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|
/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
* Copyright (C) 2019-2023, Raspberry Pi Ltd
*
* Pipeline handler base class for Raspberry Pi devices
*/
#include "pipeline_base.h"
#include <chrono>
#include <linux/media-bus-format.h>
#include <linux/videodev2.h>
#include <libcamera/base/file.h>
#include <libcamera/base/utils.h>
#include <libcamera/formats.h>
#include <libcamera/logging.h>
#include <libcamera/property_ids.h>
#include "libcamera/internal/camera_lens.h"
#include "libcamera/internal/ipa_manager.h"
#include "libcamera/internal/v4l2_subdevice.h"
using namespace std::chrono_literals;
namespace libcamera {
using namespace RPi;
LOG_DEFINE_CATEGORY(RPI)
using StreamFlag = RPi::Stream::StreamFlag;
namespace {
constexpr unsigned int defaultRawBitDepth = 12;
PixelFormat mbusCodeToPixelFormat(unsigned int code,
BayerFormat::Packing packingReq)
{
BayerFormat bayer = BayerFormat::fromMbusCode(code);
ASSERT(bayer.isValid());
bayer.packing = packingReq;
PixelFormat pix = bayer.toPixelFormat();
/*
* Not all formats (e.g. 8-bit or 16-bit Bayer formats) can have packed
* variants. So if the PixelFormat returns as invalid, use the non-packed
* conversion instead.
*/
if (!pix.isValid()) {
bayer.packing = BayerFormat::Packing::None;
pix = bayer.toPixelFormat();
}
return pix;
}
bool isMonoSensor(std::unique_ptr<CameraSensor> &sensor)
{
unsigned int mbusCode = sensor->mbusCodes()[0];
const BayerFormat &bayer = BayerFormat::fromMbusCode(mbusCode);
return bayer.order == BayerFormat::Order::MONO;
}
const std::vector<ColorSpace> validColorSpaces = {
ColorSpace::Sycc,
ColorSpace::Smpte170m,
ColorSpace::Rec709
};
std::optional<ColorSpace> findValidColorSpace(const ColorSpace &colourSpace)
{
for (auto cs : validColorSpaces) {
if (colourSpace.primaries == cs.primaries &&
colourSpace.transferFunction == cs.transferFunction)
return cs;
}
return std::nullopt;
}
} /* namespace */
/*
* Raspberry Pi drivers expect the following colour spaces:
* - V4L2_COLORSPACE_RAW for raw streams.
* - One of V4L2_COLORSPACE_JPEG, V4L2_COLORSPACE_SMPTE170M, V4L2_COLORSPACE_REC709 for
* non-raw streams. Other fields such as transfer function, YCbCr encoding and
* quantisation are not used.
*
* The libcamera colour spaces that we wish to use corresponding to these are therefore:
* - ColorSpace::Raw for V4L2_COLORSPACE_RAW
* - ColorSpace::Sycc for V4L2_COLORSPACE_JPEG
* - ColorSpace::Smpte170m for V4L2_COLORSPACE_SMPTE170M
* - ColorSpace::Rec709 for V4L2_COLORSPACE_REC709
*/
CameraConfiguration::Status RPiCameraConfiguration::validateColorSpaces([[maybe_unused]] ColorSpaceFlags flags)
{
Status status = Valid;
yuvColorSpace_.reset();
for (auto cfg : config_) {
/* First fix up raw streams to have the "raw" colour space. */
if (PipelineHandlerBase::isRaw(cfg.pixelFormat)) {
/* If there was no value here, that doesn't count as "adjusted". */
if (cfg.colorSpace && cfg.colorSpace != ColorSpace::Raw)
status = Adjusted;
cfg.colorSpace = ColorSpace::Raw;
continue;
}
/* Next we need to find our shared colour space. The first valid one will do. */
if (cfg.colorSpace && !yuvColorSpace_)
yuvColorSpace_ = findValidColorSpace(cfg.colorSpace.value());
}
/* If no colour space was given anywhere, choose sYCC. */
if (!yuvColorSpace_)
yuvColorSpace_ = ColorSpace::Sycc;
/* Note the version of this that any RGB streams will have to use. */
rgbColorSpace_ = yuvColorSpace_;
rgbColorSpace_->ycbcrEncoding = ColorSpace::YcbcrEncoding::None;
rgbColorSpace_->range = ColorSpace::Range::Full;
/* Go through the streams again and force everyone to the same colour space. */
for (auto cfg : config_) {
if (cfg.colorSpace == ColorSpace::Raw)
continue;
if (PipelineHandlerBase::isYuv(cfg.pixelFormat) && cfg.colorSpace != yuvColorSpace_) {
/* Again, no value means "not adjusted". */
if (cfg.colorSpace)
status = Adjusted;
cfg.colorSpace = yuvColorSpace_;
}
if (PipelineHandlerBase::isRgb(cfg.pixelFormat) && cfg.colorSpace != rgbColorSpace_) {
/* Be nice, and let the YUV version count as non-adjusted too. */
if (cfg.colorSpace && cfg.colorSpace != yuvColorSpace_)
status = Adjusted;
cfg.colorSpace = rgbColorSpace_;
}
}
return status;
}
CameraConfiguration::Status RPiCameraConfiguration::validate()
{
Status status = Valid;
if (config_.empty())
return Invalid;
/*
* Make sure that if a sensor configuration has been requested it
* is valid.
*/
if (sensorConfig && !sensorConfig->isValid()) {
LOG(RPI, Error) << "Invalid sensor configuration request";
return Invalid;
}
status = validateColorSpaces(ColorSpaceFlag::StreamsShareColorSpace);
/*
* Validate the requested transform against the sensor capabilities and
* rotation and store the final combined transform that configure() will
* need to apply to the sensor to save us working it out again.
*/
Orientation requestedOrientation = orientation;
combinedTransform_ = data_->sensor_->computeTransform(&orientation);
if (orientation != requestedOrientation)
status = Adjusted;
rawStreams_.clear();
outStreams_.clear();
for (const auto &[index, cfg] : utils::enumerate(config_)) {
if (PipelineHandlerBase::isRaw(cfg.pixelFormat))
rawStreams_.emplace_back(index, &cfg);
else
outStreams_.emplace_back(index, &cfg);
}
/* Sort the streams so the highest resolution is first. */
std::sort(rawStreams_.begin(), rawStreams_.end(),
[](auto &l, auto &r) { return l.cfg->size > r.cfg->size; });
std::sort(outStreams_.begin(), outStreams_.end(),
[](auto &l, auto &r) { return l.cfg->size > r.cfg->size; });
/* Compute the sensor's format then do any platform specific fixups. */
unsigned int bitDepth;
Size sensorSize;
if (sensorConfig) {
/* Use the application provided sensor configuration. */
bitDepth = sensorConfig->bitDepth;
sensorSize = sensorConfig->outputSize;
} else if (!rawStreams_.empty()) {
/* Use the RAW stream format and size. */
BayerFormat bayerFormat = BayerFormat::fromPixelFormat(rawStreams_[0].cfg->pixelFormat);
bitDepth = bayerFormat.bitDepth;
sensorSize = rawStreams_[0].cfg->size;
} else {
bitDepth = defaultRawBitDepth;
sensorSize = outStreams_[0].cfg->size;
}
sensorFormat_ = data_->findBestFormat(sensorSize, bitDepth);
/*
* If a sensor configuration has been requested, it should apply
* without modifications.
*/
if (sensorConfig) {
BayerFormat bayer = BayerFormat::fromMbusCode(sensorFormat_.code);
if (bayer.bitDepth != sensorConfig->bitDepth ||
sensorFormat_.size != sensorConfig->outputSize) {
LOG(RPI, Error) << "Invalid sensor configuration: "
<< "bitDepth/size mismatch";
return Invalid;
}
}
/* Start with some initial generic RAW stream adjustments. */
for (auto &raw : rawStreams_) {
StreamConfiguration *rawStream = raw.cfg;
/*
* Some sensors change their Bayer order when they are
* h-flipped or v-flipped, according to the transform. Adjust
* the RAW stream to match the computed sensor format by
* applying the sensor Bayer order resulting from the transform
* to the user request.
*/
BayerFormat cfgBayer = BayerFormat::fromPixelFormat(rawStream->pixelFormat);
cfgBayer.order = data_->sensor_->bayerOrder(combinedTransform_);
if (rawStream->pixelFormat != cfgBayer.toPixelFormat()) {
rawStream->pixelFormat = cfgBayer.toPixelFormat();
status = Adjusted;
}
}
/* Do any platform specific fixups. */
Status st = data_->platformValidate(this);
if (st == Invalid)
return Invalid;
else if (st == Adjusted)
status = Adjusted;
/* Further fixups on the RAW streams. */
for (auto &raw : rawStreams_) {
int ret = raw.dev->tryFormat(&raw.format);
if (ret)
return Invalid;
if (RPi::PipelineHandlerBase::updateStreamConfig(raw.cfg, raw.format))
status = Adjusted;
}
/* Further fixups on the ISP output streams. */
for (auto &out : outStreams_) {
/*
* We want to send the associated YCbCr info through to the driver.
*
* But for RGB streams, the YCbCr info gets overwritten on the way back
* so we must check against what the stream cfg says, not what we actually
* requested (which carefully included the YCbCr info)!
*/
out.format.colorSpace = yuvColorSpace_;
LOG(RPI, Debug)
<< "Try color space " << ColorSpace::toString(out.cfg->colorSpace);
int ret = out.dev->tryFormat(&out.format);
if (ret)
return Invalid;
if (RPi::PipelineHandlerBase::updateStreamConfig(out.cfg, out.format))
status = Adjusted;
}
return status;
}
bool PipelineHandlerBase::isRgb(const PixelFormat &pixFmt)
{
const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt);
return info.colourEncoding == PixelFormatInfo::ColourEncodingRGB;
}
bool PipelineHandlerBase::isYuv(const PixelFormat &pixFmt)
{
/* The code below would return true for raw mono streams, so weed those out first. */
if (PipelineHandlerBase::isRaw(pixFmt))
return false;
const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt);
return info.colourEncoding == PixelFormatInfo::ColourEncodingYUV;
}
bool PipelineHandlerBase::isRaw(const PixelFormat &pixFmt)
{
/* This test works for both Bayer and raw mono formats. */
return BayerFormat::fromPixelFormat(pixFmt).isValid();
}
/*
* Adjust a StreamConfiguration fields to match a video device format.
* Returns true if the StreamConfiguration has been adjusted.
*/
bool PipelineHandlerBase::updateStreamConfig(StreamConfiguration *stream,
const V4L2DeviceFormat &format)
{
const PixelFormat &pixFormat = format.fourcc.toPixelFormat();
bool adjusted = false;
if (stream->pixelFormat != pixFormat || stream->size != format.size) {
stream->pixelFormat = pixFormat;
stream->size = format.size;
adjusted = true;
}
if (stream->colorSpace != format.colorSpace) {
stream->colorSpace = format.colorSpace;
adjusted = true;
LOG(RPI, Debug)
<< "Color space changed from "
<< ColorSpace::toString(stream->colorSpace) << " to "
<< ColorSpace::toString(format.colorSpace);
}
stream->stride = format.planes[0].bpl;
stream->frameSize = format.planes[0].size;
return adjusted;
}
/*
* Populate and return a video device format using a StreamConfiguration. */
V4L2DeviceFormat PipelineHandlerBase::toV4L2DeviceFormat(const V4L2VideoDevice *dev,
const StreamConfiguration *stream)
{
V4L2DeviceFormat deviceFormat;
const PixelFormatInfo &info = PixelFormatInfo::info(stream->pixelFormat);
deviceFormat.planesCount = info.numPlanes();
deviceFormat.fourcc = dev->toV4L2PixelFormat(stream->pixelFormat);
deviceFormat.size = stream->size;
deviceFormat.planes[0].bpl = stream->stride;
deviceFormat.colorSpace = stream->colorSpace;
return deviceFormat;
}
V4L2DeviceFormat PipelineHandlerBase::toV4L2DeviceFormat(const V4L2VideoDevice *dev,
const V4L2SubdeviceFormat &format,
BayerFormat::Packing packingReq)
{
unsigned int code = format.code;
const PixelFormat pix = mbusCodeToPixelFormat(code, packingReq);
V4L2DeviceFormat deviceFormat;
deviceFormat.fourcc = dev->toV4L2PixelFormat(pix);
deviceFormat.size = format.size;
deviceFormat.colorSpace = format.colorSpace;
return deviceFormat;
}
std::unique_ptr<CameraConfiguration>
PipelineHandlerBase::generateConfiguration(Camera *camera, Span<const StreamRole> roles)
{
CameraData *data = cameraData(camera);
std::unique_ptr<CameraConfiguration> config =
std::make_unique<RPiCameraConfiguration>(data);
V4L2SubdeviceFormat sensorFormat;
unsigned int bufferCount;
PixelFormat pixelFormat;
V4L2VideoDevice::Formats fmts;
Size size;
std::optional<ColorSpace> colorSpace;
if (roles.empty())
return config;
Size sensorSize = data->sensor_->resolution();
for (const StreamRole role : roles) {
switch (role) {
case StreamRole::Raw:
size = sensorSize;
sensorFormat = data->findBestFormat(size, defaultRawBitDepth);
pixelFormat = mbusCodeToPixelFormat(sensorFormat.code,
BayerFormat::Packing::CSI2);
ASSERT(pixelFormat.isValid());
colorSpace = ColorSpace::Raw;
bufferCount = 2;
break;
case StreamRole::StillCapture:
fmts = data->ispFormats();
pixelFormat = formats::YUV420;
/*
* Still image codecs usually expect the sYCC color space.
* Even RGB codecs will be fine as the RGB we get with the
* sYCC color space is the same as sRGB.
*/
colorSpace = ColorSpace::Sycc;
/* Return the largest sensor resolution. */
size = sensorSize;
bufferCount = 1;
break;
case StreamRole::VideoRecording:
/*
* The colour denoise algorithm requires the analysis
* image, produced by the second ISP output, to be in
* YUV420 format. Select this format as the default, to
* maximize chances that it will be picked by
* applications and enable usage of the colour denoise
* algorithm.
*/
fmts = data->ispFormats();
pixelFormat = formats::YUV420;
/*
* Choose a color space appropriate for video recording.
* Rec.709 will be a good default for HD resolutions.
*/
colorSpace = ColorSpace::Rec709;
size = { 1920, 1080 };
bufferCount = 4;
break;
case StreamRole::Viewfinder:
fmts = data->ispFormats();
pixelFormat = formats::XRGB8888;
colorSpace = ColorSpace::Sycc;
size = { 800, 600 };
bufferCount = 4;
break;
default:
LOG(RPI, Error) << "Requested stream role not supported: "
<< role;
return nullptr;
}
std::map<PixelFormat, std::vector<SizeRange>> deviceFormats;
if (role == StreamRole::Raw) {
/* Translate the MBUS codes to a PixelFormat. */
for (const auto &format : data->sensorFormats_) {
PixelFormat pf = mbusCodeToPixelFormat(format.first,
BayerFormat::Packing::CSI2);
if (pf.isValid())
deviceFormats.emplace(std::piecewise_construct, std::forward_as_tuple(pf),
std::forward_as_tuple(format.second.begin(), format.second.end()));
}
} else {
/*
* Translate the V4L2PixelFormat to PixelFormat. Note that we
* limit the recommended largest ISP output size to match the
* sensor resolution.
*/
for (const auto &format : fmts) {
PixelFormat pf = format.first.toPixelFormat();
/*
* Some V4L2 formats translate to the same pixel format (e.g. YU12, YM12
* both give YUV420). We must avoid duplicating the range in this case.
*/
if (pf.isValid() && deviceFormats.find(pf) == deviceFormats.end()) {
const SizeRange &ispSizes = format.second[0];
deviceFormats[pf].emplace_back(ispSizes.min, sensorSize,
ispSizes.hStep, ispSizes.vStep);
}
}
}
/* Add the stream format based on the device node used for the use case. */
StreamFormats formats(deviceFormats);
StreamConfiguration cfg(formats);
cfg.size = size;
cfg.pixelFormat = pixelFormat;
cfg.colorSpace = colorSpace;
cfg.bufferCount = bufferCount;
config->addConfiguration(cfg);
}
return config;
}
int PipelineHandlerBase::configure(Camera *camera, CameraConfiguration *config)
{
CameraData *data = cameraData(camera);
int ret;
/* Start by freeing all buffers and reset the stream states. */
data->freeBuffers();
for (auto const stream : data->streams_)
stream->clearFlags(StreamFlag::External);
/*
* Apply the format on the sensor with any cached transform.
*
* If the application has provided a sensor configuration apply it
* instead of just applying a format.
*/
RPiCameraConfiguration *rpiConfig = static_cast<RPiCameraConfiguration *>(config);
V4L2SubdeviceFormat *sensorFormat = &rpiConfig->sensorFormat_;
if (rpiConfig->sensorConfig) {
ret = data->sensor_->applyConfiguration(*rpiConfig->sensorConfig,
rpiConfig->combinedTransform_,
sensorFormat);
} else {
ret = data->sensor_->setFormat(sensorFormat,
rpiConfig->combinedTransform_);
}
if (ret)
return ret;
/*
* Configure embedded data on the sensor. Only check for errors when
* enabling embedded data, as some sensors don't support disabling it,
* and Unicam will simply drop the embedded data packets if we don't
* capture them.
*/
ret = data->sensor_->setEmbeddedDataEnabled(data->sensorMetadata_);
if (ret && data->sensorMetadata_) {
LOG(RPI, Error) << "Unable to enable embedded data: " << ret;
return ret;
}
/*
* Platform specific internal stream configuration. This also assigns
* external streams which get configured below.
*/
ret = data->platformConfigure(rpiConfig);
if (ret)
return ret;
ipa::RPi::ConfigResult result;
ret = data->configureIPA(config, &result);
if (ret) {
LOG(RPI, Error) << "Failed to configure the IPA: " << ret;
return ret;
}
/*
* Set the scaler crop to the value we are using (scaled to native sensor
* coordinates).
*/
data->scalerCrop_ = data->scaleIspCrop(data->ispCrop_);
/*
* Update the ScalerCropMaximum to the correct value for this camera mode.
* For us, it's the same as the "analogue crop".
*
* \todo Make this property the ScalerCrop maximum value when dynamic
* controls are available and set it at validate() time
*/
data->properties_.set(properties::ScalerCropMaximum, data->sensorInfo_.analogCrop);
/* Store the mode sensitivity for the application. */
data->properties_.set(properties::SensorSensitivity, result.modeSensitivity);
/* Update the controls that the Raspberry Pi IPA can handle. */
ControlInfoMap::Map ctrlMap;
for (auto const &c : result.controlInfo)
ctrlMap.emplace(c.first, c.second);
/* Add the ScalerCrop control limits based on the current mode. */
Rectangle ispMinCrop = data->scaleIspCrop(Rectangle(data->ispMinCropSize_));
ctrlMap[&controls::ScalerCrop] = ControlInfo(ispMinCrop, data->sensorInfo_.analogCrop, data->scalerCrop_);
data->controlInfo_ = ControlInfoMap(std::move(ctrlMap), result.controlInfo.idmap());
/* Setup the Video Mux/Bridge entities. */
for (auto &[device, link] : data->bridgeDevices_) {
/*
* Start by disabling all the sink pad links on the devices in the
* cascade, with the exception of the link connecting the device.
*/
for (const MediaPad *p : device->entity()->pads()) {
if (!(p->flags() & MEDIA_PAD_FL_SINK))
continue;
for (MediaLink *l : p->links()) {
if (l != link)
l->setEnabled(false);
}
}
/*
* Next, enable the entity -> entity links, and setup the pad format.
*
* \todo Some bridge devices may chainge the media bus code, so we
* ought to read the source pad format and propagate it to the sink pad.
*/
link->setEnabled(true);
const MediaPad *sinkPad = link->sink();
ret = device->setFormat(sinkPad->index(), sensorFormat);
if (ret) {
LOG(RPI, Error) << "Failed to set format on " << device->entity()->name()
<< " pad " << sinkPad->index()
<< " with format " << *sensorFormat
<< ": " << ret;
return ret;
}
LOG(RPI, Debug) << "Configured media link on device " << device->entity()->name()
<< " on pad " << sinkPad->index();
}
return 0;
}
int PipelineHandlerBase::exportFrameBuffers([[maybe_unused]] Camera *camera, libcamera::Stream *stream,
std::vector<std::unique_ptr<FrameBuffer>> *buffers)
{
RPi::Stream *s = static_cast<RPi::Stream *>(stream);
unsigned int count = stream->configuration().bufferCount;
int ret = s->dev()->exportBuffers(count, buffers);
s->setExportedBuffers(buffers);
return ret;
}
int PipelineHandlerBase::start(Camera *camera, const ControlList *controls)
{
CameraData *data = cameraData(camera);
int ret;
/* Check if a ScalerCrop control was specified. */
if (controls)
data->applyScalerCrop(*controls);
/* Start the IPA. */
ipa::RPi::StartResult result;
data->ipa_->start(controls ? *controls : ControlList{ controls::controls },
&result);
/* Apply any gain/exposure settings that the IPA may have passed back. */
if (!result.controls.empty())
data->setSensorControls(result.controls);
/* Configure the number of dropped frames required on startup. */
data->dropFrameCount_ = data->config_.disableStartupFrameDrops
? 0 : result.dropFrameCount;
for (auto const stream : data->streams_)
stream->resetBuffers();
if (!data->buffersAllocated_) {
/* Allocate buffers for internal pipeline usage. */
ret = prepareBuffers(camera);
if (ret) {
LOG(RPI, Error) << "Failed to allocate buffers";
data->freeBuffers();
stop(camera);
return ret;
}
data->buffersAllocated_ = true;
}
/* We need to set the dropFrameCount_ before queueing buffers. */
ret = queueAllBuffers(camera);
if (ret) {
LOG(RPI, Error) << "Failed to queue buffers";
stop(camera);
return ret;
}
/*
* Reset the delayed controls with the gain and exposure values set by
* the IPA.
*/
data->delayedCtrls_->reset(0);
data->state_ = CameraData::State::Idle;
/* Enable SOF event generation. */
data->frontendDevice()->setFrameStartEnabled(true);
data->platformStart();
/* Start all streams. */
for (auto const stream : data->streams_) {
ret = stream->dev()->streamOn();
if (ret) {
stop(camera);
return ret;
}
}
return 0;
}
void PipelineHandlerBase::stopDevice(Camera *camera)
{
CameraData *data = cameraData(camera);
data->state_ = CameraData::State::Stopped;
data->platformStop();
for (auto const stream : data->streams_)
stream->dev()->streamOff();
/* Disable SOF event generation. */
data->frontendDevice()->setFrameStartEnabled(false);
data->clearIncompleteRequests();
/* Stop the IPA. */
data->ipa_->stop();
}
void PipelineHandlerBase::releaseDevice(Camera *camera)
{
CameraData *data = cameraData(camera);
data->freeBuffers();
}
int PipelineHandlerBase::queueRequestDevice(Camera *camera, Request *request)
{
CameraData *data = cameraData(camera);
if (!data->isRunning())
return -EINVAL;
LOG(RPI, Debug) << "queueRequestDevice: New request sequence: "
<< request->sequence();
/* Push all buffers supplied in the Request to the respective streams. */
for (auto stream : data->streams_) {
if (!(stream->getFlags() & StreamFlag::External))
continue;
FrameBuffer *buffer = request->findBuffer(stream);
if (buffer && !stream->getBufferId(buffer)) {
/*
* This buffer is not recognised, so it must have been allocated
* outside the v4l2 device. Store it in the stream buffer list
* so we can track it.
*/
stream->setExportedBuffer(buffer);
}
/*
* If no buffer is provided by the request for this stream, we
* queue a nullptr to the stream to signify that it must use an
* internally allocated buffer for this capture request. This
* buffer will not be given back to the application, but is used
* to support the internal pipeline flow.
*
* The below queueBuffer() call will do nothing if there are not
* enough internal buffers allocated, but this will be handled by
* queuing the request for buffers in the RPiStream object.
*/
int ret = stream->queueBuffer(buffer);
if (ret)
return ret;
}
/* Push the request to the back of the queue. */
data->requestQueue_.push(request);
data->handleState();
return 0;
}
int PipelineHandlerBase::registerCamera(std::unique_ptr<RPi::CameraData> &cameraData,
MediaDevice *frontend, const std::string &frontendName,
MediaDevice *backend, MediaEntity *sensorEntity)
{
CameraData *data = cameraData.get();
int ret;
data->sensor_ = CameraSensorFactoryBase::create(sensorEntity);
if (!data->sensor_)
return -EINVAL;
/* Populate the map of sensor supported formats and sizes. */
for (auto const mbusCode : data->sensor_->mbusCodes())
data->sensorFormats_.emplace(mbusCode,
data->sensor_->sizes(mbusCode));
/*
* Enumerate all the Video Mux/Bridge devices across the sensor -> Fr
* chain. There may be a cascade of devices in this chain!
*/
MediaLink *link = sensorEntity->getPadByIndex(0)->links()[0];
data->enumerateVideoDevices(link, frontendName);
ipa::RPi::InitResult result;
if (data->loadIPA(&result)) {
LOG(RPI, Error) << "Failed to load a suitable IPA library";
return -EINVAL;
}
/*
* Setup our delayed control writer with the sensor default
* gain and exposure delays. Mark VBLANK for priority write.
*/
std::unordered_map<uint32_t, RPi::DelayedControls::ControlParams> params = {
{ V4L2_CID_ANALOGUE_GAIN, { result.sensorConfig.gainDelay, false } },
{ V4L2_CID_EXPOSURE, { result.sensorConfig.exposureDelay, false } },
{ V4L2_CID_HBLANK, { result.sensorConfig.hblankDelay, false } },
{ V4L2_CID_VBLANK, { result.sensorConfig.vblankDelay, true } }
};
data->delayedCtrls_ = std::make_unique<RPi::DelayedControls>(data->sensor_->device(), params);
data->sensorMetadata_ = result.sensorConfig.sensorMetadata;
/* Register initial controls that the Raspberry Pi IPA can handle. */
data->controlInfo_ = std::move(result.controlInfo);
/* Initialize the camera properties. */
data->properties_ = data->sensor_->properties();
/*
* The V4L2_CID_NOTIFY_GAINS control, if present, is used to inform the
* sensor of the colour gains. It is defined to be a linear gain where
* the default value represents a gain of exactly one.
*/
auto it = data->sensor_->controls().find(V4L2_CID_NOTIFY_GAINS);
if (it != data->sensor_->controls().end())
data->notifyGainsUnity_ = it->second.def().get<int32_t>();
/*
* Set a default value for the ScalerCropMaximum property to show
* that we support its use, however, initialise it to zero because
* it's not meaningful until a camera mode has been chosen.
*/
data->properties_.set(properties::ScalerCropMaximum, Rectangle{});
ret = platformRegister(cameraData, frontend, backend);
if (ret)
return ret;
ret = data->loadPipelineConfiguration();
if (ret) {
LOG(RPI, Error) << "Unable to load pipeline configuration";
return ret;
}
/* Setup the general IPA signal handlers. */
data->frontendDevice()->dequeueTimeout.connect(data, &RPi::CameraData::cameraTimeout);
data->frontendDevice()->frameStart.connect(data, &RPi::CameraData::frameStarted);
data->ipa_->setDelayedControls.connect(data, &CameraData::setDelayedControls);
data->ipa_->setLensControls.connect(data, &CameraData::setLensControls);
data->ipa_->metadataReady.connect(data, &CameraData::metadataReady);
return 0;
}
void PipelineHandlerBase::mapBuffers(Camera *camera, const BufferMap &buffers, unsigned int mask)
{
CameraData *data = cameraData(camera);
std::vector<IPABuffer> bufferIds;
/*
* Link the FrameBuffers with the id (key value) in the map stored in
* the RPi stream object - along with an identifier mask.
*
* This will allow us to identify buffers passed between the pipeline
* handler and the IPA.
*/
for (auto const &it : buffers) {
bufferIds.push_back(IPABuffer(mask | it.first,
it.second.buffer->planes()));
data->bufferIds_.insert(mask | it.first);
}
data->ipa_->mapBuffers(bufferIds);
}
int PipelineHandlerBase::queueAllBuffers(Camera *camera)
{
CameraData *data = cameraData(camera);
int ret;
for (auto const stream : data->streams_) {
if (!(stream->getFlags() & StreamFlag::External)) {
ret = stream->queueAllBuffers();
if (ret < 0)
return ret;
} else {
/*
* For external streams, we must queue up a set of internal
* buffers to handle the number of drop frames requested by
* the IPA. This is done by passing nullptr in queueBuffer().
*
* The below queueBuffer() call will do nothing if there
* are not enough internal buffers allocated, but this will
* be handled by queuing the request for buffers in the
* RPiStream object.
*/
unsigned int i;
for (i = 0; i < data->dropFrameCount_; i++) {
ret = stream->queueBuffer(nullptr);
if (ret)
return ret;
}
}
}
return 0;
}
double CameraData::scoreFormat(double desired, double actual) const
{
double score = desired - actual;
/* Smaller desired dimensions are preferred. */
if (score < 0.0)
score = (-score) / 8;
/* Penalise non-exact matches. */
if (actual != desired)
score *= 2;
return score;
}
V4L2SubdeviceFormat CameraData::findBestFormat(const Size &req, unsigned int bitDepth) const
{
double bestScore = std::numeric_limits<double>::max(), score;
V4L2SubdeviceFormat bestFormat;
bestFormat.colorSpace = ColorSpace::Raw;
constexpr float penaltyAr = 1500.0;
constexpr float penaltyBitDepth = 500.0;
/* Calculate the closest/best mode from the user requested size. */
for (const auto &iter : sensorFormats_) {
const unsigned int mbusCode = iter.first;
const PixelFormat format = mbusCodeToPixelFormat(mbusCode,
BayerFormat::Packing::None);
const PixelFormatInfo &info = PixelFormatInfo::info(format);
for (const Size &size : iter.second) {
double reqAr = static_cast<double>(req.width) / req.height;
double fmtAr = static_cast<double>(size.width) / size.height;
/* Score the dimensions for closeness. */
score = scoreFormat(req.width, size.width);
score += scoreFormat(req.height, size.height);
score += penaltyAr * scoreFormat(reqAr, fmtAr);
/* Add any penalties... this is not an exact science! */
score += utils::abs_diff(info.bitsPerPixel, bitDepth) * penaltyBitDepth;
if (score <= bestScore) {
bestScore = score;
bestFormat.code = mbusCode;
bestFormat.size = size;
}
LOG(RPI, Debug) << "Format: " << size
<< " fmt " << format
<< " Score: " << score
<< " (best " << bestScore << ")";
}
}
return bestFormat;
}
void CameraData::freeBuffers()
{
if (ipa_) {
/*
* Copy the buffer ids from the unordered_set to a vector to
* pass to the IPA.
*/
std::vector<unsigned int> bufferIds(bufferIds_.begin(),
bufferIds_.end());
ipa_->unmapBuffers(bufferIds);
bufferIds_.clear();
}
for (auto const stream : streams_)
stream->releaseBuffers();
platformFreeBuffers();
buffersAllocated_ = false;
}
/*
* enumerateVideoDevices() iterates over the Media Controller topology, starting
* at the sensor and finishing at the frontend. For each sensor, CameraData stores
* a unique list of any intermediate video mux or bridge devices connected in a
* cascade, together with the entity to entity link.
*
* Entity pad configuration and link enabling happens at the end of configure().
* We first disable all pad links on each entity device in the chain, and then
* selectively enabling the specific links to link sensor to the frontend across
* all intermediate muxes and bridges.
*
* In the cascaded topology below, if Sensor1 is used, the Mux2 -> Mux1 link
* will be disabled, and Sensor1 -> Mux1 -> Frontend links enabled. Alternatively,
* if Sensor3 is used, the Sensor2 -> Mux2 and Sensor1 -> Mux1 links are disabled,
* and Sensor3 -> Mux2 -> Mux1 -> Frontend links are enabled. All other links will
* remain unchanged.
*
* +----------+
* | FE |
* +-----^----+
* |
* +---+---+
* | Mux1 |<------+
* +--^---- |
* | |
* +-----+---+ +---+---+
* | Sensor1 | | Mux2 |<--+
* +---------+ +-^-----+ |
* | |
* +-------+-+ +---+-----+
* | Sensor2 | | Sensor3 |
* +---------+ +---------+
*/
void CameraData::enumerateVideoDevices(MediaLink *link, const std::string &frontend)
{
const MediaPad *sinkPad = link->sink();
const MediaEntity *entity = sinkPad->entity();
bool frontendFound = false;
/* We only deal with Video Mux and Bridge devices in cascade. */
if (entity->function() != MEDIA_ENT_F_VID_MUX &&
entity->function() != MEDIA_ENT_F_VID_IF_BRIDGE)
return;
/* Find the source pad for this Video Mux or Bridge device. */
const MediaPad *sourcePad = nullptr;
for (const MediaPad *pad : entity->pads()) {
if (pad->flags() & MEDIA_PAD_FL_SOURCE) {
/*
* We can only deal with devices that have a single source
* pad. If this device has multiple source pads, ignore it
* and this branch in the cascade.
*/
if (sourcePad)
return;
sourcePad = pad;
}
}
LOG(RPI, Debug) << "Found video mux device " << entity->name()
<< " linked to sink pad " << sinkPad->index();
bridgeDevices_.emplace_back(std::make_unique<V4L2Subdevice>(entity), link);
bridgeDevices_.back().first->open();
/*
* Iterate through all the sink pad links down the cascade to find any
* other Video Mux and Bridge devices.
*/
for (MediaLink *l : sourcePad->links()) {
enumerateVideoDevices(l, frontend);
/* Once we reach the Frontend entity, we are done. */
if (l->sink()->entity()->name() == frontend) {
frontendFound = true;
break;
}
}
/* This identifies the end of our entity enumeration recursion. */
if (link->source()->entity()->function() == MEDIA_ENT_F_CAM_SENSOR) {
/*
* If the frontend is not at the end of this cascade, we cannot
* configure this topology automatically, so remove all entity
* references.
*/
if (!frontendFound) {
LOG(RPI, Warning) << "Cannot automatically configure this MC topology!";
bridgeDevices_.clear();
}
}
}
int CameraData::loadPipelineConfiguration()
{
config_ = {
.disableStartupFrameDrops = false,
.cameraTimeoutValue = 0,
};
/* Initial configuration of the platform, in case no config file is present */
platformPipelineConfigure({});
char const *configFromEnv = utils::secure_getenv("LIBCAMERA_RPI_CONFIG_FILE");
if (!configFromEnv || *configFromEnv == '\0')
return 0;
std::string filename = std::string(configFromEnv);
File file(filename);
if (!file.open(File::OpenModeFlag::ReadOnly)) {
LOG(RPI, Warning) << "Failed to open configuration file '" << filename << "'"
<< ", using defaults";
return 0;
}
LOG(RPI, Info) << "Using configuration file '" << filename << "'";
std::unique_ptr<YamlObject> root = YamlParser::parse(file);
if (!root) {
LOG(RPI, Warning) << "Failed to parse configuration file, using defaults";
return 0;
}
std::optional<double> ver = (*root)["version"].get<double>();
if (!ver || *ver != 1.0) {
LOG(RPI, Warning) << "Unexpected configuration file version reported: "
<< *ver;
return 0;
}
const YamlObject &phConfig = (*root)["pipeline_handler"];
config_.disableStartupFrameDrops =
phConfig["disable_startup_frame_drops"].get<bool>(config_.disableStartupFrameDrops);
config_.cameraTimeoutValue =
phConfig["camera_timeout_value_ms"].get<unsigned int>(config_.cameraTimeoutValue);
if (config_.cameraTimeoutValue) {
/* Disable the IPA signal to control timeout and set the user requested value. */
ipa_->setCameraTimeout.disconnect();
frontendDevice()->setDequeueTimeout(config_.cameraTimeoutValue * 1ms);
}
return platformPipelineConfigure(root);
}
int CameraData::loadIPA(ipa::RPi::InitResult *result)
{
int ret;
ipa_ = IPAManager::createIPA<ipa::RPi::IPAProxyRPi>(pipe(), 1, 1);
if (!ipa_)
return -ENOENT;
/*
* The configuration (tuning file) is made from the sensor name unless
* the environment variable overrides it.
*/
std::string configurationFile;
char const *configFromEnv = utils::secure_getenv("LIBCAMERA_RPI_TUNING_FILE");
if (!configFromEnv || *configFromEnv == '\0') {
std::string model = sensor_->model();
if (isMonoSensor(sensor_))
model += "_mono";
configurationFile = ipa_->configurationFile(model + ".json");
} else {
configurationFile = std::string(configFromEnv);
}
IPASettings settings(configurationFile, sensor_->model());
ipa::RPi::InitParams params;
ret = sensor_->sensorInfo(¶ms.sensorInfo);
if (ret) {
LOG(RPI, Error) << "Failed to retrieve camera sensor info";
return ret;
}
params.lensPresent = !!sensor_->focusLens();
ret = platformInitIpa(params);
if (ret)
return ret;
return ipa_->init(settings, params, result);
}
int CameraData::configureIPA(const CameraConfiguration *config, ipa::RPi::ConfigResult *result)
{
ipa::RPi::ConfigParams params;
int ret;
params.sensorControls = sensor_->controls();
if (sensor_->focusLens())
params.lensControls = sensor_->focusLens()->controls();
ret = platformConfigureIpa(params);
if (ret)
return ret;
/* We store the IPACameraSensorInfo for digital zoom calculations. */
ret = sensor_->sensorInfo(&sensorInfo_);
if (ret) {
LOG(RPI, Error) << "Failed to retrieve camera sensor info";
return ret;
}
/* Always send the user transform to the IPA. */
Transform transform = config->orientation / Orientation::Rotate0;
params.transform = static_cast<unsigned int>(transform);
/* Ready the IPA - it must know about the sensor resolution. */
ret = ipa_->configure(sensorInfo_, params, result);
if (ret < 0) {
LOG(RPI, Error) << "IPA configuration failed!";
return -EPIPE;
}
if (!result->sensorControls.empty())
setSensorControls(result->sensorControls);
if (!result->lensControls.empty())
setLensControls(result->lensControls);
return 0;
}
void CameraData::metadataReady(const ControlList &metadata)
{
if (!isRunning())
return;
/* Add to the Request metadata buffer what the IPA has provided. */
/* Last thing to do is to fill up the request metadata. */
Request *request = requestQueue_.front();
request->metadata().merge(metadata);
/*
* Inform the sensor of the latest colour gains if it has the
* V4L2_CID_NOTIFY_GAINS control (which means notifyGainsUnity_ is set).
*/
const auto &colourGains = metadata.get(libcamera::controls::ColourGains);
if (notifyGainsUnity_ && colourGains) {
/* The control wants linear gains in the order B, Gb, Gr, R. */
ControlList ctrls(sensor_->controls());
std::array<int32_t, 4> gains{
static_cast<int32_t>((*colourGains)[1] * *notifyGainsUnity_),
*notifyGainsUnity_,
*notifyGainsUnity_,
static_cast<int32_t>((*colourGains)[0] * *notifyGainsUnity_)
};
ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ gains });
sensor_->setControls(&ctrls);
}
}
void CameraData::setDelayedControls(const ControlList &controls, uint32_t delayContext)
{
if (!delayedCtrls_->push(controls, delayContext))
LOG(RPI, Error) << "V4L2 DelayedControl set failed";
}
void CameraData::setLensControls(const ControlList &controls)
{
CameraLens *lens = sensor_->focusLens();
if (lens && controls.contains(V4L2_CID_FOCUS_ABSOLUTE)) {
ControlValue const &focusValue = controls.get(V4L2_CID_FOCUS_ABSOLUTE);
lens->setFocusPosition(focusValue.get<int32_t>());
}
}
void CameraData::setSensorControls(ControlList &controls)
{
/*
* We need to ensure that if both VBLANK and EXPOSURE are present, the
* former must be written ahead of, and separately from EXPOSURE to avoid
* V4L2 rejecting the latter. This is identical to what DelayedControls
* does with the priority write flag.
*
* As a consequence of the below logic, VBLANK gets set twice, and we
* rely on the v4l2 framework to not pass the second control set to the
* driver as the actual control value has not changed.
*/
if (controls.contains(V4L2_CID_EXPOSURE) && controls.contains(V4L2_CID_VBLANK)) {
ControlList vblank_ctrl;
vblank_ctrl.set(V4L2_CID_VBLANK, controls.get(V4L2_CID_VBLANK));
sensor_->setControls(&vblank_ctrl);
}
sensor_->setControls(&controls);
}
Rectangle CameraData::scaleIspCrop(const Rectangle &ispCrop) const
{
/*
* Scale a crop rectangle defined in the ISP's coordinates into native sensor
* coordinates.
*/
Rectangle nativeCrop = ispCrop.scaledBy(sensorInfo_.analogCrop.size(),
sensorInfo_.outputSize);
nativeCrop.translateBy(sensorInfo_.analogCrop.topLeft());
return nativeCrop;
}
void CameraData::applyScalerCrop(const ControlList &controls)
{
const auto &scalerCrop = controls.get<Rectangle>(controls::ScalerCrop);
if (scalerCrop) {
Rectangle nativeCrop = *scalerCrop;
if (!nativeCrop.width || !nativeCrop.height)
nativeCrop = { 0, 0, 1, 1 };
/* Create a version of the crop scaled to ISP (camera mode) pixels. */
Rectangle ispCrop = nativeCrop.translatedBy(-sensorInfo_.analogCrop.topLeft());
ispCrop.scaleBy(sensorInfo_.outputSize, sensorInfo_.analogCrop.size());
/*
* The crop that we set must be:
* 1. At least as big as ispMinCropSize_, once that's been
* enlarged to the same aspect ratio.
* 2. With the same mid-point, if possible.
* 3. But it can't go outside the sensor area.
*/
Size minSize = ispMinCropSize_.expandedToAspectRatio(nativeCrop.size());
Size size = ispCrop.size().expandedTo(minSize);
ispCrop = size.centeredTo(ispCrop.center()).enclosedIn(Rectangle(sensorInfo_.outputSize));
if (ispCrop != ispCrop_) {
ispCrop_ = ispCrop;
platformSetIspCrop();
/*
* Also update the ScalerCrop in the metadata with what we actually
* used. But we must first rescale that from ISP (camera mode) pixels
* back into sensor native pixels.
*/
scalerCrop_ = scaleIspCrop(ispCrop_);
}
}
}
void CameraData::cameraTimeout()
{
LOG(RPI, Error) << "Camera frontend has timed out!";
LOG(RPI, Error) << "Please check that your camera sensor connector is attached securely.";
LOG(RPI, Error) << "Alternatively, try another cable and/or sensor.";
state_ = CameraData::State::Error;
platformStop();
/*
* To allow the application to attempt a recovery from this timeout,
* stop all devices streaming, and return any outstanding requests as
* incomplete and cancelled.
*/
for (auto const stream : streams_)
stream->dev()->streamOff();
clearIncompleteRequests();
}
void CameraData::frameStarted(uint32_t sequence)
{
LOG(RPI, Debug) << "Frame start " << sequence;
/* Write any controls for the next frame as soon as we can. */
delayedCtrls_->applyControls(sequence);
}
void CameraData::clearIncompleteRequests()
{
/*
* All outstanding requests (and associated buffers) must be returned
* back to the application.
*/
while (!requestQueue_.empty()) {
Request *request = requestQueue_.front();
for (auto &b : request->buffers()) {
FrameBuffer *buffer = b.second;
/*
* Has the buffer already been handed back to the
* request? If not, do so now.
*/
if (buffer->request()) {
buffer->_d()->cancel();
pipe()->completeBuffer(request, buffer);
}
}
pipe()->completeRequest(request);
requestQueue_.pop();
}
}
void CameraData::handleStreamBuffer(FrameBuffer *buffer, RPi::Stream *stream)
{
/*
* It is possible to be here without a pending request, so check
* that we actually have one to action, otherwise we just return
* buffer back to the stream.
*/
Request *request = requestQueue_.empty() ? nullptr : requestQueue_.front();
if (!dropFrameCount_ && request && request->findBuffer(stream) == buffer) {
/*
* Tag the buffer as completed, returning it to the
* application.
*/
LOG(RPI, Debug) << "Completing request buffer for stream "
<< stream->name();
pipe()->completeBuffer(request, buffer);
} else {
/*
* This buffer was not part of the Request (which happens if an
* internal buffer was used for an external stream, or
* unconditionally for internal streams), or there is no pending
* request, so we can recycle it.
*/
LOG(RPI, Debug) << "Returning buffer to stream "
<< stream->name();
stream->returnBuffer(buffer);
}
}
void CameraData::handleState()
{
switch (state_) {
case State::Stopped:
case State::Busy:
case State::Error:
break;
case State::IpaComplete:
/* If the request is completed, we will switch to Idle state. */
checkRequestCompleted();
/*
* No break here, we want to try running the pipeline again.
* The fallthrough clause below suppresses compiler warnings.
*/
[[fallthrough]];
case State::Idle:
tryRunPipeline();
break;
}
}
void CameraData::checkRequestCompleted()
{
bool requestCompleted = false;
/*
* If we are dropping this frame, do not touch the request, simply
* change the state to IDLE when ready.
*/
if (!dropFrameCount_) {
Request *request = requestQueue_.front();
if (request->hasPendingBuffers())
return;
/* Must wait for metadata to be filled in before completing. */
if (state_ != State::IpaComplete)
return;
LOG(RPI, Debug) << "Completing request sequence: "
<< request->sequence();
pipe()->completeRequest(request);
requestQueue_.pop();
requestCompleted = true;
}
/*
* Make sure we have three outputs completed in the case of a dropped
* frame.
*/
if (state_ == State::IpaComplete &&
((ispOutputCount_ == ispOutputTotal_ && dropFrameCount_) ||
requestCompleted)) {
LOG(RPI, Debug) << "Going into Idle state";
state_ = State::Idle;
if (dropFrameCount_) {
dropFrameCount_--;
LOG(RPI, Debug) << "Dropping frame at the request of the IPA ("
<< dropFrameCount_ << " left)";
}
}
}
void CameraData::fillRequestMetadata(const ControlList &bufferControls, Request *request)
{
request->metadata().set(controls::SensorTimestamp,
bufferControls.get(controls::SensorTimestamp).value_or(0));
request->metadata().set(controls::ScalerCrop, scalerCrop_);
}
} /* namespace libcamera */
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