<bool>(config_.disableStartupFrameDrops);
+
+ config_.cameraTimeoutValue =
+ phConfig["camera_timeout_value_ms"].get<unsigned int>(config_.cameraTimeoutValue);
+
+ if (config_.cameraTimeoutValue) {
+ /* Disable the IPA signal to control timeout and set the user requested value. */
+ ipa_->setCameraTimeout.disconnect();
+ frontendDevice()->setDequeueTimeout(config_.cameraTimeoutValue * 1ms);
+ }
+
+ return platformPipelineConfigure(root);
+}
+
+int CameraData::loadIPA(ipa::RPi::InitResult *result)
+{
+ ipa_ = IPAManager::createIPA<ipa::RPi::IPAProxyRPi>(pipe(), 1, 1);
+
+ if (!ipa_)
+ return -ENOENT;
+
+ /*
+ * 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') {
+ std::string model = sensor_->model();
+ if (isMonoSensor(sensor_))
+ model += "_mono";
+ configurationFile = ipa_->configurationFile(model + ".json");
+ } else {
+ configurationFile = std::string(configFromEnv);
+ }
+
+ IPASettings settings(configurationFile, sensor_->model());
+ ipa::RPi::InitParams params;
+
+ params.lensPresent = !!sensor_->focusLens();
+ int ret = platformInitIpa(params);
+ if (ret)
+ return ret;
+
+ return ipa_->init(settings, params, result);
+}
+
+int CameraData::configureIPA(const CameraConfiguration *config, ipa::RPi::ConfigResult *result)
+{
+ std::map<unsigned int, ControlInfoMap> entityControls;
+ ipa::RPi::ConfigParams params;
+ int ret;
+
+ params.sensorControls = sensor_->controls();
+ if (sensor_->focusLens())
+ params.lensControls = sensor_->focusLens()->controls();
+
+ ret = platformConfigureIpa(params);
+ if (ret)
+ return ret;
+
+ /* We store the IPACameraSensorInfo for digital zoom calculations. */
+ ret = sensor_->sensorInfo(&sensorInfo_);
+ if (ret) {
+ LOG(RPI, Error) << "Failed to retrieve camera sensor info";
+ return ret;
+ }
+
+ /* Always send the user transform to the IPA. */
+ params.transform = static_cast<unsigned int>(config->transform);
+
+ /* Ready the IPA - it must know about the sensor resolution. */
+ ret = ipa_->configure(sensorInfo_, params, result);
+ if (ret < 0) {
+ LOG(RPI, Error) << "IPA configuration failed!";
+ return -EPIPE;
+ }
+
+ if (!result->controls.empty())
+ setSensorControls(result->controls);
+
+ return 0;
+}
+
+void CameraData::metadataReady(const ControlList &metadata)
+{
+ if (!isRunning())
+ return;
+
+ /* Add to the Request metadata buffer what the IPA has provided. */
+ /* Last thing to do is to fill up the request metadata. */
+ Request *request = requestQueue_.front();
+ request->metadata().merge(metadata);
+
+ /*
+ * Inform the sensor of the latest colour gains if it has the
+ * V4L2_CID_NOTIFY_GAINS control (which means notifyGainsUnity_ is set).
+ */
+ const auto &colourGains = metadata.get(libcamera::controls::ColourGains);
+ if (notifyGainsUnity_ && colourGains) {
+ /* The control wants linear gains in the order B, Gb, Gr, R. */
+ ControlList ctrls(sensor_->controls());
+ std::array<int32_t, 4> gains{
+ static_cast<int32_t>((*colourGains)[1] * *notifyGainsUnity_),
+ *notifyGainsUnity_,
+ *notifyGainsUnity_,
+ static_cast<int32_t>((*colourGains)[0] * *notifyGainsUnity_)
+ };
+ ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ gains });
+
+ sensor_->setControls(&ctrls);
+ }
+}
+
+void CameraData::setDelayedControls(const ControlList &controls, uint32_t delayContext)
+{
+ if (!delayedCtrls_->push(controls, delayContext))
+ LOG(RPI, Error) << "V4L2 DelayedControl set failed";
+}
+
+void CameraData::setLensControls(const ControlList &controls)
+{
+ CameraLens *lens = sensor_->focusLens();
+
+ if (lens && controls.contains(V4L2_CID_FOCUS_ABSOLUTE)) {
+ ControlValue const &focusValue = controls.get(V4L2_CID_FOCUS_ABSOLUTE);
+ lens->setFocusPosition(focusValue.get<int32_t>());
+ }
+}
+
+void CameraData::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.
+ */
+ if (controls.contains(V4L2_CID_EXPOSURE) && controls.contains(V4L2_CID_VBLANK)) {
+ ControlList vblank_ctrl;
+
+ vblank_ctrl.set(V4L2_CID_VBLANK, controls.get(V4L2_CID_VBLANK));
+ sensor_->setControls(&vblank_ctrl);
+ }
+
+ sensor_->setControls(&controls);
+}
+
+Rectangle CameraData::scaleIspCrop(const Rectangle &ispCrop) const
+{
+ /*
+ * Scale a crop rectangle defined in the ISP's coordinates into native sensor
+ * coordinates.
+ */
+ Rectangle nativeCrop = ispCrop.scaledBy(sensorInfo_.analogCrop.size(),
+ sensorInfo_.outputSize);
+ nativeCrop.translateBy(sensorInfo_.analogCrop.topLeft());
+ return nativeCrop;
+}
+
+void CameraData::applyScalerCrop(const ControlList &controls)
+{
+ const auto &scalerCrop = controls.get<Rectangle>(controls::ScalerCrop);
+ if (scalerCrop) {
+ Rectangle nativeCrop = *scalerCrop;
+
+ if (!nativeCrop.width || !nativeCrop.height)
+ nativeCrop = { 0, 0, 1, 1 };
+
+ /* Create a version of the crop scaled to ISP (camera mode) pixels. */
+ Rectangle ispCrop = nativeCrop.translatedBy(-sensorInfo_.analogCrop.topLeft());
+ ispCrop.scaleBy(sensorInfo_.outputSize, sensorInfo_.analogCrop.size());
+
+ /*
+ * The crop that we set must be:
+ * 1. At least as big as ispMinCropSize_, once that's been
+ * enlarged to the same aspect ratio.
+ * 2. With the same mid-point, if possible.
+ * 3. But it can't go outside the sensor area.
+ */
+ Size minSize = ispMinCropSize_.expandedToAspectRatio(nativeCrop.size());
+ Size size = ispCrop.size().expandedTo(minSize);
+ ispCrop = size.centeredTo(ispCrop.center()).enclosedIn(Rectangle(sensorInfo_.outputSize));
+
+ if (ispCrop != ispCrop_) {
+ ispCrop_ = ispCrop;
+ platformSetIspCrop();
+
+ /*
+ * Also update the ScalerCrop in the metadata with what we actually
+ * used. But we must first rescale that from ISP (camera mode) pixels
+ * back into sensor native pixels.
+ */
+ scalerCrop_ = scaleIspCrop(ispCrop_);
+ }
+ }
+}
+
+void CameraData::cameraTimeout()
+{
+ LOG(RPI, Error) << "Camera frontend has timed out!";
+ LOG(RPI, Error) << "Please check that your camera sensor connector is attached securely.";
+ LOG(RPI, Error) << "Alternatively, try another cable and/or sensor.";
+
+ state_ = CameraData::State::Error;
+ platformStop();
+
+ /*
+ * To allow the application to attempt a recovery from this timeout,
+ * stop all devices streaming, and return any outstanding requests as
+ * incomplete and cancelled.
+ */
+ for (auto const stream : streams_)
+ stream->dev()->streamOff();
+
+ clearIncompleteRequests();
+}
+
+void CameraData::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);
+}
+
+void CameraData::clearIncompleteRequests()
+{
+ /*
+ * All outstanding requests (and associated buffers) must be returned
+ * back to the application.
+ */
+ while (!requestQueue_.empty()) {
+ Request *request = requestQueue_.front();
+
+ for (auto &b : request->buffers()) {
+ FrameBuffer *buffer = b.second;
+ /*
+ * Has the buffer already been handed back to the
+ * request? If not, do so now.
+ */
+ if (buffer->request()) {
+ buffer->_d()->cancel();
+ pipe()->completeBuffer(request, buffer);
+ }
+ }
+
+ pipe()->completeRequest(request);
+ requestQueue_.pop();
+ }
+}
+
+void CameraData::handleStreamBuffer(FrameBuffer *buffer, RPi::Stream *stream)
+{
+ /*
+ * It is possible to be here without a pending request, so check
+ * that we actually have one to action, otherwise we just return
+ * buffer back to the stream.
+ */
+ Request *request = requestQueue_.empty() ? nullptr : requestQueue_.front();
+ if (!dropFrameCount_ && request && request->findBuffer(stream) == buffer) {
+ /*
+ * Check if this is an externally provided buffer, and if
+ * so, we must stop tracking it in the pipeline handler.
+ */
+ handleExternalBuffer(buffer, stream);
+ /*
+ * Tag the buffer as completed, returning it to the
+ * application.
+ */
+ pipe()->completeBuffer(request, buffer);
+ } else {
+ /*
+ * This buffer was not part of the Request (which happens if an
+ * internal buffer was used for an external stream, or
+ * unconditionally for internal streams), or there is no pending
+ * request, so we can recycle it.
+ */
+ stream->returnBuffer(buffer);
+ }
+}
+
+void CameraData::handleState()
+{
+ switch (state_) {
+ case State::Stopped:
+ case State::Busy:
+ case State::Error:
+ break;
+
+ case State::IpaComplete:
+ /* If the request is completed, we will switch to Idle state. */
+ checkRequestCompleted();
+ /*
+ * No break here, we want to try running the pipeline again.
+ * The fallthrough clause below suppresses compiler warnings.
+ */
+ [[fallthrough]];
+
+ case State::Idle:
+ tryRunPipeline();
+ break;
+ }
+}
+
+void CameraData::handleExternalBuffer(FrameBuffer *buffer, RPi::Stream *stream)
+{
+ unsigned int id = stream->getBufferId(buffer);
+
+ if (!(id & MaskExternalBuffer))
+ return;
+
+ /* Stop the Stream object from tracking the buffer. */
+ stream->removeExternalBuffer(buffer);
+}
+
+void CameraData::checkRequestCompleted()
+{
+ bool requestCompleted = false;
+ /*
+ * If we are dropping this frame, do not touch the request, simply
+ * change the state to IDLE when ready.
+ */
+ if (!dropFrameCount_) {
+ Request *request = requestQueue_.front();
+ if (request->hasPendingBuffers())
+ return;
+
+ /* Must wait for metadata to be filled in before completing. */
+ if (state_ != State::IpaComplete)
+ return;
+
+ pipe()->completeRequest(request);
+ requestQueue_.pop();
+ requestCompleted = true;
+ }
+
+ /*
+ * Make sure we have three outputs completed in the case of a dropped
+ * frame.
+ */
+ if (state_ == State::IpaComplete &&
+ ((ispOutputCount_ == ispOutputTotal_ && dropFrameCount_) ||
+ requestCompleted)) {
+ state_ = State::Idle;
+ if (dropFrameCount_) {
+ dropFrameCount_--;
+ LOG(RPI, Debug) << "Dropping frame at the request of the IPA ("
+ << dropFrameCount_ << " left)";
+ }
+ }
+}
+
+void CameraData::fillRequestMetadata(const ControlList &bufferControls, Request *request)
+{
+ request->metadata().set(controls::SensorTimestamp,
+ bufferControls.get(controls::SensorTimestamp).value_or(0));
+
+ request->metadata().set(controls::ScalerCrop, scalerCrop_);
+}
+
+} /* namespace libcamera */
diff --git a/src/libcamera/pipeline/rpi/common/pipeline_base.h b/src/libcamera/pipeline/rpi/common/pipeline_base.h
new file mode 100644
index 00000000..6b19b56c
--- /dev/null
+++ b/src/libcamera/pipeline/rpi/common/pipeline_base.h
@@ -0,0 +1,277 @@
+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2019-2023, Raspberry Pi Ltd
+ *
+ * pipeline_base.h - Pipeline handler base class for Raspberry Pi devices
+ */
+
+#include <map>
+#include <memory>
+#include <optional>
+#include <queue>
+#include <string>
+#include <unordered_set>
+#include <utility>
+#include <vector>
+
+#include <libcamera/controls.h>
+#include <libcamera/request.h>
+
+#include "libcamera/internal/bayer_format.h"
+#include "libcamera/internal/camera.h"
+#include "libcamera/internal/camera_sensor.h"
+#include "libcamera/internal/framebuffer.h"
+#include "libcamera/internal/media_device.h"
+#include "libcamera/internal/media_object.h"
+#include "libcamera/internal/pipeline_handler.h"
+#include "libcamera/internal/v4l2_videodevice.h"
+#include "libcamera/internal/yaml_parser.h"
+
+#include <libcamera/ipa/raspberrypi_ipa_interface.h>
+#include <libcamera/ipa/raspberrypi_ipa_proxy.h>
+
+#include "delayed_controls.h"
+#include "rpi_stream.h"
+
+using namespace std::chrono_literals;
+
+namespace libcamera {
+
+namespace RPi {
+
+/* Map of mbus codes to supported sizes reported by the sensor. */
+using SensorFormats = std::map<unsigned int, std::vector<Size>>;
+
+class CameraData : public Camera::Private
+{
+public:
+ CameraData(PipelineHandler *pipe)
+ : Camera::Private(pipe), state_(State::Stopped),
+ flipsAlterBayerOrder_(false), dropFrameCount_(0), buffersAllocated_(false),
+ ispOutputCount_(0), ispOutputTotal_(0)
+ {
+ }
+
+ virtual ~CameraData()
+ {
+ }
+
+ struct StreamParams {
+ StreamParams()
+ : index(0), cfg(nullptr), dev(nullptr)
+ {
+ }
+
+ StreamParams(unsigned int index_, StreamConfiguration *cfg_)
+ : index(index_), cfg(cfg_), dev(nullptr)
+ {
+ }
+
+ unsigned int index;
+ StreamConfiguration *cfg;
+ V4L2VideoDevice *dev;
+ };
+
+ virtual CameraConfiguration::Status platformValidate(std::vector<StreamParams> &rawStreams,
+ std::vector<StreamParams> &outStreams) const = 0;
+ virtual int platformConfigure(const V4L2SubdeviceFormat &sensorFormat,
+ std::optional<BayerFormat::Packing> packing,
+ std::vector<StreamParams> &rawStreams,
+ std::vector<StreamParams> &outStreams) = 0;
+ virtual void platformStart() = 0;
+ virtual void platformStop() = 0;
+
+ void freeBuffers();
+ virtual void platformFreeBuffers() = 0;
+
+ void enumerateVideoDevices(MediaLink *link, const std::string &frontend);
+
+ int loadPipelineConfiguration();
+ int loadIPA(ipa::RPi::InitResult *result);
+ int configureIPA(const CameraConfiguration *config, ipa::RPi::ConfigResult *result);
+ virtual int platformInitIpa(ipa::RPi::InitParams &params) = 0;
+ virtual int platformConfigureIpa(ipa::RPi::ConfigParams &params) = 0;
+
+ void metadataReady(const ControlList &metadata);
+ void setDelayedControls(const ControlList &controls, uint32_t delayContext);
+ void setLensControls(const ControlList &controls);
+ void setSensorControls(ControlList &controls);
+
+ Rectangle scaleIspCrop(const Rectangle &ispCrop) const;
+ void applyScalerCrop(const ControlList &controls);
+ virtual void platformSetIspCrop() = 0;
+
+ void cameraTimeout();
+ void frameStarted(uint32_t sequence);
+
+ void clearIncompleteRequests();
+ void handleStreamBuffer(FrameBuffer *buffer, Stream *stream);
+ void handleState();
+
+ virtual V4L2VideoDevice::Formats ispFormats() const = 0;
+ virtual V4L2VideoDevice::Formats rawFormats() const = 0;
+ virtual V4L2VideoDevice *frontendDevice() = 0;
+
+ virtual int platformPipelineConfigure(const std::unique_ptr<YamlObject> &root) = 0;
+
+ std::unique_ptr<ipa::RPi::IPAProxyRPi> ipa_;
+
+ std::unique_ptr<CameraSensor> sensor_;
+ SensorFormats sensorFormats_;
+
+ /* The vector below is just for convenience when iterating over all streams. */
+ std::vector<Stream *> streams_;
+ /* Stores the ids of the buffers mapped in the IPA. */
+ std::unordered_set<unsigned int> bufferIds_;
+ /*
+ * Stores a cascade of Video Mux or Bridge devices between the sensor and
+ * Unicam together with media link across the entities.
+ */
+ std::vector<std::pair<std::unique_ptr<V4L2Subdevice>, MediaLink *>> bridgeDevices_;
+
+ 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, Error };
+ State state_;
+
+ bool isRunning()
+ {
+ return state_ != State::Stopped && state_ != State::Error;
+ }
+
+ std::queue<Request *> requestQueue_;
+
+ /* Store the "native" Bayer order (that is, with no transforms applied). */
+ 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_;
+
+ /*
+ * If set, this stores the value that represets a gain of one for
+ * the V4L2_CID_NOTIFY_GAINS control.
+ */
+ std::optional<int32_t> notifyGainsUnity_;
+
+ /* Have internal buffers been allocated? */
+ bool buffersAllocated_;
+
+ struct Config {
+ /*
+ * Override any request from the IPA to drop a number of startup
+ * frames.
+ */
+ bool disableStartupFrameDrops;
+ /*
+ * Override the camera timeout value calculated by the IPA based
+ * on frame durations.
+ */
+ unsigned int cameraTimeoutValue;
+ };
+
+ Config config_;
+
+protected:
+ void fillRequestMetadata(const ControlList &bufferControls,
+ Request *request);
+
+ virtual void tryRunPipeline() = 0;
+
+ unsigned int ispOutputCount_;
+ unsigned int ispOutputTotal_;
+
+private:
+ void handleExternalBuffer(FrameBuffer *buffer, Stream *stream);
+ void checkRequestCompleted();
+};
+
+class PipelineHandlerBase : public PipelineHandler
+{
+public:
+ PipelineHandlerBase(CameraManager *manager)
+ : PipelineHandler(manager)
+ {
+ }
+
+ virtual ~PipelineHandlerBase()
+ {
+ }
+
+ static V4L2DeviceFormat toV4L2DeviceFormat(const V4L2VideoDevice *dev,
+ const V4L2SubdeviceFormat &format,
+ BayerFormat::Packing packingReq);
+
+ std::unique_ptr<CameraConfiguration>
+ generateConfiguration(Camera *camera, const StreamRoles &roles) override;
+ int configure(Camera *camera, CameraConfiguration *config) override;
+
+ int exportFrameBuffers(Camera *camera, libcamera::Stream *stream,
+ std::vector<std::unique_ptr<FrameBuffer>> *buffers) override;
+
+ int start(Camera *camera, const ControlList *controls) override;
+ void stopDevice(Camera *camera) override;
+ void releaseDevice(Camera *camera) override;
+
+ int queueRequestDevice(Camera *camera, Request *request) override;
+
+protected:
+ int registerCamera(std::unique_ptr<RPi::CameraData> &cameraData,
+ MediaDevice *frontent, const std::string &frontendName,
+ MediaDevice *backend, MediaEntity *sensorEntity);
+
+ void mapBuffers(Camera *camera, const BufferMap &buffers, unsigned int mask);
+
+ virtual int platformRegister(std::unique_ptr<CameraData> &cameraData,
+ MediaDevice *unicam, MediaDevice *isp) = 0;
+
+private:
+ CameraData *cameraData(Camera *camera)
+ {
+ return static_cast<CameraData *>(camera->_d());
+ }
+
+ int queueAllBuffers(Camera *camera);
+ virtual int prepareBuffers(Camera *camera) = 0;
+};
+
+class RPiCameraConfiguration final : public CameraConfiguration
+{
+public:
+ RPiCameraConfiguration(const CameraData *data)
+ : CameraConfiguration(), data_(data)
+ {
+ }
+
+ CameraConfiguration::Status validateColorSpaces(ColorSpaceFlags flags);
+ Status validate() override;
+
+ /* Cache the combinedTransform_ that will be applied to the sensor */
+ Transform combinedTransform_;
+
+private:
+ const CameraData *data_;
+
+ /*
+ * Store the colour spaces that all our streams will have. RGB format streams
+ * will have the same colorspace as YUV streams, with YCbCr field cleared and
+ * range set to full.
+ */
+ std::optional<ColorSpace> yuvColorSpace_;
+ std::optional<ColorSpace> rgbColorSpace_;
+};
+
+} /* namespace RPi */
+
+} /* namespace libcamera */
diff --git a/src/libcamera/pipeline/rpi/vc4/data/example.yaml b/src/libcamera/pipeline/rpi/vc4/data/example.yaml
index c90f518f..b8e01ade 100644
--- a/src/libcamera/pipeline/rpi/vc4/data/example.yaml
+++ b/src/libcamera/pipeline/rpi/vc4/data/example.yaml
@@ -34,13 +34,13 @@
#
# "disable_startup_frame_drops": false,
- # Custom timeout value (in ms) for Unicam to use. This overrides
+ # Custom timeout value (in ms) for camera to use. This overrides
# the value computed by the pipeline handler based on frame
# durations.
#
# Set this value to 0 to use the pipeline handler computed
# timeout value.
#
- # "unicam_timeout_value_ms": 0,
+ # "camera_timeout_value_ms": 0,
}
}
diff --git a/src/libcamera/pipeline/rpi/vc4/meson.build b/src/libcamera/pipeline/rpi/vc4/meson.build
index 228823f3..cdb049c5 100644
--- a/src/libcamera/pipeline/rpi/vc4/meson.build
+++ b/src/libcamera/pipeline/rpi/vc4/meson.build
@@ -2,7 +2,7 @@
libcamera_sources += files([
'dma_heaps.cpp',
- 'raspberrypi.cpp',
+ 'vc4.cpp',
])
subdir('data')
diff --git a/src/libcamera/pipeline/rpi/vc4/raspberrypi.cpp b/src/libcamera/pipeline/rpi/vc4/raspberrypi.cpp
deleted file mode 100644
index 27b3bde4..00000000
--- a/src/libcamera/pipeline/rpi/vc4/raspberrypi.cpp
+++ /dev/null
@@ -1,2432 +0,0 @@
-/* SPDX-License-Identifier: LGPL-2.1-or-later */
-/*
- * Copyright (C) 2019-2021, Raspberry Pi Ltd
- *
- * raspberrypi.cpp - Pipeline handler for VC4-based Raspberry Pi devices
- */
-#include <algorithm>
-#include <assert.h>
-#include <cmath>
-#include <fcntl.h>
-#include <memory>
-#include <mutex>
-#include <queue>
-#include <unordered_set>
-#include <utility>
-
-#include <libcamera/base/file.h>
-#include <libcamera/base/shared_fd.h>
-#include <libcamera/base/utils.h>
-
-#include <libcamera/camera.h>
-#include <libcamera/control_ids.h>
-#include <libcamera/formats.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 <linux/bcm2835-isp.h>
-#include <linux/media-bus-format.h>
-#include <linux/videodev2.h>
-
-#include "libcamera/internal/bayer_format.h"
-#include "libcamera/internal/camera.h"
-#include "libcamera/internal/camera_lens.h"
-#include "libcamera/internal/camera_sensor.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 "libcamera/internal/yaml_parser.h"
-
-#include "../common/delayed_controls.h"
-#include "../common/rpi_stream.h"
-#include "dma_heaps.h"
-
-using namespace std::chrono_literals;
-
-namespace libcamera {
-
-LOG_DEFINE_CATEGORY(RPI)
-
-namespace {
-
-constexpr unsigned int defaultRawBitDepth = 12;
-
-/* Map of mbus codes to supported sizes reported by the sensor. */
-using SensorFormats = std::map<unsigned int, std::vector<Size>>;
-
-SensorFormats populateSensorFormats(std::unique_ptr<CameraSensor> &sensor)
-{
- SensorFormats formats;
-
- for (auto const mbusCode : sensor->mbusCodes())
- formats.emplace(mbusCode, sensor->sizes(mbusCode));
-
- return formats;
-}
-
-bool isMonoSensor(std::unique_ptr<CameraSensor> &sensor)
-{
- unsigned int mbusCode = sensor->mbusCodes()[0];
- const BayerFormat &bayer = BayerFormat::fromMbusCode(mbusCode);
-
- return bayer.order == BayerFormat::Order::MONO;
-}
-
-PixelFormat mbusCodeToPixelFormat(unsigned int mbus_code,
- BayerFormat::Packing packingReq)
-{
- BayerFormat bayer = BayerFormat::fromMbusCode(mbus_code);
-
- ASSERT(bayer.isValid());
-
- bayer.packing = packingReq;
- PixelFormat pix = bayer.toPixelFormat();
-
- /*
- * Not all formats (e.g. 8-bit or 16-bit Bayer formats) can have packed
- * variants. So if the PixelFormat returns as invalid, use the non-packed
- * conversion instead.
- */
- if (!pix.isValid()) {
- bayer.packing = BayerFormat::Packing::None;
- pix = bayer.toPixelFormat();
- }
-
- return pix;
-}
-
-V4L2DeviceFormat toV4L2DeviceFormat(const V4L2VideoDevice *dev,
- const V4L2SubdeviceFormat &format,
- BayerFormat::Packing packingReq)
-{
- const PixelFormat pix = mbusCodeToPixelFormat(format.mbus_code, packingReq);
- V4L2DeviceFormat deviceFormat;
-
- deviceFormat.fourcc = dev->toV4L2PixelFormat(pix);
- deviceFormat.size = format.size;
- deviceFormat.colorSpace = format.colorSpace;
- return deviceFormat;
-}
-
-bool isRaw(const PixelFormat &pixFmt)
-{
- /* This test works for both Bayer and raw mono formats. */
- return BayerFormat::fromPixelFormat(pixFmt).isValid();
-}
-
-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;
-}
-
-V4L2SubdeviceFormat findBestFormat(const SensorFormats &formatsMap, const Size &req, unsigned int bitDepth)
-{
- double bestScore = std::numeric_limits<double>::max(), score;
- V4L2SubdeviceFormat bestFormat;
- bestFormat.colorSpace = ColorSpace::Raw;
-
- constexpr float penaltyAr = 1500.0;
- constexpr float penaltyBitDepth = 500.0;
-
- /* Calculate the closest/best mode from the user requested size. */
- for (const auto &iter : formatsMap) {
- const unsigned int mbusCode = iter.first;
- const PixelFormat format = mbusCodeToPixelFormat(mbusCode,
- BayerFormat::Packing::None);
- const PixelFormatInfo &info = PixelFormatInfo::info(format);
-
- for (const Size &size : iter.second) {
- double reqAr = static_cast<double>(req.width) / req.height;
- double fmtAr = static_cast<double>(size.width) / size.height;
-
- /* Score the dimensions for closeness. */
- score = scoreFormat(req.width, size.width);
- score += scoreFormat(req.height, size.height);
- score += penaltyAr * scoreFormat(reqAr, fmtAr);
-
- /* Add any penalties... this is not an exact science! */
- score += utils::abs_diff(info.bitsPerPixel, bitDepth) * penaltyBitDepth;
-
- if (score <= bestScore) {
- bestScore = score;
- bestFormat.mbus_code = mbusCode;
- bestFormat.size = size;
- }
-
- LOG(RPI, Debug) << "Format: " << size
- << " fmt " << format
- << " Score: " << score
- << " (best " << bestScore << ")";
- }
- }
-
- return bestFormat;
-}
-
-enum class Unicam : unsigned int { Image, Embedded };
-enum class Isp : unsigned int { Input, Output0, Output1, Stats };
-
-} /* namespace */
-
-class RPiCameraData : public Camera::Private
-{
-public:
- RPiCameraData(PipelineHandler *pipe)
- : Camera::Private(pipe), state_(State::Stopped),
- flipsAlterBayerOrder_(false), dropFrameCount_(0),
- buffersAllocated_(false), ispOutputCount_(0)
- {
- }
-
- ~RPiCameraData()
- {
- freeBuffers();
- }
-
- void freeBuffers();
- void frameStarted(uint32_t sequence);
-
- int loadIPA(ipa::RPi::InitResult *result);
- int configureIPA(const CameraConfiguration *config, ipa::RPi::ConfigResult *result);
- int loadPipelineConfiguration();
-
- void enumerateVideoDevices(MediaLink *link);
-
- void processStatsComplete(const ipa::RPi::BufferIds &buffers);
- void metadataReady(const ControlList &metadata);
- void prepareIspComplete(const ipa::RPi::BufferIds &buffers);
- void setIspControls(const ControlList &controls);
- void setDelayedControls(const ControlList &controls, uint32_t delayContext);
- void setLensControls(const ControlList &controls);
- void setCameraTimeout(uint32_t maxExposureTimeMs);
- void setSensorControls(ControlList &controls);
- void unicamTimeout();
-
- /* 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();
- Rectangle scaleIspCrop(const Rectangle &ispCrop) const;
- void applyScalerCrop(const ControlList &controls);
-
- std::unique_ptr<ipa::RPi::IPAProxyRPi> ipa_;
-
- std::unique_ptr<CameraSensor> sensor_;
- SensorFormats sensorFormats_;
- /* 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> bufferIds_;
- /*
- * Stores a cascade of Video Mux or Bridge devices between the sensor and
- * Unicam together with media link across the entities.
- */
- std::vector<std::pair<std::unique_ptr<V4L2Subdevice>, MediaLink *>> bridgeDevices_;
-
- /* DMAHEAP allocation helper. */
- RPi::DmaHeap dmaHeap_;
- SharedFD lsTable_;
-
- std::unique_ptr<RPi::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, Error };
- State state_;
-
- bool isRunning()
- {
- return state_ != State::Stopped && state_ != State::Error;
- }
-
- struct BayerFrame {
- FrameBuffer *buffer;
- ControlList controls;
- unsigned int delayContext;
- };
-
- std::queue<BayerFrame> bayerQueue_;
- std::queue<FrameBuffer *> embeddedQueue_;
- std::deque<Request *> requestQueue_;
-
- /*
- * Store the "native" Bayer order (that is, with no transforms
- * applied).
- */
- 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_;
-
- /*
- * If set, this stores the value that represets a gain of one for
- * the V4L2_CID_NOTIFY_GAINS control.
- */
- std::optional<int32_t> notifyGainsUnity_;
-
- /* Have internal buffers been allocated? */
- bool buffersAllocated_;
-
- struct Config {
- /*
- * The minimum number of internal buffers to be allocated for
- * the Unicam Image stream.
- */
- unsigned int minUnicamBuffers;
- /*
- * The minimum total (internal + external) buffer count used for
- * the Unicam Image stream.
- *
- * Note that:
- * minTotalUnicamBuffers must be >= 1, and
- * minTotalUnicamBuffers >= minUnicamBuffers
- */
- unsigned int minTotalUnicamBuffers;
- /*
- * Override any request from the IPA to drop a number of startup
- * frames.
- */
- bool disableStartupFrameDrops;
- /*
- * Override the Unicam timeout value calculated by the IPA based
- * on frame durations.
- */
- unsigned int unicamTimeoutValue;
- };
-
- Config config_;
-
-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);
-
- CameraConfiguration::Status validateColorSpaces(ColorSpaceFlags flags);
- Status validate() override;
-
- /* Cache the combinedTransform_ that will be applied to the sensor */
- Transform combinedTransform_;
-
-private:
- const RPiCameraData *data_;
-
- /*
- * Store the colour spaces that all our streams will have. RGB format streams
- * will have the same colorspace as YUV streams, with YCbCr field cleared and
- * range set to full.
- */
- std::optional<ColorSpace> yuvColorSpace_;
- std::optional<ColorSpace> rgbColorSpace_;
-};
-
-class PipelineHandlerRPi : public PipelineHandler
-{
-public:
- PipelineHandlerRPi(CameraManager *manager);
-
- std::unique_ptr<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 stopDevice(Camera *camera) override;
-
- int queueRequestDevice(Camera *camera, Request *request) override;
-
- bool match(DeviceEnumerator *enumerator) override;
-
- void releaseDevice(Camera *camera) override;
-
-private:
- RPiCameraData *cameraData(Camera *camera)
- {
- return static_cast<RPiCameraData *>(camera->_d());
- }
-
- int registerCamera(MediaDevice *unicam, MediaDevice *isp, MediaEntity *sensorEntity);
- int queueAllBuffers(Camera *camera);
- int prepareBuffers(Camera *camera);
- void mapBuffers(Camera *camera, const RPi::BufferMap &buffers, unsigned int mask);
-};
-
-RPiCameraConfiguration::RPiCameraConfiguration(const RPiCameraData *data)
- : CameraConfiguration(), data_(data)
-{
-}
-
-static const std::vector<ColorSpace> validColorSpaces = {
- ColorSpace::Sycc,
- ColorSpace::Smpte170m,
- ColorSpace::Rec709
-};
-
-static std::optional<ColorSpace> findValidColorSpace(const ColorSpace &colourSpace)
-{
- for (auto cs : validColorSpaces) {
- if (colourSpace.primaries == cs.primaries &&
- colourSpace.transferFunction == cs.transferFunction)
- return cs;
- }
-
- return std::nullopt;
-}
-
-static bool isRgb(const PixelFormat &pixFmt)
-{
- const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt);
- return info.colourEncoding == PixelFormatInfo::ColourEncodingRGB;
-}
-
-static bool isYuv(const PixelFormat &pixFmt)
-{
- /* The code below would return true for raw mono streams, so weed those out first. */
- if (isRaw(pixFmt))
- return false;
-
- const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt);
- return info.colourEncoding == PixelFormatInfo::ColourEncodingYUV;
-}
-
-/*
- * Raspberry Pi drivers expect the following colour spaces:
- * - V4L2_COLORSPACE_RAW for raw streams.
- * - One of V4L2_COLORSPACE_JPEG, V4L2_COLORSPACE_SMPTE170M, V4L2_COLORSPACE_REC709 for
- * non-raw streams. Other fields such as transfer function, YCbCr encoding and
- * quantisation are not used.
- *
- * The libcamera colour spaces that we wish to use corresponding to these are therefore:
- * - ColorSpace::Raw for V4L2_COLORSPACE_RAW
- * - ColorSpace::Sycc for V4L2_COLORSPACE_JPEG
- * - ColorSpace::Smpte170m for V4L2_COLORSPACE_SMPTE170M
- * - ColorSpace::Rec709 for V4L2_COLORSPACE_REC709
- */
-
-CameraConfiguration::Status RPiCameraConfiguration::validateColorSpaces([[maybe_unused]] ColorSpaceFlags flags)
-{
- Status status = Valid;
- yuvColorSpace_.reset();
-
- for (auto cfg : config_) {
- /* First fix up raw streams to have the "raw" colour space. */
- if (isRaw(cfg.pixelFormat)) {
- /* If there was no value here, that doesn't count as "adjusted". */
- if (cfg.colorSpace && cfg.colorSpace != ColorSpace::Raw)
- status = Adjusted;
- cfg.colorSpace = ColorSpace::Raw;
- continue;
- }
-
- /* Next we need to find our shared colour space. The first valid one will do. */
- if (cfg.colorSpace && !yuvColorSpace_)
- yuvColorSpace_ = findValidColorSpace(cfg.colorSpace.value());
- }
-
- /* If no colour space was given anywhere, choose sYCC. */
- if (!yuvColorSpace_)
- yuvColorSpace_ = ColorSpace::Sycc;
-
- /* Note the version of this that any RGB streams will have to use. */
- rgbColorSpace_ = yuvColorSpace_;
- rgbColorSpace_->ycbcrEncoding = ColorSpace::YcbcrEncoding::None;
- rgbColorSpace_->range = ColorSpace::Range::Full;
-
- /* Go through the streams again and force everyone to the same colour space. */
- for (auto cfg : config_) {
- if (cfg.colorSpace == ColorSpace::Raw)
- continue;
-
- if (isYuv(cfg.pixelFormat) && cfg.colorSpace != yuvColorSpace_) {
- /* Again, no value means "not adjusted". */
- if (cfg.colorSpace)
- status = Adjusted;
- cfg.colorSpace = yuvColorSpace_;
- }
- if (isRgb(cfg.pixelFormat) && cfg.colorSpace != rgbColorSpace_) {
- /* Be nice, and let the YUV version count as non-adjusted too. */
- if (cfg.colorSpace && cfg.colorSpace != yuvColorSpace_)
- status = Adjusted;
- cfg.colorSpace = rgbColorSpace_;
- }
- }
-
- return status;
-}
-
-CameraConfiguration::Status RPiCameraConfiguration::validate()
-{
- Status status = Valid;
-
- if (config_.empty())
- return Invalid;
-
- status = validateColorSpaces(ColorSpaceFlag::StreamsShareColorSpace);
-
- /*
- * Validate the requested transform against the sensor capabilities and
- * rotation and store the final combined transform that configure() will
- * need to apply to the sensor to save us working it out again.
- */
- Transform requestedTransform = transform;
- combinedTransform_ = data_->sensor_->validateTransform(&transform);
- if (transform != requestedTransform)
- status = Adjusted;
-
- 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 *unicam = data_->unicam_[Unicam::Image].dev();
- const PixelFormatInfo &info = PixelFormatInfo::info(cfg.pixelFormat);
- unsigned int bitDepth = info.isValid() ? info.bitsPerPixel : defaultRawBitDepth;
- V4L2SubdeviceFormat sensorFormat = findBestFormat(data_->sensorFormats_, cfg.size, bitDepth);
- BayerFormat::Packing packing = BayerFormat::Packing::CSI2;
- if (info.isValid() && !info.packed)
- packing = BayerFormat::Packing::None;
- V4L2DeviceFormat unicamFormat = toV4L2DeviceFormat(unicam, sensorFormat, packing);
- int ret = unicam->tryFormat(&unicamFormat);
- 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 = unicamFormat.fourcc;
- if (data_->flipsAlterBayerOrder_) {
- BayerFormat bayer = BayerFormat::fromV4L2PixelFormat(fourcc);
- bayer.order = data_->nativeBayerOrder_;
- bayer = bayer.transform(combinedTransform_);
- fourcc = bayer.toV4L2PixelFormat();
- }
-
- PixelFormat unicamPixFormat = fourcc.toPixelFormat();
- if (cfg.size != unicamFormat.size ||
- cfg.pixelFormat != unicamPixFormat) {
- cfg.size = unicamFormat.size;
- cfg.pixelFormat = unicamPixFormat;
- status = Adjusted;
- }
-
- cfg.stride = unicamFormat.planes[0].bpl;
- cfg.frameSize = unicamFormat.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(dev->toV4L2PixelFormat(cfgPixFmt)) == 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;
- /* We want to send the associated YCbCr info through to the driver. */
- format.colorSpace = yuvColorSpace_;
-
- LOG(RPI, Debug)
- << "Try color space " << ColorSpace::toString(cfg.colorSpace);
-
- int ret = dev->tryFormat(&format);
- if (ret)
- return Invalid;
-
- /*
- * But for RGB streams, the YCbCr info gets overwritten on the way back
- * so we must check against what the stream cfg says, not what we actually
- * requested (which carefully included the YCbCr info)!
- */
- if (cfg.colorSpace != format.colorSpace) {
- status = Adjusted;
- LOG(RPI, Debug)
- << "Color space changed from "
- << ColorSpace::toString(cfg.colorSpace) << " to "
- << ColorSpace::toString(format.colorSpace);
- }
-
- cfg.colorSpace = format.colorSpace;
-
- cfg.stride = format.planes[0].bpl;
- cfg.frameSize = format.planes[0].size;
-
- }
-
- return status;
-}
-
-PipelineHandlerRPi::PipelineHandlerRPi(CameraManager *manager)
- : PipelineHandler(manager)
-{
-}
-
-std::unique_ptr<CameraConfiguration>
-PipelineHandlerRPi::generateConfiguration(Camera *camera, const StreamRoles &roles)
-{
- RPiCameraData *data = cameraData(camera);
- std::unique_ptr<CameraConfiguration> config =
- std::make_unique<RPiCameraConfiguration>(data);
- V4L2SubdeviceFormat sensorFormat;
- unsigned int bufferCount;
- PixelFormat pixelFormat;
- V4L2VideoDevice::Formats fmts;
- Size size;
- std::optional<ColorSpace> colorSpace;
-
- if (roles.empty())
- return config;
-
- unsigned int rawCount = 0;
- unsigned int outCount = 0;
- Size sensorSize = data->sensor_->resolution();
- for (const StreamRole role : roles) {
- switch (role) {
- case StreamRole::Raw:
- size = sensorSize;
- sensorFormat = findBestFormat(data->sensorFormats_, size, defaultRawBitDepth);
- pixelFormat = mbusCodeToPixelFormat(sensorFormat.mbus_code,
- BayerFormat::Packing::CSI2);
- ASSERT(pixelFormat.isValid());
- colorSpace = ColorSpace::Raw;
- bufferCount = 2;
- rawCount++;
- break;
-
- case StreamRole::StillCapture:
- fmts = data->isp_[Isp::Output0].dev()->formats();
- pixelFormat = formats::NV12;
- /*
- * Still image codecs usually expect the sYCC color space.
- * Even RGB codecs will be fine as the RGB we get with the
- * sYCC color space is the same as sRGB.
- */
- colorSpace = ColorSpace::Sycc;
- /* Return the largest sensor resolution. */
- size = sensorSize;
- 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;
- /*
- * Choose a color space appropriate for video recording.
- * Rec.709 will be a good default for HD resolutions.
- */
- colorSpace = ColorSpace::Rec709;
- size = { 1920, 1080 };
- bufferCount = 4;
- outCount++;
- break;
-
- case StreamRole::Viewfinder:
- fmts = data->isp_[Isp::Output0].dev()->formats();
- pixelFormat = formats::ARGB8888;
- colorSpace = ColorSpace::Sycc;
- size = { 800, 600 };
- bufferCount = 4;
- outCount++;
- break;
-
- default:
- LOG(RPI, Error) << "Requested stream role not supported: "
- << role;
- return nullptr;
- }
-
- if (rawCount > 1 || outCount > 2) {
- LOG(RPI, Error) << "Invalid stream roles requested";
- return nullptr;
- }
-
- std::map<PixelFormat, std::vector<SizeRange>> deviceFormats;
- if (role == StreamRole::Raw) {
- /* Translate the MBUS codes to a PixelFormat. */
- for (const auto &format : data->sensorFormats_) {
- PixelFormat pf = mbusCodeToPixelFormat(format.first,
- BayerFormat::Packing::CSI2);
- if (pf.isValid())
- deviceFormats.emplace(std::piecewise_construct, std::forward_as_tuple(pf),
- std::forward_as_tuple(format.second.begin(), format.second.end()));
- }
- } else {
- /*
- * Translate the V4L2PixelFormat to PixelFormat. Note that we
- * limit the recommended largest ISP output size to match the
- * sensor resolution.
- */
- for (const auto &format : fmts) {
- PixelFormat pf = format.first.toPixelFormat();
- if (pf.isValid()) {
- const SizeRange &ispSizes = format.second[0];
- deviceFormats[pf].emplace_back(ispSizes.min, sensorSize,
- ispSizes.hStep, ispSizes.vStep);
- }
- }
- }
-
- /* 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.colorSpace = colorSpace;
- 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 freeing all buffers and reset the Unicam and ISP stream states. */
- data->freeBuffers();
- for (auto const stream : data->streams_)
- stream->setExternal(false);
-
- BayerFormat::Packing packing = BayerFormat::Packing::CSI2;
- Size maxSize, sensorSize;
- unsigned int maxIndex = 0;
- bool rawStream = false;
- unsigned int bitDepth = defaultRawBitDepth;
-
- /*
- * 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;
- /* Check if the user has explicitly set an unpacked format. */
- BayerFormat bayerFormat = BayerFormat::fromPixelFormat(cfg.pixelFormat);
- packing = bayerFormat.packing;
- bitDepth = bayerFormat.bitDepth;
- } else {
- if (cfg.size > maxSize) {
- maxSize = config->at(i).size;
- maxIndex = i;
- }
- }
- }
-
- /*
- * Calculate the best sensor mode we can use based on the user's
- * request, and apply it to the sensor with the cached transform, if
- * any.
- */
- V4L2SubdeviceFormat sensorFormat = findBestFormat(data->sensorFormats_, rawStream ? sensorSize : maxSize, bitDepth);
- const RPiCameraConfiguration *rpiConfig = static_cast<const RPiCameraConfiguration *>(config);
- ret = data->sensor_->setFormat(&sensorFormat, rpiConfig->combinedTransform_);
- if (ret)
- return ret;
-
- V4L2VideoDevice *unicam = data->unicam_[Unicam::Image].dev();
- V4L2DeviceFormat unicamFormat = toV4L2DeviceFormat(unicam, sensorFormat, packing);
- ret = unicam->setFormat(&unicamFormat);
- if (ret)
- return ret;
-
- LOG(RPI, Info) << "Sensor: " << camera->id()
- << " - Selected sensor format: " << sensorFormat
- << " - Selected unicam format: " << unicamFormat;
-
- ret = data->isp_[Isp::Input].dev()->setFormat(&unicamFormat);
- 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;
- format.colorSpace = cfg.colorSpace;
-
- LOG(RPI, Debug) << "Setting " << stream->name() << " to "
- << format;
-
- 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;
- return -EINVAL;
- }
-
- LOG(RPI, Debug)
- << "Stream " << stream->name() << " has color space "
- << ColorSpace::toString(cfg.colorSpace);
-
- 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) {
- V4L2VideoDevice *dev = data->isp_[Isp::Output0].dev();
-
- maxSize = Size(320, 240);
- format = {};
- format.size = maxSize;
- format.fourcc = dev->toV4L2PixelFormat(formats::YUV420);
- /* No one asked for output, so the color space doesn't matter. */
- format.colorSpace = ColorSpace::Sycc;
- ret = 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;
- }
-
- /*
- * 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) {
- V4L2VideoDevice *dev = data->isp_[Isp::Output1].dev();
-
- V4L2DeviceFormat output1Format;
- constexpr Size maxDimensions(1200, 1200);
- const Size limit = maxDimensions.boundedToAspectRatio(format.size);
-
- output1Format.size = (format.size / 2).boundedTo(limit).alignedDownTo(2, 2);
- output1Format.colorSpace = format.colorSpace;
- output1Format.fourcc = dev->toV4L2PixelFormat(formats::YUV420);
-
- LOG(RPI, Debug) << "Setting ISP Output1 (internal) to "
- << output1Format;
-
- ret = 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;
- 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 = unicamFormat.size.boundedToAspectRatio(maxSize);
- Rectangle crop = size.centeredTo(Rectangle(unicamFormat.size).center());
- Rectangle defaultCrop = crop;
- data->ispCrop_ = crop;
-
- data->isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &crop);
-
- ipa::RPi::ConfigResult result;
- ret = data->configureIPA(config, &result);
- if (ret)
- LOG(RPI, Error) << "Failed to configure the IPA: " << ret;
-
- /*
- * Set the scaler crop to the value we are using (scaled to native sensor
- * coordinates).
- */
- data->scalerCrop_ = data->scaleIspCrop(data->ispCrop_);
-
- /*
- * Configure the Unicam embedded data output format only if the sensor
- * supports it.
- */
- if (data->sensorMetadata_) {
- V4L2SubdeviceFormat embeddedFormat;
-
- data->sensor_->device()->getFormat(1, &embeddedFormat);
- format.fourcc = V4L2PixelFormat(V4L2_META_FMT_SENSOR_DATA);
- format.planes[0].size = embeddedFormat.size.width * embeddedFormat.size.height;
-
- 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;
- return 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);
-
- /* Store the mode sensitivity for the application. */
- data->properties_.set(properties::SensorSensitivity, result.modeSensitivity);
-
- /* Update the controls that the Raspberry Pi IPA can handle. */
- ControlInfoMap::Map ctrlMap;
- for (auto const &c : result.controlInfo)
- ctrlMap.emplace(c.first, c.second);
-
- /* Add the ScalerCrop control limits based on the current mode. */
- Rectangle ispMinCrop = data->scaleIspCrop(Rectangle(data->ispMinCropSize_));
- defaultCrop = data->scaleIspCrop(defaultCrop);
- ctrlMap[&controls::ScalerCrop] = ControlInfo(ispMinCrop, data->sensorInfo_.analogCrop, defaultCrop);
-
- data->controlInfo_ = ControlInfoMap(std::move(ctrlMap), result.controlInfo.idmap());
-
- /* Setup the Video Mux/Bridge entities. */
- for (auto &[device, link] : data->bridgeDevices_) {
- /*
- * Start by disabling all the sink pad links on the devices in the
- * cascade, with the exception of the link connecting the device.
- */
- for (const MediaPad *p : device->entity()->pads()) {
- if (!(p->flags() & MEDIA_PAD_FL_SINK))
- continue;
-
- for (MediaLink *l : p->links()) {
- if (l != link)
- l->setEnabled(false);
- }
- }
-
- /*
- * Next, enable the entity -> entity links, and setup the pad format.
- *
- * \todo Some bridge devices may chainge the media bus code, so we
- * ought to read the source pad format and propagate it to the sink pad.
- */
- link->setEnabled(true);
- const MediaPad *sinkPad = link->sink();
- ret = device->setFormat(sinkPad->index(), &sensorFormat);
- if (ret) {
- LOG(RPI, Error) << "Failed to set format on " << device->entity()->name()
- << " pad " << sinkPad->index()
- << " with format " << format
- << ": " << ret;
- return ret;
- }
-
- LOG(RPI, Debug) << "Configured media link on device " << device->entity()->name()
- << " on pad " << sinkPad->index();
- }
-
- 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;
-
- /* Check if a ScalerCrop control was specified. */
- if (controls)
- data->applyScalerCrop(*controls);
-
- /* Start the IPA. */
- ipa::RPi::StartResult result;
- data->ipa_->start(controls ? *controls : ControlList{ controls::controls },
- &result);
-
- /* Apply any gain/exposure settings that the IPA may have passed back. */
- if (!result.controls.empty())
- data->setSensorControls(result.controls);
-
- /* Configure the number of dropped frames required on startup. */
- data->dropFrameCount_ = data->config_.disableStartupFrameDrops
- ? 0 : result.dropFrameCount;
-
- for (auto const stream : data->streams_)
- stream->resetBuffers();
-
- if (!data->buffersAllocated_) {
- /* Allocate buffers for internal pipeline usage. */
- ret = prepareBuffers(camera);
- if (ret) {
- LOG(RPI, Error) << "Failed to allocate buffers";
- data->freeBuffers();
- stop(camera);
- return ret;
- }
- data->buffersAllocated_ = true;
- }
-
- /* 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;
- }
-
- /* 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(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::stopDevice(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();
-}
-
-int PipelineHandlerRPi::queueRequestDevice(Camera *camera, Request *request)
-{
- RPiCameraData *data = cameraData(camera);
-
- if (!data->isRunning())
- 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)) {
- /*
- * 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)
-{
- constexpr unsigned int numUnicamDevices = 2;
-
- /*
- * Loop over all Unicam instances, but return out once a match is found.
- * This is to ensure we correctly enumrate the camera when an instance
- * of Unicam has registered with media controller, but has not registered
- * device nodes due to a sensor subdevice failure.
- */
- for (unsigned int i = 0; i < numUnicamDevices; i++) {
- DeviceMatch unicam("unicam");
- MediaDevice *unicamDevice = acquireMediaDevice(enumerator, unicam);
-
- if (!unicamDevice) {
- LOG(RPI, Debug) << "Unable to acquire a Unicam instance";
- continue;
- }
-
- DeviceMatch isp("bcm2835-isp");
- MediaDevice *ispDevice = acquireMediaDevice(enumerator, isp);
-
- if (!ispDevice) {
- LOG(RPI, Debug) << "Unable to acquire ISP instance";
- continue;
- }
-
- /*
- * The loop below is used to register multiple cameras behind one or more
- * video mux devices that are attached to a particular Unicam instance.
- * Obviously these cameras cannot be used simultaneously.
- */
- unsigned int numCameras = 0;
- for (MediaEntity *entity : unicamDevice->entities()) {
- if (entity->function() != MEDIA_ENT_F_CAM_SENSOR)
- continue;
-
- int ret = registerCamera(unicamDevice, ispDevice, entity);
- if (ret)
- LOG(RPI, Error) << "Failed to register camera "
- << entity->name() << ": " << ret;
- else
- numCameras++;
- }
-
- if (numCameras)
- return true;
- }
-
- return false;
-}
-
-void PipelineHandlerRPi::releaseDevice(Camera *camera)
-{
- RPiCameraData *data = cameraData(camera);
- data->freeBuffers();
-}
-
-int PipelineHandlerRPi::registerCamera(MediaDevice *unicam, MediaDevice *isp, MediaEntity *sensorEntity)
-{
- std::unique_ptr<RPiCameraData> data = std::make_unique<RPiCameraData>(this);
-
- if (!data->dmaHeap_.isValid())
- return -ENOMEM;
-
- MediaEntity *unicamImage = unicam->getEntityByName("unicam-image");
- MediaEntity *ispOutput0 = isp->getEntityByName("bcm2835-isp0-output0");
- MediaEntity *ispCapture1 = isp->getEntityByName("bcm2835-isp0-capture1");
- MediaEntity *ispCapture2 = isp->getEntityByName("bcm2835-isp0-capture2");
- MediaEntity *ispCapture3 = isp->getEntityByName("bcm2835-isp0-capture3");
-
- if (!unicamImage || !ispOutput0 || !ispCapture1 || !ispCapture2 || !ispCapture3)
- return -ENOENT;
-
- /* Locate and open the unicam video streams. */
- data->unicam_[Unicam::Image] = RPi::Stream("Unicam Image", unicamImage);
-
- /* An embedded data node will not be present if the sensor does not support it. */
- MediaEntity *unicamEmbedded = unicam->getEntityByName("unicam-embedded");
- if (unicamEmbedded) {
- data->unicam_[Unicam::Embedded] = RPi::Stream("Unicam Embedded", unicamEmbedded);
- data->unicam_[Unicam::Embedded].dev()->bufferReady.connect(data.get(),
- &RPiCameraData::unicamBufferDequeue);
- }
-
- /* Tag the ISP input stream as an import stream. */
- data->isp_[Isp::Input] = RPi::Stream("ISP Input", ispOutput0, true);
- data->isp_[Isp::Output0] = RPi::Stream("ISP Output0", ispCapture1);
- data->isp_[Isp::Output1] = RPi::Stream("ISP Output1", ispCapture2);
- data->isp_[Isp::Stats] = RPi::Stream("ISP Stats", ispCapture3);
-
- /* Wire up all the buffer connections. */
- data->unicam_[Unicam::Image].dev()->dequeueTimeout.connect(data.get(), &RPiCameraData::unicamTimeout);
- data->unicam_[Unicam::Image].dev()->frameStart.connect(data.get(), &RPiCameraData::frameStarted);
- data->unicam_[Unicam::Image].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);
-
- data->sensor_ = std::make_unique<CameraSensor>(sensorEntity);
- if (!data->sensor_)
- return -EINVAL;
-
- if (data->sensor_->init())
- return -EINVAL;
-
- /*
- * Enumerate all the Video Mux/Bridge devices across the sensor -> unicam
- * chain. There may be a cascade of devices in this chain!
- */
- MediaLink *link = sensorEntity->getPadByIndex(0)->links()[0];
- data->enumerateVideoDevices(link);
-
- data->sensorFormats_ = populateSensorFormats(data->sensor_);
-
- ipa::RPi::InitResult result;
- if (data->loadIPA(&result)) {
- LOG(RPI, Error) << "Failed to load a suitable IPA library";
- return -EINVAL;
- }
-
- if (result.sensorConfig.sensorMetadata ^ !!unicamEmbedded) {
- LOG(RPI, Warning) << "Mismatch between Unicam and CamHelper for embedded data usage!";
- result.sensorConfig.sensorMetadata = false;
- if (unicamEmbedded)
- data->unicam_[Unicam::Embedded].dev()->bufferReady.disconnect();
- }
-
- /*
- * 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 (result.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_) {
- int ret = stream->dev()->open();
- if (ret)
- return ret;
- }
-
- if (!data->unicam_[Unicam::Image].dev()->caps().hasMediaController()) {
- LOG(RPI, Error) << "Unicam driver does not use the MediaController, please update your kernel!";
- return -EINVAL;
- }
-
- /*
- * Setup our delayed control writer with the sensor default
- * gain and exposure delays. Mark VBLANK for priority write.
- */
- std::unordered_map<uint32_t, RPi::DelayedControls::ControlParams> params = {
- { V4L2_CID_ANALOGUE_GAIN, { result.sensorConfig.gainDelay, false } },
- { V4L2_CID_EXPOSURE, { result.sensorConfig.exposureDelay, false } },
- { V4L2_CID_HBLANK, { result.sensorConfig.hblankDelay, false } },
- { V4L2_CID_VBLANK, { result.sensorConfig.vblankDelay, true } }
- };
- data->delayedCtrls_ = std::make_unique<RPi::DelayedControls>(data->sensor_->device(), params);
- data->sensorMetadata_ = result.sensorConfig.sensorMetadata;
-
- /* Register initial controls that the Raspberry Pi IPA can handle. */
- data->controlInfo_ = std::move(result.controlInfo);
-
- /* Initialize the camera properties. */
- data->properties_ = data->sensor_->properties();
-
- /*
- * The V4L2_CID_NOTIFY_GAINS control, if present, is used to inform the
- * sensor of the colour gains. It is defined to be a linear gain where
- * the default value represents a gain of exactly one.
- */
- auto it = data->sensor_->controls().find(V4L2_CID_NOTIFY_GAINS);
- if (it != data->sensor_->controls().end())
- data->notifyGainsUnity_ = it->second.def().get<int32_t>();
-
- /*
- * 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 two things about the sensor in relation to transforms
- * (meaning horizontal and vertical flips): if they affect the Bayer
- * ordering, and what the "native" Bayer order is, when no transforms
- * are applied.
- *
- * We note that the sensor's cached list of supported formats is
- * already in the "native" order, with any flips having been undone.
- */
- const V4L2Subdevice *sensor = data->sensor_->device();
- const struct v4l2_query_ext_ctrl *hflipCtrl = sensor->controlInfo(V4L2_CID_HFLIP);
- if (hflipCtrl) {
- /* We assume it will support vflips too... */
- data->flipsAlterBayerOrder_ = hflipCtrl->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT;
- }
-
- /* Look for a valid Bayer format. */
- BayerFormat bayerFormat;
- for (const auto &iter : data->sensorFormats_) {
- bayerFormat = BayerFormat::fromMbusCode(iter.first);
- if (bayerFormat.isValid())
- break;
- }
-
- if (!bayerFormat.isValid()) {
- LOG(RPI, Error) << "No Bayer format found";
- return -EINVAL;
- }
- 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]);
-
- int ret = data->loadPipelineConfiguration();
- if (ret) {
- LOG(RPI, Error) << "Unable to load pipeline configuration";
- return ret;
- }
-
- /* Create and register the camera. */
- const std::string &id = data->sensor_->id();
- std::shared_ptr<Camera> camera =
- Camera::create(std::move(data), id, streams);
- PipelineHandler::registerCamera(std::move(camera));
-
- LOG(RPI, Info) << "Registered camera " << id
- << " to Unicam device " << unicam->deviceNode()
- << " and ISP device " << isp->deviceNode();
- return 0;
-}
-
-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);
- unsigned int numRawBuffers = 0;
- int ret;
-
- for (Stream *s : camera->streams()) {
- if (isRaw(s->configuration().pixelFormat)) {
- numRawBuffers = s->configuration().bufferCount;
- break;
- }
- }
-
- /* Decide how many internal buffers to allocate. */
- for (auto const stream : data->streams_) {
- unsigned int numBuffers;
- /*
- * For Unicam, allocate a minimum number of buffers for internal
- * use as we want to avoid any frame drops.
- */
- const unsigned int minBuffers = data->config_.minTotalUnicamBuffers;
- if (stream == &data->unicam_[Unicam::Image]) {
- /*
- * If an application has configured a RAW stream, allocate
- * additional buffers to make up the minimum, but ensure
- * we have at least minUnicamBuffers of internal buffers
- * to use to minimise frame drops.
- */
- numBuffers = std::max<int>(data->config_.minUnicamBuffers,
- minBuffers - numRawBuffers);
- } else if (stream == &data->isp_[Isp::Input]) {
- /*
- * ISP input buffers are imported from Unicam, so follow
- * similar logic as above to count all the RAW buffers
- * available.
- */
- numBuffers = numRawBuffers +
- std::max<int>(data->config_.minUnicamBuffers,
- minBuffers - numRawBuffers);
-
- } else if (stream == &data->unicam_[Unicam::Embedded]) {
- /*
- * Embedded data buffers are (currently) for internal use,
- * so allocate the minimum required to avoid frame drops.
- */
- numBuffers = minBuffers;
- } else {
- /*
- * Since the ISP runs synchronous with the IPA and requests,
- * we only ever need one set of internal buffers. Any buffers
- * the application wants to hold onto will already be exported
- * through PipelineHandlerRPi::exportFrameBuffers().
- */
- numBuffers = 1;
- }
-
- ret = stream->prepareBuffers(numBuffers);
- 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(), RPi::MaskStats);
- if (data->sensorMetadata_)
- mapBuffers(camera, data->unicam_[Unicam::Embedded].getBuffers(),
- RPi::MaskEmbeddedData);
-
- return 0;
-}
-
-void PipelineHandlerRPi::mapBuffers(Camera *camera, const RPi::BufferMap &buffers, unsigned int mask)
-{
- RPiCameraData *data = cameraData(camera);
- std::vector<IPABuffer> bufferIds;
- /*
- * 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) {
- bufferIds.push_back(IPABuffer(mask | it.first,
- it.second->planes()));
- data->bufferIds_.insert(mask | it.first);
- }
-
- data->ipa_->mapBuffers(bufferIds);
-}
-
-void RPiCameraData::freeBuffers()
-{
- if (ipa_) {
- /*
- * Copy the buffer ids from the unordered_set to a vector to
- * pass to the IPA.
- */
- std::vector<unsigned int> bufferIds(bufferIds_.begin(),
- bufferIds_.end());
- ipa_->unmapBuffers(bufferIds);
- bufferIds_.clear();
- }
-
- for (auto const stream : streams_)
- stream->releaseBuffers();
-
- buffersAllocated_ = false;
-}
-
-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::InitResult *result)
-{
- ipa_ = IPAManager::createIPA<ipa::RPi::IPAProxyRPi>(pipe(), 1, 1);
-
- if (!ipa_)
- return -ENOENT;
-
- ipa_->processStatsComplete.connect(this, &RPiCameraData::processStatsComplete);
- ipa_->prepareIspComplete.connect(this, &RPiCameraData::prepareIspComplete);
- ipa_->metadataReady.connect(this, &RPiCameraData::metadataReady);
- ipa_->setIspControls.connect(this, &RPiCameraData::setIspControls);
- ipa_->setDelayedControls.connect(this, &RPiCameraData::setDelayedControls);
- ipa_->setLensControls.connect(this, &RPiCameraData::setLensControls);
- ipa_->setCameraTimeout.connect(this, &RPiCameraData::setCameraTimeout);
-
- /*
- * 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') {
- std::string model = sensor_->model();
- if (isMonoSensor(sensor_))
- model += "_mono";
- configurationFile = ipa_->configurationFile(model + ".json");
- } else {
- configurationFile = std::string(configFromEnv);
- }
-
- IPASettings settings(configurationFile, sensor_->model());
- ipa::RPi::InitParams params;
-
- params.lensPresent = !!sensor_->focusLens();
- return ipa_->init(settings, params, result);
-}
-
-int RPiCameraData::configureIPA(const CameraConfiguration *config, ipa::RPi::ConfigResult *result)
-{
- std::map<unsigned int, ControlInfoMap> entityControls;
- ipa::RPi::ConfigParams params;
-
- /* \todo Move passing of ispControls and lensControls to ipa::init() */
- params.sensorControls = sensor_->controls();
- params.ispControls = isp_[Isp::Input].dev()->controls();
- if (sensor_->focusLens())
- params.lensControls = sensor_->focusLens()->controls();
-
- /* Always send the user transform to the IPA. */
- params.transform = static_cast<unsigned int>(config->transform);
-
- /* Allocate the lens shading table via dmaHeap and pass to the IPA. */
- if (!lsTable_.isValid()) {
- lsTable_ = SharedFD(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().
- */
- params.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. */
- ret = ipa_->configure(sensorInfo_, params, result);
- if (ret < 0) {
- LOG(RPI, Error) << "IPA configuration failed!";
- return -EPIPE;
- }
-
- if (!result->controls.empty())
- setSensorControls(result->controls);
-
- return 0;
-}
-
-int RPiCameraData::loadPipelineConfiguration()
-{
- config_ = {
- .minUnicamBuffers = 2,
- .minTotalUnicamBuffers = 4,
- .disableStartupFrameDrops = false,
- .unicamTimeoutValue = 0,
- };
-
- char const *configFromEnv = utils::secure_getenv("LIBCAMERA_RPI_CONFIG_FILE");
- if (!configFromEnv || *configFromEnv == '\0')
- return 0;
-
- std::string filename = std::string(configFromEnv);
- File file(filename);
-
- if (!file.open(File::OpenModeFlag::ReadOnly)) {
- LOG(RPI, Error) << "Failed to open configuration file '" << filename << "'";
- return -EIO;
- }
-
- LOG(RPI, Info) << "Using configuration file '" << filename << "'";
-
- std::unique_ptr<YamlObject> root = YamlParser::parse(file);
- if (!root) {
- LOG(RPI, Warning) << "Failed to parse configuration file, using defaults";
- return 0;
- }
-
- std::optional<double> ver = (*root)["version"].get<double>();
- if (!ver || *ver != 1.0) {
- LOG(RPI, Error) << "Unexpected configuration file version reported";
- return -EINVAL;
- }
-
- const YamlObject &phConfig = (*root)["pipeline_handler"];
- config_.minUnicamBuffers =
- phConfig["min_unicam_buffers"].get<unsigned int>(config_.minUnicamBuffers);
- config_.minTotalUnicamBuffers =
- phConfig["min_total_unicam_buffers"].get<unsigned int>(config_.minTotalUnicamBuffers);
- config_.disableStartupFrameDrops =
- phConfig["disable_startup_frame_drops"].get<bool>(config_.disableStartupFrameDrops);
- config_.unicamTimeoutValue =
- phConfig["unicam_timeout_value_ms"].get<unsigned int>(config_.unicamTimeoutValue);
-
- if (config_.unicamTimeoutValue) {
- /* Disable the IPA signal to control timeout and set the user requested value. */
- ipa_->setCameraTimeout.disconnect();
- unicam_[Unicam::Image].dev()->setDequeueTimeout(config_.unicamTimeoutValue * 1ms);
- }
-
- if (config_.minTotalUnicamBuffers < config_.minUnicamBuffers) {
- LOG(RPI, Error) << "Invalid configuration: min_total_unicam_buffers must be >= min_unicam_buffers";
- return -EINVAL;
- }
-
- if (config_.minTotalUnicamBuffers < 1) {
- LOG(RPI, Error) << "Invalid configuration: min_total_unicam_buffers must be >= 1";
- return -EINVAL;
- }
-
- return 0;
-}
-
-/*
- * enumerateVideoDevices() iterates over the Media Controller topology, starting
- * at the sensor and finishing at Unicam. For each sensor, RPiCameraData stores
- * a unique list of any intermediate video mux or bridge devices connected in a
- * cascade, together with the entity to entity link.
- *
- * Entity pad configuration and link enabling happens at the end of configure().
- * We first disable all pad links on each entity device in the chain, and then
- * selectively enabling the specific links to link sensor to Unicam across all
- * intermediate muxes and bridges.
- *
- * In the cascaded topology below, if Sensor1 is used, the Mux2 -> Mux1 link
- * will be disabled, and Sensor1 -> Mux1 -> Unicam links enabled. Alternatively,
- * if Sensor3 is used, the Sensor2 -> Mux2 and Sensor1 -> Mux1 links are disabled,
- * and Sensor3 -> Mux2 -> Mux1 -> Unicam links are enabled. All other links will
- * remain unchanged.
- *
- * +----------+
- * | Unicam |
- * +-----^----+
- * |
- * +---+---+
- * | Mux1 <-------+
- * +--^----+ |
- * | |
- * +-----+---+ +---+---+
- * | Sensor1 | | Mux2 |<--+
- * +---------+ +-^-----+ |
- * | |
- * +-------+-+ +---+-----+
- * | Sensor2 | | Sensor3 |
- * +---------+ +---------+
- */
-void RPiCameraData::enumerateVideoDevices(MediaLink *link)
-{
- const MediaPad *sinkPad = link->sink();
- const MediaEntity *entity = sinkPad->entity();
- bool unicamFound = false;
-
- /* We only deal with Video Mux and Bridge devices in cascade. */
- if (entity->function() != MEDIA_ENT_F_VID_MUX &&
- entity->function() != MEDIA_ENT_F_VID_IF_BRIDGE)
- return;
-
- /* Find the source pad for this Video Mux or Bridge device. */
- const MediaPad *sourcePad = nullptr;
- for (const MediaPad *pad : entity->pads()) {
- if (pad->flags() & MEDIA_PAD_FL_SOURCE) {
- /*
- * We can only deal with devices that have a single source
- * pad. If this device has multiple source pads, ignore it
- * and this branch in the cascade.
- */
- if (sourcePad)
- return;
-
- sourcePad = pad;
- }
- }
-
- LOG(RPI, Debug) << "Found video mux device " << entity->name()
- << " linked to sink pad " << sinkPad->index();
-
- bridgeDevices_.emplace_back(std::make_unique<V4L2Subdevice>(entity), link);
- bridgeDevices_.back().first->open();
-
- /*
- * Iterate through all the sink pad links down the cascade to find any
- * other Video Mux and Bridge devices.
- */
- for (MediaLink *l : sourcePad->links()) {
- enumerateVideoDevices(l);
- /* Once we reach the Unicam entity, we are done. */
- if (l->sink()->entity()->name() == "unicam-image") {
- unicamFound = true;
- break;
- }
- }
-
- /* This identifies the end of our entity enumeration recursion. */
- if (link->source()->entity()->function() == MEDIA_ENT_F_CAM_SENSOR) {
- /*
- * If Unicam is not at the end of this cascade, we cannot configure
- * this topology automatically, so remove all entity references.
- */
- if (!unicamFound) {
- LOG(RPI, Warning) << "Cannot automatically configure this MC topology!";
- bridgeDevices_.clear();
- }
- }
-}
-
-void RPiCameraData::processStatsComplete(const ipa::RPi::BufferIds &buffers)
-{
- if (!isRunning())
- return;
-
- FrameBuffer *buffer = isp_[Isp::Stats].getBuffers().at(buffers.stats & RPi::MaskID);
-
- handleStreamBuffer(buffer, &isp_[Isp::Stats]);
- state_ = State::IpaComplete;
- handleState();
-}
-
-void RPiCameraData::metadataReady(const ControlList &metadata)
-{
- if (!isRunning())
- return;
-
- /* Add to the Request metadata buffer what the IPA has provided. */
- Request *request = requestQueue_.front();
- request->metadata().merge(metadata);
-
- /*
- * Inform the sensor of the latest colour gains if it has the
- * V4L2_CID_NOTIFY_GAINS control (which means notifyGainsUnity_ is set).
- */
- const auto &colourGains = metadata.get(libcamera::controls::ColourGains);
- if (notifyGainsUnity_ && colourGains) {
- /* The control wants linear gains in the order B, Gb, Gr, R. */
- ControlList ctrls(sensor_->controls());
- std::array<int32_t, 4> gains{
- static_cast<int32_t>((*colourGains)[1] * *notifyGainsUnity_),
- *notifyGainsUnity_,
- *notifyGainsUnity_,
- static_cast<int32_t>((*colourGains)[0] * *notifyGainsUnity_)
- };
- ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ gains });
-
- sensor_->setControls(&ctrls);
- }
-}
-
-void RPiCameraData::prepareIspComplete(const ipa::RPi::BufferIds &buffers)
-{
- unsigned int embeddedId = buffers.embedded & RPi::MaskID;
- unsigned int bayer = buffers.bayer & RPi::MaskID;
- FrameBuffer *buffer;
-
- if (!isRunning())
- return;
-
- buffer = unicam_[Unicam::Image].getBuffers().at(bayer & RPi::MaskID);
- LOG(RPI, Debug) << "Input re-queue to ISP, buffer id " << (bayer & RPi::MaskID)
- << ", timestamp: " << buffer->metadata().timestamp;
-
- isp_[Isp::Input].queueBuffer(buffer);
- ispOutputCount_ = 0;
-
- if (sensorMetadata_ && embeddedId) {
- buffer = unicam_[Unicam::Embedded].getBuffers().at(embeddedId & RPi::MaskID);
- 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_.get();
- }
-
- isp_[Isp::Input].dev()->setControls(&ctrls);
- handleState();
-}
-
-void RPiCameraData::setDelayedControls(const ControlList &controls, uint32_t delayContext)
-{
- if (!delayedCtrls_->push(controls, delayContext))
- LOG(RPI, Error) << "V4L2 DelayedControl set failed";
- handleState();
-}
-
-void RPiCameraData::setLensControls(const ControlList &controls)
-{
- CameraLens *lens = sensor_->focusLens();
-
- if (lens && controls.contains(V4L2_CID_FOCUS_ABSOLUTE)) {
- ControlValue const &focusValue = controls.get(V4L2_CID_FOCUS_ABSOLUTE);
- lens->setFocusPosition(focusValue.get<int32_t>());
- }
-}
-
-void RPiCameraData::setCameraTimeout(uint32_t maxFrameLengthMs)
-{
- /*
- * Set the dequeue timeout to the larger of 5x the maximum reported
- * frame length advertised by the IPA over a number of frames. Allow
- * a minimum timeout value of 1s.
- */
- utils::Duration timeout =
- std::max<utils::Duration>(1s, 5 * maxFrameLengthMs * 1ms);
-
- LOG(RPI, Debug) << "Setting Unicam timeout to " << timeout;
- unicam_[Unicam::Image].dev()->setDequeueTimeout(timeout);
-}
-
-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.
- */
- if (controls.contains(V4L2_CID_EXPOSURE) && controls.contains(V4L2_CID_VBLANK)) {
- ControlList vblank_ctrl;
-
- vblank_ctrl.set(V4L2_CID_VBLANK, controls.get(V4L2_CID_VBLANK));
- sensor_->setControls(&vblank_ctrl);
- }
-
- sensor_->setControls(&controls);
-}
-
-void RPiCameraData::unicamTimeout()
-{
- LOG(RPI, Error) << "Unicam has timed out!";
- LOG(RPI, Error) << "Please check that your camera sensor connector is attached securely.";
- LOG(RPI, Error) << "Alternatively, try another cable and/or sensor.";
-
- state_ = RPiCameraData::State::Error;
- /*
- * To allow the application to attempt a recovery from this timeout,
- * stop all devices streaming, and return any outstanding requests as
- * incomplete and cancelled.
- */
- for (auto const stream : streams_)
- stream->dev()->streamOff();
-
- clearIncompleteRequests();
-}
-
-void RPiCameraData::unicamBufferDequeue(FrameBuffer *buffer)
-{
- RPi::Stream *stream = nullptr;
- int index;
-
- if (!isRunning())
- return;
-
- for (RPi::Stream &s : unicam_) {
- index = s.getBufferId(buffer);
- if (index) {
- stream = &s;
- break;
- }
- }
-
- /* The buffer must belong to one of our streams. */
- ASSERT(stream);
-
- LOG(RPI, Debug) << "Stream " << stream->name() << " buffer dequeue"
- << ", buffer id " << index
- << ", timestamp: " << buffer->metadata().timestamp;
-
- if (stream == &unicam_[Unicam::Image]) {
- /*
- * Lookup the sensor controls used for this frame sequence from
- * DelayedControl and queue them along with the frame buffer.
- */
- auto [ctrl, delayContext] = delayedCtrls_->get(buffer->metadata().sequence);
- /*
- * Add the frame timestamp to the ControlList for the IPA to use
- * as it does not receive the FrameBuffer object.
- */
- ctrl.set(controls::SensorTimestamp, buffer->metadata().timestamp);
- bayerQueue_.push({ buffer, std::move(ctrl), delayContext });
- } else {
- embeddedQueue_.push(buffer);
- }
-
- handleState();
-}
-
-void RPiCameraData::ispInputDequeue(FrameBuffer *buffer)
-{
- if (!isRunning())
- return;
-
- LOG(RPI, Debug) << "Stream ISP Input buffer complete"
- << ", buffer id " << unicam_[Unicam::Image].getBufferId(buffer)
- << ", timestamp: " << buffer->metadata().timestamp;
-
- /* The ISP input buffer gets re-queued into Unicam. */
- handleStreamBuffer(buffer, &unicam_[Unicam::Image]);
- handleState();
-}
-
-void RPiCameraData::ispOutputDequeue(FrameBuffer *buffer)
-{
- RPi::Stream *stream = nullptr;
- int index;
-
- if (!isRunning())
- return;
-
- for (RPi::Stream &s : isp_) {
- index = s.getBufferId(buffer);
- if (index) {
- stream = &s;
- break;
- }
- }
-
- /* The buffer must belong to one of our ISP output streams. */
- ASSERT(stream);
-
- LOG(RPI, Debug) << "Stream " << stream->name() << " buffer complete"
- << ", buffer id " << index
- << ", timestamp: " << buffer->metadata().timestamp;
-
- /*
- * ISP statistics buffer must not be re-queued or sent back to the
- * application until after the IPA signals so.
- */
- if (stream == &isp_[Isp::Stats]) {
- ipa::RPi::ProcessParams params;
- params.buffers.stats = index | RPi::MaskStats;
- params.ipaContext = requestQueue_.front()->sequence();
- ipa_->processStats(params);
- } else {
- /* Any other ISP output can be handed back to the application now. */
- handleStreamBuffer(buffer, stream);
- }
-
- /*
- * Increment the number of ISP outputs generated.
- * This is needed to track dropped frames.
- */
- ispOutputCount_++;
-
- handleState();
-}
-
-void RPiCameraData::clearIncompleteRequests()
-{
- /*
- * All outstanding requests (and associated buffers) must be returned
- * back to the application.
- */
- while (!requestQueue_.empty()) {
- Request *request = requestQueue_.front();
-
- for (auto &b : request->buffers()) {
- FrameBuffer *buffer = b.second;
- /*
- * Has the buffer already been handed back to the
- * request? If not, do so now.
- */
- if (buffer->request()) {
- buffer->_d()->cancel();
- pipe()->completeBuffer(request, buffer);
- }
- }
-
- pipe()->completeRequest(request);
- requestQueue_.pop_front();
- }
-}
-
-void RPiCameraData::handleStreamBuffer(FrameBuffer *buffer, RPi::Stream *stream)
-{
- /*
- * It is possible to be here without a pending request, so check
- * that we actually have one to action, otherwise we just return
- * buffer back to the stream.
- */
- Request *request = requestQueue_.empty() ? nullptr : requestQueue_.front();
- if (!dropFrameCount_ && request && request->findBuffer(stream) == buffer) {
- /*
- * Check if this is an externally provided buffer, and if
- * so, we must stop tracking it in the pipeline handler.
- */
- handleExternalBuffer(buffer, stream);
- /*
- * Tag the buffer as completed, returning it to the
- * application.
- */
- pipe()->completeBuffer(request, buffer);
- } else {
- /*
- * This buffer was not part of the Request (which happens if an
- * internal buffer was used for an external stream, or
- * unconditionally for internal streams), or there is no pending
- * request, so we can recycle it.
- */
- stream->returnBuffer(buffer);
- }
-}
-
-void RPiCameraData::handleExternalBuffer(FrameBuffer *buffer, RPi::Stream *stream)
-{
- unsigned int id = stream->getBufferId(buffer);
-
- if (!(id & RPi::MaskExternalBuffer))
- return;
-
- /* Stop the Stream object from tracking the buffer. */
- stream->removeExternalBuffer(buffer);
-}
-
-void RPiCameraData::handleState()
-{
- switch (state_) {
- case State::Stopped:
- case State::Busy:
- case State::Error:
- break;
-
- case State::IpaComplete:
- /* If the request is completed, we will switch to Idle state. */
- checkRequestCompleted();
- /*
- * No break here, we want to try running the pipeline again.
- * The fallthrough clause below suppresses compiler warnings.
- */
- [[fallthrough]];
-
- case State::Idle:
- tryRunPipeline();
- break;
- }
-}
-
-void RPiCameraData::checkRequestCompleted()
-{
- bool requestCompleted = false;
- /*
- * If we are dropping this frame, do not touch the request, simply
- * change the state to IDLE when ready.
- */
- if (!dropFrameCount_) {
- Request *request = requestQueue_.front();
- if (request->hasPendingBuffers())
- return;
-
- /* Must wait for metadata to be filled in before completing. */
- if (state_ != State::IpaComplete)
- return;
-
- pipe()->completeRequest(request);
- requestQueue_.pop_front();
- requestCompleted = true;
- }
-
- /*
- * Make sure we have three outputs completed in the case of a dropped
- * frame.
- */
- if (state_ == State::IpaComplete &&
- ((ispOutputCount_ == 3 && dropFrameCount_) || requestCompleted)) {
- state_ = State::Idle;
- if (dropFrameCount_) {
- dropFrameCount_--;
- LOG(RPI, Debug) << "Dropping frame at the request of the IPA ("
- << dropFrameCount_ << " left)";
- }
- }
-}
-
-Rectangle RPiCameraData::scaleIspCrop(const Rectangle &ispCrop) const
-{
- /*
- * Scale a crop rectangle defined in the ISP's coordinates into native sensor
- * coordinates.
- */
- Rectangle nativeCrop = ispCrop.scaledBy(sensorInfo_.analogCrop.size(),
- sensorInfo_.outputSize);
- nativeCrop.translateBy(sensorInfo_.analogCrop.topLeft());
- return nativeCrop;
-}
-
-void RPiCameraData::applyScalerCrop(const ControlList &controls)
-{
- const auto &scalerCrop = controls.get<Rectangle>(controls::ScalerCrop);
- if (scalerCrop) {
- Rectangle nativeCrop = *scalerCrop;
-
- if (!nativeCrop.width || !nativeCrop.height)
- nativeCrop = { 0, 0, 1, 1 };
-
- /* Create a version of the crop scaled to ISP (camera mode) pixels. */
- Rectangle ispCrop = nativeCrop.translatedBy(-sensorInfo_.analogCrop.topLeft());
- ispCrop.scaleBy(sensorInfo_.outputSize, sensorInfo_.analogCrop.size());
-
- /*
- * The crop that we set must be:
- * 1. At least as big as ispMinCropSize_, once that's been
- * enlarged to the same aspect ratio.
- * 2. With the same mid-point, if possible.
- * 3. But it can't go outside the sensor area.
- */
- Size minSize = ispMinCropSize_.expandedToAspectRatio(nativeCrop.size());
- Size size = ispCrop.size().expandedTo(minSize);
- ispCrop = size.centeredTo(ispCrop.center()).enclosedIn(Rectangle(sensorInfo_.outputSize));
-
- if (ispCrop != ispCrop_) {
- isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &ispCrop);
- ispCrop_ = ispCrop;
-
- /*
- * Also update the ScalerCrop in the metadata with what we actually
- * used. But we must first rescale that from ISP (camera mode) pixels
- * back into sensor native pixels.
- */
- scalerCrop_ = scaleIspCrop(ispCrop_);
- }
- }
-}
-
-void RPiCameraData::fillRequestMetadata(const ControlList &bufferControls,
- Request *request)
-{
- request->metadata().set(controls::SensorTimestamp,
- bufferControls.get(controls::SensorTimestamp).value_or(0));
-
- request->metadata().set(controls::ScalerCrop, scalerCrop_);
-}
-
-void RPiCameraData::tryRunPipeline()
-{
- FrameBuffer *embeddedBuffer;
- BayerFrame bayerFrame;
-
- /* If any of our request or buffer queues are empty, we cannot proceed. */
- if (state_ != State::Idle || requestQueue_.empty() ||
- bayerQueue_.empty() || (embeddedQueue_.empty() && sensorMetadata_))
- return;
-
- if (!findMatchingBuffers(bayerFrame, embeddedBuffer))
- return;
-
- /* Take the first request from the queue and action the IPA. */
- Request *request = requestQueue_.front();
-
- /* See if a new ScalerCrop value needs to be applied. */
- applyScalerCrop(request->controls());
-
- /*
- * Clear the request metadata and fill it with some initial non-IPA
- * related controls. We clear it first because the request metadata
- * may have been populated if we have dropped the previous frame.
- */
- request->metadata().clear();
- fillRequestMetadata(bayerFrame.controls, request);
-
- /* Set our state to say the pipeline is active. */
- state_ = State::Busy;
-
- unsigned int bayer = unicam_[Unicam::Image].getBufferId(bayerFrame.buffer);
-
- LOG(RPI, Debug) << "Signalling prepareIsp:"
- << " Bayer buffer id: " << bayer;
-
- ipa::RPi::PrepareParams params;
- params.buffers.bayer = RPi::MaskBayerData | bayer;
- params.sensorControls = std::move(bayerFrame.controls);
- params.requestControls = request->controls();
- params.ipaContext = request->sequence();
- params.delayContext = bayerFrame.delayContext;
-
- if (embeddedBuffer) {
- unsigned int embeddedId = unicam_[Unicam::Embedded].getBufferId(embeddedBuffer);
-
- params.buffers.embedded = RPi::MaskEmbeddedData | embeddedId;
- LOG(RPI, Debug) << "Signalling prepareIsp:"
- << " Embedded buffer id: " << embeddedId;
- }
-
- ipa_->prepareIsp(params);
-}
-
-bool RPiCameraData::findMatchingBuffers(BayerFrame &bayerFrame, FrameBuffer *&embeddedBuffer)
-{
- if (bayerQueue_.empty())
- return false;
-
- /*
- * Find the embedded data buffer with a matching timestamp to pass to
- * the IPA. Any embedded buffers with a timestamp lower than the
- * current bayer buffer will be removed and re-queued to the driver.
- */
- uint64_t ts = bayerQueue_.front().buffer->metadata().timestamp;
- embeddedBuffer = nullptr;
- while (!embeddedQueue_.empty()) {
- FrameBuffer *b = embeddedQueue_.front();
- if (b->metadata().timestamp < ts) {
- embeddedQueue_.pop();
- unicam_[Unicam::Embedded].returnBuffer(b);
- LOG(RPI, Debug) << "Dropping unmatched input frame in stream "
- << unicam_[Unicam::Embedded].name();
- } else if (b->metadata().timestamp == ts) {
- /* Found a match! */
- embeddedBuffer = b;
- embeddedQueue_.pop();
- break;
- } else {
- break; /* Only higher timestamps from here. */
- }
- }
-
- if (!embeddedBuffer && sensorMetadata_) {
- if (embeddedQueue_.empty()) {
- /*
- * If the embedded buffer queue is empty, wait for the next
- * buffer to arrive - dequeue ordering may send the image
- * buffer first.
- */
- LOG(RPI, Debug) << "Waiting for next embedded buffer.";
- return false;
- }
-
- /* Log if there is no matching embedded data buffer found. */
- LOG(RPI, Debug) << "Returning bayer frame without a matching embedded buffer.";
- }
-
- bayerFrame = std::move(bayerQueue_.front());
- bayerQueue_.pop();
-
- return true;
-}
-
-REGISTER_PIPELINE_HANDLER(PipelineHandlerRPi)
-
-} /* namespace libcamera */
diff --git a/src/libcamera/pipeline/rpi/vc4/vc4.cpp b/src/libcamera/pipeline/rpi/vc4/vc4.cpp
new file mode 100644
index 00000000..c3a40326
--- /dev/null
+++ b/src/libcamera/pipeline/rpi/vc4/vc4.cpp
@@ -0,0 +1,973 @@
+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2019-2023, Raspberry Pi Ltd
+ *
+ * vc4.cpp - Pipeline handler for VC4-based Raspberry Pi devices
+ */
+
+#include <linux/bcm2835-isp.h>
+#include <linux/v4l2-controls.h>
+#include <linux/videodev2.h>
+
+#include <libcamera/formats.h>
+
+#include "libcamera/internal/device_enumerator.h"
+
+#include "../common/pipeline_base.h"
+#include "../common/rpi_stream.h"
+
+#include "dma_heaps.h"
+
+using namespace std::chrono_literals;
+
+namespace libcamera {
+
+LOG_DECLARE_CATEGORY(RPI)
+
+namespace {
+
+enum class Unicam : unsigned int { Image, Embedded };
+enum class Isp : unsigned int { Input, Output0, Output1, Stats };
+
+} /* namespace */
+
+class Vc4CameraData final : public RPi::CameraData
+{
+public:
+ Vc4CameraData(PipelineHandler *pipe)
+ : RPi::CameraData(pipe)
+ {
+ }
+
+ ~Vc4CameraData()
+ {
+ freeBuffers();
+ }
+
+ V4L2VideoDevice::Formats ispFormats() const override
+ {
+ return isp_[Isp::Output0].dev()->formats();
+ }
+
+ V4L2VideoDevice::Formats rawFormats() const override
+ {
+ return unicam_[Unicam::Image].dev()->formats();
+ }
+
+ V4L2VideoDevice *frontendDevice() override
+ {
+ return unicam_[Unicam::Image].dev();
+ }
+
+ void platformFreeBuffers() override
+ {
+ }
+
+ CameraConfiguration::Status platformValidate(std::vector<StreamParams> &rawStreams,
+ std::vector<StreamParams> &outStreams) const override;
+
+ int platformPipelineConfigure(const std::unique_ptr<YamlObject> &root) override;
+
+ void platformStart() override;
+ void platformStop() override;
+
+ void unicamBufferDequeue(FrameBuffer *buffer);
+ void ispInputDequeue(FrameBuffer *buffer);
+ void ispOutputDequeue(FrameBuffer *buffer);
+
+ void processStatsComplete(const ipa::RPi::BufferIds &buffers);
+ void prepareIspComplete(const ipa::RPi::BufferIds &buffers);
+ void setIspControls(const ControlList &controls);
+ void setCameraTimeout(uint32_t maxFrameLengthMs);
+
+ /* Array of Unicam and ISP device streams and associated buffers/streams. */
+ RPi::Device<Unicam, 2> unicam_;
+ RPi::Device<Isp, 4> isp_;
+
+ /* DMAHEAP allocation helper. */
+ RPi::DmaHeap dmaHeap_;
+ SharedFD lsTable_;
+
+ struct Config {
+ /*
+ * The minimum number of internal buffers to be allocated for
+ * the Unicam Image stream.
+ */
+ unsigned int minUnicamBuffers;
+ /*
+ * The minimum total (internal + external) buffer count used for
+ * the Unicam Image stream.
+ *
+ * Note that:
+ * minTotalUnicamBuffers must be >= 1, and
+ * minTotalUnicamBuffers >= minUnicamBuffers
+ */
+ unsigned int minTotalUnicamBuffers;
+ };
+
+ Config config_;
+
+private:
+ void platformSetIspCrop() override
+ {
+ isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &ispCrop_);
+ }
+
+ int platformConfigure(const V4L2SubdeviceFormat &sensorFormat,
+ std::optional<BayerFormat::Packing> packing,
+ std::vector<StreamParams> &rawStreams,
+ std::vector<StreamParams> &outStreams) override;
+ int platformConfigureIpa(ipa::RPi::ConfigParams &params) override;
+
+ int platformInitIpa([[maybe_unused]] ipa::RPi::InitParams &params) override
+ {
+ return 0;
+ }
+
+ struct BayerFrame {
+ FrameBuffer *buffer;
+ ControlList controls;
+ unsigned int delayContext;
+ };
+
+ void tryRunPipeline() override;
+ bool findMatchingBuffers(BayerFrame &bayerFrame, FrameBuffer *&embeddedBuffer);
+
+ std::queue<BayerFrame> bayerQueue_;
+ std::queue<FrameBuffer *> embeddedQueue_;
+};
+
+class PipelineHandlerVc4 : public RPi::PipelineHandlerBase
+{
+public:
+ PipelineHandlerVc4(CameraManager *manager)
+ : RPi::PipelineHandlerBase(manager)
+ {
+ }
+
+ ~PipelineHandlerVc4()
+ {
+ }
+
+ bool match(DeviceEnumerator *enumerator) override;
+
+private:
+ Vc4CameraData *cameraData(Camera *camera)
+ {
+ return static_cast<Vc4CameraData *>(camera->_d());
+ }
+
+ int prepareBuffers(Camera *camera) override;
+ int platformRegister(std::unique_ptr<RPi::CameraData> &cameraData,
+ MediaDevice *unicam, MediaDevice *isp) override;
+};
+
+bool PipelineHandlerVc4::match(DeviceEnumerator *enumerator)
+{
+ constexpr unsigned int numUnicamDevices = 2;
+
+ /*
+ * Loop over all Unicam instances, but return out once a match is found.
+ * This is to ensure we correctly enumrate the camera when an instance
+ * of Unicam has registered with media controller, but has not registered
+ * device nodes due to a sensor subdevice failure.
+ */
+ for (unsigned int i = 0; i < numUnicamDevices; i++) {
+ DeviceMatch unicam("unicam");
+ MediaDevice *unicamDevice = acquireMediaDevice(enumerator, unicam);
+
+ if (!unicamDevice) {
+ LOG(RPI, Debug) << "Unable to acquire a Unicam instance";
+ continue;
+ }
+
+ DeviceMatch isp("bcm2835-isp");
+ MediaDevice *ispDevice = acquireMediaDevice(enumerator, isp);
+
+ if (!ispDevice) {
+ LOG(RPI, Debug) << "Unable to acquire ISP instance";
+ continue;
+ }
+
+ /*
+ * The loop below is used to register multiple cameras behind one or more
+ * video mux devices that are attached to a particular Unicam instance.
+ * Obviously these cameras cannot be used simultaneously.
+ */
+ unsigned int numCameras = 0;
+ for (MediaEntity *entity : unicamDevice->entities()) {
+ if (entity->function() != MEDIA_ENT_F_CAM_SENSOR)
+ continue;
+
+ std::unique_ptr<RPi::CameraData> cameraData = std::make_unique<Vc4CameraData>(this);
+ int ret = RPi::PipelineHandlerBase::registerCamera(cameraData,
+ unicamDevice, "unicam-image",
+ ispDevice, entity);
+ if (ret)
+ LOG(RPI, Error) << "Failed to register camera "
+ << entity->name() << ": " << ret;
+ else
+ numCameras++;
+ }
+
+ if (numCameras)
+ return true;
+ }
+
+ return false;
+}
+
+int PipelineHandlerVc4::prepareBuffers(Camera *camera)
+{
+ Vc4CameraData *data = cameraData(camera);
+ unsigned int numRawBuffers = 0;
+ int ret;
+
+ for (Stream *s : camera->streams()) {
+ if (BayerFormat::fromPixelFormat(s->configuration().pixelFormat).isValid()) {
+ numRawBuffers = s->configuration().bufferCount;
+ break;
+ }
+ }
+
+ /* Decide how many internal buffers to allocate. */
+ for (auto const stream : data->streams_) {
+ unsigned int numBuffers;
+ /*
+ * For Unicam, allocate a minimum number of buffers for internal
+ * use as we want to avoid any frame drops.
+ */
+ const unsigned int minBuffers = data->config_.minTotalUnicamBuffers;
+ if (stream == &data->unicam_[Unicam::Image]) {
+ /*
+ * If an application has configured a RAW stream, allocate
+ * additional buffers to make up the minimum, but ensure
+ * we have at least minUnicamBuffers of internal buffers
+ * to use to minimise frame drops.
+ */
+ numBuffers = std::max<int>(data->config_.minUnicamBuffers,
+ minBuffers - numRawBuffers);
+ } else if (stream == &data->isp_[Isp::Input]) {
+ /*
+ * ISP input buffers are imported from Unicam, so follow
+ * similar logic as above to count all the RAW buffers
+ * available.
+ */
+ numBuffers = numRawBuffers +
+ std::max<int>(data->config_.minUnicamBuffers,
+ minBuffers - numRawBuffers);
+
+ } else if (stream == &data->unicam_[Unicam::Embedded]) {
+ /*
+ * Embedded data buffers are (currently) for internal use,
+ * so allocate the minimum required to avoid frame drops.
+ */
+ numBuffers = minBuffers;
+ } else {
+ /*
+ * Since the ISP runs synchronous with the IPA and requests,
+ * we only ever need one set of internal buffers. Any buffers
+ * the application wants to hold onto will already be exported
+ * through PipelineHandlerRPi::exportFrameBuffers().
+ */
+ numBuffers = 1;
+ }
+
+ ret = stream->prepareBuffers(numBuffers);
+ 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(), RPi::MaskStats);
+ if (data->sensorMetadata_)
+ mapBuffers(camera, data->unicam_[Unicam::Embedded].getBuffers(),
+ RPi::MaskEmbeddedData);
+
+ return 0;
+}
+
+int PipelineHandlerVc4::platformRegister(std::unique_ptr<RPi::CameraData> &cameraData, MediaDevice *unicam, MediaDevice *isp)
+{
+ Vc4CameraData *data = static_cast<Vc4CameraData *>(cameraData.get());
+
+ if (!data->dmaHeap_.isValid())
+ return -ENOMEM;
+
+ MediaEntity *unicamImage = unicam->getEntityByName("unicam-image");
+ MediaEntity *ispOutput0 = isp->getEntityByName("bcm2835-isp0-output0");
+ MediaEntity *ispCapture1 = isp->getEntityByName("bcm2835-isp0-capture1");
+ MediaEntity *ispCapture2 = isp->getEntityByName("bcm2835-isp0-capture2");
+ MediaEntity *ispCapture3 = isp->getEntityByName("bcm2835-isp0-capture3");
+
+ if (!unicamImage || !ispOutput0 || !ispCapture1 || !ispCapture2 || !ispCapture3)
+ return -ENOENT;
+
+ /* Locate and open the unicam video streams. */
+ data->unicam_[Unicam::Image] = RPi::Stream("Unicam Image", unicamImage);
+
+ /* An embedded data node will not be present if the sensor does not support it. */
+ MediaEntity *unicamEmbedded = unicam->getEntityByName("unicam-embedded");
+ if (unicamEmbedded) {
+ data->unicam_[Unicam::Embedded] = RPi::Stream("Unicam Embedded", unicamEmbedded);
+ data->unicam_[Unicam::Embedded].dev()->bufferReady.connect(data,
+ &Vc4CameraData::unicamBufferDequeue);
+ }
+
+ /* Tag the ISP input stream as an import stream. */
+ data->isp_[Isp::Input] = RPi::Stream("ISP Input", ispOutput0, true);
+ data->isp_[Isp::Output0] = RPi::Stream("ISP Output0", ispCapture1);
+ data->isp_[Isp::Output1] = RPi::Stream("ISP Output1", ispCapture2);
+ data->isp_[Isp::Stats] = RPi::Stream("ISP Stats", ispCapture3);
+
+ /* Wire up all the buffer connections. */
+ data->unicam_[Unicam::Image].dev()->bufferReady.connect(data, &Vc4CameraData::unicamBufferDequeue);
+ data->isp_[Isp::Input].dev()->bufferReady.connect(data, &Vc4CameraData::ispInputDequeue);
+ data->isp_[Isp::Output0].dev()->bufferReady.connect(data, &Vc4CameraData::ispOutputDequeue);
+ data->isp_[Isp::Output1].dev()->bufferReady.connect(data, &Vc4CameraData::ispOutputDequeue);
+ data->isp_[Isp::Stats].dev()->bufferReady.connect(data, &Vc4CameraData::ispOutputDequeue);
+
+ if (data->sensorMetadata_ ^ !!data->unicam_[Unicam::Embedded].dev()) {
+ LOG(RPI, Warning) << "Mismatch between Unicam and CamHelper for embedded data usage!";
+ data->sensorMetadata_ = false;
+ if (data->unicam_[Unicam::Embedded].dev())
+ data->unicam_[Unicam::Embedded].dev()->bufferReady.disconnect();
+ }
+
+ /*
+ * 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 (data->sensorMetadata_)
+ data->streams_.push_back(&data->unicam_[Unicam::Embedded]);
+
+ for (auto &stream : data->isp_)
+ data->streams_.push_back(&stream);
+
+ for (auto stream : data->streams_) {
+ int ret = stream->dev()->open();
+ if (ret)
+ return ret;
+ }
+
+ if (!data->unicam_[Unicam::Image].dev()->caps().hasMediaController()) {
+ LOG(RPI, Error) << "Unicam driver does not use the MediaController, please update your kernel!";
+ return -EINVAL;
+ }
+
+ /* Write up all the IPA connections. */
+ data->ipa_->processStatsComplete.connect(data, &Vc4CameraData::processStatsComplete);
+ data->ipa_->prepareIspComplete.connect(data, &Vc4CameraData::prepareIspComplete);
+ data->ipa_->setIspControls.connect(data, &Vc4CameraData::setIspControls);
+ data->ipa_->setCameraTimeout.connect(data, &Vc4CameraData::setCameraTimeout);
+
+ /*
+ * 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. */
+ const std::string &id = data->sensor_->id();
+ std::shared_ptr<Camera> camera =
+ Camera::create(std::move(cameraData), id, streams);
+ PipelineHandler::registerCamera(std::move(camera));
+
+ LOG(RPI, Info) << "Registered camera " << id
+ << " to Unicam device " << unicam->deviceNode()
+ << " and ISP device " << isp->deviceNode();
+
+ return 0;
+}
+
+CameraConfiguration::Status Vc4CameraData::platformValidate(std::vector<StreamParams> &rawStreams,
+ std::vector<StreamParams> &outStreams) const
+{
+ CameraConfiguration::Status status = CameraConfiguration::Status::Valid;
+
+ /* Can only output 1 RAW stream, or 2 YUV/RGB streams. */
+ if (rawStreams.size() > 1 || outStreams.size() > 2) {
+ LOG(RPI, Error) << "Invalid number of streams requested";
+ return CameraConfiguration::Status::Invalid;
+ }
+
+ if (!rawStreams.empty())
+ rawStreams[0].dev = unicam_[Unicam::Image].dev();
+
+ /*
+ * For the two ISP outputs, one stream must be equal or smaller than the
+ * other in all dimensions.
+ *
+ * Index 0 contains the largest requested resolution.
+ */
+ for (unsigned int i = 0; i < outStreams.size(); i++) {
+ Size size;
+
+ size.width = std::min(outStreams[i].cfg->size.width,
+ outStreams[0].cfg->size.width);
+ size.height = std::min(outStreams[i].cfg->size.height,
+ outStreams[0].cfg->size.height);
+
+ if (outStreams[i].cfg->size != size) {
+ outStreams[i].cfg->size = size;
+ status = CameraConfiguration::Status::Adjusted;
+ }
+
+ /*
+ * Output 0 must be for the largest resolution. We will
+ * have that fixed up in the code above.
+ */
+ outStreams[i].dev = isp_[i == 0 ? Isp::Output0 : Isp::Output1].dev();
+ }
+
+ return status;
+}
+
+int Vc4CameraData::platformPipelineConfigure(const std::unique_ptr<YamlObject> &root)
+{
+ config_ = {
+ .minUnicamBuffers = 2,
+ .minTotalUnicamBuffers = 4,
+ };
+
+ if (!root)
+ return 0;
+
+ std::optional<double> ver = (*root)["version"].get<double>();
+ if (!ver || *ver != 1.0) {
+ LOG(RPI, Error) << "Unexpected configuration file version reported";
+ return -EINVAL;
+ }
+
+ std::optional<std::string> target = (*root)["target"].get<std::string>();
+ if (!target || *target != "bcm2835") {
+ LOG(RPI, Error) << "Unexpected target reported: expected \"bcm2835\", got "
+ << *target;
+ return -EINVAL;
+ }
+
+ const YamlObject &phConfig = (*root)["pipeline_handler"];
+ config_.minUnicamBuffers =
+ phConfig["min_unicam_buffers"].get<unsigned int>(config_.minUnicamBuffers);
+ config_.minTotalUnicamBuffers =
+ phConfig["min_total_unicam_buffers"].get<unsigned int>(config_.minTotalUnicamBuffers);
+
+ if (config_.minTotalUnicamBuffers < config_.minUnicamBuffers) {
+ LOG(RPI, Error) << "Invalid configuration: min_total_unicam_buffers must be >= min_unicam_buffers";
+ return -EINVAL;
+ }
+
+ if (config_.minTotalUnicamBuffers < 1) {
+ LOG(RPI, Error) << "Invalid configuration: min_total_unicam_buffers must be >= 1";
+ return -EINVAL;
+ }
+
+ return 0;
+}
+
+int Vc4CameraData::platformConfigure(const V4L2SubdeviceFormat &sensorFormat,
+ std::optional<BayerFormat::Packing> packing,
+ std::vector<StreamParams> &rawStreams,
+ std::vector<StreamParams> &outStreams)
+{
+ int ret;
+
+ if (!packing)
+ packing = BayerFormat::Packing::CSI2;
+
+ V4L2VideoDevice *unicam = unicam_[Unicam::Image].dev();
+ V4L2DeviceFormat unicamFormat = RPi::PipelineHandlerBase::toV4L2DeviceFormat(unicam, sensorFormat, *packing);
+
+ ret = unicam->setFormat(&unicamFormat);
+ if (ret)
+ return ret;
+
+ /*
+ * See which streams are requested, and route the user
+ * StreamConfiguration appropriately.
+ */
+ if (!rawStreams.empty()) {
+ rawStreams[0].cfg->setStream(&unicam_[Unicam::Image]);
+ unicam_[Unicam::Image].setExternal(true);
+ }
+
+ ret = isp_[Isp::Input].dev()->setFormat(&unicamFormat);
+ if (ret)
+ return ret;
+
+ LOG(RPI, Info) << "Sensor: " << sensor_->id()
+ << " - Selected sensor format: " << sensorFormat
+ << " - Selected unicam format: " << unicamFormat;
+
+ /* Use a sensible small default size if no output streams are configured. */
+ Size maxSize = outStreams.empty() ? Size(320, 240) : outStreams[0].cfg->size;
+ V4L2DeviceFormat format;
+
+ for (unsigned int i = 0; i < outStreams.size(); i++) {
+ StreamConfiguration *cfg = outStreams[i].cfg;
+
+ /* The largest resolution gets routed to the ISP Output 0 node. */
+ RPi::Stream *stream = i == 0 ? &isp_[Isp::Output0] : &isp_[Isp::Output1];
+
+ V4L2PixelFormat fourcc = stream->dev()->toV4L2PixelFormat(cfg->pixelFormat);
+ format.size = cfg->size;
+ format.fourcc = fourcc;
+ format.colorSpace = cfg->colorSpace;
+
+ LOG(RPI, Debug) << "Setting " << stream->name() << " to "
+ << format;
+
+ 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;
+ return -EINVAL;
+ }
+
+ LOG(RPI, Debug)
+ << "Stream " << stream->name() << " has color space "
+ << ColorSpace::toString(cfg->colorSpace);
+
+ cfg->setStream(stream);
+ stream->setExternal(true);
+ }
+
+ ispOutputTotal_ = outStreams.size();
+
+ /*
+ * 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 (outStreams.empty()) {
+ V4L2VideoDevice *dev = isp_[Isp::Output0].dev();
+
+ format = {};
+ format.size = maxSize;
+ format.fourcc = dev->toV4L2PixelFormat(formats::YUV420);
+ /* No one asked for output, so the color space doesn't matter. */
+ format.colorSpace = ColorSpace::Sycc;
+ ret = dev->setFormat(&format);
+ if (ret) {
+ LOG(RPI, Error)
+ << "Failed to set default format on ISP Output0: "
+ << ret;
+ return -EINVAL;
+ }
+
+ ispOutputTotal_++;
+
+ LOG(RPI, Debug) << "Defaulting ISP Output0 format to "
+ << format;
+ }
+
+ /*
+ * 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 (outStreams.size() == 1) {
+ V4L2VideoDevice *dev = isp_[Isp::Output1].dev();
+
+ V4L2DeviceFormat output1Format;
+ constexpr Size maxDimensions(1200, 1200);
+ const Size limit = maxDimensions.boundedToAspectRatio(format.size);
+
+ output1Format.size = (format.size / 2).boundedTo(limit).alignedDownTo(2, 2);
+ output1Format.colorSpace = format.colorSpace;
+ output1Format.fourcc = dev->toV4L2PixelFormat(formats::YUV420);
+
+ LOG(RPI, Debug) << "Setting ISP Output1 (internal) to "
+ << output1Format;
+
+ ret = dev->setFormat(&output1Format);
+ if (ret) {
+ LOG(RPI, Error) << "Failed to set format on ISP Output1: "
+ << ret;
+ return -EINVAL;
+ }
+
+ ispOutputTotal_++;
+ }
+
+ /* ISP statistics output format. */
+ format = {};
+ format.fourcc = V4L2PixelFormat(V4L2_META_FMT_BCM2835_ISP_STATS);
+ ret = isp_[Isp::Stats].dev()->setFormat(&format);
+ if (ret) {
+ LOG(RPI, Error) << "Failed to set format on ISP stats stream: "
+ << format;
+ return ret;
+ }
+
+ ispOutputTotal_++;
+
+ /*
+ * Configure the Unicam embedded data output format only if the sensor
+ * supports it.
+ */
+ if (sensorMetadata_) {
+ V4L2SubdeviceFormat embeddedFormat;
+
+ sensor_->device()->getFormat(1, &embeddedFormat);
+ format = {};
+ format.fourcc = V4L2PixelFormat(V4L2_META_FMT_SENSOR_DATA);
+ format.planes[0].size = embeddedFormat.size.width * embeddedFormat.size.height;
+
+ LOG(RPI, Debug) << "Setting embedded data format " << format.toString();
+ ret = unicam_[Unicam::Embedded].dev()->setFormat(&format);
+ if (ret) {
+ LOG(RPI, Error) << "Failed to set format on Unicam embedded: "
+ << format;
+ return ret;
+ }
+ }
+
+ /* Figure out the smallest selection the ISP will allow. */
+ Rectangle testCrop(0, 0, 1, 1);
+ isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &testCrop);
+ ispMinCropSize_ = testCrop.size();
+
+ /* Adjust aspect ratio by providing crops on the input image. */
+ Size size = unicamFormat.size.boundedToAspectRatio(maxSize);
+ ispCrop_ = size.centeredTo(Rectangle(unicamFormat.size).center());
+
+ platformSetIspCrop();
+
+ return 0;
+}
+
+int Vc4CameraData::platformConfigureIpa(ipa::RPi::ConfigParams &params)
+{
+ params.ispControls = isp_[Isp::Input].dev()->controls();
+
+ /* Allocate the lens shading table via dmaHeap and pass to the IPA. */
+ if (!lsTable_.isValid()) {
+ lsTable_ = SharedFD(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().
+ */
+ params.lsTableHandle = lsTable_;
+ }
+
+ return 0;
+}
+
+void Vc4CameraData::platformStart()
+{
+}
+
+void Vc4CameraData::platformStop()
+{
+ bayerQueue_ = {};
+ embeddedQueue_ = {};
+}
+
+void Vc4CameraData::unicamBufferDequeue(FrameBuffer *buffer)
+{
+ RPi::Stream *stream = nullptr;
+ unsigned int index;
+
+ if (!isRunning())
+ return;
+
+ for (RPi::Stream &s : unicam_) {
+ index = s.getBufferId(buffer);
+ if (index) {
+ stream = &s;
+ break;
+ }
+ }
+
+ /* The buffer must belong to one of our streams. */
+ ASSERT(stream);
+
+ LOG(RPI, Debug) << "Stream " << stream->name() << " buffer dequeue"
+ << ", buffer id " << index
+ << ", timestamp: " << buffer->metadata().timestamp;
+
+ if (stream == &unicam_[Unicam::Image]) {
+ /*
+ * Lookup the sensor controls used for this frame sequence from
+ * DelayedControl and queue them along with the frame buffer.
+ */
+ auto [ctrl, delayContext] = delayedCtrls_->get(buffer->metadata().sequence);
+ /*
+ * Add the frame timestamp to the ControlList for the IPA to use
+ * as it does not receive the FrameBuffer object.
+ */
+ ctrl.set(controls::SensorTimestamp, buffer->metadata().timestamp);
+ bayerQueue_.push({ buffer, std::move(ctrl), delayContext });
+ } else {
+ embeddedQueue_.push(buffer);
+ }
+
+ handleState();
+}
+
+void Vc4CameraData::ispInputDequeue(FrameBuffer *buffer)
+{
+ if (!isRunning())
+ return;
+
+ LOG(RPI, Debug) << "Stream ISP Input buffer complete"
+ << ", buffer id " << unicam_[Unicam::Image].getBufferId(buffer)
+ << ", timestamp: " << buffer->metadata().timestamp;
+
+ /* The ISP input buffer gets re-queued into Unicam. */
+ handleStreamBuffer(buffer, &unicam_[Unicam::Image]);
+ handleState();
+}
+
+void Vc4CameraData::ispOutputDequeue(FrameBuffer *buffer)
+{
+ RPi::Stream *stream = nullptr;
+ unsigned int index;
+
+ if (!isRunning())
+ return;
+
+ for (RPi::Stream &s : isp_) {
+ index = s.getBufferId(buffer);
+ if (index) {
+ stream = &s;
+ break;
+ }
+ }
+
+ /* The buffer must belong to one of our ISP output streams. */
+ ASSERT(stream);
+
+ LOG(RPI, Debug) << "Stream " << stream->name() << " buffer complete"
+ << ", buffer id " << index
+ << ", timestamp: " << buffer->metadata().timestamp;
+
+ /*
+ * ISP statistics buffer must not be re-queued or sent back to the
+ * application until after the IPA signals so.
+ */
+ if (stream == &isp_[Isp::Stats]) {
+ ipa::RPi::ProcessParams params;
+ params.buffers.stats = index | RPi::MaskStats;
+ params.ipaContext = requestQueue_.front()->sequence();
+ ipa_->processStats(params);
+ } else {
+ /* Any other ISP output can be handed back to the application now. */
+ handleStreamBuffer(buffer, stream);
+ }
+
+ /*
+ * Increment the number of ISP outputs generated.
+ * This is needed to track dropped frames.
+ */
+ ispOutputCount_++;
+
+ handleState();
+}
+
+void Vc4CameraData::processStatsComplete(const ipa::RPi::BufferIds &buffers)
+{
+ if (!isRunning())
+ return;
+
+ FrameBuffer *buffer = isp_[Isp::Stats].getBuffers().at(buffers.stats & RPi::MaskID);
+
+ handleStreamBuffer(buffer, &isp_[Isp::Stats]);
+
+ state_ = State::IpaComplete;
+ handleState();
+}
+
+void Vc4CameraData::prepareIspComplete(const ipa::RPi::BufferIds &buffers)
+{
+ unsigned int embeddedId = buffers.embedded & RPi::MaskID;
+ unsigned int bayer = buffers.bayer & RPi::MaskID;
+ FrameBuffer *buffer;
+
+ if (!isRunning())
+ return;
+
+ buffer = unicam_[Unicam::Image].getBuffers().at(bayer & RPi::MaskID);
+ LOG(RPI, Debug) << "Input re-queue to ISP, buffer id " << (bayer & RPi::MaskID)
+ << ", timestamp: " << buffer->metadata().timestamp;
+
+ isp_[Isp::Input].queueBuffer(buffer);
+ ispOutputCount_ = 0;
+
+ if (sensorMetadata_ && embeddedId) {
+ buffer = unicam_[Unicam::Embedded].getBuffers().at(embeddedId & RPi::MaskID);
+ handleStreamBuffer(buffer, &unicam_[Unicam::Embedded]);
+ }
+
+ handleState();
+}
+
+void Vc4CameraData::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_.get();
+ }
+
+ isp_[Isp::Input].dev()->setControls(&ctrls);
+ handleState();
+}
+
+void Vc4CameraData::setCameraTimeout(uint32_t maxFrameLengthMs)
+{
+ /*
+ * Set the dequeue timeout to the larger of 5x the maximum reported
+ * frame length advertised by the IPA over a number of frames. Allow
+ * a minimum timeout value of 1s.
+ */
+ utils::Duration timeout =
+ std::max<utils::Duration>(1s, 5 * maxFrameLengthMs * 1ms);
+
+ LOG(RPI, Debug) << "Setting Unicam timeout to " << timeout;
+ unicam_[Unicam::Image].dev()->setDequeueTimeout(timeout);
+}
+
+void Vc4CameraData::tryRunPipeline()
+{
+ FrameBuffer *embeddedBuffer;
+ BayerFrame bayerFrame;
+
+ /* If any of our request or buffer queues are empty, we cannot proceed. */
+ if (state_ != State::Idle || requestQueue_.empty() ||
+ bayerQueue_.empty() || (embeddedQueue_.empty() && sensorMetadata_))
+ return;
+
+ if (!findMatchingBuffers(bayerFrame, embeddedBuffer))
+ return;
+
+ /* Take the first request from the queue and action the IPA. */
+ Request *request = requestQueue_.front();
+
+ /* See if a new ScalerCrop value needs to be applied. */
+ applyScalerCrop(request->controls());
+
+ /*
+ * Clear the request metadata and fill it with some initial non-IPA
+ * related controls. We clear it first because the request metadata
+ * may have been populated if we have dropped the previous frame.
+ */
+ request->metadata().clear();
+ fillRequestMetadata(bayerFrame.controls, request);
+
+ /* Set our state to say the pipeline is active. */
+ state_ = State::Busy;
+
+ unsigned int bayer = unicam_[Unicam::Image].getBufferId(bayerFrame.buffer);
+
+ LOG(RPI, Debug) << "Signalling prepareIsp:"
+ << " Bayer buffer id: " << bayer;
+
+ ipa::RPi::PrepareParams params;
+ params.buffers.bayer = RPi::MaskBayerData | bayer;
+ params.sensorControls = std::move(bayerFrame.controls);
+ params.requestControls = request->controls();
+ params.ipaContext = request->sequence();
+ params.delayContext = bayerFrame.delayContext;
+
+ if (embeddedBuffer) {
+ unsigned int embeddedId = unicam_[Unicam::Embedded].getBufferId(embeddedBuffer);
+
+ params.buffers.embedded = RPi::MaskEmbeddedData | embeddedId;
+ LOG(RPI, Debug) << "Signalling prepareIsp:"
+ << " Embedded buffer id: " << embeddedId;
+ }
+
+ ipa_->prepareIsp(params);
+}
+
+bool Vc4CameraData::findMatchingBuffers(BayerFrame &bayerFrame, FrameBuffer *&embeddedBuffer)
+{
+ if (bayerQueue_.empty())
+ return false;
+
+ /*
+ * Find the embedded data buffer with a matching timestamp to pass to
+ * the IPA. Any embedded buffers with a timestamp lower than the
+ * current bayer buffer will be removed and re-queued to the driver.
+ */
+ uint64_t ts = bayerQueue_.front().buffer->metadata().timestamp;
+ embeddedBuffer = nullptr;
+ while (!embeddedQueue_.empty()) {
+ FrameBuffer *b = embeddedQueue_.front();
+ if (b->metadata().timestamp < ts) {
+ embeddedQueue_.pop();
+ unicam_[Unicam::Embedded].returnBuffer(b);
+ LOG(RPI, Debug) << "Dropping unmatched input frame in stream "
+ << unicam_[Unicam::Embedded].name();
+ } else if (b->metadata().timestamp == ts) {
+ /* Found a match! */
+ embeddedBuffer = b;
+ embeddedQueue_.pop();
+ break;
+ } else {
+ break; /* Only higher timestamps from here. */
+ }
+ }
+
+ if (!embeddedBuffer && sensorMetadata_) {
+ if (embeddedQueue_.empty()) {
+ /*
+ * If the embedded buffer queue is empty, wait for the next
+ * buffer to arrive - dequeue ordering may send the image
+ * buffer first.
+ */
+ LOG(RPI, Debug) << "Waiting for next embedded buffer.";
+ return false;
+ }
+
+ /* Log if there is no matching embedded data buffer found. */
+ LOG(RPI, Debug) << "Returning bayer frame without a matching embedded buffer.";
+ }
+
+ bayerFrame = std::move(bayerQueue_.front());
+ bayerQueue_.pop();
+
+ return true;
+}
+
+REGISTER_PIPELINE_HANDLER(PipelineHandlerVc4)
+
+} /* namespace libcamera */