[libcamera-devel] [PATCH v2 2/6] pipeline: raspberrypi: Convert the pipeline handler to use media controller
Laurent Pinchart
laurent.pinchart at ideasonboard.com
Mon Oct 25 18:44:11 CEST 2021
Hi Naush,
Thank you for the patch.
On Fri, Oct 22, 2021 at 04:29:34PM +0100, Naushir Patuck wrote:
> On Fri, 22 Oct 2021 at 16:16, David Plowman wrote:
>
> > Hi Naush
> >
> > Thanks for the new version. I think a lot of stuff is tidier now that
> > we're clear that we're selecting a subdev format.
> >
> > On Fri, 22 Oct 2021 at 15:40, Naushir Patuck wrote:
> > >
> > > Switch the pipeline handler to use the new Unicam media controller based driver.
> > > With this change, we directly talk to the sensor device driver to set controls
> > > and set/get formats in the pipeline handler.
> > >
> > > This change requires the accompanying Raspberry Pi linux kernel change at
> > > https://github.com/raspberrypi/linux/pull/4645. If this kernel change is not
> > > present, the pipeline handler will fail to run with an error message informing
> > > the user to update the kernel build.
> > >
> > > Signed-off-by: Naushir Patuck <naush at raspberrypi.com>
> > > ---
> > > .../pipeline/raspberrypi/raspberrypi.cpp | 146 +++++++++++-------
> > > 1 file changed, 90 insertions(+), 56 deletions(-)
> > >
> > > diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp
> > > index 1634ca98f481..a31b0f81eba7 100644
> > > --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp
> > > +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp
> > > @@ -48,6 +48,29 @@ LOG_DEFINE_CATEGORY(RPI)
> > >
> > > namespace {
> > >
> > > +/* Map of mbus codes to supported sizes reported by the sensor. */
> > > +using SensorFormats = std::map<unsigned int, std::vector<Size>>;
> > > +
> > > +SensorFormats populateSensorFormats(std::unique_ptr<CameraSensor> &sensor)
> > > +{
> > > + SensorFormats formats;
> > > +
> > > + for (auto const mbusCode : sensor->mbusCodes())
> > > + formats.emplace(mbusCode, sensor->sizes(mbusCode));
> > > +
> > > + return formats;
> > > +}
> > > +
> > > +inline V4L2DeviceFormat toV4L2DeviceFormat(V4L2SubdeviceFormat &mode)
s/mode/format/
(you know how much I like the concept of sensor mode)
> > > +{
> > > + V4L2DeviceFormat deviceFormat;
> > > + BayerFormat bayer = BayerFormat::fromMbusCode(mode.mbus_code);
> > > +
> > > + deviceFormat.fourcc = bayer.toV4L2PixelFormat();
> > > + deviceFormat.size = mode.size;
> > > + return deviceFormat;
> > > +}
> > > +
> >
> > I guess I wonder slightly whether this should be generally available,
> > but it could easily be a change for another time. (Actually, same
> > question for isRaw just below...)
>
> Agree, this can be addressed separately.
I'm afraid it can't be this simple :-( There's no 1:1 mapping between
media bus codes and V4L2 pixel formats. How a given format received on a
bus by a DMA engine is stored in memory depends on the device. For
instance, unicam will store BGGR RAW10 as V4L2_PIX_FMT_SBGGR10P, while
another device may store it as V4L2_PIX_FMT_SBGGR10 (expanded to 2 bytes
per pixel in memory). Yet another device may left-align the 10 bits,
storing the data in V4L2_PIX_FMT_SBGGR16 format. This mapping can't be
provided by the libcamera core. Using the BayerFormat class to perform
the conversion with BayerFormat::fromMbusCode().toV4L2PixelFormat() may
work in some cases, but not universally.
I'm actually surprised the conversion works here, as I think you'll get
V4L2_PIX_FMT_SBGGR10 when you expect V4L2_PIX_FMT_SBGGR10P. One
possibility to fix this would be to set bayer.packing before calling
toV4L2PixelFormat(). The API is fragile though, and the BayerFormat
class a bit ill-defined (it doesn't tell whether it's supposed to
represent a bus format or a pixel format, and as explained above, it
can't be used interchangeably). This doesn't have to be fixed as part of
this patch series, but I'd like to see that problem addressed, and we
shouldn't build more technical debt.
> > > bool isRaw(PixelFormat &pixFmt)
> > > {
> > > /*
> > > @@ -74,11 +97,10 @@ double scoreFormat(double desired, double actual)
> > > return score;
> > > }
> > >
> > > -V4L2DeviceFormat findBestMode(V4L2VideoDevice::Formats &formatsMap,
> > > - const Size &req)
> > > +V4L2SubdeviceFormat findBestMode(const SensorFormats &formatsMap, const Size &req)
> > > {
> > > double bestScore = std::numeric_limits<double>::max(), score;
> > > - V4L2DeviceFormat bestMode;
> > > + V4L2SubdeviceFormat bestMode;
> > >
> > > #define PENALTY_AR 1500.0
> > > #define PENALTY_8BIT 2000.0
> > > @@ -88,18 +110,17 @@ V4L2DeviceFormat findBestMode(V4L2VideoDevice::Formats &formatsMap,
> > >
> > > /* 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);
> > > + const unsigned int mbus_code = iter.first;
s/mbus_code/mbusCode/
> > > + const PixelFormat format = BayerFormat::fromMbusCode(mbus_code).toPixelFormat();
Same issue as above.
> > > + const PixelFormatInfo &info = PixelFormatInfo::info(format);
> > >
> > > - for (const SizeRange &sz : iter.second) {
s/sz/size/
> > > - double modeWidth = sz.contains(req) ? req.width : sz.max.width;
> > > - double modeHeight = sz.contains(req) ? req.height : sz.max.height;
> > > + for (const Size &sz : iter.second) {
> > > double reqAr = static_cast<double>(req.width) / req.height;
> > > - double modeAr = modeWidth / modeHeight;
> > > + double modeAr = sz.width / sz.height;
> > >
> > > /* Score the dimensions for closeness. */
> > > - score = scoreFormat(req.width, modeWidth);
> > > - score += scoreFormat(req.height, modeHeight);
> > > + score = scoreFormat(req.width, sz.width);
> > > + score += scoreFormat(req.height, sz.height);
> > > score += PENALTY_AR * scoreFormat(reqAr, modeAr);
> > >
> > > /* Add any penalties... this is not an exact science! */
> > > @@ -115,12 +136,12 @@ V4L2DeviceFormat findBestMode(V4L2VideoDevice::Formats &formatsMap,
> > >
> > > if (score <= bestScore) {
> > > bestScore = score;
> > > - bestMode.fourcc = v4l2Format;
> > > - bestMode.size = Size(modeWidth, modeHeight);
> > > + bestMode.mbus_code = mbus_code;
> > > + bestMode.size = sz;
> > > }
> > >
> > > - LOG(RPI, Info) << "Mode: " << modeWidth << "x" << modeHeight
> > > - << " fmt " << v4l2Format.toString()
> > > + LOG(RPI, Info) << "Mode: " << sz.width << "x" << sz.height
You can use sz.toString().
> > > + << " fmt " << format.toString()
> > > << " Score: " << score
> > > << " (best " << bestScore << ")";
> > > }
> > > @@ -170,6 +191,7 @@ public:
> > > std::unique_ptr<ipa::RPi::IPAProxyRPi> ipa_;
> > >
> > > std::unique_ptr<CameraSensor> sensor_;
> > > + SensorFormats sensorFormats_;
> > > /* Array of Unicam and ISP device streams and associated buffers/streams. */
> > > RPi::Device<Unicam, 2> unicam_;
> > > RPi::Device<Isp, 4> isp_;
> > > @@ -352,9 +374,9 @@ CameraConfiguration::Status RPiCameraConfiguration::validate()
> > > * Calculate the best sensor mode we can use based on
> > > * the user request.
> > > */
> > > - V4L2VideoDevice::Formats fmts = data_->unicam_[Unicam::Image].dev()->formats();
> > > - V4L2DeviceFormat sensorFormat = findBestMode(fmts, cfg.size);
> > > - int ret = data_->unicam_[Unicam::Image].dev()->tryFormat(&sensorFormat);
> > > + V4L2SubdeviceFormat sensorFormat = findBestMode(data_->sensorFormats_, cfg.size);
> > > + V4L2DeviceFormat unicamFormat = toV4L2DeviceFormat(sensorFormat);
> > > + int ret = data_->unicam_[Unicam::Image].dev()->tryFormat(&unicamFormat);
> > > if (ret)
> > > return Invalid;
> > >
> > > @@ -366,7 +388,7 @@ CameraConfiguration::Status RPiCameraConfiguration::validate()
> > > * fetch the "native" (i.e. untransformed) Bayer order,
> > > * because the sensor may currently be flipped!
> > > */
> > > - V4L2PixelFormat fourcc = sensorFormat.fourcc;
> > > + V4L2PixelFormat fourcc = unicamFormat.fourcc;
> > > if (data_->flipsAlterBayerOrder_) {
> > > BayerFormat bayer = BayerFormat::fromV4L2PixelFormat(fourcc);
> > > bayer.order = data_->nativeBayerOrder_;
> > > @@ -375,15 +397,15 @@ CameraConfiguration::Status RPiCameraConfiguration::validate()
> > > }
> > >
> > > PixelFormat sensorPixFormat = fourcc.toPixelFormat();
> > > - if (cfg.size != sensorFormat.size ||
> > > + if (cfg.size != unicamFormat.size ||
> > > cfg.pixelFormat != sensorPixFormat) {
> > > - cfg.size = sensorFormat.size;
> > > + cfg.size = unicamFormat.size;
> > > cfg.pixelFormat = sensorPixFormat;
> > > status = Adjusted;
> > > }
> > >
> > > - cfg.stride = sensorFormat.planes[0].bpl;
> > > - cfg.frameSize = sensorFormat.planes[0].size;
> > > + cfg.stride = unicamFormat.planes[0].bpl;
> > > + cfg.frameSize = unicamFormat.planes[0].size;
> > >
> > > rawCount++;
> > > } else {
> > > @@ -472,7 +494,8 @@ CameraConfiguration *PipelineHandlerRPi::generateConfiguration(Camera *camera,
> > > {
> > > RPiCameraData *data = cameraData(camera);
> > > CameraConfiguration *config = new RPiCameraConfiguration(data);
> > > - V4L2DeviceFormat sensorFormat;
> > > + V4L2SubdeviceFormat sensorFormat;
> > > + V4L2DeviceFormat unicamFormat;
> > > unsigned int bufferCount;
> > > PixelFormat pixelFormat;
> > > V4L2VideoDevice::Formats fmts;
> > > @@ -487,9 +510,9 @@ CameraConfiguration *PipelineHandlerRPi::generateConfiguration(Camera *camera,
> > > switch (role) {
> > > case StreamRole::Raw:
> > > size = data->sensor_->resolution();
> > > - fmts = data->unicam_[Unicam::Image].dev()->formats();
> > > - sensorFormat = findBestMode(fmts, size);
> > > - pixelFormat = sensorFormat.fourcc.toPixelFormat();
> > > + sensorFormat = findBestMode(data->sensorFormats_, size);
> > > + unicamFormat = toV4L2DeviceFormat(sensorFormat);
> > > + pixelFormat = BayerFormat::fromMbusCode(sensorFormat.mbus_code).toPixelFormat();
Same issue as above.
> > > ASSERT(pixelFormat.isValid());
> > > bufferCount = 2;
> > > rawCount++;
> > > @@ -599,32 +622,30 @@ int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config)
> > > }
> > >
> > > /* First calculate the best sensor mode we can use based on the user request. */
> > > - V4L2VideoDevice::Formats fmts = data->unicam_[Unicam::Image].dev()->formats();
> > > - V4L2DeviceFormat sensorFormat = findBestMode(fmts, rawStream ? sensorSize : maxSize);
> > > + V4L2SubdeviceFormat sensorFormat = findBestMode(data->sensorFormats_, rawStream ? sensorSize : maxSize);
> > > + V4L2DeviceFormat unicamFormat = toV4L2DeviceFormat(sensorFormat);
Shouldn't this go after sensor_->setFormat() in case the sensor adjusts
the format ? Actually, as adjustments are not allowed in configure(),
you should check the that format set on the sensor matches the requested
format.
> > > +
> > > + ret = data->sensor_->setFormat(&sensorFormat);
> > > + if (ret)
> > > + return ret;
> > >
> > > /*
> > > * 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);
> > > + ret = data->unicam_[Unicam::Image].dev()->setFormat(&unicamFormat);
> > > if (ret)
> > > return ret;
> > >
> > > - /*
> > > - * The control ranges associated with the sensor may need updating
> > > - * after a format change.
> > > - * \todo Use the CameraSensor::setFormat API instead.
> > > - */
> > > - data->sensor_->updateControlInfo();
> > > -
> > > LOG(RPI, Info) << "Sensor: " << camera->id()
> > > - << " - Selected mode: " << sensorFormat.toString();
> > > + << " - Selected sensor mode: " << sensorFormat.toString()
> > > + << " - Selected unicam mode: " << unicamFormat.toString();
s/mode/format/ on both lines
> > >
> > > /*
> > > * 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);
> > > + ret = data->isp_[Isp::Input].dev()->setFormat(&unicamFormat);
> > > if (ret)
> > > return ret;
> > >
> > > @@ -746,8 +767,8 @@ int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config)
> > > data->ispMinCropSize_ = testCrop.size();
> > >
> > > /* Adjust aspect ratio by providing crops on the input image. */
> > > - Size size = sensorFormat.size.boundedToAspectRatio(maxSize);
> > > - Rectangle crop = size.centeredTo(Rectangle(sensorFormat.size).center());
> > > + Size size = unicamFormat.size.boundedToAspectRatio(maxSize);
> > > + Rectangle crop = size.centeredTo(Rectangle(unicamFormat.size).center());
> > > data->ispCrop_ = crop;
> > >
> > > data->isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &crop);
> > > @@ -761,8 +782,11 @@ int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config)
> > > * supports it.
> > > */
> > > if (data->sensorMetadata_) {
> > > - format = {};
> > > + V4L2SubdeviceFormat embeddedFormat;
> > > +
> > > + data->sensor_->device()->getFormat(1, &embeddedFormat);
> > > format.fourcc = V4L2PixelFormat(V4L2_META_FMT_SENSOR_DATA);
> > > + format.planes[0].size = embeddedFormat.size.width * embeddedFormat.size.height;
> > >
> > > LOG(RPI, Debug) << "Setting embedded data format.";
> > > ret = data->unicam_[Unicam::Embedded].dev()->setFormat(&format);
> > > @@ -847,9 +871,14 @@ int PipelineHandlerRPi::start(Camera *camera, const ControlList *controls)
> > > * 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);
> > > + V4L2SubdeviceFormat sensorFormat;
> > > + data->sensor_->device()->getFormat(0, &sensorFormat);
> > > +
> > > + V4L2DeviceFormat ispFormat;
> > > + ispFormat.fourcc = BayerFormat::fromMbusCode(sensorFormat.mbus_code).toV4L2PixelFormat();
> >
> > Generally there's the occasional assumption that fromMbusCode won't
> > return invalid Bayer formats, and I guess we're comfortable with that?
> > It certainly shouldn't be possible.
>
> Yes, I ought to add an assert to ensure the bayer format is valid.
>
> > But it seems good to me, so:
> >
> > Reviewed-by: David Plowman <david.plowman at raspberrypi.com>
> >
> > > + ispFormat.size = sensorFormat.size;
> > > +
> > > + ret = data->isp_[Isp::Input].dev()->setFormat(&ispFormat);
> > > if (ret) {
> > > stop(camera);
> > > return ret;
> > > @@ -1004,6 +1033,8 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator)
> > > if (data->sensor_->init())
> > > return false;
> > >
> > > + data->sensorFormats_ = populateSensorFormats(data->sensor_);
> > > +
> > > ipa::RPi::SensorConfig sensorConfig;
> > > if (data->loadIPA(&sensorConfig)) {
> > > LOG(RPI, Error) << "Failed to load a suitable IPA library";
> > > @@ -1030,6 +1061,11 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator)
> > > return false;
> > > }
> > >
> > > + if (!(data->unicam_[Unicam::Image].dev()->caps().device_caps() & V4L2_CAP_IO_MC)) {
> > > + LOG(RPI, Error) << "Unicam driver did not advertise V4L2_CAP_IO_MC, please update your kernel!";
> > > + return false;
> > > + }
> > > +
> > > /*
> > > * Setup our delayed control writer with the sensor default
> > > * gain and exposure delays. Mark VBLANK for priority write.
> > > @@ -1039,7 +1075,7 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator)
> > > { V4L2_CID_EXPOSURE, { sensorConfig.exposureDelay, false } },
> > > { V4L2_CID_VBLANK, { sensorConfig.vblankDelay, true } }
> > > };
> > > - data->delayedCtrls_ = std::make_unique<DelayedControls>(data->unicam_[Unicam::Image].dev(), params);
> > > + data->delayedCtrls_ = std::make_unique<DelayedControls>(data->sensor_->device(), params);
> > > data->sensorMetadata_ = sensorConfig.sensorMetadata;
> > >
> > > /* Register the controls that the Raspberry Pi IPA can handle. */
> > > @@ -1066,15 +1102,14 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator)
> > > * As part of answering the final question, we reset the camera to
> > > * no transform at all.
> > > */
> > > -
> > > - V4L2VideoDevice *dev = data->unicam_[Unicam::Image].dev();
> > > - const struct v4l2_query_ext_ctrl *hflipCtrl = dev->controlInfo(V4L2_CID_HFLIP);
> > > + const V4L2Subdevice *sensor = data->sensor_->device();
> > > + const struct v4l2_query_ext_ctrl *hflipCtrl = sensor->controlInfo(V4L2_CID_HFLIP);
> > > if (hflipCtrl) {
> > > /* We assume it will support vflips too... */
> > > data->supportsFlips_ = true;
> > > data->flipsAlterBayerOrder_ = hflipCtrl->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT;
> > >
> > > - ControlList ctrls(dev->controls());
> > > + ControlList ctrls(data->sensor_->controls());
> > > ctrls.set(V4L2_CID_HFLIP, 0);
> > > ctrls.set(V4L2_CID_VFLIP, 0);
> > > data->setSensorControls(ctrls);
> > > @@ -1082,9 +1117,8 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator)
> > >
> > > /* Look for a valid Bayer format. */
> > > BayerFormat bayerFormat;
> > > - for (const auto &iter : dev->formats()) {
> > > - V4L2PixelFormat v4l2Format = iter.first;
> > > - bayerFormat = BayerFormat::fromV4L2PixelFormat(v4l2Format);
> > > + for (const auto &iter : data->sensorFormats_) {
> > > + bayerFormat = BayerFormat::fromMbusCode(iter.first);
> > > if (bayerFormat.isValid())
> > > break;
> > > }
> > > @@ -1271,7 +1305,7 @@ int RPiCameraData::configureIPA(const CameraConfiguration *config)
> > > }
> > > }
> > >
> > > - entityControls.emplace(0, unicam_[Unicam::Image].dev()->controls());
> > > + entityControls.emplace(0, sensor_->controls());
> > > entityControls.emplace(1, isp_[Isp::Input].dev()->controls());
> > >
> > > /* Always send the user transform to the IPA. */
> > > @@ -1406,10 +1440,10 @@ void RPiCameraData::setSensorControls(ControlList &controls)
> > > ControlList vblank_ctrl;
> > >
> > > vblank_ctrl.set(V4L2_CID_VBLANK, controls.get(V4L2_CID_VBLANK));
> > > - unicam_[Unicam::Image].dev()->setControls(&vblank_ctrl);
> > > + sensor_->setControls(&vblank_ctrl);
> > > }
> > >
> > > - unicam_[Unicam::Image].dev()->setControls(&controls);
> > > + sensor_->setControls(&controls);
> > > }
> > >
> > > void RPiCameraData::unicamBufferDequeue(FrameBuffer *buffer)
--
Regards,
Laurent Pinchart
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