.reuse/dep5


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Format: https://www.debian.org/doc/packaging-manuals/copyright-format/1.0/
Upstream-Name: libcamera
Upstream-Contact: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
Source: https://git.libcamera.org/libcamera/libcamera.git/

Files: Documentation/binning.svg
       Documentation/camera-sensor-model.rst
       Documentation/sensor_model.svg
Copyright: Copyright 2023 Ideas On Board Oy
License: CC-BY-SA-4.0

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Copyright: 2022 Fonticons, Inc.
License: CC-BY-4.0

Files: src/ipa/rpi/vc4/data/*.json
       utils/raspberrypi/ctt/ctt_config_example.json
       utils/raspberrypi/ctt/ctt_ref.pgm
Copyright: 2019-2020 Raspberry Pi Ltd
License: BSD-2-Clause

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Copyright: 2019 Cole Bemis (and other Feather icons contributors)
License: MIT
Comment: https://feathericons.com/

Files: utils/ipc/mojo
       utils/ipc/tools
Copyright: Copyright 2013-2020 The Chromium Authors. All rights reserved.
License: BSD-3-Clause
Source: https://chromium.googlesource.com/chromium/src.git/
/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
 * Copyright (C) 2018, Google Inc.
 *
 * pipeline_handler.cpp - Pipeline handler infrastructure
 */

#include "pipeline_handler.h"

#include <sys/sysmacros.h>

#include <libcamera/buffer.h>
#include <libcamera/camera.h>
#include <libcamera/camera_manager.h>

#include "device_enumerator.h"
#include "log.h"
#include "media_device.h"
#include "utils.h"

/**
 * \file pipeline_handler.h
 * \brief Create pipelines and cameras from a set of media devices
 *
 * Each pipeline supported by libcamera needs to be backed by a pipeline
 * handler implementation that operate on a set of media devices. The pipeline
 * handler is responsible for matching the media devices it requires with the
 * devices present in the system, and once all those devices can be acquired,
 * create corresponding Camera instances.
 *
 * Every subclass of PipelineHandler shall be registered with libcamera using
 * the REGISTER_PIPELINE_HANDLER() macro.
 */

namespace libcamera {

LOG_DEFINE_CATEGORY(Pipeline)

/**
 * \class CameraData
 * \brief Base class for platform-specific data associated with a camera
 *
 * The CameraData base abstract class represents platform specific-data
 * a pipeline handler might want to associate with a Camera to access them
 * at a later time.
 *
 * Pipeline handlers are expected to extend this base class with platform
 * specific implementation, associate instances of the derived classes
 * using the setCameraData() method, and access them at a later time
 * with cameraData().
 */

/**
 * \fn CameraData::CameraData(PipelineHandler *pipe)
 * \brief Construct a CameraData instance for the given pipeline handler
 * \param[in] pipe The pipeline handler
 *
 * The reference to the pipeline handler is stored internally, the caller shall
 * guarantee that the pointer remains valid as long as the CameraData instance
 * exists.
 */

/**
 * \var CameraData::camera_
 * \brief The camera related to this CameraData instance
 *
 * The camera_ pointer provides access to the Camera object that this instance
 * is related to. It is set when the Camera is registered with
 * PipelineHandler::registerCamera() and remains valid until the CameraData
 * instance is destroyed.
 */

/**
 * \var CameraData::pipe_
 * \brief The pipeline handler related to this CameraData instance
 *
 * The pipe_ pointer provides access to the PipelineHandler object that this
 * instance is related to. It is set when the CameraData instance is created
 * and remains valid until the instance is destroyed.
 */

/**
 * \var CameraData::queuedRequests_
 * \brief The list of queued and not yet completed request
 *
 * The list of queued request is used to track requests queued in order to
 * ensure completion of all requests when the pipeline handler is stopped.
 *
 * \sa PipelineHandler::queueRequest(), PipelineHandler::stop(),
 * PipelineHandler::completeRequest()
 */

/**
 * \var CameraData::controlInfo_
 * \brief The set of controls supported by the camera
 *
 * The control information shall be initialised by the pipeline handler when
 * creating the camera, and shall not be modified afterwards.
 */

/**
 * \var CameraData::properties_
 * \brief The list of properties supported by the camera
 *
 * The list of camera properties shall be initialised by the pipeline handler
 * when creating the camera, and shall not be modified afterwards.
 */

/**
 * \var CameraData::ipa_
 * \brief The IPA module used by the camera
 *
 * Reference to the Image Processing Algorithms (IPA) operating on the camera's
 * stream(s). If no IPA exists for the camera, this field is set to nullptr.
 */

/**
 * \class PipelineHandler
 * \brief Create and manage cameras based on a set of media devices
 *
 * The PipelineHandler matches the media devices provided by a DeviceEnumerator
 * with the pipelines it supports and creates corresponding Camera devices.
 *
 * Pipeline handler instances are reference-counted through std::shared_ptr<>.
 * They implement std::enable_shared_from_this<> in order to create new
 * std::shared_ptr<> in code paths originating from member functions of the
 * PipelineHandler class where only the 'this' pointer is available.
 */

/**
 * \brief Construct a PipelineHandler instance
 * \param[in] manager The camera manager
 *
 * In order to honour the std::enable_shared_from_this<> contract,
 * PipelineHandler instances shall never be constructed manually, but always
 * through the PipelineHandlerFactory::create() method implemented by the
 * respective factories.
 */
PipelineHandler::PipelineHandler(CameraManager *manager)
	: manager_(manager)
{
}

PipelineHandler::~PipelineHandler()
{
	for (std::shared_ptr<MediaDevice> media : mediaDevices_)
		media->release();
}

/**
 * \fn PipelineHandler::match(DeviceEnumerator *enumerator)
 * \brief Match media devices and create camera instances
 * \param[in] enumerator The enumerator providing all media devices found in the
 * system
 *
 * This function is the main entry point of the pipeline handler. It is called
 * by the camera manager with the \a enumerator passed as an argument. It shall
 * acquire from the \a enumerator all the media devices it needs for a single
 * pipeline, create one or multiple Camera instances and register them with the
 * camera manager.
 *
 * If all media devices needed by the pipeline handler are found, they must all
 * be acquired by a call to MediaDevice::acquire(). This function shall then
 * create the corresponding Camera instances, store them internally, and return
 * true. Otherwise it shall not acquire any media device (or shall release all
 * the media devices is has acquired by calling MediaDevice::release()) and
 * return false.
 *
 * If multiple instances of a pipeline are available in the system, the
 * PipelineHandler class will be instantiated once per instance, and its match()
 * function called for every instance. Each call shall acquire media devices for
 * one pipeline instance, until all compatible media devices are exhausted.
 *
 * If this function returns true, a new instance of the pipeline handler will
 * be created and its match() function called.
 *
 * \context This function is called from the CameraManager thread.
 *
 * \return true if media devices have been acquired and camera instances
 * created, or false otherwise
 */

/**
 * \brief Search and acquire a MediDevice matching a device pattern
 * \param[in] enumerator Enumerator containing all media devices in the system
 * \param[in] dm Device match pattern
 *
 * Search the device \a enumerator for an available media device matching the
 * device match pattern \a dm. Matching media device that have previously been
 * acquired by MediaDevice::acquire() are not considered. If a match is found,
 * the media device is acquired and returned. The caller shall not release the
 * device explicitly, it will be automatically released when the pipeline
 * handler is destroyed.
 *
 * \context This function shall be called from the CameraManager thread.
 *
 * \return A pointer to the matching MediaDevice, or nullptr if no match is found
 */
MediaDevice *PipelineHandler::acquireMediaDevice(DeviceEnumerator *enumerator,
						 const DeviceMatch &dm)
{
	std::shared_ptr<MediaDevice> media = enumerator->search(dm);
	if (!media)
		return nullptr;

	if (!media->acquire())
		return nullptr;

	mediaDevices_.push_back(media);

	return media.get();
}

/**
 * \brief Lock all media devices acquired by the pipeline
 *
 * This method shall not be called from pipeline handler implementation, as the
 * Camera class handles locking directly.
 *
 * \context This function is \threadsafe.
 *
 * \return True if the devices could be locked, false otherwise
 * \sa unlock()
 * \sa MediaDevice::lock()
 */
bool PipelineHandler::lock()
{
	for (std::shared_ptr<MediaDevice> &media : mediaDevices_) {
		if (!media->lock()) {
			unlock();
			return false;
		}
	}

	return true;
}

/**
 * \brief Unlock all media devices acquired by the pipeline
 *
 * This method shall not be called from pipeline handler implementation, as the
 * Camera class handles locking directly.
 *
 * \context This function is \threadsafe.
 *
 * \sa lock()
 */
void PipelineHandler::unlock()
{
	for (std::shared_ptr<MediaDevice> &media : mediaDevices_)
		media->unlock();
}

/**
 * \brief Retrieve the list of controls for a camera
 * \param[in] camera The camera
 * \context This function is \threadsafe.
 * \return A ControlInfoMap listing the controls support by \a camera
 */
const ControlInfoMap &PipelineHandler::controls(Camera *camera)
{
	CameraData *data = cameraData(camera);
	return data->controlInfo_;
}

/**
 * \brief Retrieve the list of properties for a camera
 * \param[in] camera The camera
 * \return A ControlList of properties supported by \a camera
 */
const ControlList &PipelineHandler::properties(Camera *camera)
{
	CameraData *data = cameraData(camera);
	return data->properties_;
}

/**
 * \fn PipelineHandler::generateConfiguration()
 * \brief Generate a camera configuration for a specified camera
 * \param[in] camera The camera to generate a default configuration for
 * \param[in] roles A list of stream roles
 *
 * Generate a default configuration for the \a camera for a specified list of
 * stream roles. The caller shall populate the \a roles with the use-cases it
 * wishes to fetch the default configuration for. The returned configuration
 * can then be examined by the caller to learn about the selected streams and
 * their default parameters.
 *
 * The intended companion to this is \a configure() which can be used to change
 * the group of streams parameters.
 *
 * \context This function may be called from any thread and shall be
 * \threadsafe. It shall not modify the state of the \a camera in the pipeline
 * handler.
 *
 * \return A valid CameraConfiguration if the requested roles can be satisfied,
 * or a null pointer otherwise. The ownership of the returned configuration is
 * passed to the caller.
 */

/**
 * \fn PipelineHandler::configure()
 * \brief Configure a group of streams for capture
 * \param[in] camera The camera to configure
 * \param[in] config The camera configurations to setup
 *
 * Configure the specified group of streams for \a camera according to the
 * configuration specified in \a config. The intended caller of this interface
 * is the Camera class which will receive configuration to apply from the
 * application.
 *
 * The configuration is guaranteed to have been validated with
 * CameraConfiguration::valid(). The pipeline handler implementation shall not
 * perform further validation and may rely on any custom field stored in its
 * custom CameraConfiguration derived class.
 *
 * When configuring the camera the pipeline handler shall associate a Stream
 * instance to each StreamConfiguration entry in the CameraConfiguration using
 * the StreamConfiguration::setStream() method.
 *
 * \context This function is called from the CameraManager thread.
 *
 * \return 0 on success or a negative error code otherwise
 */

/**
 * \fn PipelineHandler::exportFrameBuffers()
 * \brief Allocate and export buffers for \a stream
 * \param[in] camera The camera
 * \param[in] stream The stream to allocate buffers for
 * \param[out] buffers Array of buffers successfully allocated
 *
 * This method allocates buffers for the \a stream from the devices associated
 * with the stream in the corresponding pipeline handler. Those buffers shall be
 * suitable to be added to a Request for the stream, and shall be mappable to
 * the CPU through their associated dmabufs with mmap().
 *
 * The method may only be called after the Camera has been configured and before
 * it gets started, or after it gets stopped. It shall be called only for
 * streams that are part of the active camera configuration.
 *
 * The only intended caller is Camera::exportFrameBuffers().
 *
 * \context This function is called from the CameraManager thread.
 *
 * \return The number of allocated buffers on success or a negative error code
 * otherwise
 */

/**
 * \fn PipelineHandler::start()
 * \brief Start capturing from a group of streams
 * \param[in] camera The camera to start
 *
 * Start the group of streams that have been configured for capture by
 * \a configure(). The intended caller of this method is the Camera class which
 * will in turn be called from the application to indicate that it has
 * configured the streams and is ready to capture.
 *
 * \context This function is called from the CameraManager thread.
 *
 * \return 0 on success or a negative error code otherwise
 */

/**
 * \fn PipelineHandler::stop()
 * \brief Stop capturing from all running streams
 * \param[in] camera The camera to stop
 *
 * This method stops capturing and processing requests immediately. All pending
 * requests are cancelled and complete immediately in an error state.
 *
 * \context This function is called from the CameraManager thread.
 */

/**
 * \fn PipelineHandler::queueRequest()
 * \brief Queue a request to the camera
 * \param[in] camera The camera to queue the request to
 * \param[in] request The request to queue
 *
 * This method queues a capture request to the pipeline handler for processing.
 * The request is first added to the internal list of queued requests, and
 * then passed to the pipeline handler with a call to queueRequestDevice().
 *
 * Keeping track of queued requests ensures automatic completion of all requests
 * when the pipeline handler is stopped with stop(). Request completion shall be
 * signalled by the pipeline handler using the completeRequest() method.
 *
 * \context This function is called from the CameraManager thread.
 *
 * \return 0 on success or a negative error code otherwise
 */
int PipelineHandler::queueRequest(Camera *camera, Request *request)
{
	CameraData *data = cameraData(camera);
	data->queuedRequests_.push_back(request);

	int ret = queueRequestDevice(camera, request);
	if (ret)
		data->queuedRequests_.remove(request);

	return ret;
}

/**
 * \fn PipelineHandler::queueRequestDevice()
 * \brief Queue a request to the device
 * \param[in] camera The camera to queue the request to
 * \param[in] request The request to queue
 *
 * This method queues a capture request to the device for processing. The
 * request contains a set of buffers associated with streams and a set of
 * parameters. The pipeline handler shall program the device to ensure that the
 * parameters will be applied to the frames captured in the buffers provided in
 * the request.
 *
 * \context This function is called from the CameraManager thread.
 *
 * \return 0 on success or a negative error code otherwise
 */

/**
 * \brief Complete a buffer for a request
 * \param[in] camera The camera the request belongs to
 * \param[in] request The request the buffer belongs to
 * \param[in] buffer The buffer that has completed
 *
 * This method shall be called by pipeline handlers to signal completion of the
 * \a buffer part of the \a request. It notifies applications of buffer
 * completion and updates the request's internal buffer tracking. The request
 * is not completed automatically when the last buffer completes to give
 * pipeline handlers a chance to perform any operation that may still be
 * needed. They shall complete requests explicitly with completeRequest().
 *
 * \context This function shall be called from the CameraManager thread.
 *
 * \return True if all buffers contained in the request have completed, false
 * otherwise
 */
bool PipelineHandler::completeBuffer(Camera *camera, Request *request,
				     FrameBuffer *buffer)
{
	camera->bufferCompleted.emit(request, buffer);
	return request->completeBuffer(buffer);
}

/**
 * \brief Signal request completion
 * \param[in] camera The camera that the request belongs to
 * \param[in] request The request that has completed
 *
 * The pipeline handler shall call this method to notify the \a camera that the
 * request has completed. The request is deleted and shall not be accessed once
 * this method returns.
 *
 * This method ensures that requests will be returned to the application in
 * submission order, the pipeline handler may call it on any complete request
 * without any ordering constraint.
 *
 * \context This function shall be called from the CameraManager thread.
 */
void PipelineHandler::completeRequest(Camera *camera, Request *request)
{
	request->complete();

	CameraData *data = cameraData(camera);

	while (!data->queuedRequests_.empty()) {
		Request *req = data->queuedRequests_.front();
		if (req->status() == Request::RequestPending)
			break;

		ASSERT(!req->hasPendingBuffers());
		data->queuedRequests_.pop_front();
		camera->requestComplete(req);
	}
}

/**
 * \brief Register a camera to the camera manager and pipeline handler
 * \param[in] camera The camera to be added
 * \param[in] data Pipeline-specific data for the camera
 * \param[in] devnum Device number of the camera (optional)
 *
 * This method is called by pipeline handlers to register the cameras they
 * handle with the camera manager. It associates the pipeline-specific \a data
 * with the camera, for later retrieval with cameraData(). Ownership of \a data
 * is transferred to the PipelineHandler.
 *
 * \a devnum is the device number (as returned by makedev) that the \a camera
 * is to be associated with. This is for the V4L2 compatibility layer to map
 * device nodes to Camera instances based on the device number
 * registered by this method in \a devnum.
 *
 * \context This function shall be called from the CameraManager thread.
 */
void PipelineHandler::registerCamera(std::shared_ptr<Camera> camera,