/* SPDX-License-Identifier: ((GPL-2.0+ WITH Linux-syscall-note) OR BSD-3-Clause) */ /* * bcm2835-isp.h * * BCM2835 ISP driver - user space header file. * * Copyright © 2019-2020 Raspberry Pi Ltd * * Author: Naushir Patuck (naush@raspberrypi.com) * */ #ifndef __BCM2835_ISP_H_ #define __BCM2835_ISP_H_ #include #define V4L2_CID_USER_BCM2835_ISP_CC_MATRIX \ (V4L2_CID_USER_BCM2835_ISP_BASE + 0x0001) #define V4L2_CID_USER_BCM2835_ISP_LENS_SHADING \ (V4L2_CID_USER_BCM2835_ISP_BASE + 0x0002) #define V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL \ (V4L2_CID_USER_BCM2835_ISP_BASE + 0x0003) #define V4L2_CID_USER_BCM2835_ISP_GEQ \ (V4L2_CID_USER_BCM2835_ISP_BASE + 0x0004) #define V4L2_CID_USER_BCM2835_ISP_GAMMA \ (V4L2_CID_USER_BCM2835_ISP_BASE + 0x0005) #define V4L2_CID_USER_BCM2835_ISP_DENOISE \ (V4L2_CID_USER_BCM2835_ISP_BASE + 0x0006) #define V4L2_CID_USER_BCM2835_ISP_SHARPEN \ (V4L2_CID_USER_BCM2835_ISP_BASE + 0x0007) #define V4L2_CID_USER_BCM2835_ISP_DPC \ (V4L2_CID_USER_BCM2835_ISP_BASE + 0x0008) #define V4L2_CID_USER_BCM2835_ISP_CDN \ (V4L2_CID_USER_BCM2835_ISP_BASE + 0x0009) /* * All structs below are directly mapped onto the equivalent structs in * drivers/staging/vc04_services/vchiq-mmal/mmal-parameters.h * for convenience. */ /** * struct bcm2835_isp_rational - Rational value type. * * @num: Numerator. * @den: Denominator. */ struct bcm2835_isp_rational { __s32 num; __u32 den; }; /** * struct bcm2835_isp_ccm - Colour correction matrix. * * @ccm: 3x3 correction matrix coefficients. * @offsets: 1x3 correction offsets. */ struct bcm2835_isp_ccm { struct bcm2835_isp_rational ccm[3][3]; __s32 offsets[3]; }; /** * struct bcm2835_isp_custom_ccm - Custom CCM applied with the * V4L2_CID_USER_BCM2835_ISP_CC_MATRIX ctrl. * * @enabled: Enable custom CCM. * @ccm: Custom CCM coefficients and offsets. */ struct bcm2835_isp_custom_ccm { __u32 enabled; struct bcm2835_isp_ccm ccm; }; /** * enum bcm2835_isp_gain_format - format of the gains in the lens shading * tables used with the * V4L2_CID_USER_BCM2835_ISP_LENS_SHADING ctrl. * * @GAIN_FORMAT_U0P8_1: Gains are u0.8 format, starting at 1.0 * @GAIN_FORMAT_U1P7_0: Gains are u1.7 format, starting at 0.0 * @GAIN_FORMAT_U1P7_1: Gains are u1.7 format, starting at 1.0 * @GAIN_FORMAT_U2P6_0: Gains are u2.6 format, starting at 0.0 * @GAIN_FORMAT_U2P6_1: Gains are u2.6 format, starting at 1.0 * @GAIN_FORMAT_U3P5_0: Gains are u3.5 format, starting at 0.0 * @GAIN_FORMAT_U3P5_1: Gains are u3.5 format, starting at 1.0 * @GAIN_FORMAT_U4P10: Gains are u4.10 format, starting at 0.0 */ enum bcm2835_isp_gain_format { GAIN_FORMAT_U0P8_1 = 0, GAIN_FORMAT_U1P7_0 = 1, GAIN_FORMAT_U1P7_1 = 2, GAIN_FORMAT_U2P6_0 = 3, GAIN_FORMAT_U2P6_1 = 4, GAIN_FORMAT_U3P5_0 = 5, GAIN_FORMAT_U3P5_1 = 6, GAIN_FORMAT_U4P10 = 7, }; /** * struct bcm2835_isp_lens_shading - Lens shading tables supplied with the * V4L2_CID_USER_BCM2835_ISP_LENS_SHADING * ctrl. * * @enabled: Enable lens shading. * @grid_cell_size: Size of grid cells in samples (16, 32, 64, 128 or 256). * @grid_width: Width of lens shading tables in grid cells. * @grid_stride: Row to row distance (in grid cells) between grid cells * in the same horizontal location. * @grid_height: Height of lens shading tables in grid cells. * @dmabuf: dmabuf file handle containing the table. * @ref_transform: Reference transform - unsupported, please pass zero. * @corner_sampled: Whether the gains are sampled at the corner points * of the grid cells or in the cell centres. * @gain_format: Format of the gains (see enum &bcm2835_isp_gain_format). */ struct bcm2835_isp_lens_shading { __u32 enabled; __u32 grid_cell_size; __u32 grid_width; __u32 grid_stride; __u32 grid_height; __s32 dmabuf; __u32 ref_transform; __u32 corner_sampled; __u32 gain_format; }; /** * struct bcm2835_isp_black_level - Sensor black level set with the * V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL ctrl. * * @enabled: Enable black level. * @black_level_r: Black level for red channel. * @black_level_g: Black level for green channels. * @black_level_b: Black level for blue channel. */ struct bcm2835_isp_black_level { __u32 enabled; __u16 black_level_r; __u16 black_level_g; __u16 black_level_b; __u8 padding[2]; /* Unused */ }; /** * struct bcm2835_isp_geq - Green equalisation parameters set with the * V4L2_CID_USER_BCM2835_ISP_GEQ ctrl. * * @enabled: Enable green equalisation. * @offset: Fixed offset of the green equalisation threshold. * @slope: Slope of the green equalisation threshold. */ struct bcm2835_isp_geq { __u32 enabled; __u32 offset; struct bcm2835_isp_rational slope; }; #define BCM2835_NUM_GAMMA_PTS 33 /** * struct bcm2835_isp_gamma - Gamma parameters set with the * V4L2_CID_USER_BCM2835_ISP_GAMMA ctrl. * * @enabled: Enable gamma adjustment. * @X: X values of the points defining the gamma curve. * Values should be scaled to 16 bits. * @Y: Y values of the points defining the gamma curve. * Values should be scaled to 16 bits. */ struct bcm2835_isp_gamma { __u32 enabled; __u16 x[BCM2835_NUM_GAMMA_PTS]; __u16 y[BCM2835_NUM_GAMMA_PTS]; }; /** * enum bcm2835_isp_cdn_mode - Mode of operation for colour denoise. * * @CDN_MODE_FAST: Fast (but lower quality) colour denoise * algorithm, typically used for video recording. * @CDN_HIGH_QUALITY: High quality (but slower) colour denoise * algorithm, typically used for stills capture. */ enum bcm2835_isp_cdn_mode { CDN_MODE_FAST = 0, CDN_MODE_HIGH_QUALITY = 1, }; /** * struct bcm2835_isp_cdn - Colour denoise parameters set with the * V4L2_CID_USER_BCM2835_ISP_CDN ctrl. * * @enabled: Enable colour denoise. * @cdn_mode: Colour denoise operating mode (see enum &bcm2835_isp_cdn_mode) */ struct bcm2835_isp_cdn { __u32 enabled; __u32 mode; }; /** * struct bcm2835_isp_denoise - Denoise parameters set with the * V4L2_CID_USER_BCM2835_ISP_DENOISE ctrl. * * @enabled: Enable denoise. * @constant: Fixed offset of the noise threshold. * @slope: Slope of the noise threshold. * @strength: Denoise strength between 0.0 (off) and 1.0 (maximum). */ struct bcm2835_isp_denoise { __u32 enabled; __u32 constant; struct bcm2835_isp_rational slope; struct bcm2835_isp_rational strength; }; /** * struct bcm2835_isp_sharpen - Sharpen parameters set with the * V4L2_CID_USER_BCM2835_ISP_SHARPEN ctrl. * * @enabled: Enable sharpening. * @threshold: Threshold at which to start sharpening pixels. * @strength: Strength with which pixel sharpening increases. * @limit: Limit to the amount of sharpening applied. */ struct bcm2835_isp_sharpen { __u32 enabled; struct bcm2835_isp_rational threshold; struct bcm2835_isp_rational strength; struct bcm2835_isp_rational limit; }; /** * enum bcm2835_isp_dpc_mode - defective pixel correction (DPC) strength. * * @DPC_MODE_OFF: No DPC. * @DPC_MODE_NORMAL: Normal DPC. * @DPC_MODE_STRONG: Strong DPC. */ enum bcm2835_isp_dpc_mode { DPC_MODE_OFF = 0, DPC_MODE_NORMAL = 1, DPC_MODE_STRONG = 2, }; /** * struct bcm2835_isp_dpc - Defective pixel correction (DPC) parameters set * with the V4L2_CID_USER_BCM2835_ISP_DPC ctrl. * * @enabled: Enable DPC. * @strength: DPC strength (see enum &bcm2835_isp_dpc_mode). */ struct bcm2835_isp_dpc { __u32 enabled; __u32 strength; }; /* * ISP statistics structures. * * The bcm2835_isp_stats structure is generated at the output of the * statistics node. Note that this does not directly map onto the statistics * output of the ISP HW. Instead, the MMAL firmware code maps the HW statistics * to the bcm2835_isp_stats structure. */ #define DEFAULT_AWB_REGIONS_X 16 #define DEFAULT_AWB_REGIONS_Y 12 #define NUM_HISTOGRAMS 2 #define NUM_HISTOGRAM_BINS 128 #define AWB_REGIONS (DEFAULT_AWB_REGIONS_X * DEFAULT_AWB_REGIONS_Y) #define FLOATING_REGIONS 16 #define AGC_REGIONS 16 #define FOCUS_REGIONS 12 /** * struct bcm2835_isp_stats_hist - Histogram statistics * * @r_hist: Red channel histogram. * @g_hist: Combined green channel histogram. * @b_hist: Blue channel histogram. */ struct bcm2835_isp_stats_hist { __u32 r_hist[NUM_HISTOGRAM_BINS]; __u32 g_hist[NUM_HISTOGRAM_BINS]; __u32 b_hist[NUM_HISTOGRAM_BINS]; }; /** * struct bcm2835_isp_stats_region - Region sums. * * @counted: The number of 2x2 bayer tiles accumulated. * @notcounted: The number of 2x2 bayer tiles not accumulated. * @r_sum: Total sum of counted pixels in the red channel for a region. * @g_sum: Total sum of counted pixels in the green channel for a region. * @b_sum: Total sum of counted pixels in the blue channel for a region. */ struct bcm2835_isp_stats_region { __u32 counted; __u32 notcounted; __u64 r_sum; __u64 g_sum; __u64 b_sum; }; /** * struct bcm2835_isp_stats_focus - Focus statistics. * * @contrast_val: Focus measure - accumulated output of the focus filter. * In the first dimension, index [0] counts pixels below a * preset threshold, and index [1] counts pixels above the * threshold. In the second dimension, index [0] uses the * first predefined filter, and index [1] uses the second * predefined filter. * @contrast_val_num: The number of counted pixels in the above accumulation. */ struct bcm2835_isp_stats_focus { __u64 contrast_val[2][2]; __u32 contrast_val_num[2][2]; }; /** * struct bcm2835_isp_stats - ISP statistics. * * @version: Version of the bcm2835_isp_stats structure. * @size: Size of the bcm2835_isp_stats structure. * @hist: Histogram statistics for the entire image. * @awb_stats: Statistics for the regions defined for AWB calculations. * @floating_stats: Statistics for arbitrarily placed (floating) regions. * @agc_stats: Statistics for the regions defined for AGC calculations. * @focus_stats: Focus filter statistics for the focus regions. */ struct bcm2835_isp_stats { __u32 version; __u32 size; struct bcm2835_isp_stats_hist hist[NUM_HISTOGRAMS]; struct bcm2835_isp_stats_region awb_stats[AWB_REGIONS]; struct bcm2835_isp_stats_region floating_stats[FLOATING_REGIONS]; struct bcm2835_isp_stats_region agc_stats[AGC_REGIONS]; struct bcm2835_isp_stats_focus focus_stats[FOCUS_REGIONS]; }; #endif /* __BCM2835_ISP_H_ */ 21' href='#n221'>221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 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/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
 * Copyright (C) 2019, Google Inc.
 *
 * camera_device.cpp - libcamera Android Camera Device
 */

#include "camera_device.h"

#include <algorithm>
#include <fstream>
#include <sys/mman.h>
#include <unistd.h>
#include <vector>

#include <libcamera/base/log.h>
#include <libcamera/base/thread.h>
#include <libcamera/base/utils.h>

#include <libcamera/control_ids.h>
#include <libcamera/controls.h>
#include <libcamera/formats.h>
#include <libcamera/property_ids.h>

#include "system/graphics.h"

#include "camera_hal_config.h"
#include "camera_ops.h"
#include "camera_request.h"
#include "post_processor.h"

using namespace libcamera;

LOG_DECLARE_CATEGORY(HAL)

namespace {

/*
 * \struct Camera3StreamConfig
 * \brief Data to store StreamConfiguration associated with camera3_stream(s)
 * \var streams List of the pairs of a stream requested by Android HAL client
 * and CameraStream::Type associated with the stream
 * \var config StreamConfiguration for streams
 */
struct Camera3StreamConfig {
	struct Camera3Stream {
		camera3_stream_t *stream;
		CameraStream::Type type;
	};

	std::vector<Camera3Stream> streams;
	StreamConfiguration config;
};

/*
 * Reorder the configurations so that libcamera::Camera can accept them as much
 * as possible. The sort rule is as follows.
 * 1.) The configuration for NV12 request whose resolution is the largest.
 * 2.) The configuration for JPEG request.
 * 3.) Others. Larger resolutions and different formats are put earlier.
 */
void sortCamera3StreamConfigs(std::vector<Camera3StreamConfig> &unsortedConfigs,
			      const camera3_stream_t *jpegStream)
{
	const Camera3StreamConfig *jpegConfig = nullptr;

	std::map<PixelFormat, std::vector<const Camera3StreamConfig *>> formatToConfigs;
	for (const auto &streamConfig : unsortedConfigs) {
		if (jpegStream && !jpegConfig) {
			const auto &streams = streamConfig.streams;
			if (std::find_if(streams.begin(), streams.end(),
					 [jpegStream](const auto &stream) {
						 return stream.stream == jpegStream;
					 }) != streams.end()) {
				jpegConfig = &streamConfig;
				continue;
			}
		}
		formatToConfigs[streamConfig.config.pixelFormat].push_back(&streamConfig);
	}

	if (jpegStream && !jpegConfig)
		LOG(HAL, Fatal) << "No Camera3StreamConfig is found for JPEG";

	for (auto &fmt : formatToConfigs) {
		auto &streamConfigs = fmt.second;

		/* Sorted by resolution. Smaller is put first. */
		std::sort(streamConfigs.begin(), streamConfigs.end(),
			  [](const auto *streamConfigA, const auto *streamConfigB) {
				  const Size &sizeA = streamConfigA->config.size;
				  const Size &sizeB = streamConfigB->config.size;
				  return sizeA < sizeB;
			  });
	}

	std::vector<Camera3StreamConfig> sortedConfigs;
	sortedConfigs.reserve(unsortedConfigs.size());

	/*
	 * NV12 is the most prioritized format. Put the configuration with NV12
	 * and the largest resolution first.
	 */
	const auto nv12It = formatToConfigs.find(formats::NV12);
	if (nv12It != formatToConfigs.end()) {
		auto &nv12Configs = nv12It->second;
		const Camera3StreamConfig *nv12Largest = nv12Configs.back();

		/*
		 * If JPEG will be created from NV12 and the size is larger than
		 * the largest NV12 configurations, then put the NV12
		 * configuration for JPEG first.
		 */
		if (jpegConfig && jpegConfig->config.pixelFormat == formats::NV12) {
			const Size &nv12SizeForJpeg = jpegConfig->config.size;
			const Size &nv12LargestSize = nv12Largest->config.size;

			if (nv12LargestSize < nv12SizeForJpeg) {
				LOG(HAL, Debug) << "Insert " << jpegConfig->config.toString();
				sortedConfigs.push_back(std::move(*jpegConfig));
				jpegConfig = nullptr;
			}
		}

		LOG(HAL, Debug) << "Insert " << nv12Largest->config.toString();
		sortedConfigs.push_back(*nv12Largest);
		nv12Configs.pop_back();

		if (nv12Configs.empty())
			formatToConfigs.erase(nv12It);
	}

	/* If the configuration for JPEG is there, then put it. */
	if (jpegConfig) {
		LOG(HAL, Debug) << "Insert " << jpegConfig->config.toString();
		sortedConfigs.push_back(std::move(*jpegConfig));
		jpegConfig = nullptr;
	}

	/*
	 * Put configurations with different formats and larger resolutions
	 * earlier.
	 */
	while (!formatToConfigs.empty()) {
		for (auto it = formatToConfigs.begin(); it != formatToConfigs.end();) {
			auto &configs = it->second;
			LOG(HAL, Debug) << "Insert " << configs.back()->config.toString();
			sortedConfigs.push_back(*configs.back());
			configs.pop_back();

			if (configs.empty())
				it = formatToConfigs.erase(it);
			else
				it++;
		}
	}

	ASSERT(sortedConfigs.size() == unsortedConfigs.size());

	unsortedConfigs = sortedConfigs;
}

const char *rotationToString(int rotation)
{
	switch (rotation) {
	case CAMERA3_STREAM_ROTATION_0:
		return "0";
	case CAMERA3_STREAM_ROTATION_90:
		return "90";
	case CAMERA3_STREAM_ROTATION_180:
		return "180";
	case CAMERA3_STREAM_ROTATION_270:
		return "270";
	}
	return "INVALID";
}

#if defined(OS_CHROMEOS)
/*
 * Check whether the crop_rotate_scale_degrees values for all streams in
 * the list are valid according to the Chrome OS camera HAL API.
 */
bool validateCropRotate(const camera3_stream_configuration_t &streamList)
{
	ASSERT(streamList.num_streams > 0);
	const int cropRotateScaleDegrees =
		streamList.streams[0]->crop_rotate_scale_degrees;
	for (unsigned int i = 0; i < streamList.num_streams; ++i) {
		const camera3_stream_t &stream = *streamList.streams[i];

		switch (stream.crop_rotate_scale_degrees) {
		case CAMERA3_STREAM_ROTATION_0:
		case CAMERA3_STREAM_ROTATION_90:
		case CAMERA3_STREAM_ROTATION_270:
			break;

		/* 180° rotation is specified by Chrome OS as invalid. */
		case CAMERA3_STREAM_ROTATION_180:
		default:
			LOG(HAL, Error) << "Invalid crop_rotate_scale_degrees: "
					<< stream.crop_rotate_scale_degrees;
			return false;
		}

		if (cropRotateScaleDegrees != stream.crop_rotate_scale_degrees) {
			LOG(HAL, Error) << "crop_rotate_scale_degrees in all "
					<< "streams are not identical";
			return false;
		}
	}

	return true;
}
#endif

} /* namespace */

/*
 * \class CameraDevice
 *
 * The CameraDevice class wraps a libcamera::Camera instance, and implements
 * the camera3_device_t interface, bridging calls received from the Android
 * camera service to the CameraDevice.
 *
 * The class translates parameters and operations from the Camera HALv3 API to
 * the libcamera API to provide static information for a Camera, create request
 * templates for it, process capture requests and then deliver capture results
 * back to the framework using the designated callbacks.
 */

CameraDevice::CameraDevice(unsigned int id, std::shared_ptr<Camera> camera)
	: id_(id), state_(State::Stopped), camera_(std::move(camera)),
	  facing_(CAMERA_FACING_FRONT), orientation_(0)
{
	camera_->requestCompleted.connect(this, &CameraDevice::requestComplete);

	maker_ = "libcamera";
	model_ = "cameraModel";

	/* \todo Support getting properties on Android */
	std::ifstream fstream("/var/cache/camera/camera.prop");
	if (!fstream.is_open())
		return;

	std::string line;
	while (std::getline(fstream, line)) {
		std::string::size_type delimPos = line.find("=");
		if (delimPos == std::string::npos)
			continue;
		std::string key = line.substr(0, delimPos);
		std::string val = line.substr(delimPos + 1);

		if (!key.compare("ro.product.model"))
			model_ = val;
		else if (!key.compare("ro.product.manufacturer"))
			maker_ = val;
	}
}

CameraDevice::~CameraDevice() = default;

std::unique_ptr<CameraDevice> CameraDevice::create(unsigned int id,
						   std::shared_ptr<Camera> cam)
{
	return std::unique_ptr<CameraDevice>(
		new CameraDevice(id, std::move(cam)));
}

/*
 * Initialize the camera static information retrieved from the
 * Camera::properties or from the cameraConfigData.
 *
 * cameraConfigData is optional for external camera devices and can be
 * nullptr.
 *
 * This function is called before the camera device is opened.
 */
int CameraDevice::initialize(const CameraConfigData *cameraConfigData)
{
	/*
	 * Initialize orientation and facing side of the camera.
	 *
	 * If the libcamera::Camera provides those information as retrieved
	 * from firmware use them, otherwise fallback to values parsed from
	 * the configuration file. If the configuration file is not available
	 * the camera is external so its location and rotation can be safely
	 * defaulted.
	 */
	const ControlList &properties = camera_->properties();

	if (properties.contains(properties::Location)) {
		int32_t location = properties.get(properties::Location);
		switch (location) {
		case properties::CameraLocationFront:
			facing_ = CAMERA_FACING_FRONT;
			break;
		case properties::CameraLocationBack:
			facing_ = CAMERA_FACING_BACK;
			break;
		case properties::CameraLocationExternal:
			/*
			 * If the camera is reported as external, but the
			 * CameraHalManager has overriden it, use what is
			 * reported in the configuration file. This typically
			 * happens for UVC cameras reported as 'External' by
			 * libcamera but installed in fixed position on the
			 * device.
			 */
			if (cameraConfigData && cameraConfigData->facing != -1)
				facing_ = cameraConfigData->facing;
			else
				facing_ = CAMERA_FACING_EXTERNAL;
			break;
		}

		if (cameraConfigData && cameraConfigData->facing != -1 &&
		    facing_ != cameraConfigData->facing) {
			LOG(HAL, Warning)
				<< "Camera location does not match"
				<< " configuration file. Using " << facing_;
		}
	} else if (cameraConfigData) {
		if (cameraConfigData->facing == -1) {
			LOG(HAL, Error)
				<< "Camera facing not in configuration file";
			return -EINVAL;
		}
		facing_ = cameraConfigData->facing;
	} else {
		facing_ = CAMERA_FACING_EXTERNAL;
	}

	/*
	 * The Android orientation metadata specifies its rotation correction
	 * value in clockwise direction whereas libcamera specifies the
	 * rotation property in anticlockwise direction. Read the libcamera's
	 * rotation property (anticlockwise) and compute the corresponding
	 * value for clockwise direction as required by the Android orientation
	 * metadata.
	 */
	if (properties.contains(properties::Rotation)) {
		int rotation = properties.get(properties::Rotation);
		orientation_ = (360 - rotation) % 360;
		if (cameraConfigData && cameraConfigData->rotation != -1 &&
		    orientation_ != cameraConfigData->rotation) {
			LOG(HAL, Warning)
				<< "Camera orientation does not match"
				<< " configuration file. Using " << orientation_;
		}
	} else if (cameraConfigData) {
		if (cameraConfigData->rotation == -1) {
			LOG(HAL, Error)
				<< "Camera rotation not in configuration file";
			return -EINVAL;
		}
		orientation_ = cameraConfigData->rotation;
	} else {
		orientation_ = 0;
	}

	return capabilities_.initialize(camera_, orientation_, facing_);
}

/*
 * Open a camera device. The static information on the camera shall have been
 * initialized with a call to CameraDevice::initialize().
 */
int CameraDevice::open(const hw_module_t *hardwareModule)
{
	int ret = camera_->acquire();
	if (ret) {
		LOG(HAL, Error) << "Failed to acquire the camera";
		return ret;
	}

	/* Initialize the hw_device_t in the instance camera3_module_t. */
	camera3Device_.common.tag = HARDWARE_DEVICE_TAG;
	camera3Device_.common.version = CAMERA_DEVICE_API_VERSION_3_3;
	camera3Device_.common.module = (hw_module_t *)hardwareModule;
	camera3Device_.common.close = hal_dev_close;

	/*
	 * The camera device operations. These actually implement
	 * the Android Camera HALv3 interface.
	 */
	camera3Device_.ops = &hal_dev_ops;
	camera3Device_.priv = this;

	return 0;
}

void CameraDevice::close()
{
	stop();

	camera_->release();
}

void CameraDevice::flush()
{
	{
		MutexLocker stateLock(stateMutex_);
		if (state_ != State::Running)
			return;

		state_ = State::Flushing;
	}

	worker_.stop();
	camera_->stop();

	MutexLocker stateLock(stateMutex_);
	state_ = State::Stopped;
}

void CameraDevice::stop()
{
	MutexLocker stateLock(stateMutex_);
	if (state_ == State::Stopped)
		return;

	worker_.stop();
	camera_->stop();

	descriptors_ = {};
	streams_.clear();

	state_ = State::Stopped;
}

unsigned int CameraDevice::maxJpegBufferSize() const
{
	return capabilities_.maxJpegBufferSize();
}

void CameraDevice::setCallbacks(const camera3_callback_ops_t *callbacks)
{
	callbacks_ = callbacks;
}

const camera_metadata_t *CameraDevice::getStaticMetadata()
{
	return capabilities_.staticMetadata()->get();
}

/*
 * Produce a metadata pack to be used as template for a capture request.
 */
const camera_metadata_t *CameraDevice::constructDefaultRequestSettings(int type)
{
	auto it = requestTemplates_.find(type);
	if (it != requestTemplates_.end())
		return it->second->get();

	/* Use the capture intent matching the requested template type. */
	std::unique_ptr<CameraMetadata> requestTemplate;
	uint8_t captureIntent;
	switch (type) {
	case CAMERA3_TEMPLATE_PREVIEW:
		captureIntent = ANDROID_CONTROL_CAPTURE_INTENT_PREVIEW;
		requestTemplate = capabilities_.requestTemplatePreview();
		break;
	case CAMERA3_TEMPLATE_STILL_CAPTURE:
		/*
		 * Use the preview template for still capture, they only differ
		 * for the torch mode we currently do not support.
		 */
		captureIntent = ANDROID_CONTROL_CAPTURE_INTENT_STILL_CAPTURE;
		requestTemplate = capabilities_.requestTemplateStill();
		break;
	case CAMERA3_TEMPLATE_VIDEO_RECORD:
		captureIntent = ANDROID_CONTROL_CAPTURE_INTENT_VIDEO_RECORD;
		requestTemplate = capabilities_.requestTemplateVideo();
		break;
	case CAMERA3_TEMPLATE_VIDEO_SNAPSHOT:
		captureIntent = ANDROID_CONTROL_CAPTURE_INTENT_VIDEO_SNAPSHOT;
		requestTemplate = capabilities_.requestTemplateVideo();
		break;
	case CAMERA3_TEMPLATE_MANUAL:
		captureIntent = ANDROID_CONTROL_CAPTURE_INTENT_MANUAL;
		requestTemplate = capabilities_.requestTemplateManual();
		break;
	/* \todo Implement templates generation for the remaining use cases. */
	case CAMERA3_TEMPLATE_ZERO_SHUTTER_LAG:
	default:
		LOG(HAL, Error) << "Unsupported template request type: " << type;
		return nullptr;
	}

	if (!requestTemplate || !requestTemplate->isValid()) {
		LOG(HAL, Error) << "Failed to construct request template";
		return nullptr;
	}

	requestTemplate->updateEntry(ANDROID_CONTROL_CAPTURE_INTENT,
				     captureIntent);

	requestTemplates_[type] = std::move(requestTemplate);
	return requestTemplates_[type]->get();
}

/*
 * Inspect the stream_list to produce a list of StreamConfiguration to
 * be use to configure the Camera.
 */
int CameraDevice::configureStreams(camera3_stream_configuration_t *stream_list)
{
	/* Before any configuration attempt, stop the camera. */
	stop();

	if (stream_list->num_streams == 0) {
		LOG(HAL, Error) << "No streams in configuration";
		return -EINVAL;
	}

#if defined(OS_CHROMEOS)
	if (!validateCropRotate(*stream_list))
		return -EINVAL;
#endif

	/*
	 * Generate an empty configuration, and construct a StreamConfiguration
	 * for each camera3_stream to add to it.
	 */
	std::unique_ptr<CameraConfiguration> config = camera_->generateConfiguration();
	if (!config) {
		LOG(HAL, Error) << "Failed to generate camera configuration";
		return -EINVAL;
	}

	/*
	 * Clear and remove any existing configuration from previous calls, and
	 * ensure the required entries are available without further
	 * reallocation.
	 */
	streams_.clear();
	streams_.reserve(stream_list->num_streams);

	std::vector<Camera3StreamConfig> streamConfigs;
	streamConfigs.reserve(stream_list->num_streams);

	/* First handle all non-MJPEG streams. */
	camera3_stream_t *jpegStream = nullptr;
	for (unsigned int i = 0; i < stream_list->num_streams; ++i) {
		camera3_stream_t *stream = stream_list->streams[i];
		Size size(stream->width, stream->height);

		PixelFormat format = capabilities_.toPixelFormat(stream->format);

		LOG(HAL, Info) << "Stream #" << i
			       << ", direction: " << stream->stream_type
			       << ", width: " << stream->width
			       << ", height: " << stream->height
			       << ", format: " << utils::hex(stream->format)
			       << ", rotation: " << rotationToString(stream->rotation)
#if defined(OS_CHROMEOS)
			       << ", crop_rotate_scale_degrees: "
			       << rotationToString(stream->crop_rotate_scale_degrees)
#endif
			       << " (" << format.toString() << ")";

		if (!format.isValid())
			return -EINVAL;

		/* \todo Support rotation. */
		if (stream->rotation != CAMERA3_STREAM_ROTATION_0) {
			LOG(HAL, Error) << "Rotation is not supported";
			return -EINVAL;
		}
#if defined(OS_CHROMEOS)
		if (stream->crop_rotate_scale_degrees != CAMERA3_STREAM_ROTATION_0) {
			LOG(HAL, Error) << "Rotation is not supported";
			return -EINVAL;
		}
#endif

		/* Defer handling of MJPEG streams until all others are known. */
		if (stream->format == HAL_PIXEL_FORMAT_BLOB) {
			if (jpegStream) {
				LOG(HAL, Error)
					<< "Multiple JPEG streams are not supported";
				return -EINVAL;
			}

			jpegStream = stream;
			continue;
		}

		Camera3StreamConfig streamConfig;
		streamConfig.streams = { { stream, CameraStream::Type::Direct } };
		streamConfig.config.size = size;
		streamConfig.config.pixelFormat = format;
		streamConfigs.push_back(std::move(streamConfig));

		/* This stream will be produced by hardware. */
		stream->usage |= GRALLOC_USAGE_HW_CAMERA_WRITE;
	}

	/* Now handle the MJPEG streams, adding a new stream if required. */
	if (jpegStream) {
		CameraStream::Type type;
		int index = -1;

		/* Search for a compatible stream in the non-JPEG ones. */
		for (size_t i = 0; i < streamConfigs.size(); ++i) {
			Camera3StreamConfig &streamConfig = streamConfigs[i];
			const auto &cfg = streamConfig.config;

			/*
			 * \todo The PixelFormat must also be compatible with
			 * the encoder.
			 */
			if (cfg.size.width != jpegStream->width ||
			    cfg.size.height != jpegStream->height)
				continue;

			LOG(HAL, Info)
				<< "Android JPEG stream mapped to libcamera stream " << i;

			type = CameraStream::Type::Mapped;
			index = i;

			/*
			 * The source stream will be read by software to
			 * produce the JPEG stream.
			 */
			camera3_stream_t *stream = streamConfig.streams[0].stream;
			stream->usage |= GRALLOC_USAGE_SW_READ_OFTEN;
			break;
		}

		/*
		 * Without a compatible match for JPEG encoding we must
		 * introduce a new stream to satisfy the request requirements.
		 */
		if (index < 0) {
			/*
			 * \todo The pixelFormat should be a 'best-fit' choice
			 * and may require a validation cycle. This is not yet
			 * handled, and should be considered as part of any
			 * stream configuration reworks.
			 */
			Camera3StreamConfig streamConfig;
			streamConfig.config.size.width = jpegStream->width;
			streamConfig.config.size.height = jpegStream->height;
			streamConfig.config.pixelFormat = formats::NV12;
			streamConfigs.push_back(std::move(streamConfig));

			LOG(HAL, Info) << "Adding " << streamConfig.config.toString()
				       << " for MJPEG support";

			type = CameraStream::Type::Internal;
			index = streamConfigs.size() - 1;
		}

		/* The JPEG stream will be produced by software. */
		jpegStream->usage |= GRALLOC_USAGE_SW_WRITE_OFTEN;

		streamConfigs[index].streams.push_back({ jpegStream, type });
	}

	sortCamera3StreamConfigs(streamConfigs, jpegStream);
	for (const auto &streamConfig : streamConfigs) {
		config->addConfiguration(streamConfig.config);

		for (auto &stream : streamConfig.streams) {
			streams_.emplace_back(this, config.get(), stream.type,
					      stream.stream, config->size() - 1);
			stream.stream->priv = static_cast<void *>(&streams_.back());
		}
	}

	switch (config->validate()) {
	case CameraConfiguration::Valid:
		break;
	case CameraConfiguration::Adjusted:
		LOG(HAL, Info) << "Camera configuration adjusted";

		for (const StreamConfiguration &cfg : *config)
			LOG(HAL, Info) << " - " << cfg.toString();

		return -EINVAL;
	case CameraConfiguration::Invalid:
		LOG(HAL, Info) << "Camera configuration invalid";
		return -EINVAL;
	}

	/*
	 * Once the CameraConfiguration has been adjusted/validated
	 * it can be applied to the camera.
	 */
	int ret = camera_->configure(config.get());
	if (ret) {
		LOG(HAL, Error) << "Failed to configure camera '"
				<< camera_->id() << "'";
		return ret;
	}

	/*
	 * Configure the HAL CameraStream instances using the associated
	 * StreamConfiguration and set the number of required buffers in
	 * the Android camera3_stream_t.
	 */
	for (CameraStream &cameraStream : streams_) {
		ret = cameraStream.configure();
		if (ret) {
			LOG(HAL, Error) << "Failed to configure camera stream";
			return ret;
		}
	}

	config_ = std::move(config);
	return 0;
}

std::unique_ptr<FrameBuffer>
CameraDevice::createFrameBuffer(const buffer_handle_t camera3buffer,
				PixelFormat pixelFormat, const Size &size)
{
	CameraBuffer buf(camera3buffer, pixelFormat, size, PROT_READ);
	if (!buf.isValid()) {
		LOG(HAL, Fatal) << "Failed to create CameraBuffer";
		return nullptr;
	}

	std::vector<FrameBuffer::Plane> planes(buf.numPlanes());
	for (size_t i = 0; i < buf.numPlanes(); ++i) {
		FileDescriptor fd{ camera3buffer->data[i] };
		if (!fd.isValid()) {
			LOG(HAL, Fatal) << "No valid fd";
			return nullptr;
		}

		planes[i].fd = fd;
		planes[i].offset = buf.offset(i);
		planes[i].length = buf.size(i);
	}

	return std::make_unique<FrameBuffer>(planes);
}

int CameraDevice::processControls(Camera3RequestDescriptor *descriptor)
{
	const CameraMetadata &settings = descriptor->settings_;
	if (!settings.isValid())
		return 0;

	/* Translate the Android request settings to libcamera controls. */
	ControlList &controls = descriptor->request_->controls();
	camera_metadata_ro_entry_t entry;
	if (settings.getEntry(ANDROID_SCALER_CROP_REGION, &entry)) {
		const int32_t *data = entry.data.i32;
		Rectangle cropRegion{ data[0], data[1],
				      static_cast<unsigned int>(data[2]),
				      static_cast<unsigned int>(data[3]) };
		controls.set(controls::ScalerCrop, cropRegion);
	}

	if (settings.getEntry(ANDROID_SENSOR_TEST_PATTERN_MODE, &entry)) {
		const int32_t data = *entry.data.i32;
		int32_t testPatternMode = controls::draft::TestPatternModeOff;
		switch (data) {
		case ANDROID_SENSOR_TEST_PATTERN_MODE_OFF:
			testPatternMode = controls::draft::TestPatternModeOff;
			break;

		case ANDROID_SENSOR_TEST_PATTERN_MODE_SOLID_COLOR:
			testPatternMode = controls::draft::TestPatternModeSolidColor;
			break;

		case ANDROID_SENSOR_TEST_PATTERN_MODE_COLOR_BARS:
			testPatternMode = controls::draft::TestPatternModeColorBars;
			break;

		case ANDROID_SENSOR_TEST_PATTERN_MODE_COLOR_BARS_FADE_TO_GRAY:
			testPatternMode = controls::draft::TestPatternModeColorBarsFadeToGray;
			break;

		case ANDROID_SENSOR_TEST_PATTERN_MODE_PN9:
			testPatternMode = controls::draft::TestPatternModePn9;
			break;

		case ANDROID_SENSOR_TEST_PATTERN_MODE_CUSTOM1:
			testPatternMode = controls::draft::TestPatternModeCustom1;
			break;

		default:
			LOG(HAL, Error)
				<< "Unknown test pattern mode: " << data;

			return -EINVAL;
		}

		controls.set(controls::draft::TestPatternMode, testPatternMode);
	}

	return 0;
}

void CameraDevice::abortRequest(Camera3RequestDescriptor *descriptor) const
{
	notifyError(descriptor->frameNumber_, nullptr, CAMERA3_MSG_ERROR_REQUEST);

	for (auto &buffer : descriptor->buffers_) {
		buffer.release_fence = buffer.acquire_fence;
		buffer.acquire_fence = -1;
		buffer.status = CAMERA3_BUFFER_STATUS_ERROR;
	}

	descriptor->status_ = Camera3RequestDescriptor::Status::Error;
}

bool CameraDevice::isValidRequest(camera3_capture_request_t *camera3Request) const
{
	if (!camera3Request) {
		LOG(HAL, Error) << "No capture request provided";
		return false;
	}

	if (!camera3Request->num_output_buffers ||
	    !camera3Request->output_buffers) {
		LOG(HAL, Error) << "No output buffers provided";
		return false;
	}

	/* configureStreams() has not been called or has failed. */
	if (streams_.empty() || !config_) {
		LOG(HAL, Error) << "No stream is configured";
		return false;
	}

	for (uint32_t i = 0; i < camera3Request->num_output_buffers; i++) {
		const camera3_stream_buffer_t &outputBuffer =
			camera3Request->output_buffers[i];
		if (!outputBuffer.buffer || !(*outputBuffer.buffer)) {
			LOG(HAL, Error) << "Invalid native handle";
			return false;
		}

		const native_handle_t *handle = *outputBuffer.buffer;
		constexpr int kNativeHandleMaxFds = 1024;
		if (handle->numFds < 0 || handle->numFds > kNativeHandleMaxFds) {
			LOG(HAL, Error)
				<< "Invalid number of fds (" << handle->numFds
				<< ") in buffer " << i;
			return false;
		}

		constexpr int kNativeHandleMaxInts = 1024;
		if (handle->numInts < 0 || handle->numInts > kNativeHandleMaxInts) {
			LOG(HAL, Error)
				<< "Invalid number of ints (" << handle->numInts
				<< ") in buffer " << i;
			return false;
		}

		const camera3_stream *camera3Stream = outputBuffer.stream;
		if (!camera3Stream)
			return false;

		const CameraStream *cameraStream =
			static_cast<CameraStream *>(camera3Stream->priv);

		auto found = std::find_if(streams_.begin(), streams_.end(),
					  [cameraStream](const CameraStream &stream) {
						  return &stream == cameraStream;
					  });
		if (found == streams_.end()) {
			LOG(HAL, Error)
				<< "No corresponding configured stream found";
			return false;
		}
	}

	return true;
}

int CameraDevice::processCaptureRequest(camera3_capture_request_t *camera3Request)
{
	if (!isValidRequest(camera3Request))
		return -EINVAL;

	/*
	 * Save the request descriptors for use at completion time.
	 * The descriptor and the associated memory reserved here are freed
	 * at request complete time.
	 */
	auto descriptor = std::make_unique<Camera3RequestDescriptor>(camera_.get(),
								     camera3Request);

	/*
	 * \todo The Android request model is incremental, settings passed in
	 * previous requests are to be effective until overridden explicitly in
	 * a new request. Do we need to cache settings incrementally here, or is
	 * it handled by the Android camera service ?
	 */
	if (camera3Request->settings)
		lastSettings_ = camera3Request->settings;
	else
		descriptor->settings_ = lastSettings_;

	LOG(HAL, Debug) << "Queueing request " << descriptor->request_->cookie()
			<< " with " << descriptor->buffers_.size() << " streams";

	for (const auto &[i, camera3Buffer] : utils::enumerate(descriptor->buffers_)) {
		camera3_stream *camera3Stream = camera3Buffer.stream;
		CameraStream *cameraStream = static_cast<CameraStream *>(camera3Stream->priv);

		std::stringstream ss;
		ss << i << " - (" << camera3Stream->width << "x"
		   << camera3Stream->height << ")"
		   << "[" << utils::hex(camera3Stream->format) << "] -> "
		   << "(" << cameraStream->configuration().size.toString() << ")["
		   << cameraStream->configuration().pixelFormat.toString() << "]";

		/*
		 * Inspect the camera stream type, create buffers opportunely
		 * and add them to the Request if required. Only acquire fences
		 * for streams of type Direct are handled by the CameraWorker,
		 * while fences for streams of type Internal and Mapped are
		 * handled at post-processing time.
		 */
		FrameBuffer *buffer = nullptr;
		int acquireFence = -1;
		switch (cameraStream->type()) {
		case CameraStream::Type::Mapped:
			/*
			 * Mapped streams don't need buffers added to the
			 * Request.
			 */
			LOG(HAL, Debug) << ss.str() << " (mapped)";
			continue;

		case CameraStream::Type::Direct:
			/*
			 * Create a libcamera buffer using the dmabuf
			 * descriptors of the camera3Buffer for each stream and
			 * associate it with the Camera3RequestDescriptor for
			 * lifetime management only.
			 */
			descriptor->frameBuffers_.push_back(
				createFrameBuffer(*camera3Buffer.buffer,
						  cameraStream->configuration().pixelFormat,
						  cameraStream->configuration().size));

			buffer = descriptor->frameBuffers_.back().get();
			acquireFence = camera3Buffer.acquire_fence;
			LOG(HAL, Debug) << ss.str() << " (direct)";
			break;

		case CameraStream::Type::Internal:
			/*
			 * Get the frame buffer from the CameraStream internal
			 * buffer pool.
			 *
			 * The buffer has to be returned to the CameraStream
			 * once it has been processed.
			 */
			buffer = cameraStream->getBuffer();
			LOG(HAL, Debug) << ss.str() << " (internal)";
			break;
		}

		if (!buffer) {
			LOG(HAL, Error) << "Failed to create buffer";
			return -ENOMEM;
		}

		descriptor->request_->addBuffer(cameraStream->stream(), buffer,
					       acquireFence);
	}