[libcamera-devel] [PATCH 2/3] pipeline: raspberrypi: Allow registration of multiple cameras
Naushir Patuck
naush at raspberrypi.com
Fri Nov 19 12:09:54 CET 2021
Expand the pipeline handler camera registration to correctly handle multiple
cameras attached to the platform. For example, Raspberry Pi Compute Module
platforms have two camera connectors, and this change would allow the user to
select either of the two cameras to run.
There are associated kernel driver changes for both Unicam and the ISP needed
to correctly advertise multiple media devices and nodes for multi-camera usage:
https://github.com/raspberrypi/linux/pull/4140
https://github.com/raspberrypi/linux/pull/4709
However, this change is backward compatible with kernel builds that do not have
these changes for standard single camera usage.
Signed-off-by: Naushir Patuck <naush at raspberrypi.com>
---
.../pipeline/raspberrypi/raspberrypi.cpp | 112 ++++++++++++------
1 file changed, 77 insertions(+), 35 deletions(-)
diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp
index 9aa7e9eef5e7..8ed2ebcaafe7 100644
--- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp
+++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp
@@ -311,7 +311,8 @@ private:
return static_cast<RPiCameraData *>(camera->_d());
}
- bool registerCameras();
+ int registerCameras(MediaDevice *unicam, MediaDevice *isp,
+ const std::string &unicamIdStr, const std::string &ispIdStr);
int queueAllBuffers(Camera *camera);
int prepareBuffers(Camera *camera);
void freeBuffers(Camera *camera);
@@ -993,49 +994,87 @@ int PipelineHandlerRPi::queueRequestDevice(Camera *camera, Request *request)
bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator)
{
- DeviceMatch unicam("unicam");
- DeviceMatch isp("bcm2835-isp");
+ unsigned int numCameras = 0;
- unicam.add("unicam-image");
+ /*
+ * String of indexes to append to the entity names when searching for
+ * the Unican media devices. The first string is empty (un-indexed) to
+ * to maintain backward compatability with old versions of the Unicam
+ * kernel driver that did not advertise instance indexes.
+ */
+ for (const std::string &unicamIdStr : { "", "0", "1" }) {
+ MediaDevice *unicamDevice;
- 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 */
+ DeviceMatch unicam("unicam");
+ unicam.add("unicam" + unicamIdStr + "-image");
+ unicamDevice = acquireMediaDevice(enumerator, unicam);
- unicam_ = acquireMediaDevice(enumerator, unicam);
- if (!unicam_)
- return false;
+ if (!unicamDevice)
+ continue;
- isp_ = acquireMediaDevice(enumerator, isp);
- if (!isp_)
- return false;
+ for (const std::string &ispIdStr : { "0", "1" }) {
+ MediaDevice *ispDevice;
+ int ret;
+
+ DeviceMatch isp("bcm2835-isp");
+ isp.add("bcm2835-isp" + ispIdStr + "-output0"); /* Input */
+ isp.add("bcm2835-isp" + ispIdStr + "-capture1"); /* Output 0 */
+ isp.add("bcm2835-isp" + ispIdStr + "-capture2"); /* Output 0 */
+ isp.add("bcm2835-isp" + ispIdStr + "-capture3"); /* Stats */
+ ispDevice = acquireMediaDevice(enumerator, isp);
+
+ if (!ispDevice)
+ continue;
+
+ ret = registerCameras(unicamDevice, ispDevice, unicamIdStr, ispIdStr);
+ if (ret) {
+ LOG(RPI, Error) << "Failed to register camera: " << ret;
+ ispDevice->release();
+ unicamDevice->release();
+ } else
+ numCameras++;
- return registerCameras();
+ break;
+ }
+ }
+
+ return !!numCameras;
}
-bool PipelineHandlerRPi::registerCameras()
+int PipelineHandlerRPi::registerCameras(MediaDevice *unicam, MediaDevice *isp,
+ const std::string &unicamIdStr,
+ const std::string &ispIdStr)
{
std::unique_ptr<RPiCameraData> data = std::make_unique<RPiCameraData>(this);
+
if (!data->dmaHeap_.isValid())
- return false;
+ return -ENOMEM;
+
+ MediaEntity *unicamImage = unicam->getEntityByName("unicam" + unicamIdStr + "-image");
+ MediaEntity *ispOutput0 = isp->getEntityByName("bcm2835-isp" + ispIdStr + "-output0");
+ MediaEntity *ispCapture1 = isp->getEntityByName("bcm2835-isp" + ispIdStr + "-capture1");
+ MediaEntity *ispCapture2 = isp->getEntityByName("bcm2835-isp" + ispIdStr + "-capture2");
+ MediaEntity *ispCapture3 = isp->getEntityByName("bcm2835-isp" + ispIdStr + "-capture3");
+
+ if (!unicamImage || !ispOutput0 || !ispCapture1 || !ispCapture2 || !ispCapture3)
+ return -ENOENT;
/* Locate and open the unicam video streams. */
- data->unicam_[Unicam::Image] = RPi::Stream("Unicam Image", unicam_->getEntityByName("unicam-image"));
+ data->unicam_[Unicam::Image] = RPi::Stream("Unicam Image", unicamImage);
/* An embedded data node will not be present if the sensor does not support it. */
- MediaEntity *embeddedEntity = unicam_->getEntityByName("unicam-embedded");
- if (embeddedEntity) {
- data->unicam_[Unicam::Embedded] = RPi::Stream("Unicam Embedded", embeddedEntity);
+ MediaEntity *unicamEmbedded = unicam->getEntityByName("unicam" + unicamIdStr + "-embedded");
+ if (unicamEmbedded) {
+ data->unicam_[Unicam::Embedded] = RPi::Stream("Unicam Embedded", unicamEmbedded);
data->unicam_[Unicam::Embedded].dev()->bufferReady.connect(data.get(),
&RPiCameraData::unicamBufferDequeue);
}
/* Tag the ISP input stream as an import stream. */
- data->isp_[Isp::Input] = RPi::Stream("ISP Input", isp_->getEntityByName("bcm2835-isp0-output0"), true);
- data->isp_[Isp::Output0] = RPi::Stream("ISP Output0", isp_->getEntityByName("bcm2835-isp0-capture1"));
- data->isp_[Isp::Output1] = RPi::Stream("ISP Output1", isp_->getEntityByName("bcm2835-isp0-capture2"));
- data->isp_[Isp::Stats] = RPi::Stream("ISP Stats", isp_->getEntityByName("bcm2835-isp0-capture3"));
+ data->isp_[Isp::Input] = RPi::Stream("ISP Input", ispOutput0, true);
+ data->isp_[Isp::Output0] = RPi::Stream("ISP Output0", ispCapture1);
+ data->isp_[Isp::Output1] = RPi::Stream("ISP Output1", ispCapture2);
+ data->isp_[Isp::Stats] = RPi::Stream("ISP Stats", ispCapture3);
/* Wire up all the buffer connections. */
data->unicam_[Unicam::Image].dev()->frameStart.connect(data.get(), &RPiCameraData::frameStarted);
@@ -1046,7 +1085,7 @@ bool PipelineHandlerRPi::registerCameras()
data->isp_[Isp::Stats].dev()->bufferReady.connect(data.get(), &RPiCameraData::ispOutputDequeue);
/* Identify the sensor. */
- for (MediaEntity *entity : unicam_->entities()) {
+ for (MediaEntity *entity : unicam->entities()) {
if (entity->function() == MEDIA_ENT_F_CAM_SENSOR) {
data->sensor_ = std::make_unique<CameraSensor>(entity);
break;
@@ -1054,23 +1093,23 @@ bool PipelineHandlerRPi::registerCameras()
}
if (!data->sensor_)
- return false;
+ return -EINVAL;
if (data->sensor_->init())
- return false;
+ return -EINVAL;
data->sensorFormats_ = populateSensorFormats(data->sensor_);
ipa::RPi::SensorConfig sensorConfig;
if (data->loadIPA(&sensorConfig)) {
LOG(RPI, Error) << "Failed to load a suitable IPA library";
- return false;
+ return -EINVAL;
}
- if (sensorConfig.sensorMetadata ^ !!embeddedEntity) {
+ if (sensorConfig.sensorMetadata ^ !!unicamEmbedded) {
LOG(RPI, Warning) << "Mismatch between Unicam and CamHelper for embedded data usage!";
sensorConfig.sensorMetadata = false;
- if (embeddedEntity)
+ if (unicamEmbedded)
data->unicam_[Unicam::Embedded].dev()->bufferReady.disconnect();
}
@@ -1091,12 +1130,12 @@ bool PipelineHandlerRPi::registerCameras()
for (auto stream : data->streams_) {
if (stream->dev()->open())
- return false;
+ continue;
}
if (!data->unicam_[Unicam::Image].dev()->caps().hasMediaController()) {
LOG(RPI, Error) << "Unicam driver does not use the MediaController, please update your kernel!";
- return false;
+ return -EINVAL;
}
/*
@@ -1158,7 +1197,7 @@ bool PipelineHandlerRPi::registerCameras()
if (!bayerFormat.isValid()) {
LOG(RPI, Error) << "No Bayer format found";
- return false;
+ return -EINVAL;
}
data->nativeBayerOrder_ = bayerFormat.order;
@@ -1178,7 +1217,10 @@ bool PipelineHandlerRPi::registerCameras()
Camera::create(std::move(data), id, streams);
registerCamera(std::move(camera));
- return true;
+ LOG(RPI, Info) << "Registered camera " << id
+ << " to instances \"unicam" << unicamIdStr << "\""
+ << " and \"isp" << ispIdStr << "\"";
+ return 0;
}
int PipelineHandlerRPi::queueAllBuffers(Camera *camera)
--
2.25.1
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