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-/* SPDX-License-Identifier: BSD-2-Clause */
-/*
- * Copyright (C) 2022-2023, Raspberry Pi Ltd
- *
- * af.cpp - Autofocus control algorithm
- */
-
-#include "af.h"
-
-#include <iomanip>
-#include <math.h>
-#include <stdlib.h>
-
-#include <libcamera/base/log.h>
-
-#include <libcamera/control_ids.h>
-
-using namespace RPiController;
-using namespace libcamera;
-
-LOG_DEFINE_CATEGORY(RPiAf)
-
-#define NAME "rpi.af"
-
-/*
- * Default values for parameters. All may be overridden in the tuning file.
- * Many of these values are sensor- or module-dependent; the defaults here
- * assume IMX708 in a Raspberry Pi V3 camera with the standard lens.
- *
- * Here all focus values are in dioptres (1/m). They are converted to hardware
- * units when written to status.lensSetting or returned from setLensPosition().
- *
- * Gain and delay values are relative to the update rate, since much (not all)
- * of the delay is in the sensor and (for CDAF) ISP, not the lens mechanism;
- * but note that algorithms are updated at no more than 30 Hz.
- */
-
-Af::RangeDependentParams::RangeDependentParams()
- : focusMin(0.0),
- focusMax(12.0),
- focusDefault(1.0)
-{
-}
-
-Af::SpeedDependentParams::SpeedDependentParams()
- : stepCoarse(1.0),
- stepFine(0.25),
- contrastRatio(0.75),
- pdafGain(-0.02),
- pdafSquelch(0.125),
- maxSlew(2.0),
- pdafFrames(20),
- dropoutFrames(6),
- stepFrames(4)
-{
-}
-
-Af::CfgParams::CfgParams()
- : confEpsilon(8),
- confThresh(16),
- confClip(512),
- skipFrames(5),
- map()
-{
-}
-
-template<typename T>
-static void readNumber(T &dest, const libcamera::YamlObject &params, char const *name)
-{
- auto value = params[name].get<T>();
- if (value)
- dest = *value;
- else
- LOG(RPiAf, Warning) << "Missing parameter \"" << name << "\"";
-}
-
-void Af::RangeDependentParams::read(const libcamera::YamlObject &params)
-{
-
- readNumber<double>(focusMin, params, "min");
- readNumber<double>(focusMax, params, "max");
- readNumber<double>(focusDefault, params, "default");
-}
-
-void Af::SpeedDependentParams::read(const libcamera::YamlObject &params)
-{
- readNumber<double>(stepCoarse, params, "step_coarse");
- readNumber<double>(stepFine, params, "step_fine");
- readNumber<double>(contrastRatio, params, "contrast_ratio");
- readNumber<double>(pdafGain, params, "pdaf_gain");
- readNumber<double>(pdafSquelch, params, "pdaf_squelch");
- readNumber<double>(maxSlew, params, "max_slew");
- readNumber<uint32_t>(pdafFrames, params, "pdaf_frames");
- readNumber<uint32_t>(dropoutFrames, params, "dropout_frames");
- readNumber<uint32_t>(stepFrames, params, "step_frames");
-}
-
-int Af::CfgParams::read(const libcamera::YamlObject &params)
-{
- if (params.contains("ranges")) {
- auto &rr = params["ranges"];
-
- if (rr.contains("normal"))
- ranges[AfRangeNormal].read(rr["normal"]);
- else
- LOG(RPiAf, Warning) << "Missing range \"normal\"";
-
- ranges[AfRangeMacro] = ranges[AfRangeNormal];
- if (rr.contains("macro"))
- ranges[AfRangeMacro].read(rr["macro"]);
-
- ranges[AfRangeFull].focusMin = std::min(ranges[AfRangeNormal].focusMin,
- ranges[AfRangeMacro].focusMin);
- ranges[AfRangeFull].focusMax = std::max(ranges[AfRangeNormal].focusMax,
- ranges[AfRangeMacro].focusMax);
- ranges[AfRangeFull].focusDefault = ranges[AfRangeNormal].focusDefault;
- if (rr.contains("full"))
- ranges[AfRangeFull].read(rr["full"]);
- } else
- LOG(RPiAf, Warning) << "No ranges defined";
-
- if (params.contains("speeds")) {
- auto &ss = params["speeds"];
-
- if (ss.contains("normal"))
- speeds[AfSpeedNormal].read(ss["normal"]);
- else
- LOG(RPiAf, Warning) << "Missing speed \"normal\"";
-
- speeds[AfSpeedFast] = speeds[AfSpeedNormal];
- if (ss.contains("fast"))
- speeds[AfSpeedFast].read(ss["fast"]);
- } else
- LOG(RPiAf, Warning) << "No speeds defined";
-
- readNumber<uint32_t>(confEpsilon, params, "conf_epsilon");
- readNumber<uint32_t>(confThresh, params, "conf_thresh");
- readNumber<uint32_t>(confClip, params, "conf_clip");
- readNumber<uint32_t>(skipFrames, params, "skip_frames");
-
- if (params.contains("map"))
- map.read(params["map"]);
- else
- LOG(RPiAf, Warning) << "No map defined";
-
- return 0;
-}
-
-void Af::CfgParams::initialise()
-{
- if (map.empty()) {
- /* Default mapping from dioptres to hardware setting */
- static constexpr double DefaultMapX0 = 0.0;
- static constexpr double DefaultMapY0 = 445.0;
- static constexpr double DefaultMapX1 = 15.0;
- static constexpr double DefaultMapY1 = 925.0;
-
- map.append(DefaultMapX0, DefaultMapY0);
- map.append(DefaultMapX1, DefaultMapY1);
- }
-}
-
-/* Af Algorithm class */
-
-static constexpr unsigned MaxWindows = 10;
-
-Af::Af(Controller *controller)
- : AfAlgorithm(controller),
- cfg_(),
- range_(AfRangeNormal),
- speed_(AfSpeedNormal),
- mode_(AfAlgorithm::AfModeManual),
- pauseFlag_(false),
- statsRegion_(0, 0, 0, 0),
- windows_(),
- useWindows_(false),
- phaseWeights_(),
- contrastWeights_(),
- scanState_(ScanState::Idle),
- initted_(false),
- ftarget_(-1.0),
- fsmooth_(-1.0),
- prevContrast_(0.0),
- skipCount_(0),
- stepCount_(0),
- dropCount_(0),
- scanMaxContrast_(0.0),
- scanMinContrast_(1.0e9),
- scanData_(),
- reportState_(AfState::Idle)
-{
- /*
- * Reserve space for data, to reduce memory fragmentation. It's too early
- * to query the size of the PDAF (from camera) and Contrast (from ISP)
- * statistics, but these are plausible upper bounds.
- */
- phaseWeights_.w.reserve(16 * 12);
- contrastWeights_.w.reserve(getHardwareConfig().focusRegions.width *
- getHardwareConfig().focusRegions.height);
- scanData_.reserve(32);
-}
-
-Af::~Af()
-{
-}
-
-char const *Af::name() const
-{
- return NAME;
-}
-
-int Af::read(const libcamera::YamlObject &params)
-{
- return cfg_.read(params);
-}
-
-void Af::initialise()
-{
- cfg_.initialise();
-}
-
-void Af::switchMode(CameraMode const &cameraMode, [[maybe_unused]] Metadata *metadata)
-{
- (void)metadata;
-
- /* Assume that PDAF and Focus stats grids cover the visible area */
- statsRegion_.x = (int)cameraMode.cropX;
- statsRegion_.y = (int)cameraMode.cropY;
- statsRegion_.width = (unsigned)(cameraMode.width * cameraMode.scaleX);
- statsRegion_.height = (unsigned)(cameraMode.height * cameraMode.scaleY);
- LOG(RPiAf, Debug) << "switchMode: statsRegion: "
- << statsRegion_.x << ','
- << statsRegion_.y << ','
- << statsRegion_.width << ','
- << statsRegion_.height;
- invalidateWeights();
-
- if (scanState_ >= ScanState::Coarse && scanState_ < ScanState::Settle) {
- /*
- * If a scan was in progress, re-start it, as CDAF statistics
- * may have changed. Though if the application is just about
- * to take a still picture, this will not help...
- */
- startProgrammedScan();
- }
- skipCount_ = cfg_.skipFrames;
-}
-
-void Af::computeWeights(RegionWeights *wgts, unsigned rows, unsigned cols)
-{
- wgts->rows = rows;
- wgts->cols = cols;
- wgts->sum = 0;
- wgts->w.resize(rows * cols);
- std::fill(wgts->w.begin(), wgts->w.end(), 0);
-
- if (rows > 0 && cols > 0 && useWindows_ &&
- statsRegion_.height >= rows && statsRegion_.width >= cols) {
- /*
- * Here we just merge all of the given windows, weighted by area.
- * \todo Perhaps a better approach might be to find the phase in each
- * window and choose either the closest or the highest-confidence one?
- * Ensure weights sum to less than (1<<16). 46080 is a "round number"
- * below 65536, for better rounding when window size is a simple
- * fraction of image dimensions.
- */
- const unsigned maxCellWeight = 46080u / (MaxWindows * rows * cols);
- const unsigned cellH = statsRegion_.height / rows;
- const unsigned cellW = statsRegion_.width / cols;
- const unsigned cellA = cellH * cellW;
-
- for (auto &w : windows_) {
- for (unsigned r = 0; r < rows; ++r) {
- int y0 = std::max(statsRegion_.y + (int)(cellH * r), w.y);
- int y1 = std::min(statsRegion_.y + (int)(cellH * (r + 1)),
- w.y + (int)(w.height));
- if (y0 >= y1)
- continue;
- y1 -= y0;
- for (unsigned c = 0; c < cols; ++c) {
- int x0 = std::max(statsRegion_.x + (int)(cellW * c), w.x);
- int x1 = std::min(statsRegion_.x + (int)(cellW * (c + 1)),
- w.x + (int)(w.width));
- if (x0 >= x1)
- continue;
- unsigned a = y1 * (x1 - x0);
- a = (maxCellWeight * a + cellA - 1) / cellA;
- wgts->w[r * cols + c] += a;
- wgts->sum += a;
- }
- }
- }
- }
-
- if (wgts->sum == 0) {
- /* Default AF window is the middle 1/2 width of the middle 1/3 height */
- for (unsigned r = rows / 3; r < rows - rows / 3; ++r) {
- for (unsigned c = cols / 4; c < cols - cols / 4; ++c) {
- wgts->w[r * cols + c] = 1;
- wgts->sum += 1;
- }
- }
- }
-}
-
-void Af::invalidateWeights()
-{
- phaseWeights_.sum = 0;
- contrastWeights_.sum = 0;
-}
-
-bool Af::getPhase(PdafRegions const &regions, double &phase, double &conf)
-{
- libcamera::Size size = regions.size();
- if (size.height != phaseWeights_.rows || size.width != phaseWeights_.cols ||
- phaseWeights_.sum == 0) {
- LOG(RPiAf, Debug) << "Recompute Phase weights " << size.width << 'x' << size.height;
- computeWeights(&phaseWeights_, size.height, size.width);
- }
-
- uint32_t sumWc = 0;
- int64_t sumWcp = 0;
- for (unsigned i = 0; i < regions.numRegions(); ++i) {
- unsigned w = phaseWeights_.w[i];
- if (w) {
- const PdafData &data = regions.get(i).val;
- unsigned c = data.conf;
- if (c >= cfg_.confThresh) {
- if (c > cfg_.confClip)
- c = cfg_.confClip;
- c -= (cfg_.confThresh >> 2);
- sumWc += w * c;
- c -= (cfg_.confThresh >> 2);
- sumWcp += (int64_t)(w * c) * (int64_t)data.phase;
- }
- }
- }
-
- if (0 < phaseWeights_.sum && phaseWeights_.sum <= sumWc) {
- phase = (double)sumWcp / (double)sumWc;
- conf = (double)sumWc / (double)phaseWeights_.sum;
- return true;
- } else {
- phase = 0.0;
- conf = 0.0;
- return false;
- }
-}
-
-double Af::getContrast(const FocusRegions &focusStats)
-{
- libcamera::Size size = focusStats.size();
- if (size.height != contrastWeights_.rows ||
- size.width != contrastWeights_.cols || contrastWeights_.sum == 0) {
- LOG(RPiAf, Debug) << "Recompute Contrast weights "
- << size.width << 'x' << size.height;
- computeWeights(&contrastWeights_, size.height, size.width);
- }
-
- uint64_t sumWc = 0;
- for (unsigned i = 0; i < focusStats.numRegions(); ++i)
- sumWc += contrastWeights_.w[i] * focusStats.get(i).val;
-
- return (contrastWeights_.sum > 0) ? ((double)sumWc / (double)contrastWeights_.sum) : 0.0;
-}
-
-void Af::doPDAF(double phase, double conf)
-{
- /* Apply loop gain */
- phase *= cfg_.speeds[speed_].pdafGain;
-
- if (mode_ == AfModeContinuous) {
- /*
- * PDAF in Continuous mode. Scale down lens movement when
- * delta is small or confidence is low, to suppress wobble.
- */
- phase *= conf / (conf + cfg_.confEpsilon);
- if (std::abs(phase) < cfg_.speeds[speed_].pdafSquelch) {
- double a = phase / cfg_.speeds[speed_].pdafSquelch;
- phase *= a * a;
- }
- } else {
- /*
- * PDAF in triggered-auto mode. Allow early termination when
- * phase delta is small; scale down lens movements towards
- * the end of the sequence, to ensure a stable image.
- */
- if (stepCount_ >= cfg_.speeds[speed_].stepFrames) {
- if (std::abs(phase) < cfg_.speeds[speed_].pdafSquelch)
- stepCount_ = cfg_.speeds[speed_].stepFrames;
- } else
- phase *= stepCount_ / cfg_.speeds[speed_].stepFrames;
- }
-
- /* Apply slew rate limit. Report failure if out of bounds. */
- if (phase < -cfg_.speeds[speed_].maxSlew) {
- phase = -cfg_.speeds[speed_].maxSlew;
- reportState_ = (ftarget_ <= cfg_.ranges[range_].focusMin) ? AfState::Failed
- : AfState::Scanning;
- } else if (phase > cfg_.speeds[speed_].maxSlew) {
- phase = cfg_.speeds[speed_].maxSlew;
- reportState_ = (ftarget_ >= cfg_.ranges[range_].focusMax) ? AfState::Failed
- : AfState::Scanning;
- } else
- reportState_ = AfState::Focused;
-
- ftarget_ = fsmooth_ + phase;
-}
-
-bool Af::earlyTerminationByPhase(double phase)
-{
- if (scanData_.size() > 0 &&
- scanData_[scanData_.size() - 1].conf >= cfg_.confEpsilon) {
- double oldFocus = scanData_[scanData_.size() - 1].focus;
- double oldPhase = scanData_[scanData_.size() - 1].phase;
-
- /*
- * Check that the gradient is finite and has the expected sign;
- * Interpolate/extrapolate the lens position for zero phase.
- * Check that the extrapolation is well-conditioned.
- */
- if ((ftarget_ - oldFocus) * (phase - oldPhase) > 0.0) {
- double param = phase / (phase - oldPhase);
- if (-3.0 <= param && param <= 3.5) {
- ftarget_ += param * (oldFocus - ftarget_);
- LOG(RPiAf, Debug) << "ETBP: param=" << param;
- return true;
- }
- }
- }
-
- return false;
-}
-
-double Af::findPeak(unsigned i) const
-{
- double f = scanData_[i].focus;
-
- if (i > 0 && i + 1 < scanData_.size()) {
- double dropLo = scanData_[i].contrast - scanData_[i - 1].contrast;
- double dropHi = scanData_[i].contrast - scanData_[i + 1].contrast;
- if (0.0 <= dropLo && dropLo < dropHi) {
- double param = 0.3125 * (1.0 - dropLo / dropHi) * (1.6 - dropLo / dropHi);
- f += param * (scanData_[i - 1].focus - f);
- } else if (0.0 <= dropHi && dropHi < dropLo) {
- double param = 0.3125 * (1.0 - dropHi / dropLo) * (1.6 - dropHi / dropLo);
- f += param * (scanData_[i + 1].focus - f);
- }
- }
-
- LOG(RPiAf, Debug) << "FindPeak: " << f;
- return f;
-}
-
-void Af::doScan(double contrast, double phase, double conf)
-{
- /* Record lens position, contrast and phase values for the current scan */
- if (scanData_.empty() || contrast > scanMaxContrast_) {
- scanMaxContrast_ = contrast;
- scanMaxIndex_ = scanData_.size();
- }
- if (contrast < scanMinContrast_)
- scanMinContrast_ = contrast;
- scanData_.emplace_back(ScanRecord{ ftarget_, contrast, phase, conf });
-
- if (scanState_ == ScanState::Coarse) {
- if (ftarget_ >= cfg_.ranges[range_].focusMax ||
- contrast < cfg_.speeds[speed_].contrastRatio * scanMaxContrast_) {
- /*
- * Finished course scan, or termination based on contrast.
- * Jump to just after max contrast and start fine scan.
- */
- ftarget_ = std::min(ftarget_, findPeak(scanMaxIndex_) +
- 2.0 * cfg_.speeds[speed_].stepFine);
- scanState_ = ScanState::Fine;
- scanData_.clear();
- } else
- ftarget_ += cfg_.speeds[speed_].stepCoarse;
- } else { /* ScanState::Fine */
- if (ftarget_ <= cfg_.ranges[range_].focusMin || scanData_.size() >= 5 ||
- contrast < cfg_.speeds[speed_].contrastRatio * scanMaxContrast_) {
- /*
- * Finished fine scan, or termination based on contrast.
- * Use quadratic peak-finding to find best contrast position.
- */
- ftarget_ = findPeak(scanMaxIndex_);
- scanState_ = ScanState::Settle;
- } else
- ftarget_ -= cfg_.speeds[speed_].stepFine;
- }
-
- stepCount_ = (ftarget_ == fsmooth_) ? 0 : cfg_.speeds[speed_].stepFrames;
-}
-
-void Af::doAF(double contrast, double phase, double conf)
-{
- /* Skip frames at startup and after sensor mode change */
- if (skipCount_ > 0) {
- LOG(RPiAf, Debug) << "SKIP";
- skipCount_--;
- return;
- }
-
- if (scanState_ == ScanState::Pdaf) {
- /*
- * Use PDAF closed-loop control whenever available, in both CAF
- * mode and (for a limited number of iterations) when triggered.
- * If PDAF fails (due to poor contrast, noise or large defocus),
- * fall back to a CDAF-based scan. To avoid "nuisance" scans,
- * scan only after a number of frames with low PDAF confidence.
- */
- if (conf > (dropCount_ ? 1.0 : 0.25) * cfg_.confEpsilon) {
- doPDAF(phase, conf);
- if (stepCount_ > 0)
- stepCount_--;
- else if (mode_ != AfModeContinuous)
- scanState_ = ScanState::Idle;
- dropCount_ = 0;
- } else if (++dropCount_ == cfg_.speeds[speed_].dropoutFrames)
- startProgrammedScan();
- } else if (scanState_ >= ScanState::Coarse && fsmooth_ == ftarget_) {
- /*
- * Scanning sequence. This means PDAF has become unavailable.
- * Allow a delay between steps for CDAF FoM statistics to be
- * updated, and a "settling time" at the end of the sequence.
- * [A coarse or fine scan can be abandoned if two PDAF samples
- * allow direct interpolation of the zero-phase lens position.]
- */
- if (stepCount_ > 0)
- stepCount_--;
- else if (scanState_ == ScanState::Settle) {
- if (prevContrast_ >= cfg_.speeds[speed_].contrastRatio * scanMaxContrast_ &&
- scanMinContrast_ <= cfg_.speeds[speed_].contrastRatio * scanMaxContrast_)
- reportState_ = AfState::Focused;
- else
- reportState_ = AfState::Failed;
- if (mode_ == AfModeContinuous && !pauseFlag_ &&
- cfg_.speeds[speed_].dropoutFrames > 0)
- scanState_ = ScanState::Pdaf;
- else
- scanState_ = ScanState::Idle;
- scanData_.clear();
- } else if (conf >= cfg_.confEpsilon && earlyTerminationByPhase(phase)) {
- scanState_ = ScanState::Settle;
- stepCount_ = (mode_ == AfModeContinuous) ? 0
- : cfg_.speeds[speed_].stepFrames;
- } else
- doScan(contrast, phase, conf);
- }
-}
-
-void Af::updateLensPosition()
-{
- if (scanState_ >= ScanState::Pdaf) {
- ftarget_ = std::clamp(ftarget_,
- cfg_.ranges[range_].focusMin,
- cfg_.ranges[range_].focusMax);
- }
-
- if (initted_) {
- /* from a known lens position: apply slew rate limit */
- fsmooth_ = std::clamp(ftarget_,
- fsmooth_ - cfg_.speeds[speed_].maxSlew,
- fsmooth_ + cfg_.speeds[speed_].maxSlew);
- } else {
- /* from an unknown position: go straight to target, but add delay */
- fsmooth_ = ftarget_;
- initted_ = true;
- skipCount_ = cfg_.skipFrames;
- }
-}
-
-void Af::startAF()
-{
- /* Use PDAF if the tuning file allows it; else CDAF. */
- if (cfg_.speeds[speed_].dropoutFrames > 0 &&
- (mode_ == AfModeContinuous || cfg_.speeds[speed_].pdafFrames > 0)) {
- if (!initted_) {
- ftarget_ = cfg_.ranges[range_].focusDefault;
- updateLensPosition();
- }
- stepCount_ = (mode_ == AfModeContinuous) ? 0 : cfg_.speeds[speed_].pdafFrames;
- scanState_ = ScanState::Pdaf;
- scanData_.clear();
- dropCount_ = 0;
- reportState_ = AfState::Scanning;
- } else
- startProgrammedScan();
-}
-
-void Af::startProgrammedScan()
-{
- ftarget_ = cfg_.ranges[range_].focusMin;
- updateLensPosition();
- scanState_ = ScanState::Coarse;
- scanMaxContrast_ = 0.0;
- scanMinContrast_ = 1.0e9;
- scanMaxIndex_ = 0;
- scanData_.clear();
- stepCount_ = cfg_.speeds[speed_].stepFrames;
- reportState_ = AfState::Scanning;
-}
-
-void Af::goIdle()
-{
- scanState_ = ScanState::Idle;
- reportState_ = AfState::Idle;
- scanData_.clear();
-}
-
-/*
- * PDAF phase data are available in prepare(), but CDAF statistics are not
- * available until process(). We are gambling on the availability of PDAF.
- * To expedite feedback control using PDAF, issue the V4L2 lens control from
- * prepare(). Conversely, during scans, we must allow an extra frame delay
- * between steps, to retrieve CDAF statistics from the previous process()
- * so we can terminate the scan early without having to change our minds.
- */
-
-void Af::prepare(Metadata *imageMetadata)
-{
- /* Initialize for triggered scan or start of CAF mode */
- if (scanState_ == ScanState::Trigger)
- startAF();
-
- if (initted_) {
- /* Get PDAF from the embedded metadata, and run AF algorithm core */
- PdafRegions regions;
- double phase = 0.0, conf = 0.0;
- double oldFt = ftarget_;
- double oldFs = fsmooth_;
- ScanState oldSs = scanState_;
- uint32_t oldSt = stepCount_;
- if (imageMetadata->get("pdaf.regions", regions) == 0)
- getPhase(regions, phase, conf);
- doAF(prevContrast_, phase, conf);
- updateLensPosition();
- LOG(RPiAf, Debug) << std::fixed << std::setprecision(2)
- << static_cast<unsigned int>(reportState_)
- << " sst" << static_cast<unsigned int>(oldSs)
- << "->" << static_cast<unsigned int>(scanState_)
- << " stp" << oldSt << "->" << stepCount_
- << " ft" << oldFt << "->" << ftarget_
- << " fs" << oldFs << "->" << fsmooth_
- << " cont=" << (int)prevContrast_
- << " phase=" << (int)phase << " conf=" << (int)conf;
- }
-
- /* Report status and produce new lens setting */
- AfStatus status;
- if (pauseFlag_)
- status.pauseState = (scanState_ == ScanState::Idle) ? AfPauseState::Paused
- : AfPauseState::Pausing;
- else
- status.pauseState = AfPauseState::Running;
-
- if (mode_ == AfModeAuto && scanState_ != ScanState::Idle)
- status.state = AfState::Scanning;
- else
- status.state = reportState_;
- status.lensSetting = initted_ ? std::optional<int>(cfg_.map.eval(fsmooth_))
- : std::nullopt;
- imageMetadata->set("af.status", status);
-}
-
-void Af::process(StatisticsPtr &stats, [[maybe_unused]] Metadata *imageMetadata)
-{
- (void)imageMetadata;
- prevContrast_ = getContrast(stats->focusRegions);
-}
-
-/* Controls */
-
-void Af::setRange(AfRange r)
-{
- LOG(RPiAf, Debug) << "setRange: " << (unsigned)r;
- if (r < AfAlgorithm::AfRangeMax)
- range_ = r;
-}
-
-void Af::setSpeed(AfSpeed s)
-{
- LOG(RPiAf, Debug) << "setSpeed: " << (unsigned)s;
- if (s < AfAlgorithm::AfSpeedMax) {
- if (scanState_ == ScanState::Pdaf &&
- cfg_.speeds[s].pdafFrames > cfg_.speeds[speed_].pdafFrames)
- stepCount_ += cfg_.speeds[s].pdafFrames - cfg_.speeds[speed_].pdafFrames;
- speed_ = s;
- }
-}
-
-void Af::setMetering(bool mode)
-{
- if (useWindows_ != mode) {
- useWindows_ = mode;
- invalidateWeights();
- }
-}
-
-void Af::setWindows(libcamera::Span<libcamera::Rectangle const> const &wins)
-{
- windows_.clear();
- for (auto &w : wins) {
- LOG(RPiAf, Debug) << "Window: "
- << w.x << ", "
- << w.y << ", "
- << w.width << ", "
- << w.height;
- windows_.push_back(w);
- if (windows_.size() >= MaxWindows)
- break;
- }
-
- if (useWindows_)
- invalidateWeights();
-}
-
-bool Af::setLensPosition(double dioptres, int *hwpos)
-{
- bool changed = false;
-
- if (mode_ == AfModeManual) {
- LOG(RPiAf, Debug) << "setLensPosition: " << dioptres;
- ftarget_ = cfg_.map.domain().clip(dioptres);
- changed = !(initted_ && fsmooth_ == ftarget_);
- updateLensPosition();
- }
-
- if (hwpos)
- *hwpos = cfg_.map.eval(fsmooth_);
-
- return changed;
-}
-
-std::optional<double> Af::getLensPosition() const
-{
- /*
- * \todo We ought to perform some precise timing here to determine
- * the current lens position.
- */
- return initted_ ? std::optional<double>(fsmooth_) : std::nullopt;
-}
-
-void Af::cancelScan()
-{
- LOG(RPiAf, Debug) << "cancelScan";
- if (mode_ == AfModeAuto)
- goIdle();
-}
-
-void Af::triggerScan()
-{
- LOG(RPiAf, Debug) << "triggerScan";
- if (mode_ == AfModeAuto && scanState_ == ScanState::Idle)
- scanState_ = ScanState::Trigger;
-}
-
-void Af::setMode(AfAlgorithm::AfMode mode)
-{
- LOG(RPiAf, Debug) << "setMode: " << (unsigned)mode;
- if (mode_ != mode) {
- mode_ = mode;
- pauseFlag_ = false;
- if (mode == AfModeContinuous)
- scanState_ = ScanState::Trigger;
- else if (mode != AfModeAuto || scanState_ < ScanState::Coarse)
- goIdle();
- }
-}
-
-AfAlgorithm::AfMode Af::getMode() const
-{
- return mode_;
-}
-
-void Af::pause(AfAlgorithm::AfPause pause)
-{
- LOG(RPiAf, Debug) << "pause: " << (unsigned)pause;
- if (mode_ == AfModeContinuous) {
- if (pause == AfPauseResume && pauseFlag_) {
- pauseFlag_ = false;
- if (scanState_ < ScanState::Coarse)
- scanState_ = ScanState::Trigger;
- } else if (pause != AfPauseResume && !pauseFlag_) {
- pauseFlag_ = true;
- if (pause == AfPauseImmediate || scanState_ < ScanState::Coarse)
- goIdle();
- }
- }
-}
-
-// Register algorithm with the system.
-static Algorithm *create(Controller *controller)
-{
- return (Algorithm *)new Af(controller);
-}
-static RegisterAlgorithm reg(NAME, &create);
generated by cgit v1.2.1 (git 2.18.0) at 2024-06-01 08:27:29 +0000