/* SPDX-License-Identifier: GPL-2.0-or-later */ /* * Copyright (C) 2020, Google Inc. * Copyright (C) 2021, Collabora Ltd. * * main.cpp - lc-compliance - The libcamera compliance tool */ #include #include #include #include #include #include "../common/options.h" #include "environment.h" using namespace libcamera; enum { OptCamera = 'c', OptList = 'l', OptFilter = 'f', OptHelp = 'h', }; /* * Make asserts act like exceptions, otherwise they only fail (or skip) the * current function. From gtest documentation: * https://google.github.io/googletest/advanced.html#asserting-on-subroutines-with-an-exception */ class ThrowListener : public testing::EmptyTestEventListener { void OnTestPartResult(const testing::TestPartResult &result) override { if (result.type() == testing::TestPartResult::kFatalFailure || result.type() == testing::TestPartResult::kSkip) throw testing::AssertionException(result); } }; static void listCameras(CameraManager *cm) { for (const std::shared_ptr &cam : cm->cameras()) std::cout << "- " << cam.get()->id() << std::endl; } static int initCamera(CameraManager *cm, OptionsParser::Options options) { std::shared_ptr camera; int ret = cm->start(); if (ret) { std::cout << "Failed to start camera manager: " << strerror(-ret) << std::endl; return ret; } if (!options.isSet(OptCamera)) { std::cout << "No camera specified, available cameras:" << std::endl; listCameras(cm); return -ENODEV; } const std::string &cameraId = options[OptCamera]; camera = cm->get(cameraId); if (!camera) { std::cout << "Camera " << cameraId << " not found, available cameras:" << std::endl; listCameras(cm); return -ENODEV; } Environment::get()->setup(cm, cameraId); std::cout << "Using camera " << cameraId << std::endl; return 0; } static int initGtestParameters(char *arg0, OptionsParser::Options options) { const std::map gtestFlags = { { "list", "--gtest_list_tests" }, { "filter", "--gtest_filter" } }; int argc = 0; std::string filterParam; /* * +2 to have space for both the 0th argument that is needed but not * used and the null at the end. */ char **argv = new char *[(gtestFlags.size() + 2)]; if (!argv) return -ENOMEM; argv[0] = arg0; argc++; if (options.isSet(OptList)) { argv[argc] = const_cast(gtestFlags.at("list").c_str()); argc++; } if (options.isSet(OptFilter)) { /* * The filter flag needs to be passed as a single parameter, in * the format --gtest_filter=filterStr */ filterParam = gtestFlags.at("filter") + "=" + static_cast(options[OptFilter]); argv[argc] = const_cast(filterParam.c_str()); argc++; } argv[argc] = nullptr; ::testing::InitGoogleTest(&argc, argv); delete[] argv; return 0; } static int initGtest(char *arg0, OptionsParser::Options options) { int ret = initGtestParameters(arg0, options); if (ret) return ret; testing::UnitTest::GetInstance()->listeners().Append(new ThrowListener); return 0; } static int parseOptions(int argc, char **argv, OptionsParser::Options *options) { OptionsParser parser; parser.addOption(OptCamera, OptionString, "Specify which camera to operate on, by id", "camera", ArgumentRequired, "camera"); parser.addOption(OptList, OptionNone, "List all tests and exit", "list"); parser.addOption(OptFilter, OptionString, "Specify which tests to run", "filter", ArgumentRequired, "filter"); parser.addOption(OptHelp, OptionNone, "Display this help message", "help"); *options = parser.parse(argc, argv); if (!options->valid()) return -EINVAL; if (options->isSet(OptHelp)) { parser.usage(); std::cerr << "Further options from Googletest can be passed as environment variables" << std::endl; return -EINTR; } return 0; } int main(int argc, char **argv) { OptionsParser::Options options; int ret = parseOptions(argc, argv, &options); if (ret == -EINTR) return EXIT_SUCCESS; if (ret < 0) return EXIT_FAILURE; std::unique_ptr cm = std::make_unique(); /* No need to initialize the camera if we'll just list tests */ if (!options.isSet(OptList)) { ret = initCamera(cm.get(), options); if (ret) return ret; } ret = initGtest(argv[0], options); if (ret) return ret; ret = RUN_ALL_TESTS(); if (!options.isSet(OptList)) cm->stop(); return ret; } n17'>17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 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/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
 * Copyright (C) 2019, Google Inc.
 *
 * A camera sensor
 */

#include "libcamera/internal/camera_sensor.h"
#include "libcamera/internal/media_device.h"

#include <algorithm>
#include <float.h>
#include <iomanip>
#include <limits.h>
#include <math.h>
#include <string.h>

#include <libcamera/camera.h>
#include <libcamera/orientation.h>
#include <libcamera/property_ids.h>

#include <libcamera/base/utils.h>

#include "libcamera/internal/bayer_format.h"
#include "libcamera/internal/camera_lens.h"
#include "libcamera/internal/camera_sensor_properties.h"
#include "libcamera/internal/formats.h"
#include "libcamera/internal/sysfs.h"

/**
 * \file camera_sensor.h
 * \brief A camera sensor
 */

namespace libcamera {

LOG_DEFINE_CATEGORY(CameraSensor)

/**
 * \class CameraSensor
 * \brief A camera sensor based on V4L2 subdevices
 *
 * The CameraSensor class eases handling of sensors for pipeline handlers by
 * hiding the details of the V4L2 subdevice kernel API and caching sensor
 * information.
 *
 * The implementation is currently limited to sensors that expose a single V4L2
 * subdevice with a single pad. It will be extended to support more complex
 * devices as the needs arise.
 */

/**
 * \brief Construct a CameraSensor
 * \param[in] entity The media entity backing the camera sensor
 *
 * Once constructed the instance must be initialized with init().
 */
CameraSensor::CameraSensor(const MediaEntity *entity)
	: entity_(entity), pad_(UINT_MAX), staticProps_(nullptr),
	  bayerFormat_(nullptr), supportFlips_(false),
	  flipsAlterBayerOrder_(false), properties_(properties::properties)
{
}

/**
 * \brief Destroy a CameraSensor
 */
CameraSensor::~CameraSensor()
{
}

/**
 * \brief Initialize the camera sensor instance
 *
 * This function performs the initialisation steps of the CameraSensor that may
 * fail. It shall be called once and only once after constructing the instance.
 *
 * \return 0 on success or a negative error code otherwise
 */
int CameraSensor::init()
{
	for (const MediaPad *pad : entity_->pads()) {
		if (pad->flags() & MEDIA_PAD_FL_SOURCE) {
			pad_ = pad->index();
			break;
		}
	}

	if (pad_ == UINT_MAX) {
		LOG(CameraSensor, Error)
			<< "Sensors with more than one pad are not supported";
		return -EINVAL;
	}

	switch (entity_->function()) {
	case MEDIA_ENT_F_CAM_SENSOR:
	case MEDIA_ENT_F_PROC_VIDEO_ISP:
		break;

	default:
		LOG(CameraSensor, Error)
			<< "Invalid sensor function "
			<< utils::hex(entity_->function());
		return -EINVAL;
	}

	/* Create and open the subdev. */
	subdev_ = std::make_unique<V4L2Subdevice>(entity_);
	int ret = subdev_->open();
	if (ret < 0)
		return ret;

	/*
	 * Clear any flips to be sure we get the "native" Bayer order. This is
	 * harmless for sensors where the flips don't affect the Bayer order.
	 */
	ControlList ctrls(subdev_->controls());
	if (subdev_->controls().find(V4L2_CID_HFLIP) != subdev_->controls().end())
		ctrls.set(V4L2_CID_HFLIP, 0);
	if (subdev_->controls().find(V4L2_CID_VFLIP) != subdev_->controls().end())
		ctrls.set(V4L2_CID_VFLIP, 0);
	subdev_->setControls(&ctrls);

	/* Enumerate, sort and cache media bus codes and sizes. */
	formats_ = subdev_->formats(pad_);
	if (formats_.empty()) {
		LOG(CameraSensor, Error) << "No image format found";
		return -EINVAL;
	}

	mbusCodes_ = utils::map_keys(formats_);
	std::sort(mbusCodes_.begin(), mbusCodes_.end());

	for (const auto &format : formats_) {
		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());

	/* Remove duplicates. */
	auto last = std::unique(sizes_.begin(), sizes_.end());
	sizes_.erase(last, sizes_.end());

	/*
	 * VIMC is a bit special, as it does not yet support all the mandatory
	 * requirements regular sensors have to respect.
	 *
	 * Do not validate the driver if it's VIMC and initialize the sensor
	 * properties with static information.
	 *
	 * \todo Remove the special case once the VIMC driver has been
	 * updated in all test platforms.
	 */
	if (entity_->device()->driver() == "vimc") {
		initVimcDefaultProperties();

		ret = initProperties();
		if (ret)
			return ret;

		return discoverAncillaryDevices();
	}

	/* Get the color filter array pattern (only for RAW sensors). */
	for (unsigned int mbusCode : mbusCodes_) {
		const BayerFormat &bayerFormat = BayerFormat::fromMbusCode(mbusCode);
		if (bayerFormat.isValid()) {
			bayerFormat_ = &bayerFormat;
			break;
		}
	}

	ret = validateSensorDriver();
	if (ret)
		return ret;

	ret = initProperties();
	if (ret)
		return ret;

	ret = discoverAncillaryDevices();
	if (ret)
		return ret;

	/*
	 * Set HBLANK to the minimum to start with a well-defined line length,
	 * allowing IPA modules that do not modify HBLANK to use the sensor
	 * minimum line length in their calculations.
	 */
	const struct v4l2_query_ext_ctrl *hblankInfo = subdev_->controlInfo(V4L2_CID_HBLANK);
	if (hblankInfo && !(hblankInfo->flags & V4L2_CTRL_FLAG_READ_ONLY)) {
		ControlList ctrl(subdev_->controls());

		ctrl.set(V4L2_CID_HBLANK, static_cast<int32_t>(hblankInfo->minimum));
		ret = subdev_->setControls(&ctrl);
		if (ret)
			return ret;
	}

	return applyTestPatternMode(controls::draft::TestPatternModeEnum::TestPatternModeOff);
}

int CameraSensor::generateId()
{
	const std::string devPath = subdev_->devicePath();

	/* Try to get ID from firmware description. */
	id_ = sysfs::firmwareNodePath(devPath);
	if (!id_.empty())
		return 0;

	/*
	 * Virtual sensors not described in firmware
	 *
	 * Verify it's a platform device and construct ID from the device path
	 * and model of sensor.
	 */
	if (devPath.find("/sys/devices/platform/", 0) == 0) {
		id_ = devPath.substr(strlen("/sys/devices/")) + " " + model();
		return 0;
	}

	LOG(CameraSensor, Error) << "Can't generate sensor ID";
	return -EINVAL;
}

int CameraSensor::validateSensorDriver()
{
	int err = 0;

	/*
	 * Optional controls are used to register optional sensor properties. If
	 * not present, some values will be defaulted.
	 */
	static constexpr uint32_t optionalControls[] = {
		V4L2_CID_CAMERA_SENSOR_ROTATION,
	};

	const ControlIdMap &controls = subdev_->controls().idmap();
	for (uint32_t ctrl : optionalControls) {
		if (!controls.count(ctrl))
			LOG(CameraSensor, Debug)
				<< "Optional V4L2 control " << utils::hex(ctrl)
				<< " not supported";
	}

	/*
	 * Recommended controls are similar to optional controls, but will
	 * become mandatory in the near future. Be loud if they're missing.
	 */
	static constexpr uint32_t recommendedControls[] = {
		V4L2_CID_CAMERA_ORIENTATION,
	};

	for (uint32_t ctrl : recommendedControls) {
		if (!controls.count(ctrl)) {
			LOG(CameraSensor, Warning)
				<< "Recommended V4L2 control " << utils::hex(ctrl)
				<< " not supported";
			err = -EINVAL;
		}
	}

	/*
	 * Verify if sensor supports horizontal/vertical flips
	 *
	 * \todo Handle horizontal and vertical flips independently.
	 */
	const struct v4l2_query_ext_ctrl *hflipInfo = subdev_->controlInfo(V4L2_CID_HFLIP);
	const struct v4l2_query_ext_ctrl *vflipInfo = subdev_->controlInfo(V4L2_CID_VFLIP);
	if (hflipInfo && !(hflipInfo->flags & V4L2_CTRL_FLAG_READ_ONLY) &&
	    vflipInfo && !(vflipInfo->flags & V4L2_CTRL_FLAG_READ_ONLY)) {
		supportFlips_ = true;

		if (hflipInfo->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT ||
		    vflipInfo->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT)
			flipsAlterBayerOrder_ = true;
	}

	if (!supportFlips_)
		LOG(CameraSensor, Debug)
			<< "Camera sensor does not support horizontal/vertical flip";

	/*
	 * Make sure the required selection targets are supported.
	 *
	 * Failures in reading any of the targets are not deemed to be fatal,
	 * but some properties and features, like constructing a
	 * IPACameraSensorInfo for the IPA module, won't be supported.
	 *
	 * \todo Make support for selection targets mandatory as soon as all
	 * test platforms have been updated.
	 */
	Rectangle rect;
	int ret = subdev_->getSelection(pad_, V4L2_SEL_TGT_CROP_BOUNDS, &rect);
	if (ret) {
		/*
		 * Default the pixel array size to the largest size supported
		 * by the sensor. The sizes_ vector is sorted in ascending
		 * order, the largest size is thus the last element.
		 */
		pixelArraySize_ = sizes_.back();

		LOG(CameraSensor, Warning)
			<< "The PixelArraySize property has been defaulted to "
			<< pixelArraySize_;
		err = -EINVAL;
	} else {
		pixelArraySize_ = rect.size();
	}

	ret = subdev_->getSelection(pad_, V4L2_SEL_TGT_CROP_DEFAULT, &activeArea_);
	if (ret) {
		activeArea_ = Rectangle(pixelArraySize_);
		LOG(CameraSensor, Warning)
			<< "The PixelArrayActiveAreas property has been defaulted to "
			<< activeArea_;
		err = -EINVAL;
	}

	ret = subdev_->getSelection(pad_, V4L2_SEL_TGT_CROP, &rect);
	if (ret) {
		LOG(CameraSensor, Warning)
			<< "Failed to retrieve the sensor crop rectangle";
		err = -EINVAL;
	}

	if (err) {
		LOG(CameraSensor, Warning)
			<< "The sensor kernel driver needs to be fixed";
		LOG(CameraSensor, Warning)
			<< "See Documentation/sensor_driver_requirements.rst in the libcamera sources for more information";
	}

	if (!bayerFormat_)
		return 0;

	/*
	 * For raw sensors, make sure the sensor driver supports the controls
	 * required by the CameraSensor class.
	 */
	static constexpr uint32_t mandatoryControls[] = {
		V4L2_CID_ANALOGUE_GAIN,
		V4L2_CID_EXPOSURE,
		V4L2_CID_HBLANK,
		V4L2_CID_PIXEL_RATE,
		V4L2_CID_VBLANK,
	};

	err = 0;
	for (uint32_t ctrl : mandatoryControls) {
		if (!controls.count(ctrl)) {
			LOG(CameraSensor, Error)
				<< "Mandatory V4L2 control " << utils::hex(ctrl)
				<< " not available";
			err = -EINVAL;
		}
	}

	if (err) {
		LOG(CameraSensor, Error)
			<< "The sensor kernel driver needs to be fixed";
		LOG(CameraSensor, Error)
			<< "See Documentation/sensor_driver_requirements.rst in the libcamera sources for more information";
		return err;
	}

	return 0;
}

/*
 * \brief Initialize properties that cannot be intialized by the
 * regular initProperties() function for VIMC
 */
void CameraSensor::initVimcDefaultProperties()
{
	/* Use the largest supported size. */
	pixelArraySize_ = sizes_.back();
	activeArea_ = Rectangle(pixelArraySize_);
}

void CameraSensor::initStaticProperties()
{
	staticProps_ = CameraSensorProperties::get(model_);
	if (!staticProps_)
		return;

	/* Register the properties retrieved from the sensor database. */
	properties_.set(properties::UnitCellSize, staticProps_->unitCellSize);

	initTestPatternModes();
}

void CameraSensor::initTestPatternModes()
{
	const auto &v4l2TestPattern = controls().find(V4L2_CID_TEST_PATTERN);
	if (v4l2TestPattern == controls().end()) {
		LOG(CameraSensor, Debug) << "V4L2_CID_TEST_PATTERN is not supported";
		return;
	}

	const auto &testPatternModes = staticProps_->testPatternModes;
	if (testPatternModes.empty()) {
		/*
		 * The camera sensor supports test patterns but we don't know
		 * how to map them so this should be fixed.
		 */
		LOG(CameraSensor, Debug) << "No static test pattern map for \'"
					 << model() << "\'";
		return;
	}

	/*
	 * Create a map that associates the V4L2 control index to the test
	 * pattern mode by reversing the testPatternModes map provided by the
	 * camera sensor properties. This makes it easier to verify if the
	 * control index is supported in the below for loop that creates the
	 * list of supported test patterns.
	 */
	std::map<int32_t, controls::draft::TestPatternModeEnum> indexToTestPatternMode;
	for (const auto &it : testPatternModes)
		indexToTestPatternMode[it.second] = it.first;

	for (const ControlValue &value : v4l2TestPattern->second.values()) {
		const int32_t index = value.get<int32_t>();

		const auto it = indexToTestPatternMode.find(index);
		if (it == indexToTestPatternMode.end()) {
			LOG(CameraSensor, Debug)
				<< "Test pattern mode " << index << " ignored";
			continue;
		}

		testPatternModes_.push_back(it->second);
	}
}

int CameraSensor::initProperties()
{
	model_ = subdev_->model();
	properties_.set(properties::Model, utils::toAscii(model_));

	/* Generate a unique ID for the sensor. */
	int ret = generateId();
	if (ret)
		return ret;

	/* Initialize the static properties from the sensor database. */
	initStaticProperties();

	/* Retrieve and register properties from the kernel interface. */
	const ControlInfoMap &controls = subdev_->controls();

	const auto &orientation = controls.find(V4L2_CID_CAMERA_ORIENTATION);
	if (orientation != controls.end()) {
		int32_t v4l2Orientation = orientation->second.def().get<int32_t>();
		int32_t propertyValue;

		switch (v4l2Orientation) {
		default:
			LOG(CameraSensor, Warning)
				<< "Unsupported camera location "
				<< v4l2Orientation << ", setting to External";
			[[fallthrough]];
		case V4L2_CAMERA_ORIENTATION_EXTERNAL:
			propertyValue = properties::CameraLocationExternal;
			break;
		case V4L2_CAMERA_ORIENTATION_FRONT:
			propertyValue = properties::CameraLocationFront;
			break;
		case V4L2_CAMERA_ORIENTATION_BACK:
			propertyValue = properties::CameraLocationBack;
			break;
		}
		properties_.set(properties::Location, propertyValue);
	} else {
		LOG(CameraSensor, Warning) << "Failed to retrieve the camera location";
	}

	const auto &rotationControl = controls.find(V4L2_CID_CAMERA_SENSOR_ROTATION);
	if (rotationControl != controls.end()) {
		int32_t propertyValue = rotationControl->second.def().get<int32_t>();

		/*
		 * Cache the Transform associated with the camera mounting
		 * rotation for later use in computeTransform().
		 */
		bool success;
		mountingOrientation_ = orientationFromRotation(propertyValue, &success);
		if (!success) {
			LOG(CameraSensor, Warning)
				<< "Invalid rotation of " << propertyValue
				<< " degrees - ignoring";
			mountingOrientation_ = Orientation::Rotate0;
		}

		properties_.set(properties::Rotation, propertyValue);
	} else {
		LOG(CameraSensor, Warning)
			<< "Rotation control not available, default to 0 degrees";
		properties_.set(properties::Rotation, 0);
		mountingOrientation_ = Orientation::Rotate0;
	}

	properties_.set(properties::PixelArraySize, pixelArraySize_);
	properties_.set(properties::PixelArrayActiveAreas, { activeArea_ });

	/* Color filter array pattern, register only for RAW sensors. */
	if (bayerFormat_) {
		int32_t cfa;
		switch (bayerFormat_->order) {
		case BayerFormat::BGGR:
			cfa = properties::draft::BGGR;
			break;
		case BayerFormat::GBRG:
			cfa = properties::draft::GBRG;
			break;
		case BayerFormat::GRBG:
			cfa = properties::draft::GRBG;
			break;
		case BayerFormat::RGGB:
			cfa = properties::draft::RGGB;
			break;
		case BayerFormat::MONO:
			cfa = properties::draft::MONO;
			break;
		}

		properties_.set(properties::draft::ColorFilterArrangement, cfa);
	}

	return 0;
}

/**
 * \brief Check for and initialise any ancillary devices
 *
 * Sensors sometimes have ancillary devices such as a Lens or Flash that could
 * be linked to their MediaEntity by the kernel. Search for and handle any
 * such device.
 *
 * \todo Handle MEDIA_ENT_F_FLASH too.
 */
int CameraSensor::discoverAncillaryDevices()
{
	int ret;

	for (MediaEntity *ancillary : entity_->ancillaryEntities()) {
		switch (ancillary->function()) {
		case MEDIA_ENT_F_LENS:
			focusLens_ = std::make_unique<CameraLens>(ancillary);
			ret = focusLens_->init();
			if (ret) {
				LOG(CameraSensor, Error)
					<< "Lens initialisation failed, lens disabled";
				focusLens_.reset();
			}
			break;

		default:
			LOG(CameraSensor, Warning)
				<< "Unsupported ancillary entity function "
				<< ancillary->function();
			break;
		}
	}

	return 0;
}

/**
 * \fn CameraSensor::model()
 * \brief Retrieve the sensor model name
 *
 * The sensor model name is a free-formed string that uniquely identifies the
 * sensor model.
 *
 * \return The sensor model name
 */

/**
 * \fn CameraSensor::id()
 * \brief Retrieve the sensor ID
 *
 * The sensor ID is a free-form string that uniquely identifies the sensor in
 * the system. The ID satisfies the requirements to be used as a camera ID.
 *
 * \return The sensor ID
 */

/**
 * \fn CameraSensor::entity()
 * \brief Retrieve the sensor media entity
 * \return The sensor media entity
 */

/**
 * \fn CameraSensor::device()
 * \brief Retrieve the camera sensor device
 * \todo Remove this function by integrating DelayedControl with CameraSensor
 * \return The camera sensor device
 */

/**
 * \fn CameraSensor::focusLens()
 * \brief Retrieve the focus lens controller
 *
 * \return The focus lens controller. nullptr if no focus lens controller is
 * connected to the sensor
 */

/**
 * \fn CameraSensor::mbusCodes()
 * \brief Retrieve the media bus codes supported by the camera sensor
 *
 * Any Bayer formats are listed using the sensor's native Bayer order,
 * that is, with the effect of V4L2_CID_HFLIP and V4L2_CID_VFLIP undone
 * (where these controls exist).
 *
 * \return The supported media bus codes sorted in increasing order
 */

/**
 * \brief Retrieve the supported frame sizes for a media bus code
 * \param[in] mbusCode The media bus code for which sizes are requested
 *
 * \return The supported frame sizes for \a mbusCode sorted in increasing order
 */
std::vector<Size> CameraSensor::sizes(unsigned int mbusCode) const
{
	std::vector<Size> sizes;

	const auto &format = formats_.find(mbusCode);
	if (format == formats_.end())
		return sizes;

	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;
}

/**
 * \brief Retrieve the camera sensor resolution
 *
 * The camera sensor resolution is the active pixel area size, clamped to the
 * maximum frame size the sensor can produce if it is smaller than the active
 * pixel area.
 *
 * \todo Consider if it desirable to distinguish between the maximum resolution
 * the sensor can produce (also including upscaled ones) and the actual pixel
 * array size by splitting this function in two.
 *
 * \return The camera sensor resolution in pixels
 */
Size CameraSensor::resolution() const
{
	return std::min(sizes_.back(), activeArea_.size());
}

/**
 * \brief Retrieve the best sensor format for a desired output
 * \param[in] mbusCodes The list of acceptable media bus codes
 * \param[in] size The desired size
 *
 * Media bus codes are selected from \a mbusCodes, which lists all acceptable
 * codes in decreasing order of preference. Media bus codes supported by the
 * sensor but not listed in \a mbusCodes are ignored. If none of the desired
 * codes is supported, it returns an error.
 *
 * \a size indicates the desired size at the output of the sensor. This function
 * selects the best media bus code and size supported by the sensor according
 * to the following criteria.
 *
 * - The desired \a size shall fit in the sensor output size to avoid the need
 *   to up-scale.
 * - The sensor output size shall match the desired aspect ratio to avoid the
 *   need to crop the field of view.
 * - The sensor output size shall be as small as possible to lower the required
 *   bandwidth.
 * - The desired \a size shall be supported by one of the media bus code listed
 *   in \a mbusCodes.
 *
 * When multiple media bus codes can produce the same size, the code at the
 * lowest position in \a mbusCodes is selected.
 *
 * The use of this function is optional, as the above criteria may not match the
 * needs of all pipeline handlers. Pipeline handlers may implement custom
 * sensor format selection when needed.
 *
 * The returned sensor output format is guaranteed to be acceptable by the
 * setFormat() function without any modification.
 *
 * \return The best sensor output format matching the desired media bus codes
 * and size on success, or an empty format otherwise.
 */
V4L2SubdeviceFormat CameraSensor::getFormat(const std::vector<unsigned int> &mbusCodes,
					    const Size &size) const
{
	unsigned int desiredArea = size.width * size.height;
	unsigned int bestArea = UINT_MAX;
	float desiredRatio = static_cast<float>(size.width) / size.height;
	float bestRatio = FLT_MAX;
	const Size *bestSize = nullptr;
	uint32_t bestCode = 0;

	for (unsigned int code : mbusCodes) {
		const auto formats = formats_.find(code);
		if (formats == formats_.end())
			continue;

		for (const SizeRange &range : formats->second) {
			const Size &sz = range.max;

			if (sz.width < size.width || sz.height < size.height)
				continue;

			float ratio = static_cast<float>(sz.width) / sz.height;
			float ratioDiff = fabsf(ratio - desiredRatio);
			unsigned int area = sz.width * sz.height;
			unsigned int areaDiff = area - desiredArea;

			if (ratioDiff > bestRatio)
				continue;

			if (ratioDiff < bestRatio || areaDiff < bestArea) {
				bestRatio = ratioDiff;
				bestArea = areaDiff;
				bestSize = &sz;
				bestCode = code;
			}
		}
	}

	if (!bestSize) {
		LOG(CameraSensor, Debug) << "No supported format or size found";
		return {};
	}

	V4L2SubdeviceFormat format{
		.code = bestCode,
		.size = *bestSize,
		.colorSpace = ColorSpace::Raw,
	};

	return format;
}

/**
 * \brief Set the sensor output format
 * \param[in] format The desired sensor output format
 * \param[in] transform The transform to be applied on the sensor.
 * Defaults to Identity.
 *
 * If flips are writable they are configured according to the desired Transform.
 * Transform::Identity always corresponds to H/V flip being disabled if the
 * controls are writable. Flips are set before the new format is applied as
 * they can effectively change the Bayer pattern ordering.
 *
 * The ranges of any controls associated with the sensor are also updated.
 *
 * \return 0 on success or a negative error code otherwise
 */
int CameraSensor::setFormat(V4L2SubdeviceFormat *format, Transform transform)
{
	/* Configure flips if the sensor supports that. */
	if (supportFlips_) {
		ControlList flipCtrls(subdev_->controls());

		flipCtrls.set(V4L2_CID_HFLIP,
			      static_cast<int32_t>(!!(transform & Transform::HFlip)));
		flipCtrls.set(V4L2_CID_VFLIP,
			      static_cast<int32_t>(!!(transform & Transform::VFlip)));

		int ret = subdev_->setControls(&flipCtrls);
		if (ret)
			return ret;
	}

	/* Apply format on the subdev. */
	int ret = subdev_->setFormat(pad_, format);
	if (ret)
		return ret;

	subdev_->updateControlInfo();
	return 0;
}

/**
 * \brief Try the sensor output format
 * \param[in] format The desired sensor output format
 *
 * The ranges of any controls associated with the sensor are not updated.
 *
 * \todo Add support for Transform by changing the format's Bayer ordering
 * before calling subdev_->setFormat().
 *
 * \return 0 on success or a negative error code otherwise
 */
int CameraSensor::tryFormat(V4L2SubdeviceFormat *format) const
{
	return subdev_->setFormat(pad_, format,
				  V4L2Subdevice::Whence::TryFormat);
}

/**
 * \brief Apply a sensor configuration to the camera sensor
 * \param[in] config The sensor configuration
 * \param[in] transform The transform to be applied on the sensor.
 * Defaults to Identity
 * \param[out] sensorFormat Format applied to the sensor (optional)
 *
 * Apply to the camera sensor the configuration \a config.
 *
 * \todo The configuration shall be fully populated and if any of the fields
 * specified cannot be applied exactly, an error code is returned.
 *
 * \return 0 if \a config is applied correctly to the camera sensor, a negative
 * error code otherwise
 */
int CameraSensor::applyConfiguration(const SensorConfiguration &config,
				     Transform transform,
				     V4L2SubdeviceFormat *sensorFormat)
{
	if (!config.isValid()) {
		LOG(CameraSensor, Error) << "Invalid sensor configuration";
		return -EINVAL;
	}

	std::vector<unsigned int> filteredCodes;
	std::copy_if(mbusCodes_.begin(), mbusCodes_.end(),
		     std::back_inserter(filteredCodes),
		     [&config](unsigned int mbusCode) {
			     BayerFormat bayer = BayerFormat::fromMbusCode(mbusCode);
			     if (bayer.bitDepth == config.bitDepth)
				     return true;
			     return false;
		     });
	if (filteredCodes.empty()) {
		LOG(CameraSensor, Error)
			<< "Cannot find any format with bit depth "
			<< config.bitDepth;
		return -EINVAL;
	}

	/*
	 * Compute the sensor's data frame size by applying the cropping
	 * rectangle, subsampling and output crop to the sensor's pixel array
	 * size.
	 *
	 * \todo The actual size computation is for now ignored and only the
	 * output size is considered. This implies that resolutions obtained
	 * with two different cropping/subsampling will look identical and
	 * only the first found one will be considered.
	 */
	V4L2SubdeviceFormat subdevFormat = {};
	for (unsigned int code : filteredCodes) {
		for (const Size &size : sizes(code)) {
			if (size.width != config.outputSize.width ||
			    size.height != config.outputSize.height)
				continue;

			subdevFormat.code = code;
			subdevFormat.size = size;
			break;
		}
	}
	if (!subdevFormat.code) {
		LOG(CameraSensor, Error) << "Invalid output size in sensor configuration";
		return -EINVAL;
	}

	int ret = setFormat(&subdevFormat, transform);
	if (ret)
		return ret;

	/*
	 * Return to the caller the format actually applied to the sensor.
	 * This is relevant if transform has changed the bayer pattern order.
	 */
	if (sensorFormat)
		*sensorFormat = subdevFormat;

	/* \todo Handle AnalogCrop. Most sensors do not support set_selection */
	/* \todo Handle scaling in the digital domain. */

	return 0;
}

/**
 * \fn CameraSensor::properties()
 * \brief Retrieve the camera sensor properties
 * \return The list of camera sensor properties
 */

/**
 * \brief Assemble and return the camera sensor info
 * \param[out] info The camera sensor info
 *
 * This function fills \a info with information that describes the camera sensor
 * and its current configuration. The information combines static data (such as
 * the the sensor model or active pixel array size) and data specific to the
 * current sensor configuration (such as the line length and pixel rate).
 *
 * Sensor information is only available for raw sensors. When called for a YUV
 * sensor, this function returns -EINVAL.
 *
 * \return 0 on success, a negative error code otherwise
 */
int CameraSensor::sensorInfo(IPACameraSensorInfo *info) const
{
	if (!bayerFormat_)
		return -EINVAL;

	info->model = model();

	/*
	 * The active area size is a static property, while the crop
	 * rectangle needs to be re-read as it depends on the sensor
	 * configuration.
	 */
	info->activeAreaSize = { activeArea_.width, activeArea_.height };

	/*
	 * \todo Support for retreiving the crop rectangle is scheduled to
	 * become mandatory. For the time being use the default value if it has
	 * been initialized at sensor driver validation time.
	 */
	int ret = subdev_->getSelection(pad_, V4L2_SEL_TGT_CROP, &info->analogCrop);
	if (ret) {
		info->analogCrop = activeArea_;
		LOG(CameraSensor, Warning)
			<< "The analogue crop rectangle has been defaulted to the active area size";
	}

	/*
	 * IPACameraSensorInfo::analogCrop::x and IPACameraSensorInfo::analogCrop::y
	 * are defined relatively to the active pixel area, while V4L2's
	 * TGT_CROP target is defined in respect to the full pixel array.
	 *
	 * Compensate it by subtracting the active area offset.
	 */
	info->analogCrop.x -= activeArea_.x;
	info->analogCrop.y -= activeArea_.y;

	/* The bit depth and image size depend on the currently applied format. */
	V4L2SubdeviceFormat format{};
	ret = subdev_->getFormat(pad_, &format);
	if (ret)
		return ret;

	info->bitsPerPixel = MediaBusFormatInfo::info(format.code).bitsPerPixel;
	info->outputSize = format.size;

	std::optional<int32_t> cfa = properties_.get(properties::draft::ColorFilterArrangement);
	info->cfaPattern = cfa ? *cfa : properties::draft::RGB;

	/*
	 * Retrieve the pixel rate, line length and minimum/maximum frame
	 * duration through V4L2 controls. Support for the V4L2_CID_PIXEL_RATE,
	 * V4L2_CID_HBLANK and V4L2_CID_VBLANK controls is mandatory.
	 */
	ControlList ctrls = subdev_->getControls({ V4L2_CID_PIXEL_RATE,
						   V4L2_CID_HBLANK,
						   V4L2_CID_VBLANK });
	if (ctrls.empty()) {
		LOG(CameraSensor, Error)
			<< "Failed to retrieve camera info controls";
		return -EINVAL;
	}

	info->pixelRate = ctrls.get(V4L2_CID_PIXEL_RATE).get<int64_t>();

	const ControlInfo hblank = ctrls.infoMap()->at(V4L2_CID_HBLANK);