/* SPDX-License-Identifier: GPL-2.0-or-later */ /* * Copyright (C) 2020-2021, Google Inc. * * simple_capture.cpp - Simple capture helper */ #include #include "simple_capture.h" using namespace libcamera; SimpleCapture::SimpleCapture(std::shared_ptr camera) : loop_(nullptr), camera_(camera), allocator_(std::make_unique(camera)) { } SimpleCapture::~SimpleCapture() { stop(); } void SimpleCapture::configure(StreamRole role) { config_ = camera_->generateConfiguration({ role }); if (!config_) { std::cout << "Role not supported by camera" << std::endl; GTEST_SKIP(); } if (config_->validate() != CameraConfiguration::Valid) { config_.reset(); FAIL() << "Configuration not valid"; } if (camera_->configure(config_.get())) { config_.reset(); FAIL() << "Failed to configure camera"; } } void SimpleCapture::start() { Stream *stream = config_->at(0).stream(); int count = allocator_->allocate(stream); ASSERT_GE(count, 0) << "Failed to allocate buffers"; EXPECT_EQ(count, config_->at(0).bufferCount) << "Allocated less buffers than expected"; camera_->requestCompleted.connect(this, &SimpleCapture::requestComplete); ASSERT_EQ(camera_->start(), 0) << "Failed to start camera"; } void SimpleCapture::stop() { if (!config_ || !allocator_->allocated()) return; camera_->stop(); camera_->requestCompleted.disconnect(this); Stream *stream = config_->at(0).stream(); allocator_->free(stream); } /* SimpleCaptureBalanced */ SimpleCaptureBalanced::SimpleCaptureBalanced(std::shared_ptr camera) : SimpleCapture(camera) { } void SimpleCaptureBalanced::capture(unsigned int numRequests) { start(); Stream *stream = config_->at(0).stream(); const std::vector> &buffers = allocator_->buffers(stream); /* No point in testing less requests then the camera depth. */ if (buffers.size() > numRequests) { std::cout << "Camera needs " + std::to_string(buffers.size()) + " requests, can't test only " + std::to_string(numRequests) << std::endl; GTEST_SKIP(); } queueCount_ = 0; captureCount_ = 0; captureLimit_ = numRequests; /* Queue the recommended number of reqeuests. */ std::vector> requests; for (const std::unique_ptr &buffer : buffers) { std::unique_ptr request = camera_->createRequest(); ASSERT_TRUE(request) << "Can't create request"; ASSERT_EQ(request->addBuffer(stream, buffer.get()), 0) << "Can't set buffer for request"; ASSERT_EQ(queueRequest(request.get()), 0) << "Failed to queue request"; requests.push_back(std::move(request)); } /* Run capture session. */ loop_ = new EventLoop(); loop_->exec(); stop(); delete loop_; ASSERT_EQ(captureCount_, captureLimit_); } int SimpleCaptureBalanced::queueRequest(Request *request) { queueCount_++; if (queueCount_ > captureLimit_) return 0; return camera_->queueRequest(request); } void SimpleCaptureBalanced::requestComplete(Request *request) { captureCount_++; if (captureCount_ >= captureLimit_) { loop_->exit(0); return; } request->reuse(Request::ReuseBuffers); if (queueRequest(request)) loop_->exit(-EINVAL); } /* SimpleCaptureUnbalanced */ SimpleCaptureUnbalanced::SimpleCaptureUnbalanced(std::shared_ptr camera) : SimpleCapture(camera) { } void SimpleCaptureUnbalanced::capture(unsigned int numRequests) { start(); Stream *stream = config_->at(0).stream(); const std::vector> &buffers = allocator_->buffers(stream); captureCount_ = 0; captureLimit_ = numRequests; /* Queue the recommended number of reqeuests. */ std::vector> requests; for (const std::unique_ptr &buffer : buffers) { std::unique_ptr request = camera_->createRequest(); ASSERT_TRUE(request) << "Can't create request"; ASSERT_EQ(request->addBuffer(stream, buffer.get()), 0) << "Can't set buffer for request"; ASSERT_EQ(camera_->queueRequest(request.get()), 0) << "Failed to queue request"; requests.push_back(std::move(request)); } /* Run capture session. */ loop_ = new EventLoop(); int status = loop_->exec(); stop(); delete loop_; ASSERT_EQ(status, 0); } void SimpleCaptureUnbalanced::requestComplete(Request *request) { captureCount_++; if (captureCount_ >= captureLimit_) { loop_->exit(0); return; } request->reuse(Request::ReuseBuffers); if (camera_->queueRequest(request)) loop_->exit(-EINVAL); } 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491

/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
 * Copyright (C) 2018, Google Inc.
 *
 * camera_manager.h - Camera management
 */

#include <libcamera/camera_manager.h>

#include <condition_variable>
#include <map>

#include <libcamera/camera.h>
#include <libcamera/event_dispatcher.h>

#include "libcamera/internal/device_enumerator.h"
#include "libcamera/internal/event_dispatcher_poll.h"
#include "libcamera/internal/ipa_manager.h"
#include "libcamera/internal/log.h"
#include "libcamera/internal/pipeline_handler.h"
#include "libcamera/internal/thread.h"
#include "libcamera/internal/utils.h"

/**
 * \file camera_manager.h
 * \brief The camera manager
 */

namespace libcamera {

LOG_DEFINE_CATEGORY(Camera)

class CameraManager::Private : public Thread
{
public:
	Private(CameraManager *cm);

	int start();
	void addCamera(std::shared_ptr<Camera> camera,
		       const std::vector<dev_t> &devnums);
	void removeCamera(Camera *camera);

	/*
	 * This mutex protects
	 *
	 * - initialized_ and status_ during initialization
	 * - cameras_ and camerasByDevnum_ after initialization
	 */
	Mutex mutex_;
	std::vector<std::shared_ptr<Camera>> cameras_;
	std::map<dev_t, std::weak_ptr<Camera>> camerasByDevnum_;

protected:
	void run() override;

private:
	int init();
	void createPipelineHandlers();
	void cleanup();

	CameraManager *cm_;

	std::condition_variable cv_;
	bool initialized_;
	int status_;

	std::unique_ptr<DeviceEnumerator> enumerator_;

	IPAManager ipaManager_;
};

CameraManager::Private::Private(CameraManager *cm)
	: cm_(cm), initialized_(false)
{
}

int CameraManager::Private::start()
{
	int status;

	/* Start the thread and wait for initialization to complete. */
	Thread::start();

	{
		MutexLocker locker(mutex_);
		cv_.wait(locker, [&] { return initialized_; });
		status = status_;
	}

	/* If a failure happened during initialization, stop the thread. */
	if (status < 0) {
		exit();
		wait();
		return status;
	}

	return 0;
}

void CameraManager::Private::run()
{
	LOG(Camera, Debug) << "Starting camera manager";

	int ret = init();

	mutex_.lock();
	status_ = ret;
	initialized_ = true;
	mutex_.unlock();
	cv_.notify_one();

	if (ret < 0)
		return;

	/* Now start processing events and messages. */
	exec();

	cleanup();
}

int CameraManager::Private::init()
{
	enumerator_ = DeviceEnumerator::create();
	if (!enumerator_ || enumerator_->enumerate())
		return -ENODEV;

	createPipelineHandlers();

	return 0;
}

void CameraManager::Private::createPipelineHandlers()
{
	/*
	 * \todo Try to read handlers and order from configuration
	 * file and only fallback on all handlers if there is no
	 * configuration file.
	 */
	std::vector<PipelineHandlerFactory *> &factories =
		PipelineHandlerFactory::factories();

	for (PipelineHandlerFactory *factory : factories) {
		/*
		 * Try each pipeline handler until it exhaust
		 * all pipelines it can provide.
		 */
		while (1) {
			std::shared_ptr<PipelineHandler> pipe = factory->create(cm_);
			if (!pipe->match(enumerator_.get()))
				break;

			LOG(Camera, Debug)
				<< "Pipeline handler \"" << factory->name()
				<< "\" matched";
		}
	}

	enumerator_->devicesAdded.connect(this, &Private::createPipelineHandlers);
}

void CameraManager::Private::cleanup()
{
	enumerator_->devicesAdded.disconnect(this, &Private::createPipelineHandlers);

	/*
	 * Release all references to cameras to ensure they all get destroyed
	 * before the device enumerator deletes the media devices. Cameras are
	 * destroyed via Object::deleteLater() API, hence we need to explicitly
	 * process deletion requests from the thread's message queue as the event
	 * loop is not in action here.
	 */
	cameras_.clear();
	dispatchMessages(Message::Type::DeferredDelete);

	enumerator_.reset(nullptr);
}

void CameraManager::Private::addCamera(std::shared_ptr<Camera> camera,
				       const std::vector<dev_t> &devnums)
{
	MutexLocker locker(mutex_);

	for (std::shared_ptr<Camera> c : cameras_) {
		if (c->id() == camera->id()) {
			LOG(Camera, Fatal)
				<< "Trying to register a camera with a duplicated ID '"
				<< camera->id() << "'";
			return;
		}
	}

	cameras_.push_back(std::move(camera));

	unsigned int index = cameras_.size() - 1;
	for (dev_t devnum : devnums)
		camerasByDevnum_[devnum] = cameras_[index];
}

void CameraManager::Private::removeCamera(Camera *camera)
{
	MutexLocker locker(mutex_);

	auto iter = std::find_if(cameras_.begin(), cameras_.end(),
				 [camera](std::shared_ptr<Camera> &c) {
					 return c.get() == camera;
				 });
	if (iter == cameras_.end())
		return;

	LOG(Camera, Debug)
		<< "Unregistering camera '" << camera->id() << "'";

	auto iter_d = std::find_if(camerasByDevnum_.begin(), camerasByDevnum_.end(),
				   [camera](const std::pair<dev_t, std::weak_ptr<Camera>> &p) {
					   return p.second.lock().get() == camera;
				   });
	if (iter_d != camerasByDevnum_.end())
		camerasByDevnum_.erase(iter_d);

	cameras_.erase(iter);
}

/**
 * \class CameraManager
 * \brief Provide access and manage all cameras in the system
 *
 * The camera manager is the entry point to libcamera. It enumerates devices,
 * associates them with pipeline managers, and provides access to the cameras
 * in the system to applications. The manager owns all Camera objects and
 * handles hot-plugging and hot-unplugging to manage the lifetime of cameras.
 *
 * To interact with libcamera, an application starts by creating a camera
 * manager instance. Only a single instance of the camera manager may exist at
 * a time. Attempting to create a second instance without first deleting the
 * existing instance results in undefined behaviour.
 *
 * The manager is initially stopped, and shall be configured before being
 * started. In particular a custom event dispatcher shall be installed if
 * needed with CameraManager::setEventDispatcher().
 *
 * Once the camera manager is configured, it shall be started with start().
 * This will enumerate all the cameras present in the system, which can then be
 * listed with list() and retrieved with get().
 *
 * Cameras are shared through std::shared_ptr<>, ensuring that a camera will
 * stay valid until the last reference is released without requiring any special
 * action from the application. Once the application has released all the
 * references it held to cameras, the camera manager can be stopped with
 * stop().
 *
 * \todo Add interface to register a notification callback to the user to be
 * able to inform it new cameras have been hot-plugged or cameras have been
 * removed due to hot-unplug.
 */

CameraManager *CameraManager::self_ = nullptr;

CameraManager::CameraManager()
	: p_(new CameraManager::Private(this))
{
	if (self_)
		LOG(Camera, Fatal)
			<< "Multiple CameraManager objects are not allowed";

	self_ = this;
}

CameraManager::~CameraManager()
{
	stop();

	self_ = nullptr;
}

/**
 * \brief Start the camera manager
 *
 * Start the camera manager and enumerate all devices in the system. Once
 * the start has been confirmed the user is free to list and otherwise
 * interact with cameras in the system until either the camera manager
 * is stopped or the camera is unplugged from the system.
 *
 * \return 0 on success or a negative error code otherwise
 */
int CameraManager::start()
{
	LOG(Camera, Info) << "libcamera " << version_;

	int ret = p_->start();
	if (ret)
		LOG(Camera, Error) << "Failed to start camera manager: "
				   << strerror(-ret);

	return ret;
}

/**
 * \brief Stop the camera manager
 *
 * Before stopping the camera manager the caller is responsible for making
 * sure all cameras provided by the manager are returned to the manager.
 *
 * After the manager has been stopped no resource provided by the camera
 * manager should be consider valid or functional even if they for one
 * reason or another have yet to be deleted.
 */
void CameraManager::stop()
{
	p_->exit();
	p_->wait();
}

/**
 * \fn CameraManager::cameras()
 * \brief Retrieve all available cameras
 *
 * Before calling this function the caller is responsible for ensuring that
 * the camera manager is running.
 *
 * \context This function is \threadsafe.
 *
 * \return List of all available cameras
 */
std::vector<std::shared_ptr<Camera>> CameraManager::cameras() const
{
	MutexLocker locker(p_->mutex_);

	return p_->cameras_;
}

/**
 * \brief Get a camera based on ID
 * \param[in] id ID of camera to get
 *
 * Before calling this function the caller is responsible for ensuring that
 * the camera manager is running.
 *
 * \context This function is \threadsafe.
 *
 * \return Shared pointer to Camera object or nullptr if camera not found
 */
std::shared_ptr<Camera> CameraManager::get(const std::string &id)
{
	MutexLocker locker(p_->mutex_);

	for (std::shared_ptr<Camera> camera : p_->cameras_) {
		if (camera->id() == id)
			return camera;
	}

	return nullptr;
}

/**
 * \brief Retrieve a camera based on device number
 * \param[in] devnum Device number of camera to get
 *
 * This method is meant solely for the use of the V4L2 compatibility
 * layer, to map device nodes to Camera instances. Applications shall
 * not use it and shall instead retrieve cameras by name.
 *
 * Before calling this function the caller is responsible for ensuring that
 * the camera manager is running.
 *
 * \context This function is \threadsafe.
 *
 * \return Shared pointer to Camera object, which is empty if the camera is
 * not found
 */
std::shared_ptr<Camera> CameraManager::get(dev_t devnum)
{
	MutexLocker locker(p_->mutex_);

	auto iter = p_->camerasByDevnum_.find(devnum);
	if (iter == p_->camerasByDevnum_.end())
		return nullptr;

	return iter->second.lock();
}

/**
 * \var CameraManager::cameraAdded
 * \brief Notify of a new camera added to the system
 *
 * This signal is emitted when a new camera is detected and successfully handled
 * by the camera manager. The notification occurs alike for cameras detected
 * when the manager is started with start() or when new cameras are later
 * connected to the system. When the signal is emitted the new camera is already
 * available from the list of cameras().
 *
 * The signal is emitted from the CameraManager thread. Applications shall
 * minimize the time spent in the signal handler and shall in particular not
 * perform any blocking operation.
 */

/**
 * \var CameraManager::cameraRemoved
 * \brief Notify of a new camera removed from the system
 *
 * This signal is emitted when a camera is removed from the system. When the
 * signal is emitted the camera is not available from the list of cameras()
 * anymore.
 *
 * The signal is emitted from the CameraManager thread. Applications shall
 * minimize the time spent in the signal handler and shall in particular not
 * perform any blocking operation.
 */

/**
 * \brief Add a camera to the camera manager
 * \param[in] camera The camera to be added
 * \param[in] devnums The device numbers to associate with \a camera
 *
 * This function is called by pipeline handlers to register the cameras they
 * handle with the camera manager. Registered cameras are immediately made
 * available to the system.
 *
 * \a devnums are used by the V4L2 compatibility layer to map V4L2 device nodes
 * to Camera instances.
 *
 * \context This function shall be called from the CameraManager thread.
 */
void CameraManager::addCamera(std::shared_ptr<Camera> camera,
			      const std::vector<dev_t> &devnums)
{
	ASSERT(Thread::current() == p_.get());