From 84ad104499d9efc0253dae1a60ee070ed375ad95 Mon Sep 17 00:00:00 2001 From: Laurent Pinchart Date: Thu, 20 Oct 2022 00:44:55 +0300 Subject: Move test applications to src/apps/ The cam and qcam test application share code, currently through a crude hack that references the cam source files directly from the qcam meson.build file. To prepare for the introduction of hosting that code in a static library, move all applications to src/apps/. Signed-off-by: Laurent Pinchart Reviewed-by: Paul Elder Reviewed-by: Kieran Bingham --- src/apps/cam/camera_session.cpp | 450 ++++++++ src/apps/cam/camera_session.h | 79 ++ src/apps/cam/capture-script.yaml | 71 ++ src/apps/cam/capture_script.cpp | 535 +++++++++ src/apps/cam/capture_script.h | 68 ++ src/apps/cam/dng_writer.cpp | 653 +++++++++++ src/apps/cam/dng_writer.h | 27 + src/apps/cam/drm.cpp | 717 ++++++++++++ src/apps/cam/drm.h | 334 ++++++ src/apps/cam/event_loop.cpp | 150 +++ src/apps/cam/event_loop.h | 68 ++ src/apps/cam/file_sink.cpp | 137 +++ src/apps/cam/file_sink.h | 43 + src/apps/cam/frame_sink.cpp | 67 ++ src/apps/cam/frame_sink.h | 32 + src/apps/cam/image.cpp | 109 ++ src/apps/cam/image.h | 50 + src/apps/cam/kms_sink.cpp | 538 +++++++++ src/apps/cam/kms_sink.h | 83 ++ src/apps/cam/main.cpp | 362 +++++++ src/apps/cam/main.h | 26 + src/apps/cam/meson.build | 74 ++ src/apps/cam/options.cpp | 1141 ++++++++++++++++++++ src/apps/cam/options.h | 157 +++ src/apps/cam/sdl_sink.cpp | 214 ++++ src/apps/cam/sdl_sink.h | 48 + src/apps/cam/sdl_texture.cpp | 36 + src/apps/cam/sdl_texture.h | 30 + src/apps/cam/sdl_texture_mjpg.cpp | 83 ++ src/apps/cam/sdl_texture_mjpg.h | 23 + src/apps/cam/sdl_texture_yuv.cpp | 33 + src/apps/cam/sdl_texture_yuv.h | 26 + src/apps/cam/stream_options.cpp | 134 +++ src/apps/cam/stream_options.h | 28 + src/apps/lc-compliance/capture_test.cpp | 128 +++ src/apps/lc-compliance/environment.cpp | 22 + src/apps/lc-compliance/environment.h | 27 + src/apps/lc-compliance/main.cpp | 193 ++++ src/apps/lc-compliance/meson.build | 31 + src/apps/lc-compliance/simple_capture.cpp | 191 ++++ src/apps/lc-compliance/simple_capture.h | 65 ++ src/apps/meson.build | 6 + src/apps/qcam/assets/feathericons/activity.svg | 1 + src/apps/qcam/assets/feathericons/airplay.svg | 1 + src/apps/qcam/assets/feathericons/alert-circle.svg | 1 + .../qcam/assets/feathericons/alert-octagon.svg | 1 + .../qcam/assets/feathericons/alert-triangle.svg | 1 + src/apps/qcam/assets/feathericons/align-center.svg | 1 + .../qcam/assets/feathericons/align-justify.svg | 1 + src/apps/qcam/assets/feathericons/align-left.svg | 1 + src/apps/qcam/assets/feathericons/align-right.svg | 1 + src/apps/qcam/assets/feathericons/anchor.svg | 1 + src/apps/qcam/assets/feathericons/aperture.svg | 1 + src/apps/qcam/assets/feathericons/archive.svg | 1 + .../qcam/assets/feathericons/arrow-down-circle.svg | 1 + .../qcam/assets/feathericons/arrow-down-left.svg | 1 + .../qcam/assets/feathericons/arrow-down-right.svg | 1 + src/apps/qcam/assets/feathericons/arrow-down.svg | 1 + .../qcam/assets/feathericons/arrow-left-circle.svg | 1 + src/apps/qcam/assets/feathericons/arrow-left.svg | 1 + .../assets/feathericons/arrow-right-circle.svg | 1 + src/apps/qcam/assets/feathericons/arrow-right.svg | 1 + .../qcam/assets/feathericons/arrow-up-circle.svg | 1 + .../qcam/assets/feathericons/arrow-up-left.svg | 1 + .../qcam/assets/feathericons/arrow-up-right.svg | 1 + 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src/apps/qcam/assets/shader/YUV_packed.frag | 83 ++ src/apps/qcam/assets/shader/bayer_1x_packed.frag | 216 ++++ src/apps/qcam/assets/shader/bayer_8.frag | 107 ++ src/apps/qcam/assets/shader/bayer_8.vert | 51 + src/apps/qcam/assets/shader/identity.vert | 18 + src/apps/qcam/assets/shader/shaders.qrc | 13 + src/apps/qcam/cam_select_dialog.cpp | 111 ++ src/apps/qcam/cam_select_dialog.h | 47 + src/apps/qcam/format_converter.cpp | 359 ++++++ src/apps/qcam/format_converter.h | 62 ++ src/apps/qcam/main.cpp | 89 ++ src/apps/qcam/main_window.cpp | 790 ++++++++++++++ src/apps/qcam/main_window.h | 133 +++ src/apps/qcam/meson.build | 83 ++ src/apps/qcam/message_handler.cpp | 27 + src/apps/qcam/message_handler.h | 24 + src/apps/qcam/viewfinder.h | 34 + src/apps/qcam/viewfinder_gl.cpp | 835 ++++++++++++++ src/apps/qcam/viewfinder_gl.h | 108 ++ src/apps/qcam/viewfinder_qt.cpp | 181 ++++ src/apps/qcam/viewfinder_qt.h | 64 ++ src/cam/camera_session.cpp | 450 -------- src/cam/camera_session.h | 79 -- src/cam/capture-script.yaml | 71 -- src/cam/capture_script.cpp | 535 --------- src/cam/capture_script.h | 68 -- src/cam/dng_writer.cpp | 653 ----------- src/cam/dng_writer.h | 27 - src/cam/drm.cpp | 717 ------------ src/cam/drm.h | 334 ------ src/cam/event_loop.cpp | 150 --- src/cam/event_loop.h | 68 -- src/cam/file_sink.cpp | 137 --- src/cam/file_sink.h | 43 - src/cam/frame_sink.cpp | 67 -- src/cam/frame_sink.h | 32 - src/cam/image.cpp | 109 -- src/cam/image.h | 50 - src/cam/kms_sink.cpp | 538 --------- src/cam/kms_sink.h | 83 -- src/cam/main.cpp | 362 ------- src/cam/main.h | 26 - src/cam/meson.build | 74 -- src/cam/options.cpp | 1141 -------------------- src/cam/options.h | 157 --- src/cam/sdl_sink.cpp | 214 ---- src/cam/sdl_sink.h | 48 - src/cam/sdl_texture.cpp | 36 - src/cam/sdl_texture.h | 30 - src/cam/sdl_texture_mjpg.cpp | 83 -- src/cam/sdl_texture_mjpg.h | 23 - src/cam/sdl_texture_yuv.cpp | 33 - src/cam/sdl_texture_yuv.h | 26 - src/cam/stream_options.cpp | 134 --- src/cam/stream_options.h | 28 - src/lc-compliance/capture_test.cpp | 128 --- src/lc-compliance/environment.cpp | 22 - src/lc-compliance/environment.h | 27 - src/lc-compliance/main.cpp | 193 ---- src/lc-compliance/meson.build | 31 - src/lc-compliance/simple_capture.cpp | 191 ---- src/lc-compliance/simple_capture.h | 65 -- src/meson.build | 5 +- src/qcam/assets/feathericons/activity.svg | 1 - src/qcam/assets/feathericons/airplay.svg | 1 - src/qcam/assets/feathericons/alert-circle.svg | 1 - src/qcam/assets/feathericons/alert-octagon.svg | 1 - src/qcam/assets/feathericons/alert-triangle.svg | 1 - src/qcam/assets/feathericons/align-center.svg | 1 - src/qcam/assets/feathericons/align-justify.svg | 1 - src/qcam/assets/feathericons/align-left.svg | 1 - src/qcam/assets/feathericons/align-right.svg | 1 - src/qcam/assets/feathericons/anchor.svg | 1 - src/qcam/assets/feathericons/aperture.svg | 1 - src/qcam/assets/feathericons/archive.svg | 1 - src/qcam/assets/feathericons/arrow-down-circle.svg | 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delete mode 100644 src/qcam/viewfinder_gl.cpp delete mode 100644 src/qcam/viewfinder_gl.h delete mode 100644 src/qcam/viewfinder_qt.cpp delete mode 100644 src/qcam/viewfinder_qt.h diff --git a/src/apps/cam/camera_session.cpp b/src/apps/cam/camera_session.cpp new file mode 100644 index 00000000..6b409c98 --- /dev/null +++ b/src/apps/cam/camera_session.cpp @@ -0,0 +1,450 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2019, Google Inc. + * + * camera_session.cpp - Camera capture session + */ + +#include +#include +#include +#include + +#include +#include + +#include "camera_session.h" +#include "capture_script.h" +#include "event_loop.h" +#include "file_sink.h" +#ifdef HAVE_KMS +#include "kms_sink.h" +#endif +#include "main.h" +#ifdef HAVE_SDL +#include "sdl_sink.h" +#endif +#include "stream_options.h" + +using namespace libcamera; + +CameraSession::CameraSession(CameraManager *cm, + const std::string &cameraId, + unsigned int cameraIndex, + const OptionsParser::Options &options) + : options_(options), cameraIndex_(cameraIndex), last_(0), + queueCount_(0), captureCount_(0), captureLimit_(0), + printMetadata_(false) +{ + char *endptr; + unsigned long index = strtoul(cameraId.c_str(), &endptr, 10); + if (*endptr == '\0' && index > 0 && index <= cm->cameras().size()) + camera_ = cm->cameras()[index - 1]; + else + camera_ = cm->get(cameraId); + + if (!camera_) { + std::cerr << "Camera " << cameraId << " not found" << std::endl; + return; + } + + if (camera_->acquire()) { + std::cerr << "Failed to acquire camera " << cameraId + << std::endl; + return; + } + + StreamRoles roles = StreamKeyValueParser::roles(options_[OptStream]); + + std::unique_ptr config = + camera_->generateConfiguration(roles); + if (!config || config->size() != roles.size()) { + std::cerr << "Failed to get default stream configuration" + << std::endl; + return; + } + + /* Apply configuration if explicitly requested. */ + if (StreamKeyValueParser::updateConfiguration(config.get(), + options_[OptStream])) { + std::cerr << "Failed to update configuration" << std::endl; + return; + } + + bool strictFormats = options_.isSet(OptStrictFormats); + +#ifdef HAVE_KMS + if (options_.isSet(OptDisplay)) { + if (options_.isSet(OptFile)) { + std::cerr << "--display and --file options are mutually exclusive" + << std::endl; + return; + } + + if (roles.size() != 1) { + std::cerr << "Display doesn't support multiple streams" + << std::endl; + return; + } + + if (roles[0] != StreamRole::Viewfinder) { + std::cerr << "Display requires a viewfinder stream" + << std::endl; + return; + } + } +#endif + + if (options_.isSet(OptCaptureScript)) { + std::string scriptName = options_[OptCaptureScript].toString(); + script_ = std::make_unique(camera_, scriptName); + if (!script_->valid()) { + std::cerr << "Invalid capture script '" << scriptName + << "'" << std::endl; + return; + } + } + + switch (config->validate()) { + case CameraConfiguration::Valid: + break; + + case CameraConfiguration::Adjusted: + if (strictFormats) { + std::cout << "Adjusting camera configuration disallowed by --strict-formats argument" + << std::endl; + return; + } + std::cout << "Camera configuration adjusted" << std::endl; + break; + + case CameraConfiguration::Invalid: + std::cout << "Camera configuration invalid" << std::endl; + return; + } + + config_ = std::move(config); +} + +CameraSession::~CameraSession() +{ + if (camera_) + camera_->release(); +} + +void CameraSession::listControls() const +{ + for (const auto &[id, info] : camera_->controls()) { + std::cout << "Control: " << id->name() << ": " + << info.toString() << std::endl; + } +} + +void CameraSession::listProperties() const +{ + for (const auto &[key, value] : camera_->properties()) { + const ControlId *id = properties::properties.at(key); + + std::cout << "Property: " << id->name() << " = " + << value.toString() << std::endl; + } +} + +void CameraSession::infoConfiguration() const +{ + unsigned int index = 0; + for (const StreamConfiguration &cfg : *config_) { + std::cout << index << ": " << cfg.toString() << std::endl; + + const StreamFormats &formats = cfg.formats(); + for (PixelFormat pixelformat : formats.pixelformats()) { + std::cout << " * Pixelformat: " + << pixelformat << " " + << formats.range(pixelformat).toString() + << std::endl; + + for (const Size &size : formats.sizes(pixelformat)) + std::cout << " - " << size << std::endl; + } + + index++; + } +} + +int CameraSession::start() +{ + int ret; + + queueCount_ = 0; + captureCount_ = 0; + captureLimit_ = options_[OptCapture].toInteger(); + printMetadata_ = options_.isSet(OptMetadata); + + ret = camera_->configure(config_.get()); + if (ret < 0) { + std::cout << "Failed to configure camera" << std::endl; + return ret; + } + + streamNames_.clear(); + for (unsigned int index = 0; index < config_->size(); ++index) { + StreamConfiguration &cfg = config_->at(index); + streamNames_[cfg.stream()] = "cam" + std::to_string(cameraIndex_) + + "-stream" + std::to_string(index); + } + + camera_->requestCompleted.connect(this, &CameraSession::requestComplete); + +#ifdef HAVE_KMS + if (options_.isSet(OptDisplay)) + sink_ = std::make_unique(options_[OptDisplay].toString()); +#endif + +#ifdef HAVE_SDL + if (options_.isSet(OptSDL)) + sink_ = std::make_unique(); +#endif + + if (options_.isSet(OptFile)) { + if (!options_[OptFile].toString().empty()) + sink_ = std::make_unique(camera_.get(), streamNames_, + options_[OptFile]); + else + sink_ = std::make_unique(camera_.get(), streamNames_); + } + + if (sink_) { + ret = sink_->configure(*config_); + if (ret < 0) { + std::cout << "Failed to configure frame sink" + << std::endl; + return ret; + } + + sink_->requestProcessed.connect(this, &CameraSession::sinkRelease); + } + + allocator_ = std::make_unique(camera_); + + return startCapture(); +} + +void CameraSession::stop() +{ + int ret = camera_->stop(); + if (ret) + std::cout << "Failed to stop capture" << std::endl; + + if (sink_) { + ret = sink_->stop(); + if (ret) + std::cout << "Failed to stop frame sink" << std::endl; + } + + sink_.reset(); + + requests_.clear(); + + allocator_.reset(); +} + +int CameraSession::startCapture() +{ + int ret; + + /* Identify the stream with the least number of buffers. */ + unsigned int nbuffers = UINT_MAX; + for (StreamConfiguration &cfg : *config_) { + ret = allocator_->allocate(cfg.stream()); + if (ret < 0) { + std::cerr << "Can't allocate buffers" << std::endl; + return -ENOMEM; + } + + unsigned int allocated = allocator_->buffers(cfg.stream()).size(); + nbuffers = std::min(nbuffers, allocated); + } + + /* + * TODO: make cam tool smarter to support still capture by for + * example pushing a button. For now run all streams all the time. + */ + + for (unsigned int i = 0; i < nbuffers; i++) { + std::unique_ptr request = camera_->createRequest(); + if (!request) { + std::cerr << "Can't create request" << std::endl; + return -ENOMEM; + } + + for (StreamConfiguration &cfg : *config_) { + Stream *stream = cfg.stream(); + const std::vector> &buffers = + allocator_->buffers(stream); + const std::unique_ptr &buffer = buffers[i]; + + ret = request->addBuffer(stream, buffer.get()); + if (ret < 0) { + std::cerr << "Can't set buffer for request" + << std::endl; + return ret; + } + + if (sink_) + sink_->mapBuffer(buffer.get()); + } + + requests_.push_back(std::move(request)); + } + + if (sink_) { + ret = sink_->start(); + if (ret) { + std::cout << "Failed to start frame sink" << std::endl; + return ret; + } + } + + ret = camera_->start(); + if (ret) { + std::cout << "Failed to start capture" << std::endl; + if (sink_) + sink_->stop(); + return ret; + } + + for (std::unique_ptr &request : requests_) { + ret = queueRequest(request.get()); + if (ret < 0) { + std::cerr << "Can't queue request" << std::endl; + camera_->stop(); + if (sink_) + sink_->stop(); + return ret; + } + } + + if (captureLimit_) + std::cout << "cam" << cameraIndex_ + << ": Capture " << captureLimit_ << " frames" + << std::endl; + else + std::cout << "cam" << cameraIndex_ + << ": Capture until user interrupts by SIGINT" + << std::endl; + + return 0; +} + +int CameraSession::queueRequest(Request *request) +{ + if (captureLimit_ && queueCount_ >= captureLimit_) + return 0; + + if (script_) + request->controls() = script_->frameControls(queueCount_); + + queueCount_++; + + return camera_->queueRequest(request); +} + +void CameraSession::requestComplete(Request *request) +{ + if (request->status() == Request::RequestCancelled) + return; + + /* + * Defer processing of the completed request to the event loop, to avoid + * blocking the camera manager thread. + */ + EventLoop::instance()->callLater([=]() { processRequest(request); }); +} + +void CameraSession::processRequest(Request *request) +{ + /* + * If we've reached the capture limit, we're done. This doesn't + * duplicate the check below that emits the captureDone signal, as this + * function will be called for each request still in flight after the + * capture limit is reached and we don't want to emit the signal every + * single time. + */ + if (captureLimit_ && captureCount_ >= captureLimit_) + return; + + const Request::BufferMap &buffers = request->buffers(); + + /* + * Compute the frame rate. The timestamp is arbitrarily retrieved from + * the first buffer, as all buffers should have matching timestamps. + */ + uint64_t ts = buffers.begin()->second->metadata().timestamp; + double fps = ts - last_; + fps = last_ != 0 && fps ? 1000000000.0 / fps : 0.0; + last_ = ts; + + bool requeue = true; + + std::stringstream info; + info << ts / 1000000000 << "." + << std::setw(6) << std::setfill('0') << ts / 1000 % 1000000 + << " (" << std::fixed << std::setprecision(2) << fps << " fps)"; + + for (const auto &[stream, buffer] : buffers) { + const FrameMetadata &metadata = buffer->metadata(); + + info << " " << streamNames_[stream] + << " seq: " << std::setw(6) << std::setfill('0') << metadata.sequence + << " bytesused: "; + + unsigned int nplane = 0; + for (const FrameMetadata::Plane &plane : metadata.planes()) { + info << plane.bytesused; + if (++nplane < metadata.planes().size()) + info << "/"; + } + } + + if (sink_) { + if (!sink_->processRequest(request)) + requeue = false; + } + + std::cout << info.str() << std::endl; + + if (printMetadata_) { + const ControlList &requestMetadata = request->metadata(); + for (const auto &[key, value] : requestMetadata) { + const ControlId *id = controls::controls.at(key); + std::cout << "\t" << id->name() << " = " + << value.toString() << std::endl; + } + } + + /* + * Notify the user that capture is complete if the limit has just been + * reached. + */ + captureCount_++; + if (captureLimit_ && captureCount_ >= captureLimit_) { + captureDone.emit(); + return; + } + + /* + * If the frame sink holds on the request, we'll requeue it later in the + * complete handler. + */ + if (!requeue) + return; + + request->reuse(Request::ReuseBuffers); + queueRequest(request); +} + +void CameraSession::sinkRelease(Request *request) +{ + request->reuse(Request::ReuseBuffers); + queueRequest(request); +} diff --git a/src/apps/cam/camera_session.h b/src/apps/cam/camera_session.h new file mode 100644 index 00000000..d562caae --- /dev/null +++ b/src/apps/cam/camera_session.h @@ -0,0 +1,79 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2019, Google Inc. + * + * camera_session.h - Camera capture session + */ + +#pragma once + +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include +#include + +#include "options.h" + +class CaptureScript; +class FrameSink; + +class CameraSession +{ +public: + CameraSession(libcamera::CameraManager *cm, + const std::string &cameraId, unsigned int cameraIndex, + const OptionsParser::Options &options); + ~CameraSession(); + + bool isValid() const { return config_ != nullptr; } + const OptionsParser::Options &options() { return options_; } + + libcamera::Camera *camera() { return camera_.get(); } + libcamera::CameraConfiguration *config() { return config_.get(); } + + void listControls() const; + void listProperties() const; + void infoConfiguration() const; + + int start(); + void stop(); + + libcamera::Signal<> captureDone; + +private: + int startCapture(); + + int queueRequest(libcamera::Request *request); + void requestComplete(libcamera::Request *request); + void processRequest(libcamera::Request *request); + void sinkRelease(libcamera::Request *request); + + const OptionsParser::Options &options_; + std::shared_ptr camera_; + std::unique_ptr config_; + + std::unique_ptr script_; + + std::map streamNames_; + std::unique_ptr sink_; + unsigned int cameraIndex_; + + uint64_t last_; + + unsigned int queueCount_; + unsigned int captureCount_; + unsigned int captureLimit_; + bool printMetadata_; + + std::unique_ptr allocator_; + std::vector> requests_; +}; diff --git a/src/apps/cam/capture-script.yaml b/src/apps/cam/capture-script.yaml new file mode 100644 index 00000000..7118865e --- /dev/null +++ b/src/apps/cam/capture-script.yaml @@ -0,0 +1,71 @@ +# SPDX-License-Identifier: CC0-1.0 + +# Capture script example +# +# A capture script allows to associate a list of controls and their values +# to frame numbers. +# +# The script allows defining a list of frames associated with controls +# and an optional list of properties that can control the script behaviour. + +# properties: +# # Repeat the controls every 'idx' frames. +# - loop: idx +# +# # List of frame number with associated a list of controls to be applied +# frames: +# - frame-number: +# Control1: value1 +# Control2: value2 + +# \todo Formally define the capture script structure with a schema + +# Notes: +# - Controls have to be specified by name, as defined in the +# libcamera::controls:: enumeration +# - Controls not supported by the camera currently operated are ignored +# - Frame numbers shall be monotonically incrementing, gaps are allowed +# - If a loop limit is specified, frame numbers in the 'frames' list shall be +# less than the loop control + +# Example: Turn brightness up and down every 460 frames + +properties: + - loop: 460 + +frames: + - 0: + Brightness: 0.0 + + - 40: + Brightness: 0.2 + + - 80: + Brightness: 0.4 + + - 120: + Brightness: 0.8 + + - 160: + Brightness: 0.4 + + - 200: + Brightness: 0.2 + + - 240: + Brightness: 0.0 + + - 280: + Brightness: -0.2 + + - 300: + Brightness: -0.4 + + - 340: + Brightness: -0.8 + + - 380: + Brightness: -0.4 + + - 420: + Brightness: -0.2 diff --git a/src/apps/cam/capture_script.cpp b/src/apps/cam/capture_script.cpp new file mode 100644 index 00000000..5a27361c --- /dev/null +++ b/src/apps/cam/capture_script.cpp @@ -0,0 +1,535 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2022, Ideas on Board Oy + * + * capture_script.cpp - Capture session configuration script + */ + +#include "capture_script.h" + +#include +#include +#include + +using namespace libcamera; + +CaptureScript::CaptureScript(std::shared_ptr camera, + const std::string &fileName) + : camera_(camera), loop_(0), valid_(false) +{ + FILE *fh = fopen(fileName.c_str(), "r"); + if (!fh) { + int ret = -errno; + std::cerr << "Failed to open capture script " << fileName + << ": " << strerror(-ret) << std::endl; + return; + } + + /* + * Map the camera's controls to their name so that they can be + * easily identified when parsing the script file. + */ + for (const auto &[control, info] : camera_->controls()) + controls_[control->name()] = control; + + int ret = parseScript(fh); + fclose(fh); + if (ret) + return; + + valid_ = true; +} + +/* Retrieve the control list associated with a frame number. */ +const ControlList &CaptureScript::frameControls(unsigned int frame) +{ + static ControlList controls{}; + unsigned int idx = frame; + + /* If we loop, repeat the controls every 'loop_' frames. */ + if (loop_) + idx = frame % loop_; + + auto it = frameControls_.find(idx); + if (it == frameControls_.end()) + return controls; + + return it->second; +} + +CaptureScript::EventPtr CaptureScript::nextEvent(yaml_event_type_t expectedType) +{ + EventPtr event(new yaml_event_t); + + if (!yaml_parser_parse(&parser_, event.get())) + return nullptr; + + if (expectedType != YAML_NO_EVENT && !checkEvent(event, expectedType)) + return nullptr; + + return event; +} + +bool CaptureScript::checkEvent(const EventPtr &event, yaml_event_type_t expectedType) const +{ + if (event->type != expectedType) { + std::cerr << "Capture script error on line " << event->start_mark.line + << " column " << event->start_mark.column << ": " + << "Expected " << eventTypeName(expectedType) + << " event, got " << eventTypeName(event->type) + << std::endl; + return false; + } + + return true; +} + +std::string CaptureScript::eventScalarValue(const EventPtr &event) +{ + return std::string(reinterpret_cast(event->data.scalar.value), + event->data.scalar.length); +} + +std::string CaptureScript::eventTypeName(yaml_event_type_t type) +{ + static const std::map typeNames = { + { YAML_STREAM_START_EVENT, "stream-start" }, + { YAML_STREAM_END_EVENT, "stream-end" }, + { YAML_DOCUMENT_START_EVENT, "document-start" }, + { YAML_DOCUMENT_END_EVENT, "document-end" }, + { YAML_ALIAS_EVENT, "alias" }, + { YAML_SCALAR_EVENT, "scalar" }, + { YAML_SEQUENCE_START_EVENT, "sequence-start" }, + { YAML_SEQUENCE_END_EVENT, "sequence-end" }, + { YAML_MAPPING_START_EVENT, "mapping-start" }, + { YAML_MAPPING_END_EVENT, "mapping-end" }, + }; + + auto it = typeNames.find(type); + if (it == typeNames.end()) + return "[type " + std::to_string(type) + "]"; + + return it->second; +} + +int CaptureScript::parseScript(FILE *script) +{ + int ret = yaml_parser_initialize(&parser_); + if (!ret) { + std::cerr << "Failed to initialize yaml parser" << std::endl; + return ret; + } + + /* Delete the parser upon function exit. */ + struct ParserDeleter { + ParserDeleter(yaml_parser_t *parser) : parser_(parser) { } + ~ParserDeleter() { yaml_parser_delete(parser_); } + yaml_parser_t *parser_; + } deleter(&parser_); + + yaml_parser_set_input_file(&parser_, script); + + EventPtr event = nextEvent(YAML_STREAM_START_EVENT); + if (!event) + return -EINVAL; + + event = nextEvent(YAML_DOCUMENT_START_EVENT); + if (!event) + return -EINVAL; + + event = nextEvent(YAML_MAPPING_START_EVENT); + if (!event) + return -EINVAL; + + while (1) { + event = nextEvent(); + if (!event) + return -EINVAL; + + if (event->type == YAML_MAPPING_END_EVENT) + return 0; + + if (!checkEvent(event, YAML_SCALAR_EVENT)) + return -EINVAL; + + std::string section = eventScalarValue(event); + + if (section == "properties") { + ret = parseProperties(); + if (ret) + return ret; + } else if (section == "frames") { + ret = parseFrames(); + if (ret) + return ret; + } else { + std::cerr << "Unsupported section '" << section << "'" + << std::endl; + return -EINVAL; + } + } +} + +int CaptureScript::parseProperty() +{ + EventPtr event = nextEvent(YAML_MAPPING_START_EVENT); + if (!event) + return -EINVAL; + + std::string prop = parseScalar(); + if (prop.empty()) + return -EINVAL; + + if (prop == "loop") { + event = nextEvent(); + if (!event) + return -EINVAL; + + std::string value = eventScalarValue(event); + if (value.empty()) + return -EINVAL; + + loop_ = atoi(value.c_str()); + if (!loop_) { + std::cerr << "Invalid loop limit '" << loop_ << "'" + << std::endl; + return -EINVAL; + } + } else { + std::cerr << "Unsupported property '" << prop << "'" << std::endl; + return -EINVAL; + } + + event = nextEvent(YAML_MAPPING_END_EVENT); + if (!event) + return -EINVAL; + + return 0; +} + +int CaptureScript::parseProperties() +{ + EventPtr event = nextEvent(YAML_SEQUENCE_START_EVENT); + if (!event) + return -EINVAL; + + while (1) { + if (event->type == YAML_SEQUENCE_END_EVENT) + return 0; + + int ret = parseProperty(); + if (ret) + return ret; + + event = nextEvent(); + if (!event) + return -EINVAL; + } + + return 0; +} + +int CaptureScript::parseFrames() +{ + EventPtr event = nextEvent(YAML_SEQUENCE_START_EVENT); + if (!event) + return -EINVAL; + + while (1) { + event = nextEvent(); + if (!event) + return -EINVAL; + + if (event->type == YAML_SEQUENCE_END_EVENT) + return 0; + + int ret = parseFrame(std::move(event)); + if (ret) + return ret; + } +} + +int CaptureScript::parseFrame(EventPtr event) +{ + if (!checkEvent(event, YAML_MAPPING_START_EVENT)) + return -EINVAL; + + std::string key = parseScalar(); + if (key.empty()) + return -EINVAL; + + unsigned int frameId = atoi(key.c_str()); + if (loop_ && frameId >= loop_) { + std::cerr + << "Frame id (" << frameId << ") shall be smaller than" + << "loop limit (" << loop_ << ")" << std::endl; + return -EINVAL; + } + + event = nextEvent(YAML_MAPPING_START_EVENT); + if (!event) + return -EINVAL; + + ControlList controls{}; + + while (1) { + event = nextEvent(); + if (!event) + return -EINVAL; + + if (event->type == YAML_MAPPING_END_EVENT) + break; + + int ret = parseControl(std::move(event), controls); + if (ret) + return ret; + } + + frameControls_[frameId] = std::move(controls); + + event = nextEvent(YAML_MAPPING_END_EVENT); + if (!event) + return -EINVAL; + + return 0; +} + +int CaptureScript::parseControl(EventPtr event, ControlList &controls) +{ + /* We expect a value after a key. */ + std::string name = eventScalarValue(event); + if (name.empty()) + return -EINVAL; + + /* If the camera does not support the control just ignore it. */ + auto it = controls_.find(name); + if (it == controls_.end()) { + std::cerr << "Unsupported control '" << name << "'" << std::endl; + return -EINVAL; + } + + const ControlId *controlId = it->second; + + ControlValue val = unpackControl(controlId); + if (val.isNone()) { + std::cerr << "Error unpacking control '" << name << "'" + << std::endl; + return -EINVAL; + } + + controls.set(controlId->id(), val); + + return 0; +} + +std::string CaptureScript::parseScalar() +{ + EventPtr event = nextEvent(YAML_SCALAR_EVENT); + if (!event) + return ""; + + return eventScalarValue(event); +} + +ControlValue CaptureScript::parseRectangles() +{ + std::vector rectangles; + + std::vector> arrays = parseArrays(); + if (arrays.empty()) + return {}; + + for (const std::vector &values : arrays) { + if (values.size() != 4) { + std::cerr << "Error parsing Rectangle: expected " + << "array with 4 parameters" << std::endl; + return {}; + } + + Rectangle rect = unpackRectangle(values); + rectangles.push_back(rect); + } + + ControlValue controlValue; + controlValue.set(Span(rectangles)); + + return controlValue; +} + +std::vector> CaptureScript::parseArrays() +{ + EventPtr event = nextEvent(YAML_SEQUENCE_START_EVENT); + if (!event) + return {}; + + event = nextEvent(); + if (!event) + return {}; + + std::vector> valueArrays; + + /* Parse single array. */ + if (event->type == YAML_SCALAR_EVENT) { + std::string firstValue = eventScalarValue(event); + if (firstValue.empty()) + return {}; + + std::vector remaining = parseSingleArray(); + + std::vector values = { firstValue }; + values.insert(std::end(values), + std::begin(remaining), std::end(remaining)); + valueArrays.push_back(values); + + return valueArrays; + } + + /* Parse array of arrays. */ + while (1) { + switch (event->type) { + case YAML_SEQUENCE_START_EVENT: { + std::vector values = parseSingleArray(); + valueArrays.push_back(values); + break; + } + case YAML_SEQUENCE_END_EVENT: + return valueArrays; + default: + return {}; + } + + event = nextEvent(); + if (!event) + return {}; + } +} + +std::vector CaptureScript::parseSingleArray() +{ + std::vector values; + + while (1) { + EventPtr event = nextEvent(); + if (!event) + return {}; + + switch (event->type) { + case YAML_SCALAR_EVENT: { + std::string value = eventScalarValue(event); + if (value.empty()) + return {}; + values.push_back(value); + break; + } + case YAML_SEQUENCE_END_EVENT: + return values; + default: + return {}; + } + } +} + +void CaptureScript::unpackFailure(const ControlId *id, const std::string &repr) +{ + static const std::map typeNames = { + { ControlTypeNone, "none" }, + { ControlTypeBool, "bool" }, + { ControlTypeByte, "byte" }, + { ControlTypeInteger32, "int32" }, + { ControlTypeInteger64, "int64" }, + { ControlTypeFloat, "float" }, + { ControlTypeString, "string" }, + { ControlTypeRectangle, "Rectangle" }, + { ControlTypeSize, "Size" }, + }; + + const char *typeName; + auto it = typeNames.find(id->type()); + if (it != typeNames.end()) + typeName = it->second; + else + typeName = "unknown"; + + std::cerr << "Unsupported control '" << repr << "' for " + << typeName << " control " << id->name() << std::endl; +} + +ControlValue CaptureScript::unpackControl(const ControlId *id) +{ + /* Parse complex types. */ + switch (id->type()) { + case ControlTypeRectangle: + return parseRectangles(); + case ControlTypeSize: + /* \todo Parse Sizes. */ + return {}; + default: + break; + } + + /* Parse basic types represented by a single scalar. */ + const std::string repr = parseScalar(); + if (repr.empty()) + return {}; + + ControlValue value{}; + + switch (id->type()) { + case ControlTypeNone: + break; + case ControlTypeBool: { + bool val; + + if (repr == "true") { + val = true; + } else if (repr == "false") { + val = false; + } else { + unpackFailure(id, repr); + return value; + } + + value.set(val); + break; + } + case ControlTypeByte: { + uint8_t val = strtol(repr.c_str(), NULL, 10); + value.set(val); + break; + } + case ControlTypeInteger32: { + int32_t val = strtol(repr.c_str(), NULL, 10); + value.set(val); + break; + } + case ControlTypeInteger64: { + int64_t val = strtoll(repr.c_str(), NULL, 10); + value.set(val); + break; + } + case ControlTypeFloat: { + float val = strtof(repr.c_str(), NULL); + value.set(val); + break; + } + case ControlTypeString: { + value.set(repr); + break; + } + default: + std::cerr << "Unsupported control type" << std::endl; + break; + } + + return value; +} + +libcamera::Rectangle CaptureScript::unpackRectangle(const std::vector &strVec) +{ + int x = strtol(strVec[0].c_str(), NULL, 10); + int y = strtol(strVec[1].c_str(), NULL, 10); + unsigned int width = strtoul(strVec[2].c_str(), NULL, 10); + unsigned int height = strtoul(strVec[3].c_str(), NULL, 10); + + return Rectangle(x, y, width, height); +} diff --git a/src/apps/cam/capture_script.h b/src/apps/cam/capture_script.h new file mode 100644 index 00000000..7a0ddebb --- /dev/null +++ b/src/apps/cam/capture_script.h @@ -0,0 +1,68 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2022, Ideas on Board Oy + * + * capture_script.h - Capture session configuration script + */ + +#pragma once + +#include +#include +#include + +#include +#include + +#include + +class CaptureScript +{ +public: + CaptureScript(std::shared_ptr camera, + const std::string &fileName); + + bool valid() const { return valid_; } + + const libcamera::ControlList &frameControls(unsigned int frame); + +private: + struct EventDeleter { + void operator()(yaml_event_t *event) const + { + yaml_event_delete(event); + delete event; + } + }; + using EventPtr = std::unique_ptr; + + std::map controls_; + std::map frameControls_; + std::shared_ptr camera_; + yaml_parser_t parser_; + unsigned int loop_; + bool valid_; + + EventPtr nextEvent(yaml_event_type_t expectedType = YAML_NO_EVENT); + bool checkEvent(const EventPtr &event, yaml_event_type_t expectedType) const; + static std::string eventScalarValue(const EventPtr &event); + static std::string eventTypeName(yaml_event_type_t type); + + int parseScript(FILE *script); + + int parseProperties(); + int parseProperty(); + int parseFrames(); + int parseFrame(EventPtr event); + int parseControl(EventPtr event, libcamera::ControlList &controls); + + std::string parseScalar(); + libcamera::ControlValue parseRectangles(); + std::vector> parseArrays(); + std::vector parseSingleArray(); + + void unpackFailure(const libcamera::ControlId *id, + const std::string &repr); + libcamera::ControlValue unpackControl(const libcamera::ControlId *id); + libcamera::Rectangle unpackRectangle(const std::vector &strVec); +}; diff --git a/src/apps/cam/dng_writer.cpp b/src/apps/cam/dng_writer.cpp new file mode 100644 index 00000000..c945edce --- /dev/null +++ b/src/apps/cam/dng_writer.cpp @@ -0,0 +1,653 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2020, Raspberry Pi Ltd + * + * dng_writer.cpp - DNG writer + */ + +#include "dng_writer.h" + +#include +#include +#include + +#include + +#include +#include +#include + +using namespace libcamera; + +enum CFAPatternColour : uint8_t { + CFAPatternRed = 0, + CFAPatternGreen = 1, + CFAPatternBlue = 2, +}; + +struct FormatInfo { + uint8_t bitsPerSample; + CFAPatternColour pattern[4]; + void (*packScanline)(void *output, const void *input, + unsigned int width); + void (*thumbScanline)(const FormatInfo &info, void *output, + const void *input, unsigned int width, + unsigned int stride); +}; + +struct Matrix3d { + Matrix3d() + { + } + + Matrix3d(float m0, float m1, float m2, + float m3, float m4, float m5, + float m6, float m7, float m8) + { + m[0] = m0, m[1] = m1, m[2] = m2; + m[3] = m3, m[4] = m4, m[5] = m5; + m[6] = m6, m[7] = m7, m[8] = m8; + } + + Matrix3d(const Span &span) + : Matrix3d(span[0], span[1], span[2], + span[3], span[4], span[5], + span[6], span[7], span[8]) + { + } + + static Matrix3d diag(float diag0, float diag1, float diag2) + { + return Matrix3d(diag0, 0, 0, 0, diag1, 0, 0, 0, diag2); + } + + static Matrix3d identity() + { + return Matrix3d(1, 0, 0, 0, 1, 0, 0, 0, 1); + } + + Matrix3d transpose() const + { + return { m[0], m[3], m[6], m[1], m[4], m[7], m[2], m[5], m[8] }; + } + + Matrix3d cofactors() const + { + return { m[4] * m[8] - m[5] * m[7], + -(m[3] * m[8] - m[5] * m[6]), + m[3] * m[7] - m[4] * m[6], + -(m[1] * m[8] - m[2] * m[7]), + m[0] * m[8] - m[2] * m[6], + -(m[0] * m[7] - m[1] * m[6]), + m[1] * m[5] - m[2] * m[4], + -(m[0] * m[5] - m[2] * m[3]), + m[0] * m[4] - m[1] * m[3] }; + } + + Matrix3d adjugate() const + { + return cofactors().transpose(); + } + + float determinant() const + { + return m[0] * (m[4] * m[8] - m[5] * m[7]) - + m[1] * (m[3] * m[8] - m[5] * m[6]) + + m[2] * (m[3] * m[7] - m[4] * m[6]); + } + + Matrix3d inverse() const + { + return adjugate() * (1.0 / determinant()); + } + + Matrix3d operator*(const Matrix3d &other) const + { + Matrix3d result; + for (unsigned int i = 0; i < 3; i++) { + for (unsigned int j = 0; j < 3; j++) { + result.m[i * 3 + j] = + m[i * 3 + 0] * other.m[0 + j] + + m[i * 3 + 1] * other.m[3 + j] + + m[i * 3 + 2] * other.m[6 + j]; + } + } + return result; + } + + Matrix3d operator*(float f) const + { + Matrix3d result; + for (unsigned int i = 0; i < 9; i++) + result.m[i] = m[i] * f; + return result; + } + + float m[9]; +}; + +void packScanlineSBGGR8(void *output, const void *input, unsigned int width) +{ + const uint8_t *in = static_cast(input); + uint8_t *out = static_cast(output); + + std::copy(in, in + width, out); +} + +void packScanlineSBGGR10P(void *output, const void *input, unsigned int width) +{ + const uint8_t *in = static_cast(input); + uint8_t *out = static_cast(output); + + /* \todo Can this be made more efficient? */ + for (unsigned int x = 0; x < width; x += 4) { + *out++ = in[0]; + *out++ = (in[4] & 0x03) << 6 | in[1] >> 2; + *out++ = (in[1] & 0x03) << 6 | (in[4] & 0x0c) << 2 | in[2] >> 4; + *out++ = (in[2] & 0x0f) << 4 | (in[4] & 0x30) >> 2 | in[3] >> 6; + *out++ = (in[3] & 0x3f) << 2 | (in[4] & 0xc0) >> 6; + in += 5; + } +} + +void packScanlineSBGGR12P(void *output, const void *input, unsigned int width) +{ + const uint8_t *in = static_cast(input); + uint8_t *out = static_cast(output); + + /* \todo Can this be made more efficient? */ + for (unsigned int i = 0; i < width; i += 2) { + *out++ = in[0]; + *out++ = (in[2] & 0x0f) << 4 | in[1] >> 4; + *out++ = (in[1] & 0x0f) << 4 | in[2] >> 4; + in += 3; + } +} + +void thumbScanlineSBGGRxxP(const FormatInfo &info, void *output, + const void *input, unsigned int width, + unsigned int stride) +{ + const uint8_t *in = static_cast(input); + uint8_t *out = static_cast(output); + + /* Number of bytes corresponding to 16 pixels. */ + unsigned int skip = info.bitsPerSample * 16 / 8; + + for (unsigned int x = 0; x < width; x++) { + uint8_t value = (in[0] + in[1] + in[stride] + in[stride + 1]) >> 2; + *out++ = value; + *out++ = value; + *out++ = value; + in += skip; + } +} + +void packScanlineIPU3(void *output, const void *input, unsigned int width) +{ + const uint8_t *in = static_cast(input); + uint16_t *out = static_cast(output); + + /* + * Upscale the 10-bit format to 16-bit as it's not trivial to pack it + * as 10-bit without gaps. + * + * \todo Improve packing to keep the 10-bit sample size. + */ + unsigned int x = 0; + while (true) { + for (unsigned int i = 0; i < 6; i++) { + *out++ = (in[1] & 0x03) << 14 | (in[0] & 0xff) << 6; + if (++x >= width) + return; + + *out++ = (in[2] & 0x0f) << 12 | (in[1] & 0xfc) << 4; + if (++x >= width) + return; + + *out++ = (in[3] & 0x3f) << 10 | (in[2] & 0xf0) << 2; + if (++x >= width) + return; + + *out++ = (in[4] & 0xff) << 8 | (in[3] & 0xc0) << 0; + if (++x >= width) + return; + + in += 5; + } + + *out++ = (in[1] & 0x03) << 14 | (in[0] & 0xff) << 6; + if (++x >= width) + return; + + in += 2; + } +} + +void thumbScanlineIPU3([[maybe_unused]] const FormatInfo &info, void *output, + const void *input, unsigned int width, + unsigned int stride) +{ + uint8_t *out = static_cast(output); + + for (unsigned int x = 0; x < width; x++) { + unsigned int pixel = x * 16; + unsigned int block = pixel / 25; + unsigned int pixelInBlock = pixel - block * 25; + + /* + * If the pixel is the last in the block cheat a little and + * move one pixel backward to avoid reading between two blocks + * and having to deal with the padding bits. + */ + if (pixelInBlock == 24) + pixelInBlock--; + + const uint8_t *in = static_cast(input) + + block * 32 + (pixelInBlock / 4) * 5; + + uint16_t val1, val2, val3, val4; + switch (pixelInBlock % 4) { + case 0: + val1 = (in[1] & 0x03) << 14 | (in[0] & 0xff) << 6; + val2 = (in[2] & 0x0f) << 12 | (in[1] & 0xfc) << 4; + val3 = (in[stride + 1] & 0x03) << 14 | (in[stride + 0] & 0xff) << 6; + val4 = (in[stride + 2] & 0x0f) << 12 | (in[stride + 1] & 0xfc) << 4; + break; + case 1: + val1 = (in[2] & 0x0f) << 12 | (in[1] & 0xfc) << 4; + val2 = (in[3] & 0x3f) << 10 | (in[2] & 0xf0) << 2; + val3 = (in[stride + 2] & 0x0f) << 12 | (in[stride + 1] & 0xfc) << 4; + val4 = (in[stride + 3] & 0x3f) << 10 | (in[stride + 2] & 0xf0) << 2; + break; + case 2: + val1 = (in[3] & 0x3f) << 10 | (in[2] & 0xf0) << 2; + val2 = (in[4] & 0xff) << 8 | (in[3] & 0xc0) << 0; + val3 = (in[stride + 3] & 0x3f) << 10 | (in[stride + 2] & 0xf0) << 2; + val4 = (in[stride + 4] & 0xff) << 8 | (in[stride + 3] & 0xc0) << 0; + break; + case 3: + val1 = (in[4] & 0xff) << 8 | (in[3] & 0xc0) << 0; + val2 = (in[6] & 0x03) << 14 | (in[5] & 0xff) << 6; + val3 = (in[stride + 4] & 0xff) << 8 | (in[stride + 3] & 0xc0) << 0; + val4 = (in[stride + 6] & 0x03) << 14 | (in[stride + 5] & 0xff) << 6; + break; + } + + uint8_t value = (val1 + val2 + val3 + val4) >> 10; + *out++ = value; + *out++ = value; + *out++ = value; + } +} + +static const std::map formatInfo = { + { formats::SBGGR8, { + .bitsPerSample = 8, + .pattern = { CFAPatternBlue, CFAPatternGreen, CFAPatternGreen, CFAPatternRed }, + .packScanline = packScanlineSBGGR8, + .thumbScanline = thumbScanlineSBGGRxxP, + } }, + { formats::SGBRG8, { + .bitsPerSample = 8, + .pattern = { CFAPatternGreen, CFAPatternBlue, CFAPatternRed, CFAPatternGreen }, + .packScanline = packScanlineSBGGR8, + .thumbScanline = thumbScanlineSBGGRxxP, + } }, + { formats::SGRBG8, { + .bitsPerSample = 8, + .pattern = { CFAPatternGreen, CFAPatternRed, CFAPatternBlue, CFAPatternGreen }, + .packScanline = packScanlineSBGGR8, + .thumbScanline = thumbScanlineSBGGRxxP, + } }, + { formats::SRGGB8, { + .bitsPerSample = 8, + .pattern = { CFAPatternRed, CFAPatternGreen, CFAPatternGreen, CFAPatternBlue }, + .packScanline = packScanlineSBGGR8, + .thumbScanline = thumbScanlineSBGGRxxP, + } }, + { formats::SBGGR10_CSI2P, { + .bitsPerSample = 10, + .pattern = { CFAPatternBlue, CFAPatternGreen, CFAPatternGreen, CFAPatternRed }, + .packScanline = packScanlineSBGGR10P, + .thumbScanline = thumbScanlineSBGGRxxP, + } }, + { formats::SGBRG10_CSI2P, { + .bitsPerSample = 10, + .pattern = { CFAPatternGreen, CFAPatternBlue, CFAPatternRed, CFAPatternGreen }, + .packScanline = packScanlineSBGGR10P, + .thumbScanline = thumbScanlineSBGGRxxP, + } }, + { formats::SGRBG10_CSI2P, { + .bitsPerSample = 10, + .pattern = { CFAPatternGreen, CFAPatternRed, CFAPatternBlue, CFAPatternGreen }, + .packScanline = packScanlineSBGGR10P, + .thumbScanline = thumbScanlineSBGGRxxP, + } }, + { formats::SRGGB10_CSI2P, { + .bitsPerSample = 10, + .pattern = { CFAPatternRed, CFAPatternGreen, CFAPatternGreen, CFAPatternBlue }, + .packScanline = packScanlineSBGGR10P, + .thumbScanline = thumbScanlineSBGGRxxP, + } }, + { formats::SBGGR12_CSI2P, { + .bitsPerSample = 12, + .pattern = { CFAPatternBlue, CFAPatternGreen, CFAPatternGreen, CFAPatternRed }, + .packScanline = packScanlineSBGGR12P, + .thumbScanline = thumbScanlineSBGGRxxP, + } }, + { formats::SGBRG12_CSI2P, { + .bitsPerSample = 12, + .pattern = { CFAPatternGreen, CFAPatternBlue, CFAPatternRed, CFAPatternGreen }, + .packScanline = packScanlineSBGGR12P, + .thumbScanline = thumbScanlineSBGGRxxP, + } }, + { formats::SGRBG12_CSI2P, { + .bitsPerSample = 12, + .pattern = { CFAPatternGreen, CFAPatternRed, CFAPatternBlue, CFAPatternGreen }, + .packScanline = packScanlineSBGGR12P, + .thumbScanline = thumbScanlineSBGGRxxP, + } }, + { formats::SRGGB12_CSI2P, { + .bitsPerSample = 12, + .pattern = { CFAPatternRed, CFAPatternGreen, CFAPatternGreen, CFAPatternBlue }, + .packScanline = packScanlineSBGGR12P, + .thumbScanline = thumbScanlineSBGGRxxP, + } }, + { formats::SBGGR10_IPU3, { + .bitsPerSample = 16, + .pattern = { CFAPatternBlue, CFAPatternGreen, CFAPatternGreen, CFAPatternRed }, + .packScanline = packScanlineIPU3, + .thumbScanline = thumbScanlineIPU3, + } }, + { formats::SGBRG10_IPU3, { + .bitsPerSample = 16, + .pattern = { CFAPatternGreen, CFAPatternBlue, CFAPatternRed, CFAPatternGreen }, + .packScanline = packScanlineIPU3, + .thumbScanline = thumbScanlineIPU3, + } }, + { formats::SGRBG10_IPU3, { + .bitsPerSample = 16, + .pattern = { CFAPatternGreen, CFAPatternRed, CFAPatternBlue, CFAPatternGreen }, + .packScanline = packScanlineIPU3, + .thumbScanline = thumbScanlineIPU3, + } }, + { formats::SRGGB10_IPU3, { + .bitsPerSample = 16, + .pattern = { CFAPatternRed, CFAPatternGreen, CFAPatternGreen, CFAPatternBlue }, + .packScanline = packScanlineIPU3, + .thumbScanline = thumbScanlineIPU3, + } }, +}; + +int DNGWriter::write(const char *filename, const Camera *camera, + const StreamConfiguration &config, + const ControlList &metadata, + [[maybe_unused]] const FrameBuffer *buffer, + const void *data) +{ + const ControlList &cameraProperties = camera->properties(); + + const auto it = formatInfo.find(config.pixelFormat); + if (it == formatInfo.cend()) { + std::cerr << "Unsupported pixel format" << std::endl; + return -EINVAL; + } + const FormatInfo *info = &it->second; + + TIFF *tif = TIFFOpen(filename, "w"); + if (!tif) { + std::cerr << "Failed to open tiff file" << std::endl; + return -EINVAL; + } + + /* + * Scanline buffer, has to be large enough to store both a RAW scanline + * or a thumbnail scanline. The latter will always be much smaller than + * the former as we downscale by 16 in both directions. + */ + uint8_t scanline[(config.size.width * info->bitsPerSample + 7) / 8]; + + toff_t rawIFDOffset = 0; + toff_t exifIFDOffset = 0; + + /* + * Start with a thumbnail in IFD 0 for compatibility with TIFF baseline + * readers, as required by the TIFF/EP specification. Tags that apply to + * the whole file are stored here. + */ + const uint8_t version[] = { 1, 2, 0, 0 }; + + TIFFSetField(tif, TIFFTAG_DNGVERSION, version); + TIFFSetField(tif, TIFFTAG_DNGBACKWARDVERSION, version); + TIFFSetField(tif, TIFFTAG_FILLORDER, FILLORDER_MSB2LSB); + TIFFSetField(tif, TIFFTAG_MAKE, "libcamera"); + + const auto &model = cameraProperties.get(properties::Model); + if (model) { + TIFFSetField(tif, TIFFTAG_MODEL, model->c_str()); + /* \todo set TIFFTAG_UNIQUECAMERAMODEL. */ + } + + TIFFSetField(tif, TIFFTAG_SOFTWARE, "qcam"); + TIFFSetField(tif, TIFFTAG_ORIENTATION, ORIENTATION_TOPLEFT); + + /* + * Thumbnail-specific tags. The thumbnail is stored as an RGB image + * with 1/16 of the raw image resolution. Greyscale would save space, + * but doesn't seem well supported by RawTherapee. + */ + TIFFSetField(tif, TIFFTAG_SUBFILETYPE, FILETYPE_REDUCEDIMAGE); + TIFFSetField(tif, TIFFTAG_IMAGEWIDTH, config.size.width / 16); + TIFFSetField(tif, TIFFTAG_IMAGELENGTH, config.size.height / 16); + TIFFSetField(tif, TIFFTAG_BITSPERSAMPLE, 8); + TIFFSetField(tif, TIFFTAG_COMPRESSION, COMPRESSION_NONE); + TIFFSetField(tif, TIFFTAG_PHOTOMETRIC, PHOTOMETRIC_RGB); + TIFFSetField(tif, TIFFTAG_SAMPLESPERPIXEL, 3); + TIFFSetField(tif, TIFFTAG_PLANARCONFIG, PLANARCONFIG_CONTIG); + TIFFSetField(tif, TIFFTAG_SAMPLEFORMAT, SAMPLEFORMAT_UINT); + + /* + * Fill in some reasonable colour information in the DNG. We supply + * the "neutral" colour values which determine the white balance, and the + * "ColorMatrix1" which converts XYZ to (un-white-balanced) camera RGB. + * Note that this is not a "proper" colour calibration for the DNG, + * nonetheless, many tools should be able to render the colours better. + */ + float neutral[3] = { 1, 1, 1 }; + Matrix3d wbGain = Matrix3d::identity(); + /* From http://www.brucelindbloom.com/index.html?Eqn_RGB_XYZ_Matrix.html */ + const Matrix3d rgb2xyz(0.4124564, 0.3575761, 0.1804375, + 0.2126729, 0.7151522, 0.0721750, + 0.0193339, 0.1191920, 0.9503041); + Matrix3d ccm = Matrix3d::identity(); + /* + * Pick a reasonable number eps to protect against singularities. It + * should be comfortably larger than the point at which we run into + * numerical trouble, yet smaller than any plausible gain that we might + * apply to a colour, either explicitly or as part of the colour matrix. + */ + const double eps = 1e-2; + + const auto &colourGains = metadata.get(controls::ColourGains); + if (colourGains) { + if ((*colourGains)[0] > eps && (*colourGains)[1] > eps) { + wbGain = Matrix3d::diag((*colourGains)[0], 1, (*colourGains)[1]); + neutral[0] = 1.0 / (*colourGains)[0]; /* red */ + neutral[2] = 1.0 / (*colourGains)[1]; /* blue */ + } + } + + const auto &ccmControl = metadata.get(controls::ColourCorrectionMatrix); + if (ccmControl) { + Matrix3d ccmSupplied(*ccmControl); + if (ccmSupplied.determinant() > eps) + ccm = ccmSupplied; + } + + /* + * rgb2xyz is known to be invertible, and we've ensured above that both + * the ccm and wbGain matrices are non-singular, so the product of all + * three is guaranteed to be invertible too. + */ + Matrix3d colorMatrix1 = (rgb2xyz * ccm * wbGain).inverse(); + + TIFFSetField(tif, TIFFTAG_COLORMATRIX1, 9, colorMatrix1.m); + TIFFSetField(tif, TIFFTAG_ASSHOTNEUTRAL, 3, neutral); + + /* + * Reserve space for the SubIFD and ExifIFD tags, pointing to the IFD + * for the raw image and EXIF data respectively. The real offsets will + * be set later. + */ + TIFFSetField(tif, TIFFTAG_SUBIFD, 1, &rawIFDOffset); + TIFFSetField(tif, TIFFTAG_EXIFIFD, exifIFDOffset); + + /* Write the thumbnail. */ + const uint8_t *row = static_cast(data); + for (unsigned int y = 0; y < config.size.height / 16; y++) { + info->thumbScanline(*info, &scanline, row, + config.size.width / 16, config.stride); + + if (TIFFWriteScanline(tif, &scanline, y, 0) != 1) { + std::cerr << "Failed to write thumbnail scanline" + << std::endl; + TIFFClose(tif); + return -EINVAL; + } + + row += config.stride * 16; + } + + TIFFWriteDirectory(tif); + + /* Create a new IFD for the RAW image. */ + const uint16_t cfaRepeatPatternDim[] = { 2, 2 }; + const uint8_t cfaPlaneColor[] = { + CFAPatternRed, + CFAPatternGreen, + CFAPatternBlue + }; + + TIFFSetField(tif, TIFFTAG_SUBFILETYPE, 0); + TIFFSetField(tif, TIFFTAG_IMAGEWIDTH, config.size.width); + TIFFSetField(tif, TIFFTAG_IMAGELENGTH, config.size.height); + TIFFSetField(tif, TIFFTAG_BITSPERSAMPLE, info->bitsPerSample); + TIFFSetField(tif, TIFFTAG_COMPRESSION, COMPRESSION_NONE); + TIFFSetField(tif, TIFFTAG_PHOTOMETRIC, PHOTOMETRIC_CFA); + TIFFSetField(tif, TIFFTAG_SAMPLESPERPIXEL, 1); + TIFFSetField(tif, TIFFTAG_PLANARCONFIG, PLANARCONFIG_CONTIG); + TIFFSetField(tif, TIFFTAG_SAMPLEFORMAT, SAMPLEFORMAT_UINT); + TIFFSetField(tif, TIFFTAG_CFAREPEATPATTERNDIM, cfaRepeatPatternDim); + if (TIFFLIB_VERSION < 20201219) + TIFFSetField(tif, TIFFTAG_CFAPATTERN, info->pattern); + else + TIFFSetField(tif, TIFFTAG_CFAPATTERN, 4, info->pattern); + TIFFSetField(tif, TIFFTAG_CFAPLANECOLOR, 3, cfaPlaneColor); + TIFFSetField(tif, TIFFTAG_CFALAYOUT, 1); + + const uint16_t blackLevelRepeatDim[] = { 2, 2 }; + float blackLevel[] = { 0.0f, 0.0f, 0.0f, 0.0f }; + uint32_t whiteLevel = (1 << info->bitsPerSample) - 1; + + const auto &blackLevels = metadata.get(controls::SensorBlackLevels); + if (blackLevels) { + Span levels = *blackLevels; + + /* + * The black levels control is specified in R, Gr, Gb, B order. + * Map it to the TIFF tag that is specified in CFA pattern + * order. + */ + unsigned int green = (info->pattern[0] == CFAPatternRed || + info->pattern[1] == CFAPatternRed) + ? 0 : 1; + + for (unsigned int i = 0; i < 4; ++i) { + unsigned int level; + + switch (info->pattern[i]) { + case CFAPatternRed: + level = levels[0]; + break; + case CFAPatternGreen: + level = levels[green + 1]; + green = (green + 1) % 2; + break; + case CFAPatternBlue: + default: + level = levels[3]; + break; + } + + /* Map the 16-bit value to the bits per sample range. */ + blackLevel[i] = level >> (16 - info->bitsPerSample); + } + } + + TIFFSetField(tif, TIFFTAG_BLACKLEVELREPEATDIM, &blackLevelRepeatDim); + TIFFSetField(tif, TIFFTAG_BLACKLEVEL, 4, &blackLevel); + TIFFSetField(tif, TIFFTAG_WHITELEVEL, 1, &whiteLevel); + + /* Write RAW content. */ + row = static_cast(data); + for (unsigned int y = 0; y < config.size.height; y++) { + info->packScanline(&scanline, row, config.size.width); + + if (TIFFWriteScanline(tif, &scanline, y, 0) != 1) { + std::cerr << "Failed to write RAW scanline" + << std::endl; + TIFFClose(tif); + return -EINVAL; + } + + row += config.stride; + } + + /* Checkpoint the IFD to retrieve its offset, and write it out. */ + TIFFCheckpointDirectory(tif); + rawIFDOffset = TIFFCurrentDirOffset(tif); + TIFFWriteDirectory(tif); + + /* Create a new IFD for the EXIF data and fill it. */ + TIFFCreateEXIFDirectory(tif); + + /* Store creation time. */ + time_t rawtime; + struct tm *timeinfo; + char strTime[20]; + + time(&rawtime); + timeinfo = localtime(&rawtime); + strftime(strTime, 20, "%Y:%m:%d %H:%M:%S", timeinfo); + + /* + * \todo Handle timezone information by setting OffsetTimeOriginal and + * OffsetTimeDigitized once libtiff catches up to the specification and + * has EXIFTAG_ defines to handle them. + */ + TIFFSetField(tif, EXIFTAG_DATETIMEORIGINAL, strTime); + TIFFSetField(tif, EXIFTAG_DATETIMEDIGITIZED, strTime); + + const auto &analogGain = metadata.get(controls::AnalogueGain); + if (analogGain) { + uint16_t iso = std::min(std::max(*analogGain * 100, 0.0f), 65535.0f); + TIFFSetField(tif, EXIFTAG_ISOSPEEDRATINGS, 1, &iso); + } + + const auto &exposureTime = metadata.get(controls::ExposureTime); + if (exposureTime) + TIFFSetField(tif, EXIFTAG_EXPOSURETIME, *exposureTime / 1e6); + + TIFFWriteCustomDirectory(tif, &exifIFDOffset); + + /* Update the IFD offsets and close the file. */ + TIFFSetDirectory(tif, 0); + TIFFSetField(tif, TIFFTAG_SUBIFD, 1, &rawIFDOffset); + TIFFSetField(tif, TIFFTAG_EXIFIFD, exifIFDOffset); + TIFFWriteDirectory(tif); + + TIFFClose(tif); + + return 0; +} diff --git a/src/apps/cam/dng_writer.h b/src/apps/cam/dng_writer.h new file mode 100644 index 00000000..38f38f62 --- /dev/null +++ b/src/apps/cam/dng_writer.h @@ -0,0 +1,27 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2020, Raspberry Pi Ltd + * + * dng_writer.h - DNG writer + */ + +#pragma once + +#ifdef HAVE_TIFF +#define HAVE_DNG + +#include +#include +#include +#include + +class DNGWriter +{ +public: + static int write(const char *filename, const libcamera::Camera *camera, + const libcamera::StreamConfiguration &config, + const libcamera::ControlList &metadata, + const libcamera::FrameBuffer *buffer, const void *data); +}; + +#endif /* HAVE_TIFF */ diff --git a/src/apps/cam/drm.cpp b/src/apps/cam/drm.cpp new file mode 100644 index 00000000..2e4d7985 --- /dev/null +++ b/src/apps/cam/drm.cpp @@ -0,0 +1,717 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2021, Ideas on Board Oy + * + * drm.cpp - DRM/KMS Helpers + */ + +#include "drm.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include + +#include "event_loop.h" + +namespace DRM { + +Object::Object(Device *dev, uint32_t id, Type type) + : id_(id), dev_(dev), type_(type) +{ + /* Retrieve properties from the objects that support them. */ + if (type != TypeConnector && type != TypeCrtc && + type != TypeEncoder && type != TypePlane) + return; + + /* + * We can't distinguish between failures due to the object having no + * property and failures due to other conditions. Assume we use the API + * correctly and consider the object has no property. + */ + drmModeObjectProperties *properties = drmModeObjectGetProperties(dev->fd(), id, type); + if (!properties) + return; + + properties_.reserve(properties->count_props); + for (uint32_t i = 0; i < properties->count_props; ++i) + properties_.emplace_back(properties->props[i], + properties->prop_values[i]); + + drmModeFreeObjectProperties(properties); +} + +Object::~Object() +{ +} + +const Property *Object::property(const std::string &name) const +{ + for (const PropertyValue &pv : properties_) { + const Property *property = static_cast(dev_->object(pv.id())); + if (property && property->name() == name) + return property; + } + + return nullptr; +} + +const PropertyValue *Object::propertyValue(const std::string &name) const +{ + for (const PropertyValue &pv : properties_) { + const Property *property = static_cast(dev_->object(pv.id())); + if (property && property->name() == name) + return &pv; + } + + return nullptr; +} + +Property::Property(Device *dev, drmModePropertyRes *property) + : Object(dev, property->prop_id, TypeProperty), + name_(property->name), flags_(property->flags), + values_(property->values, property->values + property->count_values), + blobs_(property->blob_ids, property->blob_ids + property->count_blobs) +{ + if (drm_property_type_is(property, DRM_MODE_PROP_RANGE)) + type_ = TypeRange; + else if (drm_property_type_is(property, DRM_MODE_PROP_ENUM)) + type_ = TypeEnum; + else if (drm_property_type_is(property, DRM_MODE_PROP_BLOB)) + type_ = TypeBlob; + else if (drm_property_type_is(property, DRM_MODE_PROP_BITMASK)) + type_ = TypeBitmask; + else if (drm_property_type_is(property, DRM_MODE_PROP_OBJECT)) + type_ = TypeObject; + else if (drm_property_type_is(property, DRM_MODE_PROP_SIGNED_RANGE)) + type_ = TypeSignedRange; + else + type_ = TypeUnknown; + + for (int i = 0; i < property->count_enums; ++i) + enums_[property->enums[i].value] = property->enums[i].name; +} + +Blob::Blob(Device *dev, const libcamera::Span &data) + : Object(dev, 0, Object::TypeBlob) +{ + drmModeCreatePropertyBlob(dev->fd(), data.data(), data.size(), &id_); +} + +Blob::~Blob() +{ + if (isValid()) + drmModeDestroyPropertyBlob(device()->fd(), id()); +} + +Mode::Mode(const drmModeModeInfo &mode) + : drmModeModeInfo(mode) +{ +} + +std::unique_ptr Mode::toBlob(Device *dev) const +{ + libcamera::Span data{ reinterpret_cast(this), + sizeof(*this) }; + return std::make_unique(dev, data); +} + +Crtc::Crtc(Device *dev, const drmModeCrtc *crtc, unsigned int index) + : Object(dev, crtc->crtc_id, Object::TypeCrtc), index_(index) +{ +} + +Encoder::Encoder(Device *dev, const drmModeEncoder *encoder) + : Object(dev, encoder->encoder_id, Object::TypeEncoder), + type_(encoder->encoder_type) +{ + const std::list &crtcs = dev->crtcs(); + possibleCrtcs_.reserve(crtcs.size()); + + for (const Crtc &crtc : crtcs) { + if (encoder->possible_crtcs & (1 << crtc.index())) + possibleCrtcs_.push_back(&crtc); + } + + possibleCrtcs_.shrink_to_fit(); +} + +namespace { + +const std::map connectorTypeNames{ + { DRM_MODE_CONNECTOR_Unknown, "Unknown" }, + { DRM_MODE_CONNECTOR_VGA, "VGA" }, + { DRM_MODE_CONNECTOR_DVII, "DVI-I" }, + { DRM_MODE_CONNECTOR_DVID, "DVI-D" }, + { DRM_MODE_CONNECTOR_DVIA, "DVI-A" }, + { DRM_MODE_CONNECTOR_Composite, "Composite" }, + { DRM_MODE_CONNECTOR_SVIDEO, "S-Video" }, + { DRM_MODE_CONNECTOR_LVDS, "LVDS" }, + { DRM_MODE_CONNECTOR_Component, "Component" }, + { DRM_MODE_CONNECTOR_9PinDIN, "9-Pin-DIN" }, + { DRM_MODE_CONNECTOR_DisplayPort, "DP" }, + { DRM_MODE_CONNECTOR_HDMIA, "HDMI-A" }, + { DRM_MODE_CONNECTOR_HDMIB, "HDMI-B" }, + { DRM_MODE_CONNECTOR_TV, "TV" }, + { DRM_MODE_CONNECTOR_eDP, "eDP" }, + { DRM_MODE_CONNECTOR_VIRTUAL, "Virtual" }, + { DRM_MODE_CONNECTOR_DSI, "DSI" }, + { DRM_MODE_CONNECTOR_DPI, "DPI" }, +}; + +} /* namespace */ + +Connector::Connector(Device *dev, const drmModeConnector *connector) + : Object(dev, connector->connector_id, Object::TypeConnector), + type_(connector->connector_type) +{ + auto typeName = connectorTypeNames.find(connector->connector_type); + if (typeName == connectorTypeNames.end()) { + std::cerr + << "Invalid connector type " + << connector->connector_type << std::endl; + typeName = connectorTypeNames.find(DRM_MODE_CONNECTOR_Unknown); + } + + name_ = std::string(typeName->second) + "-" + + std::to_string(connector->connector_type_id); + + switch (connector->connection) { + case DRM_MODE_CONNECTED: + status_ = Status::Connected; + break; + + case DRM_MODE_DISCONNECTED: + status_ = Status::Disconnected; + break; + + case DRM_MODE_UNKNOWNCONNECTION: + default: + status_ = Status::Unknown; + break; + } + + const std::list &encoders = dev->encoders(); + + encoders_.reserve(connector->count_encoders); + + for (int i = 0; i < connector->count_encoders; ++i) { + uint32_t encoderId = connector->encoders[i]; + auto encoder = std::find_if(encoders.begin(), encoders.end(), + [=](const Encoder &e) { + return e.id() == encoderId; + }); + if (encoder == encoders.end()) { + std::cerr + << "Encoder " << encoderId << " not found" + << std::endl; + continue; + } + + encoders_.push_back(&*encoder); + } + + encoders_.shrink_to_fit(); + + modes_ = { connector->modes, connector->modes + connector->count_modes }; +} + +Plane::Plane(Device *dev, const drmModePlane *plane) + : Object(dev, plane->plane_id, Object::TypePlane), + possibleCrtcsMask_(plane->possible_crtcs) +{ + formats_ = { plane->formats, plane->formats + plane->count_formats }; + + const std::list &crtcs = dev->crtcs(); + possibleCrtcs_.reserve(crtcs.size()); + + for (const Crtc &crtc : crtcs) { + if (plane->possible_crtcs & (1 << crtc.index())) + possibleCrtcs_.push_back(&crtc); + } + + possibleCrtcs_.shrink_to_fit(); +} + +bool Plane::supportsFormat(const libcamera::PixelFormat &format) const +{ + return std::find(formats_.begin(), formats_.end(), format.fourcc()) + != formats_.end(); +} + +int Plane::setup() +{ + const PropertyValue *pv = propertyValue("type"); + if (!pv) + return -EINVAL; + + switch (pv->value()) { + case DRM_PLANE_TYPE_OVERLAY: + type_ = TypeOverlay; + break; + + case DRM_PLANE_TYPE_PRIMARY: + type_ = TypePrimary; + break; + + case DRM_PLANE_TYPE_CURSOR: + type_ = TypeCursor; + break; + + default: + return -EINVAL; + } + + return 0; +} + +FrameBuffer::FrameBuffer(Device *dev) + : Object(dev, 0, Object::TypeFb) +{ +} + +FrameBuffer::~FrameBuffer() +{ + for (const auto &plane : planes_) { + struct drm_gem_close gem_close = { + .handle = plane.second.handle, + .pad = 0, + }; + int ret; + + do { + ret = ioctl(device()->fd(), DRM_IOCTL_GEM_CLOSE, &gem_close); + } while (ret == -1 && (errno == EINTR || errno == EAGAIN)); + + if (ret == -1) { + ret = -errno; + std::cerr + << "Failed to close GEM object: " + << strerror(-ret) << std::endl; + } + } + + drmModeRmFB(device()->fd(), id()); +} + +AtomicRequest::AtomicRequest(Device *dev) + : dev_(dev), valid_(true) +{ + request_ = drmModeAtomicAlloc(); + if (!request_) + valid_ = false; +} + +AtomicRequest::~AtomicRequest() +{ + if (request_) + drmModeAtomicFree(request_); +} + +int AtomicRequest::addProperty(const Object *object, const std::string &property, + uint64_t value) +{ + if (!valid_) + return -EINVAL; + + const Property *prop = object->property(property); + if (!prop) { + valid_ = false; + return -EINVAL; + } + + return addProperty(object->id(), prop->id(), value); +} + +int AtomicRequest::addProperty(const Object *object, const std::string &property, + std::unique_ptr blob) +{ + if (!valid_) + return -EINVAL; + + const Property *prop = object->property(property); + if (!prop) { + valid_ = false; + return -EINVAL; + } + + int ret = addProperty(object->id(), prop->id(), blob->id()); + if (ret < 0) + return ret; + + blobs_.emplace_back(std::move(blob)); + + return 0; +} + +int AtomicRequest::addProperty(uint32_t object, uint32_t property, uint64_t value) +{ + int ret = drmModeAtomicAddProperty(request_, object, property, value); + if (ret < 0) { + valid_ = false; + return ret; + } + + return 0; +} + +int AtomicRequest::commit(unsigned int flags) +{ + if (!valid_) + return -EINVAL; + + uint32_t drmFlags = 0; + if (flags & FlagAllowModeset) + drmFlags |= DRM_MODE_ATOMIC_ALLOW_MODESET; + if (flags & FlagAsync) + drmFlags |= DRM_MODE_PAGE_FLIP_EVENT | DRM_MODE_ATOMIC_NONBLOCK; + if (flags & FlagTestOnly) + drmFlags |= DRM_MODE_ATOMIC_TEST_ONLY; + + return drmModeAtomicCommit(dev_->fd(), request_, drmFlags, this); +} + +Device::Device() + : fd_(-1) +{ +} + +Device::~Device() +{ + if (fd_ != -1) + drmClose(fd_); +} + +int Device::init() +{ + int ret = openCard(); + if (ret < 0) { + std::cerr << "Failed to open any DRM/KMS device: " + << strerror(-ret) << std::endl; + return ret; + } + + /* + * Enable the atomic APIs. This also automatically enables the + * universal planes API. + */ + ret = drmSetClientCap(fd_, DRM_CLIENT_CAP_ATOMIC, 1); + if (ret < 0) { + ret = -errno; + std::cerr + << "Failed to enable atomic capability: " + << strerror(-ret) << std::endl; + return ret; + } + + /* List all the resources. */ + ret = getResources(); + if (ret < 0) + return ret; + + EventLoop::instance()->addFdEvent(fd_, EventLoop::Read, + std::bind(&Device::drmEvent, this)); + + return 0; +} + +int Device::openCard() +{ + const std::string dirName = "/dev/dri/"; + bool found = false; + int ret; + + /* + * Open the first DRM/KMS device beginning with /dev/dri/card. The + * libdrm drmOpen*() functions require either a module name or a bus ID, + * which we don't have, so bypass them. The automatic module loading and + * device node creation from drmOpen() is of no practical use as any + * modern system will handle that through udev or an equivalent + * component. + */ + DIR *folder = opendir(dirName.c_str()); + if (!folder) { + ret = -errno; + std::cerr << "Failed to open " << dirName + << " directory: " << strerror(-ret) << std::endl; + return ret; + } + + for (struct dirent *res; (res = readdir(folder));) { + uint64_t cap; + + if (strncmp(res->d_name, "card", 4)) + continue; + + const std::string devName = dirName + res->d_name; + fd_ = open(devName.c_str(), O_RDWR | O_CLOEXEC); + if (fd_ < 0) { + ret = -errno; + std::cerr << "Failed to open DRM/KMS device " << devName << ": " + << strerror(-ret) << std::endl; + continue; + } + + /* + * Skip devices that don't support the modeset API, to avoid + * selecting a DRM device corresponding to a GPU. There is no + * modeset capability, but the kernel returns an error for most + * caps if mode setting isn't support by the driver. The + * DRM_CAP_DUMB_BUFFER capability is one of those, other would + * do as well. The capability value itself isn't relevant. + */ + ret = drmGetCap(fd_, DRM_CAP_DUMB_BUFFER, &cap); + if (ret < 0) { + drmClose(fd_); + fd_ = -1; + continue; + } + + found = true; + break; + } + + closedir(folder); + + return found ? 0 : -ENOENT; +} + +int Device::getResources() +{ + int ret; + + std::unique_ptr resources{ + drmModeGetResources(fd_), + &drmModeFreeResources + }; + if (!resources) { + ret = -errno; + std::cerr + << "Failed to get DRM/KMS resources: " + << strerror(-ret) << std::endl; + return ret; + } + + for (int i = 0; i < resources->count_crtcs; ++i) { + drmModeCrtc *crtc = drmModeGetCrtc(fd_, resources->crtcs[i]); + if (!crtc) { + ret = -errno; + std::cerr + << "Failed to get CRTC: " << strerror(-ret) + << std::endl; + return ret; + } + + crtcs_.emplace_back(this, crtc, i); + drmModeFreeCrtc(crtc); + + Crtc &obj = crtcs_.back(); + objects_[obj.id()] = &obj; + } + + for (int i = 0; i < resources->count_encoders; ++i) { + drmModeEncoder *encoder = + drmModeGetEncoder(fd_, resources->encoders[i]); + if (!encoder) { + ret = -errno; + std::cerr + << "Failed to get encoder: " << strerror(-ret) + << std::endl; + return ret; + } + + encoders_.emplace_back(this, encoder); + drmModeFreeEncoder(encoder); + + Encoder &obj = encoders_.back(); + objects_[obj.id()] = &obj; + } + + for (int i = 0; i < resources->count_connectors; ++i) { + drmModeConnector *connector = + drmModeGetConnector(fd_, resources->connectors[i]); + if (!connector) { + ret = -errno; + std::cerr + << "Failed to get connector: " << strerror(-ret) + << std::endl; + return ret; + } + + connectors_.emplace_back(this, connector); + drmModeFreeConnector(connector); + + Connector &obj = connectors_.back(); + objects_[obj.id()] = &obj; + } + + std::unique_ptr planes{ + drmModeGetPlaneResources(fd_), + &drmModeFreePlaneResources + }; + if (!planes) { + ret = -errno; + std::cerr + << "Failed to get DRM/KMS planes: " + << strerror(-ret) << std::endl; + return ret; + } + + for (uint32_t i = 0; i < planes->count_planes; ++i) { + drmModePlane *plane = + drmModeGetPlane(fd_, planes->planes[i]); + if (!plane) { + ret = -errno; + std::cerr + << "Failed to get plane: " << strerror(-ret) + << std::endl; + return ret; + } + + planes_.emplace_back(this, plane); + drmModeFreePlane(plane); + + Plane &obj = planes_.back(); + objects_[obj.id()] = &obj; + } + + /* Set the possible planes for each CRTC. */ + for (Crtc &crtc : crtcs_) { + for (const Plane &plane : planes_) { + if (plane.possibleCrtcsMask_ & (1 << crtc.index())) + crtc.planes_.push_back(&plane); + } + } + + /* Collect all property IDs and create Property instances. */ + std::set properties; + for (const auto &object : objects_) { + for (const PropertyValue &value : object.second->properties()) + properties.insert(value.id()); + } + + for (uint32_t id : properties) { + drmModePropertyRes *property = drmModeGetProperty(fd_, id); + if (!property) { + ret = -errno; + std::cerr + << "Failed to get property: " << strerror(-ret) + << std::endl; + continue; + } + + properties_.emplace_back(this, property); + drmModeFreeProperty(property); + + Property &obj = properties_.back(); + objects_[obj.id()] = &obj; + } + + /* Finally, perform all delayed setup of mode objects. */ + for (auto &object : objects_) { + ret = object.second->setup(); + if (ret < 0) { + std::cerr + << "Failed to setup object " << object.second->id() + << ": " << strerror(-ret) << std::endl; + return ret; + } + } + + return 0; +} + +const Object *Device::object(uint32_t id) +{ + const auto iter = objects_.find(id); + if (iter == objects_.end()) + return nullptr; + + return iter->second; +} + +std::unique_ptr Device::createFrameBuffer( + const libcamera::FrameBuffer &buffer, + const libcamera::PixelFormat &format, + const libcamera::Size &size, + const std::array &strides) +{ + std::unique_ptr fb{ new FrameBuffer(this) }; + + uint32_t handles[4] = {}; + uint32_t offsets[4] = {}; + int ret; + + const std::vector &planes = buffer.planes(); + + unsigned int i = 0; + for (const libcamera::FrameBuffer::Plane &plane : planes) { + int fd = plane.fd.get(); + uint32_t handle; + + auto iter = fb->planes_.find(fd); + if (iter == fb->planes_.end()) { + ret = drmPrimeFDToHandle(fd_, plane.fd.get(), &handle); + if (ret < 0) { + ret = -errno; + std::cerr + << "Unable to import framebuffer dmabuf: " + << strerror(-ret) << std::endl; + return nullptr; + } + + fb->planes_[fd] = { handle }; + } else { + handle = iter->second.handle; + } + + handles[i] = handle; + offsets[i] = plane.offset; + ++i; + } + + ret = drmModeAddFB2(fd_, size.width, size.height, format.fourcc(), handles, + strides.data(), offsets, &fb->id_, 0); + if (ret < 0) { + ret = -errno; + std::cerr + << "Failed to add framebuffer: " + << strerror(-ret) << std::endl; + return nullptr; + } + + return fb; +} + +void Device::drmEvent() +{ + drmEventContext ctx{}; + ctx.version = DRM_EVENT_CONTEXT_VERSION; + ctx.page_flip_handler = &Device::pageFlipComplete; + + drmHandleEvent(fd_, &ctx); +} + +void Device::pageFlipComplete([[maybe_unused]] int fd, + [[maybe_unused]] unsigned int sequence, + [[maybe_unused]] unsigned int tv_sec, + [[maybe_unused]] unsigned int tv_usec, + void *user_data) +{ + AtomicRequest *request = static_cast(user_data); + request->device()->requestComplete.emit(request); +} + +} /* namespace DRM */ diff --git a/src/apps/cam/drm.h b/src/apps/cam/drm.h new file mode 100644 index 00000000..ebaea04d --- /dev/null +++ b/src/apps/cam/drm.h @@ -0,0 +1,334 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2021, Ideas on Board Oy + * + * drm.h - DRM/KMS Helpers + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include +#include + +namespace libcamera { +class FrameBuffer; +class PixelFormat; +class Size; +} /* namespace libcamera */ + +namespace DRM { + +class Device; +class Plane; +class Property; +class PropertyValue; + +class Object +{ +public: + enum Type { + TypeCrtc = DRM_MODE_OBJECT_CRTC, + TypeConnector = DRM_MODE_OBJECT_CONNECTOR, + TypeEncoder = DRM_MODE_OBJECT_ENCODER, + TypeMode = DRM_MODE_OBJECT_MODE, + TypeProperty = DRM_MODE_OBJECT_PROPERTY, + TypeFb = DRM_MODE_OBJECT_FB, + TypeBlob = DRM_MODE_OBJECT_BLOB, + TypePlane = DRM_MODE_OBJECT_PLANE, + TypeAny = DRM_MODE_OBJECT_ANY, + }; + + Object(Device *dev, uint32_t id, Type type); + virtual ~Object(); + + Device *device() const { return dev_; } + uint32_t id() const { return id_; } + Type type() const { return type_; } + + const Property *property(const std::string &name) const; + const PropertyValue *propertyValue(const std::string &name) const; + const std::vector &properties() const { return properties_; } + +protected: + virtual int setup() + { + return 0; + } + + uint32_t id_; + +private: + friend Device; + + Device *dev_; + Type type_; + std::vector properties_; +}; + +class Property : public Object +{ +public: + enum Type { + TypeUnknown = 0, + TypeRange, + TypeEnum, + TypeBlob, + TypeBitmask, + TypeObject, + TypeSignedRange, + }; + + Property(Device *dev, drmModePropertyRes *property); + + Type type() const { return type_; } + const std::string &name() const { return name_; } + + bool isImmutable() const { return flags_ & DRM_MODE_PROP_IMMUTABLE; } + + const std::vector values() const { return values_; } + const std::map &enums() const { return enums_; } + const std::vector blobs() const { return blobs_; } + +private: + Type type_; + std::string name_; + uint32_t flags_; + std::vector values_; + std::map enums_; + std::vector blobs_; +}; + +class PropertyValue +{ +public: + PropertyValue(uint32_t id, uint64_t value) + : id_(id), value_(value) + { + } + + uint32_t id() const { return id_; } + uint32_t value() const { return value_; } + +private: + uint32_t id_; + uint64_t value_; +}; + +class Blob : public Object +{ +public: + Blob(Device *dev, const libcamera::Span &data); + ~Blob(); + + bool isValid() const { return id() != 0; } +}; + +class Mode : public drmModeModeInfo +{ +public: + Mode(const drmModeModeInfo &mode); + + std::unique_ptr toBlob(Device *dev) const; +}; + +class Crtc : public Object +{ +public: + Crtc(Device *dev, const drmModeCrtc *crtc, unsigned int index); + + unsigned int index() const { return index_; } + const std::vector &planes() const { return planes_; } + +private: + friend Device; + + unsigned int index_; + std::vector planes_; +}; + +class Encoder : public Object +{ +public: + Encoder(Device *dev, const drmModeEncoder *encoder); + + uint32_t type() const { return type_; } + + const std::vector &possibleCrtcs() const { return possibleCrtcs_; } + +private: + uint32_t type_; + std::vector possibleCrtcs_; +}; + +class Connector : public Object +{ +public: + enum Status { + Connected, + Disconnected, + Unknown, + }; + + Connector(Device *dev, const drmModeConnector *connector); + + uint32_t type() const { return type_; } + const std::string &name() const { return name_; } + + Status status() const { return status_; } + + const std::vector &encoders() const { return encoders_; } + const std::vector &modes() const { return modes_; } + +private: + uint32_t type_; + std::string name_; + Status status_; + std::vector encoders_; + std::vector modes_; +}; + +class Plane : public Object +{ +public: + enum Type { + TypeOverlay, + TypePrimary, + TypeCursor, + }; + + Plane(Device *dev, const drmModePlane *plane); + + Type type() const { return type_; } + const std::vector &formats() const { return formats_; } + const std::vector &possibleCrtcs() const { return possibleCrtcs_; } + + bool supportsFormat(const libcamera::PixelFormat &format) const; + +protected: + int setup() override; + +private: + friend class Device; + + Type type_; + std::vector formats_; + std::vector possibleCrtcs_; + uint32_t possibleCrtcsMask_; +}; + +class FrameBuffer : public Object +{ +public: + struct Plane { + uint32_t handle; + }; + + ~FrameBuffer(); + +private: + friend class Device; + + FrameBuffer(Device *dev); + + std::map planes_; +}; + +class AtomicRequest +{ +public: + enum Flags { + FlagAllowModeset = (1 << 0), + FlagAsync = (1 << 1), + FlagTestOnly = (1 << 2), + }; + + AtomicRequest(Device *dev); + ~AtomicRequest(); + + Device *device() const { return dev_; } + bool isValid() const { return valid_; } + + int addProperty(const Object *object, const std::string &property, + uint64_t value); + int addProperty(const Object *object, const std::string &property, + std::unique_ptr blob); + int commit(unsigned int flags = 0); + +private: + AtomicRequest(const AtomicRequest &) = delete; + AtomicRequest(const AtomicRequest &&) = delete; + AtomicRequest &operator=(const AtomicRequest &) = delete; + AtomicRequest &operator=(const AtomicRequest &&) = delete; + + int addProperty(uint32_t object, uint32_t property, uint64_t value); + + Device *dev_; + bool valid_; + drmModeAtomicReq *request_; + std::list> blobs_; +}; + +class Device +{ +public: + Device(); + ~Device(); + + int init(); + + int fd() const { return fd_; } + + const std::list &crtcs() const { return crtcs_; } + const std::list &encoders() const { return encoders_; } + const std::list &connectors() const { return connectors_; } + const std::list &planes() const { return planes_; } + const std::list &properties() const { return properties_; } + + const Object *object(uint32_t id); + + std::unique_ptr createFrameBuffer( + const libcamera::FrameBuffer &buffer, + const libcamera::PixelFormat &format, + const libcamera::Size &size, + const std::array &strides); + + libcamera::Signal requestComplete; + +private: + Device(const Device &) = delete; + Device(const Device &&) = delete; + Device &operator=(const Device &) = delete; + Device &operator=(const Device &&) = delete; + + int openCard(); + int getResources(); + + void drmEvent(); + static void pageFlipComplete(int fd, unsigned int sequence, + unsigned int tv_sec, unsigned int tv_usec, + void *user_data); + + int fd_; + + std::list crtcs_; + std::list encoders_; + std::list connectors_; + std::list planes_; + std::list properties_; + + std::map objects_; +}; + +} /* namespace DRM */ diff --git a/src/apps/cam/event_loop.cpp b/src/apps/cam/event_loop.cpp new file mode 100644 index 00000000..cb83845c --- /dev/null +++ b/src/apps/cam/event_loop.cpp @@ -0,0 +1,150 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2019, Google Inc. + * + * event_loop.cpp - cam - Event loop + */ + +#include "event_loop.h" + +#include +#include +#include +#include + +EventLoop *EventLoop::instance_ = nullptr; + +EventLoop::EventLoop() +{ + assert(!instance_); + + evthread_use_pthreads(); + base_ = event_base_new(); + instance_ = this; +} + +EventLoop::~EventLoop() +{ + instance_ = nullptr; + + events_.clear(); + event_base_free(base_); + libevent_global_shutdown(); +} + +EventLoop *EventLoop::instance() +{ + return instance_; +} + +int EventLoop::exec() +{ + exitCode_ = -1; + event_base_loop(base_, EVLOOP_NO_EXIT_ON_EMPTY); + return exitCode_; +} + +void EventLoop::exit(int code) +{ + exitCode_ = code; + event_base_loopbreak(base_); +} + +void EventLoop::callLater(const std::function &func) +{ + { + std::unique_lock locker(lock_); + calls_.push_back(func); + } + + event_base_once(base_, -1, EV_TIMEOUT, dispatchCallback, this, nullptr); +} + +void EventLoop::addFdEvent(int fd, EventType type, + const std::function &callback) +{ + std::unique_ptr event = std::make_unique(callback); + short events = (type & Read ? EV_READ : 0) + | (type & Write ? EV_WRITE : 0) + | EV_PERSIST; + + event->event_ = event_new(base_, fd, events, &EventLoop::Event::dispatch, + event.get()); + if (!event->event_) { + std::cerr << "Failed to create event for fd " << fd << std::endl; + return; + } + + int ret = event_add(event->event_, nullptr); + if (ret < 0) { + std::cerr << "Failed to add event for fd " << fd << std::endl; + return; + } + + events_.push_back(std::move(event)); +} + +void EventLoop::addTimerEvent(const std::chrono::microseconds period, + const std::function &callback) +{ + std::unique_ptr event = std::make_unique(callback); + event->event_ = event_new(base_, -1, EV_PERSIST, &EventLoop::Event::dispatch, + event.get()); + if (!event->event_) { + std::cerr << "Failed to create timer event" << std::endl; + return; + } + + struct timeval tv; + tv.tv_sec = period.count() / 1000000ULL; + tv.tv_usec = period.count() % 1000000ULL; + + int ret = event_add(event->event_, &tv); + if (ret < 0) { + std::cerr << "Failed to add timer event" << std::endl; + return; + } + + events_.push_back(std::move(event)); +} + +void EventLoop::dispatchCallback([[maybe_unused]] evutil_socket_t fd, + [[maybe_unused]] short flags, void *param) +{ + EventLoop *loop = static_cast(param); + loop->dispatchCall(); +} + +void EventLoop::dispatchCall() +{ + std::function call; + + { + std::unique_lock locker(lock_); + if (calls_.empty()) + return; + + call = calls_.front(); + calls_.pop_front(); + } + + call(); +} + +EventLoop::Event::Event(const std::function &callback) + : callback_(callback), event_(nullptr) +{ +} + +EventLoop::Event::~Event() +{ + event_del(event_); + event_free(event_); +} + +void EventLoop::Event::dispatch([[maybe_unused]] int fd, + [[maybe_unused]] short events, void *arg) +{ + Event *event = static_cast(arg); + event->callback_(); +} diff --git a/src/apps/cam/event_loop.h b/src/apps/cam/event_loop.h new file mode 100644 index 00000000..ef79e8e5 --- /dev/null +++ b/src/apps/cam/event_loop.h @@ -0,0 +1,68 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2019, Google Inc. + * + * event_loop.h - cam - Event loop + */ + +#pragma once + +#include +#include +#include +#include +#include + +#include + +struct event_base; + +class EventLoop +{ +public: + enum EventType { + Read = 1, + Write = 2, + }; + + EventLoop(); + ~EventLoop(); + + static EventLoop *instance(); + + int exec(); + void exit(int code = 0); + + void callLater(const std::function &func); + + void addFdEvent(int fd, EventType type, + const std::function &handler); + + using duration = std::chrono::steady_clock::duration; + void addTimerEvent(const std::chrono::microseconds period, + const std::function &handler); + +private: + struct Event { + Event(const std::function &callback); + ~Event(); + + static void dispatch(int fd, short events, void *arg); + + std::function callback_; + struct event *event_; + }; + + static EventLoop *instance_; + + struct event_base *base_; + int exitCode_; + + std::list> calls_; + std::list> events_; + std::mutex lock_; + + static void dispatchCallback(evutil_socket_t fd, short flags, + void *param); + void dispatchCall(); +}; diff --git a/src/apps/cam/file_sink.cpp b/src/apps/cam/file_sink.cpp new file mode 100644 index 00000000..9d60c04e --- /dev/null +++ b/src/apps/cam/file_sink.cpp @@ -0,0 +1,137 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2019, Google Inc. + * + * file_sink.cpp - File Sink + */ + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "dng_writer.h" +#include "file_sink.h" +#include "image.h" + +using namespace libcamera; + +FileSink::FileSink(const libcamera::Camera *camera, + const std::map &streamNames, + const std::string &pattern) + : camera_(camera), streamNames_(streamNames), pattern_(pattern) +{ +} + +FileSink::~FileSink() +{ +} + +int FileSink::configure(const libcamera::CameraConfiguration &config) +{ + int ret = FrameSink::configure(config); + if (ret < 0) + return ret; + + return 0; +} + +void FileSink::mapBuffer(FrameBuffer *buffer) +{ + std::unique_ptr image = + Image::fromFrameBuffer(buffer, Image::MapMode::ReadOnly); + assert(image != nullptr); + + mappedBuffers_[buffer] = std::move(image); +} + +bool FileSink::processRequest(Request *request) +{ + for (auto [stream, buffer] : request->buffers()) + writeBuffer(stream, buffer, request->metadata()); + + return true; +} + +void FileSink::writeBuffer(const Stream *stream, FrameBuffer *buffer, + [[maybe_unused]] const ControlList &metadata) +{ + std::string filename; + size_t pos; + int fd, ret = 0; + + if (!pattern_.empty()) + filename = pattern_; + +#ifdef HAVE_TIFF + bool dng = filename.find(".dng", filename.size() - 4) != std::string::npos; +#endif /* HAVE_TIFF */ + + if (filename.empty() || filename.back() == '/') + filename += "frame-#.bin"; + + pos = filename.find_first_of('#'); + if (pos != std::string::npos) { + std::stringstream ss; + ss << streamNames_[stream] << "-" << std::setw(6) + << std::setfill('0') << buffer->metadata().sequence; + filename.replace(pos, 1, ss.str()); + } + + Image *image = mappedBuffers_[buffer].get(); + +#ifdef HAVE_TIFF + if (dng) { + ret = DNGWriter::write(filename.c_str(), camera_, + stream->configuration(), metadata, + buffer, image->data(0).data()); + if (ret < 0) + std::cerr << "failed to write DNG file `" << filename + << "'" << std::endl; + + return; + } +#endif /* HAVE_TIFF */ + + fd = open(filename.c_str(), O_CREAT | O_WRONLY | + (pos == std::string::npos ? O_APPEND : O_TRUNC), + S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH | S_IWOTH); + if (fd == -1) { + ret = -errno; + std::cerr << "failed to open file " << filename << ": " + << strerror(-ret) << std::endl; + return; + } + + for (unsigned int i = 0; i < buffer->planes().size(); ++i) { + const FrameMetadata::Plane &meta = buffer->metadata().planes()[i]; + + Span data = image->data(i); + unsigned int length = std::min(meta.bytesused, data.size()); + + if (meta.bytesused > data.size()) + std::cerr << "payload size " << meta.bytesused + << " larger than plane size " << data.size() + << std::endl; + + ret = ::write(fd, data.data(), length); + if (ret < 0) { + ret = -errno; + std::cerr << "write error: " << strerror(-ret) + << std::endl; + break; + } else if (ret != (int)length) { + std::cerr << "write error: only " << ret + << " bytes written instead of " + << length << std::endl; + break; + } + } + + close(fd); +} diff --git a/src/apps/cam/file_sink.h b/src/apps/cam/file_sink.h new file mode 100644 index 00000000..9ce8b619 --- /dev/null +++ b/src/apps/cam/file_sink.h @@ -0,0 +1,43 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2019, Google Inc. + * + * file_sink.h - File Sink + */ + +#pragma once + +#include +#include +#include + +#include + +#include "frame_sink.h" + +class Image; + +class FileSink : public FrameSink +{ +public: + FileSink(const libcamera::Camera *camera, + const std::map &streamNames, + const std::string &pattern = ""); + ~FileSink(); + + int configure(const libcamera::CameraConfiguration &config) override; + + void mapBuffer(libcamera::FrameBuffer *buffer) override; + + bool processRequest(libcamera::Request *request) override; + +private: + void writeBuffer(const libcamera::Stream *stream, + libcamera::FrameBuffer *buffer, + const libcamera::ControlList &metadata); + + const libcamera::Camera *camera_; + std::map streamNames_; + std::string pattern_; + std::map> mappedBuffers_; +}; diff --git a/src/apps/cam/frame_sink.cpp b/src/apps/cam/frame_sink.cpp new file mode 100644 index 00000000..af21d575 --- /dev/null +++ b/src/apps/cam/frame_sink.cpp @@ -0,0 +1,67 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2021, Ideas on Board Oy + * + * frame_sink.cpp - Base Frame Sink Class + */ + +#include "frame_sink.h" + +/** + * \class FrameSink + * \brief Abstract class to model a consumer of frames + * + * The FrameSink class models the consumer that processes frames after a request + * completes. It receives requests through processRequest(), and processes them + * synchronously or asynchronously. This allows frame sinks to hold onto frames + * for an extended period of time, for instance to display them until a new + * frame arrives. + * + * A frame sink processes whole requests, and is solely responsible for deciding + * how to handle different frame buffers in case multiple streams are captured. + */ + +FrameSink::~FrameSink() +{ +} + +int FrameSink::configure([[maybe_unused]] const libcamera::CameraConfiguration &config) +{ + return 0; +} + +void FrameSink::mapBuffer([[maybe_unused]] libcamera::FrameBuffer *buffer) +{ +} + +int FrameSink::start() +{ + return 0; +} + +int FrameSink::stop() +{ + return 0; +} + +/** + * \fn FrameSink::processRequest() + * \param[in] request The request + * + * This function is called to instruct the sink to process a request. The sink + * may process the request synchronously or queue it for asynchronous + * processing. + * + * When the request is processed synchronously, this function shall return true. + * The \a request shall not be accessed by the FrameSink after the function + * returns. + * + * When the request is processed asynchronously, the FrameSink temporarily takes + * ownership of the \a request. The function shall return false, and the + * FrameSink shall emit the requestProcessed signal when the request processing + * completes. If the stop() function is called before the request processing + * completes, it shall release the request synchronously. + * + * \return True if the request has been processed synchronously, false if + * processing has been queued + */ diff --git a/src/apps/cam/frame_sink.h b/src/apps/cam/frame_sink.h new file mode 100644 index 00000000..ca4347cb --- /dev/null +++ b/src/apps/cam/frame_sink.h @@ -0,0 +1,32 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2021, Ideas on Board Oy + * + * frame_sink.h - Base Frame Sink Class + */ + +#pragma once + +#include + +namespace libcamera { +class CameraConfiguration; +class FrameBuffer; +class Request; +} /* namespace libcamera */ + +class FrameSink +{ +public: + virtual ~FrameSink(); + + virtual int configure(const libcamera::CameraConfiguration &config); + + virtual void mapBuffer(libcamera::FrameBuffer *buffer); + + virtual int start(); + virtual int stop(); + + virtual bool processRequest(libcamera::Request *request) = 0; + libcamera::Signal requestProcessed; +}; diff --git a/src/apps/cam/image.cpp b/src/apps/cam/image.cpp new file mode 100644 index 00000000..fe2cc6da --- /dev/null +++ b/src/apps/cam/image.cpp @@ -0,0 +1,109 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Ideas on Board Oy + * + * image.cpp - Multi-planar image with access to pixel data + */ + +#include "image.h" + +#include +#include +#include +#include +#include +#include +#include + +using namespace libcamera; + +std::unique_ptr Image::fromFrameBuffer(const FrameBuffer *buffer, MapMode mode) +{ + std::unique_ptr image{ new Image() }; + + assert(!buffer->planes().empty()); + + int mmapFlags = 0; + + if (mode & MapMode::ReadOnly) + mmapFlags |= PROT_READ; + + if (mode & MapMode::WriteOnly) + mmapFlags |= PROT_WRITE; + + struct MappedBufferInfo { + uint8_t *address = nullptr; + size_t mapLength = 0; + size_t dmabufLength = 0; + }; + std::map mappedBuffers; + + for (const FrameBuffer::Plane &plane : buffer->planes()) { + const int fd = plane.fd.get(); + if (mappedBuffers.find(fd) == mappedBuffers.end()) { + const size_t length = lseek(fd, 0, SEEK_END); + mappedBuffers[fd] = MappedBufferInfo{ nullptr, 0, length }; + } + + const size_t length = mappedBuffers[fd].dmabufLength; + + if (plane.offset > length || + plane.offset + plane.length > length) { + std::cerr << "plane is out of buffer: buffer length=" + << length << ", plane offset=" << plane.offset + << ", plane length=" << plane.length + << std::endl; + return nullptr; + } + size_t &mapLength = mappedBuffers[fd].mapLength; + mapLength = std::max(mapLength, + static_cast(plane.offset + plane.length)); + } + + for (const FrameBuffer::Plane &plane : buffer->planes()) { + const int fd = plane.fd.get(); + auto &info = mappedBuffers[fd]; + if (!info.address) { + void *address = mmap(nullptr, info.mapLength, mmapFlags, + MAP_SHARED, fd, 0); + if (address == MAP_FAILED) { + int error = -errno; + std::cerr << "Failed to mmap plane: " + << strerror(-error) << std::endl; + return nullptr; + } + + info.address = static_cast(address); + image->maps_.emplace_back(info.address, info.mapLength); + } + + image->planes_.emplace_back(info.address + plane.offset, plane.length); + } + + return image; +} + +Image::Image() = default; + +Image::~Image() +{ + for (Span &map : maps_) + munmap(map.data(), map.size()); +} + +unsigned int Image::numPlanes() const +{ + return planes_.size(); +} + +Span Image::data(unsigned int plane) +{ + assert(plane <= planes_.size()); + return planes_[plane]; +} + +Span Image::data(unsigned int plane) const +{ + assert(plane <= planes_.size()); + return planes_[plane]; +} diff --git a/src/apps/cam/image.h b/src/apps/cam/image.h new file mode 100644 index 00000000..7953b177 --- /dev/null +++ b/src/apps/cam/image.h @@ -0,0 +1,50 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Ideas on Board Oy + * + * image.h - Multi-planar image with access to pixel data + */ + +#pragma once + +#include +#include +#include + +#include +#include +#include + +#include + +class Image +{ +public: + enum class MapMode { + ReadOnly = 1 << 0, + WriteOnly = 1 << 1, + ReadWrite = ReadOnly | WriteOnly, + }; + + static std::unique_ptr fromFrameBuffer(const libcamera::FrameBuffer *buffer, + MapMode mode); + + ~Image(); + + unsigned int numPlanes() const; + + libcamera::Span data(unsigned int plane); + libcamera::Span data(unsigned int plane) const; + +private: + LIBCAMERA_DISABLE_COPY(Image) + + Image(); + + std::vector> maps_; + std::vector> planes_; +}; + +namespace libcamera { +LIBCAMERA_FLAGS_ENABLE_OPERATORS(Image::MapMode) +} diff --git a/src/apps/cam/kms_sink.cpp b/src/apps/cam/kms_sink.cpp new file mode 100644 index 00000000..754b061e --- /dev/null +++ b/src/apps/cam/kms_sink.cpp @@ -0,0 +1,538 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2021, Ideas on Board Oy + * + * kms_sink.cpp - KMS Sink + */ + +#include "kms_sink.h" + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include "drm.h" + +KMSSink::KMSSink(const std::string &connectorName) + : connector_(nullptr), crtc_(nullptr), plane_(nullptr), mode_(nullptr) +{ + int ret = dev_.init(); + if (ret < 0) + return; + + /* + * Find the requested connector. If no specific connector is requested, + * pick the first connected connector or, if no connector is connected, + * the first connector with unknown status. + */ + for (const DRM::Connector &conn : dev_.connectors()) { + if (!connectorName.empty()) { + if (conn.name() != connectorName) + continue; + + connector_ = &conn; + break; + } + + if (conn.status() == DRM::Connector::Connected) { + connector_ = &conn; + break; + } + + if (!connector_ && conn.status() == DRM::Connector::Unknown) + connector_ = &conn; + } + + if (!connector_) { + if (!connectorName.empty()) + std::cerr + << "Connector " << connectorName << " not found" + << std::endl; + else + std::cerr << "No connected connector found" << std::endl; + return; + } + + dev_.requestComplete.connect(this, &KMSSink::requestComplete); +} + +void KMSSink::mapBuffer(libcamera::FrameBuffer *buffer) +{ + std::array strides = {}; + + /* \todo Should libcamera report per-plane strides ? */ + unsigned int uvStrideMultiplier; + + switch (format_) { + case libcamera::formats::NV24: + case libcamera::formats::NV42: + uvStrideMultiplier = 4; + break; + case libcamera::formats::YUV420: + case libcamera::formats::YVU420: + case libcamera::formats::YUV422: + uvStrideMultiplier = 1; + break; + default: + uvStrideMultiplier = 2; + break; + } + + strides[0] = stride_; + for (unsigned int i = 1; i < buffer->planes().size(); ++i) + strides[i] = stride_ * uvStrideMultiplier / 2; + + std::unique_ptr drmBuffer = + dev_.createFrameBuffer(*buffer, format_, size_, strides); + if (!drmBuffer) + return; + + buffers_.emplace(std::piecewise_construct, + std::forward_as_tuple(buffer), + std::forward_as_tuple(std::move(drmBuffer))); +} + +int KMSSink::configure(const libcamera::CameraConfiguration &config) +{ + if (!connector_) + return -EINVAL; + + crtc_ = nullptr; + plane_ = nullptr; + mode_ = nullptr; + + const libcamera::StreamConfiguration &cfg = config.at(0); + + /* Find the best mode for the stream size. */ + const std::vector &modes = connector_->modes(); + + unsigned int cfgArea = cfg.size.width * cfg.size.height; + unsigned int bestDistance = UINT_MAX; + + for (const DRM::Mode &mode : modes) { + unsigned int modeArea = mode.hdisplay * mode.vdisplay; + unsigned int distance = modeArea > cfgArea ? modeArea - cfgArea + : cfgArea - modeArea; + + if (distance < bestDistance) { + mode_ = &mode; + bestDistance = distance; + + /* + * If the sizes match exactly, there will be no better + * match. + */ + if (distance == 0) + break; + } + } + + if (!mode_) { + std::cerr << "No modes\n"; + return -EINVAL; + } + + int ret = configurePipeline(cfg.pixelFormat); + if (ret < 0) + return ret; + + size_ = cfg.size; + stride_ = cfg.stride; + + /* Configure color space. */ + colorEncoding_ = std::nullopt; + colorRange_ = std::nullopt; + + if (cfg.colorSpace->ycbcrEncoding == libcamera::ColorSpace::YcbcrEncoding::None) + return 0; + + /* + * The encoding and range enums are defined in the kernel but not + * exposed in public headers. + */ + enum drm_color_encoding { + DRM_COLOR_YCBCR_BT601, + DRM_COLOR_YCBCR_BT709, + DRM_COLOR_YCBCR_BT2020, + }; + + enum drm_color_range { + DRM_COLOR_YCBCR_LIMITED_RANGE, + DRM_COLOR_YCBCR_FULL_RANGE, + }; + + const DRM::Property *colorEncoding = plane_->property("COLOR_ENCODING"); + const DRM::Property *colorRange = plane_->property("COLOR_RANGE"); + + if (colorEncoding) { + drm_color_encoding encoding; + + switch (cfg.colorSpace->ycbcrEncoding) { + case libcamera::ColorSpace::YcbcrEncoding::Rec601: + default: + encoding = DRM_COLOR_YCBCR_BT601; + break; + case libcamera::ColorSpace::YcbcrEncoding::Rec709: + encoding = DRM_COLOR_YCBCR_BT709; + break; + case libcamera::ColorSpace::YcbcrEncoding::Rec2020: + encoding = DRM_COLOR_YCBCR_BT2020; + break; + } + + for (const auto &[id, name] : colorEncoding->enums()) { + if (id == encoding) { + colorEncoding_ = encoding; + break; + } + } + } + + if (colorRange) { + drm_color_range range; + + switch (cfg.colorSpace->range) { + case libcamera::ColorSpace::Range::Limited: + default: + range = DRM_COLOR_YCBCR_LIMITED_RANGE; + break; + case libcamera::ColorSpace::Range::Full: + range = DRM_COLOR_YCBCR_FULL_RANGE; + break; + } + + for (const auto &[id, name] : colorRange->enums()) { + if (id == range) { + colorRange_ = range; + break; + } + } + } + + if (!colorEncoding_ || !colorRange_) + std::cerr << "Color space " << cfg.colorSpace->toString() + << " not supported by the display device." + << " Colors may be wrong." << std::endl; + + return 0; +} + +int KMSSink::selectPipeline(const libcamera::PixelFormat &format) +{ + /* + * If the requested format has an alpha channel, also consider the X + * variant. + */ + libcamera::PixelFormat xFormat; + + switch (format) { + case libcamera::formats::ABGR8888: + xFormat = libcamera::formats::XBGR8888; + break; + case libcamera::formats::ARGB8888: + xFormat = libcamera::formats::XRGB8888; + break; + case libcamera::formats::BGRA8888: + xFormat = libcamera::formats::BGRX8888; + break; + case libcamera::formats::RGBA8888: + xFormat = libcamera::formats::RGBX8888; + break; + } + + /* + * Find a CRTC and plane suitable for the request format and the + * connector at the end of the pipeline. Restrict the search to primary + * planes for now. + */ + for (const DRM::Encoder *encoder : connector_->encoders()) { + for (const DRM::Crtc *crtc : encoder->possibleCrtcs()) { + for (const DRM::Plane *plane : crtc->planes()) { + if (plane->type() != DRM::Plane::TypePrimary) + continue; + + if (plane->supportsFormat(format)) { + crtc_ = crtc; + plane_ = plane; + format_ = format; + return 0; + } + + if (plane->supportsFormat(xFormat)) { + crtc_ = crtc; + plane_ = plane; + format_ = xFormat; + return 0; + } + } + } + } + + return -EPIPE; +} + +int KMSSink::configurePipeline(const libcamera::PixelFormat &format) +{ + const int ret = selectPipeline(format); + if (ret) { + std::cerr + << "Unable to find display pipeline for format " + << format << std::endl; + + return ret; + } + + std::cout + << "Using KMS plane " << plane_->id() << ", CRTC " << crtc_->id() + << ", connector " << connector_->name() + << " (" << connector_->id() << "), mode " << mode_->hdisplay + << "x" << mode_->vdisplay << "@" << mode_->vrefresh << std::endl; + + return 0; +} + +int KMSSink::start() +{ + std::unique_ptr request; + + int ret = FrameSink::start(); + if (ret < 0) + return ret; + + /* Disable all CRTCs and planes to start from a known valid state. */ + request = std::make_unique(&dev_); + + for (const DRM::Crtc &crtc : dev_.crtcs()) + request->addProperty(&crtc, "ACTIVE", 0); + + for (const DRM::Plane &plane : dev_.planes()) { + request->addProperty(&plane, "CRTC_ID", 0); + request->addProperty(&plane, "FB_ID", 0); + } + + ret = request->commit(DRM::AtomicRequest::FlagAllowModeset); + if (ret < 0) { + std::cerr + << "Failed to disable CRTCs and planes: " + << strerror(-ret) << std::endl; + return ret; + } + + return 0; +} + +int KMSSink::stop() +{ + /* Display pipeline. */ + DRM::AtomicRequest request(&dev_); + + request.addProperty(connector_, "CRTC_ID", 0); + request.addProperty(crtc_, "ACTIVE", 0); + request.addProperty(crtc_, "MODE_ID", 0); + request.addProperty(plane_, "CRTC_ID", 0); + request.addProperty(plane_, "FB_ID", 0); + + int ret = request.commit(DRM::AtomicRequest::FlagAllowModeset); + if (ret < 0) { + std::cerr + << "Failed to stop display pipeline: " + << strerror(-ret) << std::endl; + return ret; + } + + /* Free all buffers. */ + pending_.reset(); + queued_.reset(); + active_.reset(); + buffers_.clear(); + + return FrameSink::stop(); +} + +bool KMSSink::testModeSet(DRM::FrameBuffer *drmBuffer, + const libcamera::Rectangle &src, + const libcamera::Rectangle &dst) +{ + DRM::AtomicRequest drmRequest{ &dev_ }; + + drmRequest.addProperty(connector_, "CRTC_ID", crtc_->id()); + + drmRequest.addProperty(crtc_, "ACTIVE", 1); + drmRequest.addProperty(crtc_, "MODE_ID", mode_->toBlob(&dev_)); + + drmRequest.addProperty(plane_, "CRTC_ID", crtc_->id()); + drmRequest.addProperty(plane_, "FB_ID", drmBuffer->id()); + drmRequest.addProperty(plane_, "SRC_X", src.x << 16); + drmRequest.addProperty(plane_, "SRC_Y", src.y << 16); + drmRequest.addProperty(plane_, "SRC_W", src.width << 16); + drmRequest.addProperty(plane_, "SRC_H", src.height << 16); + drmRequest.addProperty(plane_, "CRTC_X", dst.x); + drmRequest.addProperty(plane_, "CRTC_Y", dst.y); + drmRequest.addProperty(plane_, "CRTC_W", dst.width); + drmRequest.addProperty(plane_, "CRTC_H", dst.height); + + return !drmRequest.commit(DRM::AtomicRequest::FlagAllowModeset | + DRM::AtomicRequest::FlagTestOnly); +} + +bool KMSSink::setupComposition(DRM::FrameBuffer *drmBuffer) +{ + /* + * Test composition options, from most to least desirable, to select the + * best one. + */ + const libcamera::Rectangle framebuffer{ size_ }; + const libcamera::Rectangle display{ 0, 0, mode_->hdisplay, mode_->vdisplay }; + + /* 1. Scale the frame buffer to full screen, preserving aspect ratio. */ + libcamera::Rectangle src = framebuffer; + libcamera::Rectangle dst = display.size().boundedToAspectRatio(framebuffer.size()) + .centeredTo(display.center()); + + if (testModeSet(drmBuffer, src, dst)) { + std::cout << "KMS: full-screen scaled output, square pixels" + << std::endl; + src_ = src; + dst_ = dst; + return true; + } + + /* + * 2. Scale the frame buffer to full screen, without preserving aspect + * ratio. + */ + src = framebuffer; + dst = display; + + if (testModeSet(drmBuffer, src, dst)) { + std::cout << "KMS: full-screen scaled output, non-square pixels" + << std::endl; + src_ = src; + dst_ = dst; + return true; + } + + /* 3. Center the frame buffer on the display. */ + src = display.size().centeredTo(framebuffer.center()).boundedTo(framebuffer); + dst = framebuffer.size().centeredTo(display.center()).boundedTo(display); + + if (testModeSet(drmBuffer, src, dst)) { + std::cout << "KMS: centered output" << std::endl; + src_ = src; + dst_ = dst; + return true; + } + + /* 4. Align the frame buffer on the top-left of the display. */ + src = framebuffer.boundedTo(display); + dst = display.boundedTo(framebuffer); + + if (testModeSet(drmBuffer, src, dst)) { + std::cout << "KMS: top-left aligned output" << std::endl; + src_ = src; + dst_ = dst; + return true; + } + + return false; +} + +bool KMSSink::processRequest(libcamera::Request *camRequest) +{ + /* + * Perform a very crude rate adaptation by simply dropping the request + * if the display queue is full. + */ + if (pending_) + return true; + + libcamera::FrameBuffer *buffer = camRequest->buffers().begin()->second; + auto iter = buffers_.find(buffer); + if (iter == buffers_.end()) + return true; + + DRM::FrameBuffer *drmBuffer = iter->second.get(); + + unsigned int flags = DRM::AtomicRequest::FlagAsync; + std::unique_ptr drmRequest = + std::make_unique(&dev_); + drmRequest->addProperty(plane_, "FB_ID", drmBuffer->id()); + + if (!active_ && !queued_) { + /* Enable the display pipeline on the first frame. */ + if (!setupComposition(drmBuffer)) { + std::cerr << "Failed to setup composition" << std::endl; + return true; + } + + drmRequest->addProperty(connector_, "CRTC_ID", crtc_->id()); + + drmRequest->addProperty(crtc_, "ACTIVE", 1); + drmRequest->addProperty(crtc_, "MODE_ID", mode_->toBlob(&dev_)); + + drmRequest->addProperty(plane_, "CRTC_ID", crtc_->id()); + drmRequest->addProperty(plane_, "SRC_X", src_.x << 16); + drmRequest->addProperty(plane_, "SRC_Y", src_.y << 16); + drmRequest->addProperty(plane_, "SRC_W", src_.width << 16); + drmRequest->addProperty(plane_, "SRC_H", src_.height << 16); + drmRequest->addProperty(plane_, "CRTC_X", dst_.x); + drmRequest->addProperty(plane_, "CRTC_Y", dst_.y); + drmRequest->addProperty(plane_, "CRTC_W", dst_.width); + drmRequest->addProperty(plane_, "CRTC_H", dst_.height); + + if (colorEncoding_) + drmRequest->addProperty(plane_, "COLOR_ENCODING", *colorEncoding_); + if (colorRange_) + drmRequest->addProperty(plane_, "COLOR_RANGE", *colorRange_); + + flags |= DRM::AtomicRequest::FlagAllowModeset; + } + + pending_ = std::make_unique(std::move(drmRequest), camRequest); + + std::lock_guard lock(lock_); + + if (!queued_) { + int ret = pending_->drmRequest_->commit(flags); + if (ret < 0) { + std::cerr + << "Failed to commit atomic request: " + << strerror(-ret) << std::endl; + /* \todo Implement error handling */ + } + + queued_ = std::move(pending_); + } + + return false; +} + +void KMSSink::requestComplete(DRM::AtomicRequest *request) +{ + std::lock_guard lock(lock_); + + assert(queued_ && queued_->drmRequest_.get() == request); + + /* Complete the active request, if any. */ + if (active_) + requestProcessed.emit(active_->camRequest_); + + /* The queued request becomes active. */ + active_ = std::move(queued_); + + /* Queue the pending request, if any. */ + if (pending_) { + pending_->drmRequest_->commit(DRM::AtomicRequest::FlagAsync); + queued_ = std::move(pending_); + } +} diff --git a/src/apps/cam/kms_sink.h b/src/apps/cam/kms_sink.h new file mode 100644 index 00000000..e2c618a1 --- /dev/null +++ b/src/apps/cam/kms_sink.h @@ -0,0 +1,83 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2021, Ideas on Board Oy + * + * kms_sink.h - KMS Sink + */ + +#pragma once + +#include +#include +#include +#include +#include +#include + +#include + +#include +#include + +#include "drm.h" +#include "frame_sink.h" + +class KMSSink : public FrameSink +{ +public: + KMSSink(const std::string &connectorName); + + void mapBuffer(libcamera::FrameBuffer *buffer) override; + + int configure(const libcamera::CameraConfiguration &config) override; + int start() override; + int stop() override; + + bool processRequest(libcamera::Request *request) override; + +private: + class Request + { + public: + Request(std::unique_ptr drmRequest, + libcamera::Request *camRequest) + : drmRequest_(std::move(drmRequest)), camRequest_(camRequest) + { + } + + std::unique_ptr drmRequest_; + libcamera::Request *camRequest_; + }; + + int selectPipeline(const libcamera::PixelFormat &format); + int configurePipeline(const libcamera::PixelFormat &format); + bool testModeSet(DRM::FrameBuffer *drmBuffer, + const libcamera::Rectangle &src, + const libcamera::Rectangle &dst); + bool setupComposition(DRM::FrameBuffer *drmBuffer); + + void requestComplete(DRM::AtomicRequest *request); + + DRM::Device dev_; + + const DRM::Connector *connector_; + const DRM::Crtc *crtc_; + const DRM::Plane *plane_; + const DRM::Mode *mode_; + + libcamera::PixelFormat format_; + libcamera::Size size_; + unsigned int stride_; + std::optional colorEncoding_; + std::optional colorRange_; + + libcamera::Rectangle src_; + libcamera::Rectangle dst_; + + std::map> buffers_; + + std::mutex lock_; + std::unique_ptr pending_; + std::unique_ptr queued_; + std::unique_ptr active_; +}; diff --git a/src/apps/cam/main.cpp b/src/apps/cam/main.cpp new file mode 100644 index 00000000..d70130e2 --- /dev/null +++ b/src/apps/cam/main.cpp @@ -0,0 +1,362 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2019, Google Inc. + * + * main.cpp - cam - The libcamera swiss army knife + */ + +#include +#include +#include +#include +#include + +#include +#include + +#include "camera_session.h" +#include "event_loop.h" +#include "main.h" +#include "options.h" +#include "stream_options.h" + +using namespace libcamera; + +class CamApp +{ +public: + CamApp(); + + static CamApp *instance(); + + int init(int argc, char **argv); + void cleanup(); + + int exec(); + void quit(); + +private: + void cameraAdded(std::shared_ptr cam); + void cameraRemoved(std::shared_ptr cam); + void captureDone(); + int parseOptions(int argc, char *argv[]); + int run(); + + static std::string cameraName(const Camera *camera); + + static CamApp *app_; + OptionsParser::Options options_; + + std::unique_ptr cm_; + + std::atomic_uint loopUsers_; + EventLoop loop_; +}; + +CamApp *CamApp::app_ = nullptr; + +CamApp::CamApp() + : loopUsers_(0) +{ + CamApp::app_ = this; +} + +CamApp *CamApp::instance() +{ + return CamApp::app_; +} + +int CamApp::init(int argc, char **argv) +{ + int ret; + + ret = parseOptions(argc, argv); + if (ret < 0) + return ret; + + cm_ = std::make_unique(); + + ret = cm_->start(); + if (ret) { + std::cout << "Failed to start camera manager: " + << strerror(-ret) << std::endl; + return ret; + } + + return 0; +} + +void CamApp::cleanup() +{ + cm_->stop(); +} + +int CamApp::exec() +{ + int ret; + + ret = run(); + cleanup(); + + return ret; +} + +void CamApp::quit() +{ + loop_.exit(); +} + +int CamApp::parseOptions(int argc, char *argv[]) +{ + StreamKeyValueParser streamKeyValue; + + OptionsParser parser; + parser.addOption(OptCamera, OptionString, + "Specify which camera to operate on, by id or by index", "camera", + ArgumentRequired, "camera", true); + parser.addOption(OptHelp, OptionNone, "Display this help message", + "help"); + parser.addOption(OptInfo, OptionNone, + "Display information about stream(s)", "info"); + parser.addOption(OptList, OptionNone, "List all cameras", "list"); + parser.addOption(OptListControls, OptionNone, "List cameras controls", + "list-controls"); + parser.addOption(OptListProperties, OptionNone, "List cameras properties", + "list-properties"); + parser.addOption(OptMonitor, OptionNone, + "Monitor for hotplug and unplug camera events", + "monitor"); + + /* Sub-options of OptCamera: */ + parser.addOption(OptCapture, OptionInteger, + "Capture until interrupted by user or until frames captured", + "capture", ArgumentOptional, "count", false, + OptCamera); +#ifdef HAVE_KMS + parser.addOption(OptDisplay, OptionString, + "Display viewfinder through DRM/KMS on specified connector", + "display", ArgumentOptional, "connector", false, + OptCamera); +#endif + parser.addOption(OptFile, OptionString, + "Write captured frames to disk\n" + "If the file name ends with a '/', it sets the directory in which\n" + "to write files, using the default file name. Otherwise it sets the\n" + "full file path and name. The first '#' character in the file name\n" + "is expanded to the camera index, stream name and frame sequence number.\n" +#ifdef HAVE_TIFF + "If the file name ends with '.dng', then the frame will be written to\n" + "the output file(s) in DNG format.\n" +#endif + "The default file name is 'frame-#.bin'.", + "file", ArgumentOptional, "filename", false, + OptCamera); +#ifdef HAVE_SDL + parser.addOption(OptSDL, OptionNone, "Display viewfinder through SDL", + "sdl", ArgumentNone, "", false, OptCamera); +#endif + parser.addOption(OptStream, &streamKeyValue, + "Set configuration of a camera stream", "stream", true, + OptCamera); + parser.addOption(OptStrictFormats, OptionNone, + "Do not allow requested stream format(s) to be adjusted", + "strict-formats", ArgumentNone, nullptr, false, + OptCamera); + parser.addOption(OptMetadata, OptionNone, + "Print the metadata for completed requests", + "metadata", ArgumentNone, nullptr, false, + OptCamera); + parser.addOption(OptCaptureScript, OptionString, + "Load a capture session configuration script from a file", + "script", ArgumentRequired, "script", false, + OptCamera); + + options_ = parser.parse(argc, argv); + if (!options_.valid()) + return -EINVAL; + + if (options_.empty() || options_.isSet(OptHelp)) { + parser.usage(); + return options_.empty() ? -EINVAL : -EINTR; + } + + return 0; +} + +void CamApp::cameraAdded(std::shared_ptr cam) +{ + std::cout << "Camera Added: " << cam->id() << std::endl; +} + +void CamApp::cameraRemoved(std::shared_ptr cam) +{ + std::cout << "Camera Removed: " << cam->id() << std::endl; +} + +void CamApp::captureDone() +{ + if (--loopUsers_ == 0) + EventLoop::instance()->exit(0); +} + +int CamApp::run() +{ + int ret; + + /* 1. List all cameras. */ + if (options_.isSet(OptList)) { + std::cout << "Available cameras:" << std::endl; + + unsigned int index = 1; + for (const std::shared_ptr &cam : cm_->cameras()) { + std::cout << index << ": " << cameraName(cam.get()) << std::endl; + index++; + } + } + + /* 2. Create the camera sessions. */ + std::vector> sessions; + + if (options_.isSet(OptCamera)) { + unsigned int index = 0; + + for (const OptionValue &camera : options_[OptCamera].toArray()) { + std::unique_ptr session = + std::make_unique(cm_.get(), + camera.toString(), + index, + camera.children()); + if (!session->isValid()) { + std::cout << "Failed to create camera session" << std::endl; + return -EINVAL; + } + + std::cout << "Using camera " << session->camera()->id() + << " as cam" << index << std::endl; + + session->captureDone.connect(this, &CamApp::captureDone); + + sessions.push_back(std::move(session)); + index++; + } + } + + /* 3. Print camera information. */ + if (options_.isSet(OptListControls) || + options_.isSet(OptListProperties) || + options_.isSet(OptInfo)) { + for (const auto &session : sessions) { + if (options_.isSet(OptListControls)) + session->listControls(); + if (options_.isSet(OptListProperties)) + session->listProperties(); + if (options_.isSet(OptInfo)) + session->infoConfiguration(); + } + } + + /* 4. Start capture. */ + for (const auto &session : sessions) { + if (!session->options().isSet(OptCapture)) + continue; + + ret = session->start(); + if (ret) { + std::cout << "Failed to start camera session" << std::endl; + return ret; + } + + loopUsers_++; + } + + /* 5. Enable hotplug monitoring. */ + if (options_.isSet(OptMonitor)) { + std::cout << "Monitoring new hotplug and unplug events" << std::endl; + std::cout << "Press Ctrl-C to interrupt" << std::endl; + + cm_->cameraAdded.connect(this, &CamApp::cameraAdded); + cm_->cameraRemoved.connect(this, &CamApp::cameraRemoved); + + loopUsers_++; + } + + if (loopUsers_) + loop_.exec(); + + /* 6. Stop capture. */ + for (const auto &session : sessions) { + if (!session->options().isSet(OptCapture)) + continue; + + session->stop(); + } + + return 0; +} + +std::string CamApp::cameraName(const Camera *camera) +{ + const ControlList &props = camera->properties(); + bool addModel = true; + std::string name; + + /* + * Construct the name from the camera location, model and ID. The model + * is only used if the location isn't present or is set to External. + */ + const auto &location = props.get(properties::Location); + if (location) { + switch (*location) { + case properties::CameraLocationFront: + addModel = false; + name = "Internal front camera "; + break; + case properties::CameraLocationBack: + addModel = false; + name = "Internal back camera "; + break; + case properties::CameraLocationExternal: + name = "External camera "; + break; + } + } + + if (addModel) { + /* + * If the camera location is not availble use the camera model + * to build the camera name. + */ + const auto &model = props.get(properties::Model); + if (model) + name = "'" + *model + "' "; + } + + name += "(" + camera->id() + ")"; + + return name; +} + +void signalHandler([[maybe_unused]] int signal) +{ + std::cout << "Exiting" << std::endl; + CamApp::instance()->quit(); +} + +int main(int argc, char **argv) +{ + CamApp app; + int ret; + + ret = app.init(argc, argv); + if (ret) + return ret == -EINTR ? 0 : EXIT_FAILURE; + + struct sigaction sa = {}; + sa.sa_handler = &signalHandler; + sigaction(SIGINT, &sa, nullptr); + + if (app.exec()) + return EXIT_FAILURE; + + return 0; +} diff --git a/src/apps/cam/main.h b/src/apps/cam/main.h new file mode 100644 index 00000000..526aecec --- /dev/null +++ b/src/apps/cam/main.h @@ -0,0 +1,26 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2019, Google Inc. + * + * main.h - Cam application + */ + +#pragma once + +enum { + OptCamera = 'c', + OptCapture = 'C', + OptDisplay = 'D', + OptFile = 'F', + OptHelp = 'h', + OptInfo = 'I', + OptList = 'l', + OptListProperties = 'p', + OptMonitor = 'm', + OptSDL = 'S', + OptStream = 's', + OptListControls = 256, + OptStrictFormats = 257, + OptMetadata = 258, + OptCaptureScript = 259, +}; diff --git a/src/apps/cam/meson.build b/src/apps/cam/meson.build new file mode 100644 index 00000000..06dbea06 --- /dev/null +++ b/src/apps/cam/meson.build @@ -0,0 +1,74 @@ +# SPDX-License-Identifier: CC0-1.0 + +libevent = dependency('libevent_pthreads', required : get_option('cam')) + +if not libevent.found() + cam_enabled = false + subdir_done() +endif + +cam_enabled = true + +cam_sources = files([ + 'camera_session.cpp', + 'capture_script.cpp', + 'event_loop.cpp', + 'file_sink.cpp', + 'frame_sink.cpp', + 'image.cpp', + 'main.cpp', + 'options.cpp', + 'stream_options.cpp', +]) + +cam_cpp_args = [] + +libdrm = dependency('libdrm', required : false) +libjpeg = dependency('libjpeg', required : false) +libsdl2 = dependency('SDL2', required : false) +libtiff = dependency('libtiff-4', required : false) + +if libdrm.found() + cam_cpp_args += [ '-DHAVE_KMS' ] + cam_sources += files([ + 'drm.cpp', + 'kms_sink.cpp' + ]) +endif + +if libsdl2.found() + cam_cpp_args += ['-DHAVE_SDL'] + cam_sources += files([ + 'sdl_sink.cpp', + 'sdl_texture.cpp', + 'sdl_texture_yuv.cpp', + ]) + + if libjpeg.found() + cam_cpp_args += ['-DHAVE_LIBJPEG'] + cam_sources += files([ + 'sdl_texture_mjpg.cpp' + ]) + endif +endif + +if libtiff.found() + cam_cpp_args += ['-DHAVE_TIFF'] + cam_sources += files([ + 'dng_writer.cpp', + ]) +endif + +cam = executable('cam', cam_sources, + dependencies : [ + libatomic, + libcamera_public, + libdrm, + libevent, + libjpeg, + libsdl2, + libtiff, + libyaml, + ], + cpp_args : cam_cpp_args, + install : true) diff --git a/src/apps/cam/options.cpp b/src/apps/cam/options.cpp new file mode 100644 index 00000000..4f7e8691 --- /dev/null +++ b/src/apps/cam/options.cpp @@ -0,0 +1,1141 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2019, Google Inc. + * + * options.cpp - cam - Options parsing + */ + +#include +#include +#include +#include +#include + +#include "options.h" + +/** + * \enum OptionArgument + * \brief Indicate if an option takes an argument + * + * \var OptionArgument::ArgumentNone + * \brief The option doesn't accept any argument + * + * \var OptionArgument::ArgumentRequired + * \brief The option requires an argument + * + * \var OptionArgument::ArgumentOptional + * \brief The option accepts an optional argument + */ + +/** + * \enum OptionType + * \brief The type of argument for an option + * + * \var OptionType::OptionNone + * \brief No argument type, used for options that take no argument + * + * \var OptionType::OptionInteger + * \brief Integer argument type, with an optional base prefix (`0` for base 8, + * `0x` for base 16, none for base 10) + * + * \var OptionType::OptionString + * \brief String argument + * + * \var OptionType::OptionKeyValue + * \brief key=value list argument + */ + +/* ----------------------------------------------------------------------------- + * Option + */ + +/** + * \struct Option + * \brief Store metadata about an option + * + * \var Option::opt + * \brief The option identifier + * + * \var Option::type + * \brief The type of the option argument + * + * \var Option::name + * \brief The option name + * + * \var Option::argument + * \brief Whether the option accepts an optional argument, a mandatory + * argument, or no argument at all + * + * \var Option::argumentName + * \brief The argument name used in the help text + * + * \var Option::help + * \brief The help text (may be a multi-line string) + * + * \var Option::keyValueParser + * \brief For options of type OptionType::OptionKeyValue, the key-value parser + * to parse the argument + * + * \var Option::isArray + * \brief Whether the option can appear once or multiple times + * + * \var Option::parent + * \brief The parent option + * + * \var Option::children + * \brief List of child options, storing all options whose parent is this option + * + * \fn Option::hasShortOption() + * \brief Tell if the option has a short option specifier (e.g. `-f`) + * \return True if the option has a short option specifier, false otherwise + * + * \fn Option::hasLongOption() + * \brief Tell if the option has a long option specifier (e.g. `--foo`) + * \return True if the option has a long option specifier, false otherwise + */ +struct Option { + int opt; + OptionType type; + const char *name; + OptionArgument argument; + const char *argumentName; + const char *help; + KeyValueParser *keyValueParser; + bool isArray; + Option *parent; + std::list