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|
/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
* Copyright (C) 2019, Google Inc.
*
* ipu3.cpp - Pipeline handler for Intel IPU3
*/
#include <algorithm>
#include <iomanip>
#include <memory>
#include <queue>
#include <vector>
#include <libcamera/camera.h>
#include <libcamera/control_ids.h>
#include <libcamera/formats.h>
#include <libcamera/ipa/ipu3_ipa_interface.h>
#include <libcamera/ipa/ipu3_ipa_proxy.h>
#include <libcamera/property_ids.h>
#include <libcamera/request.h>
#include <libcamera/stream.h>
#include "libcamera/internal/camera_sensor.h"
#include "libcamera/internal/delayed_controls.h"
#include "libcamera/internal/device_enumerator.h"
#include "libcamera/internal/ipa_manager.h"
#include "libcamera/internal/log.h"
#include "libcamera/internal/media_device.h"
#include "libcamera/internal/pipeline_handler.h"
#include "libcamera/internal/utils.h"
#include "cio2.h"
#include "frames.h"
#include "imgu.h"
namespace libcamera {
LOG_DEFINE_CATEGORY(IPU3)
static constexpr unsigned int IPU3_BUFFER_COUNT = 4;
static constexpr unsigned int IPU3_MAX_STREAMS = 3;
static const Size IMGU_OUTPUT_MIN_SIZE = { 2, 2 };
static const Size IMGU_OUTPUT_MAX_SIZE = { 4480, 34004 };
static constexpr unsigned int IMGU_OUTPUT_WIDTH_ALIGN = 64;
static constexpr unsigned int IMGU_OUTPUT_HEIGHT_ALIGN = 4;
static constexpr unsigned int IMGU_OUTPUT_WIDTH_MARGIN = 64;
static constexpr unsigned int IMGU_OUTPUT_HEIGHT_MARGIN = 32;
static constexpr Size IPU3ViewfinderSize(1280, 720);
static const ControlInfoMap::Map IPU3Controls = {
{ &controls::draft::PipelineDepth, ControlInfo(2, 3) },
};
class IPU3CameraData : public CameraData
{
public:
IPU3CameraData(PipelineHandler *pipe)
: CameraData(pipe), exposureTime_(0), supportsFlips_(false)
{
}
int loadIPA();
void imguOutputBufferReady(FrameBuffer *buffer);
void cio2BufferReady(FrameBuffer *buffer);
void paramBufferReady(FrameBuffer *buffer);
void statBufferReady(FrameBuffer *buffer);
void queuePendingRequests();
void cancelPendingRequests();
CIO2Device cio2_;
ImgUDevice *imgu_;
Stream outStream_;
Stream vfStream_;
Stream rawStream_;
uint32_t exposureTime_;
Rectangle cropRegion_;
bool supportsFlips_;
Transform rotationTransform_;
std::unique_ptr<DelayedControls> delayedCtrls_;
IPU3Frames frameInfos_;
std::unique_ptr<ipa::ipu3::IPAProxyIPU3> ipa_;
std::queue<Request *> pendingRequests_;
private:
void queueFrameAction(unsigned int id,
const ipa::ipu3::IPU3Action &action);
};
class IPU3CameraConfiguration : public CameraConfiguration
{
public:
IPU3CameraConfiguration(IPU3CameraData *data);
Status validate() override;
const StreamConfiguration &cio2Format() const { return cio2Configuration_; }
const ImgUDevice::PipeConfig imguConfig() const { return pipeConfig_; }
/* Cache the combinedTransform_ that will be applied to the sensor */
Transform combinedTransform_;
private:
/*
* The IPU3CameraData 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.
*/
const IPU3CameraData *data_;
StreamConfiguration cio2Configuration_;
ImgUDevice::PipeConfig pipeConfig_;
};
class PipelineHandlerIPU3 : public PipelineHandler
{
public:
static constexpr unsigned int V4L2_CID_IPU3_PIPE_MODE = 0x009819c1;
enum IPU3PipeModes {
IPU3PipeModeVideo = 0,
IPU3PipeModeStillCapture = 1,
};
PipelineHandlerIPU3(CameraManager *manager);
CameraConfiguration *generateConfiguration(Camera *camera,
const StreamRoles &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 stop(Camera *camera) override;
int queueRequestDevice(Camera *camera, Request *request) override;
bool match(DeviceEnumerator *enumerator) override;
private:
IPU3CameraData *cameraData(const Camera *camera)
{
return static_cast<IPU3CameraData *>(
PipelineHandler::cameraData(camera));
}
int initControls(IPU3CameraData *data);
int registerCameras();
int allocateBuffers(Camera *camera);
int freeBuffers(Camera *camera);
ImgUDevice imgu0_;
ImgUDevice imgu1_;
MediaDevice *cio2MediaDev_;
MediaDevice *imguMediaDev_;
std::vector<IPABuffer> ipaBuffers_;
};
IPU3CameraConfiguration::IPU3CameraConfiguration(IPU3CameraData *data)
: CameraConfiguration()
{
data_ = data;
}
CameraConfiguration::Status IPU3CameraConfiguration::validate()
{
Status status = Valid;
if (config_.empty())
return Invalid;
Transform combined = transform * data_->rotationTransform_;
/*
* We combine the platform and user transform, but must "adjust away"
* any combined result that includes a transposition, as we can't do
* those. In this case, flipping only the transpose bit is helpful to
* applications - they either get the transform they requested, or have
* to do a simple transpose themselves (they don't have to worry about
* the other possible cases).
*/
if (!!(combined & Transform::Transpose)) {
/*
* Flipping the transpose bit in "transform" flips it in the
* combined result too (as it's the last thing that happens),
* which is of course clearing it.
*/
transform ^= Transform::Transpose;
combined &= ~Transform::Transpose;
status = Adjusted;
}
/*
* We also check if the sensor doesn't do h/vflips at all, in which
* case we clear them, and the application will have to do everything.
*/
if (!data_->supportsFlips_ && !!combined) {
/*
* If the sensor can do no transforms, then combined must be
* changed to the identity. The only user transform that gives
* rise to this is the inverse of the rotation. (Recall that
* combined = transform * rotationTransform.)
*/
transform = -data_->rotationTransform_;
combined = Transform::Identity;
status = Adjusted;
}
/*
* Store the final combined transform that configure() will need to
* apply to the sensor to save us working it out again.
*/
combinedTransform_ = combined;
/* Cap the number of entries to the available streams. */
if (config_.size() > IPU3_MAX_STREAMS) {
config_.resize(IPU3_MAX_STREAMS);
status = Adjusted;
}
/* Validate the requested stream configuration */
unsigned int rawCount = 0;
unsigned int yuvCount = 0;
Size maxYuvSize;
Size rawSize;
for (const StreamConfiguration &cfg : config_) {
const PixelFormatInfo &info = PixelFormatInfo::info(cfg.pixelFormat);
if (info.colourEncoding == PixelFormatInfo::ColourEncodingRAW) {
rawCount++;
rawSize = cfg.size;
} else {
yuvCount++;
maxYuvSize.expandTo(cfg.size);
}
}
if (rawCount > 1 || yuvCount > 2) {
LOG(IPU3, Debug) << "Camera configuration not supported";
return Invalid;
}
/*
* Generate raw configuration from CIO2.
*
* \todo The image sensor frame size should be selected to optimize
* operations based on the sizes of the requested streams. However such
* a selection makes the pipeline configuration procedure fail for small
* resolutions (for example: 640x480 with OV5670) and causes the capture
* operations to stall for some stream size combinations (see the
* commit message of the patch that introduced this comment for more
* failure examples).
*
* Until the sensor frame size calculation criteria are clarified, when
* capturing from ImgU always use the largest possible size which
* guarantees better results at the expense of the frame rate and CSI-2
* bus bandwidth. When only a raw stream is requested use the requested
* size instead, as the ImgU is not involved.
*/
if (!yuvCount)
cio2Configuration_ = data_->cio2_.generateConfiguration(rawSize);
else
cio2Configuration_ = data_->cio2_.generateConfiguration({});
if (!cio2Configuration_.pixelFormat.isValid())
return Invalid;
LOG(IPU3, Debug) << "CIO2 configuration: " << cio2Configuration_.toString();
ImgUDevice::Pipe pipe{};
pipe.input = cio2Configuration_.size;
/*
* Adjust the configurations if needed and assign streams while
* iterating them.
*/
bool mainOutputAvailable = true;
for (unsigned int i = 0; i < config_.size(); ++i) {
const PixelFormatInfo &info = PixelFormatInfo::info(config_[i].pixelFormat);
const StreamConfiguration originalCfg = config_[i];
StreamConfiguration *cfg = &config_[i];
LOG(IPU3, Debug) << "Validating stream: " << config_[i].toString();
if (info.colourEncoding == PixelFormatInfo::ColourEncodingRAW) {
/* Initialize the RAW stream with the CIO2 configuration. */
cfg->size = cio2Configuration_.size;
cfg->pixelFormat = cio2Configuration_.pixelFormat;
cfg->bufferCount = cio2Configuration_.bufferCount;
cfg->stride = info.stride(cfg->size.width, 0, 64);
cfg->frameSize = info.frameSize(cfg->size, 64);
cfg->setStream(const_cast<Stream *>(&data_->rawStream_));
LOG(IPU3, Debug) << "Assigned " << cfg->toString()
<< " to the raw stream";
} else {
/* Assign and configure the main and viewfinder outputs. */
/*
* Clamp the size to match the ImgU size limits and the
* margins from the CIO2 output frame size.
*
* The ImgU outputs needs to be strictly smaller than
* the CIO2 output frame and rounded down to 64 pixels
* in width and 32 pixels in height. This assumption
* comes from inspecting the pipe configuration script
* results and the available suggested configurations in
* the ChromeOS BSP .xml camera tuning files and shall
* be validated.
*
* \todo Clarify what are the hardware constraints
* that require this alignements, if any. It might
* depend on the BDS scaling factor of 1/32, as the main
* output has no YUV scaler as the viewfinder output has.
*/
unsigned int limit;
limit = utils::alignDown(cio2Configuration_.size.width - 1,
IMGU_OUTPUT_WIDTH_MARGIN);
cfg->size.width = std::clamp(cfg->size.width,
IMGU_OUTPUT_MIN_SIZE.width,
limit);
limit = utils::alignDown(cio2Configuration_.size.height - 1,
IMGU_OUTPUT_HEIGHT_MARGIN);
cfg->size.height = std::clamp(cfg->size.height,
IMGU_OUTPUT_MIN_SIZE.height,
limit);
cfg->size.alignDownTo(IMGU_OUTPUT_WIDTH_ALIGN,
IMGU_OUTPUT_HEIGHT_ALIGN);
cfg->pixelFormat = formats::NV12;
cfg->bufferCount = IPU3_BUFFER_COUNT;
cfg->stride = info.stride(cfg->size.width, 0, 1);
cfg->frameSize = info.frameSize(cfg->size, 1);
/*
* Use the main output stream in case only one stream is
* requested or if the current configuration is the one
* with the maximum YUV output size.
*/
if (mainOutputAvailable &&
(originalCfg.size == maxYuvSize || yuvCount == 1)) {
cfg->setStream(const_cast<Stream *>(&data_->outStream_));
mainOutputAvailable = false;
pipe.main = cfg->size;
if (yuvCount == 1)
pipe.viewfinder = pipe.main;
LOG(IPU3, Debug) << "Assigned " << cfg->toString()
<< " to the main output";
} else {
cfg->setStream(const_cast<Stream *>(&data_->vfStream_));
pipe.viewfinder = cfg->size;
LOG(IPU3, Debug) << "Assigned " << cfg->toString()
<< " to the viewfinder output";
}
}
if (cfg->pixelFormat != originalCfg.pixelFormat ||
cfg->size != originalCfg.size) {
LOG(IPU3, Debug)
<< "Stream " << i << " configuration adjusted to "
<< cfg->toString();
status = Adjusted;
}
}
/* Only compute the ImgU configuration if a YUV stream has been requested. */
if (yuvCount) {
pipeConfig_ = data_->imgu_->calculatePipeConfig(&pipe);
if (pipeConfig_.isNull()) {
LOG(IPU3, Error) << "Failed to calculate pipe configuration: "
<< "unsupported resolutions.";
return Invalid;
}
}
return status;
}
PipelineHandlerIPU3::PipelineHandlerIPU3(CameraManager *manager)
: PipelineHandler(manager), cio2MediaDev_(nullptr), imguMediaDev_(nullptr)
{
}
CameraConfiguration *PipelineHandlerIPU3::generateConfiguration(Camera *camera,
const StreamRoles &roles)
{
IPU3CameraData *data = cameraData(camera);
IPU3CameraConfiguration *config = new IPU3CameraConfiguration(data);
if (roles.empty())
return config;
Size sensorResolution = data->cio2_.sensor()->resolution();
for (const StreamRole role : roles) {
std::map<PixelFormat, std::vector<SizeRange>> streamFormats;
unsigned int bufferCount;
PixelFormat pixelFormat;
Size size;
switch (role) {
case StreamRole::StillCapture:
/*
* Use as default full-frame configuration a value
* strictly smaller than the sensor resolution (limited
* to the ImgU maximum output size) and aligned down to
* the required frame margin.
*
* \todo Clarify the alignment constraints as explained
* in validate()
*/
size = sensorResolution.boundedTo(IMGU_OUTPUT_MAX_SIZE);
size.width = utils::alignDown(size.width - 1,
IMGU_OUTPUT_WIDTH_MARGIN);
size.height = utils::alignDown(size.height - 1,
IMGU_OUTPUT_HEIGHT_MARGIN);
pixelFormat = formats::NV12;
bufferCount = IPU3_BUFFER_COUNT;
streamFormats[pixelFormat] = { { IMGU_OUTPUT_MIN_SIZE, size } };
break;
case StreamRole::Raw: {
StreamConfiguration cio2Config =
data->cio2_.generateConfiguration(sensorResolution);
pixelFormat = cio2Config.pixelFormat;
size = cio2Config.size;
bufferCount = cio2Config.bufferCount;
for (const PixelFormat &format : data->cio2_.formats())
streamFormats[format] = data->cio2_.sizes();
break;
}
case StreamRole::Viewfinder:
case StreamRole::VideoRecording: {
/*
* Default viewfinder and videorecording to 1280x720,
* capped to the maximum sensor resolution and aligned
* to the ImgU output constraints.
*/
size = sensorResolution.boundedTo(IPU3ViewfinderSize)
.alignedDownTo(IMGU_OUTPUT_WIDTH_ALIGN,
IMGU_OUTPUT_HEIGHT_ALIGN);
pixelFormat = formats::NV12;
bufferCount = IPU3_BUFFER_COUNT;
streamFormats[pixelFormat] = { { IMGU_OUTPUT_MIN_SIZE, size } };
break;
}
default:
LOG(IPU3, Error)
<< "Requested stream role not supported: " << role;
delete config;
return nullptr;
}
StreamFormats formats(streamFormats);
StreamConfiguration cfg(formats);
cfg.size = size;
cfg.pixelFormat = pixelFormat;
cfg.bufferCount = bufferCount;
config->addConfiguration(cfg);
}
if (config->validate() == CameraConfiguration::Invalid)
return {};
return config;
}
int PipelineHandlerIPU3::configure(Camera *camera, CameraConfiguration *c)
{
IPU3CameraConfiguration *config =
static_cast<IPU3CameraConfiguration *>(c);
IPU3CameraData *data = cameraData(camera);
Stream *outStream = &data->outStream_;
Stream *vfStream = &data->vfStream_;
CIO2Device *cio2 = &data->cio2_;
ImgUDevice *imgu = data->imgu_;
V4L2DeviceFormat outputFormat;
int ret;
/*
* FIXME: enabled links in one ImgU pipe interfere with capture
* operations on the other one. This can be easily triggered by
* capturing from one camera and then trying to capture from the other
* one right after, without disabling media links on the first used
* pipe.
*
* The tricky part here is where to disable links on the ImgU instance
* which is currently not in use:
* 1) Link enable/disable cannot be done at start()/stop() time as video
* devices needs to be linked first before format can be configured on
* them.
* 2) As link enable has to be done at the least in configure(),
* before configuring formats, the only place where to disable links
* would be 'stop()', but the Camera class state machine allows
* start()<->stop() sequences without any configure() in between.
*
* As of now, disable all links in the ImgU media graph before
* configuring the device, to allow alternate the usage of the two
* ImgU pipes.
*
* As a consequence, a Camera using an ImgU shall be configured before
* any start()/stop() sequence. An application that wants to
* pre-configure all the camera and then start/stop them alternatively
* without going through any re-configuration (a sequence that is
* allowed by the Camera state machine) would now fail on the IPU3.
*/
ret = imguMediaDev_->disableLinks();
if (ret)
return ret;
/*
* \todo: Enable links selectively based on the requested streams.
* As of now, enable all links unconditionally.
* \todo Don't configure the ImgU at all if we only have a single
* stream which is for raw capture, in which case no buffers will
* ever be queued to the ImgU.
*/
ret = data->imgu_->enableLinks(true);
if (ret)
return ret;
/*
* Pass the requested stream size to the CIO2 unit and get back the
* adjusted format to be propagated to the ImgU output devices.
*/
const Size &sensorSize = config->cio2Format().size;
V4L2DeviceFormat cio2Format;
ret = cio2->configure(sensorSize, &cio2Format);
if (ret)
return ret;
IPACameraSensorInfo sensorInfo;
cio2->sensor()->sensorInfo(&sensorInfo);
data->cropRegion_ = sensorInfo.analogCrop;
/*
* Configure the H/V flip controls based on the combination of
* the sensor and user transform.
*/
if (data->supportsFlips_) {
ControlList sensorCtrls(cio2->sensor()->controls());
sensorCtrls.set(V4L2_CID_HFLIP,
static_cast<int32_t>(!!(config->combinedTransform_
& Transform::HFlip)));
sensorCtrls.set(V4L2_CID_VFLIP,
static_cast<int32_t>(!!(config->combinedTransform_
& Transform::VFlip)));
ret = cio2->sensor()->setControls(&sensorCtrls);
if (ret)
return ret;
}
/*
* If the ImgU gets configured, its driver seems to expect that
* buffers will be queued to its outputs, as otherwise the next
* capture session that uses the ImgU fails when queueing
* buffers to its input.
*
* If no ImgU configuration has been computed, it means only a RAW
* stream has been requested: return here to skip the ImgU configuration
* part.
*/
ImgUDevice::PipeConfig imguConfig = config->imguConfig();
if (imguConfig.isNull())
return 0;
ret = imgu->configure(imguConfig, &cio2Format);
if (ret)
return ret;
/* Apply the format to the configured streams output devices. */
StreamConfiguration *mainCfg = nullptr;
StreamConfiguration *vfCfg = nullptr;
for (unsigned int i = 0; i < config->size(); ++i) {
StreamConfiguration &cfg = (*config)[i];
Stream *stream = cfg.stream();
if (stream == outStream) {
mainCfg = &cfg;
ret = imgu->configureOutput(cfg, &outputFormat);
if (ret)
return ret;
} else if (stream == vfStream) {
vfCfg = &cfg;
ret = imgu->configureViewfinder(cfg, &outputFormat);
if (ret)
return ret;
}
}
/*
* As we need to set format also on the non-active streams, use
* the configuration of the active one for that purpose (there should
* be at least one active stream in the configuration request).
*/
if (!vfCfg) {
ret = imgu->configureViewfinder(*mainCfg, &outputFormat);
if (ret)
return ret;
}
/* Apply the "pipe_mode" control to the ImgU subdevice. */
ControlList ctrls(imgu->imgu_->controls());
/*
* Set the ImgU pipe mode to 'Video' unconditionally to have statistics
* generated.
*
* \todo Figure out what the 'Still Capture' mode is meant for, and use
* it accordingly.
*/
ctrls.set(V4L2_CID_IPU3_PIPE_MODE,
static_cast<int32_t>(IPU3PipeModeVideo));
ret = imgu->imgu_->setControls(&ctrls);
if (ret) {
LOG(IPU3, Error) << "Unable to set pipe_mode control";
return ret;
}
ipa::ipu3::IPAConfigInfo configInfo;
configInfo.entityControls.emplace(0, data->cio2_.sensor()->controls());
configInfo.sensorInfo = sensorInfo;
configInfo.bdsOutputSize = config->imguConfig().bds;
configInfo.iif = config->imguConfig().iif;
ret = data->ipa_->configure(configInfo);
if (ret) {
LOG(IPU3, Error) << "Failed to configure IPA";
return ret;
}
return 0;
}
int PipelineHandlerIPU3::exportFrameBuffers(Camera *camera, Stream *stream,
std::vector<std::unique_ptr<FrameBuffer>> *buffers)
{
IPU3CameraData *data = cameraData(camera);
unsigned int count = stream->configuration().bufferCount;
if (stream == &data->outStream_)
return data->imgu_->output_->exportBuffers(count, buffers);
else if (stream == &data->vfStream_)
return data->imgu_->viewfinder_->exportBuffers(count, buffers);
else if (stream == &data->rawStream_)
return data->cio2_.exportBuffers(count, buffers);
return -EINVAL;
}
/**
* \todo Clarify if 'viewfinder' and 'stat' nodes have to be set up and
* started even if not in use. As of now, if not properly configured and
* enabled, the ImgU processing pipeline stalls.
*
* In order to be able to start the 'viewfinder' and 'stat' nodes, we need
* memory to be reserved.
*/
int PipelineHandlerIPU3::allocateBuffers(Camera *camera)
{
IPU3CameraData *data = cameraData(camera);
ImgUDevice *imgu = data->imgu_;
unsigned int bufferCount;
int ret;
bufferCount = std::max({
data->outStream_.configuration().bufferCount,
data->vfStream_.configuration().bufferCount,
data->rawStream_.configuration().bufferCount,
});
ret = imgu->allocateBuffers(bufferCount);
if (ret < 0)
return ret;
/* Map buffers to the IPA. */
unsigned int ipaBufferId = 1;
for (const std::unique_ptr<FrameBuffer> &buffer : imgu->paramBuffers_) {
buffer->setCookie(ipaBufferId++);
ipaBuffers_.emplace_back(buffer->cookie(), buffer->planes());
}
for (const std::unique_ptr<FrameBuffer> &buffer : imgu->statBuffers_) {
buffer->setCookie(ipaBufferId++);
ipaBuffers_.emplace_back(buffer->cookie(), buffer->planes());
}
data->ipa_->mapBuffers(ipaBuffers_);
data->frameInfos_.init(imgu->paramBuffers_, imgu->statBuffers_);
data->frameInfos_.bufferAvailable.connect(
data, &IPU3CameraData::queuePendingRequests);
return 0;
}
int PipelineHandlerIPU3::freeBuffers(Camera *camera)
{
IPU3CameraData *data = cameraData(camera);
data->frameInfos_.clear();
std::vector<unsigned int> ids;
for (IPABuffer &ipabuf : ipaBuffers_)
ids.push_back(ipabuf.id);
data->ipa_->unmapBuffers(ids);
ipaBuffers_.clear();
data->imgu_->freeBuffers();
return 0;
}
int PipelineHandlerIPU3::start(Camera *camera, [[maybe_unused]] const ControlList *controls)
{
IPU3CameraData *data = cameraData(camera);
CIO2Device *cio2 = &data->cio2_;
ImgUDevice *imgu = data->imgu_;
int ret;
/* Allocate buffers for internal pipeline usage. */
ret = allocateBuffers(camera);
if (ret)
return ret;
ret = data->ipa_->start();
if (ret)
goto error;
/*
* Start the ImgU video devices, buffers will be queued to the
* ImgU output and viewfinder when requests will be queued.
*/
ret = cio2->start();
if (ret)
goto error;
ret = imgu->start();
if (ret)
goto error;
return 0;
error:
imgu->stop();
cio2->stop();
data->ipa_->stop();
freeBuffers(camera);
LOG(IPU3, Error) << "Failed to start camera " << camera->id();
return ret;
}
void PipelineHandlerIPU3::stop(Camera *camera)
{
IPU3CameraData *data = cameraData(camera);
int ret = 0;
data->cancelPendingRequests();
data->ipa_->stop();
ret |= data->imgu_->stop();
ret |= data->cio2_.stop();
if (ret)
LOG(IPU3, Warning) << "Failed to stop camera " << camera->id();
freeBuffers(camera);
}
void IPU3CameraData::cancelPendingRequests()
{
while (!pendingRequests_.empty()) {
Request *request = pendingRequests_.front();
for (auto it : request->buffers()) {
FrameBuffer *buffer = it.second;
buffer->cancel();
pipe_->completeBuffer(request, buffer);
}
pipe_->completeRequest(request);
pendingRequests_.pop();
}
}
void IPU3CameraData::queuePendingRequests()
{
while (!pendingRequests_.empty()) {
Request *request = pendingRequests_.front();
IPU3Frames::Info *info = frameInfos_.create(request);
if (!info)
break;
/*
* Queue a buffer on the CIO2, using the raw stream buffer
* provided in the request, if any, or a CIO2 internal buffer
* otherwise.
*/
FrameBuffer *reqRawBuffer = request->findBuffer(&rawStream_);
FrameBuffer *rawBuffer = cio2_.queueBuffer(request, reqRawBuffer);
/*
* \todo If queueBuffer fails in queuing a buffer to the device,
* report the request as error by cancelling the request and
* calling PipelineHandler::completeRequest().
*/
if (!rawBuffer) {
frameInfos_.remove(info);
break;
}
info->rawBuffer = rawBuffer;
ipa::ipu3::IPU3Event ev;
ev.op = ipa::ipu3::EventProcessControls;
ev.frame = info->id;
ev.controls = request->controls();
ipa_->processEvent(ev);
pendingRequests_.pop();
}
}
int PipelineHandlerIPU3::queueRequestDevice(Camera *camera, Request *request)
{
IPU3CameraData *data = cameraData(camera);
data->pendingRequests_.push(request);
data->queuePendingRequests();
return 0;
}
bool PipelineHandlerIPU3::match(DeviceEnumerator *enumerator)
{
int ret;
DeviceMatch cio2_dm("ipu3-cio2");
cio2_dm.add("ipu3-csi2 0");
cio2_dm.add("ipu3-cio2 0");
cio2_dm.add("ipu3-csi2 1");
cio2_dm.add("ipu3-cio2 1");
cio2_dm.add("ipu3-csi2 2");
cio2_dm.add("ipu3-cio2 2");
cio2_dm.add("ipu3-csi2 3");
cio2_dm.add("ipu3-cio2 3");
DeviceMatch imgu_dm("ipu3-imgu");
imgu_dm.add("ipu3-imgu 0");
imgu_dm.add("ipu3-imgu 0 input");
imgu_dm.add("ipu3-imgu 0 parameters");
imgu_dm.add("ipu3-imgu 0 output");
imgu_dm.add("ipu3-imgu 0 viewfinder");
imgu_dm.add("ipu3-imgu 0 3a stat");
imgu_dm.add("ipu3-imgu 1");
imgu_dm.add("ipu3-imgu 1 input");
imgu_dm.add("ipu3-imgu 1 parameters");
imgu_dm.add("ipu3-imgu 1 output");
imgu_dm.add("ipu3-imgu 1 viewfinder");
imgu_dm.add("ipu3-imgu 1 3a stat");
cio2MediaDev_ = acquireMediaDevice(enumerator, cio2_dm);
if (!cio2MediaDev_)
return false;
imguMediaDev_ = acquireMediaDevice(enumerator, imgu_dm);
if (!imguMediaDev_)
return false;
/*
* Disable all links that are enabled by default on CIO2, as camera
* creation enables all valid links it finds.
*/
if (cio2MediaDev_->disableLinks())
return false;
ret = imguMediaDev_->disableLinks();
if (ret)
return ret;
ret = registerCameras();
return ret == 0;
}
/**
* \brief Initialize the camera controls
* \param[in] data The camera data
*
* Initialize the camera controls as the union of the static pipeline handler
* controls (IPU3Controls) and controls created dynamically from the sensor
* capabilities.
*
* \return 0 on success or a negative error code otherwise
*/
int PipelineHandlerIPU3::initControls(IPU3CameraData *data)
{
/*
* \todo The controls initialized here depend on sensor configuration
* and their limits should be updated once the configuration gets
* changed.
*
* Initialize the sensor using its resolution and compute the control
* limits.
*/
CameraSensor *sensor = data->cio2_.sensor();
V4L2SubdeviceFormat sensorFormat = {};
sensorFormat.size = sensor->resolution();
int ret = sensor->setFormat(&sensorFormat);
if (ret)
return ret;
IPACameraSensorInfo sensorInfo{};
ret = sensor->sensorInfo(&sensorInfo);
if (ret)
return ret;
ControlInfoMap::Map controls = IPU3Controls;
const ControlInfoMap &sensorControls = sensor->controls();
/*
* Compute exposure time limits.
*
* Initialize the control using the line length and pixel rate of the
* current configuration converted to microseconds. Use the
* V4L2_CID_EXPOSURE control to get exposure min, max and default and
* convert it from lines to microseconds.
*/
double lineDuration = sensorInfo.lineLength
/ (sensorInfo.pixelRate / 1e6);
const ControlInfo &v4l2Exposure = sensorControls.find(V4L2_CID_EXPOSURE)->second;
int32_t minExposure = v4l2Exposure.min().get<int32_t>() * lineDuration;
int32_t maxExposure = v4l2Exposure.max().get<int32_t>() * lineDuration;
int32_t defExposure = v4l2Exposure.def().get<int32_t>() * lineDuration;
/*
* \todo Report the actual exposure time, use the default for the
* moment.
*/
data->exposureTime_ = defExposure;
controls[&controls::ExposureTime] = ControlInfo(minExposure, maxExposure,
defExposure);
/*
* Compute the frame duration limits.
*
* The frame length is computed assuming a fixed line length combined
* with the vertical frame sizes.
*/
const ControlInfo &v4l2HBlank = sensorControls.find(V4L2_CID_HBLANK)->second;
uint32_t hblank = v4l2HBlank.def().get<int32_t>();
uint32_t lineLength = sensorInfo.outputSize.width + hblank;
const ControlInfo &v4l2VBlank = sensorControls.find(V4L2_CID_VBLANK)->second;
std::array<uint32_t, 3> frameHeights{
v4l2VBlank.min().get<int32_t>() + sensorInfo.outputSize.height,
v4l2VBlank.max().get<int32_t>() + sensorInfo.outputSize.height,
v4l2VBlank.def().get<int32_t>() + sensorInfo.outputSize.height,
};
std::array<int64_t, 3> frameDurations;
for (unsigned int i = 0; i < frameHeights.size(); ++i) {
uint64_t frameSize = lineLength * frameHeights[i];
frameDurations[i] = frameSize / (sensorInfo.pixelRate / 1000000U);
}
controls[&controls::FrameDurationLimits] =
ControlInfo(frameDurations[0],
frameDurations[1],
frameDurations[2]);
/*
* Compute the scaler crop limits.
*
* Initialize the control use the 'Viewfinder' configuration (1280x720)
* as the pipeline output resolution and the full sensor size as input
* frame (see the todo note in the validate() function about the usage
* of the sensor's full frame as ImgU input).
*/
/*
* The maximum scaler crop rectangle is the analogue crop used to
* produce the maximum frame size.
*/
const Rectangle &analogueCrop = sensorInfo.analogCrop;
Rectangle maxCrop = analogueCrop;
/*
* As the ImgU cannot up-scale, the minimum selection rectangle has to
* be as large as the pipeline output size. Use the default viewfinder
* configuration as the desired output size and calculate the minimum
* rectangle required to satisfy the ImgU processing margins, unless the
* sensor resolution is smaller.
*
* \todo This implementation is based on the same assumptions about the
* ImgU pipeline configuration described in then viewfinder and main
* output sizes calculation in the validate() function.
*/
/* The strictly smaller size than the sensor resolution, aligned to margins. */
Size minSize = Size(sensor->resolution().width - 1,
sensor->resolution().height - 1)
.alignedDownTo(IMGU_OUTPUT_WIDTH_MARGIN,
IMGU_OUTPUT_HEIGHT_MARGIN);
/*
* Either the smallest margin-aligned size larger than the viewfinder
* size or the adjusted sensor resolution.
*/
minSize = Size(IPU3ViewfinderSize.width + 1,
IPU3ViewfinderSize.height + 1)
.alignedUpTo(IMGU_OUTPUT_WIDTH_MARGIN,
IMGU_OUTPUT_HEIGHT_MARGIN)
.boundedTo(minSize);
/*
* Re-scale in the sensor's native coordinates. Report (0,0) as
* top-left corner as we allow application to freely pan the crop area.
*/
Rectangle minCrop = Rectangle(minSize).scaledBy(analogueCrop.size(),
sensorInfo.outputSize);
controls[&controls::ScalerCrop] = ControlInfo(minCrop, maxCrop, maxCrop);
data->controlInfo_ = std::move(controls);
return 0;
}
/**
* \brief Initialise ImgU and CIO2 devices associated with cameras
*
* Initialise the two ImgU instances and create cameras with an associated
* CIO2 device instance.
*
* \return 0 on success or a negative error code for error or if no camera
* has been created
* \retval -ENODEV no camera has been created
*/
int PipelineHandlerIPU3::registerCameras()
{
int ret;
ret = imgu0_.init(imguMediaDev_, 0);
if (ret)
return ret;
ret = imgu1_.init(imguMediaDev_, 1);
if (ret)
return ret;
/*
* For each CSI-2 receiver on the IPU3, create a Camera if an
* image sensor is connected to it and the sensor can produce images
* in a compatible format.
*/
unsigned int numCameras = 0;
for (unsigned int id = 0; id < 4 && numCameras < 2; ++id) {
std::unique_ptr<IPU3CameraData> data =
std::make_unique<IPU3CameraData>(this);
std::set<Stream *> streams = {
&data->outStream_,
&data->vfStream_,
&data->rawStream_,
};
CIO2Device *cio2 = &data->cio2_;
ret = cio2->init(cio2MediaDev_, id);
if (ret)
continue;
ret = data->loadIPA();
if (ret)
continue;
/* Initialize the camera properties. */
data->properties_ = cio2->sensor()->properties();
ret = initControls(data.get());
if (ret)
continue;
/*
* \todo Read delay values from the sensor itself or from a
* a sensor database. For now use generic values taken from
* the Raspberry Pi and listed as 'generic values'.
*/
std::unordered_map<uint32_t, DelayedControls::ControlParams> params = {
{ V4L2_CID_ANALOGUE_GAIN, { 1, false } },
{ V4L2_CID_EXPOSURE, { 2, false } },
};
data->delayedCtrls_ =
std::make_unique<DelayedControls>(cio2->sensor()->device(),
params);
data->cio2_.frameStart().connect(data->delayedCtrls_.get(),
&DelayedControls::applyControls);
/* Convert the sensor rotation to a transformation */
int32_t rotation = 0;
if (data->properties_.contains(properties::Rotation))
rotation = data->properties_.get(properties::Rotation);
else
LOG(IPU3, Warning) << "Rotation control not exposed by "
<< cio2->sensor()->id()
<< ". Assume rotation 0";
bool success;
data->rotationTransform_ = transformFromRotation(rotation, &success);
if (!success)
LOG(IPU3, Warning) << "Invalid rotation of " << rotation
<< " degrees: ignoring";
ControlList ctrls = cio2->sensor()->getControls({ V4L2_CID_HFLIP });
if (!ctrls.empty())
/* We assume the sensor supports VFLIP too. */
data->supportsFlips_ = true;
/**
* \todo Dynamically assign ImgU and output devices to each
* stream and camera; as of now, limit support to two cameras
* only, and assign imgu0 to the first one and imgu1 to the
* second.
*/
data->imgu_ = numCameras ? &imgu1_ : &imgu0_;
/*
* Connect video devices' 'bufferReady' signals to their
* slot to implement the image processing pipeline.
*
* Frames produced by the CIO2 unit are passed to the
* associated ImgU input where they get processed and
* returned through the ImgU main and secondary outputs.
*/
data->cio2_.bufferReady().connect(data.get(),
&IPU3CameraData::cio2BufferReady);
data->cio2_.bufferAvailable.connect(
data.get(), &IPU3CameraData::queuePendingRequests);
data->imgu_->input_->bufferReady.connect(&data->cio2_,
&CIO2Device::tryReturnBuffer);
data->imgu_->output_->bufferReady.connect(data.get(),
&IPU3CameraData::imguOutputBufferReady);
data->imgu_->viewfinder_->bufferReady.connect(data.get(),
&IPU3CameraData::imguOutputBufferReady);
data->imgu_->param_->bufferReady.connect(data.get(),
&IPU3CameraData::paramBufferReady);
data->imgu_->stat_->bufferReady.connect(data.get(),
&IPU3CameraData::statBufferReady);
/* Create and register the Camera instance. */
std::string cameraId = cio2->sensor()->id();
std::shared_ptr<Camera> camera =
Camera::create(this, cameraId, streams);
registerCamera(std::move(camera), std::move(data));
LOG(IPU3, Info)
<< "Registered Camera[" << numCameras << "] \""
<< cameraId << "\""
<< " connected to CSI-2 receiver " << id;
numCameras++;
}
return numCameras ? 0 : -ENODEV;
}
int IPU3CameraData::loadIPA()
{
ipa_ = IPAManager::createIPA<ipa::ipu3::IPAProxyIPU3>(pipe_, 1, 1);
if (!ipa_)
return -ENOENT;
ipa_->queueFrameAction.connect(this, &IPU3CameraData::queueFrameAction);
CameraSensor *sensor = cio2_.sensor();
int ret = ipa_->init(IPASettings{ "", sensor->model() });
if (ret) {
LOG(IPU3, Error) << "Failed to initialise the IPU3 IPA";
return ret;
}
return 0;
}
void IPU3CameraData::queueFrameAction(unsigned int id,
const ipa::ipu3::IPU3Action &action)
{
switch (action.op) {
case ipa::ipu3::ActionSetSensorControls: {
const ControlList &controls = action.controls;
delayedCtrls_->push(controls);
break;
}
case ipa::ipu3::ActionParamFilled: {
IPU3Frames::Info *info = frameInfos_.find(id);
if (!info)
break;
/* Queue all buffers from the request aimed for the ImgU. */
for (auto it : info->request->buffers()) {
const Stream *stream = it.first;
FrameBuffer *outbuffer = it.second;
if (stream == &outStream_)
imgu_->output_->queueBuffer(outbuffer);
else if (stream == &vfStream_)
imgu_->viewfinder_->queueBuffer(outbuffer);
}
imgu_->param_->queueBuffer(info->paramBuffer);
imgu_->stat_->queueBuffer(info->statBuffer);
imgu_->input_->queueBuffer(info->rawBuffer);
break;
}
case ipa::ipu3::ActionMetadataReady: {
IPU3Frames::Info *info = frameInfos_.find(id);
if (!info)
break;
Request *request = info->request;
request->metadata().merge(action.controls);
info->metadataProcessed = true;
if (frameInfos_.tryComplete(info))
pipe_->completeRequest(request);
break;
}
default:
LOG(IPU3, Error) << "Unknown action " << action.op;
break;
}
}
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