<div dir="ltr"><div dir="ltr"><br></div><br><div class="gmail_quote"><div dir="ltr" class="gmail_attr">On Tue, 8 Jun 2021 at 10:53, Laurent Pinchart <<a href="mailto:laurent.pinchart@ideasonboard.com">laurent.pinchart@ideasonboard.com</a>> wrote:<br></div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left:1px solid rgb(204,204,204);padding-left:1ex">Hi Naush,<br>
<br>
On Tue, Jun 08, 2021 at 10:47:47AM +0100, Naushir Patuck wrote:<br>
> On Tue, 8 Jun 2021 at 02:17, Laurent Pinchart wrote:<br>
> > On Tue, May 25, 2021 at 12:42:39PM +0100, Naushir Patuck wrote:<br>
> > > Switch the ipa and cam_helper code to use libcamera::utils::Duration for<br>
> > > all time based variables. This improves code readability and avoids<br>
> > > possible errors when converting between time bases.<br>
> > ><br>
> > > Signed-off-by: Naushir Patuck <<a href="mailto:naush@raspberrypi.com" target="_blank">naush@raspberrypi.com</a>><br>
> > > Reviewed-by: David Plowman <<a href="mailto:david.plowman@raspberrypi.com" target="_blank">david.plowman@raspberrypi.com</a>><br>
> > > ---<br>
> > > src/ipa/raspberrypi/cam_helper.cpp | 20 +++---<br>
> > > src/ipa/raspberrypi/cam_helper.hpp | 10 +--<br>
> > > src/ipa/raspberrypi/controller/camera_mode.h | 6 +-<br>
> > > src/ipa/raspberrypi/raspberrypi.cpp | 64 +++++++++++---------<br>
> > > 4 files changed, 55 insertions(+), 45 deletions(-)<br>
> > ><br>
> > > diff --git a/src/ipa/raspberrypi/cam_helper.cpp b/src/ipa/raspberrypi/cam_helper.cpp<br>
> > > index 09917f3cc079..7b4331a87a42 100644<br>
> > > --- a/src/ipa/raspberrypi/cam_helper.cpp<br>
> > > +++ b/src/ipa/raspberrypi/cam_helper.cpp<br>
> > > @@ -18,6 +18,7 @@<br>
> > ><br>
> > > using namespace RPiController;<br>
> > > using namespace libcamera;<br>
> > > +using libcamera::utils::Duration;<br>
> ><br>
> > I would have used utils::Duration below, but I don't mind.<br>
> ><br>
> > ><br>
> > > namespace libcamera {<br>
> > > LOG_DECLARE_CATEGORY(IPARPI)<br>
> > > @@ -61,20 +62,21 @@ void CamHelper::Process([[maybe_unused]] StatisticsPtr &stats,<br>
> > > {<br>
> > > }<br>
> > ><br>
> > > -uint32_t CamHelper::ExposureLines(double exposure_us) const<br>
> > > +uint32_t CamHelper::ExposureLines(const Duration &exposure) const<br>
> ><br>
> > Given that the duration only stores a double value, you could pass it by<br>
> > value instead of by reference. The comment applies to the whole series.<br>
> > That would be my preference, but it's up to you.<br>
> <br>
> Agreed, I will change all functions to pass by value in the next revision.<br>
> <br>
> > Overall the code is really much nicer !<br>
> ><br>
> > Reviewed-by: Laurent Pinchart <<a href="mailto:laurent.pinchart@ideasonboard.com" target="_blank">laurent.pinchart@ideasonboard.com</a>><br>
> <br>
> Thanks. Yes, this change does make time based variables so much easier<br>
> to work with! At some point, we should change libcamera controls to use<br>
> this :-)<br>
<br>
That's on my todo list :-)<br>
<br>
By the way, would it be possible to add a test case for the Duration<br>
class in the next version ?<br></blockquote><div><br></div><div>Sure, I will add some unit tests in the next revision.</div><div><br></div><div>Naush</div><div><br></div><div> </div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left:1px solid rgb(204,204,204);padding-left:1ex">
<br>
> > > {<br>
> > > assert(initialized_);<br>
> > > - return exposure_us * 1000.0 / mode_.line_length;<br>
> > > + return exposure / mode_.line_length;<br>
> > > }<br>
> > ><br>
> > > -double CamHelper::Exposure(uint32_t exposure_lines) const<br>
> > > +Duration CamHelper::Exposure(uint32_t exposure_lines) const<br>
> > > {<br>
> > > assert(initialized_);<br>
> > > - return exposure_lines * mode_.line_length / 1000.0;<br>
> > > + return exposure_lines * mode_.line_length;<br>
> > > }<br>
> > ><br>
> > > -uint32_t CamHelper::GetVBlanking(double &exposure, double minFrameDuration,<br>
> > > - double maxFrameDuration) const<br>
> > > +uint32_t CamHelper::GetVBlanking(Duration &exposure,<br>
> > > + const Duration &minFrameDuration,<br>
> > > + const Duration &maxFrameDuration) const<br>
> > > {<br>
> > > uint32_t frameLengthMin, frameLengthMax, vblank;<br>
> > > uint32_t exposureLines = ExposureLines(exposure);<br>
> > > @@ -85,8 +87,8 @@ uint32_t CamHelper::GetVBlanking(double &exposure, double minFrameDuration,<br>
> > > * minFrameDuration and maxFrameDuration are clamped by the caller<br>
> > > * based on the limits for the active sensor mode.<br>
> > > */<br>
> > > - frameLengthMin = 1e3 * minFrameDuration / mode_.line_length;<br>
> > > - frameLengthMax = 1e3 * maxFrameDuration / mode_.line_length;<br>
> > > + frameLengthMin = minFrameDuration / mode_.line_length;<br>
> > > + frameLengthMax = maxFrameDuration / mode_.line_length;<br>
> > ><br>
> > > /*<br>
> > > * Limit the exposure to the maximum frame duration requested, and<br>
> > > @@ -182,7 +184,7 @@ void CamHelper::parseEmbeddedData(Span<const uint8_t> buffer,<br>
> > > return;<br>
> > > }<br>
> > ><br>
> > > - deviceStatus.shutter_speed = Exposure(exposureLines);<br>
> > > + deviceStatus.shutter_speed = Exposure(exposureLines).get<std::micro>();<br>
> > > deviceStatus.analogue_gain = Gain(gainCode);<br>
> > ><br>
> > > LOG(IPARPI, Debug) << "Metadata updated - Exposure : "<br>
> > > diff --git a/src/ipa/raspberrypi/cam_helper.hpp b/src/ipa/raspberrypi/cam_helper.hpp<br>
> > > index a52f3f0b583c..07481e4174a7 100644<br>
> > > --- a/src/ipa/raspberrypi/cam_helper.hpp<br>
> > > +++ b/src/ipa/raspberrypi/cam_helper.hpp<br>
> > > @@ -15,6 +15,7 @@<br>
> > > #include "controller/metadata.hpp"<br>
> > > #include "md_parser.hpp"<br>
> > ><br>
> > > +#include "libcamera/internal/utils.h"<br>
> > > #include "libcamera/internal/v4l2_videodevice.h"<br>
> > ><br>
> > > namespace RPiController {<br>
> > > @@ -72,10 +73,11 @@ public:<br>
> > > virtual void Prepare(libcamera::Span<const uint8_t> buffer,<br>
> > > Metadata &metadata);<br>
> > > virtual void Process(StatisticsPtr &stats, Metadata &metadata);<br>
> > > - uint32_t ExposureLines(double exposure_us) const;<br>
> > > - double Exposure(uint32_t exposure_lines) const; // in us<br>
> > > - virtual uint32_t GetVBlanking(double &exposure_us, double minFrameDuration,<br>
> > > - double maxFrameDuration) const;<br>
> > > + uint32_t ExposureLines(const libcamera::utils::Duration &exposure) const;<br>
> > > + libcamera::utils::Duration Exposure(uint32_t exposure_lines) const;<br>
> > > + virtual uint32_t GetVBlanking(libcamera::utils::Duration &exposure,<br>
> > > + const libcamera::utils::Duration &minFrameDuration,<br>
> > > + const libcamera::utils::Duration &maxFrameDuration) const;<br>
> > > virtual uint32_t GainCode(double gain) const = 0;<br>
> > > virtual double Gain(uint32_t gain_code) const = 0;<br>
> > > virtual void GetDelays(int &exposure_delay, int &gain_delay,<br>
> > > diff --git a/src/ipa/raspberrypi/controller/camera_mode.h b/src/ipa/raspberrypi/controller/camera_mode.h<br>
> > > index 256438c931d9..2aa2335dcf90 100644<br>
> > > --- a/src/ipa/raspberrypi/controller/camera_mode.h<br>
> > > +++ b/src/ipa/raspberrypi/controller/camera_mode.h<br>
> > > @@ -8,6 +8,8 @@<br>
> > ><br>
> > > #include <libcamera/transform.h><br>
> > ><br>
> > > +#include "libcamera/internal/utils.h"<br>
> > > +<br>
> > > // Description of a "camera mode", holding enough information for control<br>
> > > // algorithms to adapt their behaviour to the different modes of the camera,<br>
> > > // including binning, scaling, cropping etc.<br>
> > > @@ -33,8 +35,8 @@ struct CameraMode {<br>
> > > double scale_x, scale_y;<br>
> > > // scaling of the noise compared to the native sensor mode<br>
> > > double noise_factor;<br>
> > > - // line time in nanoseconds<br>
> > > - double line_length;<br>
> > > + // line time<br>
> > > + libcamera::utils::Duration line_length;<br>
> > > // any camera transform *not* reflected already in the camera tuning<br>
> > > libcamera::Transform transform;<br>
> > > // minimum and maximum fame lengths in units of lines<br>
> > > diff --git a/src/ipa/raspberrypi/raspberrypi.cpp b/src/ipa/raspberrypi/raspberrypi.cpp<br>
> > > index 52d91db282ea..4e02e94084f7 100644<br>
> > > --- a/src/ipa/raspberrypi/raspberrypi.cpp<br>
> > > +++ b/src/ipa/raspberrypi/raspberrypi.cpp<br>
> > > @@ -55,19 +55,22 @@<br>
> > ><br>
> > > namespace libcamera {<br>
> > ><br>
> > > +using namespace std::literals::chrono_literals;<br>
> > > +using utils::Duration;<br>
> > > +<br>
> > > /* Configure the sensor with these values initially. */<br>
> > > constexpr double DefaultAnalogueGain = 1.0;<br>
> > > -constexpr unsigned int DefaultExposureTime = 20000;<br>
> > > -constexpr double defaultMinFrameDuration = 1e6 / 30.0;<br>
> > > -constexpr double defaultMaxFrameDuration = 1e6 / 0.01;<br>
> > > +constexpr Duration DefaultExposureTime = 20.0ms;<br>
> > > +constexpr Duration defaultMinFrameDuration = 1.0s / 30.0;<br>
> > > +constexpr Duration defaultMaxFrameDuration = 100.0s;<br>
> > ><br>
> > > /*<br>
> > > - * Determine the minimum allowable inter-frame duration (in us) to run the<br>
> > > - * controller algorithms. If the pipeline handler provider frames at a rate<br>
> > > - * higher than this, we rate-limit the controller Prepare() and Process() calls<br>
> > > - * to lower than or equal to this rate.<br>
> > > + * Determine the minimum allowable inter-frame duration to run the controller<br>
> > > + * algorithms. If the pipeline handler provider frames at a rate higher than this,<br>
> > > + * we rate-limit the controller Prepare() and Process() calls to lower than or<br>
> > > + * equal to this rate.<br>
> > > */<br>
> > > -constexpr double controllerMinFrameDuration = 1e6 / 60.0;<br>
> > > +constexpr Duration controllerMinFrameDuration = 1.0s / 60.0;<br>
> > ><br>
> > > LOG_DEFINE_CATEGORY(IPARPI)<br>
> > ><br>
> > > @@ -111,7 +114,8 @@ private:<br>
> > > void reportMetadata();<br>
> > > void fillDeviceStatus(const ControlList &sensorControls);<br>
> > > void processStats(unsigned int bufferId);<br>
> > > - void applyFrameDurations(double minFrameDuration, double maxFrameDuration);<br>
> > > + void applyFrameDurations(const Duration &minFrameDuration,<br>
> > > + const Duration &maxFrameDuration);<br>
> > > void applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls);<br>
> > > void applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls);<br>
> > > void applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls);<br>
> > > @@ -167,9 +171,9 @@ private:<br>
> > > /* Distinguish the first camera start from others. */<br>
> > > bool firstStart_;<br>
> > ><br>
> > > - /* Frame duration (1/fps) limits, given in microseconds. */<br>
> > > - double minFrameDuration_;<br>
> > > - double maxFrameDuration_;<br>
> > > + /* Frame duration (1/fps) limits. */<br>
> > > + Duration minFrameDuration_;<br>
> > > + Duration maxFrameDuration_;<br>
> > > };<br>
> > ><br>
> > > int IPARPi::init(const IPASettings &settings, ipa::RPi::SensorConfig *sensorConfig)<br>
> > > @@ -311,10 +315,10 @@ void IPARPi::setMode(const CameraSensorInfo &sensorInfo)<br>
> > > mode_.noise_factor = sqrt(mode_.bin_x * mode_.bin_y);<br>
> > ><br>
> > > /*<br>
> > > - * Calculate the line length in nanoseconds as the ratio between<br>
> > > - * the line length in pixels and the pixel rate.<br>
> > > + * Calculate the line length as the ratio between the line length in<br>
> > > + * pixels and the pixel rate.<br>
> > > */<br>
> > > - mode_.line_length = 1e9 * sensorInfo.lineLength / sensorInfo.pixelRate;<br>
> > > + mode_.line_length = sensorInfo.lineLength * (1.0s / sensorInfo.pixelRate);<br>
> > ><br>
> > > /*<br>
> > > * Set the frame length limits for the mode to ensure exposure and<br>
> > > @@ -387,7 +391,7 @@ int IPARPi::configure(const CameraSensorInfo &sensorInfo,<br>
> > > /* Supply initial values for gain and exposure. */<br>
> > > ControlList ctrls(sensorCtrls_);<br>
> > > AgcStatus agcStatus;<br>
> > > - agcStatus.shutter_time = DefaultExposureTime;<br>
> > > + agcStatus.shutter_time = DefaultExposureTime.get<std::micro>();<br>
> > > agcStatus.analogue_gain = DefaultAnalogueGain;<br>
> > > applyAGC(&agcStatus, ctrls);<br>
> > ><br>
> > > @@ -862,7 +866,7 @@ void IPARPi::queueRequest(const ControlList &controls)<br>
> > ><br>
> > > case controls::FRAME_DURATIONS: {<br>
> > > auto frameDurations = ctrl.second.get<Span<const int64_t>>();<br>
> > > - applyFrameDurations(frameDurations[0], frameDurations[1]);<br>
> > > + applyFrameDurations(frameDurations[0] * 1.0us, frameDurations[1] * 1.0us);<br>
> > > break;<br>
> > > }<br>
> > ><br>
> > > @@ -937,9 +941,9 @@ void IPARPi::prepareISP(const ipa::RPi::ISPConfig &data)<br>
> > > returnEmbeddedBuffer(data.embeddedBufferId);<br>
> > ><br>
> > > /* Allow a 10% margin on the comparison below. */<br>
> > > - constexpr double eps = controllerMinFrameDuration * 1e3 * 0.1;<br>
> > > + Duration delta = (frameTimestamp - lastRunTimestamp_) * 1.0ns;<br>
> > > if (lastRunTimestamp_ && frameCount_ > dropFrameCount_ &&<br>
> > > - frameTimestamp - lastRunTimestamp_ + eps < controllerMinFrameDuration * 1e3) {<br>
> > > + delta < controllerMinFrameDuration * 0.9) {<br>
> > > /*<br>
> > > * Ensure we merge the previous frame's metadata with the current<br>
> > > * frame. This will not overwrite exposure/gain values for the<br>
> > > @@ -1012,7 +1016,7 @@ void IPARPi::fillDeviceStatus(const ControlList &sensorControls)<br>
> > > int32_t exposureLines = sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>();<br>
> > > int32_t gainCode = sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>();<br>
> > ><br>
> > > - deviceStatus.shutter_speed = helper_->Exposure(exposureLines);<br>
> > > + deviceStatus.shutter_speed = helper_->Exposure(exposureLines).get<std::micro>();<br>
> > > deviceStatus.analogue_gain = helper_->Gain(gainCode);<br>
> > ><br>
> > > LOG(IPARPI, Debug) << "Metadata - Exposure : "<br>
> > > @@ -1057,10 +1061,11 @@ void IPARPi::applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls)<br>
> > > static_cast<int32_t>(awbStatus->gain_b * 1000));<br>
> > > }<br>
> > ><br>
> > > -void IPARPi::applyFrameDurations(double minFrameDuration, double maxFrameDuration)<br>
> > > +void IPARPi::applyFrameDurations(const Duration &minFrameDuration,<br>
> > > + const Duration &maxFrameDuration)<br>
> > > {<br>
> > > - const double minSensorFrameDuration = 1e-3 * mode_.min_frame_length * mode_.line_length;<br>
> > > - const double maxSensorFrameDuration = 1e-3 * mode_.max_frame_length * mode_.line_length;<br>
> > > + const Duration minSensorFrameDuration = mode_.min_frame_length * mode_.line_length;<br>
> > > + const Duration maxSensorFrameDuration = mode_.max_frame_length * mode_.line_length;<br>
> > ><br>
> > > /*<br>
> > > * This will only be applied once AGC recalculations occur.<br>
> > > @@ -1076,20 +1081,20 @@ void IPARPi::applyFrameDurations(double minFrameDuration, double maxFrameDuratio<br>
> > ><br>
> > > /* Return the validated limits via metadata. */<br>
> > > libcameraMetadata_.set(controls::FrameDurations,<br>
> > > - { static_cast<int64_t>(minFrameDuration_),<br>
> > > - static_cast<int64_t>(maxFrameDuration_) });<br>
> > > + { static_cast<int64_t>(minFrameDuration_.get<std::micro>()),<br>
> > > + static_cast<int64_t>(maxFrameDuration_.get<std::micro>()) });<br>
> > ><br>
> > > /*<br>
> > > * Calculate the maximum exposure time possible for the AGC to use.<br>
> > > * GetVBlanking() will update maxShutter with the largest exposure<br>
> > > * value possible.<br>
> > > */<br>
> > > - double maxShutter = std::numeric_limits<double>::max();<br>
> > > + Duration maxShutter = Duration::max();<br>
> > > helper_->GetVBlanking(maxShutter, minFrameDuration_, maxFrameDuration_);<br>
> > ><br>
> > > RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>(<br>
> > > controller_.GetAlgorithm("agc"));<br>
> > > - agc->SetMaxShutter(maxShutter);<br>
> > > + agc->SetMaxShutter(maxShutter.get<std::micro>());<br>
> > > }<br>
> > ><br>
> > > void IPARPi::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls)<br>
> > > @@ -1097,9 +1102,8 @@ void IPARPi::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls)<br>
> > > int32_t gainCode = helper_->GainCode(agcStatus->analogue_gain);<br>
> > ><br>
> > > /* GetVBlanking might clip exposure time to the fps limits. */<br>
> > > - double exposure = agcStatus->shutter_time;<br>
> > > - int32_t vblanking = helper_->GetVBlanking(exposure, minFrameDuration_,<br>
> > > - maxFrameDuration_);<br>
> > > + Duration exposure = agcStatus->shutter_time * 1.0us;<br>
> > > + int32_t vblanking = helper_->GetVBlanking(exposure, minFrameDuration_, maxFrameDuration_);<br>
> > > int32_t exposureLines = helper_->ExposureLines(exposure);<br>
> > ><br>
> > > LOG(IPARPI, Debug) << "Applying AGC Exposure: " << exposure<br>
<br>
-- <br>
Regards,<br>
<br>
Laurent Pinchart<br>
</blockquote></div></div>