{"id":26294,"url":"https://patchwork.libcamera.org/api/patches/26294/?format=json","web_url":"https://patchwork.libcamera.org/patch/26294/","project":{"id":1,"url":"https://patchwork.libcamera.org/api/projects/1/?format=json","name":"libcamera","link_name":"libcamera","list_id":"libcamera_core","list_email":"libcamera-devel@lists.libcamera.org","web_url":"","scm_url":"","webscm_url":""},"msgid":"<20260313-mali-cru-v5-3-48f93e431294@ideasonboard.com>","date":"2026-03-13T16:14:37","name":"[v5,3/7] libcamera: mali-c55: Split TPG and Inline camera handling","commit_ref":null,"pull_url":null,"state":"superseded","archived":false,"hash":"9972fa75b4bc17c9b7cb4ea1d807f20489f7babf","submitter":{"id":143,"url":"https://patchwork.libcamera.org/api/people/143/?format=json","name":"Jacopo Mondi","email":"jacopo.mondi@ideasonboard.com"},"delegate":null,"mbox":"https://patchwork.libcamera.org/patch/26294/mbox/","series":[{"id":5830,"url":"https://patchwork.libcamera.org/api/series/5830/?format=json","web_url":"https://patchwork.libcamera.org/project/libcamera/list/?series=5830","date":"2026-03-13T16:14:34","name":"libcamera: mali-c55: Add support for memory-to-memory","version":5,"mbox":"https://patchwork.libcamera.org/series/5830/mbox/"}],"comments":"https://patchwork.libcamera.org/api/patches/26294/comments/","check":"pending","checks":"https://patchwork.libcamera.org/api/patches/26294/checks/","tags":{},"headers":{"Return-Path":"","X-Original-To":"parsemail@patchwork.libcamera.org","Delivered-To":"parsemail@patchwork.libcamera.org","Received":["from lancelot.ideasonboard.com (lancelot.ideasonboard.com\n\t[92.243.16.209])\n\tby patchwork.libcamera.org (Postfix) with ESMTPS id DCCC7BE086\n\tfor ;\n\tFri, 13 Mar 2026 16:14:51 +0000 (UTC)","from lancelot.ideasonboard.com (localhost [IPv6:::1])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTP id 8B645626B7;\n\tFri, 13 Mar 2026 17:14:51 +0100 (CET)","from perceval.ideasonboard.com (perceval.ideasonboard.com\n\t[213.167.242.64])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTPS id 937B7626EE\n\tfor ;\n\tFri, 13 Mar 2026 17:14:49 +0100 (CET)","from [192.168.224.131] (unknown [37.159.122.93])\n\tby perceval.ideasonboard.com (Postfix) with ESMTPSA id B6CB6E70;\n\tFri, 13 Mar 2026 17:13:37 +0100 (CET)"],"Authentication-Results":"lancelot.ideasonboard.com; dkim=pass (1024-bit key;\n\tunprotected) header.d=ideasonboard.com header.i=@ideasonboard.com\n\theader.b=\"o9voGf8B\"; dkim-atps=neutral","DKIM-Signature":"v=1; a=rsa-sha256; c=relaxed/simple; d=ideasonboard.com;\n\ts=mail; t=1773418420;\n\tbh=VMML+UEQKCrQcKwjRg7VzpyZuxK6btGaRZfOylECzsQ=;\n\th=From:Date:Subject:References:In-Reply-To:To:Cc:From;\n\tb=o9voGf8Bi4CpTIFfF2b8Dpq65WsVE/HHw2vdUbVXHgGOAWdQ242eaP7NOsucTk2Gw\n\taTItqc9SNU/oA2RkcfXVT6ekGu9mIkBwVeHY5qfWc/8U1wXwSgfB0WjmCtAZcTPFMP\n\txbpcDbee1tYaRHfrQvHuRMi0Sq/uwP2G3i4WcaL4=","From":"Jacopo Mondi ","Date":"Fri, 13 Mar 2026 17:14:37 +0100","Subject":"[PATCH v5 3/7] libcamera: mali-c55: Split TPG and Inline camera\n\thandling","MIME-Version":"1.0","Content-Type":"text/plain; charset=\"utf-8\"","Content-Transfer-Encoding":"7bit","Message-Id":"<20260313-mali-cru-v5-3-48f93e431294@ideasonboard.com>","References":"<20260313-mali-cru-v5-0-48f93e431294@ideasonboard.com>","In-Reply-To":"<20260313-mali-cru-v5-0-48f93e431294@ideasonboard.com>","To":"Daniel Scally , \n\tlibcamera-devel@lists.libcamera.org","Cc":"Jacopo Mondi ","X-Mailer":"b4 0.14.3","X-Developer-Signature":"v=1; a=openpgp-sha256; l=16415;\n\ti=jacopo.mondi@ideasonboard.com; h=from:subject:message-id;\n\tbh=VMML+UEQKCrQcKwjRg7VzpyZuxK6btGaRZfOylECzsQ=;\n\tb=owEBbQKS/ZANAwAKAXI0Bo8WoVY8AcsmYgBptDfz/1TClF3UgzWLIq2X1Lb2dFVfvysCOFDpJ\n\tS2/4hNhlbmJAjMEAAEKAB0WIQS1xD1IgJogio9YOMByNAaPFqFWPAUCabQ38wAKCRByNAaPFqFW\n\tPCnlEAChukTNobAMAoj/a4kmXOOIsjGBSJl+oyL4vFxgM5fNUsY7bkJTokx+g6grVij1LQ8CeIo\n\tKMGj1Vikmlt7Mc8MZdC6wzRWMqJ8tqP/OZjIbyLCUsmv3VNbV422obO6OGMipmke9mfZ9nFoSe4\n\tt9BzzWFYttkAVc6XAdgYYAtsMLJ141hAb+iUYwjY99DXsJQMWUBhmp4QeEKfvdLzAMIe9zXGeKr\n\tAI/eJZNAfb+fvF7aDfkef07hE2sFUR3/rNsCpj4fE4xP9ICeMoIh/yjsZe1tehUK45PIzOkLv/G\n\t+NjHO7Tixg6p+dzU+F141Wl+jyK3tcOVrdB+NnPTcSRR9iRl+MlzOymWseV2vjkTK4Oz+ecvwIi\n\tSHJ/rmRy7dr8wdVF+61WBLPYWjT7Uct3hQaJnQg58BQxk/QRfZ5V/4F0sk+yDsZ12OUvXt6MXZF\n\tNRt4PcjNfwNUIhdSId0KsmlXc+4F2e2DONPQJxM4pE17O55yDcIM9eUfRE+u24+HENEKrkqE44m\n\tS7nnivvwis0Tbsf9h3xspBCGSWRa6yWIWqjTmDOnxLwT9JeJThrnIoGFXdGWKP/6E57DziRUO6C\n\tV9jeg3BclLYj+t5VNuyvd5PcPXrdf1f43cG8UAxpDTCj7/bAfwHZGXz4hgnF9lQ0hESHJMHbQFG\n\tPOI8tr6QDU9mrHA==","X-Developer-Key":"i=jacopo.mondi@ideasonboard.com; a=openpgp;\n\tfpr=72392EDC88144A65C701EA9BA5826A2587AD026B","X-BeenThere":"libcamera-devel@lists.libcamera.org","X-Mailman-Version":"2.1.29","Precedence":"list","List-Id":"","List-Unsubscribe":",\n\t","List-Archive":"","List-Post":"","List-Help":"","List-Subscribe":",\n\t","Errors-To":"libcamera-devel-bounces@lists.libcamera.org","Sender":"\"libcamera-devel\" "},"content":"In order to prepare to support memory input cameras, split the handling of\nthe TPG and Inline camera cases.\n\nThe Mali C55 pipeline handler uses the entity and subdevice stored in the\nCameraData to support both the handling of the TPG and of the Inline (CSI-2\n+ sensor) use cases. Adding support for memory cameras by using the CRU unit\nwould add yet-another special case making the code harder to follow and\nmore prone to errors.\n\nSplit the handling of the TPG and Inline cameras by introducing an\nstd::variant<> variable and to deflect the functions called on the\ncamera data to the correct type by using overloaded std::visit<>().\n\nSigned-off-by: Jacopo Mondi \n---\n src/libcamera/pipeline/mali-c55/mali-c55.cpp | 298 ++++++++++++++++-----------\n 1 file changed, 181 insertions(+), 117 deletions(-)","diff":"diff --git a/src/libcamera/pipeline/mali-c55/mali-c55.cpp b/src/libcamera/pipeline/mali-c55/mali-c55.cpp\nindex c209b0b070b1..45e23ffd3841 100644\n--- a/src/libcamera/pipeline/mali-c55/mali-c55.cpp\n+++ b/src/libcamera/pipeline/mali-c55/mali-c55.cpp\n@@ -11,12 +11,14 @@\n #include \n #include \n #include \n+#include \n \n #include \n #include \n #include \n \n #include \n+#include \n \n #include \n #include \n@@ -92,17 +94,90 @@ struct MaliC55FrameInfo {\n class MaliC55CameraData : public Camera::Private\n {\n public:\n-\tMaliC55CameraData(PipelineHandler *pipe, MediaEntity *entity)\n-\t\t: Camera::Private(pipe), entity_(entity)\n+\tstruct Tpg {\n+\t\tstd::vector sizes(unsigned int mbusCode) const;\n+\n+\t\tSize resolution_;\n+\t\tstd::unique_ptr sd_;\n+\t};\n+\n+\tstruct Inline {\n+\t\tstd::unique_ptr csi2_;\n+\t\tstd::unique_ptr sensor_;\n+\t};\n+\tusing CameraType = std::variant;\n+\n+\tMaliC55CameraData(PipelineHandler *pipe)\n+\t\t: Camera::Private(pipe)\n \t{\n \t}\n \n-\tint init();\n \tint loadIPA();\n \n-\t/* Deflect these functionalities to either TPG or CameraSensor. */\n-\tstd::vector sizes(unsigned int mbusCode) const;\n-\tSize resolution() const;\n+\tint initTpg(MediaEntity *entity);\n+\tint initInline(MediaEntity *entity);\n+\n+\tstd::vector sizes(unsigned int mbusCode) const\n+\t{\n+\t\treturn std::visit(utils::overloaded{\n+\t\t\t[&](const Tpg &tpg) -> std::vector {\n+\t\t\t\treturn tpg.sizes(mbusCode);\n+\t\t\t},\n+\t\t\t[&](const Inline &in) -> std::vector {\n+\t\t\t\treturn in.sensor_->sizes(mbusCode);\n+\t\t\t}\n+\t\t}, input_);\n+\t}\n+\n+\tV4L2Subdevice *subdev() const\n+\t{\n+\t\treturn std::visit(utils::overloaded{\n+\t\t\t[&](const Tpg &tpg) -> V4L2Subdevice * {\n+\t\t\t\treturn tpg.sd_.get();\n+\t\t\t},\n+\t\t\t[&](const Inline &in) -> V4L2Subdevice * {\n+\t\t\t\treturn in.sensor_->device();\n+\t\t\t}\n+\t\t}, input_);\n+\t}\n+\n+\tCameraSensor *sensor() const\n+\t{\n+\t\treturn std::visit(utils::overloaded{\n+\t\t\t[&](auto &) -> CameraSensor * {\n+\t\t\t\tASSERT(false);\n+\t\t\t\treturn nullptr;\n+\t\t\t},\n+\t\t\t[&](const Inline &in) -> CameraSensor * {\n+\t\t\t\treturn in.sensor_.get();\n+\t\t\t}\n+\t\t}, input_);\n+\t}\n+\n+\tV4L2Subdevice *csi2() const\n+\t{\n+\t\treturn std::visit(utils::overloaded{\n+\t\t\t[&](auto &) -> V4L2Subdevice * {\n+\t\t\t\tASSERT(false);\n+\t\t\t\treturn nullptr;\n+\t\t\t},\n+\t\t\t[&](const Inline &in) -> V4L2Subdevice * {\n+\t\t\t\treturn in.csi2_.get();\n+\t\t\t}\n+\t\t}, input_);\n+\t}\n+\n+\tSize resolution() const\n+\t{\n+\t\treturn std::visit(utils::overloaded{\n+\t\t\t[&](const Tpg &tpg) -> Size {\n+\t\t\t\treturn tpg.resolution_;\n+\t\t\t},\n+\t\t\t[&](const Inline &in) -> Size {\n+\t\t\t\treturn in.sensor_->resolution();\n+\t\t\t}\n+\t\t}, input_);\n+\t}\n \n \tint pixfmtToMbusCode(const PixelFormat &pixFmt) const;\n \tconst PixelFormat &bestRawFormat() const;\n@@ -112,11 +187,6 @@ public:\n \tPixelFormat adjustRawFormat(const PixelFormat &pixFmt) const;\n \tSize adjustRawSizes(const PixelFormat &pixFmt, const Size &rawSize) const;\n \n-\tstd::unique_ptr sensor_;\n-\n-\tMediaEntity *entity_;\n-\tstd::unique_ptr csi_;\n-\tstd::unique_ptr sd_;\n \tStream frStream_;\n \tStream dsStream_;\n \n@@ -126,58 +196,28 @@ public:\n \n \tstd::unique_ptr delayedCtrls_;\n \n+\tCameraType input_;\n+\n private:\n-\tvoid initTPGData();\n \tvoid setSensorControls(const ControlList &sensorControls);\n-\n \tstd::string id_;\n-\tSize tpgResolution_;\n };\n \n-int MaliC55CameraData::init()\n+int MaliC55CameraData::initTpg(MediaEntity *entity)\n {\n-\tint ret;\n+\tTpg tpg;\n \n-\tsd_ = std::make_unique(entity_);\n-\tret = sd_->open();\n+\ttpg.sd_ = std::make_unique(entity);\n+\tint ret = tpg.sd_->open();\n \tif (ret) {\n-\t\tLOG(MaliC55, Error) << \"Failed to open sensor subdevice\";\n+\t\tLOG(MaliC55, Error) << \"Failed to open TPG subdevice\";\n \t\treturn ret;\n \t}\n \n-\t/* If this camera is created from TPG, we return here. */\n-\tif (entity_->name() == \"mali-c55 tpg\") {\n-\t\tinitTPGData();\n-\t\treturn 0;\n-\t}\n-\n-\t/*\n-\t * Register a CameraSensor if we connect to a sensor and create\n-\t * an entity for the connected CSI-2 receiver.\n-\t */\n-\tsensor_ = CameraSensorFactoryBase::create(entity_);\n-\tif (!sensor_)\n-\t\treturn -ENODEV;\n-\n-\tconst MediaPad *sourcePad = entity_->getPadByIndex(0);\n-\tMediaEntity *csiEntity = sourcePad->links()[0]->sink()->entity();\n-\n-\tcsi_ = std::make_unique(csiEntity);\n-\tret = csi_->open();\n-\tif (ret) {\n-\t\tLOG(MaliC55, Error) << \"Failed to open CSI-2 subdevice\";\n-\t\treturn ret;\n-\t}\n-\n-\treturn 0;\n-}\n-\n-void MaliC55CameraData::initTPGData()\n-{\n \t/* Replicate the CameraSensor implementation for TPG. */\n-\tV4L2Subdevice::Formats formats = sd_->formats(0);\n+\tV4L2Subdevice::Formats formats = tpg.sd_->formats(0);\n \tif (formats.empty())\n-\t\treturn;\n+\t\treturn -EINVAL;\n \n \tstd::vector tpgSizes;\n \n@@ -187,19 +227,39 @@ void MaliC55CameraData::initTPGData()\n \t\t\t [](const SizeRange &range) { return range.max; });\n \t}\n \n-\ttpgResolution_ = tpgSizes.back();\n+\ttpg.resolution_ = tpgSizes.back();\n+\n+\tinput_.emplace(std::move(tpg));\n+\n+\treturn 0;\n }\n \n-void MaliC55CameraData::setSensorControls(const ControlList &sensorControls)\n+int MaliC55CameraData::initInline(MediaEntity *sensor)\n {\n-\tdelayedCtrls_->push(sensorControls);\n+\tInline in;\n+\n+\t/* Register a CameraSensor and create an entity for the CSI-2 receiver. */\n+\tin.sensor_ = CameraSensorFactoryBase::create(sensor);\n+\tif (!in.sensor_)\n+\t\treturn -EINVAL;\n+\n+\tconst MediaPad *sourcePad = sensor->getPadByIndex(0);\n+\tMediaEntity *csiEntity = sourcePad->links()[0]->sink()->entity();\n+\n+\tin.csi2_ = std::make_unique(csiEntity);\n+\tint ret = in.csi2_->open();\n+\tif (ret) {\n+\t\tLOG(MaliC55, Error) << \"Failed to open CSI-2 subdevice\";\n+\t\treturn ret;\n+\t}\n+\n+\tinput_.emplace(std::move(in));\n+\n+\treturn 0;\n }\n \n-std::vector MaliC55CameraData::sizes(unsigned int mbusCode) const\n+std::vector MaliC55CameraData::Tpg::sizes(unsigned int mbusCode) const\n {\n-\tif (sensor_)\n-\t\treturn sensor_->sizes(mbusCode);\n-\n \tV4L2Subdevice::Formats formats = sd_->formats(0);\n \tif (formats.empty())\n \t\treturn {};\n@@ -218,12 +278,9 @@ std::vector MaliC55CameraData::sizes(unsigned int mbusCode) const\n \treturn sizes;\n }\n \n-Size MaliC55CameraData::resolution() const\n+void MaliC55CameraData::setSensorControls(const ControlList &sensorControls)\n {\n-\tif (sensor_)\n-\t\treturn sensor_->resolution();\n-\n-\treturn tpgResolution_;\n+\tdelayedCtrls_->push(sensorControls);\n }\n \n /*\n@@ -242,7 +299,7 @@ int MaliC55CameraData::pixfmtToMbusCode(const PixelFormat &pixFmt) const\n \tif (!bayerFormat.isValid())\n \t\treturn -EINVAL;\n \n-\tV4L2Subdevice::Formats formats = sd_->formats(0);\n+\tV4L2Subdevice::Formats formats = subdev()->formats(0);\n \tunsigned int sensorMbusCode = 0;\n \tunsigned int bitDepth = 0;\n \n@@ -280,7 +337,7 @@ const PixelFormat &MaliC55CameraData::bestRawFormat() const\n {\n \tstatic const PixelFormat invalidPixFmt = {};\n \n-\tfor (const auto &fmt : sd_->formats(0)) {\n+\tfor (const auto &fmt : subdev()->formats(0)) {\n \t\tBayerFormat sensorBayer = BayerFormat::fromMbusCode(fmt.first);\n \n \t\tif (!sensorBayer.isValid())\n@@ -302,11 +359,11 @@ const PixelFormat &MaliC55CameraData::bestRawFormat() const\n \n void MaliC55CameraData::updateControls(const ControlInfoMap &ipaControls)\n {\n-\tif (!sensor_)\n+\tif (std::holds_alternative(input_))\n \t\treturn;\n \n \tIPACameraSensorInfo sensorInfo;\n-\tint ret = sensor_->sensorInfo(&sensorInfo);\n+\tint ret = sensor()->sensorInfo(&sensorInfo);\n \tif (ret) {\n \t\tLOG(MaliC55, Error) << \"Failed to retrieve sensor info\";\n \t\treturn;\n@@ -379,7 +436,7 @@ int MaliC55CameraData::loadIPA()\n \tint ret;\n \n \t/* Do not initialize IPA for TPG. */\n-\tif (!sensor_)\n+\tif (std::holds_alternative(input_))\n \t\treturn 0;\n \n \tipa_ = IPAManager::createIPA(pipe(), 1, 1);\n@@ -388,20 +445,20 @@ int MaliC55CameraData::loadIPA()\n \n \tipa_->setSensorControls.connect(this, &MaliC55CameraData::setSensorControls);\n \n-\tstd::string ipaTuningFile = ipa_->configurationFile(sensor_->model() + \".yaml\",\n+\tstd::string ipaTuningFile = ipa_->configurationFile(sensor()->model() + \".yaml\",\n \t\t\t\t\t\t\t \"uncalibrated.yaml\");\n \n \t/* We need to inform the IPA of the sensor configuration */\n \tipa::mali_c55::IPAConfigInfo ipaConfig{};\n \n-\tret = sensor_->sensorInfo(&ipaConfig.sensorInfo);\n+\tret = sensor()->sensorInfo(&ipaConfig.sensorInfo);\n \tif (ret)\n \t\treturn ret;\n \n-\tipaConfig.sensorControls = sensor_->controls();\n+\tipaConfig.sensorControls = sensor()->controls();\n \n \tControlInfoMap ipaControls;\n-\tret = ipa_->init({ ipaTuningFile, sensor_->model() }, ipaConfig,\n+\tret = ipa_->init({ ipaTuningFile, sensor()->model() }, ipaConfig,\n \t\t\t &ipaControls);\n \tif (ret) {\n \t\tLOG(MaliC55, Error) << \"Failed to initialise the Mali-C55 IPA\";\n@@ -444,13 +501,13 @@ CameraConfiguration::Status MaliC55CameraConfiguration::validate()\n \t * The TPG doesn't support flips, so we only need to calculate a\n \t * transform if we have a sensor.\n \t */\n-\tif (data_->sensor_) {\n+\tif (std::holds_alternative(data_->input_)) {\n+\t\tcombinedTransform_ = Transform::Rot0;\n+\t} else {\n \t\tOrientation requestedOrientation = orientation;\n-\t\tcombinedTransform_ = data_->sensor_->computeTransform(&orientation);\n+\t\tcombinedTransform_ = data_->sensor()->computeTransform(&orientation);\n \t\tif (orientation != requestedOrientation)\n \t\t\tstatus = Adjusted;\n-\t} else {\n-\t\tcombinedTransform_ = Transform::Rot0;\n \t}\n \n \t/* Only 2 streams available. */\n@@ -927,39 +984,44 @@ int PipelineHandlerMaliC55::configure(Camera *camera,\n \n \t/* Link the graph depending if we are operating the TPG or a sensor. */\n \tMaliC55CameraData *data = cameraData(camera);\n-\tif (data->csi_) {\n-\t\tconst MediaEntity *csiEntity = data->csi_->entity();\n-\t\tret = csiEntity->getPadByIndex(1)->links()[0]->setEnabled(true);\n-\t} else {\n-\t\tret = data->entity_->getPadByIndex(0)->links()[0]->setEnabled(true);\n-\t}\n+\tret = std::visit(utils::overloaded {\n+\t\t[](MaliC55CameraData::Tpg &tpg) {\n+\t\t\tconst MediaEntity *tpgEntity = tpg.sd_->entity();\n+\t\t\treturn tpgEntity->getPadByIndex(0)->links()[0]->setEnabled(true);\n+\t\t},\n+\t\t[](MaliC55CameraData::Inline &in) {\n+\t\t\tconst MediaEntity *csi2Entity = in.csi2_->entity();\n+\t\t\treturn csi2Entity->getPadByIndex(1)->links()[0]->setEnabled(true);\n+\t\t},\n+\t}, data->input_);\n \tif (ret)\n \t\treturn ret;\n \n \tMaliC55CameraConfiguration *maliConfig =\n \t\tstatic_cast(config);\n \tV4L2SubdeviceFormat subdevFormat = maliConfig->sensorFormat_;\n-\tret = data->sd_->getFormat(0, &subdevFormat);\n+\n+\t/* Apply format to the origin of the pipeline and propagate it. */\n+\tret = std::visit(utils::overloaded {\n+\t\t[&](MaliC55CameraData::Tpg &) {\n+\t\t\treturn data->subdev()->setFormat(0, &subdevFormat);\n+\t\t},\n+\t\t[&](MaliC55CameraData::Inline &) {\n+\t\t\tret = data->sensor()->setFormat(&subdevFormat,\n+\t\t\t\t\t\t\tmaliConfig->combinedTransform());\n+\t\t\tif (ret)\n+\t\t\t\treturn ret;\n+\n+\t\t\tret = data->csi2()->setFormat(0, &subdevFormat);\n+\t\t\tif (ret)\n+\t\t\t\treturn ret;\n+\n+\t\t\treturn data->csi2()->getFormat(1, &subdevFormat);\n+\t\t},\n+\t}, data->input_);\n \tif (ret)\n \t\treturn ret;\n \n-\tif (data->sensor_) {\n-\t\tret = data->sensor_->setFormat(&subdevFormat,\n-\t\t\t\t\t maliConfig->combinedTransform());\n-\t\tif (ret)\n-\t\t\treturn ret;\n-\t}\n-\n-\tif (data->csi_) {\n-\t\tret = data->csi_->setFormat(0, &subdevFormat);\n-\t\tif (ret)\n-\t\t\treturn ret;\n-\n-\t\tret = data->csi_->getFormat(1, &subdevFormat);\n-\t\tif (ret)\n-\t\t\treturn ret;\n-\t}\n-\n \tV4L2DeviceFormat statsFormat;\n \tret = stats_->getFormat(&statsFormat);\n \tif (ret)\n@@ -973,8 +1035,6 @@ int PipelineHandlerMaliC55::configure(Camera *camera,\n \t/*\n \t * Propagate the format to the ISP sink pad and configure the input\n \t * crop rectangle (no crop at the moment).\n-\t *\n-\t * \\todo Configure the CSI-2 receiver.\n \t */\n \tret = isp_->setFormat(0, &subdevFormat);\n \tif (ret)\n@@ -1058,18 +1118,18 @@ int PipelineHandlerMaliC55::configure(Camera *camera,\n \t/* We need to inform the IPA of the sensor configuration */\n \tipa::mali_c55::IPAConfigInfo ipaConfig{};\n \n-\tret = data->sensor_->sensorInfo(&ipaConfig.sensorInfo);\n+\tret = data->sensor()->sensorInfo(&ipaConfig.sensorInfo);\n \tif (ret)\n \t\treturn ret;\n \n-\tipaConfig.sensorControls = data->sensor_->controls();\n+\tipaConfig.sensorControls = data->sensor()->controls();\n \n \t/*\n \t * And we also need to tell the IPA the bayerOrder of the data (as\n \t * affected by any flips that we've configured)\n \t */\n \tconst Transform &combinedTransform = maliConfig->combinedTransform();\n-\tBayerFormat::Order bayerOrder = data->sensor_->bayerOrder(combinedTransform);\n+\tBayerFormat::Order bayerOrder = data->sensor()->bayerOrder(combinedTransform);\n \n \tControlInfoMap ipaControls;\n \tret = data->ipa_->configure(ipaConfig, utils::to_underlying(bayerOrder),\n@@ -1283,7 +1343,7 @@ void PipelineHandlerMaliC55::applyScalerCrop(Camera *camera,\n \tif (!scalerCrop)\n \t\treturn;\n \n-\tif (!data->sensor_) {\n+\tif (std::holds_alternative(data->input_)) {\n \t\tLOG(MaliC55, Error) << \"ScalerCrop not supported for TPG\";\n \t\treturn;\n \t}\n@@ -1291,7 +1351,7 @@ void PipelineHandlerMaliC55::applyScalerCrop(Camera *camera,\n \tRectangle nativeCrop = *scalerCrop;\n \n \tIPACameraSensorInfo sensorInfo;\n-\tint ret = data->sensor_->sensorInfo(&sensorInfo);\n+\tint ret = data->sensor()->sensorInfo(&sensorInfo);\n \tif (ret) {\n \t\tLOG(MaliC55, Error) << \"Failed to retrieve sensor info\";\n \t\treturn;\n@@ -1573,10 +1633,11 @@ bool PipelineHandlerMaliC55::registerTPGCamera(MediaLink *link)\n \t}\n \n \tstd::unique_ptr data =\n-\t\tstd::make_unique(this, link->source()->entity());\n+\t\tstd::make_unique(this);\n \n-\tif (data->init())\n-\t\treturn false;\n+\tint ret = data->initTpg(link->source()->entity());\n+\tif (ret)\n+\t\treturn ret;\n \n \treturn registerMaliCamera(std::move(data), name);\n }\n@@ -1600,21 +1661,24 @@ bool PipelineHandlerMaliC55::registerSensorCamera(MediaLink *ispLink)\n \t\t\tcontinue;\n \n \t\tstd::unique_ptr data =\n-\t\t\tstd::make_unique(this, sensor);\n-\t\tif (data->init())\n-\t\t\treturn false;\n+\t\t\tstd::make_unique(this);\n+\n+\t\tint ret = data->initInline(sensor);\n+\t\tif (ret)\n+\t\t\treturn ret;\n \n-\t\tdata->properties_ = data->sensor_->properties();\n+\t\tdata->properties_ = data->sensor()->properties();\n \n-\t\tconst CameraSensorProperties::SensorDelays &delays = data->sensor_->sensorDelays();\n+\t\tconst CameraSensorProperties::SensorDelays &delays =\n+\t\t\tdata->sensor()->sensorDelays();\n \t\tstd::unordered_map params = {\n \t\t\t{ V4L2_CID_ANALOGUE_GAIN, { delays.gainDelay, false } },\n \t\t\t{ V4L2_CID_EXPOSURE, { delays.exposureDelay, false } },\n \t\t};\n \n-\t\tdata->delayedCtrls_ =\n-\t\t\tstd::make_unique(data->sensor_->device(),\n-\t\t\t\t\t\t\t params);\n+\t\tV4L2Subdevice *sensorSubdev = data->sensor()->device();\n+\t\tdata->delayedCtrls_ = std::make_unique(sensorSubdev,\n+\t\t\t\t\t\t\t\t\tparams);\n \t\tisp_->frameStart.connect(data->delayedCtrls_.get(),\n \t\t\t\t\t &DelayedControls::applyControls);\n \n","prefixes":["v5","3/7"]}