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|
/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
* Copyright (C) 2019-2020, Raspberry Pi (Trading) Ltd.
*
* raspberrypi.cpp - Pipeline handler for Raspberry Pi devices
*/
#include <algorithm>
#include <assert.h>
#include <fcntl.h>
#include <mutex>
#include <queue>
#include <sys/mman.h>
#include <libcamera/camera.h>
#include <libcamera/control_ids.h>
#include <libcamera/file_descriptor.h>
#include <libcamera/formats.h>
#include <libcamera/ipa/raspberrypi.h>
#include <libcamera/logging.h>
#include <libcamera/property_ids.h>
#include <libcamera/request.h>
#include <libcamera/stream.h>
#include <linux/videodev2.h>
#include "libcamera/internal/camera_sensor.h"
#include "libcamera/internal/device_enumerator.h"
#include "libcamera/internal/ipa_manager.h"
#include "libcamera/internal/media_device.h"
#include "libcamera/internal/pipeline_handler.h"
#include "libcamera/internal/utils.h"
#include "libcamera/internal/v4l2_controls.h"
#include "libcamera/internal/v4l2_videodevice.h"
#include "dma_heaps.h"
#include "staggered_ctrl.h"
namespace libcamera {
LOG_DEFINE_CATEGORY(RPI)
using V4L2PixFmtMap = std::map<V4L2PixelFormat, std::vector<SizeRange>>;
namespace {
bool isRaw(PixelFormat &pixFmt)
{
/*
* The isRaw test might be redundant right now the pipeline handler only
* supports RAW sensors. Leave it in for now, just as a sanity check.
*/
const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt);
if (!info.isValid())
return false;
return info.colourEncoding == PixelFormatInfo::ColourEncodingRAW;
}
double scoreFormat(double desired, double actual)
{
double score = desired - actual;
/* Smaller desired dimensions are preferred. */
if (score < 0.0)
score = (-score) / 8;
/* Penalise non-exact matches. */
if (actual != desired)
score *= 2;
return score;
}
V4L2DeviceFormat findBestMode(V4L2PixFmtMap &formatsMap, const Size &req)
{
double bestScore = std::numeric_limits<double>::max(), score;
V4L2DeviceFormat bestMode = {};
#define PENALTY_AR 1500.0
#define PENALTY_8BIT 2000.0
#define PENALTY_10BIT 1000.0
#define PENALTY_12BIT 0.0
#define PENALTY_UNPACKED 500.0
/* Calculate the closest/best mode from the user requested size. */
for (const auto &iter : formatsMap) {
V4L2PixelFormat v4l2Format = iter.first;
const PixelFormatInfo &info = PixelFormatInfo::info(v4l2Format);
for (const SizeRange &sz : iter.second) {
double modeWidth = sz.contains(req) ? req.width : sz.max.width;
double modeHeight = sz.contains(req) ? req.height : sz.max.height;
double reqAr = static_cast<double>(req.width) / req.height;
double modeAr = modeWidth / modeHeight;
/* Score the dimensions for closeness. */
score = scoreFormat(req.width, modeWidth);
score += scoreFormat(req.height, modeHeight);
score += PENALTY_AR * scoreFormat(reqAr, modeAr);
/* Add any penalties... this is not an exact science! */
if (!info.packed)
score += PENALTY_UNPACKED;
if (info.bitsPerPixel == 12)
score += PENALTY_12BIT;
else if (info.bitsPerPixel == 10)
score += PENALTY_10BIT;
else if (info.bitsPerPixel == 8)
score += PENALTY_8BIT;
if (score <= bestScore) {
bestScore = score;
bestMode.fourcc = v4l2Format;
bestMode.size = Size(modeWidth, modeHeight);
}
LOG(RPI, Info) << "Mode: " << modeWidth << "x" << modeHeight
<< " fmt " << v4l2Format.toString()
<< " Score: " << score
<< " (best " << bestScore << ")";
}
}
return bestMode;
}
} /* namespace */
/*
* Device stream abstraction for either an internal or external stream.
* Used for both Unicam and the ISP.
*/
class RPiStream : public Stream
{
public:
RPiStream()
{
}
RPiStream(const char *name, MediaEntity *dev, bool importOnly = false)
: external_(false), importOnly_(importOnly), name_(name),
dev_(std::make_unique<V4L2VideoDevice>(dev))
{
}
V4L2VideoDevice *dev() const
{
return dev_.get();
}
void setExternal(bool external)
{
external_ = external;
}
bool isExternal() const
{
/*
* Import streams cannot be external.
*
* RAW capture is a special case where we simply copy the RAW
* buffer out of the request. All other buffer handling happens
* as if the stream is internal.
*/
return external_ && !importOnly_;
}
bool isImporter() const
{
return importOnly_;
}
void reset()
{
external_ = false;
internalBuffers_.clear();
}
std::string name() const
{
return name_;
}
void setExternalBuffers(std::vector<std::unique_ptr<FrameBuffer>> *buffers)
{
externalBuffers_ = buffers;
}
const std::vector<std::unique_ptr<FrameBuffer>> *getBuffers() const
{
return external_ ? externalBuffers_ : &internalBuffers_;
}
void releaseBuffers()
{
dev_->releaseBuffers();
if (!external_ && !importOnly_)
internalBuffers_.clear();
}
int importBuffers(unsigned int count)
{
return dev_->importBuffers(count);
}
int allocateBuffers(unsigned int count)
{
return dev_->allocateBuffers(count, &internalBuffers_);
}
int queueBuffers()
{
if (external_)
return 0;
for (auto &b : internalBuffers_) {
int ret = dev_->queueBuffer(b.get());
if (ret) {
LOG(RPI, Error) << "Failed to queue buffers for "
<< name_;
return ret;
}
}
return 0;
}
bool findFrameBuffer(FrameBuffer *buffer) const
{
auto start = external_ ? externalBuffers_->begin() : internalBuffers_.begin();
auto end = external_ ? externalBuffers_->end() : internalBuffers_.end();
if (importOnly_)
return false;
if (std::find_if(start, end,
[buffer](std::unique_ptr<FrameBuffer> const &ref) { return ref.get() == buffer; }) != end)
return true;
return false;
}
private:
/*
* Indicates that this stream is active externally, i.e. the buffers
* are provided by the application.
*/
bool external_;
/* Indicates that this stream only imports buffers, e.g. ISP input. */
bool importOnly_;
/* Stream name identifier. */
std::string name_;
/* The actual device stream. */
std::unique_ptr<V4L2VideoDevice> dev_;
/* Internally allocated framebuffers associated with this device stream. */
std::vector<std::unique_ptr<FrameBuffer>> internalBuffers_;
/* Externally allocated framebuffers associated with this device stream. */
std::vector<std::unique_ptr<FrameBuffer>> *externalBuffers_;
};
/*
* The following class is just a convenient (and typesafe) array of device
* streams indexed with an enum class.
*/
enum class Unicam : unsigned int { Image, Embedded };
enum class Isp : unsigned int { Input, Output0, Output1, Stats };
template<typename E, std::size_t N>
class RPiDevice : public std::array<class RPiStream, N>
{
private:
constexpr auto index(E e) const noexcept
{
return static_cast<std::underlying_type_t<E>>(e);
}
public:
RPiStream &operator[](E e)
{
return std::array<class RPiStream, N>::operator[](index(e));
}
const RPiStream &operator[](E e) const
{
return std::array<class RPiStream, N>::operator[](index(e));
}
};
class RPiCameraData : public CameraData
{
public:
RPiCameraData(PipelineHandler *pipe)
: CameraData(pipe), sensor_(nullptr), state_(State::Stopped),
dropFrame_(false), ispOutputCount_(0)
{
}
void frameStarted(uint32_t sequence);
int loadIPA();
int configureIPA();
void queueFrameAction(unsigned int frame, const IPAOperationData &action);
/* bufferComplete signal handlers. */
void unicamBufferDequeue(FrameBuffer *buffer);
void ispInputDequeue(FrameBuffer *buffer);
void ispOutputDequeue(FrameBuffer *buffer);
void clearIncompleteRequests();
void handleStreamBuffer(FrameBuffer *buffer, const RPiStream *stream);
void handleState();
CameraSensor *sensor_;
/* Array of Unicam and ISP device streams and associated buffers/streams. */
RPiDevice<Unicam, 2> unicam_;
RPiDevice<Isp, 4> isp_;
/* The vector below is just for convenience when iterating over all streams. */
std::vector<RPiStream *> streams_;
/* Buffers passed to the IPA. */
std::vector<IPABuffer> ipaBuffers_;
/* DMAHEAP allocation helper. */
RPi::DmaHeap dmaHeap_;
FileDescriptor lsTable_;
RPi::StaggeredCtrl staggeredCtrl_;
uint32_t expectedSequence_;
bool sensorMetadata_;
/*
* All the functions in this class are called from a single calling
* thread. So, we do not need to have any mutex to protect access to any
* of the variables below.
*/
enum class State { Stopped, Idle, Busy, IpaComplete };
State state_;
std::queue<FrameBuffer *> bayerQueue_;
std::queue<FrameBuffer *> embeddedQueue_;
std::deque<Request *> requestQueue_;
private:
void checkRequestCompleted();
void tryRunPipeline();
void tryFlushQueues();
FrameBuffer *updateQueue(std::queue<FrameBuffer *> &q, uint64_t timestamp, V4L2VideoDevice *dev);
bool dropFrame_;
int ispOutputCount_;
};
class RPiCameraConfiguration : public CameraConfiguration
{
public:
RPiCameraConfiguration(const RPiCameraData *data);
Status validate() override;
private:
const RPiCameraData *data_;
};
class PipelineHandlerRPi : public PipelineHandler
{
public:
PipelineHandlerRPi(CameraManager *manager);
CameraConfiguration *generateConfiguration(Camera *camera, const StreamRoles &roles) override;
int configure(Camera *camera, CameraConfiguration *config) override;
int exportFrameBuffers(Camera *camera, Stream *stream,
std::vector<std::unique_ptr<FrameBuffer>> *buffers) override;
int start(Camera *camera) override;
void stop(Camera *camera) override;
int queueRequestDevice(Camera *camera, Request *request) override;
bool match(DeviceEnumerator *enumerator) override;
private:
RPiCameraData *cameraData(const Camera *camera)
{
return static_cast<RPiCameraData *>(PipelineHandler::cameraData(camera));
}
int queueAllBuffers(Camera *camera);
int prepareBuffers(Camera *camera);
void freeBuffers(Camera *camera);
MediaDevice *unicam_;
MediaDevice *isp_;
};
RPiCameraConfiguration::RPiCameraConfiguration(const RPiCameraData *data)
: CameraConfiguration(), data_(data)
{
}
CameraConfiguration::Status RPiCameraConfiguration::validate()
{
Status status = Valid;
if (config_.empty())
return Invalid;
unsigned int rawCount = 0, outCount = 0, count = 0, maxIndex = 0;
std::pair<int, Size> outSize[2];
Size maxSize;
for (StreamConfiguration &cfg : config_) {
if (isRaw(cfg.pixelFormat)) {
/*
* Calculate the best sensor mode we can use based on
* the user request.
*/
V4L2PixFmtMap fmts = data_->unicam_[Unicam::Image].dev()->formats();
V4L2DeviceFormat sensorFormat = findBestMode(fmts, cfg.size);
int ret = data_->unicam_[Unicam::Image].dev()->tryFormat(&sensorFormat);
if (ret)
return Invalid;
PixelFormat sensorPixFormat = sensorFormat.fourcc.toPixelFormat();
if (cfg.size != sensorFormat.size ||
cfg.pixelFormat != sensorPixFormat) {
cfg.size = sensorFormat.size;
cfg.pixelFormat = sensorPixFormat;
status = Adjusted;
}
cfg.stride = sensorFormat.planes[0].bpl;
cfg.frameSize = sensorFormat.planes[0].size;
rawCount++;
} else {
outSize[outCount] = std::make_pair(count, cfg.size);
/* Record the largest resolution for fixups later. */
if (maxSize < cfg.size) {
maxSize = cfg.size;
maxIndex = outCount;
}
outCount++;
}
count++;
/* Can only output 1 RAW stream, or 2 YUV/RGB streams. */
if (rawCount > 1 || outCount > 2) {
LOG(RPI, Error) << "Invalid number of streams requested";
return Invalid;
}
}
/*
* Now do any fixups needed. For the two ISP outputs, one stream must be
* equal or smaller than the other in all dimensions.
*/
for (unsigned int i = 0; i < outCount; i++) {
outSize[i].second.width = std::min(outSize[i].second.width,
maxSize.width);
outSize[i].second.height = std::min(outSize[i].second.height,
maxSize.height);
if (config_.at(outSize[i].first).size != outSize[i].second) {
config_.at(outSize[i].first).size = outSize[i].second;
status = Adjusted;
}
/*
* Also validate the correct pixel formats here.
* Note that Output0 and Output1 support a different
* set of formats.
*
* Output 0 must be for the largest resolution. We will
* have that fixed up in the code above.
*
*/
StreamConfiguration &cfg = config_.at(outSize[i].first);
PixelFormat &cfgPixFmt = cfg.pixelFormat;
V4L2VideoDevice *dev;
if (i == maxIndex)
dev = data_->isp_[Isp::Output0].dev();
else
dev = data_->isp_[Isp::Output1].dev();
V4L2PixFmtMap fmts = dev->formats();
if (fmts.find(V4L2PixelFormat::fromPixelFormat(cfgPixFmt, false)) == fmts.end()) {
/* If we cannot find a native format, use a default one. */
cfgPixFmt = formats::NV12;
status = Adjusted;
}
V4L2DeviceFormat format = {};
format.fourcc = dev->toV4L2PixelFormat(cfg.pixelFormat);
format.size = cfg.size;
int ret = dev->tryFormat(&format);
if (ret)
return Invalid;
cfg.stride = format.planes[0].bpl;
cfg.frameSize = format.planes[0].size;
}
return status;
}
PipelineHandlerRPi::PipelineHandlerRPi(CameraManager *manager)
: PipelineHandler(manager), unicam_(nullptr), isp_(nullptr)
{
}
CameraConfiguration *PipelineHandlerRPi::generateConfiguration(Camera *camera,
const StreamRoles &roles)
{
RPiCameraData *data = cameraData(camera);
CameraConfiguration *config = new RPiCameraConfiguration(data);
V4L2DeviceFormat sensorFormat;
unsigned int bufferCount;
PixelFormat pixelFormat;
V4L2PixFmtMap fmts;
Size size;
if (roles.empty())
return config;
unsigned int rawCount = 0;
unsigned int outCount = 0;
for (const StreamRole role : roles) {
switch (role) {
case StreamRole::StillCaptureRaw:
size = data->sensor_->resolution();
fmts = data->unicam_[Unicam::Image].dev()->formats();
sensorFormat = findBestMode(fmts, size);
pixelFormat = sensorFormat.fourcc.toPixelFormat();
ASSERT(pixelFormat.isValid());
bufferCount = 1;
rawCount++;
break;
case StreamRole::StillCapture:
fmts = data->isp_[Isp::Output0].dev()->formats();
pixelFormat = formats::NV12;
/* Return the largest sensor resolution. */
size = data->sensor_->resolution();
bufferCount = 1;
outCount++;
break;
case StreamRole::VideoRecording:
fmts = data->isp_[Isp::Output0].dev()->formats();
pixelFormat = formats::NV12;
size = { 1920, 1080 };
bufferCount = 4;
outCount++;
break;
case StreamRole::Viewfinder:
fmts = data->isp_[Isp::Output0].dev()->formats();
pixelFormat = formats::ARGB8888;
size = { 800, 600 };
bufferCount = 4;
outCount++;
break;
default:
LOG(RPI, Error) << "Requested stream role not supported: "
<< role;
delete config;
return nullptr;
}
if (rawCount > 1 || outCount > 2) {
LOG(RPI, Error) << "Invalid stream roles requested";
delete config;
return nullptr;
}
/* Translate the V4L2PixelFormat to PixelFormat. */
std::map<PixelFormat, std::vector<SizeRange>> deviceFormats;
for (const auto &format : fmts) {
PixelFormat pixelFormat = format.first.toPixelFormat();
if (pixelFormat.isValid())
deviceFormats[pixelFormat] = format.second;
}
/* Add the stream format based on the device node used for the use case. */
StreamFormats formats(deviceFormats);
StreamConfiguration cfg(formats);
cfg.size = size;
cfg.pixelFormat = pixelFormat;
cfg.bufferCount = bufferCount;
config->addConfiguration(cfg);
}
config->validate();
return config;
}
int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config)
{
RPiCameraData *data = cameraData(camera);
int ret;
/* Start by resetting the Unicam and ISP stream states. */
for (auto const stream : data->streams_)
stream->reset();
Size maxSize, sensorSize;
unsigned int maxIndex = 0;
bool rawStream = false;
/*
* Look for the RAW stream (if given) size as well as the largest
* ISP output size.
*/
for (unsigned i = 0; i < config->size(); i++) {
StreamConfiguration &cfg = config->at(i);
if (isRaw(cfg.pixelFormat)) {
/*
* If we have been given a RAW stream, use that size
* for setting up the sensor.
*/
sensorSize = cfg.size;
rawStream = true;
} else {
if (cfg.size > maxSize) {
maxSize = config->at(i).size;
maxIndex = i;
}
}
}
/* First calculate the best sensor mode we can use based on the user request. */
V4L2PixFmtMap fmts = data->unicam_[Unicam::Image].dev()->formats();
V4L2DeviceFormat sensorFormat = findBestMode(fmts, rawStream ? sensorSize : maxSize);
/*
* Unicam image output format. The ISP input format gets set at start,
* just in case we have swapped bayer orders due to flips.
*/
ret = data->unicam_[Unicam::Image].dev()->setFormat(&sensorFormat);
if (ret)
return ret;
LOG(RPI, Info) << "Sensor: " << camera->name()
<< " - Selected mode: " << sensorFormat.toString();
/*
* This format may be reset on start() if the bayer order has changed
* because of flips in the sensor.
*/
ret = data->isp_[Isp::Input].dev()->setFormat(&sensorFormat);
/*
* See which streams are requested, and route the user
* StreamConfiguration appropriately.
*/
V4L2DeviceFormat format = {};
for (unsigned i = 0; i < config->size(); i++) {
StreamConfiguration &cfg = config->at(i);
if (isRaw(cfg.pixelFormat)) {
cfg.setStream(&data->isp_[Isp::Input]);
data->isp_[Isp::Input].setExternal(true);
continue;
}
if (i == maxIndex) {
/* ISP main output format. */
V4L2VideoDevice *dev = data->isp_[Isp::Output0].dev();
V4L2PixelFormat fourcc = dev->toV4L2PixelFormat(cfg.pixelFormat);
format.size = cfg.size;
format.fourcc = fourcc;
ret = dev->setFormat(&format);
if (ret)
return -EINVAL;
if (format.size != cfg.size || format.fourcc != fourcc) {
LOG(RPI, Error)
<< "Failed to set format on ISP capture0 device: "
<< format.toString();
return -EINVAL;
}
cfg.setStream(&data->isp_[Isp::Output0]);
data->isp_[Isp::Output0].setExternal(true);
}
/*
* ISP second output format. This fallthrough means that if a
* second output stream has not been configured, we simply use
* the Output0 configuration.
*/
V4L2VideoDevice *dev = data->isp_[Isp::Output1].dev();
format.fourcc = dev->toV4L2PixelFormat(cfg.pixelFormat);
format.size = cfg.size;
ret = dev->setFormat(&format);
if (ret) {
LOG(RPI, Error)
<< "Failed to set format on ISP capture1 device: "
<< format.toString();
return ret;
}
/*
* If we have not yet provided a stream for this config, it
* means this is to be routed from Output1.
*/
if (!cfg.stream()) {
cfg.setStream(&data->isp_[Isp::Output1]);
data->isp_[Isp::Output1].setExternal(true);
}
}
/* ISP statistics output format. */
format = {};
format.fourcc = V4L2PixelFormat(V4L2_META_FMT_BCM2835_ISP_STATS);
ret = data->isp_[Isp::Stats].dev()->setFormat(&format);
if (ret) {
LOG(RPI, Error) << "Failed to set format on ISP stats stream: "
<< format.toString();
return ret;
}
/* Unicam embedded data output format. */
format = {};
format.fourcc = V4L2PixelFormat(V4L2_META_FMT_SENSOR_DATA);
LOG(RPI, Debug) << "Setting embedded data format.";
ret = data->unicam_[Unicam::Embedded].dev()->setFormat(&format);
if (ret) {
LOG(RPI, Error) << "Failed to set format on Unicam embedded: "
<< format.toString();
return ret;
}
/* Adjust aspect ratio by providing crops on the input image. */
Rectangle crop{ 0, 0, sensorFormat.size };
int ar = maxSize.height * sensorFormat.size.width - maxSize.width * sensorFormat.size.height;
if (ar > 0)
crop.width = maxSize.width * sensorFormat.size.height / maxSize.height;
else if (ar < 0)
crop.height = maxSize.height * sensorFormat.size.width / maxSize.width;
crop.width &= ~1;
crop.height &= ~1;
crop.x = (sensorFormat.size.width - crop.width) >> 1;
crop.y = (sensorFormat.size.height - crop.height) >> 1;
data->isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &crop);
ret = data->configureIPA();
if (ret)
LOG(RPI, Error) << "Failed to configure the IPA: " << ret;
return ret;
}
int PipelineHandlerRPi::exportFrameBuffers(Camera *camera, Stream *stream,
std::vector<std::unique_ptr<FrameBuffer>> *buffers)
{
RPiStream *s = static_cast<RPiStream *>(stream);
unsigned int count = stream->configuration().bufferCount;
int ret = s->dev()->exportBuffers(count, buffers);
s->setExternalBuffers(buffers);
return ret;
}
int PipelineHandlerRPi::start(Camera *camera)
{
RPiCameraData *data = cameraData(camera);
int ret;
/* Allocate buffers for internal pipeline usage. */
ret = prepareBuffers(camera);
if (ret) {
LOG(RPI, Error) << "Failed to allocate buffers";
return ret;
}
ret = queueAllBuffers(camera);
if (ret) {
LOG(RPI, Error) << "Failed to queue buffers";
stop(camera);
return ret;
}
/* Start the IPA. */
ret = data->ipa_->start();
if (ret) {
LOG(RPI, Error)
<< "Failed to start IPA for " << camera->name();
stop(camera);
return ret;
}
/*
* IPA configure may have changed the sensor flips - hence the bayer
* order. Get the sensor format and set the ISP input now.
*/
V4L2DeviceFormat sensorFormat;
data->unicam_[Unicam::Image].dev()->getFormat(&sensorFormat);
ret = data->isp_[Isp::Input].dev()->setFormat(&sensorFormat);
if (ret) {
stop(camera);
return ret;
}
/* Enable SOF event generation. */
data->unicam_[Unicam::Image].dev()->setFrameStartEnabled(true);
/*
* Write the last set of gain and exposure values to the camera before
* starting. First check that the staggered ctrl has been initialised
* by configure().
*/
ASSERT(data->staggeredCtrl_);
data->staggeredCtrl_.reset();
data->staggeredCtrl_.write();
data->expectedSequence_ = 0;
data->state_ = RPiCameraData::State::Idle;
/* Start all streams. */
for (auto const stream : data->streams_) {
ret = stream->dev()->streamOn();
if (ret) {
stop(camera);
return ret;
}
}
return 0;
}
void PipelineHandlerRPi::stop(Camera *camera)
{
RPiCameraData *data = cameraData(camera);
data->state_ = RPiCameraData::State::Stopped;
/* Disable SOF event generation. */
data->unicam_[Unicam::Image].dev()->setFrameStartEnabled(false);
/* This also stops the streams. */
data->clearIncompleteRequests();
/* The default std::queue constructor is explicit with gcc 5 and 6. */
data->bayerQueue_ = std::queue<FrameBuffer *>{};
data->embeddedQueue_ = std::queue<FrameBuffer *>{};
/* Stop the IPA. */
data->ipa_->stop();
freeBuffers(camera);
}
int PipelineHandlerRPi::queueRequestDevice(Camera *camera, Request *request)
{
RPiCameraData *data = cameraData(camera);
if (data->state_ == RPiCameraData::State::Stopped)
return -EINVAL;
/* Ensure all external streams have associated buffers! */
for (auto &stream : data->isp_) {
if (!stream.isExternal())
continue;
if (!request->findBuffer(&stream)) {
LOG(RPI, Error) << "Attempt to queue request with invalid stream.";
return -ENOENT;
}
}
/* Push the request to the back of the queue. */
data->requestQueue_.push_back(request);
data->handleState();
return 0;
}
bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator)
{
DeviceMatch unicam("unicam");
DeviceMatch isp("bcm2835-isp");
unicam.add("unicam-embedded");
unicam.add("unicam-image");
isp.add("bcm2835-isp0-output0"); /* Input */
isp.add("bcm2835-isp0-capture1"); /* Output 0 */
isp.add("bcm2835-isp0-capture2"); /* Output 1 */
isp.add("bcm2835-isp0-capture3"); /* Stats */
unicam_ = acquireMediaDevice(enumerator, unicam);
if (!unicam_)
return false;
isp_ = acquireMediaDevice(enumerator, isp);
if (!isp_)
return false;
std::unique_ptr<RPiCameraData> data = std::make_unique<RPiCameraData>(this);
/* Locate and open the unicam video streams. */
data->unicam_[Unicam::Embedded] = RPiStream("Unicam Embedded", unicam_->getEntityByName("unicam-embedded"));
data->unicam_[Unicam::Image] = RPiStream("Unicam Image", unicam_->getEntityByName("unicam-image"));
/* Tag the ISP input stream as an import stream. */
data->isp_[Isp::Input] = RPiStream("ISP Input", isp_->getEntityByName("bcm2835-isp0-output0"), true);
data->isp_[Isp::Output0] = RPiStream("ISP Output0", isp_->getEntityByName("bcm2835-isp0-capture1"));
data->isp_[Isp::Output1] = RPiStream("ISP Output1", isp_->getEntityByName("bcm2835-isp0-capture2"));
data->isp_[Isp::Stats] = RPiStream("ISP Stats", isp_->getEntityByName("bcm2835-isp0-capture3"));
/* This is just for convenience so that we can easily iterate over all streams. */
for (auto &stream : data->unicam_)
data->streams_.push_back(&stream);
for (auto &stream : data->isp_)
data->streams_.push_back(&stream);
/* Open all Unicam and ISP streams. */
for (auto const stream : data->streams_) {
if (stream->dev()->open())
return false;
}
/* Wire up all the buffer connections. */
data->unicam_[Unicam::Image].dev()->frameStart.connect(data.get(), &RPiCameraData::frameStarted);
data->unicam_[Unicam::Image].dev()->bufferReady.connect(data.get(), &RPiCameraData::unicamBufferDequeue);
data->unicam_[Unicam::Embedded].dev()->bufferReady.connect(data.get(), &RPiCameraData::unicamBufferDequeue);
data->isp_[Isp::Input].dev()->bufferReady.connect(data.get(), &RPiCameraData::ispInputDequeue);
data->isp_[Isp::Output0].dev()->bufferReady.connect(data.get(), &RPiCameraData::ispOutputDequeue);
data->isp_[Isp::Output1].dev()->bufferReady.connect(data.get(), &RPiCameraData::ispOutputDequeue);
data->isp_[Isp::Stats].dev()->bufferReady.connect(data.get(), &RPiCameraData::ispOutputDequeue);
/* Identify the sensor. */
for (MediaEntity *entity : unicam_->entities()) {
if (entity->function() == MEDIA_ENT_F_CAM_SENSOR) {
data->sensor_ = new CameraSensor(entity);
break;
}
}
if (!data->sensor_)
return false;
if (data->sensor_->init())
return false;
if (data->loadIPA()) {
LOG(RPI, Error) << "Failed to load a suitable IPA library";
return false;
}
/* Register the controls that the Raspberry Pi IPA can handle. */
data->controlInfo_ = RPiControls;
/* Initialize the camera properties. */
data->properties_ = data->sensor_->properties();
/*
* List the available output streams.
* Currently cannot do Unicam streams!
*/
std::set<Stream *> streams;
streams.insert(&data->isp_[Isp::Input]);
streams.insert(&data->isp_[Isp::Output0]);
streams.insert(&data->isp_[Isp::Output1]);
streams.insert(&data->isp_[Isp::Stats]);
/* Create and register the camera. */
std::shared_ptr<Camera> camera = Camera::create(this, data->sensor_->model(), streams);
registerCamera(std::move(camera), std::move(data));
return true;
}
int PipelineHandlerRPi::queueAllBuffers(Camera *camera)
{
RPiCameraData *data = cameraData(camera);
int ret;
for (auto const stream : data->streams_) {
ret = stream->queueBuffers();
if (ret < 0)
return ret;
}
return 0;
}
int PipelineHandlerRPi::prepareBuffers(Camera *camera)
{
RPiCameraData *data = cameraData(camera);
int count, ret;
/*
* Decide how many internal buffers to allocate. For now, simply look
* at how many external buffers will be provided. Will need to improve
* this logic.
*/
unsigned int maxBuffers = 0;
for (const Stream *s : camera->streams())
if (static_cast<const RPiStream *>(s)->isExternal())
maxBuffers = std::max(maxBuffers, s->configuration().bufferCount);
for (auto const stream : data->streams_) {
if (stream->isExternal() || stream->isImporter()) {
/*
* If a stream is marked as external reserve memory to
* prepare to import as many buffers are requested in
* the stream configuration.
*
* If a stream is an internal stream with importer
* role, reserve as many buffers as possible.
*/
unsigned int count = stream->isExternal()
? stream->configuration().bufferCount
: maxBuffers;
ret = stream->importBuffers(count);
if (ret < 0)
return ret;
} else {
/*
* If the stream is an internal exporter allocate and
* export as many buffers as possible to its internal
* pool.
*/
ret = stream->allocateBuffers(maxBuffers);
if (ret < 0) {
freeBuffers(camera);
return ret;
}
}
}
/*
* Add cookies to the ISP Input buffers so that we can link them with
* the IPA and RPI_IPA_EVENT_SIGNAL_ISP_PREPARE event.
*/
count = 0;
for (auto const &b : *data->unicam_[Unicam::Image].getBuffers()) {
b->setCookie(count++);
}
/*
* Add cookies to the stats and embedded data buffers and link them with
* the IPA.
*/
count = 0;
for (auto const &b : *data->isp_[Isp::Stats].getBuffers()) {
b->setCookie(count++);
data->ipaBuffers_.push_back({ .id = RPiIpaMask::STATS | b->cookie(),
.planes = b->planes() });
}
count = 0;
for (auto const &b : *data->unicam_[Unicam::Embedded].getBuffers()) {
b->setCookie(count++);
data->ipaBuffers_.push_back({ .id = RPiIpaMask::EMBEDDED_DATA | b->cookie(),
.planes = b->planes() });
}
data->ipa_->mapBuffers(data->ipaBuffers_);
return 0;
}
void PipelineHandlerRPi::freeBuffers(Camera *camera)
{
RPiCameraData *data = cameraData(camera);
std::vector<unsigned int> ids;
for (IPABuffer &ipabuf : data->ipaBuffers_)
ids.push_back(ipabuf.id);
data->ipa_->unmapBuffers(ids);
data->ipaBuffers_.clear();
for (auto const stream : data->streams_)
stream->releaseBuffers();
}
void RPiCameraData::frameStarted(uint32_t sequence)
{
LOG(RPI, Debug) << "frame start " << sequence;
/* Write any controls for the next frame as soon as we can. */
staggeredCtrl_.write();
}
int RPiCameraData::loadIPA()
{
ipa_ = IPAManager::createIPA(pipe_, 1, 1);
if (!ipa_)
return -ENOENT;
ipa_->queueFrameAction.connect(this, &RPiCameraData::queueFrameAction);
IPASettings settings{
.configurationFile = ipa_->configurationFile(sensor_->model() + ".json")
};
return ipa_->init(settings);
}
int RPiCameraData::configureIPA()
{
std::map<unsigned int, IPAStream> streamConfig;
std::map<unsigned int, const ControlInfoMap &> entityControls;
IPAOperationData ipaConfig = {};
/* Get the device format to pass to the IPA. */
V4L2DeviceFormat sensorFormat;
unicam_[Unicam::Image].dev()->getFormat(&sensorFormat);
/* Inform IPA of stream configuration and sensor controls. */
unsigned int i = 0;
for (auto const &stream : isp_) {
if (stream.isExternal()) {
streamConfig[i] = {
.pixelFormat = stream.configuration().pixelFormat,
.size = stream.configuration().size
};
}
}
entityControls.emplace(0, unicam_[Unicam::Image].dev()->controls());
entityControls.emplace(1, isp_[Isp::Input].dev()->controls());
/* Allocate the lens shading table via dmaHeap and pass to the IPA. */
if (!lsTable_.isValid()) {
lsTable_ = dmaHeap_.alloc("ls_grid", MAX_LS_GRID_SIZE);
if (!lsTable_.isValid())
return -ENOMEM;
/* Allow the IPA to mmap the LS table via the file descriptor. */
ipaConfig.operation = RPI_IPA_CONFIG_LS_TABLE;
ipaConfig.data = { static_cast<unsigned int>(lsTable_.fd()) };
}
CameraSensorInfo sensorInfo = {};
int ret = sensor_->sensorInfo(&sensorInfo);
if (ret) {
LOG(RPI, Error) << "Failed to retrieve camera sensor info";
return ret;
}
/* Ready the IPA - it must know about the sensor resolution. */
IPAOperationData result;
ipa_->configure(sensorInfo, streamConfig, entityControls, ipaConfig,
&result);
if (result.operation & RPI_IPA_CONFIG_STAGGERED_WRITE) {
/*
* Setup our staggered control writer with the sensor default
* gain and exposure delays.
*/
if (!staggeredCtrl_) {
staggeredCtrl_.init(unicam_[Unicam::Image].dev(),
{ { V4L2_CID_ANALOGUE_GAIN, result.data[0] },
{ V4L2_CID_EXPOSURE, result.data[1] } });
sensorMetadata_ = result.data[2];
}
/* Configure the H/V flip controls based on the sensor rotation. */
ControlList ctrls(unicam_[Unicam::Image].dev()->controls());
int32_t rotation = sensor_->properties().get(properties::Rotation);
ctrls.set(V4L2_CID_HFLIP, static_cast<int32_t>(!!rotation));
ctrls.set(V4L2_CID_VFLIP, static_cast<int32_t>(!!rotation));
unicam_[Unicam::Image].dev()->setControls(&ctrls);
}
if (result.operation & RPI_IPA_CONFIG_SENSOR) {
const ControlList &ctrls = result.controls[0];
if (!staggeredCtrl_.set(ctrls))
LOG(RPI, Error) << "V4L2 staggered set failed";
}
return 0;
}
void RPiCameraData::queueFrameAction(unsigned int frame, const IPAOperationData &action)
{
/*
* The following actions can be handled when the pipeline handler is in
* a stopped state.
*/
switch (action.operation) {
case RPI_IPA_ACTION_V4L2_SET_STAGGERED: {
const ControlList &controls = action.controls[0];
if (!staggeredCtrl_.set(controls))
LOG(RPI, Error) << "V4L2 staggered set failed";
goto done;
}
case RPI_IPA_ACTION_V4L2_SET_ISP: {
ControlList controls = action.controls[0];
isp_[Isp::Input].dev()->setControls(&controls);
goto done;
}
}
if (state_ == State::Stopped)
goto done;
/*
* The following actions must not be handled when the pipeline handler
* is in a stopped state.
*/
switch (action.operation) {
case RPI_IPA_ACTION_STATS_METADATA_COMPLETE: {
unsigned int bufferId = action.data[0];
FrameBuffer *buffer = isp_[Isp::Stats].getBuffers()->at(bufferId).get();
handleStreamBuffer(buffer, &isp_[Isp::Stats]);
/* Fill the Request metadata buffer with what the IPA has provided */
requestQueue_.front()->metadata() = std::move(action.controls[0]);
state_ = State::IpaComplete;
break;
}
case RPI_IPA_ACTION_EMBEDDED_COMPLETE: {
unsigned int bufferId = action.data[0];
FrameBuffer *buffer = unicam_[Unicam::Embedded].getBuffers()->at(bufferId).get();
handleStreamBuffer(buffer, &unicam_[Unicam::Embedded]);
break;
}
case RPI_IPA_ACTION_RUN_ISP_AND_DROP_FRAME:
case RPI_IPA_ACTION_RUN_ISP: {
unsigned int bufferId = action.data[0];
FrameBuffer *buffer = unicam_[Unicam::Image].getBuffers()->at(bufferId).get();
LOG(RPI, Debug) << "Input re-queue to ISP, buffer id " << buffer->cookie()
<< ", timestamp: " << buffer->metadata().timestamp;
isp_[Isp::Input].dev()->queueBuffer(buffer);
dropFrame_ = (action.operation == RPI_IPA_ACTION_RUN_ISP_AND_DROP_FRAME) ? true : false;
ispOutputCount_ = 0;
break;
}
default:
LOG(RPI, Error) << "Unknown action " << action.operation;
break;
}
done:
handleState();
}
void RPiCameraData::unicamBufferDequeue(FrameBuffer *buffer)
{
const RPiStream *stream = nullptr;
if (state_ == State::Stopped)
return;
for (RPiStream const &s : unicam_) {
if (s.findFrameBuffer(buffer)) {
stream = &s;
break;
}
}
/* The buffer must belong to one of our streams. */
ASSERT(stream);
LOG(RPI, Debug) << "Stream " << stream->name() << " buffer dequeue"
<< ", buffer id " << buffer->cookie()
<< ", timestamp: " << buffer->metadata().timestamp;
if (stream == &unicam_[Unicam::Image]) {
bayerQueue_.push(buffer);
} else {
embeddedQueue_.push(buffer);
std::unordered_map<uint32_t, int32_t> ctrl;
int offset = buffer->metadata().sequence - expectedSequence_;
staggeredCtrl_.get(ctrl, offset);
expectedSequence_ = buffer->metadata().sequence + 1;
/*
* Sensor metadata is unavailable, so put the expected ctrl
* values (accounting for the staggered delays) into the empty
* metadata buffer.
*/
if (!sensorMetadata_) {
const FrameBuffer &fb = buffer->planes();
uint32_t *mem = static_cast<uint32_t *>(::mmap(nullptr, fb.planes()[0].length,
PROT_READ | PROT_WRITE,
MAP_SHARED,
fb.planes()[0].fd.fd(), 0));
mem[0] = ctrl[V4L2_CID_EXPOSURE];
mem[1] = ctrl[V4L2_CID_ANALOGUE_GAIN];
munmap(mem, fb.planes()[0].length);
}
}
handleState();
}
void RPiCameraData::ispInputDequeue(FrameBuffer *buffer)
{
if (state_ == State::Stopped)
return;
handleStreamBuffer(buffer, &unicam_[Unicam::Image]);
handleState();
}
void RPiCameraData::ispOutputDequeue(FrameBuffer *buffer)
{
const RPiStream *stream = nullptr;
if (state_ == State::Stopped)
return;
for (RPiStream const &s : isp_) {
if (s.findFrameBuffer(buffer)) {
stream = &s;
break;
}
}
/* The buffer must belong to one of our ISP output streams. */
ASSERT(stream);
LOG(RPI, Debug) << "Stream " << stream->name() << " buffer complete"
<< ", buffer id " << buffer->cookie()
<< ", timestamp: " << buffer->metadata().timestamp;
handleStreamBuffer(buffer, stream);
/*
* Increment the number of ISP outputs generated.
* This is needed to track dropped frames.
*/
ispOutputCount_++;
/* If this is a stats output, hand it to the IPA now. */
if (stream == &isp_[Isp::Stats]) {
IPAOperationData op;
op.operation = RPI_IPA_EVENT_SIGNAL_STAT_READY;
op.data = { RPiIpaMask::STATS | buffer->cookie() };
ipa_->processEvent(op);
}
handleState();
}
void RPiCameraData::clearIncompleteRequests()
{
/*
* Queue up any buffers passed in the request.
* This is needed because streamOff() will then mark the buffers as
* cancelled.
*/
for (auto const request : requestQueue_) {
for (auto const stream : streams_) {
if (stream->isExternal())
stream->dev()->queueBuffer(request->findBuffer(stream));
}
}
/* Stop all streams. */
for (auto const stream : streams_)
stream->dev()->streamOff();
/*
* All outstanding requests (and associated buffers) must be returned
* back to the pipeline. The buffers would have been marked as
* cancelled by the call to streamOff() earlier.
*/
while (!requestQueue_.empty()) {
Request *request = requestQueue_.front();
/*
* A request could be partially complete,
* i.e. we have returned some buffers, but still waiting
* for others or waiting for metadata.
*/
for (auto const stream : streams_) {
if (!stream->isExternal())
continue;
FrameBuffer *buffer = request->findBuffer(stream);
/*
* Has the buffer already been handed back to the
* request? If not, do so now.
*/
if (buffer->request())
pipe_->completeBuffer(camera_, request, buffer);
}
pipe_->completeRequest(camera_, request);
requestQueue_.pop_front();
}
}
void RPiCameraData::handleStreamBuffer(FrameBuffer *buffer, const RPiStream *stream)
{
if (stream->isExternal()) {
if (!dropFrame_) {
Request *request = buffer->request();
pipe_->completeBuffer(camera_, request, buffer);
}
} else {
/* Special handling for RAW buffer Requests.
*
* The ISP input stream is alway an import stream, but if the
* current Request has been made for a buffer on the stream,
* simply memcpy to the Request buffer and requeue back to the
* device.
*/
if (stream == &unicam_[Unicam::Image] && !dropFrame_) {
const Stream *rawStream = static_cast<const Stream *>(&isp_[Isp::Input]);
Request *request = requestQueue_.front();
FrameBuffer *raw = request->findBuffer(const_cast<Stream *>(rawStream));
if (raw) {
raw->copyFrom(buffer);
pipe_->completeBuffer(camera_, request, raw);
}
}
/* Simply requeue the buffer. */
stream->dev()->queueBuffer(buffer);
}
}
void RPiCameraData::handleState()
{
switch (state_) {
case State::Stopped:
case State::Busy:
break;
case State::IpaComplete:
/* If the request is completed, we will switch to Idle state. */
checkRequestCompleted();
/*
* No break here, we want to try running the pipeline again.
* The fallthrough clause below suppresses compiler warnings.
*/
/* Fall through */
case State::Idle:
tryRunPipeline();
tryFlushQueues();
break;
}
}
void RPiCameraData::checkRequestCompleted()
{
bool requestCompleted = false;
/*
* If we are dropping this frame, do not touch the request, simply
* change the state to IDLE when ready.
*/
if (!dropFrame_) {
Request *request = requestQueue_.front();
if (request->hasPendingBuffers())
return;
/* Must wait for metadata to be filled in before completing. */
if (state_ != State::IpaComplete)
return;
pipe_->completeRequest(camera_, request);
requestQueue_.pop_front();
requestCompleted = true;
}
/*
* Make sure we have three outputs completed in the case of a dropped
* frame.
*/
if (state_ == State::IpaComplete &&
((ispOutputCount_ == 3 && dropFrame_) || requestCompleted)) {
state_ = State::Idle;
if (dropFrame_)
LOG(RPI, Info) << "Dropping frame at the request of the IPA";
}
}
void RPiCameraData::tryRunPipeline()
{
FrameBuffer *bayerBuffer, *embeddedBuffer;
IPAOperationData op;
/* If any of our request or buffer queues are empty, we cannot proceed. */
if (state_ != State::Idle || requestQueue_.empty() ||
bayerQueue_.empty() || embeddedQueue_.empty())
return;
/* Start with the front of the bayer buffer queue. */
bayerBuffer = bayerQueue_.front();
/*
* Find the embedded data buffer with a matching timestamp to pass to
* the IPA. Any embedded buffers with a timestamp lower than the
* current bayer buffer will be removed and re-queued to the driver.
*/
embeddedBuffer = updateQueue(embeddedQueue_, bayerBuffer->metadata().timestamp,
unicam_[Unicam::Embedded].dev());
if (!embeddedBuffer) {
LOG(RPI, Debug) << "Could not find matching embedded buffer";
/*
* Look the other way, try to match a bayer buffer with the
* first embedded buffer in the queue. This will also do some
* housekeeping on the bayer image queue - clear out any
* buffers that are older than the first buffer in the embedded
* queue.
*
* But first check if the embedded queue has emptied out.
*/
if (embeddedQueue_.empty())
return;
embeddedBuffer = embeddedQueue_.front();
bayerBuffer = updateQueue(bayerQueue_, embeddedBuffer->metadata().timestamp,
unicam_[Unicam::Image].dev());
if (!bayerBuffer) {
LOG(RPI, Debug) << "Could not find matching bayer buffer - ending.";
return;
}
}
/*
* Take the first request from the queue and action the IPA.
* Unicam buffers for the request have already been queued as they come
* in.
*/
Request *request = requestQueue_.front();
/*
* Process all the user controls by the IPA. Once this is complete, we
* queue the ISP output buffer listed in the request to start the HW
* pipeline.
*/
op.operation = RPI_IPA_EVENT_QUEUE_REQUEST;
op.controls = { request->controls() };
ipa_->processEvent(op);
/* Queue up any ISP buffers passed into the request. */
for (auto &stream : isp_) {
if (stream.isExternal())
stream.dev()->queueBuffer(request->findBuffer(&stream));
}
/* Ready to use the buffers, pop them off the queue. */
bayerQueue_.pop();
embeddedQueue_.pop();
/* Set our state to say the pipeline is active. */
state_ = State::Busy;
LOG(RPI, Debug) << "Signalling RPI_IPA_EVENT_SIGNAL_ISP_PREPARE:"
<< " Bayer buffer id: " << bayerBuffer->cookie()
<< " Embedded buffer id: " << embeddedBuffer->cookie();
op.operation = RPI_IPA_EVENT_SIGNAL_ISP_PREPARE;
op.data = { RPiIpaMask::EMBEDDED_DATA | embeddedBuffer->cookie(),
RPiIpaMask::BAYER_DATA | bayerBuffer->cookie() };
ipa_->processEvent(op);
}
void RPiCameraData::tryFlushQueues()
{
/*
* It is possible for us to end up in a situation where all available
* Unicam buffers have been dequeued but do not match. This can happen
* when the system is heavily loaded and we get out of lock-step with
* the two channels.
*
* In such cases, the best thing to do is the re-queue all the buffers
* and give a chance for the hardware to return to lock-step. We do have
* to drop all interim frames.
*/
if (unicam_[Unicam::Image].getBuffers()->size() == bayerQueue_.size() &&
unicam_[Unicam::Embedded].getBuffers()->size() == embeddedQueue_.size()) {
LOG(RPI, Warning) << "Flushing all buffer queues!";
while (!bayerQueue_.empty()) {
unicam_[Unicam::Image].dev()->queueBuffer(bayerQueue_.front());
bayerQueue_.pop();
}
while (!embeddedQueue_.empty()) {
unicam_[Unicam::Embedded].dev()->queueBuffer(embeddedQueue_.front());
embeddedQueue_.pop();
}
}
}
FrameBuffer *RPiCameraData::updateQueue(std::queue<FrameBuffer *> &q, uint64_t timestamp,
V4L2VideoDevice *dev)
{
while (!q.empty()) {
FrameBuffer *b = q.front();
if (b->metadata().timestamp < timestamp) {
q.pop();
dev->queueBuffer(b);
LOG(RPI, Error) << "Dropping input frame!";
} else if (b->metadata().timestamp == timestamp) {
/* The calling function will pop the item from the queue. */
return b;
} else {
break; /* Only higher timestamps from here. */
}
}
return nullptr;
}
REGISTER_PIPELINE_HANDLER(PipelineHandlerRPi);
} /* namespace libcamera */
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