[libcamera-devel] [PATCH v2 2/6] pipeline: raspberrypi: Convert the pipeline handler to use media controller
Naushir Patuck
naush at raspberrypi.com
Tue Oct 26 09:47:15 CEST 2021
Hi Laurent,
Thank you for your feedback.
On Mon, 25 Oct 2021 at 17:44, Laurent Pinchart <
laurent.pinchart at ideasonboard.com> wrote:
> 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 was also a bit unsure about what to do about mbus to v4l2 format
conversions.
I went with using the BayerFormat class table as that was readily
available, and
not needing to duplicate the table in the pipeline handler. Luckily, I
think in all (standard)
cases, the conversion from mbus codes to v4l2 4cc's through the BayerFormat
class conversion table will be valid for Unicam, but I do take the point
this is
not entirely correct.
Perhaps I will just bite the bullet and add a similar table into our
pipeline handler. As
you said, avoiding technical debt is a good thing.
>
> 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().
This works because Unicam can support both packed and unpacked formats
when writing out to SDRAM. As you have noticed, a subsequent change in this
series adds the option of choosing which to select.
I'll add the new table in the next revision.
Regards,
Naush
> 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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