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Diffstat (limited to 'src/ipa/raspberrypi/raspberrypi.cpp')
| -rw-r--r-- | src/ipa/raspberrypi/raspberrypi.cpp | 1853 |
1 files changed, 0 insertions, 1853 deletions
diff --git a/src/ipa/raspberrypi/raspberrypi.cpp b/src/ipa/raspberrypi/raspberrypi.cpp deleted file mode 100644 index 9c29fa9a..00000000 --- a/src/ipa/raspberrypi/raspberrypi.cpp +++ /dev/null @@ -1,1853 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019-2021, Raspberry Pi Ltd - * - * rpi.cpp - Raspberry Pi Image Processing Algorithms - */ - -#include <algorithm> -#include <array> -#include <cstring> -#include <deque> -#include <fcntl.h> -#include <math.h> -#include <stdint.h> -#include <string.h> -#include <sys/mman.h> -#include <vector> - -#include <linux/bcm2835-isp.h> - -#include <libcamera/base/log.h> -#include <libcamera/base/shared_fd.h> -#include <libcamera/base/span.h> - -#include <libcamera/control_ids.h> -#include <libcamera/controls.h> -#include <libcamera/framebuffer.h> -#include <libcamera/request.h> - -#include <libcamera/ipa/ipa_interface.h> -#include <libcamera/ipa/ipa_module_info.h> -#include <libcamera/ipa/raspberrypi_ipa_interface.h> - -#include "libcamera/internal/mapped_framebuffer.h" - -#include "af_algorithm.h" -#include "af_status.h" -#include "agc_algorithm.h" -#include "agc_status.h" -#include "alsc_status.h" -#include "awb_algorithm.h" -#include "awb_status.h" -#include "black_level_status.h" -#include "cam_helper.h" -#include "ccm_algorithm.h" -#include "ccm_status.h" -#include "contrast_algorithm.h" -#include "contrast_status.h" -#include "controller.h" -#include "denoise_algorithm.h" -#include "denoise_status.h" -#include "dpc_status.h" -#include "geq_status.h" -#include "lux_status.h" -#include "metadata.h" -#include "sharpen_algorithm.h" -#include "sharpen_status.h" -#include "statistics.h" - -namespace libcamera { - -using namespace std::literals::chrono_literals; -using utils::Duration; - -/* Number of metadata objects available in the context list. */ -constexpr unsigned int numMetadataContexts = 16; - -/* Number of frame length times to hold in the queue. */ -constexpr unsigned int FrameLengthsQueueSize = 10; - -/* Configure the sensor with these values initially. */ -constexpr double defaultAnalogueGain = 1.0; -constexpr Duration defaultExposureTime = 20.0ms; -constexpr Duration defaultMinFrameDuration = 1.0s / 30.0; -constexpr Duration defaultMaxFrameDuration = 250.0s; - -/* - * Determine the minimum allowable inter-frame duration to run the controller - * algorithms. If the pipeline handler provider frames at a rate higher than this, - * we rate-limit the controller Prepare() and Process() calls to lower than or - * equal to this rate. - */ -constexpr Duration controllerMinFrameDuration = 1.0s / 30.0; - -/* List of controls handled by the Raspberry Pi IPA */ -static const ControlInfoMap::Map ipaControls{ - { &controls::AeEnable, ControlInfo(false, true) }, - { &controls::ExposureTime, ControlInfo(0, 66666) }, - { &controls::AnalogueGain, ControlInfo(1.0f, 16.0f) }, - { &controls::AeMeteringMode, ControlInfo(controls::AeMeteringModeValues) }, - { &controls::AeConstraintMode, ControlInfo(controls::AeConstraintModeValues) }, - { &controls::AeExposureMode, ControlInfo(controls::AeExposureModeValues) }, - { &controls::ExposureValue, ControlInfo(-8.0f, 8.0f, 0.0f) }, - { &controls::AwbEnable, ControlInfo(false, true) }, - { &controls::ColourGains, ControlInfo(0.0f, 32.0f) }, - { &controls::AwbMode, ControlInfo(controls::AwbModeValues) }, - { &controls::Brightness, ControlInfo(-1.0f, 1.0f, 0.0f) }, - { &controls::Contrast, ControlInfo(0.0f, 32.0f, 1.0f) }, - { &controls::Saturation, ControlInfo(0.0f, 32.0f, 1.0f) }, - { &controls::Sharpness, ControlInfo(0.0f, 16.0f, 1.0f) }, - { &controls::ColourCorrectionMatrix, ControlInfo(-16.0f, 16.0f) }, - { &controls::ScalerCrop, ControlInfo(Rectangle{}, Rectangle(65535, 65535, 65535, 65535), Rectangle{}) }, - { &controls::FrameDurationLimits, ControlInfo(INT64_C(33333), INT64_C(120000)) }, - { &controls::draft::NoiseReductionMode, ControlInfo(controls::draft::NoiseReductionModeValues) } -}; - -/* IPA controls handled conditionally, if the lens has a focus control */ -static const ControlInfoMap::Map ipaAfControls{ - { &controls::AfMode, ControlInfo(controls::AfModeValues) }, - { &controls::AfRange, ControlInfo(controls::AfRangeValues) }, - { &controls::AfSpeed, ControlInfo(controls::AfSpeedValues) }, - { &controls::AfMetering, ControlInfo(controls::AfMeteringValues) }, - { &controls::AfWindows, ControlInfo(Rectangle{}, Rectangle(65535, 65535, 65535, 65535), Rectangle{}) }, - { &controls::AfTrigger, ControlInfo(controls::AfTriggerValues) }, - { &controls::AfPause, ControlInfo(controls::AfPauseValues) }, - { &controls::LensPosition, ControlInfo(0.0f, 32.0f, 1.0f) } -}; - -LOG_DEFINE_CATEGORY(IPARPI) - -namespace ipa::RPi { - -class IPARPi : public IPARPiInterface -{ -public: - IPARPi() - : controller_(), frameCount_(0), checkCount_(0), mistrustCount_(0), - lastRunTimestamp_(0), lsTable_(nullptr), firstStart_(true), - lastTimeout_(0s) - { - } - - ~IPARPi() - { - if (lsTable_) - munmap(lsTable_, MaxLsGridSize); - } - - int init(const IPASettings &settings, bool lensPresent, IPAInitResult *result) override; - void start(const ControlList &controls, StartConfig *startConfig) override; - void stop() override {} - - int configure(const IPACameraSensorInfo &sensorInfo, const IPAConfig &data, - ControlList *controls, IPAConfigResult *result) override; - void mapBuffers(const std::vector<IPABuffer> &buffers) override; - void unmapBuffers(const std::vector<unsigned int> &ids) override; - void signalStatReady(const uint32_t bufferId, uint32_t ipaContext) override; - void signalQueueRequest(const ControlList &controls) override; - void signalIspPrepare(const ISPConfig &data) override; - -private: - void setMode(const IPACameraSensorInfo &sensorInfo); - bool validateSensorControls(); - bool validateIspControls(); - bool validateLensControls(); - void queueRequest(const ControlList &controls); - void returnEmbeddedBuffer(unsigned int bufferId); - void prepareISP(const ISPConfig &data); - void reportMetadata(unsigned int ipaContext); - void fillDeviceStatus(const ControlList &sensorControls, unsigned int ipaContext); - RPiController::StatisticsPtr fillStatistics(bcm2835_isp_stats *stats) const; - void processStats(unsigned int bufferId, unsigned int ipaContext); - void setCameraTimeoutValue(); - void applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration); - void applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls); - void applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls); - void applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls); - void applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls); - void applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, ControlList &ctrls); - void applyGamma(const struct ContrastStatus *contrastStatus, ControlList &ctrls); - void applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls); - void applyDenoise(const struct DenoiseStatus *denoiseStatus, ControlList &ctrls); - void applySharpen(const struct SharpenStatus *sharpenStatus, ControlList &ctrls); - void applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls); - void applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls); - void applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls); - void resampleTable(uint16_t dest[], const std::vector<double> &src, int destW, int destH); - - std::map<unsigned int, MappedFrameBuffer> buffers_; - - ControlInfoMap sensorCtrls_; - ControlInfoMap ispCtrls_; - ControlInfoMap lensCtrls_; - bool lensPresent_; - ControlList libcameraMetadata_; - - /* Camera sensor params. */ - CameraMode mode_; - - /* Raspberry Pi controller specific defines. */ - std::unique_ptr<RPiController::CamHelper> helper_; - RPiController::Controller controller_; - std::array<RPiController::Metadata, numMetadataContexts> rpiMetadata_; - - /* - * We count frames to decide if the frame must be hidden (e.g. from - * display) or mistrusted (i.e. not given to the control algos). - */ - uint64_t frameCount_; - - /* For checking the sequencing of Prepare/Process calls. */ - uint64_t checkCount_; - - /* How many frames we should avoid running control algos on. */ - unsigned int mistrustCount_; - - /* Number of frames that need to be dropped on startup. */ - unsigned int dropFrameCount_; - - /* Frame timestamp for the last run of the controller. */ - uint64_t lastRunTimestamp_; - - /* Do we run a Controller::process() for this frame? */ - bool processPending_; - - /* LS table allocation passed in from the pipeline handler. */ - SharedFD lsTableHandle_; - void *lsTable_; - - /* Distinguish the first camera start from others. */ - bool firstStart_; - - /* Frame duration (1/fps) limits. */ - Duration minFrameDuration_; - Duration maxFrameDuration_; - - /* Track the frame length times over FrameLengthsQueueSize frames. */ - std::deque<Duration> frameLengths_; - Duration lastTimeout_; -}; - -int IPARPi::init(const IPASettings &settings, bool lensPresent, IPAInitResult *result) -{ - /* - * Load the "helper" for this sensor. This tells us all the device specific stuff - * that the kernel driver doesn't. We only do this the first time; we don't need - * to re-parse the metadata after a simple mode-switch for no reason. - */ - helper_ = std::unique_ptr<RPiController::CamHelper>(RPiController::CamHelper::create(settings.sensorModel)); - if (!helper_) { - LOG(IPARPI, Error) << "Could not create camera helper for " - << settings.sensorModel; - return -EINVAL; - } - - /* - * Pass out the sensor config to the pipeline handler in order - * to setup the staggered writer class. - */ - int gainDelay, exposureDelay, vblankDelay, hblankDelay, sensorMetadata; - helper_->getDelays(exposureDelay, gainDelay, vblankDelay, hblankDelay); - sensorMetadata = helper_->sensorEmbeddedDataPresent(); - - result->sensorConfig.gainDelay = gainDelay; - result->sensorConfig.exposureDelay = exposureDelay; - result->sensorConfig.vblankDelay = vblankDelay; - result->sensorConfig.hblankDelay = hblankDelay; - result->sensorConfig.sensorMetadata = sensorMetadata; - - /* Load the tuning file for this sensor. */ - int ret = controller_.read(settings.configurationFile.c_str()); - if (ret) { - LOG(IPARPI, Error) - << "Failed to load tuning data file " - << settings.configurationFile; - return ret; - } - - const std::string &target = controller_.getTarget(); - if (target != "bcm2835") { - LOG(IPARPI, Error) - << "Tuning data file target returned \"" << target << "\"" - << ", expected \"bcm2835\""; - return -EINVAL; - } - - lensPresent_ = lensPresent; - - controller_.initialise(); - - /* Return the controls handled by the IPA */ - ControlInfoMap::Map ctrlMap = ipaControls; - if (lensPresent_) - ctrlMap.merge(ControlInfoMap::Map(ipaAfControls)); - result->controlInfo = ControlInfoMap(std::move(ctrlMap), controls::controls); - - return 0; -} - -void IPARPi::start(const ControlList &controls, StartConfig *startConfig) -{ - RPiController::Metadata metadata; - - ASSERT(startConfig); - if (!controls.empty()) { - /* We have been given some controls to action before start. */ - queueRequest(controls); - } - - controller_.switchMode(mode_, &metadata); - - /* Reset the frame lengths queue state. */ - lastTimeout_ = 0s; - frameLengths_.clear(); - frameLengths_.resize(FrameLengthsQueueSize, 0s); - - /* SwitchMode may supply updated exposure/gain values to use. */ - AgcStatus agcStatus; - agcStatus.shutterTime = 0.0s; - agcStatus.analogueGain = 0.0; - - metadata.get("agc.status", agcStatus); - if (agcStatus.shutterTime && agcStatus.analogueGain) { - ControlList ctrls(sensorCtrls_); - applyAGC(&agcStatus, ctrls); - startConfig->controls = std::move(ctrls); - setCameraTimeoutValue(); - } - - /* - * Initialise frame counts, and decide how many frames must be hidden or - * "mistrusted", which depends on whether this is a startup from cold, - * or merely a mode switch in a running system. - */ - frameCount_ = 0; - checkCount_ = 0; - if (firstStart_) { - dropFrameCount_ = helper_->hideFramesStartup(); - mistrustCount_ = helper_->mistrustFramesStartup(); - - /* - * Query the AGC/AWB for how many frames they may take to - * converge sufficiently. Where these numbers are non-zero - * we must allow for the frames with bad statistics - * (mistrustCount_) that they won't see. But if zero (i.e. - * no convergence necessary), no frames need to be dropped. - */ - unsigned int agcConvergenceFrames = 0; - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.getAlgorithm("agc")); - if (agc) { - agcConvergenceFrames = agc->getConvergenceFrames(); - if (agcConvergenceFrames) - agcConvergenceFrames += mistrustCount_; - } - - unsigned int awbConvergenceFrames = 0; - RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( - controller_.getAlgorithm("awb")); - if (awb) { - awbConvergenceFrames = awb->getConvergenceFrames(); - if (awbConvergenceFrames) - awbConvergenceFrames += mistrustCount_; - } - - dropFrameCount_ = std::max({ dropFrameCount_, agcConvergenceFrames, awbConvergenceFrames }); - LOG(IPARPI, Debug) << "Drop " << dropFrameCount_ << " frames on startup"; - } else { - dropFrameCount_ = helper_->hideFramesModeSwitch(); - mistrustCount_ = helper_->mistrustFramesModeSwitch(); - } - - startConfig->dropFrameCount = dropFrameCount_; - - firstStart_ = false; - lastRunTimestamp_ = 0; -} - -void IPARPi::setMode(const IPACameraSensorInfo &sensorInfo) -{ - mode_.bitdepth = sensorInfo.bitsPerPixel; - mode_.width = sensorInfo.outputSize.width; - mode_.height = sensorInfo.outputSize.height; - mode_.sensorWidth = sensorInfo.activeAreaSize.width; - mode_.sensorHeight = sensorInfo.activeAreaSize.height; - mode_.cropX = sensorInfo.analogCrop.x; - mode_.cropY = sensorInfo.analogCrop.y; - mode_.pixelRate = sensorInfo.pixelRate; - - /* - * Calculate scaling parameters. The scale_[xy] factors are determined - * by the ratio between the crop rectangle size and the output size. - */ - mode_.scaleX = sensorInfo.analogCrop.width / sensorInfo.outputSize.width; - mode_.scaleY = sensorInfo.analogCrop.height / sensorInfo.outputSize.height; - - /* - * We're not told by the pipeline handler how scaling is split between - * binning and digital scaling. For now, as a heuristic, assume that - * downscaling up to 2 is achieved through binning, and that any - * additional scaling is achieved through digital scaling. - * - * \todo Get the pipeline handle to provide the full data - */ - mode_.binX = std::min(2, static_cast<int>(mode_.scaleX)); - mode_.binY = std::min(2, static_cast<int>(mode_.scaleY)); - - /* The noise factor is the square root of the total binning factor. */ - mode_.noiseFactor = sqrt(mode_.binX * mode_.binY); - - /* - * Calculate the line length as the ratio between the line length in - * pixels and the pixel rate. - */ - mode_.minLineLength = sensorInfo.minLineLength * (1.0s / sensorInfo.pixelRate); - mode_.maxLineLength = sensorInfo.maxLineLength * (1.0s / sensorInfo.pixelRate); - - /* - * Set the frame length limits for the mode to ensure exposure and - * framerate calculations are clipped appropriately. - */ - mode_.minFrameLength = sensorInfo.minFrameLength; - mode_.maxFrameLength = sensorInfo.maxFrameLength; - - /* Store these for convenience. */ - mode_.minFrameDuration = mode_.minFrameLength * mode_.minLineLength; - mode_.maxFrameDuration = mode_.maxFrameLength * mode_.maxLineLength; - - /* - * Some sensors may have different sensitivities in different modes; - * the CamHelper will know the correct value. - */ - mode_.sensitivity = helper_->getModeSensitivity(mode_); - - const ControlInfo &gainCtrl = sensorCtrls_.at(V4L2_CID_ANALOGUE_GAIN); - const ControlInfo &shutterCtrl = sensorCtrls_.at(V4L2_CID_EXPOSURE); - - mode_.minAnalogueGain = helper_->gain(gainCtrl.min().get<int32_t>()); - mode_.maxAnalogueGain = helper_->gain(gainCtrl.max().get<int32_t>()); - - /* Shutter speed is calculated based on the limits of the frame durations. */ - mode_.minShutter = helper_->exposure(shutterCtrl.min().get<int32_t>(), mode_.minLineLength); - mode_.maxShutter = Duration::max(); - helper_->getBlanking(mode_.maxShutter, - mode_.minFrameDuration, mode_.maxFrameDuration); -} - -int IPARPi::configure(const IPACameraSensorInfo &sensorInfo, const IPAConfig &ipaConfig, - ControlList *controls, IPAConfigResult *result) -{ - sensorCtrls_ = ipaConfig.sensorControls; - ispCtrls_ = ipaConfig.ispControls; - - if (!validateSensorControls()) { - LOG(IPARPI, Error) << "Sensor control validation failed."; - return -1; - } - - if (!validateIspControls()) { - LOG(IPARPI, Error) << "ISP control validation failed."; - return -1; - } - - if (lensPresent_) { - lensCtrls_ = ipaConfig.lensControls; - if (!validateLensControls()) { - LOG(IPARPI, Warning) << "Lens validation failed, " - << "no lens control will be available."; - lensPresent_ = false; - } - } - - /* Setup a metadata ControlList to output metadata. */ - libcameraMetadata_ = ControlList(controls::controls); - - /* Re-assemble camera mode using the sensor info. */ - setMode(sensorInfo); - - mode_.transform = static_cast<libcamera::Transform>(ipaConfig.transform); - - /* Store the lens shading table pointer and handle if available. */ - if (ipaConfig.lsTableHandle.isValid()) { - /* Remove any previous table, if there was one. */ - if (lsTable_) { - munmap(lsTable_, MaxLsGridSize); - lsTable_ = nullptr; - } - - /* Map the LS table buffer into user space. */ - lsTableHandle_ = std::move(ipaConfig.lsTableHandle); - if (lsTableHandle_.isValid()) { - lsTable_ = mmap(nullptr, MaxLsGridSize, PROT_READ | PROT_WRITE, - MAP_SHARED, lsTableHandle_.get(), 0); - - if (lsTable_ == MAP_FAILED) { - LOG(IPARPI, Error) << "dmaHeap mmap failure for LS table."; - lsTable_ = nullptr; - } - } - } - - /* Pass the camera mode to the CamHelper to setup algorithms. */ - helper_->setCameraMode(mode_); - - /* - * Initialise this ControlList correctly, even if empty, in case the IPA is - * running is isolation mode (passing the ControlList through the IPC layer). - */ - ControlList ctrls(sensorCtrls_); - - /* The pipeline handler passes out the mode's sensitivity. */ - result->modeSensitivity = mode_.sensitivity; - - if (firstStart_) { - /* Supply initial values for frame durations. */ - applyFrameDurations(defaultMinFrameDuration, defaultMaxFrameDuration); - - /* Supply initial values for gain and exposure. */ - AgcStatus agcStatus; - agcStatus.shutterTime = defaultExposureTime; - agcStatus.analogueGain = defaultAnalogueGain; - applyAGC(&agcStatus, ctrls); - } - - ASSERT(controls); - *controls = std::move(ctrls); - - /* - * Apply the correct limits to the exposure, gain and frame duration controls - * based on the current sensor mode. - */ - ControlInfoMap::Map ctrlMap = ipaControls; - ctrlMap[&controls::FrameDurationLimits] = - ControlInfo(static_cast<int64_t>(mode_.minFrameDuration.get<std::micro>()), - static_cast<int64_t>(mode_.maxFrameDuration.get<std::micro>())); - - ctrlMap[&controls::AnalogueGain] = - ControlInfo(static_cast<float>(mode_.minAnalogueGain), - static_cast<float>(mode_.maxAnalogueGain)); - - ctrlMap[&controls::ExposureTime] = - ControlInfo(static_cast<int32_t>(mode_.minShutter.get<std::micro>()), - static_cast<int32_t>(mode_.maxShutter.get<std::micro>())); - - /* Declare Autofocus controls, only if we have a controllable lens */ - if (lensPresent_) - ctrlMap.merge(ControlInfoMap::Map(ipaAfControls)); - - result->controlInfo = ControlInfoMap(std::move(ctrlMap), controls::controls); - return 0; -} - -void IPARPi::mapBuffers(const std::vector<IPABuffer> &buffers) -{ - for (const IPABuffer &buffer : buffers) { - const FrameBuffer fb(buffer.planes); - buffers_.emplace(buffer.id, - MappedFrameBuffer(&fb, MappedFrameBuffer::MapFlag::ReadWrite)); - } -} - -void IPARPi::unmapBuffers(const std::vector<unsigned int> &ids) -{ - for (unsigned int id : ids) { - auto it = buffers_.find(id); - if (it == buffers_.end()) - continue; - - buffers_.erase(id); - } -} - -void IPARPi::signalStatReady(uint32_t bufferId, uint32_t ipaContext) -{ - unsigned int context = ipaContext % rpiMetadata_.size(); - - if (++checkCount_ != frameCount_) /* assert here? */ - LOG(IPARPI, Error) << "WARNING: Prepare/Process mismatch!!!"; - if (processPending_ && frameCount_ > mistrustCount_) - processStats(bufferId, context); - - reportMetadata(context); - - statsMetadataComplete.emit(bufferId, libcameraMetadata_); -} - -void IPARPi::signalQueueRequest(const ControlList &controls) -{ - queueRequest(controls); -} - -void IPARPi::signalIspPrepare(const ISPConfig &data) -{ - /* - * At start-up, or after a mode-switch, we may want to - * avoid running the control algos for a few frames in case - * they are "unreliable". - */ - prepareISP(data); - frameCount_++; - - /* Ready to push the input buffer into the ISP. */ - runIsp.emit(data.bayerBufferId); -} - -void IPARPi::reportMetadata(unsigned int ipaContext) -{ - RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext]; - std::unique_lock<RPiController::Metadata> lock(rpiMetadata); - - /* - * Certain information about the current frame and how it will be - * processed can be extracted and placed into the libcamera metadata - * buffer, where an application could query it. - */ - DeviceStatus *deviceStatus = rpiMetadata.getLocked<DeviceStatus>("device.status"); - if (deviceStatus) { - libcameraMetadata_.set(controls::ExposureTime, - deviceStatus->shutterSpeed.get<std::micro>()); - libcameraMetadata_.set(controls::AnalogueGain, deviceStatus->analogueGain); - libcameraMetadata_.set(controls::FrameDuration, - helper_->exposure(deviceStatus->frameLength, deviceStatus->lineLength).get<std::micro>()); - if (deviceStatus->sensorTemperature) - libcameraMetadata_.set(controls::SensorTemperature, *deviceStatus->sensorTemperature); - if (deviceStatus->lensPosition) - libcameraMetadata_.set(controls::LensPosition, *deviceStatus->lensPosition); - } - - AgcStatus *agcStatus = rpiMetadata.getLocked<AgcStatus>("agc.status"); - if (agcStatus) { - libcameraMetadata_.set(controls::AeLocked, agcStatus->locked); - libcameraMetadata_.set(controls::DigitalGain, agcStatus->digitalGain); - } - - LuxStatus *luxStatus = rpiMetadata.getLocked<LuxStatus>("lux.status"); - if (luxStatus) - libcameraMetadata_.set(controls::Lux, luxStatus->lux); - - AwbStatus *awbStatus = rpiMetadata.getLocked<AwbStatus>("awb.status"); - if (awbStatus) { - libcameraMetadata_.set(controls::ColourGains, { static_cast<float>(awbStatus->gainR), - static_cast<float>(awbStatus->gainB) }); - libcameraMetadata_.set(controls::ColourTemperature, awbStatus->temperatureK); - } - - BlackLevelStatus *blackLevelStatus = rpiMetadata.getLocked<BlackLevelStatus>("black_level.status"); - if (blackLevelStatus) - libcameraMetadata_.set(controls::SensorBlackLevels, - { static_cast<int32_t>(blackLevelStatus->blackLevelR), - static_cast<int32_t>(blackLevelStatus->blackLevelG), - static_cast<int32_t>(blackLevelStatus->blackLevelG), - static_cast<int32_t>(blackLevelStatus->blackLevelB) }); - - RPiController::FocusRegions *focusStatus = - rpiMetadata.getLocked<RPiController::FocusRegions>("focus.status"); - if (focusStatus) { - /* - * Calculate the average FoM over the central (symmetric) positions - * to give an overall scene FoM. This can change later if it is - * not deemed suitable. - */ - libcamera::Size size = focusStatus->size(); - unsigned rows = size.height; - unsigned cols = size.width; - - uint64_t sum = 0; - unsigned int numRegions = 0; - for (unsigned r = rows / 3; r < rows - rows / 3; ++r) { - for (unsigned c = cols / 4; c < cols - cols / 4; ++c) { - sum += focusStatus->get({ (int)c, (int)r }).val; - numRegions++; - } - } - - uint32_t focusFoM = (sum / numRegions) >> 16; - libcameraMetadata_.set(controls::FocusFoM, focusFoM); - } - - CcmStatus *ccmStatus = rpiMetadata.getLocked<CcmStatus>("ccm.status"); - if (ccmStatus) { - float m[9]; - for (unsigned int i = 0; i < 9; i++) - m[i] = ccmStatus->matrix[i]; - libcameraMetadata_.set(controls::ColourCorrectionMatrix, m); - } - - const AfStatus *afStatus = rpiMetadata.getLocked<AfStatus>("af.status"); - if (afStatus) { - int32_t s, p; - switch (afStatus->state) { - case AfState::Scanning: - s = controls::AfStateScanning; - break; - case AfState::Focused: - s = controls::AfStateFocused; - break; - case AfState::Failed: - s = controls::AfStateFailed; - break; - default: - s = controls::AfStateIdle; - } - switch (afStatus->pauseState) { - case AfPauseState::Pausing: - p = controls::AfPauseStatePausing; - break; - case AfPauseState::Paused: - p = controls::AfPauseStatePaused; - break; - default: - p = controls::AfPauseStateRunning; - } - libcameraMetadata_.set(controls::AfState, s); - libcameraMetadata_.set(controls::AfPauseState, p); - } -} - -bool IPARPi::validateSensorControls() -{ - static const uint32_t ctrls[] = { - V4L2_CID_ANALOGUE_GAIN, - V4L2_CID_EXPOSURE, - V4L2_CID_VBLANK, - V4L2_CID_HBLANK, - }; - - for (auto c : ctrls) { - if (sensorCtrls_.find(c) == sensorCtrls_.end()) { - LOG(IPARPI, Error) << "Unable to find sensor control " - << utils::hex(c); - return false; - } - } - - return true; -} - -bool IPARPi::validateIspControls() -{ - static const uint32_t ctrls[] = { - V4L2_CID_RED_BALANCE, - V4L2_CID_BLUE_BALANCE, - V4L2_CID_DIGITAL_GAIN, - V4L2_CID_USER_BCM2835_ISP_CC_MATRIX, - V4L2_CID_USER_BCM2835_ISP_GAMMA, - V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL, - V4L2_CID_USER_BCM2835_ISP_GEQ, - V4L2_CID_USER_BCM2835_ISP_DENOISE, - V4L2_CID_USER_BCM2835_ISP_SHARPEN, - V4L2_CID_USER_BCM2835_ISP_DPC, - V4L2_CID_USER_BCM2835_ISP_LENS_SHADING, - V4L2_CID_USER_BCM2835_ISP_CDN, - }; - - for (auto c : ctrls) { - if (ispCtrls_.find(c) == ispCtrls_.end()) { - LOG(IPARPI, Error) << "Unable to find ISP control " - << utils::hex(c); - return false; - } - } - - return true; -} - -bool IPARPi::validateLensControls() -{ - if (lensCtrls_.find(V4L2_CID_FOCUS_ABSOLUTE) == lensCtrls_.end()) { - LOG(IPARPI, Error) << "Unable to find Lens control V4L2_CID_FOCUS_ABSOLUTE"; - return false; - } - - return true; -} - -/* - * Converting between enums (used in the libcamera API) and the names that - * we use to identify different modes. Unfortunately, the conversion tables - * must be kept up-to-date by hand. - */ -static const std::map<int32_t, std::string> MeteringModeTable = { - { controls::MeteringCentreWeighted, "centre-weighted" }, - { controls::MeteringSpot, "spot" }, - { controls::MeteringMatrix, "matrix" }, - { controls::MeteringCustom, "custom" }, -}; - -static const std::map<int32_t, std::string> ConstraintModeTable = { - { controls::ConstraintNormal, "normal" }, - { controls::ConstraintHighlight, "highlight" }, - { controls::ConstraintShadows, "shadows" }, - { controls::ConstraintCustom, "custom" }, -}; - -static const std::map<int32_t, std::string> ExposureModeTable = { - { controls::ExposureNormal, "normal" }, - { controls::ExposureShort, "short" }, - { controls::ExposureLong, "long" }, - { controls::ExposureCustom, "custom" }, -}; - -static const std::map<int32_t, std::string> AwbModeTable = { - { controls::AwbAuto, "auto" }, - { controls::AwbIncandescent, "incandescent" }, - { controls::AwbTungsten, "tungsten" }, - { controls::AwbFluorescent, "fluorescent" }, - { controls::AwbIndoor, "indoor" }, - { controls::AwbDaylight, "daylight" }, - { controls::AwbCloudy, "cloudy" }, - { controls::AwbCustom, "custom" }, -}; - -static const std::map<int32_t, RPiController::DenoiseMode> DenoiseModeTable = { - { controls::draft::NoiseReductionModeOff, RPiController::DenoiseMode::Off }, - { controls::draft::NoiseReductionModeFast, RPiController::DenoiseMode::ColourFast }, - { controls::draft::NoiseReductionModeHighQuality, RPiController::DenoiseMode::ColourHighQuality }, - { controls::draft::NoiseReductionModeMinimal, RPiController::DenoiseMode::ColourOff }, - { controls::draft::NoiseReductionModeZSL, RPiController::DenoiseMode::ColourHighQuality }, -}; - -static const std::map<int32_t, RPiController::AfAlgorithm::AfMode> AfModeTable = { - { controls::AfModeManual, RPiController::AfAlgorithm::AfModeManual }, - { controls::AfModeAuto, RPiController::AfAlgorithm::AfModeAuto }, - { controls::AfModeContinuous, RPiController::AfAlgorithm::AfModeContinuous }, -}; - -static const std::map<int32_t, RPiController::AfAlgorithm::AfRange> AfRangeTable = { - { controls::AfRangeNormal, RPiController::AfAlgorithm::AfRangeNormal }, - { controls::AfRangeMacro, RPiController::AfAlgorithm::AfRangeMacro }, - { controls::AfRangeFull, RPiController::AfAlgorithm::AfRangeFull }, -}; - -static const std::map<int32_t, RPiController::AfAlgorithm::AfPause> AfPauseTable = { - { controls::AfPauseImmediate, RPiController::AfAlgorithm::AfPauseImmediate }, - { controls::AfPauseDeferred, RPiController::AfAlgorithm::AfPauseDeferred }, - { controls::AfPauseResume, RPiController::AfAlgorithm::AfPauseResume }, -}; - -void IPARPi::queueRequest(const ControlList &controls) -{ - using RPiController::AfAlgorithm; - - /* Clear the return metadata buffer. */ - libcameraMetadata_.clear(); - - /* Because some AF controls are mode-specific, handle AF mode change first. */ - if (controls.contains(controls::AF_MODE)) { - AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af")); - if (!af) { - LOG(IPARPI, Warning) - << "Could not set AF_MODE - no AF algorithm"; - } - - int32_t idx = controls.get(controls::AF_MODE).get<int32_t>(); - auto mode = AfModeTable.find(idx); - if (mode == AfModeTable.end()) { - LOG(IPARPI, Error) << "AF mode " << idx - << " not recognised"; - } else - af->setMode(mode->second); - } - - /* Iterate over controls */ - for (auto const &ctrl : controls) { - LOG(IPARPI, Debug) << "Request ctrl: " - << controls::controls.at(ctrl.first)->name() - << " = " << ctrl.second.toString(); - - switch (ctrl.first) { - case controls::AE_ENABLE: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.getAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set AE_ENABLE - no AGC algorithm"; - break; - } - - if (ctrl.second.get<bool>() == false) - agc->disableAuto(); - else - agc->enableAuto(); - - libcameraMetadata_.set(controls::AeEnable, ctrl.second.get<bool>()); - break; - } - - case controls::EXPOSURE_TIME: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.getAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set EXPOSURE_TIME - no AGC algorithm"; - break; - } - - /* The control provides units of microseconds. */ - agc->setFixedShutter(ctrl.second.get<int32_t>() * 1.0us); - - libcameraMetadata_.set(controls::ExposureTime, ctrl.second.get<int32_t>()); - break; - } - - case controls::ANALOGUE_GAIN: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.getAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set ANALOGUE_GAIN - no AGC algorithm"; - break; - } - - agc->setFixedAnalogueGain(ctrl.second.get<float>()); - - libcameraMetadata_.set(controls::AnalogueGain, - ctrl.second.get<float>()); - break; - } - - case controls::AE_METERING_MODE: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.getAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set AE_METERING_MODE - no AGC algorithm"; - break; - } - - int32_t idx = ctrl.second.get<int32_t>(); - if (MeteringModeTable.count(idx)) { - agc->setMeteringMode(MeteringModeTable.at(idx)); - libcameraMetadata_.set(controls::AeMeteringMode, idx); - } else { - LOG(IPARPI, Error) << "Metering mode " << idx - << " not recognised"; - } - break; - } - - case controls::AE_CONSTRAINT_MODE: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.getAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set AE_CONSTRAINT_MODE - no AGC algorithm"; - break; - } - - int32_t idx = ctrl.second.get<int32_t>(); - if (ConstraintModeTable.count(idx)) { - agc->setConstraintMode(ConstraintModeTable.at(idx)); - libcameraMetadata_.set(controls::AeConstraintMode, idx); - } else { - LOG(IPARPI, Error) << "Constraint mode " << idx - << " not recognised"; - } - break; - } - - case controls::AE_EXPOSURE_MODE: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.getAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set AE_EXPOSURE_MODE - no AGC algorithm"; - break; - } - - int32_t idx = ctrl.second.get<int32_t>(); - if (ExposureModeTable.count(idx)) { - agc->setExposureMode(ExposureModeTable.at(idx)); - libcameraMetadata_.set(controls::AeExposureMode, idx); - } else { - LOG(IPARPI, Error) << "Exposure mode " << idx - << " not recognised"; - } - break; - } - - case controls::EXPOSURE_VALUE: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.getAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set EXPOSURE_VALUE - no AGC algorithm"; - break; - } - - /* - * The SetEv() function takes in a direct exposure multiplier. - * So convert to 2^EV - */ - double ev = pow(2.0, ctrl.second.get<float>()); - agc->setEv(ev); - libcameraMetadata_.set(controls::ExposureValue, - ctrl.second.get<float>()); - break; - } - - case controls::AWB_ENABLE: { - RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( - controller_.getAlgorithm("awb")); - if (!awb) { - LOG(IPARPI, Warning) - << "Could not set AWB_ENABLE - no AWB algorithm"; - break; - } - - if (ctrl.second.get<bool>() == false) - awb->disableAuto(); - else - awb->enableAuto(); - - libcameraMetadata_.set(controls::AwbEnable, - ctrl.second.get<bool>()); - break; - } - - case controls::AWB_MODE: { - RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( - controller_.getAlgorithm("awb")); - if (!awb) { - LOG(IPARPI, Warning) - << "Could not set AWB_MODE - no AWB algorithm"; - break; - } - - int32_t idx = ctrl.second.get<int32_t>(); - if (AwbModeTable.count(idx)) { - awb->setMode(AwbModeTable.at(idx)); - libcameraMetadata_.set(controls::AwbMode, idx); - } else { - LOG(IPARPI, Error) << "AWB mode " << idx - << " not recognised"; - } - break; - } - - case controls::COLOUR_GAINS: { - auto gains = ctrl.second.get<Span<const float>>(); - RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( - controller_.getAlgorithm("awb")); - if (!awb) { - LOG(IPARPI, Warning) - << "Could not set COLOUR_GAINS - no AWB algorithm"; - break; - } - - awb->setManualGains(gains[0], gains[1]); - if (gains[0] != 0.0f && gains[1] != 0.0f) - /* A gain of 0.0f will switch back to auto mode. */ - libcameraMetadata_.set(controls::ColourGains, - { gains[0], gains[1] }); - break; - } - - case controls::BRIGHTNESS: { - RPiController::ContrastAlgorithm *contrast = dynamic_cast<RPiController::ContrastAlgorithm *>( - controller_.getAlgorithm("contrast")); - if (!contrast) { - LOG(IPARPI, Warning) - << "Could not set BRIGHTNESS - no contrast algorithm"; - break; - } - - contrast->setBrightness(ctrl.second.get<float>() * 65536); - libcameraMetadata_.set(controls::Brightness, - ctrl.second.get<float>()); - break; - } - - case controls::CONTRAST: { - RPiController::ContrastAlgorithm *contrast = dynamic_cast<RPiController::ContrastAlgorithm *>( - controller_.getAlgorithm("contrast")); - if (!contrast) { - LOG(IPARPI, Warning) - << "Could not set CONTRAST - no contrast algorithm"; - break; - } - - contrast->setContrast(ctrl.second.get<float>()); - libcameraMetadata_.set(controls::Contrast, - ctrl.second.get<float>()); - break; - } - - case controls::SATURATION: { - RPiController::CcmAlgorithm *ccm = dynamic_cast<RPiController::CcmAlgorithm *>( - controller_.getAlgorithm("ccm")); - if (!ccm) { - LOG(IPARPI, Warning) - << "Could not set SATURATION - no ccm algorithm"; - break; - } - - ccm->setSaturation(ctrl.second.get<float>()); - libcameraMetadata_.set(controls::Saturation, - ctrl.second.get<float>()); - break; - } - - case controls::SHARPNESS: { - RPiController::SharpenAlgorithm *sharpen = dynamic_cast<RPiController::SharpenAlgorithm *>( - controller_.getAlgorithm("sharpen")); - if (!sharpen) { - LOG(IPARPI, Warning) - << "Could not set SHARPNESS - no sharpen algorithm"; - break; - } - - sharpen->setStrength(ctrl.second.get<float>()); - libcameraMetadata_.set(controls::Sharpness, - ctrl.second.get<float>()); - break; - } - - case controls::SCALER_CROP: { - /* We do nothing with this, but should avoid the warning below. */ - break; - } - - case controls::FRAME_DURATION_LIMITS: { - auto frameDurations = ctrl.second.get<Span<const int64_t>>(); - applyFrameDurations(frameDurations[0] * 1.0us, frameDurations[1] * 1.0us); - break; - } - - case controls::NOISE_REDUCTION_MODE: { - RPiController::DenoiseAlgorithm *sdn = dynamic_cast<RPiController::DenoiseAlgorithm *>( - controller_.getAlgorithm("SDN")); - if (!sdn) { - LOG(IPARPI, Warning) - << "Could not set NOISE_REDUCTION_MODE - no SDN algorithm"; - break; - } - - int32_t idx = ctrl.second.get<int32_t>(); - auto mode = DenoiseModeTable.find(idx); - if (mode != DenoiseModeTable.end()) { - sdn->setMode(mode->second); - - /* - * \todo If the colour denoise is not going to run due to an - * analysis image resolution or format mismatch, we should - * report the status correctly in the metadata. - */ - libcameraMetadata_.set(controls::draft::NoiseReductionMode, idx); - } else { - LOG(IPARPI, Error) << "Noise reduction mode " << idx - << " not recognised"; - } - break; - } - - case controls::AF_MODE: - break; /* We already handled this one above */ - - case controls::AF_RANGE: { - AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af")); - if (!af) { - LOG(IPARPI, Warning) - << "Could not set AF_RANGE - no focus algorithm"; - break; - } - - auto range = AfRangeTable.find(ctrl.second.get<int32_t>()); - if (range == AfRangeTable.end()) { - LOG(IPARPI, Error) << "AF range " << ctrl.second.get<int32_t>() - << " not recognised"; - break; - } - af->setRange(range->second); - break; - } - - case controls::AF_SPEED: { - AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af")); - if (!af) { - LOG(IPARPI, Warning) - << "Could not set AF_SPEED - no focus algorithm"; - break; - } - - AfAlgorithm::AfSpeed speed = ctrl.second.get<int32_t>() == controls::AfSpeedFast ? - AfAlgorithm::AfSpeedFast : AfAlgorithm::AfSpeedNormal; - af->setSpeed(speed); - break; - } - - case controls::AF_METERING: { - AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af")); - if (!af) { - LOG(IPARPI, Warning) - << "Could not set AF_METERING - no AF algorithm"; - break; - } - af->setMetering(ctrl.second.get<int32_t>() == controls::AfMeteringWindows); - break; - } - - case controls::AF_WINDOWS: { - AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af")); - if (!af) { - LOG(IPARPI, Warning) - << "Could not set AF_WINDOWS - no AF algorithm"; - break; - } - af->setWindows(ctrl.second.get<Span<const Rectangle>>()); - break; - } - - case controls::AF_PAUSE: { - AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af")); - if (!af || af->getMode() != AfAlgorithm::AfModeContinuous) { - LOG(IPARPI, Warning) - << "Could not set AF_PAUSE - no AF algorithm or not Continuous"; - break; - } - auto pause = AfPauseTable.find(ctrl.second.get<int32_t>()); - if (pause == AfPauseTable.end()) { - LOG(IPARPI, Error) << "AF pause " << ctrl.second.get<int32_t>() - << " not recognised"; - break; - } - af->pause(pause->second); - break; - } - - case controls::AF_TRIGGER: { - AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af")); - if (!af || af->getMode() != AfAlgorithm::AfModeAuto) { - LOG(IPARPI, Warning) - << "Could not set AF_TRIGGER - no AF algorithm or not Auto"; - break; - } else { - if (ctrl.second.get<int32_t>() == controls::AfTriggerStart) - af->triggerScan(); - else - af->cancelScan(); - } - break; - } - - case controls::LENS_POSITION: { - AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af")); - if (af) { - int32_t hwpos; - if (af->setLensPosition(ctrl.second.get<float>(), &hwpos)) { - ControlList lensCtrls(lensCtrls_); - lensCtrls.set(V4L2_CID_FOCUS_ABSOLUTE, hwpos); - setLensControls.emit(lensCtrls); - } - } else { - LOG(IPARPI, Warning) - << "Could not set LENS_POSITION - no AF algorithm"; - } - break; - } - - default: - LOG(IPARPI, Warning) - << "Ctrl " << controls::controls.at(ctrl.first)->name() - << " is not handled."; - break; - } - } -} - -void IPARPi::returnEmbeddedBuffer(unsigned int bufferId) -{ - embeddedComplete.emit(bufferId); -} - -void IPARPi::prepareISP(const ISPConfig &data) -{ - int64_t frameTimestamp = data.controls.get(controls::SensorTimestamp).value_or(0); - unsigned int ipaContext = data.ipaContext % rpiMetadata_.size(); - RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext]; - Span<uint8_t> embeddedBuffer; - - rpiMetadata.clear(); - fillDeviceStatus(data.controls, ipaContext); - - if (data.embeddedBufferPresent) { - /* - * Pipeline handler has supplied us with an embedded data buffer, - * we must pass it to the CamHelper for parsing. - */ - auto it = buffers_.find(data.embeddedBufferId); - ASSERT(it != buffers_.end()); - embeddedBuffer = it->second.planes()[0]; - } - - /* - * AGC wants to know the algorithm status from the time it actioned the - * sensor exposure/gain changes. So fetch it from the metadata list - * indexed by the IPA cookie returned, and put it in the current frame - * metadata. - */ - AgcStatus agcStatus; - RPiController::Metadata &delayedMetadata = rpiMetadata_[data.delayContext]; - if (!delayedMetadata.get<AgcStatus>("agc.status", agcStatus)) - rpiMetadata.set("agc.delayed_status", agcStatus); - - /* - * This may overwrite the DeviceStatus using values from the sensor - * metadata, and may also do additional custom processing. - */ - helper_->prepare(embeddedBuffer, rpiMetadata); - - /* Done with embedded data now, return to pipeline handler asap. */ - if (data.embeddedBufferPresent) - returnEmbeddedBuffer(data.embeddedBufferId); - - /* Allow a 10% margin on the comparison below. */ - Duration delta = (frameTimestamp - lastRunTimestamp_) * 1.0ns; - if (lastRunTimestamp_ && frameCount_ > dropFrameCount_ && - delta < controllerMinFrameDuration * 0.9) { - /* - * Ensure we merge the previous frame's metadata with the current - * frame. This will not overwrite exposure/gain values for the - * current frame, or any other bits of metadata that were added - * in helper_->Prepare(). - */ - RPiController::Metadata &lastMetadata = - rpiMetadata_[(ipaContext ? ipaContext : rpiMetadata_.size()) - 1]; - rpiMetadata.mergeCopy(lastMetadata); - processPending_ = false; - return; - } - - lastRunTimestamp_ = frameTimestamp; - processPending_ = true; - - ControlList ctrls(ispCtrls_); - - controller_.prepare(&rpiMetadata); - - /* Lock the metadata buffer to avoid constant locks/unlocks. */ - std::unique_lock<RPiController::Metadata> lock(rpiMetadata); - - AwbStatus *awbStatus = rpiMetadata.getLocked<AwbStatus>("awb.status"); - if (awbStatus) - applyAWB(awbStatus, ctrls); - - CcmStatus *ccmStatus = rpiMetadata.getLocked<CcmStatus>("ccm.status"); - if (ccmStatus) - applyCCM(ccmStatus, ctrls); - - AgcStatus *dgStatus = rpiMetadata.getLocked<AgcStatus>("agc.status"); - if (dgStatus) - applyDG(dgStatus, ctrls); - - AlscStatus *lsStatus = rpiMetadata.getLocked<AlscStatus>("alsc.status"); - if (lsStatus) - applyLS(lsStatus, ctrls); - - ContrastStatus *contrastStatus = rpiMetadata.getLocked<ContrastStatus>("contrast.status"); - if (contrastStatus) - applyGamma(contrastStatus, ctrls); - - BlackLevelStatus *blackLevelStatus = rpiMetadata.getLocked<BlackLevelStatus>("black_level.status"); - if (blackLevelStatus) - applyBlackLevel(blackLevelStatus, ctrls); - - GeqStatus *geqStatus = rpiMetadata.getLocked<GeqStatus>("geq.status"); - if (geqStatus) - applyGEQ(geqStatus, ctrls); - - DenoiseStatus *denoiseStatus = rpiMetadata.getLocked<DenoiseStatus>("denoise.status"); - if (denoiseStatus) - applyDenoise(denoiseStatus, ctrls); - - SharpenStatus *sharpenStatus = rpiMetadata.getLocked<SharpenStatus>("sharpen.status"); - if (sharpenStatus) - applySharpen(sharpenStatus, ctrls); - - DpcStatus *dpcStatus = rpiMetadata.getLocked<DpcStatus>("dpc.status"); - if (dpcStatus) - applyDPC(dpcStatus, ctrls); - - const AfStatus *afStatus = rpiMetadata.getLocked<AfStatus>("af.status"); - if (afStatus) { - ControlList lensctrls(lensCtrls_); - applyAF(afStatus, lensctrls); - if (!lensctrls.empty()) - setLensControls.emit(lensctrls); - } - - if (!ctrls.empty()) - setIspControls.emit(ctrls); -} - -void IPARPi::fillDeviceStatus(const ControlList &sensorControls, unsigned int ipaContext) -{ - DeviceStatus deviceStatus = {}; - - int32_t exposureLines = sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>(); - int32_t gainCode = sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>(); - int32_t vblank = sensorControls.get(V4L2_CID_VBLANK).get<int32_t>(); - int32_t hblank = sensorControls.get(V4L2_CID_HBLANK).get<int32_t>(); - - deviceStatus.lineLength = helper_->hblankToLineLength(hblank); - deviceStatus.shutterSpeed = helper_->exposure(exposureLines, deviceStatus.lineLength); - deviceStatus.analogueGain = helper_->gain(gainCode); - deviceStatus.frameLength = mode_.height + vblank; - - RPiController::AfAlgorithm *af = dynamic_cast<RPiController::AfAlgorithm *>( - controller_.getAlgorithm("af")); - if (af) - deviceStatus.lensPosition = af->getLensPosition(); - - LOG(IPARPI, Debug) << "Metadata - " << deviceStatus; - - rpiMetadata_[ipaContext].set("device.status", deviceStatus); -} - -RPiController::StatisticsPtr IPARPi::fillStatistics(bcm2835_isp_stats *stats) const -{ - using namespace RPiController; - - const Controller::HardwareConfig &hw = controller_.getHardwareConfig(); - unsigned int i; - StatisticsPtr statistics = - std::make_unique<Statistics>(Statistics::AgcStatsPos::PreWb, Statistics::ColourStatsPos::PostLsc); - - /* RGB histograms are not used, so do not populate them. */ - statistics->yHist = RPiController::Histogram(stats->hist[0].g_hist, - hw.numHistogramBins); - - /* All region sums are based on a 16-bit normalised pipeline bit-depth. */ - unsigned int scale = Statistics::NormalisationFactorPow2 - hw.pipelineWidth; - - statistics->awbRegions.init(hw.awbRegions); - for (i = 0; i < statistics->awbRegions.numRegions(); i++) - statistics->awbRegions.set(i, { { stats->awb_stats[i].r_sum << scale, - stats->awb_stats[i].g_sum << scale, - stats->awb_stats[i].b_sum << scale }, - stats->awb_stats[i].counted, - stats->awb_stats[i].notcounted }); - - statistics->agcRegions.init(hw.agcRegions); - for (i = 0; i < statistics->agcRegions.numRegions(); i++) - statistics->agcRegions.set(i, { { stats->agc_stats[i].r_sum << scale, - stats->agc_stats[i].g_sum << scale, - stats->agc_stats[i].b_sum << scale }, - stats->agc_stats[i].counted, - stats->awb_stats[i].notcounted }); - - statistics->focusRegions.init(hw.focusRegions); - for (i = 0; i < statistics->focusRegions.numRegions(); i++) - statistics->focusRegions.set(i, { stats->focus_stats[i].contrast_val[1][1] / 1000, - stats->focus_stats[i].contrast_val_num[1][1], - stats->focus_stats[i].contrast_val_num[1][0] }); - return statistics; -} - -void IPARPi::processStats(unsigned int bufferId, unsigned int ipaContext) -{ - RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext]; - - auto it = buffers_.find(bufferId); - if (it == buffers_.end()) { - LOG(IPARPI, Error) << "Could not find stats buffer!"; - return; - } - - Span<uint8_t> mem = it->second.planes()[0]; - bcm2835_isp_stats *stats = reinterpret_cast<bcm2835_isp_stats *>(mem.data()); - RPiController::StatisticsPtr statistics = fillStatistics(stats); - - /* Save the focus stats in the metadata structure to report out later. */ - rpiMetadata_[ipaContext].set("focus.status", statistics->focusRegions); - - helper_->process(statistics, rpiMetadata); - controller_.process(statistics, &rpiMetadata); - - struct AgcStatus agcStatus; - if (rpiMetadata.get("agc.status", agcStatus) == 0) { - ControlList ctrls(sensorCtrls_); - applyAGC(&agcStatus, ctrls); - - setDelayedControls.emit(ctrls, ipaContext); - setCameraTimeoutValue(); - } -} - -void IPARPi::setCameraTimeoutValue() -{ - /* - * Take the maximum value of the exposure queue as the camera timeout - * value to pass back to the pipeline handler. Only signal if it has changed - * from the last set value. - */ - auto max = std::max_element(frameLengths_.begin(), frameLengths_.end()); - - if (*max != lastTimeout_) { - setCameraTimeout.emit(max->get<std::milli>()); - lastTimeout_ = *max; - } -} - -void IPARPi::applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls) -{ - LOG(IPARPI, Debug) << "Applying WB R: " << awbStatus->gainR << " B: " - << awbStatus->gainB; - - ctrls.set(V4L2_CID_RED_BALANCE, - static_cast<int32_t>(awbStatus->gainR * 1000)); - ctrls.set(V4L2_CID_BLUE_BALANCE, - static_cast<int32_t>(awbStatus->gainB * 1000)); -} - -void IPARPi::applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration) -{ - /* - * This will only be applied once AGC recalculations occur. - * The values may be clamped based on the sensor mode capabilities as well. - */ - minFrameDuration_ = minFrameDuration ? minFrameDuration : defaultMinFrameDuration; - maxFrameDuration_ = maxFrameDuration ? maxFrameDuration : defaultMaxFrameDuration; - minFrameDuration_ = std::clamp(minFrameDuration_, - mode_.minFrameDuration, mode_.maxFrameDuration); - maxFrameDuration_ = std::clamp(maxFrameDuration_, - mode_.minFrameDuration, mode_.maxFrameDuration); - maxFrameDuration_ = std::max(maxFrameDuration_, minFrameDuration_); - - /* Return the validated limits via metadata. */ - libcameraMetadata_.set(controls::FrameDurationLimits, - { static_cast<int64_t>(minFrameDuration_.get<std::micro>()), - static_cast<int64_t>(maxFrameDuration_.get<std::micro>()) }); - - /* - * Calculate the maximum exposure time possible for the AGC to use. - * getBlanking() will update maxShutter with the largest exposure - * value possible. - */ - Duration maxShutter = Duration::max(); - helper_->getBlanking(maxShutter, minFrameDuration_, maxFrameDuration_); - - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.getAlgorithm("agc")); - agc->setMaxShutter(maxShutter); -} - -void IPARPi::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls) -{ - const int32_t minGainCode = helper_->gainCode(mode_.minAnalogueGain); - const int32_t maxGainCode = helper_->gainCode(mode_.maxAnalogueGain); - int32_t gainCode = helper_->gainCode(agcStatus->analogueGain); - - /* - * Ensure anything larger than the max gain code will not be passed to - * DelayedControls. The AGC will correctly handle a lower gain returned - * by the sensor, provided it knows the actual gain used. - */ - gainCode = std::clamp<int32_t>(gainCode, minGainCode, maxGainCode); - - /* getBlanking might clip exposure time to the fps limits. */ - Duration exposure = agcStatus->shutterTime; - auto [vblank, hblank] = helper_->getBlanking(exposure, minFrameDuration_, maxFrameDuration_); - int32_t exposureLines = helper_->exposureLines(exposure, - helper_->hblankToLineLength(hblank)); - - LOG(IPARPI, Debug) << "Applying AGC Exposure: " << exposure - << " (Shutter lines: " << exposureLines << ", AGC requested " - << agcStatus->shutterTime << ") Gain: " - << agcStatus->analogueGain << " (Gain Code: " - << gainCode << ")"; - - ctrls.set(V4L2_CID_VBLANK, static_cast<int32_t>(vblank)); - ctrls.set(V4L2_CID_EXPOSURE, exposureLines); - ctrls.set(V4L2_CID_ANALOGUE_GAIN, gainCode); - - /* - * At present, there is no way of knowing if a control is read-only. - * As a workaround, assume that if the minimum and maximum values of - * the V4L2_CID_HBLANK control are the same, it implies the control - * is read-only. This seems to be the case for all the cameras our IPA - * works with. - * - * \todo The control API ought to have a flag to specify if a control - * is read-only which could be used below. - */ - if (mode_.minLineLength != mode_.maxLineLength) - ctrls.set(V4L2_CID_HBLANK, static_cast<int32_t>(hblank)); - - /* - * Store the frame length times in a circular queue, up-to FrameLengthsQueueSize - * elements. This will be used to advertise a camera timeout value to the - * pipeline handler. - */ - frameLengths_.pop_front(); - frameLengths_.push_back(helper_->exposure(vblank + mode_.height, - helper_->hblankToLineLength(hblank))); -} - -void IPARPi::applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls) -{ - ctrls.set(V4L2_CID_DIGITAL_GAIN, - static_cast<int32_t>(dgStatus->digitalGain * 1000)); -} - -void IPARPi::applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls) -{ - bcm2835_isp_custom_ccm ccm; - - for (int i = 0; i < 9; i++) { - ccm.ccm.ccm[i / 3][i % 3].den = 1000; - ccm.ccm.ccm[i / 3][i % 3].num = 1000 * ccmStatus->matrix[i]; - } - - ccm.enabled = 1; - ccm.ccm.offsets[0] = ccm.ccm.offsets[1] = ccm.ccm.offsets[2] = 0; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&ccm), - sizeof(ccm) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_CC_MATRIX, c); -} - -void IPARPi::applyGamma(const struct ContrastStatus *contrastStatus, ControlList &ctrls) -{ - const unsigned int numGammaPoints = controller_.getHardwareConfig().numGammaPoints; - struct bcm2835_isp_gamma gamma; - - for (unsigned int i = 0; i < numGammaPoints - 1; i++) { - int x = i < 16 ? i * 1024 - : (i < 24 ? (i - 16) * 2048 + 16384 - : (i - 24) * 4096 + 32768); - gamma.x[i] = x; - gamma.y[i] = std::min<uint16_t>(65535, contrastStatus->gammaCurve.eval(x)); - } - - gamma.x[numGammaPoints - 1] = 65535; - gamma.y[numGammaPoints - 1] = 65535; - gamma.enabled = 1; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&gamma), - sizeof(gamma) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_GAMMA, c); -} - -void IPARPi::applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, ControlList &ctrls) -{ - bcm2835_isp_black_level blackLevel; - - blackLevel.enabled = 1; - blackLevel.black_level_r = blackLevelStatus->blackLevelR; - blackLevel.black_level_g = blackLevelStatus->blackLevelG; - blackLevel.black_level_b = blackLevelStatus->blackLevelB; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&blackLevel), - sizeof(blackLevel) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL, c); -} - -void IPARPi::applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls) -{ - bcm2835_isp_geq geq; - - geq.enabled = 1; - geq.offset = geqStatus->offset; - geq.slope.den = 1000; - geq.slope.num = 1000 * geqStatus->slope; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&geq), - sizeof(geq) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_GEQ, c); -} - -void IPARPi::applyDenoise(const struct DenoiseStatus *denoiseStatus, ControlList &ctrls) -{ - using RPiController::DenoiseMode; - - bcm2835_isp_denoise denoise; - DenoiseMode mode = static_cast<DenoiseMode>(denoiseStatus->mode); - - denoise.enabled = mode != DenoiseMode::Off; - denoise.constant = denoiseStatus->noiseConstant; - denoise.slope.num = 1000 * denoiseStatus->noiseSlope; - denoise.slope.den = 1000; - denoise.strength.num = 1000 * denoiseStatus->strength; - denoise.strength.den = 1000; - - /* Set the CDN mode to match the SDN operating mode. */ - bcm2835_isp_cdn cdn; - switch (mode) { - case DenoiseMode::ColourFast: - cdn.enabled = 1; - cdn.mode = CDN_MODE_FAST; - break; - case DenoiseMode::ColourHighQuality: - cdn.enabled = 1; - cdn.mode = CDN_MODE_HIGH_QUALITY; - break; - default: - cdn.enabled = 0; - } - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&denoise), - sizeof(denoise) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_DENOISE, c); - - c = ControlValue(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&cdn), - sizeof(cdn) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_CDN, c); -} - -void IPARPi::applySharpen(const struct SharpenStatus *sharpenStatus, ControlList &ctrls) -{ - bcm2835_isp_sharpen sharpen; - - sharpen.enabled = 1; - sharpen.threshold.num = 1000 * sharpenStatus->threshold; - sharpen.threshold.den = 1000; - sharpen.strength.num = 1000 * sharpenStatus->strength; - sharpen.strength.den = 1000; - sharpen.limit.num = 1000 * sharpenStatus->limit; - sharpen.limit.den = 1000; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&sharpen), - sizeof(sharpen) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_SHARPEN, c); -} - -void IPARPi::applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls) -{ - bcm2835_isp_dpc dpc; - - dpc.enabled = 1; - dpc.strength = dpcStatus->strength; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&dpc), - sizeof(dpc) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_DPC, c); -} - -void IPARPi::applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls) -{ - /* - * Program lens shading tables into pipeline. - * Choose smallest cell size that won't exceed 63x48 cells. - */ - const int cellSizes[] = { 16, 32, 64, 128, 256 }; - unsigned int numCells = std::size(cellSizes); - unsigned int i, w, h, cellSize; - for (i = 0; i < numCells; i++) { - cellSize = cellSizes[i]; - w = (mode_.width + cellSize - 1) / cellSize; - h = (mode_.height + cellSize - 1) / cellSize; - if (w < 64 && h <= 48) - break; - } - - if (i == numCells) { - LOG(IPARPI, Error) << "Cannot find cell size"; - return; - } - - /* We're going to supply corner sampled tables, 16 bit samples. */ - w++, h++; - bcm2835_isp_lens_shading ls = { - .enabled = 1, - .grid_cell_size = cellSize, - .grid_width = w, - .grid_stride = w, - .grid_height = h, - /* .dmabuf will be filled in by pipeline handler. */ - .dmabuf = 0, - .ref_transform = 0, - .corner_sampled = 1, - .gain_format = GAIN_FORMAT_U4P10 - }; - - if (!lsTable_ || w * h * 4 * sizeof(uint16_t) > MaxLsGridSize) { - LOG(IPARPI, Error) << "Do not have a correctly allocate lens shading table!"; - return; - } - - if (lsStatus) { - /* Format will be u4.10 */ - uint16_t *grid = static_cast<uint16_t *>(lsTable_); - - resampleTable(grid, lsStatus->r, w, h); - resampleTable(grid + w * h, lsStatus->g, w, h); - std::memcpy(grid + 2 * w * h, grid + w * h, w * h * sizeof(uint16_t)); - resampleTable(grid + 3 * w * h, lsStatus->b, w, h); - } - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&ls), - sizeof(ls) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING, c); -} - -void IPARPi::applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls) -{ - if (afStatus->lensSetting) { - ControlValue v(afStatus->lensSetting.value()); - lensCtrls.set(V4L2_CID_FOCUS_ABSOLUTE, v); - } -} - -/* - * Resamples a 16x12 table with central sampling to destW x destH with corner - * sampling. - */ -void IPARPi::resampleTable(uint16_t dest[], const std::vector<double> &src, - int destW, int destH) -{ - /* - * Precalculate and cache the x sampling locations and phases to - * save recomputing them on every row. - */ - assert(destW > 1 && destH > 1 && destW <= 64); - int xLo[64], xHi[64]; - double xf[64]; - double x = -0.5, xInc = 16.0 / (destW - 1); - for (int i = 0; i < destW; i++, x += xInc) { - xLo[i] = floor(x); - xf[i] = x - xLo[i]; - xHi[i] = xLo[i] < 15 ? xLo[i] + 1 : 15; - xLo[i] = xLo[i] > 0 ? xLo[i] : 0; - } - - /* Now march over the output table generating the new values. */ - double y = -0.5, yInc = 12.0 / (destH - 1); - for (int j = 0; j < destH; j++, y += yInc) { - int yLo = floor(y); - double yf = y - yLo; - int yHi = yLo < 11 ? yLo + 1 : 11; - yLo = yLo > 0 ? yLo : 0; - double const *rowAbove = src.data() + yLo * 16; - double const *rowBelow = src.data() + yHi * 16; - for (int i = 0; i < destW; i++) { - double above = rowAbove[xLo[i]] * (1 - xf[i]) + rowAbove[xHi[i]] * xf[i]; - double below = rowBelow[xLo[i]] * (1 - xf[i]) + rowBelow[xHi[i]] * xf[i]; - int result = floor(1024 * (above * (1 - yf) + below * yf) + .5); - *(dest++) = result > 16383 ? 16383 : result; /* want u4.10 */ - } - } -} - -} /* namespace ipa::RPi */ - -/* - * External IPA module interface - */ -extern "C" { -const struct IPAModuleInfo ipaModuleInfo = { - IPA_MODULE_API_VERSION, - 1, - "PipelineHandlerRPi", - "raspberrypi", -}; - -IPAInterface *ipaCreate() -{ - return new ipa::RPi::IPARPi(); -} - -} /* extern "C" */ - -} /* namespace libcamera */ |