From a8964c28c80fb520ee3c7b10143371081d41405a Mon Sep 17 00:00:00 2001 From: Martijn Braam Date: Sat, 14 Mar 2020 01:38:56 +0200 Subject: libcamera: pipeline: Add a simple pipeline handler MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit This new pipeline handler aims at supporting any simple device without requiring any device-specific code. Simple devices are currently defined as a graph made of one or multiple camera sensors and a single video node, with each sensor connected to the video node through a linear pipeline. The simple pipeline handler will automatically parse the media graph, enumerate sensors, build supported stream configurations, and configure the pipeline, without any device-specific knowledge. It doesn't support configuration of any processing in the pipeline at the moment, but may be extended to support simple processing such as format conversion or scaling in the future. The only device-specific information in the pipeline handler is the list of supported drivers, required for device matching. We may be able to remove this in the future by matching with the simple pipeline handler as a last resort option, after all other pipeline handlers have been tried. Signed-off-by: Martijn Braam Signed-off-by: Laurent Pinchart Reviewed-by: Kieran Bingham Reviewed-by: Niklas Söderlund Reviewed-by: Andrey Konovalov --- src/libcamera/pipeline/simple/meson.build | 3 + src/libcamera/pipeline/simple/simple.cpp | 720 ++++++++++++++++++++++++++++++ 2 files changed, 723 insertions(+) create mode 100644 src/libcamera/pipeline/simple/meson.build create mode 100644 src/libcamera/pipeline/simple/simple.cpp (limited to 'src') diff --git a/src/libcamera/pipeline/simple/meson.build b/src/libcamera/pipeline/simple/meson.build new file mode 100644 index 00000000..4945a3e1 --- /dev/null +++ b/src/libcamera/pipeline/simple/meson.build @@ -0,0 +1,3 @@ +libcamera_sources += files([ + 'simple.cpp', +]) diff --git a/src/libcamera/pipeline/simple/simple.cpp b/src/libcamera/pipeline/simple/simple.cpp new file mode 100644 index 00000000..95417500 --- /dev/null +++ b/src/libcamera/pipeline/simple/simple.cpp @@ -0,0 +1,720 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2020, Laurent Pinchart + * Copyright (C) 2019, Martijn Braam + * + * simple.cpp - Pipeline handler for simple pipelines + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include + +#include "camera_sensor.h" +#include "device_enumerator.h" +#include "log.h" +#include "media_device.h" +#include "pipeline_handler.h" +#include "v4l2_subdevice.h" +#include "v4l2_videodevice.h" + +namespace libcamera { + +LOG_DEFINE_CATEGORY(SimplePipeline) + +class SimplePipelineHandler; + +namespace { + +static const char * const drivers[] = { + "imx7-csi", + "sun6i-csi", +}; + +} /* namespace */ + +class SimpleCameraData : public CameraData +{ +public: + SimpleCameraData(PipelineHandler *pipe, MediaEntity *sensor, + MediaEntity *video); + + bool isValid() const { return sensor_ != nullptr; } + std::set streams() { return { &stream_ }; } + + int init(); + int setupLinks(); + int setupFormats(V4L2SubdeviceFormat *format, + V4L2Subdevice::Whence whence); + + struct Entity { + MediaEntity *entity; + MediaLink *link; + }; + + struct Configuration { + uint32_t code; + PixelFormat pixelFormat; + Size size; + }; + + Stream stream_; + std::unique_ptr sensor_; + std::list entities_; + + std::vector configs_; + std::map formats_; +}; + +class SimpleCameraConfiguration : public CameraConfiguration +{ +public: + SimpleCameraConfiguration(Camera *camera, SimpleCameraData *data); + + Status validate() override; + + const V4L2SubdeviceFormat &sensorFormat() { return sensorFormat_; } + +private: + /* + * The SimpleCameraData instance is guaranteed to be valid as long as + * the corresponding Camera instance is valid. In order to borrow a + * reference to the camera data, store a new reference to the camera. + */ + std::shared_ptr camera_; + const SimpleCameraData *data_; + + V4L2SubdeviceFormat sensorFormat_; +}; + +class SimplePipelineHandler : public PipelineHandler +{ +public: + SimplePipelineHandler(CameraManager *manager); + ~SimplePipelineHandler(); + + CameraConfiguration *generateConfiguration(Camera *camera, + const StreamRoles &roles) override; + int configure(Camera *camera, CameraConfiguration *config) override; + + int exportFrameBuffers(Camera *camera, Stream *stream, + std::vector> *buffers) override; + + int start(Camera *camera) override; + void stop(Camera *camera) override; + + bool match(DeviceEnumerator *enumerator) override; + + V4L2VideoDevice *video() { return video_; } + V4L2Subdevice *subdev(const MediaEntity *entity); + +protected: + int queueRequestDevice(Camera *camera, Request *request) override; + +private: + SimpleCameraData *cameraData(const Camera *camera) + { + return static_cast( + PipelineHandler::cameraData(camera)); + } + + int initLinks(); + + int createCamera(MediaEntity *sensor); + + void bufferReady(FrameBuffer *buffer); + + MediaDevice *media_; + V4L2VideoDevice *video_; + std::map subdevs_; + + Camera *activeCamera_; +}; + +/* ----------------------------------------------------------------------------- + * Camera Data + */ + +SimpleCameraData::SimpleCameraData(PipelineHandler *pipe, MediaEntity *sensor, + MediaEntity *video) + : CameraData(pipe) +{ + int ret; + + /* + * Walk the pipeline towards the video node and store all entities + * along the way. + */ + MediaEntity *source = sensor; + + while (source) { + /* If we have reached the video node, we're done. */ + if (source == video) + break; + + /* Use the first output pad that has links. */ + MediaPad *sourcePad = nullptr; + for (MediaPad *pad : source->pads()) { + if ((pad->flags() & MEDIA_PAD_FL_SOURCE) && + !pad->links().empty()) { + sourcePad = pad; + break; + } + } + + if (!sourcePad) + return; + + /* + * Use the first link that is enabled or can be enabled (not + * immutable). + */ + MediaLink *sourceLink = nullptr; + for (MediaLink *link : sourcePad->links()) { + if ((link->flags() & MEDIA_LNK_FL_ENABLED) || + !(link->flags() & MEDIA_LNK_FL_IMMUTABLE)) { + sourceLink = link; + break; + } + } + + if (!sourceLink) + return; + + entities_.push_back({ source, sourceLink }); + + source = sourceLink->sink()->entity(); + + /* Avoid infinite loops. */ + auto iter = std::find_if(entities_.begin(), entities_.end(), + [&](const Entity &entity) { + return entity.entity == source; + }); + if (iter != entities_.end()) { + LOG(SimplePipeline, Info) << "Loop detected in pipeline"; + return; + } + } + + /* We have a valid pipeline, create the camera sensor. */ + sensor_ = std::make_unique(sensor); + ret = sensor_->init(); + if (ret) { + sensor_.reset(); + return; + } +} + +int SimpleCameraData::init() +{ + SimplePipelineHandler *pipe = static_cast(pipe_); + V4L2VideoDevice *video = pipe->video(); + int ret; + + /* + * Enumerate the possible pipeline configurations. For each media bus + * format supported by the sensor, propagate the formats through the + * pipeline, and enumerate the corresponding possible V4L2 pixel + * formats on the video node. + */ + for (unsigned int code : sensor_->mbusCodes()) { + V4L2SubdeviceFormat format{ code, sensor_->resolution() }; + + /* + * Setup links first as some subdev drivers take active links + * into account to propagate TRY formats. Such is life :-( + */ + ret = setupLinks(); + if (ret < 0) + return ret; + + ret = setupFormats(&format, V4L2Subdevice::TryFormat); + if (ret < 0) { + LOG(SimplePipeline, Error) + << "Failed to setup pipeline for media bus code " + << utils::hex(code, 4); + return ret; + } + + std::map> videoFormats = + video->formats(format.mbus_code); + + LOG(SimplePipeline, Debug) + << "Adding configuration for " << format.size.toString() + << " in pixel formats [ " + << utils::join(videoFormats, ", ", + [](const auto &f) { + return f.first.toString(); + }) + << " ]"; + + /* + * Store the configuration in the formats_ map, mapping the + * PixelFormat to the corresponding configuration. Any + * previously stored value is overwritten, as the pipeline + * handler currently doesn't care about how a particular + * PixelFormat is achieved. + */ + for (const auto &videoFormat : videoFormats) { + PixelFormat pixelFormat = videoFormat.first.toPixelFormat(); + if (!pixelFormat) + continue; + + Configuration config; + config.code = code; + config.pixelFormat = pixelFormat; + config.size = format.size; + + formats_[pixelFormat] = config; + } + } + + if (formats_.empty()) { + LOG(SimplePipeline, Error) << "No valid configuration found"; + return -EINVAL; + } + + return 0; +} + +int SimpleCameraData::setupLinks() +{ + int ret; + + /* + * Configure all links along the pipeline. Some entities may not allow + * multiple sink links to be enabled together, even on different sink + * pads. We must thus start by disabling all sink links (but the one we + * want to enable) before enabling the pipeline link. + */ + for (SimpleCameraData::Entity &e : entities_) { + MediaEntity *remote = e.link->sink()->entity(); + for (MediaPad *pad : remote->pads()) { + for (MediaLink *link : pad->links()) { + if (link == e.link) + continue; + + if ((link->flags() & MEDIA_LNK_FL_ENABLED) && + !(link->flags() & MEDIA_LNK_FL_IMMUTABLE)) { + ret = link->setEnabled(false); + if (ret < 0) + return ret; + } + } + } + + if (!(e.link->flags() & MEDIA_LNK_FL_ENABLED)) { + ret = e.link->setEnabled(true); + if (ret < 0) + return ret; + } + } + + return 0; +} + +int SimpleCameraData::setupFormats(V4L2SubdeviceFormat *format, + V4L2Subdevice::Whence whence) +{ + SimplePipelineHandler *pipe = static_cast(pipe_); + int ret; + + /* + * Configure the format on the sensor output and propagate it through + * the pipeline. + */ + ret = sensor_->setFormat(format); + if (ret < 0) + return ret; + + for (const Entity &e : entities_) { + MediaLink *link = e.link; + MediaPad *source = link->source(); + MediaPad *sink = link->sink(); + + if (source->entity() != sensor_->entity()) { + V4L2Subdevice *subdev = pipe->subdev(source->entity()); + ret = subdev->getFormat(source->index(), format, whence); + if (ret < 0) + return ret; + } + + if (sink->entity()->function() != MEDIA_ENT_F_IO_V4L) { + V4L2Subdevice *subdev = pipe->subdev(sink->entity()); + ret = subdev->setFormat(sink->index(), format, whence); + if (ret < 0) + return ret; + } + + LOG(SimplePipeline, Debug) + << "Link '" << source->entity()->name() + << "':" << source->index() + << " -> '" << sink->entity()->name() + << "':" << sink->index() + << " configured with format " << format->toString(); + } + + return 0; +} + +/* ----------------------------------------------------------------------------- + * Camera Configuration + */ + +SimpleCameraConfiguration::SimpleCameraConfiguration(Camera *camera, + SimpleCameraData *data) + : CameraConfiguration(), camera_(camera->shared_from_this()), + data_(data) +{ +} + +CameraConfiguration::Status SimpleCameraConfiguration::validate() +{ + Status status = Valid; + + if (config_.empty()) + return Invalid; + + /* Cap the number of entries to the available streams. */ + if (config_.size() > 1) { + config_.resize(1); + status = Adjusted; + } + + StreamConfiguration &cfg = config_[0]; + + /* Adjust the pixel format. */ + auto it = data_->formats_.find(cfg.pixelFormat); + if (it == data_->formats_.end()) + it = data_->formats_.begin(); + + PixelFormat pixelFormat = it->first; + if (cfg.pixelFormat != pixelFormat) { + LOG(SimplePipeline, Debug) << "Adjusting pixel format"; + cfg.pixelFormat = pixelFormat; + status = Adjusted; + } + + const SimpleCameraData::Configuration &pipeConfig = it->second; + if (cfg.size != pipeConfig.size) { + LOG(SimplePipeline, Debug) + << "Adjusting size from " << cfg.size.toString() + << " to " << pipeConfig.size.toString(); + cfg.size = pipeConfig.size; + status = Adjusted; + } + + cfg.bufferCount = 3; + + return status; +} + +/* ----------------------------------------------------------------------------- + * Pipeline Handler + */ + +SimplePipelineHandler::SimplePipelineHandler(CameraManager *manager) + : PipelineHandler(manager), video_(nullptr) +{ +} + +SimplePipelineHandler::~SimplePipelineHandler() +{ + delete video_; +} + +CameraConfiguration *SimplePipelineHandler::generateConfiguration(Camera *camera, + const StreamRoles &roles) +{ + SimpleCameraData *data = cameraData(camera); + CameraConfiguration *config = + new SimpleCameraConfiguration(camera, data); + + if (roles.empty()) + return config; + + /* Create the formats map. */ + std::map> formats; + std::transform(data->formats_.begin(), data->formats_.end(), + std::inserter(formats, formats.end()), + [](const auto &format) -> decltype(formats)::value_type { + const PixelFormat &pixelFormat = format.first; + const Size &size = format.second.size; + return { pixelFormat, { size } }; + }); + + /* + * Create the stream configuration. Take the first entry in the formats + * map as the default, for lack of a better option. + * + * \todo Implement a better way to pick the default format + */ + StreamConfiguration cfg{ StreamFormats{ formats } }; + cfg.pixelFormat = formats.begin()->first; + cfg.size = formats.begin()->second[0].max; + + config->addConfiguration(cfg); + + config->validate(); + + return config; +} + +int SimplePipelineHandler::configure(Camera *camera, CameraConfiguration *c) +{ + SimpleCameraConfiguration *config = + static_cast(c); + SimpleCameraData *data = cameraData(camera); + StreamConfiguration &cfg = config->at(0); + int ret; + + /* + * Configure links on the pipeline and propagate formats from the + * sensor to the video node. + */ + ret = data->setupLinks(); + if (ret < 0) + return ret; + + const SimpleCameraData::Configuration &pipeConfig = + data->formats_[cfg.pixelFormat]; + + V4L2SubdeviceFormat format{ pipeConfig.code, data->sensor_->resolution() }; + + ret = data->setupFormats(&format, V4L2Subdevice::ActiveFormat); + if (ret < 0) + return ret; + + /* Configure the video node. */ + V4L2PixelFormat videoFormat = video_->toV4L2PixelFormat(cfg.pixelFormat); + + V4L2DeviceFormat outputFormat = {}; + outputFormat.fourcc = videoFormat; + outputFormat.size = cfg.size; + + ret = video_->setFormat(&outputFormat); + if (ret) + return ret; + + if (outputFormat.size != cfg.size || outputFormat.fourcc != videoFormat) { + LOG(SimplePipeline, Error) + << "Unable to configure capture in " << cfg.toString(); + return -EINVAL; + } + + cfg.setStream(&data->stream_); + + return 0; +} + +int SimplePipelineHandler::exportFrameBuffers(Camera *camera, Stream *stream, + std::vector> *buffers) +{ + unsigned int count = stream->configuration().bufferCount; + + return video_->exportBuffers(count, buffers); +} + +int SimplePipelineHandler::start(Camera *camera) +{ + SimpleCameraData *data = cameraData(camera); + unsigned int count = data->stream_.configuration().bufferCount; + + int ret = video_->importBuffers(count); + if (ret < 0) + return ret; + + ret = video_->streamOn(); + if (ret < 0) { + video_->releaseBuffers(); + return ret; + } + + activeCamera_ = camera; + + return 0; +} + +void SimplePipelineHandler::stop(Camera *camera) +{ + video_->streamOff(); + video_->releaseBuffers(); + activeCamera_ = nullptr; +} + +int SimplePipelineHandler::queueRequestDevice(Camera *camera, Request *request) +{ + SimpleCameraData *data = cameraData(camera); + Stream *stream = &data->stream_; + + FrameBuffer *buffer = request->findBuffer(stream); + if (!buffer) { + LOG(SimplePipeline, Error) + << "Attempt to queue request with invalid stream"; + return -ENOENT; + } + + return video_->queueBuffer(buffer); +} + +/* ----------------------------------------------------------------------------- + * Match and Setup + */ + +bool SimplePipelineHandler::match(DeviceEnumerator *enumerator) +{ + for (const char *driver : drivers) { + DeviceMatch dm(driver); + media_ = acquireMediaDevice(enumerator, dm); + if (media_) + break; + } + + if (!media_) + return false; + + /* + * Locate sensors and video nodes. We only support pipelines with at + * least one sensor and exactly one video capture node. + */ + std::vector sensors; + std::vector videos; + + for (MediaEntity *entity : media_->entities()) { + switch (entity->function()) { + case MEDIA_ENT_F_CAM_SENSOR: + sensors.push_back(entity); + break; + + case MEDIA_ENT_F_IO_V4L: + if (entity->pads().size() == 1 && + (entity->pads()[0]->flags() & MEDIA_PAD_FL_SINK)) + videos.push_back(entity); + break; + + default: + break; + } + } + + if (sensors.empty()) { + LOG(SimplePipeline, Error) << "No sensor found"; + return false; + } + + if (videos.size() != 1) { + LOG(SimplePipeline, Error) + << "Pipeline with " << videos.size() + << " video capture nodes is not supported"; + return false; + } + + /* Locate and open the capture video node. */ + video_ = new V4L2VideoDevice(videos[0]); + if (video_->open() < 0) + return false; + + if (video_->caps().isMultiplanar()) { + LOG(SimplePipeline, Error) + << "V4L2 multiplanar devices are not supported"; + return false; + } + + video_->bufferReady.connect(this, &SimplePipelineHandler::bufferReady); + + /* + * Create one camera data instance for each sensor and gather all + * entities in all pipelines. + */ + std::vector> pipelines; + std::set entities; + + pipelines.reserve(sensors.size()); + + for (MediaEntity *sensor : sensors) { + std::unique_ptr data = + std::make_unique(this, sensor, + videos[0]); + if (!data->isValid()) { + LOG(SimplePipeline, Error) + << "No valid pipeline for sensor '" + << sensor->name() << "', skipping"; + continue; + } + + for (SimpleCameraData::Entity &entity : data->entities_) + entities.insert(entity.entity); + + pipelines.push_back(std::move(data)); + } + + if (entities.empty()) + return false; + + /* Create and open V4L2Subdev instances for all the entities. */ + for (MediaEntity *entity : entities) { + auto elem = subdevs_.emplace(std::piecewise_construct, + std::forward_as_tuple(entity), + std::forward_as_tuple(entity)); + V4L2Subdevice *subdev = &elem.first->second; + int ret = subdev->open(); + if (ret < 0) { + LOG(SimplePipeline, Error) + << "Failed to open " << subdev->deviceNode() + << ": " << strerror(-ret); + return false; + } + } + + /* Initialize each pipeline and register a corresponding camera. */ + for (std::unique_ptr &data : pipelines) { + int ret = data->init(); + if (ret < 0) + continue; + + std::shared_ptr camera = + Camera::create(this, data->sensor_->entity()->name(), + data->streams()); + registerCamera(std::move(camera), std::move(data)); + } + + return true; +} + +V4L2Subdevice *SimplePipelineHandler::subdev(const MediaEntity *entity) +{ + auto iter = subdevs_.find(entity); + if (iter == subdevs_.end()) + return nullptr; + + return &iter->second; +} + +/* ----------------------------------------------------------------------------- + * Buffer Handling + */ + +void SimplePipelineHandler::bufferReady(FrameBuffer *buffer) +{ + ASSERT(activeCamera_); + Request *request = buffer->request(); + completeBuffer(activeCamera_, request, buffer); + completeRequest(activeCamera_, request); +} + +REGISTER_PIPELINE_HANDLER(SimplePipelineHandler); + +} /* namespace libcamera */ -- cgit v1.2.1