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|
/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
* Copyright (C) 2019, Google Inc.
*
* uvcvideo.cpp - Pipeline handler for uvcvideo devices
*/
#include <algorithm>
#include <fstream>
#include <iomanip>
#include <math.h>
#include <memory>
#include <tuple>
#include <libcamera/base/log.h>
#include <libcamera/base/utils.h>
#include <libcamera/camera.h>
#include <libcamera/control_ids.h>
#include <libcamera/controls.h>
#include <libcamera/property_ids.h>
#include <libcamera/request.h>
#include <libcamera/stream.h>
#include "libcamera/internal/camera.h"
#include "libcamera/internal/device_enumerator.h"
#include "libcamera/internal/media_device.h"
#include "libcamera/internal/pipeline_handler.h"
#include "libcamera/internal/sysfs.h"
#include "libcamera/internal/v4l2_videodevice.h"
namespace libcamera {
LOG_DEFINE_CATEGORY(UVC)
class UVCCameraData : public Camera::Private
{
public:
UVCCameraData(PipelineHandler *pipe)
: Camera::Private(pipe)
{
}
int init(MediaDevice *media);
void addControl(uint32_t cid, const ControlInfo &v4l2info,
ControlInfoMap::Map *ctrls);
void bufferReady(FrameBuffer *buffer);
const std::string &id() const { return id_; }
std::unique_ptr<V4L2VideoDevice> video_;
Stream stream_;
std::map<PixelFormat, std::vector<SizeRange>> formats_;
private:
bool generateId();
std::string id_;
};
class UVCCameraConfiguration : public CameraConfiguration
{
public:
UVCCameraConfiguration(UVCCameraData *data);
Status validate() override;
private:
UVCCameraData *data_;
};
class PipelineHandlerUVC : public PipelineHandler
{
public:
PipelineHandlerUVC(CameraManager *manager);
std::unique_ptr<CameraConfiguration> generateConfiguration(Camera *camera,
Span<const StreamRole> 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, const ControlList *controls) override;
void stopDevice(Camera *camera) override;
int queueRequestDevice(Camera *camera, Request *request) override;
bool match(DeviceEnumerator *enumerator) override;
private:
int processControl(ControlList *controls, unsigned int id,
const ControlValue &value);
int processControls(UVCCameraData *data, Request *request);
UVCCameraData *cameraData(Camera *camera)
{
return static_cast<UVCCameraData *>(camera->_d());
}
};
UVCCameraConfiguration::UVCCameraConfiguration(UVCCameraData *data)
: CameraConfiguration(), data_(data)
{
}
CameraConfiguration::Status UVCCameraConfiguration::validate()
{
Status status = Valid;
if (config_.empty())
return Invalid;
if (orientation != Orientation::Rotate0) {
orientation = Orientation::Rotate0;
status = Adjusted;
}
/* Cap the number of entries to the available streams. */
if (config_.size() > 1) {
config_.resize(1);
status = Adjusted;
}
StreamConfiguration &cfg = config_[0];
const StreamFormats &formats = cfg.formats();
const PixelFormat pixelFormat = cfg.pixelFormat;
const Size size = cfg.size;
const std::vector<PixelFormat> pixelFormats = formats.pixelformats();
auto iter = std::find(pixelFormats.begin(), pixelFormats.end(), pixelFormat);
if (iter == pixelFormats.end()) {
cfg.pixelFormat = pixelFormats.front();
LOG(UVC, Debug)
<< "Adjusting pixel format from " << pixelFormat
<< " to " << cfg.pixelFormat;
status = Adjusted;
}
const std::vector<Size> &formatSizes = formats.sizes(cfg.pixelFormat);
cfg.size = formatSizes.front();
for (const Size &formatsSize : formatSizes) {
if (formatsSize > size)
break;
cfg.size = formatsSize;
}
if (cfg.size != size) {
LOG(UVC, Debug)
<< "Adjusting size from " << size << " to " << cfg.size;
status = Adjusted;
}
cfg.bufferCount = 4;
V4L2DeviceFormat format;
format.fourcc = data_->video_->toV4L2PixelFormat(cfg.pixelFormat);
format.size = cfg.size;
int ret = data_->video_->tryFormat(&format);
if (ret)
return Invalid;
cfg.stride = format.planes[0].bpl;
cfg.frameSize = format.planes[0].size;
if (cfg.colorSpace != format.colorSpace) {
cfg.colorSpace = format.colorSpace;
status = Adjusted;
}
return status;
}
PipelineHandlerUVC::PipelineHandlerUVC(CameraManager *manager)
: PipelineHandler(manager)
{
}
std::unique_ptr<CameraConfiguration>
PipelineHandlerUVC::generateConfiguration(Camera *camera,
Span<const StreamRole> roles)
{
UVCCameraData *data = cameraData(camera);
std::unique_ptr<CameraConfiguration> config =
std::make_unique<UVCCameraConfiguration>(data);
if (roles.empty())
return config;
StreamFormats formats(data->formats_);
StreamConfiguration cfg(formats);
cfg.pixelFormat = formats.pixelformats().front();
cfg.size = formats.sizes(cfg.pixelFormat).back();
cfg.bufferCount = 4;
config->addConfiguration(cfg);
config->validate();
return config;
}
int PipelineHandlerUVC::configure(Camera *camera, CameraConfiguration *config)
{
UVCCameraData *data = cameraData(camera);
StreamConfiguration &cfg = config->at(0);
int ret;
V4L2DeviceFormat format;
format.fourcc = data->video_->toV4L2PixelFormat(cfg.pixelFormat);
format.size = cfg.size;
ret = data->video_->setFormat(&format);
if (ret)
return ret;
if (format.size != cfg.size ||
format.fourcc != data->video_->toV4L2PixelFormat(cfg.pixelFormat))
return -EINVAL;
cfg.setStream(&data->stream_);
return 0;
}
int PipelineHandlerUVC::exportFrameBuffers(Camera *camera, Stream *stream,
std::vector<std::unique_ptr<FrameBuffer>> *buffers)
{
UVCCameraData *data = cameraData(camera);
unsigned int count = stream->configuration().bufferCount;
return data->video_->exportBuffers(count, buffers);
}
int PipelineHandlerUVC::start(Camera *camera, [[maybe_unused]] const ControlList *controls)
{
UVCCameraData *data = cameraData(camera);
unsigned int count = data->stream_.configuration().bufferCount;
int ret = data->video_->importBuffers(count);
if (ret < 0)
return ret;
ret = data->video_->streamOn();
if (ret < 0) {
data->video_->releaseBuffers();
return ret;
}
return 0;
}
void PipelineHandlerUVC::stopDevice(Camera *camera)
{
UVCCameraData *data = cameraData(camera);
data->video_->streamOff();
data->video_->releaseBuffers();
}
int PipelineHandlerUVC::processControl(ControlList *controls, unsigned int id,
const ControlValue &value)
{
uint32_t cid;
if (id == controls::Brightness)
cid = V4L2_CID_BRIGHTNESS;
else if (id == controls::Contrast)
cid = V4L2_CID_CONTRAST;
else if (id == controls::Saturation)
cid = V4L2_CID_SATURATION;
else if (id == controls::AeEnable)
cid = V4L2_CID_EXPOSURE_AUTO;
else if (id == controls::ExposureTime)
cid = V4L2_CID_EXPOSURE_ABSOLUTE;
else if (id == controls::AnalogueGain)
cid = V4L2_CID_GAIN;
else
return -EINVAL;
const ControlInfo &v4l2Info = controls->infoMap()->at(cid);
int32_t min = v4l2Info.min().get<int32_t>();
int32_t def = v4l2Info.def().get<int32_t>();
int32_t max = v4l2Info.max().get<int32_t>();
/*
* See UVCCameraData::addControl() for explanations of the different
* value mappings.
*/
switch (cid) {
case V4L2_CID_BRIGHTNESS: {
float scale = std::max(max - def, def - min);
float fvalue = value.get<float>() * scale + def;
controls->set(cid, static_cast<int32_t>(lroundf(fvalue)));
break;
}
case V4L2_CID_SATURATION: {
float scale = def - min;
float fvalue = value.get<float>() * scale + min;
controls->set(cid, static_cast<int32_t>(lroundf(fvalue)));
break;
}
case V4L2_CID_EXPOSURE_AUTO: {
int32_t ivalue = value.get<bool>()
? V4L2_EXPOSURE_APERTURE_PRIORITY
: V4L2_EXPOSURE_MANUAL;
controls->set(V4L2_CID_EXPOSURE_AUTO, ivalue);
break;
}
case V4L2_CID_EXPOSURE_ABSOLUTE:
controls->set(cid, value.get<int32_t>() / 100);
break;
case V4L2_CID_CONTRAST:
case V4L2_CID_GAIN: {
float m = (4.0f - 1.0f) / (max - def);
float p = 1.0f - m * def;
if (m * min + p < 0.5f) {
m = (1.0f - 0.5f) / (def - min);
p = 1.0f - m * def;
}
float fvalue = (value.get<float>() - p) / m;
controls->set(cid, static_cast<int32_t>(lroundf(fvalue)));
break;
}
default: {
int32_t ivalue = value.get<int32_t>();
controls->set(cid, ivalue);
break;
}
}
return 0;
}
int PipelineHandlerUVC::processControls(UVCCameraData *data, Request *request)
{
ControlList controls(data->video_->controls());
for (const auto &[id, value] : request->controls())
processControl(&controls, id, value);
for (const auto &ctrl : controls)
LOG(UVC, Debug)
<< "Setting control " << utils::hex(ctrl.first)
<< " to " << ctrl.second.toString();
int ret = data->video_->setControls(&controls);
if (ret) {
LOG(UVC, Error) << "Failed to set controls: " << ret;
return ret < 0 ? ret : -EINVAL;
}
return ret;
}
int PipelineHandlerUVC::queueRequestDevice(Camera *camera, Request *request)
{
UVCCameraData *data = cameraData(camera);
FrameBuffer *buffer = request->findBuffer(&data->stream_);
if (!buffer) {
LOG(UVC, Error)
<< "Attempt to queue request with invalid stream";
return -ENOENT;
}
int ret = processControls(data, request);
if (ret < 0)
return ret;
ret = data->video_->queueBuffer(buffer);
if (ret < 0)
return ret;
return 0;
}
bool PipelineHandlerUVC::match(DeviceEnumerator *enumerator)
{
MediaDevice *media;
DeviceMatch dm("uvcvideo");
media = acquireMediaDevice(enumerator, dm);
if (!media)
return false;
std::unique_ptr<UVCCameraData> data = std::make_unique<UVCCameraData>(this);
if (data->init(media))
return false;
/* Create and register the camera. */
std::string id = data->id();
std::set<Stream *> streams{ &data->stream_ };
std::shared_ptr<Camera> camera =
Camera::create(std::move(data), id, streams);
registerCamera(std::move(camera));
/* Enable hot-unplug notifications. */
hotplugMediaDevice(media);
return true;
}
int UVCCameraData::init(MediaDevice *media)
{
int ret;
/* Locate and initialise the camera data with the default video node. */
const std::vector<MediaEntity *> &entities = media->entities();
auto entity = std::find_if(entities.begin(), entities.end(),
[](MediaEntity *e) {
return e->flags() & MEDIA_ENT_FL_DEFAULT;
});
if (entity == entities.end()) {
LOG(UVC, Error) << "Could not find a default video device";
return -ENODEV;
}
/* Create and open the video device. */
video_ = std::make_unique<V4L2VideoDevice>(*entity);
ret = video_->open();
if (ret)
return ret;
video_->bufferReady.connect(this, &UVCCameraData::bufferReady);
/* Generate the camera ID. */
if (!generateId()) {
LOG(UVC, Error) << "Failed to generate camera ID";
return -EINVAL;
}
/*
* Populate the map of supported formats, and infer the camera sensor
* resolution from the largest size it advertises.
*/
Size resolution;
for (const auto &format : video_->formats()) {
PixelFormat pixelFormat = format.first.toPixelFormat();
if (!pixelFormat.isValid())
continue;
formats_[pixelFormat] = format.second;
const std::vector<SizeRange> &sizeRanges = format.second;
for (const SizeRange &sizeRange : sizeRanges) {
if (sizeRange.max > resolution)
resolution = sizeRange.max;
}
}
if (formats_.empty()) {
LOG(UVC, Error)
<< "Camera " << id_ << " (" << media->model()
<< ") doesn't expose any supported format";
return -EINVAL;
}
/* Populate the camera properties. */
properties_.set(properties::Model, utils::toAscii(media->model()));
/*
* Derive the location from the device removable attribute in sysfs.
* Non-removable devices are assumed to be front as we lack detailed
* location information, and removable device are considered external.
*
* The sysfs removable attribute is derived from the ACPI _UPC attribute
* if available, or from the USB hub descriptors otherwise. ACPI data
* may not be very reliable, and the USB hub descriptors may not be
* accurate on DT-based platforms. A heuristic may need to be
* implemented later if too many devices end up being miscategorized.
*
* \todo Find a way to tell front and back devices apart. This could
* come from the ACPI _PLD, but that may be even more unreliable than
* the _UPC.
*/
properties::LocationEnum location = properties::CameraLocationExternal;
std::ifstream file(video_->devicePath() + "/../removable");
if (file.is_open()) {
std::string value;
std::getline(file, value);
file.close();
if (value == "fixed")
location = properties::CameraLocationFront;
}
properties_.set(properties::Location, location);
properties_.set(properties::PixelArraySize, resolution);
properties_.set(properties::PixelArrayActiveAreas, { Rectangle(resolution) });
/* Initialise the supported controls. */
ControlInfoMap::Map ctrls;
for (const auto &ctrl : video_->controls()) {
uint32_t cid = ctrl.first->id();
const ControlInfo &info = ctrl.second;
addControl(cid, info, &ctrls);
}
controlInfo_ = ControlInfoMap(std::move(ctrls), controls::controls);
return 0;
}
bool UVCCameraData::generateId()
{
const std::string path = video_->devicePath();
/* Create a controller ID from first device described in firmware. */
std::string controllerId;
std::string searchPath = path;
while (true) {
std::string::size_type pos = searchPath.rfind('/');
if (pos <= 1) {
LOG(UVC, Error) << "Can not find controller ID";
return false;
}
searchPath = searchPath.substr(0, pos);
controllerId = sysfs::firmwareNodePath(searchPath);
if (!controllerId.empty())
break;
}
/*
* Create a USB ID from the device path which has the known format:
*
* path = bus, "-", ports, ":", config, ".", interface ;
* bus = number ;
* ports = port, [ ".", ports ] ;
* port = number ;
* config = number ;
* interface = number ;
*
* Example: 3-2.4:1.0
*
* The bus is not guaranteed to be stable and needs to be stripped from
* the USB ID. The final USB ID is built up of the ports, config and
* interface properties.
*
* Example 2.4:1.0.
*/
std::string usbId = utils::basename(path.c_str());
usbId = usbId.substr(usbId.find('-') + 1);
/* Creata a device ID from the USB devices vendor and product ID. */
std::string deviceId;
for (const char *name : { "idVendor", "idProduct" }) {
std::ifstream file(path + "/../" + name);
if (!file.is_open())
return false;
std::string value;
std::getline(file, value);
file.close();
if (!deviceId.empty())
deviceId += ":";
deviceId += value;
}
id_ = controllerId + "-" + usbId + "-" + deviceId;
return true;
}
void UVCCameraData::addControl(uint32_t cid, const ControlInfo &v4l2Info,
ControlInfoMap::Map *ctrls)
{
const ControlId *id;
ControlInfo info;
/* Map the control ID. */
switch (cid) {
case V4L2_CID_BRIGHTNESS:
id = &controls::Brightness;
break;
case V4L2_CID_CONTRAST:
id = &controls::Contrast;
break;
case V4L2_CID_SATURATION:
id = &controls::Saturation;
break;
case V4L2_CID_EXPOSURE_AUTO:
id = &controls::AeEnable;
break;
case V4L2_CID_EXPOSURE_ABSOLUTE:
id = &controls::ExposureTime;
break;
case V4L2_CID_GAIN:
id = &controls::AnalogueGain;
break;
default:
return;
}
/* Map the control info. */
int32_t min = v4l2Info.min().get<int32_t>();
int32_t max = v4l2Info.max().get<int32_t>();
int32_t def = v4l2Info.def().get<int32_t>();
switch (cid) {
case V4L2_CID_BRIGHTNESS: {
/*
* The Brightness control is a float, with 0.0 mapped to the
* default value. The control range is [-1.0, 1.0], but the V4L2
* default may not be in the middle of the V4L2 range.
* Accommodate this by restricting the range of the libcamera
* control, but always within the maximum limits.
*/
float scale = std::max(max - def, def - min);
info = ControlInfo{
{ static_cast<float>(min - def) / scale },
{ static_cast<float>(max - def) / scale },
{ 0.0f }
};
break;
}
case V4L2_CID_SATURATION:
/*
* The Saturation control is a float, with 0.0 mapped to the
* minimum value (corresponding to a fully desaturated image)
* and 1.0 mapped to the default value. Calculate the maximum
* value accordingly.
*/
info = ControlInfo{
{ 0.0f },
{ static_cast<float>(max - min) / (def - min) },
{ 1.0f }
};
break;
case V4L2_CID_EXPOSURE_AUTO:
info = ControlInfo{ false, true, true };
break;
case V4L2_CID_EXPOSURE_ABSOLUTE:
/*
* ExposureTime is in units of 1 µs, and UVC expects
* V4L2_CID_EXPOSURE_ABSOLUTE in units of 100 µs.
*/
info = ControlInfo{
{ min * 100 },
{ max * 100 },
{ def * 100 }
};
break;
case V4L2_CID_CONTRAST:
case V4L2_CID_GAIN: {
/*
* The Contrast and AnalogueGain controls are floats, with 1.0
* mapped to the default value. UVC doesn't specify units, and
* cameras have been seen to expose very different ranges for
* the controls. Arbitrarily assume that the minimum and
* maximum values are respectively no lower than 0.5 and no
* higher than 4.0.
*/
float m = (4.0f - 1.0f) / (max - def);
float p = 1.0f - m * def;
if (m * min + p < 0.5f) {
m = (1.0f - 0.5f) / (def - min);
p = 1.0f - m * def;
}
info = ControlInfo{
{ m * min + p },
{ m * max + p },
{ 1.0f }
};
break;
}
default:
info = v4l2Info;
break;
}
ctrls->emplace(id, info);
}
void UVCCameraData::bufferReady(FrameBuffer *buffer)
{
Request *request = buffer->request();
/* \todo Use the UVC metadata to calculate a more precise timestamp */
request->metadata().set(controls::SensorTimestamp,
buffer->metadata().timestamp);
pipe()->completeBuffer(request, buffer);
pipe()->completeRequest(request);
}
REGISTER_PIPELINE_HANDLER(PipelineHandlerUVC)
} /* namespace libcamera */
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