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|
/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
* Copyright (C) 2020, Laurent Pinchart
* Copyright (C) 2019, Martijn Braam
*
* Pipeline handler for simple pipelines
*/
#include <algorithm>
#include <iterator>
#include <list>
#include <map>
#include <memory>
#include <queue>
#include <set>
#include <string.h>
#include <string>
#include <unordered_map>
#include <utility>
#include <vector>
#include <linux/media-bus-format.h>
#include <libcamera/base/log.h>
#include <libcamera/camera.h>
#include <libcamera/control_ids.h>
#include <libcamera/request.h>
#include <libcamera/stream.h>
#include "libcamera/internal/camera.h"
#include "libcamera/internal/camera_sensor.h"
#include "libcamera/internal/converter.h"
#include "libcamera/internal/device_enumerator.h"
#include "libcamera/internal/media_device.h"
#include "libcamera/internal/pipeline_handler.h"
#include "libcamera/internal/software_isp/software_isp.h"
#include "libcamera/internal/v4l2_subdevice.h"
#include "libcamera/internal/v4l2_videodevice.h"
namespace libcamera {
LOG_DEFINE_CATEGORY(SimplePipeline)
/* -----------------------------------------------------------------------------
*
* Overview
* --------
*
* The SimplePipelineHandler relies on generic kernel APIs to control a camera
* device, without any device-specific code and with limited device-specific
* static data.
*
* To qualify for support by the simple pipeline handler, a device shall
*
* - be supported by V4L2 drivers, exposing the Media Controller API, the V4L2
* subdev APIs and the media bus format-based enumeration extension for the
* VIDIOC_ENUM_FMT ioctl ;
* - not expose any device-specific API from drivers to userspace ;
* - include one or more camera sensor media entities and one or more video
* capture devices ;
* - have a capture pipeline with linear paths from the camera sensors to the
* video capture devices ; and
* - have an optional memory-to-memory device to perform format conversion
* and/or scaling, exposed as a V4L2 M2M device.
*
* As devices that require a specific pipeline handler may still match the
* above characteristics, the simple pipeline handler doesn't attempt to
* automatically determine which devices it can support. It instead relies on
* an explicit list of supported devices, provided in the supportedDevices
* array.
*
* When matching a device, the pipeline handler enumerates all camera sensors
* and attempts, for each of them, to find a path to a video capture video node.
* It does so by using a breadth-first search to find the shortest path from the
* sensor device to a valid capture device. This is guaranteed to produce a
* valid path on devices with one only option and is a good heuristic on more
* complex devices to skip paths that aren't suitable for the simple pipeline
* handler. For instance, on the IPU-based i.MX6, the shortest path will skip
* encoders and image converters, and it will end in a CSI capture device.
* A more complex graph search algorithm could be implemented if a device that
* would otherwise be compatible with the pipeline handler isn't correctly
* handled by this heuristic.
*
* Once the camera data instances have been created, the match() function
* creates a V4L2VideoDevice or V4L2Subdevice instance for each entity used by
* any of the cameras and stores them in SimplePipelineHandler::entities_,
* accessible by the SimpleCameraData class through the
* SimplePipelineHandler::subdev() and SimplePipelineHandler::video() functions.
* This avoids duplication of subdev instances between different cameras when
* the same entity is used in multiple paths.
*
* Finally, all camera data instances are initialized to gather information
* about the possible pipeline configurations for the corresponding camera. If
* valid pipeline configurations are found, a Camera is registered for the
* SimpleCameraData instance.
*
* Pipeline Traversal
* ------------------
*
* During the breadth-first search, the pipeline is traversed from entity to
* entity, by following media graph links from source to sink, starting at the
* camera sensor.
*
* When reaching an entity (on its sink side), if the entity is a V4L2 subdev
* that supports the streams API, the subdev internal routes are followed to
* find the connected source pads. Otherwise all of the entity's source pads
* are considered to continue the graph traversal. The pipeline handler
* currently considers the default internal routes only and doesn't attempt to
* setup custom routes. This can be extended if needed.
*
* The shortest path between the camera sensor and a video node is stored in
* SimpleCameraData::entities_ as a list of SimpleCameraData::Entity structures,
* ordered along the data path from the camera sensor to the video node. The
* Entity structure stores a pointer to the MediaEntity, as well as information
* about how it is connected in that particular path for later usage when
* configuring the pipeline.
*
* Pipeline Configuration
* ----------------------
*
* The simple pipeline handler configures the pipeline by propagating V4L2
* subdev formats from the camera sensor to the video node. The format is first
* set on the camera sensor's output, picking a resolution supported by the
* sensor that best matches the needs of the requested streams. Then, on every
* link in the pipeline, the format is retrieved on the link source and set
* unmodified on the link sink.
*
* The best sensor resolution is selected using a heuristic that tries to
* minimize the required bus and memory bandwidth, as the simple pipeline
* handler is typically used on smaller, less powerful systems. To avoid the
* need to upscale, the pipeline handler picks the smallest sensor resolution
* large enough to accommodate the need of all streams. Resolutions that
* significantly restrict the field of view are ignored.
*
* When initializating the camera data, the above format propagation procedure
* is repeated for every media bus format and size supported by the camera
* sensor. Upon reaching the video node, the pixel formats compatible with the
* media bus format are enumerated. Each combination of the input media bus
* format, output pixel format and output size are recorded in an instance of
* the SimpleCameraData::Configuration structure, stored in the
* SimpleCameraData::configs_ vector.
*
* Format Conversion and Scaling
* -----------------------------
*
* The capture pipeline isn't expected to include a scaler, and if a scaler is
* available, it is ignored when configuring the pipeline. However, the simple
* pipeline handler supports optional memory-to-memory converters to scale the
* image and convert it to a different pixel format. If such a converter is
* present, the pipeline handler enumerates, for each pipeline configuration,
* the pixel formats and sizes that the converter can produce for the output of
* the capture video node, and stores the information in the outputFormats and
* outputSizes of the SimpleCameraData::Configuration structure.
*
* Concurrent Access to Cameras
* ----------------------------
*
* The cameras created by the same pipeline handler instance may share hardware
* resources. For instances, a platform may have multiple CSI-2 receivers but a
* single DMA engine, prohibiting usage of multiple cameras concurrently. This
* depends heavily on the hardware architecture, which the simple pipeline
* handler has no a priori knowledge of. The pipeline handler thus implements a
* heuristic to handle sharing of hardware resources in a generic fashion.
*
* Two cameras are considered to be mutually exclusive if their share common
* pads along the pipeline from the camera sensor to the video node. An entity
* can thus be used concurrently by multiple cameras, as long as pads are
* distinct.
*
* A resource reservation mechanism is implemented by the SimplePipelineHandler
* acquirePipeline() and releasePipeline() functions to manage exclusive access
* to pads. A camera reserves all the pads present in its pipeline when it is
* started, and the start() function returns an error if any of the required
* pads is already in use. When the camera is stopped, the pads it has reserved
* are released.
*/
class SimplePipelineHandler;
struct SimplePipelineInfo {
const char *driver;
/*
* Each converter in the list contains the name
* and the number of streams it supports.
*/
std::vector<std::pair<const char *, unsigned int>> converters;
/*
* Using Software ISP is to be enabled per driver.
*
* The Software ISP can't be used together with the converters.
*/
bool swIspEnabled;
};
namespace {
static const SimplePipelineInfo supportedDevices[] = {
{ "dcmipp", {}, false },
{ "imx7-csi", { { "pxp", 1 } }, false },
{ "intel-ipu6", {}, true },
{ "j721e-csi2rx", {}, true },
{ "mtk-seninf", { { "mtk-mdp", 3 } }, false },
{ "mxc-isi", {}, false },
{ "qcom-camss", {}, true },
{ "sun6i-csi", {}, false },
};
} /* namespace */
class SimpleCameraData : public Camera::Private
{
public:
SimpleCameraData(SimplePipelineHandler *pipe,
unsigned int numStreams,
MediaEntity *sensor);
bool isValid() const { return sensor_ != nullptr; }
SimplePipelineHandler *pipe();
int init();
int setupLinks();
int setupFormats(V4L2SubdeviceFormat *format,
V4L2Subdevice::Whence whence,
Transform transform = Transform::Identity);
void bufferReady(FrameBuffer *buffer);
unsigned int streamIndex(const Stream *stream) const
{
return stream - &streams_.front();
}
struct Entity {
/* The media entity, always valid. */
MediaEntity *entity;
/*
* Whether or not the entity is a subdev that supports the
* routing API.
*/
bool supportsRouting;
/*
* The local sink pad connected to the upstream entity, null for
* the camera sensor at the beginning of the pipeline.
*/
const MediaPad *sink;
/*
* The local source pad connected to the downstream entity, null
* for the video node at the end of the pipeline.
*/
const MediaPad *source;
/*
* The link on the source pad, to the downstream entity, null
* for the video node at the end of the pipeline.
*/
MediaLink *sourceLink;
};
struct Configuration {
uint32_t code;
Size sensorSize;
PixelFormat captureFormat;
Size captureSize;
std::vector<PixelFormat> outputFormats;
SizeRange outputSizes;
};
std::vector<Stream> streams_;
/*
* All entities in the pipeline, from the camera sensor to the video
* node.
*/
std::list<Entity> entities_;
std::unique_ptr<CameraSensor> sensor_;
V4L2VideoDevice *video_;
std::vector<Configuration> configs_;
std::map<PixelFormat, std::vector<const Configuration *>> formats_;
std::vector<std::unique_ptr<FrameBuffer>> conversionBuffers_;
std::queue<std::map<const Stream *, FrameBuffer *>> conversionQueue_;
bool useConversion_;
std::unique_ptr<Converter> converter_;
std::unique_ptr<SoftwareIsp> swIsp_;
private:
void tryPipeline(unsigned int code, const Size &size);
static std::vector<const MediaPad *> routedSourcePads(MediaPad *sink);
void conversionInputDone(FrameBuffer *buffer);
void conversionOutputDone(FrameBuffer *buffer);
void ispStatsReady();
void setSensorControls(const ControlList &sensorControls);
};
class SimpleCameraConfiguration : public CameraConfiguration
{
public:
SimpleCameraConfiguration(Camera *camera, SimpleCameraData *data);
Status validate() override;
const SimpleCameraData::Configuration *pipeConfig() const
{
return pipeConfig_;
}
bool needConversion() const { return needConversion_; }
const Transform &combinedTransform() const { return combinedTransform_; }
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> camera_;
SimpleCameraData *data_;
const SimpleCameraData::Configuration *pipeConfig_;
bool needConversion_;
Transform combinedTransform_;
};
class SimplePipelineHandler : public PipelineHandler
{
public:
SimplePipelineHandler(CameraManager *manager);
std::unique_ptr<CameraConfiguration> generateConfiguration(Camera *camera,
Span<const StreamRole> roles) override;
int configure(Camera *camera, CameraConfiguration *config) override;
int exportFrameBuffers(Camera *camera, Stream *stream,
std::vector<std::unique_ptr<FrameBuffer>> *buffers) override;
int start(Camera *camera, const ControlList *controls) override;
void stopDevice(Camera *camera) override;
bool match(DeviceEnumerator *enumerator) override;
V4L2VideoDevice *video(const MediaEntity *entity);
V4L2Subdevice *subdev(const MediaEntity *entity);
MediaDevice *converter() { return converter_; }
bool swIspEnabled() const { return swIspEnabled_; }
protected:
int queueRequestDevice(Camera *camera, Request *request) override;
private:
static constexpr unsigned int kNumInternalBuffers = 3;
struct EntityData {
std::unique_ptr<V4L2VideoDevice> video;
std::unique_ptr<V4L2Subdevice> subdev;
std::map<const MediaPad *, SimpleCameraData *> owners;
};
SimpleCameraData *cameraData(Camera *camera)
{
return static_cast<SimpleCameraData *>(camera->_d());
}
std::vector<MediaEntity *> locateSensors();
static int resetRoutingTable(V4L2Subdevice *subdev);
const MediaPad *acquirePipeline(SimpleCameraData *data);
void releasePipeline(SimpleCameraData *data);
MediaDevice *media_;
std::map<const MediaEntity *, EntityData> entities_;
MediaDevice *converter_;
bool swIspEnabled_;
};
/* -----------------------------------------------------------------------------
* Camera Data
*/
SimpleCameraData::SimpleCameraData(SimplePipelineHandler *pipe,
unsigned int numStreams,
MediaEntity *sensor)
: Camera::Private(pipe), streams_(numStreams)
{
int ret;
/*
* Find the shortest path from the camera sensor to a video capture
* device using the breadth-first search algorithm. This heuristic will
* be most likely to skip paths that aren't suitable for the simple
* pipeline handler on more complex devices, and is guaranteed to
* produce a valid path on all devices that have a single option.
*
* For instance, on the IPU-based i.MX6Q, the shortest path will skip
* encoders and image converters, and will end in a CSI capture device.
*/
std::unordered_set<MediaEntity *> visited;
std::queue<std::tuple<MediaEntity *, MediaPad *>> queue;
/* Remember at each entity where we came from. */
std::unordered_map<MediaEntity *, Entity> parents;
MediaEntity *entity = nullptr;
MediaEntity *video = nullptr;
MediaPad *sinkPad;
queue.push({ sensor, nullptr });
while (!queue.empty()) {
std::tie(entity, sinkPad) = queue.front();
queue.pop();
/* Found the capture device. */
if (entity->function() == MEDIA_ENT_F_IO_V4L) {
LOG(SimplePipeline, Debug)
<< "Found capture device " << entity->name();
video = entity;
break;
}
visited.insert(entity);
/*
* Add direct downstream entities to the search queue. If the
* current entity supports the subdev internal routing API,
* restrict the search to downstream entities reachable through
* active routes.
*/
std::vector<const MediaPad *> pads;
bool supportsRouting = false;
if (sinkPad) {
pads = routedSourcePads(sinkPad);
if (!pads.empty())
supportsRouting = true;
}
if (pads.empty()) {
for (const MediaPad *pad : entity->pads()) {
if (!(pad->flags() & MEDIA_PAD_FL_SOURCE))
continue;
pads.push_back(pad);
}
}
for (const MediaPad *pad : pads) {
for (MediaLink *link : pad->links()) {
MediaEntity *next = link->sink()->entity();
if (visited.find(next) == visited.end()) {
queue.push({ next, link->sink() });
Entity e{ entity, supportsRouting, sinkPad, pad, link };
parents.insert({ next, e });
}
}
}
}
if (!video)
return;
/*
* With the parents, we can follow back our way from the capture device
* to the sensor. Store all the entities in the pipeline, from the
* camera sensor to the video node, in entities_.
*/
entities_.push_front({ entity, false, sinkPad, nullptr, nullptr });
for (auto it = parents.find(entity); it != parents.end();
it = parents.find(entity)) {
const Entity &e = it->second;
entities_.push_front(e);
entity = e.entity;
}
/* Finally also remember the sensor. */
sensor_ = std::make_unique<CameraSensor>(sensor);
ret = sensor_->init();
if (ret) {
sensor_.reset();
return;
}
LOG(SimplePipeline, Debug)
<< "Found pipeline: "
<< utils::join(entities_, " -> ",
[](const Entity &e) {
std::string s = "[";
if (e.sink)
s += std::to_string(e.sink->index()) + "|";
s += e.entity->name();
if (e.source)
s += "|" + std::to_string(e.source->index());
s += "]";
return s;
});
}
SimplePipelineHandler *SimpleCameraData::pipe()
{
return static_cast<SimplePipelineHandler *>(Camera::Private::pipe());
}
int SimpleCameraData::init()
{
SimplePipelineHandler *pipe = SimpleCameraData::pipe();
int ret;
/* Open the converter, if any. */
MediaDevice *converter = pipe->converter();
if (converter) {
converter_ = ConverterFactoryBase::create(converter);
if (!converter_) {
LOG(SimplePipeline, Warning)
<< "Failed to create converter, disabling format conversion";
converter_.reset();
} else {
converter_->inputBufferReady.connect(this, &SimpleCameraData::conversionInputDone);
converter_->outputBufferReady.connect(this, &SimpleCameraData::conversionOutputDone);
}
}
/*
* Instantiate Soft ISP if this is enabled for the given driver and no converter is used.
*/
if (!converter_ && pipe->swIspEnabled()) {
swIsp_ = std::make_unique<SoftwareIsp>(pipe, sensor_.get());
if (!swIsp_->isValid()) {
LOG(SimplePipeline, Warning)
<< "Failed to create software ISP, disabling software debayering";
swIsp_.reset();
} else {
/*
* The inputBufferReady signal is emitted from the soft ISP thread,
* and needs to be handled in the pipeline handler thread. Signals
* implement queued delivery, but this works transparently only if
* the receiver is bound to the target thread. As the
* SimpleCameraData class doesn't inherit from the Object class, it
* is not bound to any thread, and the signal would be delivered
* synchronously. Instead, connect the signal to a lambda function
* bound explicitly to the pipe, which is bound to the pipeline
* handler thread. The function then simply forwards the call to
* conversionInputDone().
*/
swIsp_->inputBufferReady.connect(pipe, [this](FrameBuffer *buffer) {
this->conversionInputDone(buffer);
});
swIsp_->outputBufferReady.connect(this, &SimpleCameraData::conversionOutputDone);
swIsp_->ispStatsReady.connect(this, &SimpleCameraData::ispStatsReady);
swIsp_->setSensorControls.connect(this, &SimpleCameraData::setSensorControls);
}
}
video_ = pipe->video(entities_.back().entity);
ASSERT(video_);
/*
* 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;
/*
* Generate the list of possible pipeline configurations by trying each
* media bus format and size supported by the sensor.
*/
for (unsigned int code : sensor_->mbusCodes()) {
for (const Size &size : sensor_->sizes(code))
tryPipeline(code, size);
}
if (configs_.empty()) {
LOG(SimplePipeline, Error) << "No valid configuration found";
return -EINVAL;
}
/* Map the pixel formats to configurations. */
for (const Configuration &config : configs_) {
formats_[config.captureFormat].push_back(&config);
for (PixelFormat fmt : config.outputFormats)
formats_[fmt].push_back(&config);
}
properties_ = sensor_->properties();
return 0;
}
/*
* Generate a list of supported pipeline configurations for a sensor media bus
* code and size.
*
* First propagate the media bus code and size through the pipeline from the
* camera sensor to the video node. Then, query the video node for all supported
* pixel formats compatible with the media bus code. For each pixel format, store
* a full pipeline configuration in the configs_ vector.
*/
void SimpleCameraData::tryPipeline(unsigned int code, const Size &size)
{
/*
* Propagate the format through the pipeline, and enumerate the
* corresponding possible V4L2 pixel formats on the video node.
*/
V4L2SubdeviceFormat format{};
format.code = code;
format.size = size;
int ret = setupFormats(&format, V4L2Subdevice::TryFormat);
if (ret < 0) {
/* Pipeline configuration failed, skip this configuration. */
format.code = code;
format.size = size;
LOG(SimplePipeline, Debug)
<< "Sensor format " << format
<< " not supported for this pipeline";
return;
}
V4L2VideoDevice::Formats videoFormats = video_->formats(format.code);
LOG(SimplePipeline, Debug)
<< "Adding configuration for " << format.size
<< " in pixel formats [ "
<< utils::join(videoFormats, ", ",
[](const auto &f) {
return f.first.toString();
})
<< " ]";
for (const auto &videoFormat : videoFormats) {
PixelFormat pixelFormat = videoFormat.first.toPixelFormat();
if (!pixelFormat)
continue;
Configuration config;
config.code = code;
config.sensorSize = size;
config.captureFormat = pixelFormat;
config.captureSize = format.size;
if (converter_) {
config.outputFormats = converter_->formats(pixelFormat);
config.outputSizes = converter_->sizes(format.size);
} else if (swIsp_) {
config.outputFormats = swIsp_->formats(pixelFormat);
config.outputSizes = swIsp_->sizes(pixelFormat, format.size);
if (config.outputFormats.empty()) {
/* Do not use swIsp for unsupported pixelFormat's. */
config.outputFormats = { pixelFormat };
config.outputSizes = config.captureSize;
}
} else {
config.outputFormats = { pixelFormat };
config.outputSizes = config.captureSize;
}
configs_.push_back(config);
}
}
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.
*
* The entities_ list stores entities along with their source link. We
* need to process the link in the context of the sink entity, so
* record the source link of the current entity as the sink link of the
* next entity, and skip the first entity in the loop.
*/
MediaLink *sinkLink = nullptr;
for (SimpleCameraData::Entity &e : entities_) {
if (!sinkLink) {
sinkLink = e.sourceLink;
continue;
}
for (MediaPad *pad : e.entity->pads()) {
/*
* If the entity supports the V4L2 internal routing API,
* assume that it may carry multiple independent streams
* concurrently, and only disable links on the sink and
* source pads used by the pipeline.
*/
if (e.supportsRouting && pad != e.sink && pad != e.source)
continue;
for (MediaLink *link : pad->links()) {
if (link == sinkLink)
continue;
if ((link->flags() & MEDIA_LNK_FL_ENABLED) &&
!(link->flags() & MEDIA_LNK_FL_IMMUTABLE)) {
ret = link->setEnabled(false);
if (ret < 0)
return ret;
}
}
}
if (!(sinkLink->flags() & MEDIA_LNK_FL_ENABLED)) {
ret = sinkLink->setEnabled(true);
if (ret < 0)
return ret;
}
sinkLink = e.sourceLink;
}
return 0;
}
int SimpleCameraData::setupFormats(V4L2SubdeviceFormat *format,
V4L2Subdevice::Whence whence,
Transform transform)
{
SimplePipelineHandler *pipe = SimpleCameraData::pipe();
int ret;
/*
* Configure the format on the sensor output and propagate it through
* the pipeline.
*/
ret = sensor_->setFormat(format, transform);
if (ret < 0)
return ret;
for (const Entity &e : entities_) {
if (!e.sourceLink)
break;
MediaLink *link = e.sourceLink;
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) {
V4L2SubdeviceFormat sourceFormat = *format;
V4L2Subdevice *subdev = pipe->subdev(sink->entity());
ret = subdev->setFormat(sink->index(), format, whence);
if (ret < 0)
return ret;
if (format->code != sourceFormat.code ||
format->size != sourceFormat.size) {
LOG(SimplePipeline, Debug)
<< "Source '" << source->entity()->name()
<< "':" << source->index()
<< " produces " << sourceFormat
<< ", sink '" << sink->entity()->name()
<< "':" << sink->index()
<< " requires " << *format;
return -EINVAL;
}
}
LOG(SimplePipeline, Debug)
<< "Link '" << source->entity()->name()
<< "':" << source->index()
<< " -> '" << sink->entity()->name()
<< "':" << sink->index()
<< " configured with format " << *format;
}
return 0;
}
void SimpleCameraData::bufferReady(FrameBuffer *buffer)
{
SimplePipelineHandler *pipe = SimpleCameraData::pipe();
/*
* If an error occurred during capture, or if the buffer was cancelled,
* complete the request, even if the converter is in use as there's no
* point converting an erroneous buffer.
*/
if (buffer->metadata().status != FrameMetadata::FrameSuccess) {
if (!useConversion_) {
/* No conversion, just complete the request. */
Request *request = buffer->request();
pipe->completeBuffer(request, buffer);
pipe->completeRequest(request);
return;
}
/*
* The converter or Software ISP is in use. Requeue the internal
* buffer for capture (unless the stream is being stopped), and
* complete the request with all the user-facing buffers.
*/
if (buffer->metadata().status != FrameMetadata::FrameCancelled)
video_->queueBuffer(buffer);
if (conversionQueue_.empty())
return;
Request *request = nullptr;
for (auto &item : conversionQueue_.front()) {
FrameBuffer *outputBuffer = item.second;
request = outputBuffer->request();
pipe->completeBuffer(request, outputBuffer);
}
conversionQueue_.pop();
if (request)
pipe->completeRequest(request);
return;
}
/*
* Record the sensor's timestamp in the request metadata. The request
* needs to be obtained from the user-facing buffer, as internal
* buffers are free-wheeling and have no request associated with them.
*
* \todo The sensor timestamp should be better estimated by connecting
* to the V4L2Device::frameStart signal if the platform provides it.
*/
Request *request = buffer->request();
if (useConversion_ && !conversionQueue_.empty()) {
const std::map<const Stream *, FrameBuffer *> &outputs =
conversionQueue_.front();
if (!outputs.empty()) {
FrameBuffer *outputBuffer = outputs.begin()->second;
if (outputBuffer)
request = outputBuffer->request();
}
}
if (request)
request->metadata().set(controls::SensorTimestamp,
buffer->metadata().timestamp);
/*
* Queue the captured and the request buffer to the converter or Software
* ISP if format conversion is needed. If there's no queued request, just
* requeue the captured buffer for capture.
*/
if (useConversion_) {
if (conversionQueue_.empty()) {
video_->queueBuffer(buffer);
return;
}
if (converter_)
converter_->queueBuffers(buffer, conversionQueue_.front());
else
swIsp_->queueBuffers(buffer, conversionQueue_.front());
conversionQueue_.pop();
return;
}
/* Otherwise simply complete the request. */
pipe->completeBuffer(request, buffer);
pipe->completeRequest(request);
}
void SimpleCameraData::conversionInputDone(FrameBuffer *buffer)
{
/* Queue the input buffer back for capture. */
video_->queueBuffer(buffer);
}
void SimpleCameraData::conversionOutputDone(FrameBuffer *buffer)
{
SimplePipelineHandler *pipe = SimpleCameraData::pipe();
/* Complete the buffer and the request. */
Request *request = buffer->request();
if (pipe->completeBuffer(request, buffer))
pipe->completeRequest(request);
}
void SimpleCameraData::ispStatsReady()
{
/* \todo Use the DelayedControls class */
swIsp_->processStats(sensor_->getControls({ V4L2_CID_ANALOGUE_GAIN,
V4L2_CID_EXPOSURE }));
}
void SimpleCameraData::setSensorControls(const ControlList &sensorControls)
{
ControlList ctrls(sensorControls);
sensor_->setControls(&ctrls);
}
/* Retrieve all source pads connected to a sink pad through active routes. */
std::vector<const MediaPad *> SimpleCameraData::routedSourcePads(MediaPad *sink)
{
MediaEntity *entity = sink->entity();
std::unique_ptr<V4L2Subdevice> subdev =
std::make_unique<V4L2Subdevice>(entity);
int ret = subdev->open();
if (ret < 0)
return {};
V4L2Subdevice::Routing routing = {};
ret = subdev->getRouting(&routing, V4L2Subdevice::ActiveFormat);
if (ret < 0)
return {};
std::vector<const MediaPad *> pads;
for (const V4L2Subdevice::Route &route : routing) {
if (sink->index() != route.sink.pad ||
!(route.flags & V4L2_SUBDEV_ROUTE_FL_ACTIVE))
continue;
const MediaPad *pad = entity->getPadByIndex(route.source.pad);
if (!pad) {
LOG(SimplePipeline, Warning)
<< "Entity " << entity->name()
<< " has invalid route source pad "
<< route.source.pad;
}
pads.push_back(pad);
}
return pads;
}
/* -----------------------------------------------------------------------------
* Camera Configuration
*/
SimpleCameraConfiguration::SimpleCameraConfiguration(Camera *camera,
SimpleCameraData *data)
: CameraConfiguration(), camera_(camera->shared_from_this()),
data_(data), pipeConfig_(nullptr)
{
}
namespace {
static Size adjustSize(const Size &requestedSize, const SizeRange &supportedSizes)
{
ASSERT(supportedSizes.min <= supportedSizes.max);
if (supportedSizes.min == supportedSizes.max)
return supportedSizes.max;
unsigned int hStep = supportedSizes.hStep;
unsigned int vStep = supportedSizes.vStep;
if (hStep == 0)
hStep = supportedSizes.max.width - supportedSizes.min.width;
if (vStep == 0)
vStep = supportedSizes.max.height - supportedSizes.min.height;
Size adjusted = requestedSize.boundedTo(supportedSizes.max)
.expandedTo(supportedSizes.min);
return adjusted.shrunkBy(supportedSizes.min)
.alignedDownTo(hStep, vStep)
.grownBy(supportedSizes.min);
}
} /* namespace */
CameraConfiguration::Status SimpleCameraConfiguration::validate()
{
const CameraSensor *sensor = data_->sensor_.get();
Status status = Valid;
if (config_.empty())
return Invalid;
Orientation requestedOrientation = orientation;
combinedTransform_ = sensor->computeTransform(&orientation);
if (orientation != requestedOrientation)
status = Adjusted;
/* Cap the number of entries to the available streams. */
if (config_.size() > data_->streams_.size()) {
config_.resize(data_->streams_.size());
status = Adjusted;
}
/* Find the largest stream size. */
Size maxStreamSize;
for (const StreamConfiguration &cfg : config_)
maxStreamSize.expandTo(cfg.size);
LOG(SimplePipeline, Debug)
<< "Largest stream size is " << maxStreamSize;
/*
* Find the best configuration for the pipeline using a heuristic.
* First select the pixel format based on the streams (which are
* considered ordered from highest to lowest priority). Default to the
* first pipeline configuration if no streams request a supported pixel
* format.
*/
const std::vector<const SimpleCameraData::Configuration *> *configs =
&data_->formats_.begin()->second;
for (const StreamConfiguration &cfg : config_) {
auto it = data_->formats_.find(cfg.pixelFormat);
if (it != data_->formats_.end()) {
configs = &it->second;
break;
}
}
/*
* \todo Pick the best sensor output media bus format when the
* requested pixel format can be produced from multiple sensor media
* bus formats.
*/
/*
* Then pick, among the possible configuration for the pixel format,
* the smallest sensor resolution that can accommodate all streams
* without upscaling.
*/
const SimpleCameraData::Configuration *maxPipeConfig = nullptr;
pipeConfig_ = nullptr;
for (const SimpleCameraData::Configuration *pipeConfig : *configs) {
const Size &size = pipeConfig->captureSize;
if (size.width >= maxStreamSize.width &&
size.height >= maxStreamSize.height) {
if (!pipeConfig_ || size < pipeConfig_->captureSize)
pipeConfig_ = pipeConfig;
}
if (!maxPipeConfig || maxPipeConfig->captureSize < size)
maxPipeConfig = pipeConfig;
}
/* If no configuration was large enough, select the largest one. */
if (!pipeConfig_)
pipeConfig_ = maxPipeConfig;
LOG(SimplePipeline, Debug)
<< "Picked "
<< V4L2SubdeviceFormat{ pipeConfig_->code, pipeConfig_->sensorSize, {} }
<< " -> " << pipeConfig_->captureSize
<< "-" << pipeConfig_->captureFormat
<< " for max stream size " << maxStreamSize;
/*
* Adjust the requested streams.
*
* Enable usage of the converter when producing multiple streams, as
* the video capture device can't capture to multiple buffers.
*
* It is possible to produce up to one stream without conversion
* (provided the format and size match), at the expense of more complex
* buffer handling (including allocation of internal buffers to be used
* when a request doesn't contain a buffer for the stream that doesn't
* require any conversion, similar to raw capture use cases). This is
* left as a future improvement.
*/
needConversion_ = config_.size() > 1;
for (unsigned int i = 0; i < config_.size(); ++i) {
StreamConfiguration &cfg = config_[i];
/* Adjust the pixel format and size. */
auto it = std::find(pipeConfig_->outputFormats.begin(),
pipeConfig_->outputFormats.end(),
cfg.pixelFormat);
if (it == pipeConfig_->outputFormats.end())
it = pipeConfig_->outputFormats.begin();
PixelFormat pixelFormat = *it;
if (cfg.pixelFormat != pixelFormat) {
LOG(SimplePipeline, Debug) << "Adjusting pixel format";
cfg.pixelFormat = pixelFormat;
status = Adjusted;
}
if (!pipeConfig_->outputSizes.contains(cfg.size)) {
Size adjustedSize = pipeConfig_->captureSize;
/*
* The converter (when present) may not be able to output
* a size identical to its input size. The capture size is thus
* not guaranteed to be a valid output size. In such cases, use
* the smaller valid output size closest to the requested.
*/
if (!pipeConfig_->outputSizes.contains(adjustedSize))
adjustedSize = adjustSize(cfg.size, pipeConfig_->outputSizes);
LOG(SimplePipeline, Debug)
<< "Adjusting size from " << cfg.size
<< " to " << adjustedSize;
cfg.size = adjustedSize;
status = Adjusted;
}
/* \todo Create a libcamera core class to group format and size */
if (cfg.pixelFormat != pipeConfig_->captureFormat ||
cfg.size != pipeConfig_->captureSize)
needConversion_ = true;
/* Set the stride, frameSize and bufferCount. */
if (needConversion_) {
std::tie(cfg.stride, cfg.frameSize) =
data_->converter_
? data_->converter_->strideAndFrameSize(cfg.pixelFormat,
cfg.size)
: data_->swIsp_->strideAndFrameSize(cfg.pixelFormat,
cfg.size);
if (cfg.stride == 0)
return Invalid;
} else {
V4L2DeviceFormat format;
format.fourcc = data_->video_->toV4L2PixelFormat(cfg.pixelFormat);
format.size = cfg.size;
int ret = data_->video_->tryFormat(&format);
if (ret < 0)
return Invalid;
cfg.stride = format.planes[0].bpl;
cfg.frameSize = format.planes[0].size;
}
cfg.bufferCount = 3;
}
return status;
}
/* -----------------------------------------------------------------------------
* Pipeline Handler
*/
SimplePipelineHandler::SimplePipelineHandler(CameraManager *manager)
: PipelineHandler(manager), converter_(nullptr)
{
}
std::unique_ptr<CameraConfiguration>
SimplePipelineHandler::generateConfiguration(Camera *camera, Span<const StreamRole> roles)
{
SimpleCameraData *data = cameraData(camera);
std::unique_ptr<CameraConfiguration> config =
std::make_unique<SimpleCameraConfiguration>(camera, data);
if (roles.empty())
return config;
/* Create the formats map. */
std::map<PixelFormat, std::vector<SizeRange>> formats;
for (const SimpleCameraData::Configuration &cfg : data->configs_) {
for (PixelFormat format : cfg.outputFormats)
formats[format].push_back(cfg.outputSizes);
}
/* Sort the sizes and merge any consecutive overlapping ranges. */
for (auto &[format, sizes] : formats) {
std::sort(sizes.begin(), sizes.end(),
[](SizeRange &a, SizeRange &b) {
return a.min < b.min;
});
auto cur = sizes.begin();
auto next = cur;
while (++next != sizes.end()) {
if (cur->max.width >= next->min.width &&
cur->max.height >= next->min.height)
cur->max = next->max;
else if (++cur != next)
*cur = *next;
}
sizes.erase(++cur, sizes.end());
}
/*
* Create the stream configurations. 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
*/
for ([[maybe_unused]] StreamRole role : roles) {
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<SimpleCameraConfiguration *>(c);
SimpleCameraData *data = cameraData(camera);
V4L2VideoDevice *video = data->video_;
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 = config->pipeConfig();
V4L2SubdeviceFormat format{};
format.code = pipeConfig->code;
format.size = pipeConfig->sensorSize;
ret = data->setupFormats(&format, V4L2Subdevice::ActiveFormat,
config->combinedTransform());
if (ret < 0)
return ret;
/* Configure the video node. */
V4L2PixelFormat videoFormat = video->toV4L2PixelFormat(pipeConfig->captureFormat);
V4L2DeviceFormat captureFormat;
captureFormat.fourcc = videoFormat;
captureFormat.size = pipeConfig->captureSize;
ret = video->setFormat(&captureFormat);
if (ret)
return ret;
if (captureFormat.planesCount != 1) {
LOG(SimplePipeline, Error)
<< "Planar formats using non-contiguous memory not supported";
return -EINVAL;
}
if (captureFormat.fourcc != videoFormat ||
captureFormat.size != pipeConfig->captureSize) {
LOG(SimplePipeline, Error)
<< "Unable to configure capture in "
<< pipeConfig->captureSize << "-" << videoFormat
<< " (got " << captureFormat << ")";
return -EINVAL;
}
/* Configure the converter if needed. */
std::vector<std::reference_wrapper<StreamConfiguration>> outputCfgs;
data->useConversion_ = config->needConversion();
for (unsigned int i = 0; i < config->size(); ++i) {
StreamConfiguration &cfg = config->at(i);
cfg.setStream(&data->streams_[i]);
if (data->useConversion_)
outputCfgs.push_back(cfg);
}
if (outputCfgs.empty())
return 0;
StreamConfiguration inputCfg;
inputCfg.pixelFormat = pipeConfig->captureFormat;
inputCfg.size = pipeConfig->captureSize;
inputCfg.stride = captureFormat.planes[0].bpl;
inputCfg.bufferCount = kNumInternalBuffers;
return data->converter_
? data->converter_->configure(inputCfg, outputCfgs)
: data->swIsp_->configure(inputCfg, outputCfgs,
data->sensor_->controls());
}
int SimplePipelineHandler::exportFrameBuffers(Camera *camera, Stream *stream,
std::vector<std::unique_ptr<FrameBuffer>> *buffers)
{
SimpleCameraData *data = cameraData(camera);
unsigned int count = stream->configuration().bufferCount;
/*
* Export buffers on the converter or capture video node, depending on
* whether the converter is used or not.
*/
if (data->useConversion_)
return data->converter_
? data->converter_->exportBuffers(stream, count, buffers)
: data->swIsp_->exportBuffers(stream, count, buffers);
else
return data->video_->exportBuffers(count, buffers);
}
int SimplePipelineHandler::start(Camera *camera, [[maybe_unused]] const ControlList *controls)
{
SimpleCameraData *data = cameraData(camera);
V4L2VideoDevice *video = data->video_;
int ret;
const MediaPad *pad = acquirePipeline(data);
if (pad) {
LOG(SimplePipeline, Info)
<< "Failed to acquire pipeline, entity "
<< pad->entity()->name() << " in use";
return -EBUSY;
}
if (data->useConversion_) {
/*
* When using the converter allocate a fixed number of internal
* buffers.
*/
ret = video->allocateBuffers(kNumInternalBuffers,
&data->conversionBuffers_);
} else {
/* Otherwise, prepare for using buffers from the only stream. */
Stream *stream = &data->streams_[0];
ret = video->importBuffers(stream->configuration().bufferCount);
}
if (ret < 0) {
releasePipeline(data);
return ret;
}
video->bufferReady.connect(data, &SimpleCameraData::bufferReady);
ret = video->streamOn();
if (ret < 0) {
stop(camera);
return ret;
}
if (data->useConversion_) {
if (data->converter_)
ret = data->converter_->start();
else if (data->swIsp_)
ret = data->swIsp_->start();
else
ret = 0;
if (ret < 0) {
stop(camera);
return ret;
}
/* Queue all internal buffers for capture. */
for (std::unique_ptr<FrameBuffer> &buffer : data->conversionBuffers_)
video->queueBuffer(buffer.get());
}
return 0;
}
void SimplePipelineHandler::stopDevice(Camera *camera)
{
SimpleCameraData *data = cameraData(camera);
V4L2VideoDevice *video = data->video_;
if (data->useConversion_) {
if (data->converter_)
data->converter_->stop();
else if (data->swIsp_)
data->swIsp_->stop();
}
video->streamOff();
video->releaseBuffers();
video->bufferReady.disconnect(data, &SimpleCameraData::bufferReady);
data->conversionBuffers_.clear();
releasePipeline(data);
}
int SimplePipelineHandler::queueRequestDevice(Camera *camera, Request *request)
{
SimpleCameraData *data = cameraData(camera);
int ret;
std::map<const Stream *, FrameBuffer *> buffers;
for (auto &[stream, buffer] : request->buffers()) {
/*
* If conversion is needed, push the buffer to the converter
* queue, it will be handed to the converter in the capture
* completion handler.
*/
if (data->useConversion_) {
buffers.emplace(stream, buffer);
} else {
ret = data->video_->queueBuffer(buffer);
if (ret < 0)
return ret;
}
}
if (data->useConversion_)
data->conversionQueue_.push(std::move(buffers));
return 0;
}
/* -----------------------------------------------------------------------------
* Match and Setup
*/
std::vector<MediaEntity *> SimplePipelineHandler::locateSensors()
{
std::vector<MediaEntity *> entities;
/*
* Gather all the camera sensor entities based on the function they
* expose.
*/
for (MediaEntity *entity : media_->entities()) {
if (entity->function() == MEDIA_ENT_F_CAM_SENSOR)
entities.push_back(entity);
}
if (entities.empty())
return {};
/*
* Sensors can be made of multiple entities. For instance, a raw sensor
* can be connected to an ISP, and the combination of both should be
* treated as one sensor. To support this, as a crude heuristic, check
* the downstream entity from the camera sensor, and if it is an ISP,
* use it instead of the sensor.
*/
std::vector<MediaEntity *> sensors;
for (MediaEntity *entity : entities) {
/*
* Locate the downstream entity by following the first link
* from a source pad.
*/
const MediaLink *link = nullptr;
for (const MediaPad *pad : entity->pads()) {
if ((pad->flags() & MEDIA_PAD_FL_SOURCE) &&
!pad->links().empty()) {
link = pad->links()[0];
break;
}
}
if (!link)
continue;
MediaEntity *remote = link->sink()->entity();
if (remote->function() == MEDIA_ENT_F_PROC_VIDEO_ISP)
sensors.push_back(remote);
else
sensors.push_back(entity);
}
/*
* Remove duplicates, in case multiple sensors are connected to the
* same ISP.
*/
std::sort(sensors.begin(), sensors.end());
auto last = std::unique(sensors.begin(), sensors.end());
sensors.erase(last, sensors.end());
return sensors;
}
int SimplePipelineHandler::resetRoutingTable(V4L2Subdevice *subdev)
{
/* Reset the media entity routing table to its default state. */
V4L2Subdevice::Routing routing = {};
int ret = subdev->getRouting(&routing, V4L2Subdevice::TryFormat);
if (ret)
return ret;
ret = subdev->setRouting(&routing, V4L2Subdevice::ActiveFormat);
if (ret)
return ret;
/*
* If the routing table is empty we won't be able to meaningfully use
* the subdev.
*/
if (routing.empty()) {
LOG(SimplePipeline, Error)
<< "Default routing table of " << subdev->deviceNode()
<< " is empty";
return -EINVAL;
}
LOG(SimplePipeline, Debug)
<< "Routing table of " << subdev->deviceNode()
<< " reset to " << routing;
return 0;
}
bool SimplePipelineHandler::match(DeviceEnumerator *enumerator)
{
const SimplePipelineInfo *info = nullptr;
unsigned int numStreams = 1;
for (const SimplePipelineInfo &inf : supportedDevices) {
DeviceMatch dm(inf.driver);
media_ = acquireMediaDevice(enumerator, dm);
if (media_) {
info = &inf;
break;
}
}
if (!media_)
return false;
for (const auto &[name, streams] : info->converters) {
DeviceMatch converterMatch(name);
converter_ = acquireMediaDevice(enumerator, converterMatch);
if (converter_) {
numStreams = streams;
break;
}
}
swIspEnabled_ = info->swIspEnabled;
/* Locate the sensors. */
std::vector<MediaEntity *> sensors = locateSensors();
if (sensors.empty()) {
LOG(SimplePipeline, Error) << "No sensor found";
return false;
}
/*
* Create one camera data instance for each sensor and gather all
* entities in all pipelines.
*/
std::vector<std::unique_ptr<SimpleCameraData>> pipelines;
std::set<MediaEntity *> entities;
pipelines.reserve(sensors.size());
for (MediaEntity *sensor : sensors) {
std::unique_ptr<SimpleCameraData> data =
std::make_unique<SimpleCameraData>(this, numStreams, sensor);
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;
/*
* Insert all entities in the global entities list. Create and open
* V4L2VideoDevice and V4L2Subdevice instances for the corresponding
* entities.
*/
for (MediaEntity *entity : entities) {
std::unique_ptr<V4L2VideoDevice> video;
std::unique_ptr<V4L2Subdevice> subdev;
int ret;
switch (entity->type()) {
case MediaEntity::Type::V4L2VideoDevice:
video = std::make_unique<V4L2VideoDevice>(entity);
ret = video->open();
if (ret < 0) {
LOG(SimplePipeline, Error)
<< "Failed to open " << video->deviceNode()
<< ": " << strerror(-ret);
return false;
}
break;
case MediaEntity::Type::V4L2Subdevice:
subdev = std::make_unique<V4L2Subdevice>(entity);
ret = subdev->open();
if (ret < 0) {
LOG(SimplePipeline, Error)
<< "Failed to open " << subdev->deviceNode()
<< ": " << strerror(-ret);
return false;
}
if (subdev->caps().hasStreams()) {
/*
* Reset the routing table to its default state
* to make sure entities are enumerate according
* to the defaul routing configuration.
*/
ret = resetRoutingTable(subdev.get());
if (ret) {
LOG(SimplePipeline, Error)
<< "Failed to reset routes for "
<< subdev->deviceNode() << ": "
<< strerror(-ret);
return false;
}
}
break;
default:
break;
}
entities_[entity] = { std::move(video), std::move(subdev), {} };
}
/* Initialize each pipeline and register a corresponding camera. */
bool registered = false;
for (std::unique_ptr<SimpleCameraData> &data : pipelines) {
int ret = data->init();
if (ret < 0)
continue;
std::set<Stream *> streams;
std::transform(data->streams_.begin(), data->streams_.end(),
std::inserter(streams, streams.end()),
[](Stream &stream) { return &stream; });
const std::string &id = data->sensor_->id();
std::shared_ptr<Camera> camera =
Camera::create(std::move(data), id, streams);
registerCamera(std::move(camera));
registered = true;
}
return registered;
}
V4L2VideoDevice *SimplePipelineHandler::video(const MediaEntity *entity)
{
auto iter = entities_.find(entity);
if (iter == entities_.end())
return nullptr;
return iter->second.video.get();
}
V4L2Subdevice *SimplePipelineHandler::subdev(const MediaEntity *entity)
{
auto iter = entities_.find(entity);
if (iter == entities_.end())
return nullptr;
return iter->second.subdev.get();
}
/**
* \brief Acquire all resources needed by the camera pipeline
* \return nullptr on success, a pointer to the contended pad on error
*/
const MediaPad *SimplePipelineHandler::acquirePipeline(SimpleCameraData *data)
{
for (const SimpleCameraData::Entity &entity : data->entities_) {
const EntityData &edata = entities_[entity.entity];
if (entity.sink) {
auto iter = edata.owners.find(entity.sink);
if (iter != edata.owners.end() && iter->second != data)
return entity.sink;
}
if (entity.source) {
auto iter = edata.owners.find(entity.source);
if (iter != edata.owners.end() && iter->second != data)
return entity.source;
}
}
for (const SimpleCameraData::Entity &entity : data->entities_) {
EntityData &edata = entities_[entity.entity];
if (entity.sink)
edata.owners[entity.sink] = data;
if (entity.source)
edata.owners[entity.source] = data;
}
return nullptr;
}
void SimplePipelineHandler::releasePipeline(SimpleCameraData *data)
{
for (const SimpleCameraData::Entity &entity : data->entities_) {
EntityData &edata = entities_[entity.entity];
if (entity.sink) {
auto iter = edata.owners.find(entity.sink);
ASSERT(iter->second == data);
edata.owners.erase(iter);
}
if (entity.source) {
auto iter = edata.owners.find(entity.source);
ASSERT(iter->second == data);
edata.owners.erase(iter);
}
}
}
REGISTER_PIPELINE_HANDLER(SimplePipelineHandler, "simple")
} /* namespace libcamera */
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