[libcamera-devel] [PATCH v4 08/10] pipeline: raspberrypi: Convert the pipeline handler to use media controller
Jacopo Mondi
jacopo at jmondi.org
Fri Oct 29 10:49:41 CEST 2021
Hi Naush,
thanks for the update!
On Thu, Oct 28, 2021 at 09:46:44AM +0100, 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 | 167 ++++++++++++------
> 1 file changed, 112 insertions(+), 55 deletions(-)
>
> diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp
> index e078b8b9a811..8e3e96a4359f 100644
> --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp
> +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp
> @@ -26,6 +26,7 @@
> #include <libcamera/base/utils.h>
>
> #include <linux/bcm2835-isp.h>
> +#include <linux/media-bus-format.h>
> #include <linux/videodev2.h>
>
> #include "libcamera/internal/bayer_format.h"
> @@ -48,6 +49,53 @@ 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;
> +}
We have V4L2Subdevice::Format defined as
uing Formats = std::map<unsigned int, std::vector<SizeRange>>;
but we don't expose the v4l2 subdevice formats from CameraSensor, and
I think it still makes sense as CameraSensor::sizes() filters and sorts
sizes instead of returning the raw subdevice SizeRange.
So I think defining this part makes sense here even if it's a pattern
which I assume it's repeated in many pipeline handlers.
> +
> +PixelFormat mbusCodeToPixelFormat(unsigned int mbus_code,
> + BayerFormat::Packing packingReq)
> +{
> + BayerFormat bayer = BayerFormat::fromMbusCode(mbus_code);
> +
> + ASSERT(bayer.isValid());
> +
> + bayer.packing = packingReq;
> + PixelFormat pix = bayer.toPixelFormat();
> +
> + /*
> + * Not all formats (e.g. 8-bit or 16-bit Bayer formats) can have packed
> + * variants. So if the PixelFormat returns as invalid, use the non-packed
> + * conversion instead.
> + */
> + if (!pix.isValid()) {
> + bayer.packing = BayerFormat::Packing::None;
> + pix = bayer.toPixelFormat();
> + }
> +
> + return pix;
> +}
> +
> +V4L2DeviceFormat toV4L2DeviceFormat(const V4L2SubdeviceFormat &format,
> + BayerFormat::Packing packingReq)
> +{
> + const PixelFormat pix = mbusCodeToPixelFormat(format.mbus_code, packingReq);
> + V4L2DeviceFormat deviceFormat;
> +
> + deviceFormat.fourcc = V4L2PixelFormat::fromPixelFormat(pix);
> + deviceFormat.size = format.size;
> + return deviceFormat;
> +}
> +
> bool isRaw(PixelFormat &pixFmt)
> {
> /*
> @@ -74,11 +122,10 @@ double scoreFormat(double desired, double actual)
> return score;
> }
>
> -V4L2DeviceFormat findBestMode(V4L2VideoDevice::Formats &formatsMap,
> - const Size &req)
> +V4L2SubdeviceFormat findBestFormat(const SensorFormats &formatsMap, const Size &req)
> {
> double bestScore = std::numeric_limits<double>::max(), score;
> - V4L2DeviceFormat bestMode;
> + V4L2SubdeviceFormat bestFormat;
>
> #define PENALTY_AR 1500.0
> #define PENALTY_8BIT 2000.0
> @@ -88,19 +135,19 @@ 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 mbusCode = iter.first;
> + const PixelFormat format = mbusCodeToPixelFormat(mbusCode,
> + BayerFormat::Packing::None);
> + const PixelFormatInfo &info = PixelFormatInfo::info(format);
>
> - for (const SizeRange &sz : iter.second) {
> - double modeWidth = sz.contains(req) ? req.width : sz.max.width;
> - double modeHeight = sz.contains(req) ? req.height : sz.max.height;
> + for (const Size &size : iter.second) {
> double reqAr = static_cast<double>(req.width) / req.height;
> - double modeAr = modeWidth / modeHeight;
> + double fmtAr = size.width / size.height;
>
> /* Score the dimensions for closeness. */
> - score = scoreFormat(req.width, modeWidth);
> - score += scoreFormat(req.height, modeHeight);
> - score += PENALTY_AR * scoreFormat(reqAr, modeAr);
> + score = scoreFormat(req.width, size.width);
> + score += scoreFormat(req.height, size.height);
> + score += PENALTY_AR * scoreFormat(reqAr, fmtAr);
>
> /* Add any penalties... this is not an exact science! */
> if (!info.packed)
> @@ -115,18 +162,18 @@ V4L2DeviceFormat findBestMode(V4L2VideoDevice::Formats &formatsMap,
>
> if (score <= bestScore) {
> bestScore = score;
> - bestMode.fourcc = v4l2Format;
> - bestMode.size = Size(modeWidth, modeHeight);
> + bestFormat.mbus_code = mbusCode;
> + bestFormat.size = size;
> }
>
> - LOG(RPI, Info) << "Mode: " << modeWidth << "x" << modeHeight
> - << " fmt " << v4l2Format.toString()
> + LOG(RPI, Info) << "Format: " << size.toString()
> + << " fmt " << format.toString()
> << " Score: " << score
> << " (best " << bestScore << ")";
> }
> }
>
> - return bestMode;
> + return bestFormat;
> }
>
> enum class Unicam : unsigned int { Image, Embedded };
> @@ -170,6 +217,7 @@ 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 +400,10 @@ 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 = findBestFormat(data_->sensorFormats_, cfg.size);
> + V4L2DeviceFormat unicamFormat = toV4L2DeviceFormat(sensorFormat,
> + BayerFormat::Packing::CSI2);
> + int ret = data_->unicam_[Unicam::Image].dev()->tryFormat(&unicamFormat);
> if (ret)
> return Invalid;
>
> @@ -366,7 +415,7 @@ 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 +424,15 @@ CameraConfiguration::Status RPiCameraConfiguration::validate()
> }
>
> PixelFormat sensorPixFormat = fourcc.toPixelFormat();
This is not the sensorPixFormat anymore, but rather the unicam one,
right ?
The rest looks good to me! Thanks
Reviewed-by: Jacopo Mondi <jacopo at jmondi.org>
> - 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 +521,7 @@ CameraConfiguration *PipelineHandlerRPi::generateConfiguration(Camera *camera,
> {
> RPiCameraData *data = cameraData(camera);
> CameraConfiguration *config = new RPiCameraConfiguration(data);
> - V4L2DeviceFormat sensorFormat;
> + V4L2SubdeviceFormat sensorFormat;
> unsigned int bufferCount;
> PixelFormat pixelFormat;
> V4L2VideoDevice::Formats fmts;
> @@ -487,9 +536,9 @@ 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 = findBestFormat(data->sensorFormats_, size);
> + pixelFormat = mbusCodeToPixelFormat(sensorFormat.mbus_code,
> + BayerFormat::Packing::CSI2);
> ASSERT(pixelFormat.isValid());
> bufferCount = 2;
> rawCount++;
> @@ -572,6 +621,7 @@ int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config)
> for (auto const stream : data->streams_)
> stream->reset();
>
> + BayerFormat::Packing packing = BayerFormat::Packing::CSI2;
> Size maxSize, sensorSize;
> unsigned int maxIndex = 0;
> bool rawStream = false;
> @@ -590,6 +640,8 @@ int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config)
> */
> sensorSize = cfg.size;
> rawStream = true;
> + /* Check if the user has explicitly set an unpacked format. */
> + packing = BayerFormat::fromPixelFormat(cfg.pixelFormat).packing;
> } else {
> if (cfg.size > maxSize) {
> maxSize = config->at(i).size;
> @@ -615,24 +667,21 @@ 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);
> -
> - ret = data->unicam_[Unicam::Image].dev()->setFormat(&sensorFormat);
> + V4L2SubdeviceFormat sensorFormat = findBestFormat(data->sensorFormats_, rawStream ? sensorSize : maxSize);
> + ret = data->sensor_->setFormat(&sensorFormat);
> 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();
> + V4L2DeviceFormat unicamFormat = toV4L2DeviceFormat(sensorFormat, packing);
> + ret = data->unicam_[Unicam::Image].dev()->setFormat(&unicamFormat);
> + if (ret)
> + return ret;
>
> LOG(RPI, Info) << "Sensor: " << camera->id()
> - << " - Selected mode: " << sensorFormat.toString();
> + << " - Selected sensor format: " << sensorFormat.toString()
> + << " - Selected unicam format: " << unicamFormat.toString();
>
> - ret = data->isp_[Isp::Input].dev()->setFormat(&sensorFormat);
> + ret = data->isp_[Isp::Input].dev()->setFormat(&unicamFormat);
> if (ret)
> return ret;
>
> @@ -754,8 +803,8 @@ 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);
> @@ -769,8 +818,11 @@ 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);
> @@ -1000,6 +1052,8 @@ 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";
> @@ -1026,6 +1080,11 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator)
> return false;
> }
>
> + if (!data->unicam_[Unicam::Image].dev()->caps().hasMediaController()) {
> + LOG(RPI, Error) << "Unicam driver does not use the MediaController, please update your kernel!";
> + return false;
> + }
> +
> /*
> * Setup our delayed control writer with the sensor default
> * gain and exposure delays. Mark VBLANK for priority write.
> @@ -1035,7 +1094,7 @@ 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. */
> @@ -1062,15 +1121,14 @@ 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);
> @@ -1078,9 +1136,8 @@ 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;
> }
> @@ -1263,7 +1320,7 @@ 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. */
> @@ -1387,10 +1444,10 @@ 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)
> --
> 2.25.1
>
More information about the libcamera-devel
mailing list