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|
/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
* Copyright (C) 2019, Google Inc.
*
* A camera sensor
*/
#include "libcamera/internal/camera_sensor.h"
#include "libcamera/internal/media_device.h"
#include <algorithm>
#include <float.h>
#include <iomanip>
#include <limits.h>
#include <math.h>
#include <string.h>
#include <libcamera/camera.h>
#include <libcamera/orientation.h>
#include <libcamera/property_ids.h>
#include <libcamera/base/utils.h>
#include "libcamera/internal/bayer_format.h"
#include "libcamera/internal/camera_lens.h"
#include "libcamera/internal/camera_sensor_properties.h"
#include "libcamera/internal/formats.h"
#include "libcamera/internal/sysfs.h"
/**
* \file camera_sensor.h
* \brief A camera sensor
*/
namespace libcamera {
LOG_DEFINE_CATEGORY(CameraSensor)
/**
* \class CameraSensor
* \brief A camera sensor based on V4L2 subdevices
*
* The CameraSensor class eases handling of sensors for pipeline handlers by
* hiding the details of the V4L2 subdevice kernel API and caching sensor
* information.
*
* The implementation is currently limited to sensors that expose a single V4L2
* subdevice with a single pad. It will be extended to support more complex
* devices as the needs arise.
*/
/**
* \brief Construct a CameraSensor
* \param[in] entity The media entity backing the camera sensor
*
* Once constructed the instance must be initialized with init().
*/
CameraSensor::CameraSensor(const MediaEntity *entity)
: entity_(entity), pad_(UINT_MAX), staticProps_(nullptr),
bayerFormat_(nullptr), supportFlips_(false),
flipsAlterBayerOrder_(false), properties_(properties::properties)
{
}
/**
* \brief Destroy a CameraSensor
*/
CameraSensor::~CameraSensor()
{
}
/**
* \brief Initialize the camera sensor instance
*
* This function performs the initialisation steps of the CameraSensor that may
* fail. It shall be called once and only once after constructing the instance.
*
* \return 0 on success or a negative error code otherwise
*/
int CameraSensor::init()
{
for (const MediaPad *pad : entity_->pads()) {
if (pad->flags() & MEDIA_PAD_FL_SOURCE) {
pad_ = pad->index();
break;
}
}
if (pad_ == UINT_MAX) {
LOG(CameraSensor, Error)
<< "Sensors with more than one pad are not supported";
return -EINVAL;
}
switch (entity_->function()) {
case MEDIA_ENT_F_CAM_SENSOR:
case MEDIA_ENT_F_PROC_VIDEO_ISP:
break;
default:
LOG(CameraSensor, Error)
<< "Invalid sensor function "
<< utils::hex(entity_->function());
return -EINVAL;
}
/* Create and open the subdev. */
subdev_ = std::make_unique<V4L2Subdevice>(entity_);
int ret = subdev_->open();
if (ret < 0)
return ret;
/*
* Clear any flips to be sure we get the "native" Bayer order. This is
* harmless for sensors where the flips don't affect the Bayer order.
*/
ControlList ctrls(subdev_->controls());
if (subdev_->controls().find(V4L2_CID_HFLIP) != subdev_->controls().end())
ctrls.set(V4L2_CID_HFLIP, 0);
if (subdev_->controls().find(V4L2_CID_VFLIP) != subdev_->controls().end())
ctrls.set(V4L2_CID_VFLIP, 0);
subdev_->setControls(&ctrls);
/* Enumerate, sort and cache media bus codes and sizes. */
formats_ = subdev_->formats(pad_);
if (formats_.empty()) {
LOG(CameraSensor, Error) << "No image format found";
return -EINVAL;
}
mbusCodes_ = utils::map_keys(formats_);
std::sort(mbusCodes_.begin(), mbusCodes_.end());
for (const auto &format : formats_) {
const std::vector<SizeRange> &ranges = format.second;
std::transform(ranges.begin(), ranges.end(), std::back_inserter(sizes_),
[](const SizeRange &range) { return range.max; });
}
std::sort(sizes_.begin(), sizes_.end());
/* Remove duplicates. */
auto last = std::unique(sizes_.begin(), sizes_.end());
sizes_.erase(last, sizes_.end());
/*
* VIMC is a bit special, as it does not yet support all the mandatory
* requirements regular sensors have to respect.
*
* Do not validate the driver if it's VIMC and initialize the sensor
* properties with static information.
*
* \todo Remove the special case once the VIMC driver has been
* updated in all test platforms.
*/
if (entity_->device()->driver() == "vimc") {
initVimcDefaultProperties();
ret = initProperties();
if (ret)
return ret;
return discoverAncillaryDevices();
}
/* Get the color filter array pattern (only for RAW sensors). */
for (unsigned int mbusCode : mbusCodes_) {
const BayerFormat &bayerFormat = BayerFormat::fromMbusCode(mbusCode);
if (bayerFormat.isValid()) {
bayerFormat_ = &bayerFormat;
break;
}
}
ret = validateSensorDriver();
if (ret)
return ret;
ret = initProperties();
if (ret)
return ret;
ret = discoverAncillaryDevices();
if (ret)
return ret;
/*
* Set HBLANK to the minimum to start with a well-defined line length,
* allowing IPA modules that do not modify HBLANK to use the sensor
* minimum line length in their calculations.
*/
const struct v4l2_query_ext_ctrl *hblankInfo = subdev_->controlInfo(V4L2_CID_HBLANK);
if (hblankInfo && !(hblankInfo->flags & V4L2_CTRL_FLAG_READ_ONLY)) {
ControlList ctrl(subdev_->controls());
ctrl.set(V4L2_CID_HBLANK, static_cast<int32_t>(hblankInfo->minimum));
ret = subdev_->setControls(&ctrl);
if (ret)
return ret;
}
return applyTestPatternMode(controls::draft::TestPatternModeEnum::TestPatternModeOff);
}
int CameraSensor::generateId()
{
const std::string devPath = subdev_->devicePath();
/* Try to get ID from firmware description. */
id_ = sysfs::firmwareNodePath(devPath);
if (!id_.empty())
return 0;
/*
* Virtual sensors not described in firmware
*
* Verify it's a platform device and construct ID from the device path
* and model of sensor.
*/
if (devPath.find("/sys/devices/platform/", 0) == 0) {
id_ = devPath.substr(strlen("/sys/devices/")) + " " + model();
return 0;
}
LOG(CameraSensor, Error) << "Can't generate sensor ID";
return -EINVAL;
}
int CameraSensor::validateSensorDriver()
{
int err = 0;
/*
* Optional controls are used to register optional sensor properties. If
* not present, some values will be defaulted.
*/
static constexpr uint32_t optionalControls[] = {
V4L2_CID_CAMERA_SENSOR_ROTATION,
};
const ControlIdMap &controls = subdev_->controls().idmap();
for (uint32_t ctrl : optionalControls) {
if (!controls.count(ctrl))
LOG(CameraSensor, Debug)
<< "Optional V4L2 control " << utils::hex(ctrl)
<< " not supported";
}
/*
* Recommended controls are similar to optional controls, but will
* become mandatory in the near future. Be loud if they're missing.
*/
static constexpr uint32_t recommendedControls[] = {
V4L2_CID_CAMERA_ORIENTATION,
};
for (uint32_t ctrl : recommendedControls) {
if (!controls.count(ctrl)) {
LOG(CameraSensor, Warning)
<< "Recommended V4L2 control " << utils::hex(ctrl)
<< " not supported";
err = -EINVAL;
}
}
/*
* Verify if sensor supports horizontal/vertical flips
*
* \todo Handle horizontal and vertical flips independently.
*/
const struct v4l2_query_ext_ctrl *hflipInfo = subdev_->controlInfo(V4L2_CID_HFLIP);
const struct v4l2_query_ext_ctrl *vflipInfo = subdev_->controlInfo(V4L2_CID_VFLIP);
if (hflipInfo && !(hflipInfo->flags & V4L2_CTRL_FLAG_READ_ONLY) &&
vflipInfo && !(vflipInfo->flags & V4L2_CTRL_FLAG_READ_ONLY)) {
supportFlips_ = true;
if (hflipInfo->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT ||
vflipInfo->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT)
flipsAlterBayerOrder_ = true;
}
if (!supportFlips_)
LOG(CameraSensor, Debug)
<< "Camera sensor does not support horizontal/vertical flip";
/*
* Make sure the required selection targets are supported.
*
* Failures in reading any of the targets are not deemed to be fatal,
* but some properties and features, like constructing a
* IPACameraSensorInfo for the IPA module, won't be supported.
*
* \todo Make support for selection targets mandatory as soon as all
* test platforms have been updated.
*/
Rectangle rect;
int ret = subdev_->getSelection(pad_, V4L2_SEL_TGT_CROP_BOUNDS, &rect);
if (ret) {
/*
* Default the pixel array size to the largest size supported
* by the sensor. The sizes_ vector is sorted in ascending
* order, the largest size is thus the last element.
*/
pixelArraySize_ = sizes_.back();
LOG(CameraSensor, Warning)
<< "The PixelArraySize property has been defaulted to "
<< pixelArraySize_;
err = -EINVAL;
} else {
pixelArraySize_ = rect.size();
}
ret = subdev_->getSelection(pad_, V4L2_SEL_TGT_CROP_DEFAULT, &activeArea_);
if (ret) {
activeArea_ = Rectangle(pixelArraySize_);
LOG(CameraSensor, Warning)
<< "The PixelArrayActiveAreas property has been defaulted to "
<< activeArea_;
err = -EINVAL;
}
ret = subdev_->getSelection(pad_, V4L2_SEL_TGT_CROP, &rect);
if (ret) {
LOG(CameraSensor, Warning)
<< "Failed to retrieve the sensor crop rectangle";
err = -EINVAL;
}
if (err) {
LOG(CameraSensor, Warning)
<< "The sensor kernel driver needs to be fixed";
LOG(CameraSensor, Warning)
<< "See Documentation/sensor_driver_requirements.rst in the libcamera sources for more information";
}
if (!bayerFormat_)
return 0;
/*
* For raw sensors, make sure the sensor driver supports the controls
* required by the CameraSensor class.
*/
static constexpr uint32_t mandatoryControls[] = {
V4L2_CID_ANALOGUE_GAIN,
V4L2_CID_EXPOSURE,
V4L2_CID_HBLANK,
V4L2_CID_PIXEL_RATE,
V4L2_CID_VBLANK,
};
err = 0;
for (uint32_t ctrl : mandatoryControls) {
if (!controls.count(ctrl)) {
LOG(CameraSensor, Error)
<< "Mandatory V4L2 control " << utils::hex(ctrl)
<< " not available";
err = -EINVAL;
}
}
if (err) {
LOG(CameraSensor, Error)
<< "The sensor kernel driver needs to be fixed";
LOG(CameraSensor, Error)
<< "See Documentation/sensor_driver_requirements.rst in the libcamera sources for more information";
return err;
}
return 0;
}
/*
* \brief Initialize properties that cannot be intialized by the
* regular initProperties() function for VIMC
*/
void CameraSensor::initVimcDefaultProperties()
{
/* Use the largest supported size. */
pixelArraySize_ = sizes_.back();
activeArea_ = Rectangle(pixelArraySize_);
}
void CameraSensor::initStaticProperties()
{
staticProps_ = CameraSensorProperties::get(model_);
if (!staticProps_)
return;
/* Register the properties retrieved from the sensor database. */
properties_.set(properties::UnitCellSize, staticProps_->unitCellSize);
initTestPatternModes();
}
void CameraSensor::initTestPatternModes()
{
const auto &v4l2TestPattern = controls().find(V4L2_CID_TEST_PATTERN);
if (v4l2TestPattern == controls().end()) {
LOG(CameraSensor, Debug) << "V4L2_CID_TEST_PATTERN is not supported";
return;
}
const auto &testPatternModes = staticProps_->testPatternModes;
if (testPatternModes.empty()) {
/*
* The camera sensor supports test patterns but we don't know
* how to map them so this should be fixed.
*/
LOG(CameraSensor, Debug) << "No static test pattern map for \'"
<< model() << "\'";
return;
}
/*
* Create a map that associates the V4L2 control index to the test
* pattern mode by reversing the testPatternModes map provided by the
* camera sensor properties. This makes it easier to verify if the
* control index is supported in the below for loop that creates the
* list of supported test patterns.
*/
std::map<int32_t, controls::draft::TestPatternModeEnum> indexToTestPatternMode;
for (const auto &it : testPatternModes)
indexToTestPatternMode[it.second] = it.first;
for (const ControlValue &value : v4l2TestPattern->second.values()) {
const int32_t index = value.get<int32_t>();
const auto it = indexToTestPatternMode.find(index);
if (it == indexToTestPatternMode.end()) {
LOG(CameraSensor, Debug)
<< "Test pattern mode " << index << " ignored";
continue;
}
testPatternModes_.push_back(it->second);
}
}
int CameraSensor::initProperties()
{
model_ = subdev_->model();
properties_.set(properties::Model, utils::toAscii(model_));
/* Generate a unique ID for the sensor. */
int ret = generateId();
if (ret)
return ret;
/* Initialize the static properties from the sensor database. */
initStaticProperties();
/* Retrieve and register properties from the kernel interface. */
const ControlInfoMap &controls = subdev_->controls();
const auto &orientation = controls.find(V4L2_CID_CAMERA_ORIENTATION);
if (orientation != controls.end()) {
int32_t v4l2Orientation = orientation->second.def().get<int32_t>();
int32_t propertyValue;
switch (v4l2Orientation) {
default:
LOG(CameraSensor, Warning)
<< "Unsupported camera location "
<< v4l2Orientation << ", setting to External";
[[fallthrough]];
case V4L2_CAMERA_ORIENTATION_EXTERNAL:
propertyValue = properties::CameraLocationExternal;
break;
case V4L2_CAMERA_ORIENTATION_FRONT:
propertyValue = properties::CameraLocationFront;
break;
case V4L2_CAMERA_ORIENTATION_BACK:
propertyValue = properties::CameraLocationBack;
break;
}
properties_.set(properties::Location, propertyValue);
} else {
LOG(CameraSensor, Warning) << "Failed to retrieve the camera location";
}
const auto &rotationControl = controls.find(V4L2_CID_CAMERA_SENSOR_ROTATION);
if (rotationControl != controls.end()) {
int32_t propertyValue = rotationControl->second.def().get<int32_t>();
/*
* Cache the Transform associated with the camera mounting
* rotation for later use in computeTransform().
*/
bool success;
mountingOrientation_ = orientationFromRotation(propertyValue, &success);
if (!success) {
LOG(CameraSensor, Warning)
<< "Invalid rotation of " << propertyValue
<< " degrees - ignoring";
mountingOrientation_ = Orientation::Rotate0;
}
properties_.set(properties::Rotation, propertyValue);
} else {
LOG(CameraSensor, Warning)
<< "Rotation control not available, default to 0 degrees";
properties_.set(properties::Rotation, 0);
mountingOrientation_ = Orientation::Rotate0;
}
properties_.set(properties::PixelArraySize, pixelArraySize_);
properties_.set(properties::PixelArrayActiveAreas, { activeArea_ });
/* Color filter array pattern, register only for RAW sensors. */
if (bayerFormat_) {
int32_t cfa;
switch (bayerFormat_->order) {
case BayerFormat::BGGR:
cfa = properties::draft::BGGR;
break;
case BayerFormat::GBRG:
cfa = properties::draft::GBRG;
break;
case BayerFormat::GRBG:
cfa = properties::draft::GRBG;
break;
case BayerFormat::RGGB:
cfa = properties::draft::RGGB;
break;
case BayerFormat::MONO:
cfa = properties::draft::MONO;
break;
}
properties_.set(properties::draft::ColorFilterArrangement, cfa);
}
return 0;
}
/**
* \brief Check for and initialise any ancillary devices
*
* Sensors sometimes have ancillary devices such as a Lens or Flash that could
* be linked to their MediaEntity by the kernel. Search for and handle any
* such device.
*
* \todo Handle MEDIA_ENT_F_FLASH too.
*/
int CameraSensor::discoverAncillaryDevices()
{
int ret;
for (MediaEntity *ancillary : entity_->ancillaryEntities()) {
switch (ancillary->function()) {
case MEDIA_ENT_F_LENS:
focusLens_ = std::make_unique<CameraLens>(ancillary);
ret = focusLens_->init();
if (ret) {
LOG(CameraSensor, Error)
<< "Lens initialisation failed, lens disabled";
focusLens_.reset();
}
break;
default:
LOG(CameraSensor, Warning)
<< "Unsupported ancillary entity function "
<< ancillary->function();
break;
}
}
return 0;
}
/**
* \fn CameraSensor::model()
* \brief Retrieve the sensor model name
*
* The sensor model name is a free-formed string that uniquely identifies the
* sensor model.
*
* \return The sensor model name
*/
/**
* \fn CameraSensor::id()
* \brief Retrieve the sensor ID
*
* The sensor ID is a free-form string that uniquely identifies the sensor in
* the system. The ID satisfies the requirements to be used as a camera ID.
*
* \return The sensor ID
*/
/**
* \fn CameraSensor::entity()
* \brief Retrieve the sensor media entity
* \return The sensor media entity
*/
/**
* \fn CameraSensor::device()
* \brief Retrieve the camera sensor device
* \todo Remove this function by integrating DelayedControl with CameraSensor
* \return The camera sensor device
*/
/**
* \fn CameraSensor::focusLens()
* \brief Retrieve the focus lens controller
*
* \return The focus lens controller. nullptr if no focus lens controller is
* connected to the sensor
*/
/**
* \fn CameraSensor::mbusCodes()
* \brief Retrieve the media bus codes supported by the camera sensor
*
* Any Bayer formats are listed using the sensor's native Bayer order,
* that is, with the effect of V4L2_CID_HFLIP and V4L2_CID_VFLIP undone
* (where these controls exist).
*
* \return The supported media bus codes sorted in increasing order
*/
/**
* \brief Retrieve the supported frame sizes for a media bus code
* \param[in] mbusCode The media bus code for which sizes are requested
*
* \return The supported frame sizes for \a mbusCode sorted in increasing order
*/
std::vector<Size> CameraSensor::sizes(unsigned int mbusCode) const
{
std::vector<Size> sizes;
const auto &format = formats_.find(mbusCode);
if (format == formats_.end())
return sizes;
const std::vector<SizeRange> &ranges = format->second;
std::transform(ranges.begin(), ranges.end(), std::back_inserter(sizes),
[](const SizeRange &range) { return range.max; });
std::sort(sizes.begin(), sizes.end());
return sizes;
}
/**
* \brief Retrieve the camera sensor resolution
*
* The camera sensor resolution is the active pixel area size, clamped to the
* maximum frame size the sensor can produce if it is smaller than the active
* pixel area.
*
* \todo Consider if it desirable to distinguish between the maximum resolution
* the sensor can produce (also including upscaled ones) and the actual pixel
* array size by splitting this function in two.
*
* \return The camera sensor resolution in pixels
*/
Size CameraSensor::resolution() const
{
return std::min(sizes_.back(), activeArea_.size());
}
/**
* \brief Retrieve the best sensor format for a desired output
* \param[in] mbusCodes The list of acceptable media bus codes
* \param[in] size The desired size
*
* Media bus codes are selected from \a mbusCodes, which lists all acceptable
* codes in decreasing order of preference. Media bus codes supported by the
* sensor but not listed in \a mbusCodes are ignored. If none of the desired
* codes is supported, it returns an error.
*
* \a size indicates the desired size at the output of the sensor. This function
* selects the best media bus code and size supported by the sensor according
* to the following criteria.
*
* - The desired \a size shall fit in the sensor output size to avoid the need
* to up-scale.
* - The sensor output size shall match the desired aspect ratio to avoid the
* need to crop the field of view.
* - The sensor output size shall be as small as possible to lower the required
* bandwidth.
* - The desired \a size shall be supported by one of the media bus code listed
* in \a mbusCodes.
*
* When multiple media bus codes can produce the same size, the code at the
* lowest position in \a mbusCodes is selected.
*
* The use of this function is optional, as the above criteria may not match the
* needs of all pipeline handlers. Pipeline handlers may implement custom
* sensor format selection when needed.
*
* The returned sensor output format is guaranteed to be acceptable by the
* setFormat() function without any modification.
*
* \return The best sensor output format matching the desired media bus codes
* and size on success, or an empty format otherwise.
*/
V4L2SubdeviceFormat CameraSensor::getFormat(const std::vector<unsigned int> &mbusCodes,
const Size &size) const
{
unsigned int desiredArea = size.width * size.height;
unsigned int bestArea = UINT_MAX;
float desiredRatio = static_cast<float>(size.width) / size.height;
float bestRatio = FLT_MAX;
const Size *bestSize = nullptr;
uint32_t bestCode = 0;
for (unsigned int code : mbusCodes) {
const auto formats = formats_.find(code);
if (formats == formats_.end())
continue;
for (const SizeRange &range : formats->second) {
const Size &sz = range.max;
if (sz.width < size.width || sz.height < size.height)
continue;
float ratio = static_cast<float>(sz.width) / sz.height;
float ratioDiff = fabsf(ratio - desiredRatio);
unsigned int area = sz.width * sz.height;
unsigned int areaDiff = area - desiredArea;
if (ratioDiff > bestRatio)
continue;
if (ratioDiff < bestRatio || areaDiff < bestArea) {
bestRatio = ratioDiff;
bestArea = areaDiff;
bestSize = &sz;
bestCode = code;
}
}
}
if (!bestSize) {
LOG(CameraSensor, Debug) << "No supported format or size found";
return {};
}
V4L2SubdeviceFormat format{
.code = bestCode,
.size = *bestSize,
.colorSpace = ColorSpace::Raw,
};
return format;
}
/**
* \brief Set the sensor output format
* \param[in] format The desired sensor output format
* \param[in] transform The transform to be applied on the sensor.
* Defaults to Identity.
*
* If flips are writable they are configured according to the desired Transform.
* Transform::Identity always corresponds to H/V flip being disabled if the
* controls are writable. Flips are set before the new format is applied as
* they can effectively change the Bayer pattern ordering.
*
* The ranges of any controls associated with the sensor are also updated.
*
* \return 0 on success or a negative error code otherwise
*/
int CameraSensor::setFormat(V4L2SubdeviceFormat *format, Transform transform)
{
/* Configure flips if the sensor supports that. */
if (supportFlips_) {
ControlList flipCtrls(subdev_->controls());
flipCtrls.set(V4L2_CID_HFLIP,
static_cast<int32_t>(!!(transform & Transform::HFlip)));
flipCtrls.set(V4L2_CID_VFLIP,
static_cast<int32_t>(!!(transform & Transform::VFlip)));
int ret = subdev_->setControls(&flipCtrls);
if (ret)
return ret;
}
/* Apply format on the subdev. */
int ret = subdev_->setFormat(pad_, format);
if (ret)
return ret;
subdev_->updateControlInfo();
return 0;
}
/**
* \brief Try the sensor output format
* \param[in] format The desired sensor output format
*
* The ranges of any controls associated with the sensor are not updated.
*
* \todo Add support for Transform by changing the format's Bayer ordering
* before calling subdev_->setFormat().
*
* \return 0 on success or a negative error code otherwise
*/
int CameraSensor::tryFormat(V4L2SubdeviceFormat *format) const
{
return subdev_->setFormat(pad_, format,
V4L2Subdevice::Whence::TryFormat);
}
/**
* \brief Apply a sensor configuration to the camera sensor
* \param[in] config The sensor configuration
* \param[in] transform The transform to be applied on the sensor.
* Defaults to Identity
* \param[out] sensorFormat Format applied to the sensor (optional)
*
* Apply to the camera sensor the configuration \a config.
*
* \todo The configuration shall be fully populated and if any of the fields
* specified cannot be applied exactly, an error code is returned.
*
* \return 0 if \a config is applied correctly to the camera sensor, a negative
* error code otherwise
*/
int CameraSensor::applyConfiguration(const SensorConfiguration &config,
Transform transform,
V4L2SubdeviceFormat *sensorFormat)
{
if (!config.isValid()) {
LOG(CameraSensor, Error) << "Invalid sensor configuration";
return -EINVAL;
}
std::vector<unsigned int> filteredCodes;
std::copy_if(mbusCodes_.begin(), mbusCodes_.end(),
std::back_inserter(filteredCodes),
[&config](unsigned int mbusCode) {
BayerFormat bayer = BayerFormat::fromMbusCode(mbusCode);
if (bayer.bitDepth == config.bitDepth)
return true;
return false;
});
if (filteredCodes.empty()) {
LOG(CameraSensor, Error)
<< "Cannot find any format with bit depth "
<< config.bitDepth;
return -EINVAL;
}
/*
* Compute the sensor's data frame size by applying the cropping
* rectangle, subsampling and output crop to the sensor's pixel array
* size.
*
* \todo The actual size computation is for now ignored and only the
* output size is considered. This implies that resolutions obtained
* with two different cropping/subsampling will look identical and
* only the first found one will be considered.
*/
V4L2SubdeviceFormat subdevFormat = {};
for (unsigned int code : filteredCodes) {
for (const Size &size : sizes(code)) {
if (size.width != config.outputSize.width ||
size.height != config.outputSize.height)
continue;
subdevFormat.code = code;
subdevFormat.size = size;
break;
}
}
if (!subdevFormat.code) {
LOG(CameraSensor, Error) << "Invalid output size in sensor configuration";
return -EINVAL;
}
int ret = setFormat(&subdevFormat, transform);
if (ret)
return ret;
/*
* Return to the caller the format actually applied to the sensor.
* This is relevant if transform has changed the bayer pattern order.
*/
if (sensorFormat)
*sensorFormat = subdevFormat;
/* \todo Handle AnalogCrop. Most sensors do not support set_selection */
/* \todo Handle scaling in the digital domain. */
return 0;
}
/**
* \fn CameraSensor::properties()
* \brief Retrieve the camera sensor properties
* \return The list of camera sensor properties
*/
/**
* \brief Assemble and return the camera sensor info
* \param[out] info The camera sensor info
*
* This function fills \a info with information that describes the camera sensor
* and its current configuration. The information combines static data (such as
* the the sensor model or active pixel array size) and data specific to the
* current sensor configuration (such as the line length and pixel rate).
*
* Sensor information is only available for raw sensors. When called for a YUV
* sensor, this function returns -EINVAL.
*
* \return 0 on success, a negative error code otherwise
*/
int CameraSensor::sensorInfo(IPACameraSensorInfo *info) const
{
if (!bayerFormat_)
return -EINVAL;
info->model = model();
/*
* The active area size is a static property, while the crop
* rectangle needs to be re-read as it depends on the sensor
* configuration.
*/
info->activeAreaSize = { activeArea_.width, activeArea_.height };
/*
* \todo Support for retreiving the crop rectangle is scheduled to
* become mandatory. For the time being use the default value if it has
* been initialized at sensor driver validation time.
*/
int ret = subdev_->getSelection(pad_, V4L2_SEL_TGT_CROP, &info->analogCrop);
if (ret) {
info->analogCrop = activeArea_;
LOG(CameraSensor, Warning)
<< "The analogue crop rectangle has been defaulted to the active area size";
}
/*
* IPACameraSensorInfo::analogCrop::x and IPACameraSensorInfo::analogCrop::y
* are defined relatively to the active pixel area, while V4L2's
* TGT_CROP target is defined in respect to the full pixel array.
*
* Compensate it by subtracting the active area offset.
*/
info->analogCrop.x -= activeArea_.x;
info->analogCrop.y -= activeArea_.y;
/* The bit depth and image size depend on the currently applied format. */
V4L2SubdeviceFormat format{};
ret = subdev_->getFormat(pad_, &format);
if (ret)
return ret;
info->bitsPerPixel = MediaBusFormatInfo::info(format.code).bitsPerPixel;
info->outputSize = format.size;
std::optional<int32_t> cfa = properties_.get(properties::draft::ColorFilterArrangement);
info->cfaPattern = cfa ? *cfa : properties::draft::RGB;
/*
* Retrieve the pixel rate, line length and minimum/maximum frame
* duration through V4L2 controls. Support for the V4L2_CID_PIXEL_RATE,
* V4L2_CID_HBLANK and V4L2_CID_VBLANK controls is mandatory.
*/
ControlList ctrls = subdev_->getControls({ V4L2_CID_PIXEL_RATE,
V4L2_CID_HBLANK,
V4L2_CID_VBLANK });
if (ctrls.empty()) {
LOG(CameraSensor, Error)
<< "Failed to retrieve camera info controls";
return -EINVAL;
}
info->pixelRate = ctrls.get(V4L2_CID_PIXEL_RATE).get<int64_t>();
const ControlInfo hblank = ctrls.infoMap()->at(V4L2_CID_HBLANK);
info->minLineLength = info->outputSize.width + hblank.min().get<int32_t>();
info->maxLineLength = info->outputSize.width + hblank.max().get<int32_t>();
const ControlInfo vblank = ctrls.infoMap()->at(V4L2_CID_VBLANK);
info->minFrameLength = info->outputSize.height + vblank.min().get<int32_t>();
info->maxFrameLength = info->outputSize.height + vblank.max().get<int32_t>();
return 0;
}
/**
* \brief Compute the Transform that gives the requested \a orientation
* \param[inout] orientation The desired image orientation
*
* This function computes the Transform that the pipeline handler should apply
* to the CameraSensor to obtain the requested \a orientation.
*
* The intended caller of this function is the validate() implementation of
* pipeline handlers, that pass in the application requested
* CameraConfiguration::orientation and obtain a Transform to apply to the
* camera sensor, likely at configure() time.
*
* If the requested \a orientation cannot be obtained, the \a orientation
* parameter is adjusted to report the current image orientation and
* Transform::Identity is returned.
*
* If the requested \a orientation can be obtained, the function computes a
* Transform and does not adjust \a orientation.
*
* Pipeline handlers are expected to verify if \a orientation has been
* adjusted by this function and set the CameraConfiguration::status to
* Adjusted accordingly.
*
* \return A Transform instance that applied to the CameraSensor produces images
* with \a orientation
*/
Transform CameraSensor::computeTransform(Orientation *orientation) const
{
/*
* If we cannot do any flips we cannot change the native camera mounting
* orientation.
*/
if (!supportFlips_) {
*orientation = mountingOrientation_;
return Transform::Identity;
}
/*
* Now compute the required transform to obtain 'orientation' starting
* from the mounting rotation.
*
* As a note:
* orientation / mountingOrientation_ = transform
* mountingOrientation_ * transform = orientation
*/
Transform transform = *orientation / mountingOrientation_;
/*
* If transform contains any Transpose we cannot do it, so adjust
* 'orientation' to report the image native orientation and return Identity.
*/
if (!!(transform & Transform::Transpose)) {
*orientation = mountingOrientation_;
return Transform::Identity;
}
return transform;
}
/**
* \brief Compute the Bayer order that results from the given Transform
* \param[in] t The Transform to apply to the sensor
*
* Some sensors change their Bayer order when they are h-flipped or v-flipped.
* This function computes and returns the Bayer order that would result from the
* given transform applied to the sensor.
*
* This function is valid only when the sensor produces raw Bayer formats.
*
* \return The Bayer order produced by the sensor when the Transform is applied
*/
BayerFormat::Order CameraSensor::bayerOrder(Transform t) const
{
/* Return a defined by meaningless value for non-Bayer sensors. */
if (!bayerFormat_)
return BayerFormat::Order::BGGR;
if (!flipsAlterBayerOrder_)
return bayerFormat_->order;
/*
* Apply the transform to the native (i.e. untransformed) Bayer order,
* using the rest of the Bayer format supplied by the caller.
*/
return bayerFormat_->transform(t).order;
}
/**
* \brief Retrieve the supported V4L2 controls and their information
*
* Control information is updated automatically to reflect the current sensor
* configuration when the setFormat() function is called, without invalidating
* any iterator on the ControlInfoMap.
*
* \return A map of the V4L2 controls supported by the sensor
*/
const ControlInfoMap &CameraSensor::controls() const
{
return subdev_->controls();
}
/**
* \brief Read V4L2 controls from the sensor
* \param[in] ids The list of controls to read, specified by their ID
*
* This function reads the value of all controls contained in \a ids, and
* returns their values as a ControlList. The control identifiers are defined by
* the V4L2 specification (V4L2_CID_*).
*
* If any control in \a ids is not supported by the device, is disabled (i.e.
* has the V4L2_CTRL_FLAG_DISABLED flag set), or if any other error occurs
* during validation of the requested controls, no control is read and this
* function returns an empty control list.
*
* \sa V4L2Device::getControls()
*
* \return The control values in a ControlList on success, or an empty list on
* error
*/
ControlList CameraSensor::getControls(const std::vector<uint32_t> &ids)
{
return subdev_->getControls(ids);
}
/**
* \brief Write V4L2 controls to the sensor
* \param[in] ctrls The list of controls to write
*
* This function writes the value of all controls contained in \a ctrls, and
* stores the values actually applied to the device in the corresponding \a
* ctrls entry. The control identifiers are defined by the V4L2 specification
* (V4L2_CID_*).
*
* If any control in \a ctrls is not supported by the device, is disabled (i.e.
* has the V4L2_CTRL_FLAG_DISABLED flag set), is read-only, or if any other
* error occurs during validation of the requested controls, no control is
* written and this function returns -EINVAL.
*
* If an error occurs while writing the controls, the index of the first
* control that couldn't be written is returned. All controls below that index
* are written and their values are updated in \a ctrls, while all other
* controls are not written and their values are not changed.
*
* \sa V4L2Device::setControls()
*
* \return 0 on success or an error code otherwise
* \retval -EINVAL One of the control is not supported or not accessible
* \retval i The index of the control that failed
*/
int CameraSensor::setControls(ControlList *ctrls)
{
return subdev_->setControls(ctrls);
}
/**
* \fn CameraSensor::testPatternModes()
* \brief Retrieve all the supported test pattern modes of the camera sensor
* The test pattern mode values correspond to the controls::TestPattern control.
*
* \return The list of test pattern modes
*/
/**
* \brief Set the test pattern mode for the camera sensor
* \param[in] mode The test pattern mode
*
* The new \a mode is applied to the sensor if it differs from the active test
* pattern mode. Otherwise, this function is a no-op. Setting the same test
* pattern mode for every frame thus incurs no performance penalty.
*/
int CameraSensor::setTestPatternMode(controls::draft::TestPatternModeEnum mode)
{
if (testPatternMode_ == mode)
return 0;
if (testPatternModes_.empty()) {
LOG(CameraSensor, Error)
<< "Camera sensor does not support test pattern modes.";
return -EINVAL;
}
return applyTestPatternMode(mode);
}
int CameraSensor::applyTestPatternMode(controls::draft::TestPatternModeEnum mode)
{
if (testPatternModes_.empty())
return 0;
auto it = std::find(testPatternModes_.begin(), testPatternModes_.end(),
mode);
if (it == testPatternModes_.end()) {
LOG(CameraSensor, Error) << "Unsupported test pattern mode "
<< mode;
return -EINVAL;
}
LOG(CameraSensor, Debug) << "Apply test pattern mode " << mode;
int32_t index = staticProps_->testPatternModes.at(mode);
ControlList ctrls{ controls() };
ctrls.set(V4L2_CID_TEST_PATTERN, index);
int ret = setControls(&ctrls);
if (ret)
return ret;
testPatternMode_ = mode;
return 0;
}
std::string CameraSensor::logPrefix() const
{
return "'" + entity_->name() + "'";
}
} /* namespace libcamera */
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