#!/bin/bash # SPDX-License-Identifier: GPL-2.0-or-later # Copyright (C) 2018, Google Inc. # # Author: Laurent Pinchart # # Capture raw frames from cameras based on the Intel IPU3 # # The scripts makes use of the following tools, which are expected to be # executable from the system-wide path or from the local directory: # # - media-ctl (from v4l-utils git://linuxtv.org/v4l-utils.git) # - raw2pnm (from nvt https://github.com/intel/nvt.git) # - yavta (from git://git.ideasonboard.org/yavta.git) # Locate the sensor entity find_sensor() { local bus local sensor_name=$1 bus=$(grep "$sensor_name" /sys/class/video4linux/v4l-subdev*/name | cut -d ' ' -f 2) if [[ -z $bus ]]; then echo "Sensor '$sensor_name' not found." >&2 exit 1 fi echo "$sensor_name $bus" } # Locate the media device find_media_device() { local mdev for mdev in /dev/media* ; do media-ctl -d $mdev -p | grep -q "^driver[ \t]*ipu3-cio2$" && break mdev= done if [[ -z $mdev ]] ; then echo "IPU3 media device not found." >&2 exit 1 fi echo $mdev } # Locate the CSI2 and CIO2 and get the sensor format parse_pipeline() { local cio2_queue local resolution local sensor=$1 read cio2_queue bus_format sensor_size <<< $($mediactl -p | awk " /^- entity [0-9]*:/ { sensor=0; } /^- entity [0-9]*: $sensor/ { sensor=1; } /^[ \t]*(stream:0)?\[fmt:/ { if (sensor) { gsub(\".*fmt:\", \"\"); gsub(\"[] ].*\", \"\"); sub(\"/\", \" \"); sub(\"@[0-9]+/[0-9]+\", \"\"); format=\$0; } } /^[ \t]*->/ { if (sensor) cio2=substr(\$3, 0, 1); } END { print cio2 \" \" format; } ") ipu3_csi2="ipu3-csi2 $cio2_queue" ipu3_capture="ipu3-cio2 $cio2_queue" sensor_width=$(echo $sensor_size | cut -d 'x' -f 1) sensor_height=$(echo $sensor_size | cut -d 'x' -f 2) echo "Using device $mdev with IPU3 CIO2 queue $cio2_queue" } # Configure the pipeline configure_pipeline() { local format="fmt:$bus_format/$sensor_size" echo "Configuring pipeline for $sensor in $format" $mediactl -r $mediactl -l "\"$sensor\":0 -> \"$ipu3_csi2\":0[1]" $mediactl -l "\"$ipu3_csi2\":1 -> \"$ipu3_capture\":0[1]" $mediactl -V "\"$sensor\":0 [$format]" $mediactl -V "\"$ipu3_csi2\":1 [$format]" } # Capture frames capture_frames() { local file_op local frame_count=$1 local ipu3_format=IPU3_${bus_format/_1X10/} local save_file=$2 if [[ $save_file -eq 1 ]]; then file_op="--file=/tmp/frame-#.bin" fi yavta -c$frame_count -n5 -I -f $ipu3_format -s $sensor_size $file_op \ $($mediactl -e "$ipu3_capture") } # Convert captured files to ppm convert_files() { local frame_count=$1 local format=${bus_format/_1X10/} local padded_width=$(expr \( $sensor_width + 49 \) / 50 \* 50) echo "Converting ${sensor_width}x${sensor_height} (${padded_width}x${sensor_height})" for i in `seq -f '%06.0f' 0 $(($frame_count - 1))`; do ipu3-unpack /tmp/frame-$i.bin /tmp/frame-$i.raw raw2pnm -x$padded_width -y$sensor_height -f$format /tmp/frame-$i.raw /tmp/frame-$i.ppm done } # Print usage message usage() { echo "Usage: $1 [options] sensor-name" echo "Supported options:" echo "-c,--count n Number of frame to capture" echo "--no-save Do not save captured frames to disk" } # Parse command line arguments frame_count=10 save_file=1 while (( "$#" )) ; do case $1 in -c|--count) frame_count=$2 shift 2 ;; --no-save) save_file=0 shift ;; -*) echo "Unsupported option $1" >&2 usage $0 exit 1 ;; *) break ;; esac done if [[ $# -ne 1 ]] ; then usage $0 exit 1 fi sensor_name=$1 sensor=$(find_sensor $sensor_name) || exit mdev=$(find_media_device) || exit mediactl="media-ctl -d $mdev" parse_pipeline $sensor configure_pipeline capture_frames $frame_count $save_file [[ $save_file -eq 1 ]] && convert_files $frame_count id='n10' href='#n10'>10 11 12 13 14 15 16 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 
/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
 * Copyright (C) 2019, Google Inc.
 *
 * object.cpp - Base object
 */

#include <libcamera/base/object.h>

#include <algorithm>

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

/**
 * \file base/object.h
 * \brief Base object to support automatic signal disconnection
 */

namespace libcamera {

LOG_DEFINE_CATEGORY(Object)

/**
 * \class Object
 * \brief Base object to support automatic signal disconnection
 *
 * The Object class simplifies signal/slot handling for classes implementing
 * slots. By inheriting from Object, an object is automatically disconnected
 * from all connected signals when it gets destroyed.
 *
 * Object instances are bound to the thread of their parent, or the thread in
 * which they're created when they have no parent. When a message is posted to
 * an object, its handler will run in the object's thread. This allows
 * implementing easy message passing between threads by inheriting from the
 * Object class.
 *
 * Deleting an object from a thread other than the one the object is bound to is
 * unsafe, unless the caller ensures that the object isn't processing any
 * message concurrently.
 *
 * Object slots connected to signals will also run in the context of the
 * object's thread, regardless of whether the signal is emitted in the same or
 * in another thread.
 *
 * \sa Message, Signal, Thread
 */

/**
 * \brief Construct an Object instance
 * \param[in] parent The object parent
 *
 * The new Object instance is bound to the thread of its \a parent, or to the
 * current thread if the \a parent is nullptr.
 */
Object::Object(Object *parent)
	: parent_(parent), pendingMessages_(0)
{
	thread_ = parent ? parent->thread() : Thread::current();

	if (parent)
		parent->children_.push_back(this);
}

/**
 * \brief Destroy an Object instance
 *
 * Deleting an Object automatically disconnects all signals from the Object's
 * slots. All the Object's children are made orphan, but stay bound to their
 * current thread.
 *
 * Object instances shall be destroyed from the thread they are bound to,
 * otherwise undefined behaviour may occur. If deletion of an Object needs to
 * be scheduled from a different thread, deleteLater() shall be used.
 */
Object::~Object()
{
	/*
	 * Move signals to a private list to avoid concurrent iteration and
	 * deletion of items from Signal::disconnect().
	 */
	std::list<SignalBase *> signals(std::move(signals_));
	for (SignalBase *signal : signals)
		signal->disconnect(this);

	if (pendingMessages_)
		thread()->removeMessages(this);

	if (parent_) {
		auto it = std::find(parent_->children_.begin(),