.. SPDX-License-Identifier: CC-BY-SA-4.0 IPA Writer's Guide ================== IPA modules are Image Processing Algorithm modules. They provide functionality that the pipeline handler can use for image processing. This guide covers the definition of the IPA interface, and how to plumb the connection between the pipeline handler and the IPA. The IPA interface and protocol ------------------------------ The IPA interface defines the interface between the pipeline handler and the IPA. Specifically, it defines the functions that the IPA exposes that the pipeline handler can call, and the signals that the pipeline handler can connect to, in order to receive data from the IPA asynchronously. In addition, it contains any custom data structures that the pipeline handler and IPA may pass to each other. The IPA protocol refers to the agreement between the pipeline handler and the IPA regarding the expected response(s) from the IPA for given calls to the IPA. This protocol doesn't need to be declared anywhere in code, but it shall be documented, as there may be multiple IPA implementations for one pipeline handler. As part of the design of libcamera, IPAs may be isolated in a separate process, or run in the same process but a different thread from libcamera. The pipeline handler and IPA shall not have to change their operation based on whether the IPA is isolated or not, but the possibility of isolation needs to be kept in mind. Therefore all data that is passed between them must be serializable, so they must be defined separately in the `mojo Interface Definition Language`_ (IDL), and a code generator will generate headers and serializers corresponding to the definitions. Every interface is defined in a mojom file and includes: - the functions that the pipeline handler can call from the IPA - signals in the pipeline handler that the IPA can emit - any data structures that are to be passed between the pipeline handler and the IPA All IPA modules of a given pipeline handler use the same IPA interface. The IPA interface definition is thus written by the pipeline handler author, based on how they design the interactions between the pipeline handler and the IPA. The entire IPA interface, including the functions, signals, and any custom structs shall be defined in a file named {pipeline_name}.mojom under include/libcamera/ipa/. .. _mojo Interface Definition Language: https://chromium.googlesource.com/chromium/src.git/+/master/mojo/public/tools/bindings/README.md Namespacing ----------- To avoid name collisions between data types defined by different IPA interfaces and data types defined by libcamera, each IPA interface must be defined in its own namespace. The namespace is specific with mojo's module directive. It must be the first non-comment line in the mojo data definition file. For example, the Raspberry Pi IPA interface uses: .. code-block:: none module ipa.rpi; This will become the ipa::rpi namespace in C++ code. Data containers --------------- Since the data passed between the pipeline handler and the IPA must support serialization, any custom data containers must be defined with the mojo IDL. The following list of libcamera objects are supported in the interface definition, and may be used as function parameter types or struct field types: - libcamera.ControlInfoMap - libcamera.ControlList - libcamera.FileDescriptor - libcamera.IPABuffer - libcamera.IPACameraSensorInfo - libcamera.IPASettings - libcamera.IPAStream - libcamera.Point - libcamera.Rectangle - libcamera.Size - libcamera.SizeRange To use them, core.mojom must be included in the mojo data definition file: .. code-block:: none import "include/libcamera/ipa/core.mojom"; Other custom structs may be defined and used as well. There is no requirement that they must be defined before usage. enums and structs are supported. The following is an example of a definition of an enum, for the purpose of being used as flags: .. code-block:: none enum ConfigParameters { ConfigLsTable = 0x01, ConfigStaggeredWrite = 0x02, ConfigSensor = 0x04, ConfigDropFrames = 0x08, }; The following is an example of a definition of a struct: .. code-block:: none struct ConfigInput { uint32 op; uint32 transform; libcamera.FileDescriptor lsTableHandle; int32 lsTableHandleStatic = -1; map streamConfig; array buffers; }; This example has some special things about it. First of all, it uses the FileDescriptor data type. This type must be used to ensure that the file descriptor that it contains is translated properly across the IPC boundary (when the IPA is in an isolated process). This does mean that if the file descriptor should be sent without being translated (for example, for the IPA to tell the pipeline handler which fd *that the pipeline handler holds* to act on), then it must be in a regular int32 type. This example also illustrates that struct fields may have default values, as is assigned to lsTableHandleStatic. This is the value that the field will take when the struct is constructed with the default constructor. Arrays and maps are supported as well. They are translated to C++ vectors and maps, respectively. The members of the arrays and maps are embedded, and cannot be const. Note that nullable fields, static-length arrays, handles, and unions, which are supported by mojo, are not supported by our code generator. The Main IPA interface ---------------------- The IPA interface is split in two parts, the Main IPA interface, which describes the functions that the pipeline handler can call from the IPA, and the Event IPA interface, which describes the signals received by the pipeline handler that the IPA can emit. Both must be defined. This section focuses on the Main IPA interface. The main interface must be named as IPA{pipeline_name}Interface. The functions that the pipeline handler can call from the IPA may be synchronous or asynchronous. Synchronous functions do not return until the IPA returns from the function, while asynchronous functions return immediately without waiting for the IPA to return. At a minimum, the following three functions must be present (and implemented): - init(); - start(); - stop(); All three of these functions are synchronous. The parameters for start() and init() may be customized. init() initializes the IPA interface. It shall be called before any other function of the IPAInterface. stop() informs the IPA module that the camera is stopped. The IPA module shall release resources prepared in start(). A configure() method is recommended. Any ControlInfoMap instances that will be used by the IPA must be sent to the IPA from the pipeline handler, at configure time, for example. All input parameters will become const references, except for arithmetic types, which will be passed by value. Output parameters will become pointers, unless the first output parameter is an int32, or there is only one primitive output parameter, in which case it will become a regular return value. const is not allowed inside of arrays and maps. mojo arrays will become C++ std::vector<>. By default, all methods defined in the main interface are synchronous. This means that in the case of IPC (i.e. isolated IPA), the function call will not return until the return value or output parameters are ready. To specify an asynchronous function, the [async] attribute can be used. Asynchronous methods must not have any return value or output parameters, since in the case of IPC the call needs to return immediately. It is also possible that the IPA will not be run in isolation. In this case, the IPA thread will not exist until start() is called. This means that in the case of no isolation, asynchronous calls cannot be made before start(). Since the IPA interface must be the same regardless of isolation, the same restriction applies to the case of isolation, and any function that will be called before start() must be synchronous. In addition, any call made after start() and before stop() must be asynchronous. The motivation for this is to avoid damaging real-time performance of the pipeline handler. If the pipeline handler wants some data from the IPA, the IPA should return the data asynchronously via an event (see "The Event IPA interface"). The following is an example of a main interface definition: .. code-block:: none interface IPARPiInterface { init(libcamera.IPASettings settings, string sensorName) => (int32 ret, bool metadataSupport); start() => (int32 ret); stop(); configure(libcamera.IPACameraSensorInfo sensorInfo, map streamConfig, map entityControls, ConfigInput ipaConfig) => (int32 ret, ConfigOutput results); mapBuffers(array buffers); unmapBuffers(array ids); [async] signalStatReady(uint32 bufferId); [async] signalQueueRequest(libcamera.ControlList controls); [async] signalIspPrepare(ISPConfig data); }; The first three functions are the required functions. Functions do not need to have return values, like stop(), mapBuffers(), and unmapBuffers(). In the case of asynchronous functions, as explained before, they *must not* have return values. The Event IPA interface ----------------------- The event IPA interface describes the signals received by the pipeline handler that the IPA can emit. It must be defined. If there are no event functions, then it may be empty. These emissions are meant to notify the pipeline handler of some event, such as request data is ready, and *must not* be used to drive the camera pipeline from the IPA. The event interface must be named as IPA{pipeline_name}EventInterface. Methods defined in the event interface are implicitly asynchronous. Thus they cannot return any value. Specifying the [async] tag is not necessary. Methods defined in the event interface will become signals in the IPA interface. The IPA can emit signals, while the pipeline handler can connect slots to them. The following is an example of an event interface definition: .. code-block:: none interface IPARPiEventInterface { statsMetadataComplete(uint32 bufferId, libcamera.ControlList controls); runIsp(uint32 bufferId); embeddedComplete(uint32 bufferId); setIsp(libcamera.ControlList controls); setStaggered(libcamera.ControlList controls); }; Compiling the IPA interface --------------------------- After the IPA interface is defined in include/libcamera/ipa/{pipeline_name}.mojom, an entry for it must be added in meson so that it can be compiled. The filename must be added to the ipa_mojom_files object in include/libcamera/ipa/meson.build. For example, adding the raspberrypi.mojom file to meson: .. code-block:: none ipa_mojom_files = [ 'raspberrypi.mojom', ] This will cause the mojo data definition file to be compiled. Specifically, it generates five files: - a header describing the custom data structures, and the complete IPA interface (at {$build_dir}/include/libcamera/ipa/{pipeline}_ipa_interface.h) - a serializer implementing de/serialization for the custom data structures (at {$build_dir}/include/libcamera/ipa/{pipeline}_ipa_serializer.h) - a proxy header describing a specialized IPA proxy (at {$build_dir}/include/libcamera/ipa/{pipeline}_ipa_proxy.h) - a proxy source implementing the IPA proxy (at {$build_dir}/src/libcamera/proxy/{pipeline}_ipa_proxy.cpp) - a proxy worker source implementing the other end of the IPA proxy (at {$build_dir}/src/libcamera/proxy/worker/{pipeline}_ipa_proxy_worker.cpp) The IPA proxy serves as the layer between the pipeline handler and the IPA, and handles threading vs isolation transparently. The pipeline handler and the IPA only require the interface header and the proxy header. The serializer is only used internally by the proxy. Using the custom data structures -------------------------------- To use the custom data structures that are defined in the mojo data definition file, the following header must be included: .. code-block:: C++ #include The POD types of the structs simply become their C++ counterparts, eg. uint32 in mojo will become uint32_t in C++. mojo map becomes C++ std::map, and mojo array becomes C++ std::vector. All members of maps and vectors are embedded, and are not pointers. The members cannot be const. The names of all the fields of structs can be used in C++ in exactly the same way as they are defined in the data definition file. For example, the following struct as defined in the mojo file: .. code-block:: none struct SensorConfig { uint32 gainDelay = 1; uint32 exposureDelay; uint32 sensorMetadata; }; Will become this in C++: .. code-block:: C++ struct SensorConfig { uint32_t gainDelay; uint32_t exposureDelay; uint32_t sensorMetadata; }; The generated structs will also have two constructors, a constructor that fills all fields with the default values, and a second constructor that takes a value for every field. The default value constructor will fill in the fields with the specified default value if it exists. In the above example, `gainDelay_` will be initialized to 1. If no default value is specified, then it will be filled in as zero (or -1 for a FileDescriptor type). All fields and constructors/destructors in these generated structs are public. Using the IPA interface (pipeline handler) ------------------------------------------ The following headers are necessary to use an IPA in the pipeline handler (with raspberrypi as an example): .. code-block:: C++ #include #include The first header includes definitions of the custom data structures, and the definition of the complete IPA interface (including both the Main and the Event IPA interfaces). The name of the header file comes from the name of the mojom file, which in this case was raspberrypi.mojom. The second header includes the definition of the specialized IPA proxy. It exposes the complete IPA interface. We will see how to use it in this section. In the pipeline handler, we first need to construct a specialized IPA proxy. From the point of view of the pipeline hander, this is the object that is the IPA. To do so, we invoke the IPAManager: .. code-block:: C++ std::unique_ptr ipa_ = IPAManager::createIPA(pipe_, 1, 1); The ipa::rpi namespace comes from the namespace that we defined in the mojo data definition file, in the "Namespacing" section. The name of the proxy, IPAProxyRPi, comes from the name given to the main IPA interface, IPARPiInterface, in the "The Main IPA interface" section. The return value of IPAManager::createIPA shall be error-checked, to confirm that the returned pointer is not a nullptr. After this, before initializing the IPA, slots should be connected to all of the IPA's signals, as defined in the Event IPA interface: .. code-block:: C++ ipa_->statsMetadataComplete.connect(this, &RPiCameraData::statsMetadataComplete); ipa_->runIsp.connect(this, &RPiCameraData::runIsp); ipa_->embeddedComplete.connect(this, &RPiCameraData::embeddedComplete); ipa_->setIsp.connect(this, &RPiCameraData::setIsp); ipa_->setStaggered.connect(this, &RPiCameraData::setStaggered); The slot functions have a function signature based on the function definition in the Event IPA interface. All plain old data (POD) types are as-is (with their C++ versions, eg. uint32 -> uint32_t), and all structs are const references. For example, for the following entry in the Event IPA interface: .. code-block:: none statsMetadataComplete(uint32 bufferId, ControlList controls); A function with the following function signature shall be connected to the signal: .. code-block:: C++ void statsMetadataComplete(uint32_t bufferId, const ControlList &controls); After connecting the slots to the signals, the IPA should be initialized (using the main interface definition example from earlier): .. code-block:: C++ IPASettings settings{}; bool metadataSupport; int ret = ipa_->init(settings, "sensor name", &metadataSupport); At this point, any IPA functions that were defined in the Main IPA interface can be called as if they were regular member functions, for example (based on the main interface definition example from earlier): .. code-block:: C++ ipa_->start(); int ret = ipa_->configure(sensorInfo_, streamConfig, entityControls, ipaConfig, &result); ipa_->signalStatReady(RPi::BufferMask::STATS | static_cast(index)); Remember that any functions designated as asynchronous *must not* be called before start(). Notice that for both init() and configure(), the first output parameter is a direct return, since it is an int32, while the other output parameter is a pointer-based output parameter. Using the IPA interface (IPA Module) ------------------------------------ The following header is necessary to implement an IPA Module (with raspberrypi as an example): .. code-block:: C++ #include This header includes definitions of the custom data structures, and the definition of the complete IPA interface (including both the Main and the Event IPA interfaces). The name of the header file comes from the name of the mojom file, which in this case was raspberrypi.mojom. The IPA module must implement the IPA interface class that is defined in the header. In the case of our example, that is ipa::rpi::IPARPiInterface. The ipa::rpi namespace comes from the namespace that we defined in the mojo data definition file, in the "Namespacing" section. The name of the interface is the same as the name given to the Main IPA interface. The function signature rules are the same as for the slots in the pipeline handler side; PODs are passed by value, and structs are passed by const reference. For the Main IPA interface, output values are also allowed (only for synchronous calls), so there may be output parameters as well. If the first output parameter is a POD it will be returned by value, otherwise it will be returned by an output parameter pointer. The second and any other output parameters will also be returned by output parameter pointers. For example, for the following function specification in the Main IPA interface definition: .. code-block:: none configure(libcamera.IPACameraSensorInfo sensorInfo, uint32 exampleNumber, map streamConfig, map entityControls, ConfigInput ipaConfig) => (int32 ret, ConfigOutput results); We will need to implement a function with the following function signature: .. code-block:: C++ int configure(const IPACameraSensorInfo &sensorInfo, uint32_t exampleNumber, const std::map &streamConfig, const std::map &entityControls, const ipa::rpi::ConfigInput &data, ipa::rpi::ConfigOutput *response); The return value is int, because the first output parameter is int32. The rest of the output parameters (in this case, only response) become output parameter pointers. The non-POD input parameters become const references, and the POD input parameter is passed by value. At any time after start() and before stop() (though usually only in response to an IPA call), the IPA may send data to the pipeline handler by emitting signals. These signals are defined in the C++ IPA interface class (which is in the generated and included header). For example, for the following function defined in the Event IPA interface: .. code-block:: none statsMetadataComplete(uint32 bufferId, libcamera.ControlList controls); We can emit a signal like so: .. code-block:: C++ statsMetadataComplete.emit(bufferId & RPi::BufferMask::ID, libcameraMetadata_); d='n522' href='#n522'>522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956 957 958 959 960 961 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 977 978 979 980 981 982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054 1055 1056 1057 1058 1059 1060 1061 1062 1063 1064 1065 1066 1067 1068 1069 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082 1083 1084 1085 1086 1087 1088 1089 1090 1091 1092 1093 1094 1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 1128 1129 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1141 1142 1143 1144 1145 1146 1147 1148 1149 1150 1151 1152 1153 1154 1155 1156 1157 1158 1159 1160 1161 1162 1163 1164 1165 1166 1167 1168 1169 1170 1171 1172 1173 1174 1175 1176 1177 1178 1179 1180 1181 1182 1183 1184 1185 1186 1187 1188 1189 1190 1191 1192 1193 1194 1195 1196 1197 1198 1199 1200 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213 1214 1215 1216 1217 1218 1219 1220 1221 1222 1223 1224 1225 1226 1227 1228 1229 1230 1231 1232 1233 1234 1235 1236 1237 1238 1239 1240 1241 1242 1243 1244 1245 1246 1247 1248 1249 1250 1251 1252 1253 1254 1255 1256 1257 1258 1259 1260 1261 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273 1274 1275 1276 1277 1278 1279 1280 1281 1282 1283 1284 1285 1286 1287 1288 1289 1290 1291 1292 1293 1294 1295 1296 1297 1298 1299 1300 1301 1302 1303 1304 1305 1306 1307 1308 1309 1310 1311 1312 1313 1314 1315 1316 1317 1318 1319 1320 1321 1322 1323 1324 1325 1326 1327 1328 1329 1330 1331 1332 1333 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345 1346 1347 1348 1349 1350 1351 1352 1353 1354 1355 1356 1357 1358 1359 1360 1361 1362 1363 1364 1365 1366 1367 1368 1369 1370 1371 1372 1373 1374 1375 1376 1377 1378 1379 1380 1381 1382 1383 1384 1385 
/* SPDX-License-Identifier: BSD-2-Clause */
/*
 * Copyright (C) 2019-2021, Raspberry Pi (Trading) Ltd.
 *
 * rpi.cpp - Raspberry Pi Image Processing Algorithms
 */

#include <algorithm>
#include <array>
#include <fcntl.h>
#include <math.h>
#include <stdint.h>
#include <string.h>
#include <sys/mman.h>

#include <linux/bcm2835-isp.h>

#include <libcamera/base/log.h>
#include <libcamera/base/span.h>

#include <libcamera/control_ids.h>
#include <libcamera/controls.h>
#include <libcamera/file_descriptor.h>
#include <libcamera/framebuffer.h>
#include <libcamera/ipa/ipa_interface.h>
#include <libcamera/ipa/ipa_module_info.h>
#include <libcamera/ipa/raspberrypi.h>
#include <libcamera/ipa/raspberrypi_ipa_interface.h>
#include <libcamera/request.h>

#include "libcamera/internal/mapped_framebuffer.h"

#include "agc_algorithm.hpp"
#include "agc_status.h"
#include "alsc_status.h"
#include "awb_algorithm.hpp"
#include "awb_status.h"
#include "black_level_status.h"
#include "cam_helper.hpp"
#include "ccm_algorithm.hpp"
#include "ccm_status.h"
#include "contrast_algorithm.hpp"
#include "contrast_status.h"
#include "controller.hpp"
#include "denoise_algorithm.hpp"
#include "denoise_status.h"
#include "dpc_status.h"
#include "focus_status.h"
#include "geq_status.h"
#include "lux_status.h"
#include "metadata.hpp"
#include "noise_status.h"
#include "sharpen_algorithm.hpp"
#include "sharpen_status.h"

namespace libcamera {

using namespace std::literals::chrono_literals;
using utils::Duration;

/* Configure the sensor with these values initially. */
constexpr double defaultAnalogueGain = 1.0;
constexpr Duration defaultExposureTime = 20.0ms;
constexpr Duration defaultMinFrameDuration = 1.0s / 30.0;
constexpr Duration defaultMaxFrameDuration = 250.0s;

/*
 * Determine the minimum allowable inter-frame duration to run the controller
 * algorithms. If the pipeline handler provider frames at a rate higher than this,
 * we rate-limit the controller Prepare() and Process() calls to lower than or
 * equal to this rate.
 */
constexpr Duration controllerMinFrameDuration = 1.0s / 60.0;

LOG_DEFINE_CATEGORY(IPARPI)

class IPARPi : public ipa::RPi::IPARPiInterface
{
public:
	IPARPi()
		: controller_(), frameCount_(0), checkCount_(0), mistrustCount_(0),
		  lastRunTimestamp_(0), lsTable_(nullptr), firstStart_(true)
	{
	}

	~IPARPi()
	{
		if (lsTable_)
			munmap(lsTable_, ipa::RPi::MaxLsGridSize);
	}

	int init(const IPASettings &settings, ipa::RPi::SensorConfig *sensorConfig) override;
	void start(const ControlList &controls, ipa::RPi::StartConfig *startConfig) override;
	void stop() override {}

	int configure(const IPACameraSensorInfo &sensorInfo,
		      const std::map<unsigned int, IPAStream> &streamConfig,
		      const std::map<unsigned int, ControlInfoMap> &entityControls,
		      const ipa::RPi::IPAConfig &data,
		      ControlList *controls) override;
	void mapBuffers(const std::vector<IPABuffer> &buffers) override;
	void unmapBuffers(const std::vector<unsigned int> &ids) override;
	void signalStatReady(const uint32_t bufferId) override;
	void signalQueueRequest(const ControlList &controls) override;
	void signalIspPrepare(const ipa::RPi::ISPConfig &data) override;

private:
	void setMode(const IPACameraSensorInfo &sensorInfo);
	bool validateSensorControls();
	bool validateIspControls();
	void queueRequest(const ControlList &controls);
	void returnEmbeddedBuffer(unsigned int bufferId);
	void prepareISP(const ipa::RPi::ISPConfig &data);
	void reportMetadata();
	void fillDeviceStatus(const ControlList &sensorControls);
	void processStats(unsigned int bufferId);
	void applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration);
	void applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls);
	void applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls);
	void applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls);
	void applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls);
	void applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, ControlList &ctrls);
	void applyGamma(const struct ContrastStatus *contrastStatus, ControlList &ctrls);
	void applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls);
	void applyDenoise(const struct DenoiseStatus *denoiseStatus, ControlList &ctrls);
	void applySharpen(const struct SharpenStatus *sharpenStatus, ControlList &ctrls);
	void applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls);
	void applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls);
	void resampleTable(uint16_t dest[], double const src[12][16], int destW, int destH);

	std::map<unsigned int, MappedFrameBuffer> buffers_;

	ControlInfoMap sensorCtrls_;
	ControlInfoMap ispCtrls_;
	ControlList libcameraMetadata_;

	/* Camera sensor params. */
	CameraMode mode_;

	/* Raspberry Pi controller specific defines. */
	std::unique_ptr<RPiController::CamHelper> helper_;
	RPiController::Controller controller_;
	RPiController::Metadata rpiMetadata_;

	/*
	 * We count frames to decide if the frame must be hidden (e.g. from
	 * display) or mistrusted (i.e. not given to the control algos).
	 */
	uint64_t frameCount_;

	/* For checking the sequencing of Prepare/Process calls. */
	uint64_t checkCount_;

	/* How many frames we should avoid running control algos on. */
	unsigned int mistrustCount_;

	/* Number of frames that need to be dropped on startup. */
	unsigned int dropFrameCount_;

	/* Frame timestamp for the last run of the controller. */
	uint64_t lastRunTimestamp_;

	/* Do we run a Controller::process() for this frame? */
	bool processPending_;

	/* LS table allocation passed in from the pipeline handler. */
	FileDescriptor lsTableHandle_;
	void *lsTable_;

	/* Distinguish the first camera start from others. */
	bool firstStart_;

	/* Frame duration (1/fps) limits. */
	Duration minFrameDuration_;
	Duration maxFrameDuration_;
};

int IPARPi::init(const IPASettings &settings, ipa::RPi::SensorConfig *sensorConfig)
{
	/*
	 * Load the "helper" for this sensor. This tells us all the device specific stuff
	 * that the kernel driver doesn't. We only do this the first time; we don't need
	 * to re-parse the metadata after a simple mode-switch for no reason.
	 */
	helper_ = std::unique_ptr<RPiController::CamHelper>(RPiController::CamHelper::Create(settings.sensorModel));
	if (!helper_) {
		LOG(IPARPI, Error) << "Could not create camera helper for "
				   << settings.sensorModel;
		return -EINVAL;
	}

	/*
	 * Pass out the sensor config to the pipeline handler in order
	 * to setup the staggered writer class.
	 */
	int gainDelay, exposureDelay, vblankDelay, sensorMetadata;
	helper_->GetDelays(exposureDelay, gainDelay, vblankDelay);
	sensorMetadata = helper_->SensorEmbeddedDataPresent();

	sensorConfig->gainDelay = gainDelay;
	sensorConfig->exposureDelay = exposureDelay;
	sensorConfig->vblankDelay = vblankDelay;
	sensorConfig->sensorMetadata = sensorMetadata;

	/* Load the tuning file for this sensor. */
	controller_.Read(settings.configurationFile.c_str());
	controller_.Initialise();

	return 0;
}

void IPARPi::start(const ControlList &controls, ipa::RPi::StartConfig *startConfig)
{
	RPiController::Metadata metadata;

	ASSERT(startConfig);
	if (!controls.empty()) {
		/* We have been given some controls to action before start. */
		queueRequest(controls);
	}

	controller_.SwitchMode(mode_, &metadata);

	/* SwitchMode may supply updated exposure/gain values to use. */
	AgcStatus agcStatus;
	agcStatus.shutter_time = 0.0s;
	agcStatus.analogue_gain = 0.0;

	metadata.Get("agc.status", agcStatus);
	if (agcStatus.shutter_time && agcStatus.analogue_gain) {
		ControlList ctrls(sensorCtrls_);
		applyAGC(&agcStatus, ctrls);
		startConfig->controls = std::move(ctrls);
	}

	/*
	 * Initialise frame counts, and decide how many frames must be hidden or
	 * "mistrusted", which depends on whether this is a startup from cold,
	 * or merely a mode switch in a running system.
	 */
	frameCount_ = 0;
	checkCount_ = 0;
	if (firstStart_) {
		dropFrameCount_ = helper_->HideFramesStartup();
		mistrustCount_ = helper_->MistrustFramesStartup();

		/*
		 * Query the AGC/AWB for how many frames they may take to
		 * converge sufficiently. Where these numbers are non-zero
		 * we must allow for the frames with bad statistics
		 * (mistrustCount_) that they won't see. But if zero (i.e.
		 * no convergence necessary), no frames need to be dropped.
		 */
		unsigned int agcConvergenceFrames = 0;
		RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>(
			controller_.GetAlgorithm("agc"));
		if (agc) {
			agcConvergenceFrames = agc->GetConvergenceFrames();
			if (agcConvergenceFrames)
				agcConvergenceFrames += mistrustCount_;
		}

		unsigned int awbConvergenceFrames = 0;
		RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>(
			controller_.GetAlgorithm("awb"));
		if (awb) {
			awbConvergenceFrames = awb->GetConvergenceFrames();
			if (awbConvergenceFrames)
				awbConvergenceFrames += mistrustCount_;
		}

		dropFrameCount_ = std::max({ dropFrameCount_, agcConvergenceFrames, awbConvergenceFrames });
		LOG(IPARPI, Debug) << "Drop " << dropFrameCount_ << " frames on startup";
	} else {
		dropFrameCount_ = helper_->HideFramesModeSwitch();
		mistrustCount_ = helper_->MistrustFramesModeSwitch();
	}

	startConfig->dropFrameCount = dropFrameCount_;

	firstStart_ = false;
	lastRunTimestamp_ = 0;
}

void IPARPi::setMode(const IPACameraSensorInfo &sensorInfo)
{
	mode_.bitdepth = sensorInfo.bitsPerPixel;
	mode_.width = sensorInfo.outputSize.width;
	mode_.height = sensorInfo.outputSize.height;
	mode_.sensor_width = sensorInfo.activeAreaSize.width;
	mode_.sensor_height = sensorInfo.activeAreaSize.height;
	mode_.crop_x = sensorInfo.analogCrop.x;
	mode_.crop_y = sensorInfo.analogCrop.y;

	/*
	 * Calculate scaling parameters. The scale_[xy] factors are determined
	 * by the ratio between the crop rectangle size and the output size.
	 */
	mode_.scale_x = sensorInfo.analogCrop.width / sensorInfo.outputSize.width;
	mode_.scale_y = sensorInfo.analogCrop.height / sensorInfo.outputSize.height;

	/*
	 * We're not told by the pipeline handler how scaling is split between
	 * binning and digital scaling. For now, as a heuristic, assume that
	 * downscaling up to 2 is achieved through binning, and that any
	 * additional scaling is achieved through digital scaling.
	 *
	 * \todo Get the pipeline handle to provide the full data
	 */
	mode_.bin_x = std::min(2, static_cast<int>(mode_.scale_x));
	mode_.bin_y = std::min(2, static_cast<int>(mode_.scale_y));

	/* The noise factor is the square root of the total binning factor. */
	mode_.noise_factor = sqrt(mode_.bin_x * mode_.bin_y);

	/*
	 * Calculate the line length as the ratio between the line length in
	 * pixels and the pixel rate.
	 */
	mode_.line_length = sensorInfo.lineLength * (1.0s / sensorInfo.pixelRate);

	/*
	 * Set the frame length limits for the mode to ensure exposure and
	 * framerate calculations are clipped appropriately.
	 */
	mode_.min_frame_length = sensorInfo.minFrameLength;
	mode_.max_frame_length = sensorInfo.maxFrameLength;

	/*
	 * Some sensors may have different sensitivities in different modes;
	 * the CamHelper will know the correct value.
	 */
	mode_.sensitivity = helper_->GetModeSensitivity(mode_);
}

int IPARPi::configure(const IPACameraSensorInfo &sensorInfo,
		      [[maybe_unused]] const std::map<unsigned int, IPAStream> &streamConfig,
		      const std::map<unsigned int, ControlInfoMap> &entityControls,
		      const ipa::RPi::IPAConfig &ipaConfig,
		      ControlList *controls)
{
	if (entityControls.size() != 2) {
		LOG(IPARPI, Error) << "No ISP or sensor controls found.";
		return -1;
	}

	sensorCtrls_ = entityControls.at(0);
	ispCtrls_ = entityControls.at(1);

	if (!validateSensorControls()) {
		LOG(IPARPI, Error) << "Sensor control validation failed.";
		return -1;
	}

	if (!validateIspControls()) {
		LOG(IPARPI, Error) << "ISP control validation failed.";
		return -1;
	}

	/* Setup a metadata ControlList to output metadata. */
	libcameraMetadata_ = ControlList(controls::controls);

	/* Re-assemble camera mode using the sensor info. */
	setMode(sensorInfo);

	mode_.transform = static_cast<libcamera::Transform>(ipaConfig.transform);

	/* Store the lens shading table pointer and handle if available. */
	if (ipaConfig.lsTableHandle.isValid()) {
		/* Remove any previous table, if there was one. */
		if (lsTable_) {
			munmap(lsTable_, ipa::RPi::MaxLsGridSize);
			lsTable_ = nullptr;
		}

		/* Map the LS table buffer into user space. */
		lsTableHandle_ = std::move(ipaConfig.lsTableHandle);
		if (lsTableHandle_.isValid()) {
			lsTable_ = mmap(nullptr, ipa::RPi::MaxLsGridSize, PROT_READ | PROT_WRITE,
					MAP_SHARED, lsTableHandle_.fd(), 0);

			if (lsTable_ == MAP_FAILED) {
				LOG(IPARPI, Error) << "dmaHeap mmap failure for LS table.";
				lsTable_ = nullptr;
			}
		}
	}

	/* Pass the camera mode to the CamHelper to setup algorithms. */
	helper_->SetCameraMode(mode_);

	/*
	 * Initialise this ControlList correctly, even if empty, in case the IPA is
	 * running is isolation mode (passing the ControlList through the IPC layer).
	 */
	ControlList ctrls(sensorCtrls_);

	if (firstStart_) {
		/* Supply initial values for frame durations. */
		applyFrameDurations(defaultMinFrameDuration, defaultMaxFrameDuration);

		/* Supply initial values for gain and exposure. */
		AgcStatus agcStatus;
		agcStatus.shutter_time = defaultExposureTime;
		agcStatus.analogue_gain = defaultAnalogueGain;
		applyAGC(&agcStatus, ctrls);
	}

	ASSERT(controls);
	*controls = std::move(ctrls);

	return 0;
}

void IPARPi::mapBuffers(const std::vector<IPABuffer> &buffers)
{
	for (const IPABuffer &buffer : buffers) {
		const FrameBuffer fb(buffer.planes);
		buffers_.emplace(buffer.id,
				 MappedFrameBuffer(&fb, MappedFrameBuffer::MapFlag::ReadWrite));
	}
}

void IPARPi::unmapBuffers(const std::vector<unsigned int> &ids)
{
	for (unsigned int id : ids) {
		auto it = buffers_.find(id);
		if (it == buffers_.end())
			continue;

		buffers_.erase(id);
	}
}

void IPARPi::signalStatReady(uint32_t bufferId)
{
	if (++checkCount_ != frameCount_) /* assert here? */
		LOG(IPARPI, Error) << "WARNING: Prepare/Process mismatch!!!";
	if (processPending_ && frameCount_ > mistrustCount_)
		processStats(bufferId);

	reportMetadata();

	statsMetadataComplete.emit(bufferId & ipa::RPi::MaskID, libcameraMetadata_);
}

void IPARPi::signalQueueRequest(const ControlList &controls)
{
	queueRequest(controls);
}

void IPARPi::signalIspPrepare(const ipa::RPi::ISPConfig &data)
{
	/*
	 * At start-up, or after a mode-switch, we may want to
	 * avoid running the control algos for a few frames in case
	 * they are "unreliable".
	 */
	prepareISP(data);
	frameCount_++;

	/* Ready to push the input buffer into the ISP. */
	runIsp.emit(data.bayerBufferId & ipa::RPi::MaskID);
}

void IPARPi::reportMetadata()
{
	std::unique_lock<RPiController::Metadata> lock(rpiMetadata_);

	/*
	 * Certain information about the current frame and how it will be
	 * processed can be extracted and placed into the libcamera metadata
	 * buffer, where an application could query it.
	 */
	DeviceStatus *deviceStatus = rpiMetadata_.GetLocked<DeviceStatus>("device.status");
	if (deviceStatus) {
		libcameraMetadata_.set(controls::ExposureTime,
				       deviceStatus->shutter_speed.get<std::micro>());
		libcameraMetadata_.set(controls::AnalogueGain, deviceStatus->analogue_gain);
		libcameraMetadata_.set(controls::FrameDuration,
				       helper_->Exposure(deviceStatus->frame_length).get<std::micro>());
	}

	AgcStatus *agcStatus = rpiMetadata_.GetLocked<AgcStatus>("agc.status");
	if (agcStatus) {
		libcameraMetadata_.set(controls::AeLocked, agcStatus->locked);
		libcameraMetadata_.set(controls::DigitalGain, agcStatus->digital_gain);
	}

	LuxStatus *luxStatus = rpiMetadata_.GetLocked<LuxStatus>("lux.status");
	if (luxStatus)
		libcameraMetadata_.set(controls::Lux, luxStatus->lux);

	AwbStatus *awbStatus = rpiMetadata_.GetLocked<AwbStatus>("awb.status");
	if (awbStatus) {
		libcameraMetadata_.set(controls::ColourGains, { static_cast<float>(awbStatus->gain_r),
								static_cast<float>(awbStatus->gain_b) });
		libcameraMetadata_.set(controls::ColourTemperature, awbStatus->temperature_K);
	}

	BlackLevelStatus *blackLevelStatus = rpiMetadata_.GetLocked<BlackLevelStatus>("black_level.status");
	if (blackLevelStatus)
		libcameraMetadata_.set(controls::SensorBlackLevels,
				       { static_cast<int32_t>(blackLevelStatus->black_level_r),
					 static_cast<int32_t>(blackLevelStatus->black_level_g),
					 static_cast<int32_t>(blackLevelStatus->black_level_g),
					 static_cast<int32_t>(blackLevelStatus->black_level_b) });

	FocusStatus *focusStatus = rpiMetadata_.GetLocked<FocusStatus>("focus.status");
	if (focusStatus && focusStatus->num == 12) {
		/*
		 * We get a 4x3 grid of regions by default. Calculate the average
		 * FoM over the central two positions to give an overall scene FoM.
		 * This can change later if it is not deemed suitable.
		 */
		int32_t focusFoM = (focusStatus->focus_measures[5] + focusStatus->focus_measures[6]) / 2;
		libcameraMetadata_.set(controls::FocusFoM, focusFoM);
	}

	CcmStatus *ccmStatus = rpiMetadata_.GetLocked<CcmStatus>("ccm.status");
	if (ccmStatus) {
		float m[9];
		for (unsigned int i = 0; i < 9; i++)
			m[i] = ccmStatus->matrix[i];
		libcameraMetadata_.set(controls::ColourCorrectionMatrix, m);
	}
}

bool IPARPi::validateSensorControls()
{
	static const uint32_t ctrls[] = {
		V4L2_CID_ANALOGUE_GAIN,
		V4L2_CID_EXPOSURE,
		V4L2_CID_VBLANK,
	};

	for (auto c : ctrls) {
		if (sensorCtrls_.find(c) == sensorCtrls_.end()) {
			LOG(IPARPI, Error) << "Unable to find sensor control "
					   << utils::hex(c);
			return false;
		}
	}

	return true;
}

bool IPARPi::validateIspControls()
{
	static const uint32_t ctrls[] = {
		V4L2_CID_RED_BALANCE,
		V4L2_CID_BLUE_BALANCE,
		V4L2_CID_DIGITAL_GAIN,
		V4L2_CID_USER_BCM2835_ISP_CC_MATRIX,
		V4L2_CID_USER_BCM2835_ISP_GAMMA,
		V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL,
		V4L2_CID_USER_BCM2835_ISP_GEQ,
		V4L2_CID_USER_BCM2835_ISP_DENOISE,
		V4L2_CID_USER_BCM2835_ISP_SHARPEN,
		V4L2_CID_USER_BCM2835_ISP_DPC,
		V4L2_CID_USER_BCM2835_ISP_LENS_SHADING,
		V4L2_CID_USER_BCM2835_ISP_CDN,
	};

	for (auto c : ctrls) {
		if (ispCtrls_.find(c) == ispCtrls_.end()) {
			LOG(IPARPI, Error) << "Unable to find ISP control "
					   << utils::hex(c);
			return false;
		}
	}

	return true;
}

/*
 * Converting between enums (used in the libcamera API) and the names that
 * we use to identify different modes. Unfortunately, the conversion tables
 * must be kept up-to-date by hand.
 */
static const std::map<int32_t, std::string> MeteringModeTable = {
	{ controls::MeteringCentreWeighted, "centre-weighted" },
	{ controls::MeteringSpot, "spot" },
	{ controls::MeteringMatrix, "matrix" },
	{ controls::MeteringCustom, "custom" },
};

static const std::map<int32_t, std::string> ConstraintModeTable = {
	{ controls::ConstraintNormal, "normal" },
	{ controls::ConstraintHighlight, "highlight" },
	{ controls::ConstraintCustom, "custom" },
};

static const std::map<int32_t, std::string> ExposureModeTable = {
	{ controls::ExposureNormal, "normal" },
	{ controls::ExposureShort, "short" },
	{ controls::ExposureLong, "long" },
	{ controls::ExposureCustom, "custom" },
};

static const std::map<int32_t, std::string> AwbModeTable = {
	{ controls::AwbAuto, "normal" },
	{ controls::AwbIncandescent, "incandescent" },
	{ controls::AwbTungsten, "tungsten" },
	{ controls::AwbFluorescent, "fluorescent" },
	{ controls::AwbIndoor, "indoor" },
	{ controls::AwbDaylight, "daylight" },
	{ controls::AwbCloudy, "cloudy" },
	{ controls::AwbCustom, "custom" },
};

static const std::map<int32_t, RPiController::DenoiseMode> DenoiseModeTable = {
	{ controls::draft::NoiseReductionModeOff, RPiController::DenoiseMode::Off },
	{ controls::draft::NoiseReductionModeFast, RPiController::DenoiseMode::ColourFast },
	{ controls::draft::NoiseReductionModeHighQuality, RPiController::DenoiseMode::ColourHighQuality },
	{ controls::draft::NoiseReductionModeMinimal, RPiController::DenoiseMode::ColourOff },
	{ controls::draft::NoiseReductionModeZSL, RPiController::DenoiseMode::ColourHighQuality },
};

void IPARPi::queueRequest(const ControlList &controls)
{
	/* Clear the return metadata buffer. */
	libcameraMetadata_.clear();

	for (auto const &ctrl : controls) {
		LOG(IPARPI, Info) << "Request ctrl: "
				  << controls::controls.at(ctrl.first)->name()
				  << " = " << ctrl.second.toString();

		switch (ctrl.first) {
		case controls::AE_ENABLE: {
			RPiController::Algorithm *agc = controller_.GetAlgorithm("agc");
			if (!agc) {
				LOG(IPARPI, Warning)
					<< "Could not set AE_ENABLE - no AGC algorithm";
				break;
			}

			if (ctrl.second.get<bool>() == false)
				agc->Pause();
			else
				agc->Resume();

			libcameraMetadata_.set(controls::AeEnable, ctrl.second.get<bool>());
			break;
		}

		case controls::EXPOSURE_TIME: {
			RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>(
				controller_.GetAlgorithm("agc"));
			if (!agc) {
				LOG(IPARPI, Warning)
					<< "Could not set EXPOSURE_TIME - no AGC algorithm";
				break;
			}

			/* The control provides units of microseconds. */
			agc->SetFixedShutter(ctrl.second.get<int32_t>() * 1.0us);

			libcameraMetadata_.set(controls::ExposureTime, ctrl.second.get<int32_t>());
			break;
		}

		case controls::ANALOGUE_GAIN: {
			RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>(
				controller_.GetAlgorithm("agc"));
			if (!agc) {
				LOG(IPARPI, Warning)
					<< "Could not set ANALOGUE_GAIN - no AGC algorithm";
				break;
			}

			agc->SetFixedAnalogueGain(ctrl.second.get<float>());

			libcameraMetadata_.set(controls::AnalogueGain,
					       ctrl.second.get<float>());
			break;
		}

		case controls::AE_METERING_MODE: {
			RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>(
				controller_.GetAlgorithm("agc"));
			if (!agc) {
				LOG(IPARPI, Warning)
					<< "Could not set AE_METERING_MODE - no AGC algorithm";
				break;
			}

			int32_t idx = ctrl.second.get<int32_t>();
			if (MeteringModeTable.count(idx)) {
				agc->SetMeteringMode(MeteringModeTable.at(idx));
				libcameraMetadata_.set(controls::AeMeteringMode, idx);
			} else {
				LOG(IPARPI, Error) << "Metering mode " << idx
						   << " not recognised";
			}
			break;
		}

		case controls::AE_CONSTRAINT_MODE: {
			RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>(
				controller_.GetAlgorithm("agc"));
			if (!agc) {
				LOG(IPARPI, Warning)
					<< "Could not set AE_CONSTRAINT_MODE - no AGC algorithm";
				break;
			}

			int32_t idx = ctrl.second.get<int32_t>();
			if (ConstraintModeTable.count(idx)) {
				agc->SetConstraintMode(ConstraintModeTable.at(idx));
				libcameraMetadata_.set(controls::AeConstraintMode, idx);
			} else {
				LOG(IPARPI, Error) << "Constraint mode " << idx
						   << " not recognised";
			}
			break;
		}

		case controls::AE_EXPOSURE_MODE: {
			RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>(
				controller_.GetAlgorithm("agc"));
			if (!agc) {
				LOG(IPARPI, Warning)
					<< "Could not set AE_EXPOSURE_MODE - no AGC algorithm";
				break;
			}

			int32_t idx = ctrl.second.get<int32_t>();
			if (ExposureModeTable.count(idx)) {
				agc->SetExposureMode(ExposureModeTable.at(idx));
				libcameraMetadata_.set(controls::AeExposureMode, idx);
			} else {
				LOG(IPARPI, Error) << "Exposure mode " << idx
						   << " not recognised";
			}
			break;
		}

		case controls::EXPOSURE_VALUE: {
			RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>(
				controller_.GetAlgorithm("agc"));
			if (!agc) {
				LOG(IPARPI, Warning)
					<< "Could not set EXPOSURE_VALUE - no AGC algorithm";
				break;
			}

			/*
			 * The SetEv() function takes in a direct exposure multiplier.
			 * So convert to 2^EV
			 */
			double ev = pow(2.0, ctrl.second.get<float>());
			agc->SetEv(ev);
			libcameraMetadata_.set(controls::ExposureValue,
					       ctrl.second.get<float>());
			break;
		}

		case controls::AWB_ENABLE: {
			RPiController::Algorithm *awb = controller_.GetAlgorithm("awb");
			if (!awb) {
				LOG(IPARPI, Warning)
					<< "Could not set AWB_ENABLE - no AWB algorithm";
				break;
			}

			if (ctrl.second.get<bool>() == false)
				awb->Pause();
			else
				awb->Resume();

			libcameraMetadata_.set(controls::AwbEnable,
					       ctrl.second.get<bool>());
			break;
		}

		case controls::AWB_MODE: {
			RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>(
				controller_.GetAlgorithm("awb"));
			if (!awb) {
				LOG(IPARPI, Warning)
					<< "Could not set AWB_MODE - no AWB algorithm";
				break;
			}

			int32_t idx = ctrl.second.get<int32_t>();
			if (AwbModeTable.count(idx)) {
				awb->SetMode(AwbModeTable.at(idx));
				libcameraMetadata_.set(controls::AwbMode, idx);
			} else {
				LOG(IPARPI, Error) << "AWB mode " << idx
						   << " not recognised";
			}
			break;
		}

		case controls::COLOUR_GAINS: {
			auto gains = ctrl.second.get<Span<const float>>();
			RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>(
				controller_.GetAlgorithm("awb"));
			if (!awb) {
				LOG(IPARPI, Warning)
					<< "Could not set COLOUR_GAINS - no AWB algorithm";
				break;
			}

			awb->SetManualGains(gains[0], gains[1]);
			if (gains[0] != 0.0f && gains[1] != 0.0f)
				/* A gain of 0.0f will switch back to auto mode. */
				libcameraMetadata_.set(controls::ColourGains,
						       { gains[0], gains[1] });
			break;
		}

		case controls::BRIGHTNESS: {
			RPiController::ContrastAlgorithm *contrast = dynamic_cast<RPiController::ContrastAlgorithm *>(
				controller_.GetAlgorithm("contrast"));
			if (!contrast) {
				LOG(IPARPI, Warning)
					<< "Could not set BRIGHTNESS - no contrast algorithm";
				break;
			}

			contrast->SetBrightness(ctrl.second.get<float>() * 65536);
			libcameraMetadata_.set(controls::Brightness,
					       ctrl.second.get<float>());
			break;
		}

		case controls::CONTRAST: {
			RPiController::ContrastAlgorithm *contrast = dynamic_cast<RPiController::ContrastAlgorithm *>(
				controller_.GetAlgorithm("contrast"));
			if (!contrast) {
				LOG(IPARPI, Warning)
					<< "Could not set CONTRAST - no contrast algorithm";
				break;
			}

			contrast->SetContrast(ctrl.second.get<float>());
			libcameraMetadata_.set(controls::Contrast,
					       ctrl.second.get<float>());
			break;
		}

		case controls::SATURATION: {
			RPiController::CcmAlgorithm *ccm = dynamic_cast<RPiController::CcmAlgorithm *>(
				controller_.GetAlgorithm("ccm"));
			if (!ccm) {
				LOG(IPARPI, Warning)
					<< "Could not set SATURATION - no ccm algorithm";
				break;
			}

			ccm->SetSaturation(ctrl.second.get<float>());
			libcameraMetadata_.set(controls::Saturation,
					       ctrl.second.get<float>());
			break;
		}

		case controls::SHARPNESS: {
			RPiController::SharpenAlgorithm *sharpen = dynamic_cast<RPiController::SharpenAlgorithm *>(
				controller_.GetAlgorithm("sharpen"));
			if (!sharpen) {
				LOG(IPARPI, Warning)
					<< "Could not set SHARPNESS - no sharpen algorithm";
				break;
			}

			sharpen->SetStrength(ctrl.second.get<float>());
			libcameraMetadata_.set(controls::Sharpness,
					       ctrl.second.get<float>());
			break;
		}

		case controls::SCALER_CROP: {
			/* We do nothing with this, but should avoid the warning below. */
			break;
		}

		case controls::FRAME_DURATION_LIMITS: {
			auto frameDurations = ctrl.second.get<Span<const int64_t>>();
			applyFrameDurations(frameDurations[0] * 1.0us, frameDurations[1] * 1.0us);
			break;
		}

		case controls::NOISE_REDUCTION_MODE: {
			RPiController::DenoiseAlgorithm *sdn = dynamic_cast<RPiController::DenoiseAlgorithm *>(
				controller_.GetAlgorithm("SDN"));
			if (!sdn) {
				LOG(IPARPI, Warning)
					<< "Could not set NOISE_REDUCTION_MODE - no SDN algorithm";
				break;
			}

			int32_t idx = ctrl.second.get<int32_t>();
			auto mode = DenoiseModeTable.find(idx);
			if (mode != DenoiseModeTable.end()) {
				sdn->SetMode(mode->second);

				/*
				 * \todo If the colour denoise is not going to run due to an
				 * analysis image resolution or format mismatch, we should
				 * report the status correctly in the metadata.
				 */
				libcameraMetadata_.set(controls::draft::NoiseReductionMode, idx);
			} else {
				LOG(IPARPI, Error) << "Noise reduction mode " << idx
						   << " not recognised";
			}
			break;
		}

		default:
			LOG(IPARPI, Warning)
				<< "Ctrl " << controls::controls.at(ctrl.first)->name()
				<< " is not handled.";
			break;
		}
	}
}

void IPARPi::returnEmbeddedBuffer(unsigned int bufferId)
{
	embeddedComplete.emit(bufferId & ipa::RPi::MaskID);
}

void IPARPi::prepareISP(const ipa::RPi::ISPConfig &data)
{
	int64_t frameTimestamp = data.controls.get(controls::SensorTimestamp);
	RPiController::Metadata lastMetadata;
	Span<uint8_t> embeddedBuffer;

	lastMetadata = std::move(rpiMetadata_);
	fillDeviceStatus(data.controls);

	if (data.embeddedBufferPresent) {
		/*
		 * Pipeline handler has supplied us with an embedded data buffer,
		 * we must pass it to the CamHelper for parsing.
		 */
		auto it = buffers_.find(data.embeddedBufferId);
		ASSERT(it != buffers_.end());
		embeddedBuffer = it->second.planes()[0];
	}

	/*
	 * This may overwrite the DeviceStatus using values from the sensor
	 * metadata, and may also do additional custom processing.
	 */
	helper_->Prepare(embeddedBuffer, rpiMetadata_);

	/* Done with embedded data now, return to pipeline handler asap. */
	if (data.embeddedBufferPresent)
		returnEmbeddedBuffer(data.embeddedBufferId);

	/* Allow a 10% margin on the comparison below. */
	Duration delta = (frameTimestamp - lastRunTimestamp_) * 1.0ns;
	if (lastRunTimestamp_ && frameCount_ > dropFrameCount_ &&
	    delta < controllerMinFrameDuration * 0.9) {
		/*
		 * Ensure we merge the previous frame's metadata with the current
		 * frame. This will not overwrite exposure/gain values for the
		 * current frame, or any other bits of metadata that were added
		 * in helper_->Prepare().
		 */
		rpiMetadata_.Merge(lastMetadata);
		processPending_ = false;
		return;
	}

	lastRunTimestamp_ = frameTimestamp;
	processPending_ = true;

	ControlList ctrls(ispCtrls_);

	controller_.Prepare(&rpiMetadata_);

	/* Lock the metadata buffer to avoid constant locks/unlocks. */
	std::unique_lock<RPiController::Metadata> lock(rpiMetadata_);

	AwbStatus *awbStatus = rpiMetadata_.GetLocked<AwbStatus>("awb.status");
	if (awbStatus)
		applyAWB(awbStatus, ctrls);

	CcmStatus *ccmStatus = rpiMetadata_.GetLocked<CcmStatus>("ccm.status");
	if (ccmStatus)
		applyCCM(ccmStatus, ctrls);

	AgcStatus *dgStatus = rpiMetadata_.GetLocked<AgcStatus>("agc.status");
	if (dgStatus)
		applyDG(dgStatus, ctrls);

	AlscStatus *lsStatus = rpiMetadata_.GetLocked<AlscStatus>("alsc.status");
	if (lsStatus)
		applyLS(lsStatus, ctrls);

	ContrastStatus *contrastStatus = rpiMetadata_.GetLocked<ContrastStatus>("contrast.status");
	if (contrastStatus)
		applyGamma(contrastStatus, ctrls);

	BlackLevelStatus *blackLevelStatus = rpiMetadata_.GetLocked<BlackLevelStatus>("black_level.status");
	if (blackLevelStatus)
		applyBlackLevel(blackLevelStatus, ctrls);

	GeqStatus *geqStatus = rpiMetadata_.GetLocked<GeqStatus>("geq.status");
	if (geqStatus)
		applyGEQ(geqStatus, ctrls);

	DenoiseStatus *denoiseStatus = rpiMetadata_.GetLocked<DenoiseStatus>("denoise.status");
	if (denoiseStatus)
		applyDenoise(denoiseStatus, ctrls);

	SharpenStatus *sharpenStatus = rpiMetadata_.GetLocked<SharpenStatus>("sharpen.status");
	if (sharpenStatus)
		applySharpen(sharpenStatus, ctrls);

	DpcStatus *dpcStatus = rpiMetadata_.GetLocked<DpcStatus>("dpc.status");
	if (dpcStatus)
		applyDPC(dpcStatus, ctrls);

	if (!ctrls.empty())
		setIspControls.emit(ctrls);
}

void IPARPi::fillDeviceStatus(const ControlList &sensorControls)
{
	DeviceStatus deviceStatus = {};

	int32_t exposureLines = sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>();
	int32_t gainCode = sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>();
	int32_t vblank = sensorControls.get(V4L2_CID_VBLANK).get<int32_t>();

	deviceStatus.shutter_speed = helper_->Exposure(exposureLines);
	deviceStatus.analogue_gain = helper_->Gain(gainCode);
	deviceStatus.frame_length = mode_.height + vblank;

	LOG(IPARPI, Debug) << "Metadata - " << deviceStatus;

	rpiMetadata_.Set("device.status", deviceStatus);
}

void IPARPi::processStats(unsigned int bufferId)
{
	auto it = buffers_.find(bufferId);
	if (it == buffers_.end()) {
		LOG(IPARPI, Error) << "Could not find stats buffer!";
		return;
	}

	Span<uint8_t> mem = it->second.planes()[0];
	bcm2835_isp_stats *stats = reinterpret_cast<bcm2835_isp_stats *>(mem.data());
	RPiController::StatisticsPtr statistics = std::make_shared<bcm2835_isp_stats>(*stats);
	helper_->Process(statistics, rpiMetadata_);
	controller_.Process(statistics, &rpiMetadata_);

	struct AgcStatus agcStatus;
	if (rpiMetadata_.Get("agc.status", agcStatus) == 0) {
		ControlList ctrls(sensorCtrls_);
		applyAGC(&agcStatus, ctrls);

		setDelayedControls.emit(ctrls);
	}
}

void IPARPi::applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls)
{
	LOG(IPARPI, Debug) << "Applying WB R: " << awbStatus->gain_r << " B: "
			   << awbStatus->gain_b;

	ctrls.set(V4L2_CID_RED_BALANCE,
		  static_cast<int32_t>(awbStatus->gain_r * 1000));
	ctrls.set(V4L2_CID_BLUE_BALANCE,
		  static_cast<int32_t>(awbStatus->gain_b * 1000));
}

void IPARPi::applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration)
{
	const Duration minSensorFrameDuration = mode_.min_frame_length * mode_.line_length;
	const Duration maxSensorFrameDuration = mode_.max_frame_length * mode_.line_length;

	/*
	 * This will only be applied once AGC recalculations occur.
	 * The values may be clamped based on the sensor mode capabilities as well.
	 */
	minFrameDuration_ = minFrameDuration ? minFrameDuration : defaultMaxFrameDuration;
	maxFrameDuration_ = maxFrameDuration ? maxFrameDuration : defaultMinFrameDuration;
	minFrameDuration_ = std::clamp(minFrameDuration_,
				       minSensorFrameDuration, maxSensorFrameDuration);
	maxFrameDuration_ = std::clamp(maxFrameDuration_,
				       minSensorFrameDuration, maxSensorFrameDuration);
	maxFrameDuration_ = std::max(maxFrameDuration_, minFrameDuration_);

	/* Return the validated limits via metadata. */
	libcameraMetadata_.set(controls::FrameDurationLimits,
			       { static_cast<int64_t>(minFrameDuration_.get<std::micro>()),
				 static_cast<int64_t>(maxFrameDuration_.get<std::micro>()) });

	/*
	 * Calculate the maximum exposure time possible for the AGC to use.
	 * GetVBlanking() will update maxShutter with the largest exposure
	 * value possible.
	 */
	Duration maxShutter = Duration::max();
	helper_->GetVBlanking(maxShutter, minFrameDuration_, maxFrameDuration_);

	RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>(
		controller_.GetAlgorithm("agc"));
	agc->SetMaxShutter(maxShutter);
}

void IPARPi::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls)
{
	int32_t gainCode = helper_->GainCode(agcStatus->analogue_gain);

	/* GetVBlanking might clip exposure time to the fps limits. */
	Duration exposure = agcStatus->shutter_time;
	int32_t vblanking = helper_->GetVBlanking(exposure, minFrameDuration_, maxFrameDuration_);
	int32_t exposureLines = helper_->ExposureLines(exposure);

	LOG(IPARPI, Debug) << "Applying AGC Exposure: " << exposure
			   << " (Shutter lines: " << exposureLines << ", AGC requested "
			   << agcStatus->shutter_time << ") Gain: "
			   << agcStatus->analogue_gain << " (Gain Code: "
			   << gainCode << ")";

	/*
	 * Due to the behavior of V4L2, the current value of VBLANK could clip the
	 * exposure time without us knowing. The next time though this function should
	 * clip exposure correctly.
	 */
	ctrls.set(V4L2_CID_VBLANK, vblanking);
	ctrls.set(V4L2_CID_EXPOSURE, exposureLines);
	ctrls.set(V4L2_CID_ANALOGUE_GAIN, gainCode);
}

void IPARPi::applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls)
{
	ctrls.set(V4L2_CID_DIGITAL_GAIN,
		  static_cast<int32_t>(dgStatus->digital_gain * 1000));
}

void IPARPi::applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls)
{
	bcm2835_isp_custom_ccm ccm;

	for (int i = 0; i < 9; i++) {
		ccm.ccm.ccm[i / 3][i % 3].den = 1000;
		ccm.ccm.ccm[i / 3][i % 3].num = 1000 * ccmStatus->matrix[i];
	}

	ccm.enabled = 1;
	ccm.ccm.offsets[0] = ccm.ccm.offsets[1] = ccm.ccm.offsets[2] = 0;

	ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&ccm),
					    sizeof(ccm) });
	ctrls.set(V4L2_CID_USER_BCM2835_ISP_CC_MATRIX, c);
}

void IPARPi::applyGamma(const struct ContrastStatus *contrastStatus, ControlList &ctrls)
{
	struct bcm2835_isp_gamma gamma;

	gamma.enabled = 1;
	for (int i = 0; i < CONTRAST_NUM_POINTS; i++) {
		gamma.x[i] = contrastStatus->points[i].x;
		gamma.y[i] = contrastStatus->points[i].y;
	}

	ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&gamma),
					    sizeof(gamma) });
	ctrls.set(V4L2_CID_USER_BCM2835_ISP_GAMMA, c);
}

void IPARPi::applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, ControlList &ctrls)
{
	bcm2835_isp_black_level blackLevel;

	blackLevel.enabled = 1;
	blackLevel.black_level_r = blackLevelStatus->black_level_r;
	blackLevel.black_level_g = blackLevelStatus->black_level_g;
	blackLevel.black_level_b = blackLevelStatus->black_level_b;

	ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&blackLevel),
					    sizeof(blackLevel) });
	ctrls.set(V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL, c);
}

void IPARPi::applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls)
{
	bcm2835_isp_geq geq;

	geq.enabled = 1;
	geq.offset = geqStatus->offset;
	geq.slope.den = 1000;
	geq.slope.num = 1000 * geqStatus->slope;

	ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&geq),
					    sizeof(geq) });
	ctrls.set(V4L2_CID_USER_BCM2835_ISP_GEQ, c);
}

void IPARPi::applyDenoise(const struct DenoiseStatus *denoiseStatus, ControlList &ctrls)
{
	using RPiController::DenoiseMode;

	bcm2835_isp_denoise denoise;
	DenoiseMode mode = static_cast<DenoiseMode>(denoiseStatus->mode);

	denoise.enabled = mode != DenoiseMode::Off;
	denoise.constant = denoiseStatus->noise_constant;
	denoise.slope.num = 1000 * denoiseStatus->noise_slope;
	denoise.slope.den = 1000;
	denoise.strength.num = 1000 * denoiseStatus->strength;
	denoise.strength.den = 1000;

	/* Set the CDN mode to match the SDN operating mode. */
	bcm2835_isp_cdn cdn;
	switch (mode) {
	case DenoiseMode::ColourFast:
		cdn.enabled = 1;
		cdn.mode = CDN_MODE_FAST;
		break;
	case DenoiseMode::ColourHighQuality:
		cdn.enabled = 1;
		cdn.mode = CDN_MODE_HIGH_QUALITY;
		break;
	default:
		cdn.enabled = 0;
	}

	ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&denoise),
					    sizeof(denoise) });
	ctrls.set(V4L2_CID_USER_BCM2835_ISP_DENOISE, c);

	c = ControlValue(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&cdn),
					      sizeof(cdn) });
	ctrls.set(V4L2_CID_USER_BCM2835_ISP_CDN, c);
}

void IPARPi::applySharpen(const struct SharpenStatus *sharpenStatus, ControlList &ctrls)
{
	bcm2835_isp_sharpen sharpen;

	sharpen.enabled = 1;
	sharpen.threshold.num = 1000 * sharpenStatus->threshold;
	sharpen.threshold.den = 1000;
	sharpen.strength.num = 1000 * sharpenStatus->strength;
	sharpen.strength.den = 1000;
	sharpen.limit.num = 1000 * sharpenStatus->limit;
	sharpen.limit.den = 1000;

	ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&sharpen),
					    sizeof(sharpen) });
	ctrls.set(V4L2_CID_USER_BCM2835_ISP_SHARPEN, c);
}

void IPARPi::applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls)
{
	bcm2835_isp_dpc dpc;

	dpc.enabled = 1;
	dpc.strength = dpcStatus->strength;

	ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&dpc),
					    sizeof(dpc) });
	ctrls.set(V4L2_CID_USER_BCM2835_ISP_DPC, c);
}

void IPARPi::applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls)
{
	/*
	 * Program lens shading tables into pipeline.
	 * Choose smallest cell size that won't exceed 63x48 cells.
	 */
	const int cellSizes[] = { 16, 32, 64, 128, 256 };
	unsigned int numCells = std::size(cellSizes);
	unsigned int i, w, h, cellSize;
	for (i = 0; i < numCells; i++) {
		cellSize = cellSizes[i];
		w = (mode_.width + cellSize - 1) / cellSize;
		h = (mode_.height + cellSize - 1) / cellSize;
		if (w < 64 && h <= 48)
			break;
	}

	if (i == numCells) {
		LOG(IPARPI, Error) << "Cannot find cell size";
		return;
	}

	/* We're going to supply corner sampled tables, 16 bit samples. */
	w++, h++;
	bcm2835_isp_lens_shading ls = {
		.enabled = 1,
		.grid_cell_size = cellSize,
		.grid_width = w,
		.grid_stride = w,
		.grid_height = h,
		/* .dmabuf will be filled in by pipeline handler. */
		.dmabuf = 0,
		.ref_transform = 0,
		.corner_sampled = 1,
		.gain_format = GAIN_FORMAT_U4P10
	};

	if (!lsTable_ || w * h * 4 * sizeof(uint16_t) > ipa::RPi::MaxLsGridSize) {
		LOG(IPARPI, Error) << "Do not have a correctly allocate lens shading table!";
		return;
	}

	if (lsStatus) {
		/* Format will be u4.10 */
		uint16_t *grid = static_cast<uint16_t *>(lsTable_);

		resampleTable(grid, lsStatus->r, w, h);
		resampleTable(grid + w * h, lsStatus->g, w, h);
		std::memcpy(grid + 2 * w * h, grid + w * h, w * h * sizeof(uint16_t));
		resampleTable(grid + 3 * w * h, lsStatus->b, w, h);
	}

	ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&ls),
					    sizeof(ls) });
	ctrls.set(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING, c);
}

/*
 * Resamples a 16x12 table with central sampling to destW x destH with corner
 * sampling.
 */
void IPARPi::resampleTable(uint16_t dest[], double const src[12][16],
			   int destW, int destH)
{
	/*
	 * Precalculate and cache the x sampling locations and phases to
	 * save recomputing them on every row.
	 */
	assert(destW > 1 && destH > 1 && destW <= 64);
	int xLo[64], xHi[64];
	double xf[64];
	double x = -0.5, xInc = 16.0 / (destW - 1);
	for (int i = 0; i < destW; i++, x += xInc) {
		xLo[i] = floor(x);
		xf[i] = x - xLo[i];
		xHi[i] = xLo[i] < 15 ? xLo[i] + 1 : 15;
		xLo[i] = xLo[i] > 0 ? xLo[i] : 0;
	}

	/* Now march over the output table generating the new values. */
	double y = -0.5, yInc = 12.0 / (destH - 1);
	for (int j = 0; j < destH; j++, y += yInc) {
		int yLo = floor(y);
		double yf = y - yLo;
		int yHi = yLo < 11 ? yLo + 1 : 11;
		yLo = yLo > 0 ? yLo : 0;
		double const *rowAbove = src[yLo];
		double const *rowBelow = src[yHi];
		for (int i = 0; i < destW; i++) {
			double above = rowAbove[xLo[i]] * (1 - xf[i]) + rowAbove[xHi[i]] * xf[i];
			double below = rowBelow[xLo[i]] * (1 - xf[i]) + rowBelow[xHi[i]] * xf[i];
			int result = floor(1024 * (above * (1 - yf) + below * yf) + .5);
			*(dest++) = result > 16383 ? 16383 : result; /* want u4.10 */
		}
	}
}

/*
 * External IPA module interface
 */
extern "C" {
const struct IPAModuleInfo ipaModuleInfo = {
	IPA_MODULE_API_VERSION,
	1,
	"PipelineHandlerRPi",
	"raspberrypi",
};

IPAInterface *ipaCreate()
{
	return new IPARPi();
}

} /* extern "C" */

} /* namespace libcamera */
generated by cgit v1.2.1 (git 2.18.0) at 2024-12-25 06:02:00 +0000