diff options
| -rw-r--r-- | include/libcamera/camera.h | 18 | ||||
| -rw-r--r-- | src/libcamera/camera.cpp | 267 |
2 files changed, 240 insertions, 45 deletions
diff --git a/include/libcamera/camera.h b/include/libcamera/camera.h index 9c8ae01e..e5212cf0 100644 --- a/include/libcamera/camera.h +++ b/include/libcamera/camera.h @@ -39,7 +39,7 @@ public: Signal<Camera *> disconnected; int acquire(); - void release(); + int release(); const std::set<Stream *> &streams() const; std::map<Stream *, StreamConfiguration> @@ -47,7 +47,7 @@ public: int configureStreams(std::map<Stream *, StreamConfiguration> &config); int allocateBuffers(); - void freeBuffers(); + int freeBuffers(); Request *createRequest(); int queueRequest(Request *request); @@ -56,20 +56,30 @@ public: int stop(); private: + enum State { + CameraAvailable, + CameraAcquired, + CameraConfigured, + CameraPrepared, + CameraRunning, + }; + Camera(PipelineHandler *pipe, const std::string &name); ~Camera(); + bool stateBetween(State low, State high) const; + bool stateIs(State state) const; + friend class PipelineHandler; void disconnect(); - int exclusiveAccess(); std::shared_ptr<PipelineHandler> pipe_; std::string name_; std::set<Stream *> streams_; std::set<Stream *> activeStreams_; - bool acquired_; bool disconnected_; + State state_; }; } /* namespace libcamera */ diff --git a/src/libcamera/camera.cpp b/src/libcamera/camera.cpp index 84b97b5c..3090874b 100644 --- a/src/libcamera/camera.cpp +++ b/src/libcamera/camera.cpp @@ -11,6 +11,7 @@ #include "log.h" #include "pipeline_handler.h" +#include "utils.h" /** * \file camera.h @@ -42,6 +43,9 @@ LOG_DECLARE_CATEGORY(Camera) * \class Camera * \brief Camera device * + * \todo Add documentation for camera start timings. What exactly does the + * camera expect the pipeline handler to do when start() is called? + * * The Camera class models a camera capable of producing one or more image * streams from a single image source. It provides the main interface to * configuring and controlling the device, and capturing image streams. It is @@ -52,6 +56,78 @@ LOG_DECLARE_CATEGORY(Camera) * created with the create() function which returns a shared pointer. The * Camera constructors and destructor are private, to prevent instances from * being constructed and destroyed manually. + * + * \section camera_operation Operating the Camera + * + * An application needs to perform a sequence of operations on a camera before + * it is ready to process requests. The camera needs to be acquired, configured + * and resources allocated or imported to prepare the camera for capture. Once + * started the camera can process requests until it is stopped. When an + * application is done with a camera all resources allocated need to be freed + * and the camera released. + * + * An application may start and stop a camera multiple times as long as it is + * not released. The camera may also be reconfigured provided that all + * resources allocated are freed prior to the reconfiguration. + * + * \subsection Camera States + * + * To help manage the sequence of operations needed to control the camera a set + * of states are defined. Each state describes which operations may be performed + * on the camera. Operations not listed in the state diagram are allowed in all + * states. + * + * \dot + * digraph camera_state_machine { + * node [shape = doublecircle ]; Available; + * node [shape = circle ]; Acquired; + * node [shape = circle ]; Configured; + * node [shape = circle ]; Prepared; + * node [shape = circle ]; Running; + * + * Available -> Available [label = "release()"]; + * Available -> Acquired [label = "acquire()"]; + * + * Acquired -> Available [label = "release()"]; + * Acquired -> Configured [label = "configureStreams()"]; + * + * Configured -> Available [label = "release()"]; + * Configured -> Configured [label = "configureStreams()"]; + * Configured -> Prepared [label = "allocateBuffers()"]; + * + * Prepared -> Configured [label = "freeBuffers()"]; + * Prepared -> Prepared [label = "createRequest()"]; + * Prepared -> Running [label = "start()"]; + * + * Running -> Prepared [label = "stop()"]; + * Running -> Running [label = "createRequest(), queueRequest()"]; + * } + * \enddot + * + * \subsubsection Available + * The base state of a camera, an application can inspect the properties of the + * camera to determine if it wishes to use it. If an application wishes to use + * a camera it should acquire() it to proceed to the Acquired state. + * + * \subsubsection Acquired + * In the acquired state an application has exclusive access to the camera and + * may modify the camera's parameters to configure it and proceed to the + * Configured state. + * + * \subsubsection Configured + * The camera is configured and ready for the application to prepare it with + * resources. The camera may be reconfigured multiple times until resources + * are provided and the state progresses to Prepared. + * + * \subsubsection Prepared + * The camera has been configured and provided with resources and is ready to be + * started. The application may free the camera's resources to get back to the + * Configured state or start() it to progress to the Running state. + * + * \subsubsection Running + * The camera is running and ready to process requests queued by the + * application. The camera remains in this state until it is stopped and moved + * to the Prepared state. */ /** @@ -116,17 +192,55 @@ const std::string &Camera::name() const */ Camera::Camera(PipelineHandler *pipe, const std::string &name) - : pipe_(pipe->shared_from_this()), name_(name), acquired_(false), - disconnected_(false) + : pipe_(pipe->shared_from_this()), name_(name), disconnected_(false), + state_(CameraAvailable) { } Camera::~Camera() { - if (acquired_) + if (!stateIs(CameraAvailable)) LOG(Camera, Error) << "Removing camera while still in use"; } +static const char *const camera_state_names[] = { + "Available", + "Acquired", + "Configured", + "Prepared", + "Running", +}; + +bool Camera::stateBetween(State low, State high) const +{ + if (state_ >= low && state_ <= high) + return true; + + ASSERT(static_cast<unsigned int>(low) < ARRAY_SIZE(camera_state_names) && + static_cast<unsigned int>(high) < ARRAY_SIZE(camera_state_names)); + + LOG(Camera, Debug) << "Camera in " << camera_state_names[state_] + << " state trying operation requiring state between " + << camera_state_names[low] << " and " + << camera_state_names[high]; + + return false; +} + +bool Camera::stateIs(State state) const +{ + if (state_ == state) + return true; + + ASSERT(static_cast<unsigned int>(state) < ARRAY_SIZE(camera_state_names)); + + LOG(Camera, Debug) << "Camera in " << camera_state_names[state_] + << " state trying operation requiring state " + << camera_state_names[state]; + + return false; +} + /** * \brief Notify camera disconnection * @@ -135,11 +249,24 @@ Camera::~Camera() * instance notifies the application by emitting the #disconnected signal, and * ensures that all new calls to the application-facing Camera API return an * error immediately. + * + * \todo Deal with pending requests if the camera is disconnected in a + * running state. + * \todo Update comment about Running state when importing buffers as well as + * allocating them are supported. */ void Camera::disconnect() { LOG(Camera, Debug) << "Disconnecting camera " << name_; + /* + * If the camera was running when the hardware was removed force the + * state to Prepared to allow applications to call freeBuffers() and + * release() before deleting the camera. + */ + if (state_ == CameraRunning) + state_ = CameraPrepared; + disconnected_ = true; disconnected.emit(this); } @@ -155,16 +282,24 @@ void Camera::disconnect() * Once exclusive access isn't needed anymore, the device should be released * with a call to the release() function. * + * This function affects the state of the camera, see \ref camera_operation. + * * \todo Implement exclusive access across processes. * * \return 0 on success or a negative error code otherwise + * \retval -ENODEV The camera has been disconnected from the system + * \retval -EBUSY The camera is not free and can't be acquired by the caller */ int Camera::acquire() { - if (acquired_) + if (disconnected_) + return -ENODEV; + + if (!stateIs(CameraAvailable)) return -EBUSY; - acquired_ = true; + state_ = CameraAcquired; + return 0; } @@ -173,10 +308,20 @@ int Camera::acquire() * * Releasing the camera device allows other users to acquire exclusive access * with the acquire() function. + * + * This function affects the state of the camera, see \ref camera_operation. + * + * \return 0 on success or a negative error code otherwise + * \retval -EBUSY The camera is running and can't be released */ -void Camera::release() +int Camera::release() { - acquired_ = false; + if (!stateBetween(CameraAvailable, CameraConfigured)) + return -EBUSY; + + state_ = CameraAvailable; + + return 0; } /** @@ -235,18 +380,22 @@ Camera::streamConfiguration(std::set<Stream *> &streams) * Exclusive access to the camera shall be ensured by a call to acquire() prior * to calling this function, otherwise an -EACCES error will be returned. * + * This function affects the state of the camera, see \ref camera_operation. + * * \return 0 on success or a negative error code otherwise - * \retval -ENODEV The camera is not connected to any hardware - * \retval -EACCES The user has not acquired exclusive access to the camera + * \retval -ENODEV The camera has been disconnected from the system + * \retval -EACCES The camera is not in a state where it can be configured * \retval -EINVAL The configuration is not valid */ int Camera::configureStreams(std::map<Stream *, StreamConfiguration> &config) { int ret; - ret = exclusiveAccess(); - if (ret) - return ret; + if (disconnected_) + return -ENODEV; + + if (!stateBetween(CameraAvailable, CameraConfigured)) + return -EACCES; if (!config.size()) { LOG(Camera, Error) @@ -273,20 +422,28 @@ int Camera::configureStreams(std::map<Stream *, StreamConfiguration> &config) stream->bufferPool().createBuffers(cfg.bufferCount); } + state_ = CameraConfigured; + return 0; } /** * \brief Allocate buffers for all configured streams + * + * This function affects the state of the camera, see \ref camera_operation. + * * \return 0 on success or a negative error code otherwise + * \retval -ENODEV The camera has been disconnected from the system + * \retval -EACCES The camera is not in a state where buffers can be allocated + * \retval -EINVAL The configuration is not valid */ int Camera::allocateBuffers() { - int ret; + if (disconnected_) + return -ENODEV; - ret = exclusiveAccess(); - if (ret) - return ret; + if (!stateIs(CameraConfigured)) + return -EACCES; if (activeStreams_.empty()) { LOG(Camera, Error) @@ -295,7 +452,7 @@ int Camera::allocateBuffers() } for (Stream *stream : activeStreams_) { - ret = pipe_->allocateBuffers(this, stream); + int ret = pipe_->allocateBuffers(this, stream); if (ret) { LOG(Camera, Error) << "Failed to allocate buffers"; freeBuffers(); @@ -303,14 +460,24 @@ int Camera::allocateBuffers() } } + state_ = CameraPrepared; + return 0; } /** * \brief Release all buffers from allocated pools in each stream + * + * This function affects the state of the camera, see \ref camera_operation. + * + * \return 0 on success or a negative error code otherwise + * \retval -EACCES The camera is not in a state where buffers can be freed */ -void Camera::freeBuffers() +int Camera::freeBuffers() { + if (!stateIs(CameraPrepared)) + return -EACCES; + for (Stream *stream : activeStreams_) { if (!stream->bufferPool().count()) continue; @@ -318,6 +485,10 @@ void Camera::freeBuffers() pipe_->freeBuffers(this, stream); stream->bufferPool().destroyBuffers(); } + + state_ = CameraConfigured; + + return 0; } /** @@ -329,11 +500,14 @@ void Camera::freeBuffers() * The ownership of the returned request is passed to the caller, which is * responsible for either queueing the request or deleting it. * + * This function shall only be called when the camera is in the Prepared + * or Running state, see \ref camera_operation. + * * \return A pointer to the newly created request, or nullptr on error */ Request *Camera::createRequest() { - if (exclusiveAccess()) + if (disconnected_ || !stateBetween(CameraPrepared, CameraRunning)) return nullptr; return new Request(this); @@ -351,16 +525,18 @@ Request *Camera::createRequest() * automatically after it completes. * * \return 0 on success or a negative error code otherwise + * \retval -ENODEV The camera has been disconnected from the system + * \retval -EACCES The camera is not running so requests can't be queued */ int Camera::queueRequest(Request *request) { - int ret; + if (disconnected_) + return -ENODEV; - ret = exclusiveAccess(); - if (ret) - return ret; + if (!stateIs(CameraRunning)) + return -EACCES; - ret = request->prepare(); + int ret = request->prepare(); if (ret) { LOG(Camera, Error) << "Failed to prepare request"; return ret; @@ -376,17 +552,29 @@ int Camera::queueRequest(Request *request) * can queue requests to the camera to process and return to the application * until the capture session is terminated with \a stop(). * + * This function affects the state of the camera, see \ref camera_operation. + * * \return 0 on success or a negative error code otherwise + * \retval -ENODEV The camera has been disconnected from the system + * \retval -EACCES The camera is not in a state where it can be started */ int Camera::start() { - int ret = exclusiveAccess(); + if (disconnected_) + return -ENODEV; + + if (!stateIs(CameraPrepared)) + return -EACCES; + + LOG(Camera, Debug) << "Starting capture"; + + int ret = pipe_->start(this); if (ret) return ret; - LOG(Camera, Debug) << "Starting capture"; + state_ = CameraRunning; - return pipe_->start(this); + return 0; } /** @@ -395,29 +583,26 @@ int Camera::start() * This method stops capturing and processing requests immediately. All pending * requests are cancelled and complete synchronously in an error state. * + * This function affects the state of the camera, see \ref camera_operation. + * * \return 0 on success or a negative error code otherwise + * \retval -ENODEV The camera has been disconnected from the system + * \retval -EACCES The camera is not running so can't be stopped */ int Camera::stop() { - int ret = exclusiveAccess(); - if (ret) - return ret; - - LOG(Camera, Debug) << "Stopping capture"; - - pipe_->stop(this); - - return 0; -} - -int Camera::exclusiveAccess() -{ if (disconnected_) return -ENODEV; - if (!acquired_) + if (!stateIs(CameraRunning)) return -EACCES; + LOG(Camera, Debug) << "Stopping capture"; + + state_ = CameraPrepared; + + pipe_->stop(this); + return 0; } |