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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 <iomanip>
#include <math.h>
#include <sys/sysmacros.h>
#include <tuple>
#include <libcamera/camera.h>
#include <libcamera/control_ids.h>
#include <libcamera/controls.h>
#include <libcamera/request.h>
#include <libcamera/stream.h>
#include "device_enumerator.h"
#include "log.h"
#include "media_device.h"
#include "pipeline_handler.h"
#include "utils.h"
#include "v4l2_controls.h"
#include "v4l2_videodevice.h"
namespace libcamera {
LOG_DEFINE_CATEGORY(UVC)
class UVCCameraData : public CameraData
{
public:
UVCCameraData(PipelineHandler *pipe)
: CameraData(pipe), video_(nullptr)
{
}
~UVCCameraData()
{
delete video_;
}
int init(MediaEntity *entity);
void addControl(uint32_t cid, const ControlInfo &v4l2info,
ControlInfoMap::Map *ctrls);
void bufferReady(FrameBuffer *buffer);
V4L2VideoDevice *video_;
Stream stream_;
};
class UVCCameraConfiguration : public CameraConfiguration
{
public:
UVCCameraConfiguration();
Status validate() override;
};
class PipelineHandlerUVC : public PipelineHandler
{
public:
PipelineHandlerUVC(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:
int processControl(ControlList *controls, unsigned int id,
const ControlValue &value);
int processControls(UVCCameraData *data, Request *request);
UVCCameraData *cameraData(const Camera *camera)
{
return static_cast<UVCCameraData *>(
PipelineHandler::cameraData(camera));
}
};
UVCCameraConfiguration::UVCCameraConfiguration()
: CameraConfiguration()
{
}
CameraConfiguration::Status UVCCameraConfiguration::validate()
{
Status status = Valid;
if (config_.empty())
return Invalid;
/* 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.toString() << " to "
<< cfg.pixelFormat.toString();
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.toString()
<< " to " << cfg.size.toString();
status = Adjusted;
}
cfg.bufferCount = 4;
return status;
}
PipelineHandlerUVC::PipelineHandlerUVC(CameraManager *manager)
: PipelineHandler(manager)
{
}
CameraConfiguration *PipelineHandlerUVC::generateConfiguration(Camera *camera,
const StreamRoles &roles)
{
UVCCameraData *data = cameraData(camera);
CameraConfiguration *config = new UVCCameraConfiguration();
if (roles.empty())
return config;
std::map<V4L2PixelFormat, std::vector<SizeRange>> v4l2Formats =
data->video_->formats();
std::map<PixelFormat, std::vector<SizeRange>> deviceFormats;
std::transform(v4l2Formats.begin(), v4l2Formats.end(),
std::inserter(deviceFormats, deviceFormats.begin()),
[&](const decltype(v4l2Formats)::value_type &format) {
return decltype(deviceFormats)::value_type{
data->video_->toPixelFormat(format.first),
format.second
};
});
StreamFormats formats(deviceFormats);
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)
{
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::stop(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);
/*
* See UVCCameraData::addControl() for explanations of the different
* value mappings.
*/
switch (cid) {
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_GAIN: {
int32_t min = v4l2Info.min().get<int32_t>();
int32_t max = v4l2Info.max().get<int32_t>();
int32_t def = v4l2Info.def().get<int32_t>();
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 (auto it : request->controls()) {
unsigned int id = it.first;
ControlValue &value = it.second;
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);
/* 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 *entity) {
return entity->flags() & MEDIA_ENT_FL_DEFAULT;
});
if (entity == entities.end()) {
LOG(UVC, Error) << "Could not find a default video device";
return false;
}
if (data->init(*entity))
return false;
dev_t devnum = makedev((*entity)->deviceMajor(), (*entity)->deviceMinor());
/* Create and register the camera. */
std::set<Stream *> streams{ &data->stream_ };
std::shared_ptr<Camera> camera = Camera::create(this, media->model(), streams);
registerCamera(std::move(camera), std::move(data), devnum);
/* Enable hot-unplug notifications. */
hotplugMediaDevice(media);
return true;
}
int UVCCameraData::init(MediaEntity *entity)
{
int ret;
/* Create and open the video device. */
video_ = new V4L2VideoDevice(entity);
ret = video_->open();
if (ret)
return ret;
video_->bufferReady.connect(this, &UVCCameraData::bufferReady);
/* 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_ = std::move(ctrls);
return 0;
}
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_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_GAIN: {
/*
* The AnalogueGain control is a float, 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 gain
* control. 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();
pipe_->completeBuffer(camera_, request, buffer);
pipe_->completeRequest(camera_, request);
}
REGISTER_PIPELINE_HANDLER(PipelineHandlerUVC);
} /* namespace libcamera */
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