src/ipa/rpi/common/ipa_base.cpp


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/* SPDX-License-Identifier: BSD-2-Clause */
/*
 * Copyright (C) 2019-2023, Raspberry Pi Ltd
 *
 * Raspberry Pi IPA base class
 */

#include "ipa_base.h"

#include <cmath>

#include <libcamera/base/log.h>
#include <libcamera/base/span.h>
#include <libcamera/control_ids.h>
#include <libcamera/property_ids.h>

#include "controller/af_algorithm.h"
#include "controller/af_status.h"
#include "controller/agc_algorithm.h"
#include "controller/awb_algorithm.h"
#include "controller/awb_status.h"
#include "controller/black_level_status.h"
#include "controller/ccm_algorithm.h"
#include "controller/ccm_status.h"
#include "controller/contrast_algorithm.h"
#include "controller/denoise_algorithm.h"
#include "controller/hdr_algorithm.h"
#include "controller/lux_status.h"
#include "controller/sharpen_algorithm.h"
#include "controller/statistics.h"

namespace libcamera {

using namespace std::literals::chrono_literals;
using utils::Duration;

namespace {

/* Number of frame length times to hold in the queue. */
constexpr unsigned int FrameLengthsQueueSize = 10;

/* Configure the sensor with these values initially. */
constexpr double defaultAnalogueGain = 1.0;
constexpr Duration defaultExposureTime = 20.0ms;
constexpr Duration defaultMinFrameDuration = 1.0s / 30.0;
constexpr Duration defaultMaxFrameDuration = 250.0s;

/*
 * Determine the minimum allowable inter-frame duration to run the controller
 * algorithms. If the pipeline handler provider frames at a rate higher than this,
 * we rate-limit the controller Prepare() and Process() calls to lower than or
 * equal to this rate.
 */
constexpr Duration controllerMinFrameDuration = 1.0s / 30.0;

/* List of controls handled by the Raspberry Pi IPA */
const ControlInfoMap::Map ipaControls{
	{ &controls::AeEnable, ControlInfo(false, true) },
	{ &controls::ExposureTime, ControlInfo(0, 66666) },
	{ &controls::AnalogueGain, ControlInfo(1.0f, 16.0f) },
	{ &controls::AeMeteringMode, ControlInfo(controls::AeMeteringModeValues) },
	{ &controls::AeConstraintMode, ControlInfo(controls::AeConstraintModeValues) },
	{ &controls::AeExposureMode, ControlInfo(controls::AeExposureModeValues) },
	{ &controls::ExposureValue, ControlInfo(-8.0f, 8.0f, 0.0f) },
	{ &controls::AeFlickerMode, ControlInfo(static_cast<int>(controls::FlickerOff),
						static_cast<int>(controls::FlickerManual),
						static_cast<int>(controls::FlickerOff)) },
	{ &controls::AeFlickerPeriod, ControlInfo(100, 1000000) },
	{ &controls::Brightness, ControlInfo(-1.0f, 1.0f, 0.0f) },
	{ &controls::Contrast, ControlInfo(0.0f, 32.0f, 1.0f) },
	{ &controls::HdrMode, ControlInfo(controls::HdrModeValues) },
	{ &controls::Sharpness, ControlInfo(0.0f, 16.0f, 1.0f) },
	{ &controls::ScalerCrop, ControlInfo(Rectangle{}, Rectangle(65535, 65535, 65535, 65535), Rectangle{}) },
	{ &controls::FrameDurationLimits, ControlInfo(INT64_C(33333), INT64_C(120000)) },
	{ &controls::draft::NoiseReductionMode, ControlInfo(controls::draft::NoiseReductionModeValues) },
	{ &controls::rpi::StatsOutputEnable, ControlInfo(false, true, false) },
};

/* IPA controls handled conditionally, if the sensor is not mono */
const ControlInfoMap::Map ipaColourControls{
	{ &controls::AwbEnable, ControlInfo(false, true) },
	{ &controls::AwbMode, ControlInfo(controls::AwbModeValues) },
	{ &controls::ColourGains, ControlInfo(0.0f, 32.0f) },
	{ &controls::Saturation, ControlInfo(0.0f, 32.0f, 1.0f) },
};

/* IPA controls handled conditionally, if the lens has a focus control */
const ControlInfoMap::Map ipaAfControls{
	{ &controls::AfMode, ControlInfo(controls::AfModeValues) },
	{ &controls::AfRange, ControlInfo(controls::AfRangeValues) },
	{ &controls::AfSpeed, ControlInfo(controls::AfSpeedValues) },
	{ &controls::AfMetering, ControlInfo(controls::AfMeteringValues) },
	{ &controls::AfWindows, ControlInfo(Rectangle{}, Rectangle(65535, 65535, 65535, 65535), Rectangle{}) },
	{ &controls::AfTrigger, ControlInfo(controls::AfTriggerValues) },
	{ &controls::AfPause, ControlInfo(controls::AfPauseValues) },
	{ &controls::LensPosition, ControlInfo(0.0f, 32.0f, 1.0f) }
};

/* Platform specific controls */
const std::map<const std::string, ControlInfoMap::Map> platformControls {
	{ "pisp", {
		{ &controls::rpi::ScalerCrops, ControlInfo(Rectangle{}, Rectangle(65535, 65535, 65535, 65535), Rectangle{}) }
	} },
};

} /* namespace */

LOG_DEFINE_CATEGORY(IPARPI)

namespace ipa::RPi {

IpaBase::IpaBase()
	: controller_(), frameLengths_(FrameLengthsQueueSize, 0s), statsMetadataOutput_(false),
	  stitchSwapBuffers_(false), frameCount_(0), mistrustCount_(0), lastRunTimestamp_(0),
	  firstStart_(true), flickerState_({ 0, 0s })
{
}

IpaBase::~IpaBase()
{
}

int32_t IpaBase::init(const IPASettings &settings, const InitParams &params, InitResult *result)
{
	/*
	 * Load the "helper" for this sensor. This tells us all the device specific stuff
	 * that the kernel driver doesn't. We only do this the first time; we don't need
	 * to re-parse the metadata after a simple mode-switch for no reason.
	 */
	helper_ = std::unique_ptr<RPiController::CamHelper>(RPiController::CamHelper::create(settings.sensorModel));
	if (!helper_) {
		LOG(IPARPI, Error) << "Could not create camera helper for "
				   << settings.sensorModel;
		return -EINVAL;
	}

	/*
	 * Pass out the sensor config to the pipeline handler in order
	 * to setup the staggered writer class.
	 */
	int gainDelay, exposureDelay, vblankDelay, hblankDelay, sensorMetadata;
	helper_->getDelays(exposureDelay, gainDelay, vblankDelay, hblankDelay);
	sensorMetadata = helper_->sensorEmbeddedDataPresent();

	result->sensorConfig.gainDelay = gainDelay;
	result->sensorConfig.exposureDelay = exposureDelay;
	result->sensorConfig.vblankDelay = vblankDelay;
	result->sensorConfig.hblankDelay = hblankDelay;
	result->sensorConfig.sensorMetadata = sensorMetadata;

	/* Load the tuning file for this sensor. */
	int ret = controller_.read(settings.configurationFile.c_str());
	if (ret) {
		LOG(IPARPI, Error)
			<< "Failed to load tuning data file "
			<< settings.configurationFile;
		return ret;
	}

	lensPresent_ = params.lensPresent;

	controller_.initialise();

	/* Return the controls handled by the IPA */
	ControlInfoMap::Map ctrlMap = ipaControls;
	if (lensPresent_)
		ctrlMap.merge(ControlInfoMap::Map(ipaAfControls));

	auto platformCtrlsIt = platformControls.find(controller_.getTarget());
	if (platformCtrlsIt != platformControls.end())
		ctrlMap.merge(ControlInfoMap::Map(platformCtrlsIt->second));

	monoSensor_ = params.sensorInfo.cfaPattern == properties::draft::ColorFilterArrangementEnum::MONO;
	if (!monoSensor_)
		ctrlMap.merge(ControlInfoMap::Map(ipaColourControls));

	result->controlInfo = ControlInfoMap(std::move(ctrlMap), controls::controls);

	return platformInit(params, result);
}

int32_t IpaBase::configure(const IPACameraSensorInfo &sensorInfo, const ConfigParams &params,
			   ConfigResult *result)
{
	sensorCtrls_ = params.sensorControls;

	if (!validateSensorControls()) {
		LOG(IPARPI, Error) << "Sensor control validation failed.";
		return -1;
	}

	if (lensPresent_) {
		lensCtrls_ = params.lensControls;
		if (!validateLensControls()) {
			LOG(IPARPI, Warning) << "Lens validation failed, "
					     << "no lens control will be available.";
			lensPresent_ = false;