libcamera/vivid.git - libcamera pipeline handler for VIVID

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/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
 * Copyright (C) 2024, Ideas on Board Oy
 *
 * mali-c55.cpp - Pipeline Handler for ARM's Mali-C55 ISP
 */

#include <algorithm>
#include <array>
#include <map>
#include <memory>
#include <set>
#include <string>

#include <linux/media-bus-format.h>
#include <linux/media.h>

#include <libcamera/base/log.h>

#include <libcamera/camera.h>
#include <libcamera/formats.h>
#include <libcamera/geometry.h>
#include <libcamera/stream.h>

#include "libcamera/internal/bayer_format.h"
#include "libcamera/internal/camera.h"
#include "libcamera/internal/camera_sensor.h"
#include "libcamera/internal/device_enumerator.h"
#include "libcamera/internal/media_device.h"
#include "libcamera/internal/pipeline_handler.h"
#include "libcamera/internal/v4l2_subdevice.h"
#include "libcamera/internal/v4l2_videodevice.h"

namespace {

bool isFormatRaw(const libcamera::PixelFormat &pixFmt)
{
	return libcamera::PixelFormatInfo::info(pixFmt).colourEncoding ==
	       libcamera::PixelFormatInfo::ColourEncodingRAW;
}

} /* namespace */

namespace libcamera {

LOG_DEFINE_CATEGORY(MaliC55)

const std::map<libcamera::PixelFormat, unsigned int> maliC55FmtToCode = {
	/* \todo Support all formats supported by the driver in libcamera. */

	{ formats::RGB565, MEDIA_BUS_FMT_RGB121212_1X36 },
	{ formats::RGB888, MEDIA_BUS_FMT_RGB121212_1X36 },
	{ formats::YUYV, MEDIA_BUS_FMT_YUV10_1X30 },
	{ formats::UYVY, MEDIA_BUS_FMT_YUV10_1X30 },
	{ formats::R8, MEDIA_BUS_FMT_YUV10_1X30 },
	{ formats::NV12, MEDIA_BUS_FMT_YUV10_1X30 },
	{ formats::NV21, MEDIA_BUS_FMT_YUV10_1X30 },

	/* RAW formats, FR pipe only. */
	{ formats::SGBRG8, MEDIA_BUS_FMT_SGBRG8_1X8 },
	{ formats::SRGGB8, MEDIA_BUS_FMT_SRGGB8_1X8 },
	{ formats::SBGGR8, MEDIA_BUS_FMT_SBGGR8_1X8 },
	{ formats::SGRBG8, MEDIA_BUS_FMT_SGRBG8_1X8 },
	{ formats::SGBRG10, MEDIA_BUS_FMT_SGBRG10_1X10 },
	{ formats::SRGGB10, MEDIA_BUS_FMT_SRGGB10_1X10 },
	{ formats::SBGGR10, MEDIA_BUS_FMT_SBGGR10_1X10 },
	{ formats::SGRBG10, MEDIA_BUS_FMT_SGRBG10_1X10 },
	{ formats::SGBRG12, MEDIA_BUS_FMT_SGBRG12_1X12 },
	{ formats::SRGGB12, MEDIA_BUS_FMT_SRGGB12_1X12 },
	{ formats::SBGGR12, MEDIA_BUS_FMT_SBGGR12_1X12 },
	{ formats::SGRBG12, MEDIA_BUS_FMT_SGRBG12_1X12 },
	{ formats::SGBRG14, MEDIA_BUS_FMT_SGBRG14_1X14 },
	{ formats::SRGGB14, MEDIA_BUS_FMT_SRGGB14_1X14 },
	{ formats::SBGGR14, MEDIA_BUS_FMT_SBGGR14_1X14 },
	{ formats::SGRBG14, MEDIA_BUS_FMT_SGRBG14_1X14 },
	{ formats::SGBRG16, MEDIA_BUS_FMT_SGBRG16_1X16 },
	{ formats::SRGGB16, MEDIA_BUS_FMT_SRGGB16_1X16 },
	{ formats::SBGGR16, MEDIA_BUS_FMT_SBGGR16_1X16 },
	{ formats::SGRBG16, MEDIA_BUS_FMT_SGRBG16_1X16 },
};

constexpr Size kMaliC55MinSize = { 128, 128 };
constexpr Size kMaliC55MaxSize = { 8192, 8192 };
constexpr unsigned int kMaliC55ISPInternalFormat = MEDIA_BUS_FMT_RGB121212_1X36;

class MaliC55CameraData : public Camera::Private
{
public:
	MaliC55CameraData(PipelineHandler *pipe, MediaEntity *entity)
		: Camera::Private(pipe), entity_(entity)
	{
	}

	int init();

	/* Deflect these functionalities to either TPG or CameraSensor. */
	const std::vector<unsigned int> mbusCodes() const;
	const std::vector<Size> sizes(unsigned int mbusCode) const;
	const Size resolution() const;

	PixelFormat bestRawFormat() const;

	PixelFormat adjustRawFormat(const PixelFormat &pixFmt) const;
	Size adjustRawSizes(const PixelFormat &pixFmt, const Size &rawSize) const;

	std::unique_ptr<CameraSensor> sensor_;

	MediaEntity *entity_;
	std::unique_ptr<V4L2Subdevice> csi_;
	std::unique_ptr<V4L2Subdevice> sd_;
	Stream frStream_;
	Stream dsStream_;

private:
	void initTPGData();

	std::string id_;
	std::vector<unsigned int> tpgCodes_;
	std::vector<Size> tpgSizes_;
	Size tpgResolution_;
};

int MaliC55CameraData::init()
{
	int ret;

	sd_ = std::make_unique<V4L2Subdevice>(entity_);
	ret = sd_->open();
	if (ret) {
		LOG(MaliC55, Error) << "Failed to open sensor subdevice";
		return ret;
	}

	/* If this camera is created from TPG, we return here. */
	if (entity_->name() == "mali-c55 tpg") {
		initTPGData();
		return 0;
	}

	/*
	 * Register a CameraSensor if we connect to a sensor and create
	 * an entity for the connected CSI-2 receiver.
	 */
	sensor_ = std::make_unique<CameraSensor>(entity_);
	ret = sensor_->init();
	if (ret)
		return ret;

	const MediaPad *sourcePad = entity_->getPadByIndex(0);
	MediaEntity *csiEntity = sourcePad->links()[0]->sink()->entity();

	csi_ = std::make_unique<V4L2Subdevice>(csiEntity);
	if (csi_->open()) {
		LOG(MaliC55, Error) << "Failed to open CSI-2 subdevice";
		return false;
	}

	return 0;
}

void MaliC55CameraData::initTPGData()
{
	/* Replicate the CameraSensor implementation for TPG. */
	V4L2Subdevice::Formats formats = sd_->formats(0);
	if (formats.empty())
		return;

	tpgCodes_ = utils::map_keys(formats);
	std::sort(tpgCodes_.begin(), tpgCodes_.end());

	for (const auto &format : formats) {
		const std::vector<SizeRange> &ranges = format.second;
		std::transform(ranges.begin(), ranges.end(), std::back_inserter(tpgSizes_),
			       [](const SizeRange &range) { return range.max; });
	}

	tpgResolution_ = tpgSizes_.back();
}

const std::vector<unsigned int> MaliC55CameraData::mbusCodes() const
{
	if (sensor_)
		return sensor_->mbusCodes();

	return tpgCodes_;
}

const std::vector<Size> MaliC55CameraData::sizes(unsigned int mbusCode) const
{
	if (sensor_)
		return sensor_->sizes(mbusCode);

	V4L2Subdevice::Formats formats = sd_->formats(0);
	if (formats.empty())
		return {};

	std::vector<Size> sizes;
	const auto &format = formats.find(mbusCode);
	if (format == formats.end())
		return {};

	const std::vector<SizeRange> &ranges = format->second;
	std::transform(ranges.begin(), ranges.end(), std::back_inserter(sizes),
		       [](const SizeRange &range) { return range.max; });

	std::sort(sizes.begin(), sizes.end());

	return sizes;
}

const Size MaliC55CameraData::resolution() const
{
	if (sensor_)
		return sensor_->resolution();

	return tpgResolution_;
}

PixelFormat MaliC55CameraData::bestRawFormat() const
{
	unsigned int bitDepth = 0;
	PixelFormat rawFormat;

	/*
	 * Iterate over all the supported PixelFormat and find the one
	 * supported by the camera with the largest bitdepth.
	 */
	for (const auto &maliFormat : maliC55FmtToCode) {
		PixelFormat pixFmt = maliFormat.first;
		if (!isFormatRaw(pixFmt))
			continue;

		unsigned int rawCode = maliFormat.second;
		const auto rawSizes = sizes(rawCode);
		if (rawSizes.empty())
			continue;

		BayerFormat bayer = BayerFormat::fromMbusCode(rawCode);
		if (bayer.bitDepth > bitDepth) {
			bitDepth = bayer.bitDepth;
			rawFormat = pixFmt;
		}
	}

	return rawFormat;
}

/*
 * Make sure the provided raw pixel format is supported and adjust it to
 * one of the supported ones if it's not.
 */
PixelFormat MaliC55CameraData::adjustRawFormat(const PixelFormat &rawFmt) const
{
	/* Make sure the provided raw format is supported by the pipeline. */
	auto it = maliC55FmtToCode.find(rawFmt);
	if (it == maliC55FmtToCode.end())
		return bestRawFormat();

	/* Now make sure the RAW mbus code is supported by the image source. */
	unsigned int rawCode = it->second;
	const auto rawSizes = sizes(rawCode);
	if (rawSizes.empty())
		return bestRawFormat();

	return rawFmt;
}

Size MaliC55CameraData::adjustRawSizes(const PixelFormat &rawFmt, const Size &rawSize) const
{
	/* Just make sure the format is supported. */
	auto it = maliC55FmtToCode.find(rawFmt);
	if (it == maliC55FmtToCode.end())
		return {};

	/* Check if the size is natively supported. */
	unsigned int rawCode = it->second;
	const auto rawSizes = sizes(rawCode);
	auto sizeIt = std::find(rawSizes.begin(), rawSizes.end(), rawSize);
	if (sizeIt != rawSizes.end())
		return rawSize;

	/* Or adjust it to the closest supported size. */
	uint16_t distance = std::numeric_limits<uint16_t>::max();
	Size bestSize;
	for (const Size &size : rawSizes) {
		uint16_t dist = std::abs(static_cast<int>(rawSize.width) -
					 static_cast<int>(size.width)) +
				std::abs(static_cast<int>(rawSize.height) -
					 static_cast<int>(size.height));
		if (dist < distance) {
			dist = distance;
			bestSize = size;
		}
	}

	return bestSize;
}

class MaliC55CameraConfiguration : public CameraConfiguration
{
public:
	MaliC55CameraConfiguration(MaliC55CameraData *data)
		: CameraConfiguration(), data_(data)
	{
	}

	Status validate() override;

	V4L2SubdeviceFormat sensorFormat_;

private:
	static constexpr unsigned int kMaxStreams = 2;

	const MaliC55CameraData *data_;
};

CameraConfiguration::Status MaliC55CameraConfiguration::validate()
{
	Status status = Valid;

	if (config_.empty())
		return Invalid;

	/* Only 2 streams available. */
	if (config_.size() > kMaxStreams) {
		config_.resize(kMaxStreams);
		status = Adjusted;
	}

	bool frPipeAvailable = true;
	StreamConfiguration *rawConfig = nullptr;
	for (StreamConfiguration &config : config_) {
		if (!isFormatRaw(config.pixelFormat))
			continue;

		if (rawConfig) {
			LOG(MaliC55, Error)
				<< "Only a single RAW stream is supported";
			return Invalid;
		}

		rawConfig = &config;
	}

	Size maxSize = kMaliC55MaxSize;
	if (rawConfig) {
		/*
		 * \todo Take into account the Bayer components ordering once
		 * we support rotations.
		 */
		PixelFormat rawFormat =
			data_->adjustRawFormat(rawConfig->pixelFormat);
		if (rawFormat != rawConfig->pixelFormat) {
			LOG(MaliC55, Debug)
				<< "RAW format adjusted to " << rawFormat;
			rawConfig->pixelFormat = rawFormat;
			status = Adjusted;
		}

		Size rawSize =
			data_->adjustRawSizes(rawFormat, rawConfig->size);
		if (rawSize != rawConfig->size) {
			LOG(MaliC55, Debug)
				<< "RAW sizes adjusted to " << rawSize;
			rawConfig->size = rawSize;
			status = Adjusted;
		}

		maxSize = rawSize;

		rawConfig->setStream(const_cast<Stream *>(&data_->frStream_));
		frPipeAvailable = false;
	}

	/* Adjust processed streams. */
	Size maxYuvSize;
	for (StreamConfiguration &config : config_) {
		if (isFormatRaw(config.pixelFormat))
			continue;

		/* Adjust format and size for processed streams. */
		const auto it = maliC55FmtToCode.find(config.pixelFormat);
		if (it == maliC55FmtToCode.end()) {
			LOG(MaliC55, Debug)
				<< "Format adjusted to " << formats::RGB565;
			config.pixelFormat = formats::RGB565;
			status = Adjusted;
		}

		Size size = std::clamp(config.size, kMaliC55MinSize, maxSize);
		if (size != config.size) {
			LOG(MaliC55, Debug)
				<< "Size adjusted to " << size;
			config.size = size;
			status = Adjusted;
		}

		if (maxYuvSize < size)
			maxYuvSize = size;

		if (frPipeAvailable) {
			config.setStream(const_cast<Stream *>(&data_->frStream_));
			frPipeAvailable = false;
		} else {
			config.setStream(const_cast<Stream *>(&data_->dsStream_));
		}
	}

	/* Compute the sensor format. */

	/* If there's a RAW config, sensor configuration follows it. */
	if (rawConfig) {
		const auto it = maliC55FmtToCode.find(rawConfig->pixelFormat);
		sensorFormat_.code = it->second;
		sensorFormat_.size = rawConfig->size;

		return status;
	}

	/* If there's no RAW config, compute the sensor configuration here. */
	PixelFormat rawFormat = data_->bestRawFormat();
	const auto it = maliC55FmtToCode.find(rawFormat);
	sensorFormat_.code = it->second;

	uint16_t distance = std::numeric_limits<uint16_t>::max();
	const auto sizes = data_->sizes(it->second);
	Size bestSize;
	for (const auto &size : sizes) {
		/* Skip sensor sizes that are smaller than the max YUV size. */
		if (maxYuvSize.width > size.width ||
		    maxYuvSize.height > size.height)
			continue;

		uint16_t dist = std::abs(static_cast<int>(maxYuvSize.width) -
					 static_cast<int>(size.width)) +
				std::abs(static_cast<int>(maxYuvSize.height) -
					 static_cast<int>(size.height));
		if (dist < distance) {
			dist = distance;
			bestSize = size;
		}
	}
	sensorFormat_.size = bestSize;

	LOG(MaliC55, Debug) << "Computed sensor configuration " << sensorFormat_;

	return status;
}

class PipelineHandlerMaliC55 : public PipelineHandler
{
public:
	PipelineHandlerMaliC55(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;

	int queueRequestDevice(Camera *camera, Request *request) override;

	void bufferReady(FrameBuffer *buffer);

	bool match(DeviceEnumerator *enumerator) override;

private:
	struct MaliC55Pipe {
		std::unique_ptr<V4L2Subdevice> resizer;
		std::unique_ptr<V4L2VideoDevice> cap;
		Stream *stream;
	};

	enum {
		MaliC55FR,
		MaliC55DS,
		MaliC55NumPipes,
	};

	MaliC55CameraData *cameraData(Camera *camera)
	{
		return static_cast<MaliC55CameraData *>(camera->_d());
	}

	MaliC55Pipe *pipeFromStream(MaliC55CameraData *data, Stream *stream)
	{
		if (stream == &data->frStream_)
			return &pipes_[MaliC55FR];
		else if (stream == &data->dsStream_)
			return &pipes_[MaliC55DS];
		else


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