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|
/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
* Copyright (C) 2018, Google Inc.
*
* pipeline_handler.cpp - Pipeline handler infrastructure
*/
#include "libcamera/internal/pipeline_handler.h"
#include <sys/sysmacros.h>
#include <libcamera/base/log.h>
#include <libcamera/base/utils.h>
#include <libcamera/buffer.h>
#include <libcamera/camera.h>
#include <libcamera/camera_manager.h>
#include "libcamera/internal/device_enumerator.h"
#include "libcamera/internal/media_device.h"
#include "libcamera/internal/tracepoints.h"
/**
* \file pipeline_handler.h
* \brief Create pipelines and cameras from a set of media devices
*
* Each pipeline supported by libcamera needs to be backed by a pipeline
* handler implementation that operate on a set of media devices. The pipeline
* handler is responsible for matching the media devices it requires with the
* devices present in the system, and once all those devices can be acquired,
* create corresponding Camera instances.
*
* Every subclass of PipelineHandler shall be registered with libcamera using
* the REGISTER_PIPELINE_HANDLER() macro.
*/
namespace libcamera {
LOG_DEFINE_CATEGORY(Pipeline)
/**
* \class CameraData
* \brief Base class for platform-specific data associated with a camera
*
* The CameraData base abstract class represents platform specific-data
* a pipeline handler might want to associate with a Camera to access them
* at a later time.
*
* Pipeline handlers are expected to extend this base class with platform
* specific implementation, associate instances of the derived classes
* using the registerCamera() method, and access them at a later time
* with cameraData().
*/
/**
* \fn CameraData::CameraData(PipelineHandler *pipe)
* \brief Construct a CameraData instance for the given pipeline handler
* \param[in] pipe The pipeline handler
*
* The reference to the pipeline handler is stored internally, the caller shall
* guarantee that the pointer remains valid as long as the CameraData instance
* exists.
*/
/**
* \var CameraData::pipe_
* \brief The pipeline handler related to this CameraData instance
*
* The pipe_ pointer provides access to the PipelineHandler object that this
* instance is related to. It is set when the CameraData instance is created
* and remains valid until the instance is destroyed.
*/
/**
* \var CameraData::queuedRequests_
* \brief The list of queued and not yet completed request
*
* The list of queued request is used to track requests queued in order to
* ensure completion of all requests when the pipeline handler is stopped.
*
* \sa PipelineHandler::queueRequest(), PipelineHandler::stop(),
* PipelineHandler::completeRequest()
*/
/**
* \var CameraData::controlInfo_
* \brief The set of controls supported by the camera
*
* The control information shall be initialised by the pipeline handler when
* creating the camera, and shall not be modified afterwards.
*/
/**
* \var CameraData::properties_
* \brief The list of properties supported by the camera
*
* The list of camera properties shall be initialised by the pipeline handler
* when creating the camera, and shall not be modified afterwards.
*/
/**
* \var CameraData::requestSequence_
* \brief The queuing sequence of the request
*
* When requests are queued, they are given a per-camera sequence number to
* facilitate debugging of internal request usage.
*
* The requestSequence_ tracks the number of requests queued to a camera
* over its lifetime.
*/
/**
* \class PipelineHandler
* \brief Create and manage cameras based on a set of media devices
*
* The PipelineHandler matches the media devices provided by a DeviceEnumerator
* with the pipelines it supports and creates corresponding Camera devices.
*
* Pipeline handler instances are reference-counted through std::shared_ptr<>.
* They implement std::enable_shared_from_this<> in order to create new
* std::shared_ptr<> in code paths originating from member functions of the
* PipelineHandler class where only the 'this' pointer is available.
*/
/**
* \brief Construct a PipelineHandler instance
* \param[in] manager The camera manager
*
* In order to honour the std::enable_shared_from_this<> contract,
* PipelineHandler instances shall never be constructed manually, but always
* through the PipelineHandlerFactory::create() method implemented by the
* respective factories.
*/
PipelineHandler::PipelineHandler(CameraManager *manager)
: manager_(manager)
{
}
PipelineHandler::~PipelineHandler()
{
for (std::shared_ptr<MediaDevice> media : mediaDevices_)
media->release();
}
/**
* \fn PipelineHandler::match(DeviceEnumerator *enumerator)
* \brief Match media devices and create camera instances
* \param[in] enumerator The enumerator providing all media devices found in the
* system
*
* This function is the main entry point of the pipeline handler. It is called
* by the camera manager with the \a enumerator passed as an argument. It shall
* acquire from the \a enumerator all the media devices it needs for a single
* pipeline, create one or multiple Camera instances and register them with the
* camera manager.
*
* If all media devices needed by the pipeline handler are found, they must all
* be acquired by a call to MediaDevice::acquire(). This function shall then
* create the corresponding Camera instances, store them internally, and return
* true. Otherwise it shall not acquire any media device (or shall release all
* the media devices is has acquired by calling MediaDevice::release()) and
* return false.
*
* If multiple instances of a pipeline are available in the system, the
* PipelineHandler class will be instantiated once per instance, and its match()
* function called for every instance. Each call shall acquire media devices for
* one pipeline instance, until all compatible media devices are exhausted.
*
* If this function returns true, a new instance of the pipeline handler will
* be created and its match() function called.
*
* \context This function is called from the CameraManager thread.
*
* \return true if media devices have been acquired and camera instances
* created, or false otherwise
*/
/**
* \brief Search and acquire a MediaDevice matching a device pattern
* \param[in] enumerator Enumerator containing all media devices in the system
* \param[in] dm Device match pattern
*
* Search the device \a enumerator for an available media device matching the
* device match pattern \a dm. Matching media device that have previously been
* acquired by MediaDevice::acquire() are not considered. If a match is found,
* the media device is acquired and returned. The caller shall not release the
* device explicitly, it will be automatically released when the pipeline
* handler is destroyed.
*
* \context This function shall be called from the CameraManager thread.
*
* \return A pointer to the matching MediaDevice, or nullptr if no match is found
*/
MediaDevice *PipelineHandler::acquireMediaDevice(DeviceEnumerator *enumerator,
const DeviceMatch &dm)
{
std::shared_ptr<MediaDevice> media = enumerator->search(dm);
if (!media)
return nullptr;
if (!media->acquire())
return nullptr;
mediaDevices_.push_back(media);
return media.get();
}
/**
* \brief Lock all media devices acquired by the pipeline
*
* This method shall not be called from pipeline handler implementation, as the
* Camera class handles locking directly.
*
* \context This function is \threadsafe.
*
* \return True if the devices could be locked, false otherwise
* \sa unlock()
* \sa MediaDevice::lock()
*/
bool PipelineHandler::lock()
{
for (std::shared_ptr<MediaDevice> &media : mediaDevices_) {
if (!media->lock()) {
unlock();
return false;
}
}
return true;
}
/**
* \brief Unlock all media devices acquired by the pipeline
*
* This method shall not be called from pipeline handler implementation, as the
* Camera class handles locking directly.
*
* \context This function is \threadsafe.
*
* \sa lock()
*/
void PipelineHandler::unlock()
{
for (std::shared_ptr<MediaDevice> &media : mediaDevices_)
media->unlock();
}
/**
* \brief Retrieve the list of controls for a camera
* \param[in] camera The camera
* \context This function is \threadsafe.
* \return A ControlInfoMap listing the controls support by \a camera
*/
const ControlInfoMap &PipelineHandler::controls(const Camera *camera) const
{
const CameraData *data = cameraData(camera);
return data->controlInfo_;
}
/**
* \brief Retrieve the list of properties for a camera
* \param[in] camera The camera
* \return A ControlList of properties supported by \a camera
*/
const ControlList &PipelineHandler::properties(const Camera *camera) const
{
const CameraData *data = cameraData(camera);
return data->properties_;
}
/**
* \fn PipelineHandler::generateConfiguration()
* \brief Generate a camera configuration for a specified camera
* \param[in] camera The camera to generate a default configuration for
* \param[in] roles A list of stream roles
*
* Generate a default configuration for the \a camera for a specified list of
* stream roles. The caller shall populate the \a roles with the use-cases it
* wishes to fetch the default configuration for. The returned configuration
* can then be examined by the caller to learn about the selected streams and
* their default parameters.
*
* The intended companion to this is \a configure() which can be used to change
* the group of streams parameters.
*
* \context This function may be called from any thread and shall be
* \threadsafe. It shall not modify the state of the \a camera in the pipeline
* handler.
*
* \return A valid CameraConfiguration if the requested roles can be satisfied,
* or a null pointer otherwise. The ownership of the returned configuration is
* passed to the caller.
*/
/**
* \fn PipelineHandler::configure()
* \brief Configure a group of streams for capture
* \param[in] camera The camera to configure
* \param[in] config The camera configurations to setup
*
* Configure the specified group of streams for \a camera according to the
* configuration specified in \a config. The intended caller of this interface
* is the Camera class which will receive configuration to apply from the
* application.
*
* The configuration is guaranteed to have been validated with
* CameraConfiguration::validate(). The pipeline handler implementation shall
* not perform further validation and may rely on any custom field stored in its
* custom CameraConfiguration derived class.
*
* When configuring the camera the pipeline handler shall associate a Stream
* instance to each StreamConfiguration entry in the CameraConfiguration using
* the StreamConfiguration::setStream() method.
*
* \context This function is called from the CameraManager thread.
*
* \return 0 on success or a negative error code otherwise
*/
/**
* \fn PipelineHandler::exportFrameBuffers()
* \brief Allocate and export buffers for \a stream
* \param[in] camera The camera
* \param[in] stream The stream to allocate buffers for
* \param[out] buffers Array of buffers successfully allocated
*
* This method allocates buffers for the \a stream from the devices associated
* with the stream in the corresponding pipeline handler. Those buffers shall be
* suitable to be added to a Request for the stream, and shall be mappable to
* the CPU through their associated dmabufs with mmap().
*
* The method may only be called after the Camera has been configured and before
* it gets started, or after it gets stopped. It shall be called only for
* streams that are part of the active camera configuration.
*
* The only intended caller is Camera::exportFrameBuffers().
*
* \context This function is called from the CameraManager thread.
*
* \return The number of allocated buffers on success or a negative error code
* otherwise
*/
/**
* \fn PipelineHandler::start()
* \brief Start capturing from a group of streams
* \param[in] camera The camera to start
* \param[in] controls Controls to be applied before starting the Camera
*
* Start the group of streams that have been configured for capture by
* \a configure(). The intended caller of this method is the Camera class which
* will in turn be called from the application to indicate that it has
* configured the streams and is ready to capture.
*
* \context This function is called from the CameraManager thread.
*
* \return 0 on success or a negative error code otherwise
*/
/**
* \fn PipelineHandler::stop()
* \brief Stop capturing from all running streams
* \param[in] camera The camera to stop
*
* This method stops capturing and processing requests immediately. All pending
* requests are cancelled and complete immediately in an error state.
*
* \context This function is called from the CameraManager thread.
*/
/**
* \brief Determine if the camera has any requests pending
* \param[in] camera The camera to check
*
* This method determines if there are any requests queued to the pipeline
* awaiting processing.
*
* \return True if there are pending requests, or false otherwise
*/
bool PipelineHandler::hasPendingRequests(const Camera *camera) const
{
const CameraData *data = cameraData(camera);
return !data->queuedRequests_.empty();
}
/**
* \fn PipelineHandler::queueRequest()
* \brief Queue a request
* \param[in] request The request to queue
*
* This method queues a capture request to the pipeline handler for processing.
* The request is first added to the internal list of queued requests, and
* then passed to the pipeline handler with a call to queueRequestDevice().
* If the pipeline handler fails in queuing the request to the hardware the
* request is cancelled.
*
* Keeping track of queued requests ensures automatic completion of all requests
* when the pipeline handler is stopped with stop(). Request completion shall be
* signalled by the pipeline handler using the completeRequest() method.
*
* \context This function is called from the CameraManager thread.
*/
void PipelineHandler::queueRequest(Request *request)
{
LIBCAMERA_TRACEPOINT(request_queue, request);
Camera *camera = request->camera_;
CameraData *data = cameraData(camera);
data->queuedRequests_.push_back(request);
request->sequence_ = data->requestSequence_++;
int ret = queueRequestDevice(camera, request);
if (ret) {
request->cancel();
completeRequest(request);
}
}
/**
* \fn PipelineHandler::queueRequestDevice()
* \brief Queue a request to the device
* \param[in] camera The camera to queue the request to
* \param[in] request The request to queue
*
* This method queues a capture request to the device for processing. The
* request contains a set of buffers associated with streams and a set of
* parameters. The pipeline handler shall program the device to ensure that the
* parameters will be applied to the frames captured in the buffers provided in
* the request.
*
* \context This function is called from the CameraManager thread.
*
* \return 0 on success or a negative error code otherwise
*/
/**
* \brief Complete a buffer for a request
* \param[in] request The request the buffer belongs to
* \param[in] buffer The buffer that has completed
*
* This method shall be called by pipeline handlers to signal completion of the
* \a buffer part of the \a request. It notifies applications of buffer
* completion and updates the request's internal buffer tracking. The request
* is not completed automatically when the last buffer completes to give
* pipeline handlers a chance to perform any operation that may still be
* needed. They shall complete requests explicitly with completeRequest().
*
* \context This function shall be called from the CameraManager thread.
*
* \return True if all buffers contained in the request have completed, false
* otherwise
*/
bool PipelineHandler::completeBuffer(Request *request, FrameBuffer *buffer)
{
Camera *camera = request->camera_;
camera->bufferCompleted.emit(request, buffer);
return request->completeBuffer(buffer);
}
/**
* \brief Signal request completion
* \param[in] request The request that has completed
*
* The pipeline handler shall call this method to notify the \a camera that the
* request has completed. The request is no longer managed by the pipeline
* handler and shall not be accessed once this method returns.
*
* This method ensures that requests will be returned to the application in
* submission order, the pipeline handler may call it on any complete request
* without any ordering constraint.
*
* \context This function shall be called from the CameraManager thread.
*/
void PipelineHandler::completeRequest(Request *request)
{
Camera *camera = request->camera_;
request->complete();
CameraData *data = cameraData(camera);
while (!data->queuedRequests_.empty()) {
Request *req = data->queuedRequests_.front();
if (req->status() == Request::RequestPending)
break;
ASSERT(!req->hasPendingBuffers());
data->queuedRequests_.pop_front();
camera->requestComplete(req);
}
}
/**
* \brief Register a camera to the camera manager and pipeline handler
* \param[in] camera The camera to be added
* \param[in] data Pipeline-specific data for the camera
*
* This method is called by pipeline handlers to register the cameras they
* handle with the camera manager. It associates the pipeline-specific \a data
* with the camera, for later retrieval with cameraData(). Ownership of \a data
* is transferred to the PipelineHandler.
*
* \context This function shall be called from the CameraManager thread.
*/
void PipelineHandler::registerCamera(std::shared_ptr<Camera> camera,
std::unique_ptr<CameraData> data)
{
cameraData_[camera.get()] = std::move(data);
cameras_.push_back(camera);
if (mediaDevices_.empty())
LOG(Pipeline, Fatal)
<< "Registering camera with no media devices!";
/*
* Walk the entity list and map the devnums of all capture video nodes
* to the camera.
*/
std::vector<dev_t> devnums;
for (const std::shared_ptr<MediaDevice> &media : mediaDevices_) {
for (const MediaEntity *entity : media->entities()) {
if (entity->pads().size() == 1 &&
(entity->pads()[0]->flags() & MEDIA_PAD_FL_SINK) &&
entity->function() == MEDIA_ENT_F_IO_V4L) {
devnums.push_back(makedev(entity->deviceMajor(),
entity->deviceMinor()));
}
}
}
manager_->addCamera(std::move(camera), devnums);
}
/**
* \brief Enable hotplug handling for a media device
* \param[in] media The media device
*
* This function enables hotplug handling, and especially hot-unplug handling,
* of the \a media device. It shall be called by pipeline handlers for all the
* media devices that can be disconnected.
*
* When a media device passed to this function is later unplugged, the pipeline
* handler gets notified and automatically disconnects all the cameras it has
* registered without requiring any manual intervention.
*/
void PipelineHandler::hotplugMediaDevice(MediaDevice *media)
{
media->disconnected.connect(this, &PipelineHandler::mediaDeviceDisconnected);
}
/**
* \brief Slot for the MediaDevice disconnected signal
*/
void PipelineHandler::mediaDeviceDisconnected(MediaDevice *media)
{
media->disconnected.disconnect(this);
if (cameras_.empty())
return;
disconnect();
}
/**
* \brief Device disconnection handler
*
* This virtual function is called to notify the pipeline handler that the
* device it handles has been disconnected. It notifies all cameras created by
* the pipeline handler that they have been disconnected, and unregisters them
* from the camera manager.
*
* The function can be overloaded by pipeline handlers to perform custom
* operations at disconnection time. Any overloaded version shall call the
* PipelineHandler::disconnect() base function for proper hot-unplug operation.
*/
void PipelineHandler::disconnect()
{
/*
* Each camera holds a reference to its associated pipeline handler
* instance. Hence, when the last camera is dropped, the pipeline
* handler will get destroyed by the last manager_->removeCamera(camera)
* call in the loop below.
*
* This is acceptable as long as we make sure that the code path does not
* access any member of the (already destroyed) pipeline handler instance
* afterwards. Therefore, we move the cameras_ vector to a local temporary
* container to avoid accessing freed memory later i.e. to explicitly run
* cameras_.clear().
*/
std::vector<std::weak_ptr<Camera>> cameras{ std::move(cameras_) };
for (std::weak_ptr<Camera> ptr : cameras) {
std::shared_ptr<Camera> camera = ptr.lock();
if (!camera)
continue;
camera->disconnect();
manager_->removeCamera(camera);
}
}
/**
* \brief Retrieve the pipeline-specific data associated with a Camera
* \param[in] camera The camera whose data to retrieve
* \return A pointer to the pipeline-specific data passed to registerCamera().
* The returned pointer is a borrowed reference and is guaranteed to remain
* valid until the pipeline handler is destroyed. It shall not be deleted
* manually by the caller.
*/
CameraData *PipelineHandler::cameraData(const Camera *camera)
{
ASSERT(cameraData_.count(camera));
return cameraData_[camera].get();
}
/**
* \brief Retrieve the pipeline-specific data associated with a Camera
* \param[in] camera The camera whose data to retrieve
* \sa cameraData()
* \return A const pointer to the pipeline-specific data passed to
* registerCamera().
*/
const CameraData *PipelineHandler::cameraData(const Camera *camera) const
{
ASSERT(cameraData_.count(camera));
return cameraData_.at(camera).get();
}
/**
* \var PipelineHandler::manager_
* \brief The Camera manager associated with the pipeline handler
*
* The camera manager pointer is stored in the pipeline handler for the
* convenience of pipeline handler implementations. It remains valid and
* constant for the whole lifetime of the pipeline handler.
*/
/**
* \fn PipelineHandler::name()
* \brief Retrieve the pipeline handler name
* \context This function shall be \threadsafe.
* \return The pipeline handler name
*/
/**
* \class PipelineHandlerFactory
* \brief Registration of PipelineHandler classes and creation of instances
*
* To facilitate discovery and instantiation of PipelineHandler classes, the
* PipelineHandlerFactory class maintains a registry of pipeline handler
* classes. Each PipelineHandler subclass shall register itself using the
* REGISTER_PIPELINE_HANDLER() macro, which will create a corresponding
* instance of a PipelineHandlerFactory subclass and register it with the
* static list of factories.
*/
/**
* \brief Construct a pipeline handler factory
* \param[in] name Name of the pipeline handler class
*
* Creating an instance of the factory registers is with the global list of
* factories, accessible through the factories() function.
*
* The factory \a name is used for debug purpose and shall be unique.
*/
PipelineHandlerFactory::PipelineHandlerFactory(const char *name)
: name_(name)
{
registerType(this);
}
/**
* \brief Create an instance of the PipelineHandler corresponding to the factory
* \param[in] manager The camera manager
*
* \return A shared pointer to a new instance of the PipelineHandler subclass
* corresponding to the factory
*/
std::shared_ptr<PipelineHandler> PipelineHandlerFactory::create(CameraManager *manager)
{
PipelineHandler *handler = createInstance(manager);
handler->name_ = name_.c_str();
return std::shared_ptr<PipelineHandler>(handler);
}
/**
* \fn PipelineHandlerFactory::name()
* \brief Retrieve the factory name
* \return The factory name
*/
/**
* \brief Add a pipeline handler class to the registry
* \param[in] factory Factory to use to construct the pipeline handler
*
* The caller is responsible to guarantee the uniqueness of the pipeline handler
* name.
*/
void PipelineHandlerFactory::registerType(PipelineHandlerFactory *factory)
{
std::vector<PipelineHandlerFactory *> &factories = PipelineHandlerFactory::factories();
factories.push_back(factory);
}
/**
* \brief Retrieve the list of all pipeline handler factories
* \return the list of pipeline handler factories
*/
std::vector<PipelineHandlerFactory *> &PipelineHandlerFactory::factories()
{
/*
* The static factories map is defined inside the function to ensure
* it gets initialized on first use, without any dependency on
* link order.
*/
static std::vector<PipelineHandlerFactory *> factories;
return factories;
}
/**
* \fn PipelineHandlerFactory::createInstance()
* \brief Create an instance of the PipelineHandler corresponding to the factory
* \param[in] manager The camera manager
*
* This virtual function is implemented by the REGISTER_PIPELINE_HANDLER()
* macro. It creates a pipeline handler instance associated with the camera
* \a manager.
*
* \return a pointer to a newly constructed instance of the PipelineHandler
* subclass corresponding to the factory
*/
/**
* \def REGISTER_PIPELINE_HANDLER
* \brief Register a pipeline handler with the pipeline handler factory
* \param[in] handler Class name of PipelineHandler derived class to register
*
* Register a PipelineHandler subclass with the factory and make it available to
* try and match devices.
*/
} /* namespace libcamera */
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