[libcamera-devel,11/13] pipeline: raspberrypi: Introduce PipelineHandlerBase class

18561 diff mbox series

Create a new PipelineHandlerBase class that handles general purpose
housekeeping duties for the Raspberry Pi pipeline handler. Code the
implementation of new class is essentially pulled from the existing
pipeline/rpi/vc4/raspberrypi.cpp file with a small amount of
refactoring.

Create a derived PipelineHandlerVc4 class from PipelineHandlerBase that
handles the VC4 pipeline specific tasks of the pipeline handler. Again,
code for this class implementation is taken from the existing
pipeline/rpi/vc4/raspberrypi.cpp with a small amount of
refactoring.

The goal of this change is to allow third parties to implement their own
pipeline handlers running on the Raspberry Pi without duplicating all of
the pipeline handler housekeeping tasks.

Signed-off-by: Naushir Patuck <naush@raspberrypi.com>
---
 src/ipa/rpi/vc4/vc4.cpp                       |    2 +-
 src/libcamera/pipeline/rpi/common/meson.build |    1 +
 .../pipeline/rpi/common/pipeline_base.cpp     | 1447 ++++++++++
 .../pipeline/rpi/common/pipeline_base.h       |  276 ++
 .../pipeline/rpi/vc4/data/example.yaml        |    4 +-
 src/libcamera/pipeline/rpi/vc4/meson.build    |    2 +-
 .../pipeline/rpi/vc4/raspberrypi.cpp          | 2428 -----------------
 src/libcamera/pipeline/rpi/vc4/vc4.cpp        | 1001 +++++++
 8 files changed, 2729 insertions(+), 2432 deletions(-)
 create mode 100644 src/libcamera/pipeline/rpi/common/pipeline_base.cpp
 create mode 100644 src/libcamera/pipeline/rpi/common/pipeline_base.h
 delete mode 100644 src/libcamera/pipeline/rpi/vc4/raspberrypi.cpp
 create mode 100644 src/libcamera/pipeline/rpi/vc4/vc4.cpp

Hi Naush

On Wed, Apr 26, 2023 at 02:10:55PM +0100, Naushir Patuck via libcamera-devel wrote:
> Create a new PipelineHandlerBase class that handles general purpose
> housekeeping duties for the Raspberry Pi pipeline handler. Code the
> implementation of new class is essentially pulled from the existing
> pipeline/rpi/vc4/raspberrypi.cpp file with a small amount of
> refactoring.
>
> Create a derived PipelineHandlerVc4 class from PipelineHandlerBase that
> handles the VC4 pipeline specific tasks of the pipeline handler. Again,
> code for this class implementation is taken from the existing
> pipeline/rpi/vc4/raspberrypi.cpp with a small amount of
> refactoring.
>
> The goal of this change is to allow third parties to implement their own
> pipeline handlers running on the Raspberry Pi without duplicating all of
> the pipeline handler housekeeping tasks.
>
> Signed-off-by: Naushir Patuck <naush@raspberrypi.com>

Reviewed-by: Jacopo Mondi <jacopo.mondi@ideasonboard.com>

Thanks
   j

> ---
>  src/ipa/rpi/vc4/vc4.cpp                       |    2 +-
>  src/libcamera/pipeline/rpi/common/meson.build |    1 +
>  .../pipeline/rpi/common/pipeline_base.cpp     | 1447 ++++++++++
>  .../pipeline/rpi/common/pipeline_base.h       |  276 ++
>  .../pipeline/rpi/vc4/data/example.yaml        |    4 +-
>  src/libcamera/pipeline/rpi/vc4/meson.build    |    2 +-
>  .../pipeline/rpi/vc4/raspberrypi.cpp          | 2428 -----------------
>  src/libcamera/pipeline/rpi/vc4/vc4.cpp        | 1001 +++++++
>  8 files changed, 2729 insertions(+), 2432 deletions(-)
>  create mode 100644 src/libcamera/pipeline/rpi/common/pipeline_base.cpp
>  create mode 100644 src/libcamera/pipeline/rpi/common/pipeline_base.h
>  delete mode 100644 src/libcamera/pipeline/rpi/vc4/raspberrypi.cpp
>  create mode 100644 src/libcamera/pipeline/rpi/vc4/vc4.cpp
>
> diff --git a/src/ipa/rpi/vc4/vc4.cpp b/src/ipa/rpi/vc4/vc4.cpp
> index 0e022c2aeed3..f3d83b2afadf 100644
> --- a/src/ipa/rpi/vc4/vc4.cpp
> +++ b/src/ipa/rpi/vc4/vc4.cpp
> @@ -538,7 +538,7 @@ extern "C" {
>  const struct IPAModuleInfo ipaModuleInfo = {
>  	IPA_MODULE_API_VERSION,
>  	1,
> -	"PipelineHandlerRPi",
> +	"PipelineHandlerVc4",
>  	"vc4",
>  };
>
> diff --git a/src/libcamera/pipeline/rpi/common/meson.build b/src/libcamera/pipeline/rpi/common/meson.build
> index 1dec6d3d028b..f8ea790b42a1 100644
> --- a/src/libcamera/pipeline/rpi/common/meson.build
> +++ b/src/libcamera/pipeline/rpi/common/meson.build
> @@ -2,6 +2,7 @@
>
>  libcamera_sources += files([
>      'delayed_controls.cpp',
> +    'pipeline_base.cpp',
>      'rpi_stream.cpp',
>  ])
>
> diff --git a/src/libcamera/pipeline/rpi/common/pipeline_base.cpp b/src/libcamera/pipeline/rpi/common/pipeline_base.cpp
> new file mode 100644
> index 000000000000..012766b38c32
> --- /dev/null
> +++ b/src/libcamera/pipeline/rpi/common/pipeline_base.cpp
> @@ -0,0 +1,1447 @@
> +/* SPDX-License-Identifier: LGPL-2.1-or-later */
> +/*
> + * Copyright (C) 2019-2023, Raspberry Pi Ltd
> + *
> + * pipeline_base.h - Pipeline handler base class for Raspberry Pi devices
> + */
> +
> +#include "pipeline_base.h"
> +
> +#include <chrono>
> +
> +#include <linux/media-bus-format.h>
> +#include <linux/videodev2.h>
> +
> +#include <libcamera/base/file.h>
> +#include <libcamera/base/utils.h>
> +
> +#include <libcamera/formats.h>
> +#include <libcamera/logging.h>
> +#include <libcamera/property_ids.h>
> +
> +#include "libcamera/internal/camera_lens.h"
> +#include "libcamera/internal/ipa_manager.h"
> +#include "libcamera/internal/v4l2_subdevice.h"
> +
> +using namespace std::chrono_literals;
> +
> +namespace libcamera {
> +
> +using namespace RPi;
> +
> +LOG_DEFINE_CATEGORY(RPI)
> +
> +namespace {
> +
> +constexpr unsigned int defaultRawBitDepth = 12;
> +
> +bool isRaw(const PixelFormat &pixFmt)
> +{
> +	/* This test works for both Bayer and raw mono formats. */
> +	return BayerFormat::fromPixelFormat(pixFmt).isValid();
> +}
> +
> +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;
> +}
> +
> +SensorFormats populateSensorFormats(std::unique_ptr<CameraSensor> &sensor)
> +{
> +	SensorFormats formats;
> +
> +	for (auto const mbusCode : sensor->mbusCodes())
> +		formats.emplace(mbusCode, sensor->sizes(mbusCode));
> +
> +	return formats;
> +}
> +
> +bool isMonoSensor(std::unique_ptr<CameraSensor> &sensor)
> +{
> +	unsigned int mbusCode = sensor->mbusCodes()[0];
> +	const BayerFormat &bayer = BayerFormat::fromMbusCode(mbusCode);
> +
> +	return bayer.order == BayerFormat::Order::MONO;
> +}
> +
> +double scoreFormat(double desired, double actual)
> +{
> +	double score = desired - actual;
> +	/* Smaller desired dimensions are preferred. */
> +	if (score < 0.0)
> +		score = (-score) / 8;
> +	/* Penalise non-exact matches. */
> +	if (actual != desired)
> +		score *= 2;
> +
> +	return score;
> +}
> +
> +V4L2SubdeviceFormat findBestFormat(const SensorFormats &formatsMap, const Size &req, unsigned int bitDepth)
> +{
> +	double bestScore = std::numeric_limits<double>::max(), score;
> +	V4L2SubdeviceFormat bestFormat;
> +	bestFormat.colorSpace = ColorSpace::Raw;
> +
> +	constexpr float penaltyAr = 1500.0;
> +	constexpr float penaltyBitDepth = 500.0;
> +
> +	/* Calculate the closest/best mode from the user requested size. */
> +	for (const auto &iter : formatsMap) {
> +		const unsigned int mbusCode = iter.first;
> +		const PixelFormat format = mbusCodeToPixelFormat(mbusCode,
> +								 BayerFormat::Packing::None);
> +		const PixelFormatInfo &info = PixelFormatInfo::info(format);
> +
> +		for (const Size &size : iter.second) {
> +			double reqAr = static_cast<double>(req.width) / req.height;
> +			double fmtAr = static_cast<double>(size.width) / size.height;
> +
> +			/* Score the dimensions for closeness. */
> +			score = scoreFormat(req.width, size.width);
> +			score += scoreFormat(req.height, size.height);
> +			score += penaltyAr * scoreFormat(reqAr, fmtAr);
> +
> +			/* Add any penalties... this is not an exact science! */
> +			score += utils::abs_diff(info.bitsPerPixel, bitDepth) * penaltyBitDepth;
> +
> +			if (score <= bestScore) {
> +				bestScore = score;
> +				bestFormat.mbus_code = mbusCode;
> +				bestFormat.size = size;
> +			}
> +
> +			LOG(RPI, Debug) << "Format: " << size
> +					<< " fmt " << format
> +					<< " Score: " << score
> +					<< " (best " << bestScore << ")";
> +		}
> +	}
> +
> +	return bestFormat;
> +}
> +
> +const std::vector<ColorSpace> validColorSpaces = {
> +	ColorSpace::Sycc,
> +	ColorSpace::Smpte170m,
> +	ColorSpace::Rec709
> +};
> +
> +std::optional<ColorSpace> findValidColorSpace(const ColorSpace &colourSpace)
> +{
> +	for (auto cs : validColorSpaces) {
> +		if (colourSpace.primaries == cs.primaries &&
> +		    colourSpace.transferFunction == cs.transferFunction)
> +			return cs;
> +	}
> +
> +	return std::nullopt;
> +}
> +
> +bool isRgb(const PixelFormat &pixFmt)
> +{
> +	const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt);
> +	return info.colourEncoding == PixelFormatInfo::ColourEncodingRGB;
> +}
> +
> +bool isYuv(const PixelFormat &pixFmt)
> +{
> +	/* The code below would return true for raw mono streams, so weed those out first. */
> +	if (isRaw(pixFmt))
> +		return false;
> +
> +	const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt);
> +	return info.colourEncoding == PixelFormatInfo::ColourEncodingYUV;
> +}
> +
> +} /* namespace */
> +
> +/*
> + * Raspberry Pi drivers expect the following colour spaces:
> + * - V4L2_COLORSPACE_RAW for raw streams.
> + * - One of V4L2_COLORSPACE_JPEG, V4L2_COLORSPACE_SMPTE170M, V4L2_COLORSPACE_REC709 for
> + *   non-raw streams. Other fields such as transfer function, YCbCr encoding and
> + *   quantisation are not used.
> + *
> + * The libcamera colour spaces that we wish to use corresponding to these are therefore:
> + * - ColorSpace::Raw for V4L2_COLORSPACE_RAW
> + * - ColorSpace::Sycc for V4L2_COLORSPACE_JPEG
> + * - ColorSpace::Smpte170m for V4L2_COLORSPACE_SMPTE170M
> + * - ColorSpace::Rec709 for V4L2_COLORSPACE_REC709
> + */
> +CameraConfiguration::Status RPiCameraConfiguration::validateColorSpaces([[maybe_unused]] ColorSpaceFlags flags)
> +{
> +	Status status = Valid;
> +	yuvColorSpace_.reset();
> +
> +	for (auto cfg : config_) {
> +		/* First fix up raw streams to have the "raw" colour space. */
> +		if (isRaw(cfg.pixelFormat)) {
> +			/* If there was no value here, that doesn't count as "adjusted". */
> +			if (cfg.colorSpace && cfg.colorSpace != ColorSpace::Raw)
> +				status = Adjusted;
> +			cfg.colorSpace = ColorSpace::Raw;
> +			continue;
> +		}
> +
> +		/* Next we need to find our shared colour space. The first valid one will do. */
> +		if (cfg.colorSpace && !yuvColorSpace_)
> +			yuvColorSpace_ = findValidColorSpace(cfg.colorSpace.value());
> +	}
> +
> +	/* If no colour space was given anywhere, choose sYCC. */
> +	if (!yuvColorSpace_)
> +		yuvColorSpace_ = ColorSpace::Sycc;
> +
> +	/* Note the version of this that any RGB streams will have to use. */
> +	rgbColorSpace_ = yuvColorSpace_;
> +	rgbColorSpace_->ycbcrEncoding = ColorSpace::YcbcrEncoding::None;
> +	rgbColorSpace_->range = ColorSpace::Range::Full;
> +
> +	/* Go through the streams again and force everyone to the same colour space. */
> +	for (auto cfg : config_) {
> +		if (cfg.colorSpace == ColorSpace::Raw)
> +			continue;
> +
> +		if (isYuv(cfg.pixelFormat) && cfg.colorSpace != yuvColorSpace_) {
> +			/* Again, no value means "not adjusted". */
> +			if (cfg.colorSpace)
> +				status = Adjusted;
> +			cfg.colorSpace = yuvColorSpace_;
> +		}
> +		if (isRgb(cfg.pixelFormat) && cfg.colorSpace != rgbColorSpace_) {
> +			/* Be nice, and let the YUV version count as non-adjusted too. */
> +			if (cfg.colorSpace && cfg.colorSpace != yuvColorSpace_)
> +				status = Adjusted;
> +			cfg.colorSpace = rgbColorSpace_;
> +		}
> +	}
> +
> +	return status;
> +}
> +
> +CameraConfiguration::Status RPiCameraConfiguration::validate()
> +{
> +	Status status = Valid;
> +
> +	if (config_.empty())
> +		return Invalid;
> +
> +	status = validateColorSpaces(ColorSpaceFlag::StreamsShareColorSpace);
> +
> +	/*
> +	 * Validate the requested transform against the sensor capabilities and
> +	 * rotation and store the final combined transform that configure() will
> +	 * need to apply to the sensor to save us working it out again.
> +	 */
> +	Transform requestedTransform = transform;
> +	combinedTransform_ = data_->sensor_->validateTransform(&transform);
> +	if (transform != requestedTransform)
> +		status = Adjusted;
> +
> +	std::vector<CameraData::StreamParams> rawStreams, outStreams;
> +	for (const auto &[index, cfg] : utils::enumerate(config_)) {
> +		if (isRaw(cfg.pixelFormat))
> +			rawStreams.emplace_back(index, &cfg);
> +		else
> +			outStreams.emplace_back(index, &cfg);
> +	}
> +
> +	/* Sort the streams so the highest resolution is first. */
> +	std::sort(rawStreams.begin(), rawStreams.end(),
> +		  [](auto &l, auto &r) { return l.cfg->size > r.cfg->size; });
> +
> +	std::sort(outStreams.begin(), outStreams.end(),
> +		  [](auto &l, auto &r) { return l.cfg->size > r.cfg->size; });
> +
> +	/* Do any platform specific fixups. */
> +	status = data_->platformValidate(rawStreams, outStreams);
> +	if (status == Invalid)
> +		return Invalid;
> +
> +	/* Further fixups on the RAW streams. */
> +	for (auto &raw : rawStreams) {
> +		StreamConfiguration &cfg = config_.at(raw.index);
> +		V4L2DeviceFormat rawFormat;
> +
> +		const PixelFormatInfo &info = PixelFormatInfo::info(cfg.pixelFormat);
> +		unsigned int bitDepth = info.isValid() ? info.bitsPerPixel : defaultRawBitDepth;
> +		V4L2SubdeviceFormat sensorFormat = findBestFormat(data_->sensorFormats_, cfg.size, bitDepth);
> +
> +		rawFormat.size = sensorFormat.size;
> +		rawFormat.fourcc = raw.dev->toV4L2PixelFormat(cfg.pixelFormat);
> +
> +		int ret = raw.dev->tryFormat(&rawFormat);
> +		if (ret)
> +			return Invalid;
> +		/*
> +		 * Some sensors change their Bayer order when they are h-flipped
> +		 * or v-flipped, according to the transform. If this one does, we
> +		 * must advertise the transformed Bayer order in the raw stream.
> +		 * Note how we must fetch the "native" (i.e. untransformed) Bayer
> +		 * order, because the sensor may currently be flipped!
> +		 */
> +		V4L2PixelFormat fourcc = rawFormat.fourcc;
> +		if (data_->flipsAlterBayerOrder_) {
> +			BayerFormat bayer = BayerFormat::fromV4L2PixelFormat(fourcc);
> +			bayer.order = data_->nativeBayerOrder_;
> +			bayer = bayer.transform(combinedTransform_);
> +			fourcc = bayer.toV4L2PixelFormat();
> +		}
> +
> +		PixelFormat inputPixFormat = fourcc.toPixelFormat();
> +		if (raw.cfg->size != rawFormat.size || raw.cfg->pixelFormat != inputPixFormat) {
> +			raw.cfg->size = rawFormat.size;
> +			raw.cfg->pixelFormat = inputPixFormat;
> +			status = Adjusted;
> +		}
> +
> +		raw.cfg->stride = rawFormat.planes[0].bpl;
> +		raw.cfg->frameSize = rawFormat.planes[0].size;
> +	}
> +
> +	/* Further fixups on the ISP output streams. */
> +	for (auto &out : outStreams) {
> +		StreamConfiguration &cfg = config_.at(out.index);
> +		PixelFormat &cfgPixFmt = cfg.pixelFormat;
> +		V4L2VideoDevice::Formats fmts = out.dev->formats();
> +
> +		if (fmts.find(out.dev->toV4L2PixelFormat(cfgPixFmt)) == fmts.end()) {
> +			/* If we cannot find a native format, use a default one. */
> +			cfgPixFmt = formats::NV12;
> +			status = Adjusted;
> +		}
> +
> +		V4L2DeviceFormat format;
> +		format.fourcc = out.dev->toV4L2PixelFormat(cfg.pixelFormat);
> +		format.size = cfg.size;
> +		/* We want to send the associated YCbCr info through to the driver. */
> +		format.colorSpace = yuvColorSpace_;
> +
> +		LOG(RPI, Debug)
> +			<< "Try color space " << ColorSpace::toString(cfg.colorSpace);
> +
> +		int ret = out.dev->tryFormat(&format);
> +		if (ret)
> +			return Invalid;
> +
> +		/*
> +		 * But for RGB streams, the YCbCr info gets overwritten on the way back
> +		 * so we must check against what the stream cfg says, not what we actually
> +		 * requested (which carefully included the YCbCr info)!
> +		 */
> +		if (cfg.colorSpace != format.colorSpace) {
> +			status = Adjusted;
> +			LOG(RPI, Debug)
> +				<< "Color space changed from "
> +				<< ColorSpace::toString(cfg.colorSpace) << " to "
> +				<< ColorSpace::toString(format.colorSpace);
> +		}
> +
> +		cfg.colorSpace = format.colorSpace;
> +		cfg.stride = format.planes[0].bpl;
> +		cfg.frameSize = format.planes[0].size;
> +	}
> +
> +	return status;
> +}
> +
> +V4L2DeviceFormat PipelineHandlerBase::toV4L2DeviceFormat(const V4L2VideoDevice *dev,
> +							 const V4L2SubdeviceFormat &format,
> +							 BayerFormat::Packing packingReq)
> +{
> +	unsigned int mbus_code = format.mbus_code;
> +	const PixelFormat pix = mbusCodeToPixelFormat(mbus_code, packingReq);
> +	V4L2DeviceFormat deviceFormat;
> +
> +	deviceFormat.fourcc = dev->toV4L2PixelFormat(pix);
> +	deviceFormat.size = format.size;
> +	deviceFormat.colorSpace = format.colorSpace;
> +	return deviceFormat;
> +}
> +
> +std::unique_ptr<CameraConfiguration>
> +PipelineHandlerBase::generateConfiguration(Camera *camera, const StreamRoles &roles)
> +{
> +	CameraData *data = cameraData(camera);
> +	std::unique_ptr<CameraConfiguration> config =
> +		std::make_unique<RPiCameraConfiguration>(data);
> +	V4L2SubdeviceFormat sensorFormat;
> +	unsigned int bufferCount;
> +	PixelFormat pixelFormat;
> +	V4L2VideoDevice::Formats fmts;
> +	Size size;
> +	std::optional<ColorSpace> colorSpace;
> +
> +	if (roles.empty())
> +		return config;
> +
> +	Size sensorSize = data->sensor_->resolution();
> +	for (const StreamRole role : roles) {
> +		switch (role) {
> +		case StreamRole::Raw:
> +			size = sensorSize;
> +			sensorFormat = findBestFormat(data->sensorFormats_, size, defaultRawBitDepth);
> +			pixelFormat = mbusCodeToPixelFormat(sensorFormat.mbus_code,
> +							    BayerFormat::Packing::CSI2);
> +			ASSERT(pixelFormat.isValid());
> +			colorSpace = ColorSpace::Raw;
> +			bufferCount = 2;
> +			break;
> +
> +		case StreamRole::StillCapture:
> +			fmts = data->ispFormats();
> +			pixelFormat = formats::NV12;
> +			/*
> +			 * Still image codecs usually expect the sYCC color space.
> +			 * Even RGB codecs will be fine as the RGB we get with the
> +			 * sYCC color space is the same as sRGB.
> +			 */
> +			colorSpace = ColorSpace::Sycc;
> +			/* Return the largest sensor resolution. */
> +			size = sensorSize;
> +			bufferCount = 1;
> +			break;
> +
> +		case StreamRole::VideoRecording:
> +			/*
> +			 * The colour denoise algorithm requires the analysis
> +			 * image, produced by the second ISP output, to be in
> +			 * YUV420 format. Select this format as the default, to
> +			 * maximize chances that it will be picked by
> +			 * applications and enable usage of the colour denoise
> +			 * algorithm.
> +			 */
> +			fmts = data->ispFormats();
> +			pixelFormat = formats::YUV420;
> +			/*
> +			 * Choose a color space appropriate for video recording.
> +			 * Rec.709 will be a good default for HD resolutions.
> +			 */
> +			colorSpace = ColorSpace::Rec709;
> +			size = { 1920, 1080 };
> +			bufferCount = 4;
> +			break;
> +
> +		case StreamRole::Viewfinder:
> +			fmts = data->ispFormats();
> +			pixelFormat = formats::ARGB8888;
> +			colorSpace = ColorSpace::Sycc;
> +			size = { 800, 600 };
> +			bufferCount = 4;
> +			break;
> +
> +		default:
> +			LOG(RPI, Error) << "Requested stream role not supported: "
> +					<< role;
> +			return nullptr;
> +		}
> +
> +		std::map<PixelFormat, std::vector<SizeRange>> deviceFormats;
> +		if (role == StreamRole::Raw) {
> +			/* Translate the MBUS codes to a PixelFormat. */
> +			for (const auto &format : data->sensorFormats_) {
> +				PixelFormat pf = mbusCodeToPixelFormat(format.first,
> +								       BayerFormat::Packing::CSI2);
> +				if (pf.isValid())
> +					deviceFormats.emplace(std::piecewise_construct, std::forward_as_tuple(pf),
> +							      std::forward_as_tuple(format.second.begin(), format.second.end()));
> +			}
> +		} else {
> +			/*
> +			 * Translate the V4L2PixelFormat to PixelFormat. Note that we
> +			 * limit the recommended largest ISP output size to match the
> +			 * sensor resolution.
> +			 */
> +			for (const auto &format : fmts) {
> +				PixelFormat pf = format.first.toPixelFormat();
> +				if (pf.isValid()) {
> +					const SizeRange &ispSizes = format.second[0];
> +					deviceFormats[pf].emplace_back(ispSizes.min, sensorSize,
> +								       ispSizes.hStep, ispSizes.vStep);
> +				}
> +			}
> +		}
> +
> +		/* Add the stream format based on the device node used for the use case. */
> +		StreamFormats formats(deviceFormats);
> +		StreamConfiguration cfg(formats);
> +		cfg.size = size;
> +		cfg.pixelFormat = pixelFormat;
> +		cfg.colorSpace = colorSpace;
> +		cfg.bufferCount = bufferCount;
> +		config->addConfiguration(cfg);
> +	}
> +
> +	config->validate();
> +
> +	return config;
> +}
> +
> +int PipelineHandlerBase::configure(Camera *camera, CameraConfiguration *config)
> +{
> +	CameraData *data = cameraData(camera);
> +	int ret;
> +
> +	/* Start by freeing all buffers and reset the stream states. */
> +	data->freeBuffers();
> +	for (auto const stream : data->streams_)
> +		stream->setExternal(false);
> +
> +	std::vector<CameraData::StreamParams> rawStreams, ispStreams;
> +	std::optional<BayerFormat::Packing> packing;
> +	unsigned int bitDepth = defaultRawBitDepth;
> +
> +	for (unsigned i = 0; i < config->size(); i++) {
> +		StreamConfiguration *cfg = &config->at(i);
> +
> +		if (isRaw(cfg->pixelFormat))
> +			rawStreams.emplace_back(i, cfg);
> +		else
> +			ispStreams.emplace_back(i, cfg);
> +	}
> +
> +	/* Sort the streams so the highest resolution is first. */
> +	std::sort(rawStreams.begin(), rawStreams.end(),
> +		  [](auto &l, auto &r) { return l.cfg->size > r.cfg->size; });
> +
> +	std::sort(ispStreams.begin(), ispStreams.end(),
> +		  [](auto &l, auto &r) { return l.cfg->size > r.cfg->size; });
> +
> +	/*
> +	 * Calculate the best sensor mode we can use based on the user's request,
> +	 * and apply it to the sensor with the cached tranform, if any.
> +	 *
> +	 * If we have been given a RAW stream, use that size for setting up the sensor.
> +	 */
> +	if (!rawStreams.empty()) {
> +		BayerFormat bayerFormat = BayerFormat::fromPixelFormat(rawStreams[0].cfg->pixelFormat);
> +		/* Replace the user requested packing/bit-depth. */
> +		packing = bayerFormat.packing;
> +		bitDepth = bayerFormat.bitDepth;
> +	}
> +
> +	V4L2SubdeviceFormat sensorFormat = findBestFormat(data->sensorFormats_,
> +							  rawStreams.empty() ? ispStreams[0].cfg->size
> +									     : rawStreams[0].cfg->size,
> +							  bitDepth);
> +	/* Apply any cached transform. */
> +	const RPiCameraConfiguration *rpiConfig = static_cast<const RPiCameraConfiguration *>(config);
> +
> +	/* Then apply the format on the sensor. */
> +	ret = data->sensor_->setFormat(&sensorFormat, rpiConfig->combinedTransform_);
> +	if (ret)
> +		return ret;
> +
> +	/*
> +	 * Platform specific internal stream configuration. This also assigns
> +	 * external streams which get configured below.
> +	 */
> +	ret = data->platformConfigure(sensorFormat, packing, rawStreams, ispStreams);
> +	if (ret)
> +		return ret;
> +
> +	ipa::RPi::ConfigResult result;
> +	ret = data->configureIPA(config, &result);
> +	if (ret) {
> +		LOG(RPI, Error) << "Failed to configure the IPA: " << ret;
> +		return ret;
> +	}
> +
> +	/*
> +	 * Set the scaler crop to the value we are using (scaled to native sensor
> +	 * coordinates).
> +	 */
> +	data->scalerCrop_ = data->scaleIspCrop(data->ispCrop_);
> +
> +	/*
> +	 * Update the ScalerCropMaximum to the correct value for this camera mode.
> +	 * For us, it's the same as the "analogue crop".
> +	 *
> +	 * \todo Make this property the ScalerCrop maximum value when dynamic
> +	 * controls are available and set it at validate() time
> +	 */
> +	data->properties_.set(properties::ScalerCropMaximum, data->sensorInfo_.analogCrop);
> +
> +	/* Store the mode sensitivity for the application. */
> +	data->properties_.set(properties::SensorSensitivity, result.modeSensitivity);
> +
> +	/* Update the controls that the Raspberry Pi IPA can handle. */
> +	ControlInfoMap::Map ctrlMap;
> +	for (auto const &c : result.controlInfo)
> +		ctrlMap.emplace(c.first, c.second);
> +
> +	/* Add the ScalerCrop control limits based on the current mode. */
> +	Rectangle ispMinCrop = data->scaleIspCrop(Rectangle(data->ispMinCropSize_));
> +	ctrlMap[&controls::ScalerCrop] = ControlInfo(ispMinCrop, data->sensorInfo_.analogCrop, data->scalerCrop_);
> +
> +	data->controlInfo_ = ControlInfoMap(std::move(ctrlMap), result.controlInfo.idmap());
> +
> +	/* Setup the Video Mux/Bridge entities. */
> +	for (auto &[device, link] : data->bridgeDevices_) {
> +		/*
> +		 * Start by disabling all the sink pad links on the devices in the
> +		 * cascade, with the exception of the link connecting the device.
> +		 */
> +		for (const MediaPad *p : device->entity()->pads()) {
> +			if (!(p->flags() & MEDIA_PAD_FL_SINK))
> +				continue;
> +
> +			for (MediaLink *l : p->links()) {
> +				if (l != link)
> +					l->setEnabled(false);
> +			}
> +		}
> +
> +		/*
> +		 * Next, enable the entity -> entity links, and setup the pad format.
> +		 *
> +		 * \todo Some bridge devices may chainge the media bus code, so we
> +		 * ought to read the source pad format and propagate it to the sink pad.
> +		 */
> +		link->setEnabled(true);
> +		const MediaPad *sinkPad = link->sink();
> +		ret = device->setFormat(sinkPad->index(), &sensorFormat);
> +		if (ret) {
> +			LOG(RPI, Error) << "Failed to set format on " << device->entity()->name()
> +					<< " pad " << sinkPad->index()
> +					<< " with format  " << sensorFormat
> +					<< ": " << ret;
> +			return ret;
> +		}
> +
> +		LOG(RPI, Debug) << "Configured media link on device " << device->entity()->name()
> +				<< " on pad " << sinkPad->index();
> +	}
> +
> +	return 0;
> +}
> +
> +int PipelineHandlerBase::exportFrameBuffers([[maybe_unused]] Camera *camera, libcamera::Stream *stream,
> +					    std::vector<std::unique_ptr<FrameBuffer>> *buffers)
> +{
> +	RPi::Stream *s = static_cast<RPi::Stream *>(stream);
> +	unsigned int count = stream->configuration().bufferCount;
> +	int ret = s->dev()->exportBuffers(count, buffers);
> +
> +	s->setExportedBuffers(buffers);
> +
> +	return ret;
> +}
> +
> +int PipelineHandlerBase::start(Camera *camera, const ControlList *controls)
> +{
> +	CameraData *data = cameraData(camera);
> +	int ret;
> +
> +	/* Check if a ScalerCrop control was specified. */
> +	if (controls)
> +		data->calculateScalerCrop(*controls);
> +
> +	/* Start the IPA. */
> +	ipa::RPi::StartResult result;
> +	data->ipa_->start(controls ? *controls : ControlList{ controls::controls },
> +			  &result);
> +
> +	/* Apply any gain/exposure settings that the IPA may have passed back. */
> +	if (!result.controls.empty())
> +		data->setSensorControls(result.controls);
> +
> +	/* Configure the number of dropped frames required on startup. */
> +	data->dropFrameCount_ = data->config_.disableStartupFrameDrops ? 0
> +								       : result.dropFrameCount;
> +
> +	for (auto const stream : data->streams_)
> +		stream->resetBuffers();
> +
> +	if (!data->buffersAllocated_) {
> +		/* Allocate buffers for internal pipeline usage. */
> +		ret = prepareBuffers(camera);
> +		if (ret) {
> +			LOG(RPI, Error) << "Failed to allocate buffers";
> +			data->freeBuffers();
> +			stop(camera);
> +			return ret;
> +		}
> +		data->buffersAllocated_ = true;
> +	}
> +
> +	/* We need to set the dropFrameCount_ before queueing buffers. */
> +	ret = queueAllBuffers(camera);
> +	if (ret) {
> +		LOG(RPI, Error) << "Failed to queue buffers";
> +		stop(camera);
> +		return ret;
> +	}
> +
> +	/*
> +	 * Reset the delayed controls with the gain and exposure values set by
> +	 * the IPA.
> +	 */
> +	data->delayedCtrls_->reset(0);
> +	data->state_ = CameraData::State::Idle;
> +
> +	/* Enable SOF event generation. */
> +	data->frontendDevice()->setFrameStartEnabled(true);
> +
> +	data->platformStart();
> +
> +	/* Start all streams. */
> +	for (auto const stream : data->streams_) {
> +		ret = stream->dev()->streamOn();
> +		if (ret) {
> +			stop(camera);
> +			return ret;
> +		}
> +	}
> +
> +	return 0;
> +}
> +
> +void PipelineHandlerBase::stopDevice(Camera *camera)
> +{
> +	CameraData *data = cameraData(camera);
> +
> +	data->state_ = CameraData::State::Stopped;
> +	data->platformStop();
> +
> +	for (auto const stream : data->streams_)
> +		stream->dev()->streamOff();
> +
> +	/* Disable SOF event generation. */
> +	data->frontendDevice()->setFrameStartEnabled(false);
> +
> +	data->clearIncompleteRequests();
> +
> +	/* Stop the IPA. */
> +	data->ipa_->stop();
> +}
> +
> +void PipelineHandlerBase::releaseDevice(Camera *camera)
> +{
> +	CameraData *data = cameraData(camera);
> +	data->freeBuffers();
> +}
> +
> +int PipelineHandlerBase::queueRequestDevice(Camera *camera, Request *request)
> +{
> +	CameraData *data = cameraData(camera);
> +
> +	if (!data->isRunning())
> +		return -EINVAL;
> +
> +	LOG(RPI, Debug) << "queueRequestDevice: New request.";
> +
> +	/* Push all buffers supplied in the Request to the respective streams. */
> +	for (auto stream : data->streams_) {
> +		if (!stream->isExternal())
> +			continue;
> +
> +		FrameBuffer *buffer = request->findBuffer(stream);
> +		if (buffer && !stream->getBufferId(buffer)) {
> +			/*
> +			 * This buffer is not recognised, so it must have been allocated
> +			 * outside the v4l2 device. Store it in the stream buffer list
> +			 * so we can track it.
> +			 */
> +			stream->setExternalBuffer(buffer);
> +		}
> +
> +		/*
> +		 * If no buffer is provided by the request for this stream, we
> +		 * queue a nullptr to the stream to signify that it must use an
> +		 * internally allocated buffer for this capture request. This
> +		 * buffer will not be given back to the application, but is used
> +		 * to support the internal pipeline flow.
> +		 *
> +		 * The below queueBuffer() call will do nothing if there are not
> +		 * enough internal buffers allocated, but this will be handled by
> +		 * queuing the request for buffers in the RPiStream object.
> +		 */
> +		int ret = stream->queueBuffer(buffer);
> +		if (ret)
> +			return ret;
> +	}
> +
> +	/* Push the request to the back of the queue. */
> +	data->requestQueue_.push(request);
> +	data->handleState();
> +
> +	return 0;
> +}
> +
> +int PipelineHandlerBase::registerCamera(MediaDevice *frontend, const std::string &frontendName,
> +					MediaDevice *backend, MediaEntity *sensorEntity)
> +{
> +	std::unique_ptr<CameraData> cameraData = allocateCameraData();
> +	CameraData *data = cameraData.get();
> +	int ret;
> +
> +	data->sensor_ = std::make_unique<CameraSensor>(sensorEntity);
> +	if (!data->sensor_)
> +		return -EINVAL;
> +
> +	if (data->sensor_->init())
> +		return -EINVAL;
> +
> +	data->sensorFormats_ = populateSensorFormats(data->sensor_);
> +
> +	/*
> +	 * Enumerate all the Video Mux/Bridge devices across the sensor -> Fr
> +	 * chain. There may be a cascade of devices in this chain!
> +	 */
> +	MediaLink *link = sensorEntity->getPadByIndex(0)->links()[0];
> +	data->enumerateVideoDevices(link, frontendName);
> +
> +	ipa::RPi::InitResult result;
> +	if (data->loadIPA(&result)) {
> +		LOG(RPI, Error) << "Failed to load a suitable IPA library";
> +		return -EINVAL;
> +	}
> +
> +	/*
> +	 * Setup our delayed control writer with the sensor default
> +	 * gain and exposure delays. Mark VBLANK for priority write.
> +	 */
> +	std::unordered_map<uint32_t, RPi::DelayedControls::ControlParams> params = {
> +		{ V4L2_CID_ANALOGUE_GAIN, { result.sensorConfig.gainDelay, false } },
> +		{ V4L2_CID_EXPOSURE, { result.sensorConfig.exposureDelay, false } },
> +		{ V4L2_CID_HBLANK, { result.sensorConfig.hblankDelay, false } },
> +		{ V4L2_CID_VBLANK, { result.sensorConfig.vblankDelay, true } }
> +	};
> +	data->delayedCtrls_ = std::make_unique<RPi::DelayedControls>(data->sensor_->device(), params);
> +	data->sensorMetadata_ = result.sensorConfig.sensorMetadata;
> +
> +	/* Register initial controls that the Raspberry Pi IPA can handle. */
> +	data->controlInfo_ = std::move(result.controlInfo);
> +
> +	/* Initialize the camera properties. */
> +	data->properties_ = data->sensor_->properties();
> +
> +	/*
> +	 * The V4L2_CID_NOTIFY_GAINS control, if present, is used to inform the
> +	 * sensor of the colour gains. It is defined to be a linear gain where
> +	 * the default value represents a gain of exactly one.
> +	 */
> +	auto it = data->sensor_->controls().find(V4L2_CID_NOTIFY_GAINS);
> +	if (it != data->sensor_->controls().end())
> +		data->notifyGainsUnity_ = it->second.def().get<int32_t>();
> +
> +	/*
> +	 * Set a default value for the ScalerCropMaximum property to show
> +	 * that we support its use, however, initialise it to zero because
> +	 * it's not meaningful until a camera mode has been chosen.
> +	 */
> +	data->properties_.set(properties::ScalerCropMaximum, Rectangle{});
> +
> +	/*
> +	 * We cache two things about the sensor in relation to transforms
> +	 * (meaning horizontal and vertical flips): if they affect the Bayer
> +         * ordering, and what the "native" Bayer order is, when no transforms
> +	 * are applied.
> +	 *
> +	 * If flips are supported verify if they affect the Bayer ordering
> +	 * and what the "native" Bayer order is, when no transforms are
> +	 * applied.
> +	 *
> +	 * We note that the sensor's cached list of supported formats is
> +	 * already in the "native" order, with any flips having been undone.
> +	 */
> +	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->flipsAlterBayerOrder_ = hflipCtrl->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT;
> +	}
> +
> +	/* Look for a valid Bayer format. */
> +	BayerFormat bayerFormat;
> +	for (const auto &iter : data->sensorFormats_) {
> +		bayerFormat = BayerFormat::fromMbusCode(iter.first);
> +		if (bayerFormat.isValid())
> +			break;
> +	}
> +
> +	if (!bayerFormat.isValid()) {
> +		LOG(RPI, Error) << "No Bayer format found";
> +		return -EINVAL;
> +	}
> +	data->nativeBayerOrder_ = bayerFormat.order;
> +
> +	ret = data->loadPipelineConfiguration();
> +	if (ret) {
> +		LOG(RPI, Error) << "Unable to load pipeline configuration";
> +		return ret;
> +	}
> +
> +	ret = platformRegister(cameraData, frontend, backend);
> +	if (ret)
> +		return ret;
> +
> +	/* Setup the general IPA signal handlers. */
> +	data->frontendDevice()->dequeueTimeout.connect(data, &RPi::CameraData::cameraTimeout);
> +	data->frontendDevice()->frameStart.connect(data, &RPi::CameraData::frameStarted);
> +	data->ipa_->setDelayedControls.connect(data, &CameraData::setDelayedControls);
> +	data->ipa_->setLensControls.connect(data, &CameraData::setLensControls);
> +
> +	return 0;
> +}
> +
> +void PipelineHandlerBase::mapBuffers(Camera *camera, const BufferMap &buffers, unsigned int mask)
> +{
> +	CameraData *data = cameraData(camera);
> +	std::vector<IPABuffer> bufferIds;
> +	/*
> +	 * Link the FrameBuffers with the id (key value) in the map stored in
> +	 * the RPi stream object - along with an identifier mask.
> +	 *
> +	 * This will allow us to identify buffers passed between the pipeline
> +	 * handler and the IPA.
> +	 */
> +	for (auto const &it : buffers) {
> +		bufferIds.push_back(IPABuffer(mask | it.first,
> +					      it.second->planes()));
> +		data->bufferIds_.insert(mask | it.first);
> +	}
> +
> +	data->ipa_->mapBuffers(bufferIds);
> +}
> +
> +int PipelineHandlerBase::queueAllBuffers(Camera *camera)
> +{
> +	CameraData *data = cameraData(camera);
> +	int ret;
> +
> +	for (auto const stream : data->streams_) {
> +		if (!stream->isExternal()) {
> +			ret = stream->queueAllBuffers();
> +			if (ret < 0)
> +				return ret;
> +		} else {
> +			/*
> +			 * For external streams, we must queue up a set of internal
> +			 * buffers to handle the number of drop frames requested by
> +			 * the IPA. This is done by passing nullptr in queueBuffer().
> +			 *
> +			 * The below queueBuffer() call will do nothing if there
> +			 * are not enough internal buffers allocated, but this will
> +			 * be handled by queuing the request for buffers in the
> +			 * RPiStream object.
> +			 */
> +			unsigned int i;
> +			for (i = 0; i < data->dropFrameCount_; i++) {
> +				ret = stream->queueBuffer(nullptr);
> +				if (ret)
> +					return ret;
> +			}
> +		}
> +	}
> +
> +	return 0;
> +}
> +
> +void CameraData::freeBuffers()
> +{
> +	if (ipa_) {
> +		/*
> +		 * Copy the buffer ids from the unordered_set to a vector to
> +		 * pass to the IPA.
> +		 */
> +		std::vector<unsigned int> bufferIds(bufferIds_.begin(),
> +						    bufferIds_.end());
> +		ipa_->unmapBuffers(bufferIds);
> +		bufferIds_.clear();
> +	}
> +
> +	for (auto const stream : streams_)
> +		stream->releaseBuffers();
> +
> +	platformFreeBuffers();
> +
> +	buffersAllocated_ = false;
> +}
> +
> +/*
> + * enumerateVideoDevices() iterates over the Media Controller topology, starting
> + * at the sensor and finishing at the frontend. For each sensor, CameraData stores
> + * a unique list of any intermediate video mux or bridge devices connected in a
> + * cascade, together with the entity to entity link.
> + *
> + * Entity pad configuration and link enabling happens at the end of configure().
> + * We first disable all pad links on each entity device in the chain, and then
> + * selectively enabling the specific links to link sensor to the frontend across
> + * all intermediate muxes and bridges.
> + *
> + * In the cascaded topology below, if Sensor1 is used, the Mux2 -> Mux1 link
> + * will be disabled, and Sensor1 -> Mux1 -> Frontend links enabled. Alternatively,
> + * if Sensor3 is used, the Sensor2 -> Mux2 and Sensor1 -> Mux1 links are disabled,
> + * and Sensor3 -> Mux2 -> Mux1 -> Frontend links are enabled. All other links will
> + * remain unchanged.
> + *
> + *  +----------+
> + *  |     FE   |
> + *  +-----^----+
> + *        |
> + *    +---+---+
> + *    | Mux1  |<------+
> + *    +--^----        |
> + *       |            |
> + * +-----+---+    +---+---+
> + * | Sensor1 |    |  Mux2 |<--+
> + * +---------+    +-^-----+   |
> + *                  |         |
> + *          +-------+-+   +---+-----+
> + *          | Sensor2 |   | Sensor3 |
> + *          +---------+   +---------+
> + */
> +void CameraData::enumerateVideoDevices(MediaLink *link, const std::string &frontend)
> +{
> +	const MediaPad *sinkPad = link->sink();
> +	const MediaEntity *entity = sinkPad->entity();
> +	bool frontendFound = false;
> +
> +	/* We only deal with Video Mux and Bridge devices in cascade. */
> +	if (entity->function() != MEDIA_ENT_F_VID_MUX &&
> +	    entity->function() != MEDIA_ENT_F_VID_IF_BRIDGE)
> +		return;
> +
> +	/* Find the source pad for this Video Mux or Bridge device. */
> +	const MediaPad *sourcePad = nullptr;
> +	for (const MediaPad *pad : entity->pads()) {
> +		if (pad->flags() & MEDIA_PAD_FL_SOURCE) {
> +			/*
> +			 * We can only deal with devices that have a single source
> +			 * pad. If this device has multiple source pads, ignore it
> +			 * and this branch in the cascade.
> +			 */
> +			if (sourcePad)
> +				return;
> +
> +			sourcePad = pad;
> +		}
> +	}
> +
> +	LOG(RPI, Debug) << "Found video mux device " << entity->name()
> +			<< " linked to sink pad " << sinkPad->index();
> +
> +	bridgeDevices_.emplace_back(std::make_unique<V4L2Subdevice>(entity), link);
> +	bridgeDevices_.back().first->open();
> +
> +	/*
> +	 * Iterate through all the sink pad links down the cascade to find any
> +	 * other Video Mux and Bridge devices.
> +	 */
> +	for (MediaLink *l : sourcePad->links()) {
> +		enumerateVideoDevices(l, frontend);
> +		/* Once we reach the Frontend entity, we are done. */
> +		if (l->sink()->entity()->name() == frontend) {
> +			frontendFound = true;
> +			break;
> +		}
> +	}
> +
> +	/* This identifies the end of our entity enumeration recursion. */
> +	if (link->source()->entity()->function() == MEDIA_ENT_F_CAM_SENSOR) {
> +		/*
> +		* If the frontend is not at the end of this cascade, we cannot
> +		* configure this topology automatically, so remove all entity references.
> +		*/
> +		if (!frontendFound) {
> +			LOG(RPI, Warning) << "Cannot automatically configure this MC topology!";
> +			bridgeDevices_.clear();
> +		}
> +	}
> +}
> +
> +int CameraData::loadPipelineConfiguration()
> +{
> +	config_ = {
> +		.disableStartupFrameDrops = false,
> +		.cameraTimeoutValue = 0,
> +	};
> +
> +	/* Initial configuration of the platform, in case no config file is present */
> +	platformPipelineConfigure({});
> +
> +	char const *configFromEnv = utils::secure_getenv("LIBCAMERA_RPI_CONFIG_FILE");
> +	if (!configFromEnv || *configFromEnv == '\0')
> +		return 0;
> +
> +	std::string filename = std::string(configFromEnv);
> +	File file(filename);
> +
> +	if (!file.open(File::OpenModeFlag::ReadOnly)) {
> +		LOG(RPI, Error) << "Failed to open configuration file '" << filename << "'";
> +		return -EIO;
> +	}
> +
> +	LOG(RPI, Info) << "Using configuration file '" << filename << "'";
> +
> +	std::unique_ptr<YamlObject> root = YamlParser::parse(file);
> +	if (!root) {
> +		LOG(RPI, Warning) << "Failed to parse configuration file, using defaults";
> +		return 0;
> +	}
> +
> +	std::optional<double> ver = (*root)["version"].get<double>();
> +	if (!ver || *ver != 1.0) {
> +		LOG(RPI, Error) << "Unexpected configuration file version reported";
> +		return -EINVAL;
> +	}
> +
> +	const YamlObject &phConfig = (*root)["pipeline_handler"];
> +
> +	config_.disableStartupFrameDrops =
> +		phConfig["disable_startup_frame_drops"].get<bool>(config_.disableStartupFrameDrops);
> +
> +	config_.cameraTimeoutValue =
> +		phConfig["camera_timeout_value_ms"].get<unsigned int>(config_.cameraTimeoutValue);
> +
> +	if (config_.cameraTimeoutValue) {
> +		/* Disable the IPA signal to control timeout and set the user requested value. */
> +		ipa_->setCameraTimeout.disconnect();
> +		frontendDevice()->setDequeueTimeout(config_.cameraTimeoutValue * 1ms);
> +	}
> +
> +	return platformPipelineConfigure(root);
> +}
> +
> +int CameraData::loadIPA(ipa::RPi::InitResult *result)
> +{
> +	ipa_ = IPAManager::createIPA<ipa::RPi::IPAProxyRPi>(pipe(), 1, 1);
> +
> +	if (!ipa_)
> +		return -ENOENT;
> +
> +	/*
> +	 * The configuration (tuning file) is made from the sensor name unless
> +	 * the environment variable overrides it.
> +	 */
> +	std::string configurationFile;
> +	char const *configFromEnv = utils::secure_getenv("LIBCAMERA_RPI_TUNING_FILE");
> +	if (!configFromEnv || *configFromEnv == '\0') {
> +		std::string model = sensor_->model();
> +		if (isMonoSensor(sensor_))
> +			model += "_mono";
> +		configurationFile = ipa_->configurationFile(model + ".json", "rpi");
> +	} else {
> +		configurationFile = std::string(configFromEnv);
> +	}
> +
> +	IPASettings settings(configurationFile, sensor_->model());
> +	ipa::RPi::InitParams params;
> +
> +	params.lensPresent = !!sensor_->focusLens();
> +	int ret = platformInitIpa(params);
> +	if (ret)
> +		return ret;
> +
> +	return ipa_->init(settings, params, result);
> +}
> +
> +int CameraData::configureIPA(const CameraConfiguration *config, ipa::RPi::ConfigResult *result)
> +{
> +	std::map<unsigned int, ControlInfoMap> entityControls;
> +	ipa::RPi::ConfigParams params;
> +	int ret;
> +
> +	params.sensorControls = sensor_->controls();
> +	if (sensor_->focusLens())
> +		params.lensControls = sensor_->focusLens()->controls();
> +
> +	ret = platformConfigureIpa(params);
> +	if (ret)
> +		return ret;
> +
> +	/* We store the IPACameraSensorInfo for digital zoom calculations. */
> +	ret = sensor_->sensorInfo(&sensorInfo_);
> +	if (ret) {
> +		LOG(RPI, Error) << "Failed to retrieve camera sensor info";
> +		return ret;
> +	}
> +
> +	/* Always send the user transform to the IPA. */
> +	params.transform = static_cast<unsigned int>(config->transform);
> +
> +	/* Ready the IPA - it must know about the sensor resolution. */
> +	ret = ipa_->configure(sensorInfo_, params, result);
> +	if (ret < 0) {
> +		LOG(RPI, Error) << "IPA configuration failed!";
> +		return -EPIPE;
> +	}
> +
> +	if (!result->controls.empty())
> +		setSensorControls(result->controls);
> +
> +	return 0;
> +}
> +
> +void CameraData::setDelayedControls(const ControlList &controls, uint32_t delayContext)
> +{
> +	if (!delayedCtrls_->push(controls, delayContext))
> +		LOG(RPI, Error) << "V4L2 DelayedControl set failed";
> +}
> +
> +void CameraData::setLensControls(const ControlList &controls)
> +{
> +	CameraLens *lens = sensor_->focusLens();
> +
> +	if (lens && controls.contains(V4L2_CID_FOCUS_ABSOLUTE)) {
> +		ControlValue const &focusValue = controls.get(V4L2_CID_FOCUS_ABSOLUTE);
> +		lens->setFocusPosition(focusValue.get<int32_t>());
> +	}
> +}
> +
> +void CameraData::setSensorControls(ControlList &controls)
> +{
> +	/*
> +	 * We need to ensure that if both VBLANK and EXPOSURE are present, the
> +	 * former must be written ahead of, and separately from EXPOSURE to avoid
> +	 * V4L2 rejecting the latter. This is identical to what DelayedControls
> +	 * does with the priority write flag.
> +	 *
> +	 * As a consequence of the below logic, VBLANK gets set twice, and we
> +	 * rely on the v4l2 framework to not pass the second control set to the
> +	 * driver as the actual control value has not changed.
> +	 */
> +	if (controls.contains(V4L2_CID_EXPOSURE) && controls.contains(V4L2_CID_VBLANK)) {
> +		ControlList vblank_ctrl;
> +
> +		vblank_ctrl.set(V4L2_CID_VBLANK, controls.get(V4L2_CID_VBLANK));
> +		sensor_->setControls(&vblank_ctrl);
> +	}
> +
> +	sensor_->setControls(&controls);
> +}
> +
> +Rectangle CameraData::scaleIspCrop(const Rectangle &ispCrop) const
> +{
> +	/*
> +	 * Scale a crop rectangle defined in the ISP's coordinates into native sensor
> +	 * coordinates.
> +	 */
> +	Rectangle nativeCrop = ispCrop.scaledBy(sensorInfo_.analogCrop.size(),
> +						sensorInfo_.outputSize);
> +	nativeCrop.translateBy(sensorInfo_.analogCrop.topLeft());
> +	return nativeCrop;
> +}
> +
> +void CameraData::calculateScalerCrop(const ControlList &controls)
> +{
> +	const auto &scalerCrop = controls.get<Rectangle>(controls::ScalerCrop);
> +	if (scalerCrop) {
> +		Rectangle nativeCrop = *scalerCrop;
> +
> +		if (!nativeCrop.width || !nativeCrop.height)
> +			nativeCrop = { 0, 0, 1, 1 };
> +
> +		/* Create a version of the crop scaled to ISP (camera mode) pixels. */
> +		Rectangle ispCrop = nativeCrop.translatedBy(-sensorInfo_.analogCrop.topLeft());
> +		ispCrop.scaleBy(sensorInfo_.outputSize, sensorInfo_.analogCrop.size());
> +
> +		/*
> +		 * The crop that we set must be:
> +		 * 1. At least as big as ispMinCropSize_, once that's been
> +		 *    enlarged to the same aspect ratio.
> +		 * 2. With the same mid-point, if possible.
> +		 * 3. But it can't go outside the sensor area.
> +		 */
> +		Size minSize = ispMinCropSize_.expandedToAspectRatio(nativeCrop.size());
> +		Size size = ispCrop.size().expandedTo(minSize);
> +		ispCrop = size.centeredTo(ispCrop.center()).enclosedIn(Rectangle(sensorInfo_.outputSize));
> +
> +		if (ispCrop != ispCrop_) {
> +			ispCrop_ = ispCrop;
> +			platformIspCrop();
> +
> +			/*
> +			 * Also update the ScalerCrop in the metadata with what we actually
> +			 * used. But we must first rescale that from ISP (camera mode) pixels
> +			 * back into sensor native pixels.
> +			 */
> +			scalerCrop_ = scaleIspCrop(ispCrop_);
> +		}
> +	}
> +}
> +
> +void CameraData::cameraTimeout()
> +{
> +	LOG(RPI, Error) << "Camera frontend has timed out!";
> +	LOG(RPI, Error) << "Please check that your camera sensor connector is attached securely.";
> +	LOG(RPI, Error) << "Alternatively, try another cable and/or sensor.";
> +
> +	state_ = CameraData::State::Error;
> +	platformStop();
> +
> +	/*
> +	 * To allow the application to attempt a recovery from this timeout,
> +	 * stop all devices streaming, and return any outstanding requests as
> +	 * incomplete and cancelled.
> +	 */
> +	for (auto const stream : streams_)
> +		stream->dev()->streamOff();
> +
> +	clearIncompleteRequests();
> +}
> +
> +void CameraData::frameStarted(uint32_t sequence)
> +{
> +	LOG(RPI, Debug) << "Frame start " << sequence;
> +
> +	/* Write any controls for the next frame as soon as we can. */
> +	delayedCtrls_->applyControls(sequence);
> +}
> +
> +void CameraData::clearIncompleteRequests()
> +{
> +	/*
> +	 * All outstanding requests (and associated buffers) must be returned
> +	 * back to the application.
> +	 */
> +	while (!requestQueue_.empty()) {
> +		Request *request = requestQueue_.front();
> +
> +		for (auto &b : request->buffers()) {
> +			FrameBuffer *buffer = b.second;
> +			/*
> +			 * Has the buffer already been handed back to the
> +			 * request? If not, do so now.
> +			 */
> +			if (buffer->request()) {
> +				buffer->_d()->cancel();
> +				pipe()->completeBuffer(request, buffer);
> +			}
> +		}
> +
> +		pipe()->completeRequest(request);
> +		requestQueue_.pop();
> +	}
> +}
> +
> +void CameraData::handleStreamBuffer(FrameBuffer *buffer, RPi::Stream *stream)
> +{
> +	/*
> +	 * It is possible to be here without a pending request, so check
> +	 * that we actually have one to action, otherwise we just return
> +	 * buffer back to the stream.
> +	 */
> +	Request *request = requestQueue_.empty() ? nullptr : requestQueue_.front();
> +	if (!dropFrameCount_ && request && request->findBuffer(stream) == buffer) {
> +		/*
> +		 * Check if this is an externally provided buffer, and if
> +		 * so, we must stop tracking it in the pipeline handler.
> +		 */
> +		handleExternalBuffer(buffer, stream);
> +		/*
> +		 * Tag the buffer as completed, returning it to the
> +		 * application.
> +		 */
> +		pipe()->completeBuffer(request, buffer);
> +	} else {
> +		/*
> +		 * This buffer was not part of the Request (which happens if an
> +		 * internal buffer was used for an external stream, or
> +		 * unconditionally for internal streams), or there is no pending
> +		 * request, so we can recycle it.
> +		 */
> +		stream->returnBuffer(buffer);
> +	}
> +}
> +
> +void CameraData::handleState()
> +{
> +	switch (state_) {
> +	case State::Stopped:
> +	case State::Busy:
> +	case State::Error:
> +		break;
> +
> +	case State::IpaComplete:
> +		/* If the request is completed, we will switch to Idle state. */
> +		checkRequestCompleted();
> +		/*
> +		 * No break here, we want to try running the pipeline again.
> +		 * The fallthrough clause below suppresses compiler warnings.
> +		 */
> +		[[fallthrough]];
> +
> +	case State::Idle:
> +		tryRunPipeline();
> +		break;
> +	}
> +}
> +
> +void CameraData::handleExternalBuffer(FrameBuffer *buffer, RPi::Stream *stream)
> +{
> +	unsigned int id = stream->getBufferId(buffer);
> +
> +	if (!(id & MaskExternalBuffer))
> +		return;
> +
> +	/* Stop the Stream object from tracking the buffer. */
> +	stream->removeExternalBuffer(buffer);
> +}
> +
> +void CameraData::checkRequestCompleted()
> +{
> +	bool requestCompleted = false;
> +	/*
> +	 * If we are dropping this frame, do not touch the request, simply
> +	 * change the state to IDLE when ready.
> +	 */
> +	if (!dropFrameCount_) {
> +		Request *request = requestQueue_.front();
> +		if (request->hasPendingBuffers())
> +			return;
> +
> +		/* Must wait for metadata to be filled in before completing. */
> +		if (state_ != State::IpaComplete)
> +			return;
> +
> +		pipe()->completeRequest(request);
> +		requestQueue_.pop();
> +		requestCompleted = true;
> +	}
> +
> +	/*
> +	 * Make sure we have three outputs completed in the case of a dropped
> +	 * frame.
> +	 */
> +	if (state_ == State::IpaComplete &&
> +	    ((ispOutputCount_ == ispOutputTotal_ && dropFrameCount_) || requestCompleted)) {
> +		state_ = State::Idle;
> +		if (dropFrameCount_) {
> +			dropFrameCount_--;
> +			LOG(RPI, Debug) << "Dropping frame at the request of the IPA ("
> +					<< dropFrameCount_ << " left)";
> +		}
> +	}
> +}
> +
> +void CameraData::fillRequestMetadata(const ControlList &bufferControls, Request *request)
> +{
> +	request->metadata().set(controls::SensorTimestamp,
> +				bufferControls.get(controls::SensorTimestamp).value_or(0));
> +
> +	request->metadata().set(controls::ScalerCrop, scalerCrop_);
> +}
> +
> +} /* namespace libcamera */
> diff --git a/src/libcamera/pipeline/rpi/common/pipeline_base.h b/src/libcamera/pipeline/rpi/common/pipeline_base.h
> new file mode 100644
> index 000000000000..318266a6fb51
> --- /dev/null
> +++ b/src/libcamera/pipeline/rpi/common/pipeline_base.h
> @@ -0,0 +1,276 @@
> +/* SPDX-License-Identifier: LGPL-2.1-or-later */
> +/*
> + * Copyright (C) 2019-2023, Raspberry Pi Ltd
> + *
> + * pipeline_base.h - Pipeline handler base class for Raspberry Pi devices
> + */
> +
> +#include <map>
> +#include <memory>
> +#include <optional>
> +#include <queue>
> +#include <string>
> +#include <unordered_set>
> +#include <utility>
> +#include <vector>
> +
> +#include <libcamera/controls.h>
> +#include <libcamera/request.h>
> +
> +#include "libcamera/internal/bayer_format.h"
> +#include "libcamera/internal/camera.h"
> +#include "libcamera/internal/camera_sensor.h"
> +#include "libcamera/internal/framebuffer.h"
> +#include "libcamera/internal/media_device.h"
> +#include "libcamera/internal/media_object.h"
> +#include "libcamera/internal/pipeline_handler.h"
> +#include "libcamera/internal/v4l2_videodevice.h"
> +#include "libcamera/internal/yaml_parser.h"
> +
> +#include <libcamera/ipa/raspberrypi_ipa_interface.h>
> +#include <libcamera/ipa/raspberrypi_ipa_proxy.h>
> +
> +#include "delayed_controls.h"
> +#include "rpi_stream.h"
> +
> +using namespace std::chrono_literals;
> +
> +namespace libcamera {
> +
> +namespace RPi {
> +
> +/* Map of mbus codes to supported sizes reported by the sensor. */
> +using SensorFormats = std::map<unsigned int, std::vector<Size>>;
> +
> +class CameraData : public Camera::Private
> +{
> +public:
> +	CameraData(PipelineHandler *pipe)
> +		: Camera::Private(pipe), state_(State::Stopped),
> +		  flipsAlterBayerOrder_(false), dropFrameCount_(0), buffersAllocated_(false),
> +		  ispOutputCount_(0), ispOutputTotal_(0)
> +	{
> +	}
> +
> +	virtual ~CameraData()
> +	{
> +	}
> +
> +	struct StreamParams {
> +		StreamParams()
> +			: index(0), cfg(nullptr), dev(nullptr)
> +		{
> +		}
> +
> +		StreamParams(unsigned int index_, StreamConfiguration *cfg_)
> +			: index(index_), cfg(cfg_), dev(nullptr)
> +		{
> +		}
> +
> +		unsigned int index;
> +		StreamConfiguration *cfg;
> +		V4L2VideoDevice *dev;
> +	};
> +
> +	virtual CameraConfiguration::Status platformValidate(std::vector<StreamParams> &rawStreams,
> +							     std::vector<StreamParams> &outStreams) const = 0;
> +	virtual int platformConfigure(const V4L2SubdeviceFormat &sensorFormat,
> +				      std::optional<BayerFormat::Packing> packing,
> +				      std::vector<StreamParams> &rawStreams,
> +				      std::vector<StreamParams> &outStreams) = 0;
> +	virtual void platformStart() = 0;
> +	virtual void platformStop() = 0;
> +
> +	void freeBuffers();
> +	virtual void platformFreeBuffers() = 0;
> +
> +	void enumerateVideoDevices(MediaLink *link, const std::string &frontend);
> +
> +	int loadPipelineConfiguration();
> +	int loadIPA(ipa::RPi::InitResult *result);
> +	int configureIPA(const CameraConfiguration *config, ipa::RPi::ConfigResult *result);
> +	virtual int platformInitIpa(ipa::RPi::InitParams &params) = 0;
> +	virtual int platformConfigureIpa(ipa::RPi::ConfigParams &params) = 0;
> +
> +	void setDelayedControls(const ControlList &controls, uint32_t delayContext);
> +	void setLensControls(const ControlList &controls);
> +	void setSensorControls(ControlList &controls);
> +
> +	Rectangle scaleIspCrop(const Rectangle &ispCrop) const;
> +	void calculateScalerCrop(const ControlList &controls);
> +	virtual void platformIspCrop() = 0;
> +
> +	void cameraTimeout();
> +	void frameStarted(uint32_t sequence);
> +
> +	void clearIncompleteRequests();
> +	void handleStreamBuffer(FrameBuffer *buffer, Stream *stream);
> +	void handleState();
> +
> +	virtual V4L2VideoDevice::Formats ispFormats() const = 0;
> +	virtual V4L2VideoDevice::Formats rawFormats() const = 0;
> +	virtual V4L2VideoDevice *frontendDevice() = 0;
> +
> +	virtual int platformPipelineConfigure(const std::unique_ptr<YamlObject> &root) = 0;
> +
> +	std::unique_ptr<ipa::RPi::IPAProxyRPi> ipa_;
> +
> +	std::unique_ptr<CameraSensor> sensor_;
> +	SensorFormats sensorFormats_;
> +
> +	/* The vector below is just for convenience when iterating over all streams. */
> +	std::vector<Stream *> streams_;
> +	/* Stores the ids of the buffers mapped in the IPA. */
> +	std::unordered_set<unsigned int> bufferIds_;
> +	/*
> +	 * Stores a cascade of Video Mux or Bridge devices between the sensor and
> +	 * Unicam together with media link across the entities.
> +	 */
> +	std::vector<std::pair<std::unique_ptr<V4L2Subdevice>, MediaLink *>> bridgeDevices_;
> +
> +	std::unique_ptr<DelayedControls> delayedCtrls_;
> +	bool sensorMetadata_;
> +
> +	/*
> +	 * All the functions in this class are called from a single calling
> +	 * thread. So, we do not need to have any mutex to protect access to any
> +	 * of the variables below.
> +	 */
> +	enum class State { Stopped, Idle, Busy, IpaComplete, Error };
> +	State state_;
> +
> +	bool isRunning()
> +	{
> +		return state_ != State::Stopped && state_ != State::Error;
> +	}
> +
> +	std::queue<Request *> requestQueue_;
> +
> +	/* Store the "native" Bayer order (that is, with no transforms applied). */
> +	bool flipsAlterBayerOrder_;
> +	BayerFormat::Order nativeBayerOrder_;
> +
> +	/* For handling digital zoom. */
> +	IPACameraSensorInfo sensorInfo_;
> +	Rectangle ispCrop_; /* crop in ISP (camera mode) pixels */
> +	Rectangle scalerCrop_; /* crop in sensor native pixels */
> +	Size ispMinCropSize_;
> +
> +	unsigned int dropFrameCount_;
> +
> +	/*
> +	 * If set, this stores the value that represets a gain of one for
> +	 * the V4L2_CID_NOTIFY_GAINS control.
> +	 */
> +	std::optional<int32_t> notifyGainsUnity_;
> +
> +	/* Have internal buffers been allocated? */
> +	bool buffersAllocated_;
> +
> +	struct Config {
> +		/*
> +		 * Override any request from the IPA to drop a number of startup
> +		 * frames.
> +		 */
> +		bool disableStartupFrameDrops;
> +		/*
> +		 * Override the camera timeout value calculated by the IPA based
> +		 * on frame durations.
> +		 */
> +		unsigned int cameraTimeoutValue;
> +	};
> +
> +	Config config_;
> +
> +protected:
> +	void fillRequestMetadata(const ControlList &bufferControls,
> +				 Request *request);
> +
> +	virtual void tryRunPipeline() = 0;
> +
> +	unsigned int ispOutputCount_;
> +	unsigned int ispOutputTotal_;
> +
> +private:
> +	void handleExternalBuffer(FrameBuffer *buffer, Stream *stream);
> +	void checkRequestCompleted();
> +};
> +
> +class PipelineHandlerBase : public PipelineHandler
> +{
> +public:
> +	PipelineHandlerBase(CameraManager *manager)
> +		: PipelineHandler(manager)
> +	{
> +	}
> +
> +	virtual ~PipelineHandlerBase()
> +	{
> +	}
> +
> +	static V4L2DeviceFormat toV4L2DeviceFormat(const V4L2VideoDevice *dev,
> +						   const V4L2SubdeviceFormat &format,
> +						   BayerFormat::Packing packingReq);
> +
> +	std::unique_ptr<CameraConfiguration>
> +	generateConfiguration(Camera *camera, const StreamRoles &roles) override;
> +	int configure(Camera *camera, CameraConfiguration *config) override;
> +
> +	int exportFrameBuffers(Camera *camera, libcamera::Stream *stream,
> +			       std::vector<std::unique_ptr<FrameBuffer>> *buffers) override;
> +
> +	int start(Camera *camera, const ControlList *controls) override;
> +	void stopDevice(Camera *camera) override;
> +	void releaseDevice(Camera *camera) override;
> +
> +	int queueRequestDevice(Camera *camera, Request *request) override;
> +
> +protected:
> +	int registerCamera(MediaDevice *frontent, const std::string &frontendName,
> +			   MediaDevice *backend, MediaEntity *sensorEntity);
> +
> +	void mapBuffers(Camera *camera, const BufferMap &buffers, unsigned int mask);
> +
> +	virtual std::unique_ptr<CameraData> allocateCameraData() = 0;
> +	virtual int platformRegister(std::unique_ptr<CameraData> &cameraData,
> +				     MediaDevice *unicam, MediaDevice *isp) = 0;
> +
> +private:
> +	CameraData *cameraData(Camera *camera)
> +	{
> +		return static_cast<CameraData *>(camera->_d());
> +	}
> +
> +	int queueAllBuffers(Camera *camera);
> +	virtual int prepareBuffers(Camera *camera) = 0;
> +};
> +
> +class RPiCameraConfiguration final : public CameraConfiguration
> +{
> +public:
> +	RPiCameraConfiguration(const CameraData *data)
> +		: CameraConfiguration(), data_(data)
> +	{
> +	}
> +
> +	CameraConfiguration::Status validateColorSpaces(ColorSpaceFlags flags);
> +	Status validate() override;
> +
> +	/* Cache the combinedTransform_ that will be applied to the sensor */
> +	Transform combinedTransform_;
> +
> +private:
> +	const CameraData *data_;
> +
> +	/*
> +	 * Store the colour spaces that all our streams will have. RGB format streams
> +	 * will have the same colorspace as YUV streams, with YCbCr field cleared and
> +	 * range set to full.
> +         */
> +	std::optional<ColorSpace> yuvColorSpace_;
> +	std::optional<ColorSpace> rgbColorSpace_;
> +};
> +
> +} /* namespace RPi */
> +
> +} /* namespace libcamera */
> diff --git a/src/libcamera/pipeline/rpi/vc4/data/example.yaml b/src/libcamera/pipeline/rpi/vc4/data/example.yaml
> index c90f518f8849..b8e01adeaf40 100644
> --- a/src/libcamera/pipeline/rpi/vc4/data/example.yaml
> +++ b/src/libcamera/pipeline/rpi/vc4/data/example.yaml
> @@ -34,13 +34,13 @@
>                  #
>                  # "disable_startup_frame_drops": false,
>
> -                # Custom timeout value (in ms) for Unicam to use. This overrides
> +                # Custom timeout value (in ms) for camera to use. This overrides
>                  # the value computed by the pipeline handler based on frame
>                  # durations.
>                  #
>                  # Set this value to 0 to use the pipeline handler computed
>                  # timeout value.
>                  #
> -                # "unicam_timeout_value_ms": 0,
> +                # "camera_timeout_value_ms": 0,
>          }
>  }
> diff --git a/src/libcamera/pipeline/rpi/vc4/meson.build b/src/libcamera/pipeline/rpi/vc4/meson.build
> index 228823f30922..cdb049c58d2c 100644
> --- a/src/libcamera/pipeline/rpi/vc4/meson.build
> +++ b/src/libcamera/pipeline/rpi/vc4/meson.build
> @@ -2,7 +2,7 @@
>
>  libcamera_sources += files([
>      'dma_heaps.cpp',
> -    'raspberrypi.cpp',
> +    'vc4.cpp',
>  ])
>
>  subdir('data')
> diff --git a/src/libcamera/pipeline/rpi/vc4/raspberrypi.cpp b/src/libcamera/pipeline/rpi/vc4/raspberrypi.cpp
> deleted file mode 100644
> index bd66468683df..000000000000
> --- a/src/libcamera/pipeline/rpi/vc4/raspberrypi.cpp
> +++ /dev/null
> @@ -1,2428 +0,0 @@
> -/* SPDX-License-Identifier: LGPL-2.1-or-later */
> -/*
> - * Copyright (C) 2019-2021, Raspberry Pi Ltd
> - *
> - * raspberrypi.cpp - Pipeline handler for VC4 based Raspberry Pi devices
> - */
> -#include <algorithm>
> -#include <assert.h>
> -#include <cmath>
> -#include <fcntl.h>
> -#include <memory>
> -#include <mutex>
> -#include <queue>
> -#include <unordered_set>
> -#include <utility>
> -
> -#include <libcamera/base/file.h>
> -#include <libcamera/base/shared_fd.h>
> -#include <libcamera/base/utils.h>
> -
> -#include <libcamera/camera.h>
> -#include <libcamera/control_ids.h>
> -#include <libcamera/formats.h>
> -#include <libcamera/ipa/raspberrypi_ipa_interface.h>
> -#include <libcamera/ipa/raspberrypi_ipa_proxy.h>
> -#include <libcamera/logging.h>
> -#include <libcamera/property_ids.h>
> -#include <libcamera/request.h>
> -
> -#include <linux/bcm2835-isp.h>
> -#include <linux/media-bus-format.h>
> -#include <linux/videodev2.h>
> -
> -#include "libcamera/internal/bayer_format.h"
> -#include "libcamera/internal/camera.h"
> -#include "libcamera/internal/camera_lens.h"
> -#include "libcamera/internal/camera_sensor.h"
> -#include "libcamera/internal/device_enumerator.h"
> -#include "libcamera/internal/framebuffer.h"
> -#include "libcamera/internal/ipa_manager.h"
> -#include "libcamera/internal/media_device.h"
> -#include "libcamera/internal/pipeline_handler.h"
> -#include "libcamera/internal/v4l2_videodevice.h"
> -#include "libcamera/internal/yaml_parser.h"
> -
> -#include "delayed_controls.h"
> -#include "dma_heaps.h"
> -#include "rpi_stream.h"
> -
> -using namespace std::chrono_literals;
> -
> -namespace libcamera {
> -
> -LOG_DEFINE_CATEGORY(RPI)
> -
> -namespace {
> -
> -constexpr unsigned int defaultRawBitDepth = 12;
> -
> -/* 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;
> -}
> -
> -bool isMonoSensor(std::unique_ptr<CameraSensor> &sensor)
> -{
> -	unsigned int mbusCode = sensor->mbusCodes()[0];
> -	const BayerFormat &bayer = BayerFormat::fromMbusCode(mbusCode);
> -
> -	return bayer.order == BayerFormat::Order::MONO;
> -}
> -
> -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 V4L2VideoDevice *dev,
> -				    const V4L2SubdeviceFormat &format,
> -				    BayerFormat::Packing packingReq)
> -{
> -	const PixelFormat pix = mbusCodeToPixelFormat(format.mbus_code, packingReq);
> -	V4L2DeviceFormat deviceFormat;
> -
> -	deviceFormat.fourcc = dev->toV4L2PixelFormat(pix);
> -	deviceFormat.size = format.size;
> -	deviceFormat.colorSpace = format.colorSpace;
> -	return deviceFormat;
> -}
> -
> -bool isRaw(const PixelFormat &pixFmt)
> -{
> -	/* This test works for both Bayer and raw mono formats. */
> -	return BayerFormat::fromPixelFormat(pixFmt).isValid();
> -}
> -
> -double scoreFormat(double desired, double actual)
> -{
> -	double score = desired - actual;
> -	/* Smaller desired dimensions are preferred. */
> -	if (score < 0.0)
> -		score = (-score) / 8;
> -	/* Penalise non-exact matches. */
> -	if (actual != desired)
> -		score *= 2;
> -
> -	return score;
> -}
> -
> -V4L2SubdeviceFormat findBestFormat(const SensorFormats &formatsMap, const Size &req, unsigned int bitDepth)
> -{
> -	double bestScore = std::numeric_limits<double>::max(), score;
> -	V4L2SubdeviceFormat bestFormat;
> -	bestFormat.colorSpace = ColorSpace::Raw;
> -
> -	constexpr float penaltyAr = 1500.0;
> -	constexpr float penaltyBitDepth = 500.0;
> -
> -	/* Calculate the closest/best mode from the user requested size. */
> -	for (const auto &iter : formatsMap) {
> -		const unsigned int mbusCode = iter.first;
> -		const PixelFormat format = mbusCodeToPixelFormat(mbusCode,
> -								 BayerFormat::Packing::None);
> -		const PixelFormatInfo &info = PixelFormatInfo::info(format);
> -
> -		for (const Size &size : iter.second) {
> -			double reqAr = static_cast<double>(req.width) / req.height;
> -			double fmtAr = static_cast<double>(size.width) / size.height;
> -
> -			/* Score the dimensions for closeness. */
> -			score = scoreFormat(req.width, size.width);
> -			score += scoreFormat(req.height, size.height);
> -			score += penaltyAr * scoreFormat(reqAr, fmtAr);
> -
> -			/* Add any penalties... this is not an exact science! */
> -			score += utils::abs_diff(info.bitsPerPixel, bitDepth) * penaltyBitDepth;
> -
> -			if (score <= bestScore) {
> -				bestScore = score;
> -				bestFormat.mbus_code = mbusCode;
> -				bestFormat.size = size;
> -			}
> -
> -			LOG(RPI, Debug) << "Format: " << size
> -					<< " fmt " << format
> -					<< " Score: " << score
> -					<< " (best " << bestScore << ")";
> -		}
> -	}
> -
> -	return bestFormat;
> -}
> -
> -enum class Unicam : unsigned int { Image, Embedded };
> -enum class Isp : unsigned int { Input, Output0, Output1, Stats };
> -
> -} /* namespace */
> -
> -class RPiCameraData : public Camera::Private
> -{
> -public:
> -	RPiCameraData(PipelineHandler *pipe)
> -		: Camera::Private(pipe), state_(State::Stopped),
> -		  flipsAlterBayerOrder_(false), dropFrameCount_(0),
> -		  buffersAllocated_(false), ispOutputCount_(0)
> -	{
> -	}
> -
> -	~RPiCameraData()
> -	{
> -		freeBuffers();
> -	}
> -
> -	void freeBuffers();
> -	void frameStarted(uint32_t sequence);
> -
> -	int loadIPA(ipa::RPi::InitResult *result);
> -	int configureIPA(const CameraConfiguration *config, ipa::RPi::ConfigResult *result);
> -	int loadPipelineConfiguration();
> -
> -	void enumerateVideoDevices(MediaLink *link);
> -
> -	void processStatsComplete(const ipa::RPi::BufferIds &buffers);
> -	void prepareIspComplete(const ipa::RPi::BufferIds &buffers);
> -	void setIspControls(const ControlList &controls);
> -	void setDelayedControls(const ControlList &controls, uint32_t delayContext);
> -	void setLensControls(const ControlList &controls);
> -	void setCameraTimeout(uint32_t maxExposureTimeMs);
> -	void setSensorControls(ControlList &controls);
> -	void unicamTimeout();
> -
> -	/* bufferComplete signal handlers. */
> -	void unicamBufferDequeue(FrameBuffer *buffer);
> -	void ispInputDequeue(FrameBuffer *buffer);
> -	void ispOutputDequeue(FrameBuffer *buffer);
> -
> -	void clearIncompleteRequests();
> -	void handleStreamBuffer(FrameBuffer *buffer, RPi::Stream *stream);
> -	void handleExternalBuffer(FrameBuffer *buffer, RPi::Stream *stream);
> -	void handleState();
> -	Rectangle scaleIspCrop(const Rectangle &ispCrop) const;
> -	void applyScalerCrop(const ControlList &controls);
> -
> -	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_;
> -	/* The vector below is just for convenience when iterating over all streams. */
> -	std::vector<RPi::Stream *> streams_;
> -	/* Stores the ids of the buffers mapped in the IPA. */
> -	std::unordered_set<unsigned int> bufferIds_;
> -	/*
> -	 * Stores a cascade of Video Mux or Bridge devices between the sensor and
> -	 * Unicam together with media link across the entities.
> -	 */
> -	std::vector<std::pair<std::unique_ptr<V4L2Subdevice>, MediaLink *>> bridgeDevices_;
> -
> -	/* DMAHEAP allocation helper. */
> -	RPi::DmaHeap dmaHeap_;
> -	SharedFD lsTable_;
> -
> -	std::unique_ptr<RPi::DelayedControls> delayedCtrls_;
> -	bool sensorMetadata_;
> -
> -	/*
> -	 * All the functions in this class are called from a single calling
> -	 * thread. So, we do not need to have any mutex to protect access to any
> -	 * of the variables below.
> -	 */
> -	enum class State { Stopped, Idle, Busy, IpaComplete, Error };
> -	State state_;
> -
> -	bool isRunning()
> -	{
> -		return state_ != State::Stopped && state_ != State::Error;
> -	}
> -
> -	struct BayerFrame {
> -		FrameBuffer *buffer;
> -		ControlList controls;
> -		unsigned int delayContext;
> -	};
> -
> -	std::queue<BayerFrame> bayerQueue_;
> -	std::queue<FrameBuffer *> embeddedQueue_;
> -	std::deque<Request *> requestQueue_;
> -
> -	/*
> -	 * Store the "native" Bayer order (that is, with no transforms
> -	 * applied).
> -	 */
> -	bool flipsAlterBayerOrder_;
> -	BayerFormat::Order nativeBayerOrder_;
> -
> -	/* For handling digital zoom. */
> -	IPACameraSensorInfo sensorInfo_;
> -	Rectangle ispCrop_; /* crop in ISP (camera mode) pixels */
> -	Rectangle scalerCrop_; /* crop in sensor native pixels */
> -	Size ispMinCropSize_;
> -
> -	unsigned int dropFrameCount_;
> -
> -	/*
> -	 * If set, this stores the value that represets a gain of one for
> -	 * the V4L2_CID_NOTIFY_GAINS control.
> -	 */
> -	std::optional<int32_t> notifyGainsUnity_;
> -
> -	/* Have internal buffers been allocated? */
> -	bool buffersAllocated_;
> -
> -	struct Config {
> -		/*
> -		 * The minimum number of internal buffers to be allocated for
> -		 * the Unicam Image stream.
> -		 */
> -		unsigned int minUnicamBuffers;
> -		/*
> -		 * The minimum total (internal + external) buffer count used for
> -		 * the Unicam Image stream.
> -		 *
> -		 * Note that:
> -		 * minTotalUnicamBuffers must be >= 1, and
> -		 * minTotalUnicamBuffers >= minUnicamBuffers
> -		 */
> -		unsigned int minTotalUnicamBuffers;
> -		/*
> -		 * Override any request from the IPA to drop a number of startup
> -		 * frames.
> -		 */
> -		bool disableStartupFrameDrops;
> -		/*
> -		 * Override the Unicam timeout value calculated by the IPA based
> -		 * on frame durations.
> -		 */
> -		unsigned int unicamTimeoutValue;
> -	};
> -
> -	Config config_;
> -
> -private:
> -	void checkRequestCompleted();
> -	void fillRequestMetadata(const ControlList &bufferControls,
> -				 Request *request);
> -	void tryRunPipeline();
> -	bool findMatchingBuffers(BayerFrame &bayerFrame, FrameBuffer *&embeddedBuffer);
> -
> -	unsigned int ispOutputCount_;
> -};
> -
> -class RPiCameraConfiguration : public CameraConfiguration
> -{
> -public:
> -	RPiCameraConfiguration(const RPiCameraData *data);
> -
> -	CameraConfiguration::Status validateColorSpaces(ColorSpaceFlags flags);
> -	Status validate() override;
> -
> -	/* Cache the combinedTransform_ that will be applied to the sensor */
> -	Transform combinedTransform_;
> -
> -private:
> -	const RPiCameraData *data_;
> -
> -	/*
> -	 * Store the colour spaces that all our streams will have. RGB format streams
> -	 * will have the same colorspace as YUV streams, with YCbCr field cleared and
> -	 * range set to full.
> -         */
> -	std::optional<ColorSpace> yuvColorSpace_;
> -	std::optional<ColorSpace> rgbColorSpace_;
> -};
> -
> -class PipelineHandlerRPi : public PipelineHandler
> -{
> -public:
> -	PipelineHandlerRPi(CameraManager *manager);
> -
> -	std::unique_ptr<CameraConfiguration> generateConfiguration(Camera *camera,
> -		const StreamRoles &roles) override;
> -	int configure(Camera *camera, CameraConfiguration *config) override;
> -
> -	int exportFrameBuffers(Camera *camera, Stream *stream,
> -			       std::vector<std::unique_ptr<FrameBuffer>> *buffers) override;
> -
> -	int start(Camera *camera, const ControlList *controls) override;
> -	void stopDevice(Camera *camera) override;
> -
> -	int queueRequestDevice(Camera *camera, Request *request) override;
> -
> -	bool match(DeviceEnumerator *enumerator) override;
> -
> -	void releaseDevice(Camera *camera) override;
> -
> -private:
> -	RPiCameraData *cameraData(Camera *camera)
> -	{
> -		return static_cast<RPiCameraData *>(camera->_d());
> -	}
> -
> -	int registerCamera(MediaDevice *unicam, MediaDevice *isp, MediaEntity *sensorEntity);
> -	int queueAllBuffers(Camera *camera);
> -	int prepareBuffers(Camera *camera);
> -	void mapBuffers(Camera *camera, const RPi::BufferMap &buffers, unsigned int mask);
> -};
> -
> -RPiCameraConfiguration::RPiCameraConfiguration(const RPiCameraData *data)
> -	: CameraConfiguration(), data_(data)
> -{
> -}
> -
> -static const std::vector<ColorSpace> validColorSpaces = {
> -	ColorSpace::Sycc,
> -	ColorSpace::Smpte170m,
> -	ColorSpace::Rec709
> -};
> -
> -static std::optional<ColorSpace> findValidColorSpace(const ColorSpace &colourSpace)
> -{
> -	for (auto cs : validColorSpaces) {
> -		if (colourSpace.primaries == cs.primaries &&
> -		    colourSpace.transferFunction == cs.transferFunction)
> -			return cs;
> -	}
> -
> -	return std::nullopt;
> -}
> -
> -static bool isRgb(const PixelFormat &pixFmt)
> -{
> -	const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt);
> -	return info.colourEncoding == PixelFormatInfo::ColourEncodingRGB;
> -}
> -
> -static bool isYuv(const PixelFormat &pixFmt)
> -{
> -	/* The code below would return true for raw mono streams, so weed those out first. */
> -	if (isRaw(pixFmt))
> -		return false;
> -
> -	const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt);
> -	return info.colourEncoding == PixelFormatInfo::ColourEncodingYUV;
> -}
> -
> -/*
> - * Raspberry Pi drivers expect the following colour spaces:
> - * - V4L2_COLORSPACE_RAW for raw streams.
> - * - One of V4L2_COLORSPACE_JPEG, V4L2_COLORSPACE_SMPTE170M, V4L2_COLORSPACE_REC709 for
> - *   non-raw streams. Other fields such as transfer function, YCbCr encoding and
> - *   quantisation are not used.
> - *
> - * The libcamera colour spaces that we wish to use corresponding to these are therefore:
> - * - ColorSpace::Raw for V4L2_COLORSPACE_RAW
> - * - ColorSpace::Sycc for V4L2_COLORSPACE_JPEG
> - * - ColorSpace::Smpte170m for V4L2_COLORSPACE_SMPTE170M
> - * - ColorSpace::Rec709 for V4L2_COLORSPACE_REC709
> - */
> -
> -CameraConfiguration::Status RPiCameraConfiguration::validateColorSpaces([[maybe_unused]] ColorSpaceFlags flags)
> -{
> -	Status status = Valid;
> -	yuvColorSpace_.reset();
> -
> -	for (auto cfg : config_) {
> -		/* First fix up raw streams to have the "raw" colour space. */
> -		if (isRaw(cfg.pixelFormat)) {
> -			/* If there was no value here, that doesn't count as "adjusted". */
> -			if (cfg.colorSpace && cfg.colorSpace != ColorSpace::Raw)
> -				status = Adjusted;
> -			cfg.colorSpace = ColorSpace::Raw;
> -			continue;
> -		}
> -
> -		/* Next we need to find our shared colour space. The first valid one will do. */
> -		if (cfg.colorSpace && !yuvColorSpace_)
> -			yuvColorSpace_ = findValidColorSpace(cfg.colorSpace.value());
> -	}
> -
> -	/* If no colour space was given anywhere, choose sYCC. */
> -	if (!yuvColorSpace_)
> -		yuvColorSpace_ = ColorSpace::Sycc;
> -
> -	/* Note the version of this that any RGB streams will have to use. */
> -	rgbColorSpace_ = yuvColorSpace_;
> -	rgbColorSpace_->ycbcrEncoding = ColorSpace::YcbcrEncoding::None;
> -	rgbColorSpace_->range = ColorSpace::Range::Full;
> -
> -	/* Go through the streams again and force everyone to the same colour space. */
> -	for (auto cfg : config_) {
> -		if (cfg.colorSpace == ColorSpace::Raw)
> -			continue;
> -
> -		if (isYuv(cfg.pixelFormat) && cfg.colorSpace != yuvColorSpace_) {
> -			/* Again, no value means "not adjusted". */
> -			if (cfg.colorSpace)
> -				status = Adjusted;
> -			cfg.colorSpace = yuvColorSpace_;
> -		}
> -		if (isRgb(cfg.pixelFormat) && cfg.colorSpace != rgbColorSpace_) {
> -			/* Be nice, and let the YUV version count as non-adjusted too. */
> -			if (cfg.colorSpace && cfg.colorSpace != yuvColorSpace_)
> -				status = Adjusted;
> -			cfg.colorSpace = rgbColorSpace_;
> -		}
> -	}
> -
> -	return status;
> -}
> -
> -CameraConfiguration::Status RPiCameraConfiguration::validate()
> -{
> -	Status status = Valid;
> -
> -	if (config_.empty())
> -		return Invalid;
> -
> -	status = validateColorSpaces(ColorSpaceFlag::StreamsShareColorSpace);
> -
> -	/*
> -	 * Validate the requested transform against the sensor capabilities and
> -	 * rotation and store the final combined transform that configure() will
> -	 * need to apply to the sensor to save us working it out again.
> -	 */
> -	Transform requestedTransform = transform;
> -	combinedTransform_ = data_->sensor_->validateTransform(&transform);
> -	if (transform != requestedTransform)
> -		status = Adjusted;
> -
> -	unsigned int rawCount = 0, outCount = 0, count = 0, maxIndex = 0;
> -	std::pair<int, Size> outSize[2];
> -	Size maxSize;
> -	for (StreamConfiguration &cfg : config_) {
> -		if (isRaw(cfg.pixelFormat)) {
> -			/*
> -			 * Calculate the best sensor mode we can use based on
> -			 * the user request.
> -			 */
> -			V4L2VideoDevice *unicam = data_->unicam_[Unicam::Image].dev();
> -			const PixelFormatInfo &info = PixelFormatInfo::info(cfg.pixelFormat);
> -			unsigned int bitDepth = info.isValid() ? info.bitsPerPixel : defaultRawBitDepth;
> -			V4L2SubdeviceFormat sensorFormat = findBestFormat(data_->sensorFormats_, cfg.size, bitDepth);
> -			BayerFormat::Packing packing = BayerFormat::Packing::CSI2;
> -			if (info.isValid() && !info.packed)
> -				packing = BayerFormat::Packing::None;
> -			V4L2DeviceFormat unicamFormat = toV4L2DeviceFormat(unicam, sensorFormat, packing);
> -			int ret = unicam->tryFormat(&unicamFormat);
> -			if (ret)
> -				return Invalid;
> -
> -			/*
> -			 * Some sensors change their Bayer order when they are
> -			 * h-flipped or v-flipped, according to the transform.
> -			 * If this one does, we must advertise the transformed
> -			 * Bayer order in the raw stream. Note how we must
> -			 * fetch the "native" (i.e. untransformed) Bayer order,
> -			 * because the sensor may currently be flipped!
> -			 */
> -			V4L2PixelFormat fourcc = unicamFormat.fourcc;
> -			if (data_->flipsAlterBayerOrder_) {
> -				BayerFormat bayer = BayerFormat::fromV4L2PixelFormat(fourcc);
> -				bayer.order = data_->nativeBayerOrder_;
> -				bayer = bayer.transform(combinedTransform_);
> -				fourcc = bayer.toV4L2PixelFormat();
> -			}
> -
> -			PixelFormat unicamPixFormat = fourcc.toPixelFormat();
> -			if (cfg.size != unicamFormat.size ||
> -			    cfg.pixelFormat != unicamPixFormat) {
> -				cfg.size = unicamFormat.size;
> -				cfg.pixelFormat = unicamPixFormat;
> -				status = Adjusted;
> -			}
> -
> -			cfg.stride = unicamFormat.planes[0].bpl;
> -			cfg.frameSize = unicamFormat.planes[0].size;
> -
> -			rawCount++;
> -		} else {
> -			outSize[outCount] = std::make_pair(count, cfg.size);
> -			/* Record the largest resolution for fixups later. */
> -			if (maxSize < cfg.size) {
> -				maxSize = cfg.size;
> -				maxIndex = outCount;
> -			}
> -			outCount++;
> -		}
> -
> -		count++;
> -
> -		/* Can only output 1 RAW stream, or 2 YUV/RGB streams. */
> -		if (rawCount > 1 || outCount > 2) {
> -			LOG(RPI, Error) << "Invalid number of streams requested";
> -			return Invalid;
> -		}
> -	}
> -
> -	/*
> -	 * Now do any fixups needed. For the two ISP outputs, one stream must be
> -	 * equal or smaller than the other in all dimensions.
> -	 */
> -	for (unsigned int i = 0; i < outCount; i++) {
> -		outSize[i].second.width = std::min(outSize[i].second.width,
> -						   maxSize.width);
> -		outSize[i].second.height = std::min(outSize[i].second.height,
> -						    maxSize.height);
> -
> -		if (config_.at(outSize[i].first).size != outSize[i].second) {
> -			config_.at(outSize[i].first).size = outSize[i].second;
> -			status = Adjusted;
> -		}
> -
> -		/*
> -		 * Also validate the correct pixel formats here.
> -		 * Note that Output0 and Output1 support a different
> -		 * set of formats.
> -		 *
> -		 * Output 0 must be for the largest resolution. We will
> -		 * have that fixed up in the code above.
> -		 *
> -		 */
> -		StreamConfiguration &cfg = config_.at(outSize[i].first);
> -		PixelFormat &cfgPixFmt = cfg.pixelFormat;
> -		V4L2VideoDevice *dev;
> -
> -		if (i == maxIndex)
> -			dev = data_->isp_[Isp::Output0].dev();
> -		else
> -			dev = data_->isp_[Isp::Output1].dev();
> -
> -		V4L2VideoDevice::Formats fmts = dev->formats();
> -
> -		if (fmts.find(dev->toV4L2PixelFormat(cfgPixFmt)) == fmts.end()) {
> -			/* If we cannot find a native format, use a default one. */
> -			cfgPixFmt = formats::NV12;
> -			status = Adjusted;
> -		}
> -
> -		V4L2DeviceFormat format;
> -		format.fourcc = dev->toV4L2PixelFormat(cfg.pixelFormat);
> -		format.size = cfg.size;
> -		/* We want to send the associated YCbCr info through to the driver. */
> -		format.colorSpace = yuvColorSpace_;
> -
> -		LOG(RPI, Debug)
> -			<< "Try color space " << ColorSpace::toString(cfg.colorSpace);
> -
> -		int ret = dev->tryFormat(&format);
> -		if (ret)
> -			return Invalid;
> -
> -		/*
> -		 * But for RGB streams, the YCbCr info gets overwritten on the way back
> -		 * so we must check against what the stream cfg says, not what we actually
> -		 * requested (which carefully included the YCbCr info)!
> -		 */
> -		if (cfg.colorSpace != format.colorSpace) {
> -			status = Adjusted;
> -			LOG(RPI, Debug)
> -				<< "Color space changed from "
> -				<< ColorSpace::toString(cfg.colorSpace) << " to "
> -				<< ColorSpace::toString(format.colorSpace);
> -		}
> -
> -		cfg.colorSpace = format.colorSpace;
> -
> -		cfg.stride = format.planes[0].bpl;
> -		cfg.frameSize = format.planes[0].size;
> -
> -	}
> -
> -	return status;
> -}
> -
> -PipelineHandlerRPi::PipelineHandlerRPi(CameraManager *manager)
> -	: PipelineHandler(manager)
> -{
> -}
> -
> -std::unique_ptr<CameraConfiguration>
> -PipelineHandlerRPi::generateConfiguration(Camera *camera, const StreamRoles &roles)
> -{
> -	RPiCameraData *data = cameraData(camera);
> -	std::unique_ptr<CameraConfiguration> config =
> -		std::make_unique<RPiCameraConfiguration>(data);
> -	V4L2SubdeviceFormat sensorFormat;
> -	unsigned int bufferCount;
> -	PixelFormat pixelFormat;
> -	V4L2VideoDevice::Formats fmts;
> -	Size size;
> -	std::optional<ColorSpace> colorSpace;
> -
> -	if (roles.empty())
> -		return config;
> -
> -	unsigned int rawCount = 0;
> -	unsigned int outCount = 0;
> -	Size sensorSize = data->sensor_->resolution();
> -	for (const StreamRole role : roles) {
> -		switch (role) {
> -		case StreamRole::Raw:
> -			size = sensorSize;
> -			sensorFormat = findBestFormat(data->sensorFormats_, size, defaultRawBitDepth);
> -			pixelFormat = mbusCodeToPixelFormat(sensorFormat.mbus_code,
> -							    BayerFormat::Packing::CSI2);
> -			ASSERT(pixelFormat.isValid());
> -			colorSpace = ColorSpace::Raw;
> -			bufferCount = 2;
> -			rawCount++;
> -			break;
> -
> -		case StreamRole::StillCapture:
> -			fmts = data->isp_[Isp::Output0].dev()->formats();
> -			pixelFormat = formats::NV12;
> -			/*
> -			 * Still image codecs usually expect the sYCC color space.
> -			 * Even RGB codecs will be fine as the RGB we get with the
> -			 * sYCC color space is the same as sRGB.
> -			 */
> -			colorSpace = ColorSpace::Sycc;
> -			/* Return the largest sensor resolution. */
> -			size = sensorSize;
> -			bufferCount = 1;
> -			outCount++;
> -			break;
> -
> -		case StreamRole::VideoRecording:
> -			/*
> -			 * The colour denoise algorithm requires the analysis
> -			 * image, produced by the second ISP output, to be in
> -			 * YUV420 format. Select this format as the default, to
> -			 * maximize chances that it will be picked by
> -			 * applications and enable usage of the colour denoise
> -			 * algorithm.
> -			 */
> -			fmts = data->isp_[Isp::Output0].dev()->formats();
> -			pixelFormat = formats::YUV420;
> -			/*
> -			 * Choose a color space appropriate for video recording.
> -			 * Rec.709 will be a good default for HD resolutions.
> -			 */
> -			colorSpace = ColorSpace::Rec709;
> -			size = { 1920, 1080 };
> -			bufferCount = 4;
> -			outCount++;
> -			break;
> -
> -		case StreamRole::Viewfinder:
> -			fmts = data->isp_[Isp::Output0].dev()->formats();
> -			pixelFormat = formats::ARGB8888;
> -			colorSpace = ColorSpace::Sycc;
> -			size = { 800, 600 };
> -			bufferCount = 4;
> -			outCount++;
> -			break;
> -
> -		default:
> -			LOG(RPI, Error) << "Requested stream role not supported: "
> -					<< role;
> -			return nullptr;
> -		}
> -
> -		if (rawCount > 1 || outCount > 2) {
> -			LOG(RPI, Error) << "Invalid stream roles requested";
> -			return nullptr;
> -		}
> -
> -		std::map<PixelFormat, std::vector<SizeRange>> deviceFormats;
> -		if (role == StreamRole::Raw) {
> -			/* Translate the MBUS codes to a PixelFormat. */
> -			for (const auto &format : data->sensorFormats_) {
> -				PixelFormat pf = mbusCodeToPixelFormat(format.first,
> -								       BayerFormat::Packing::CSI2);
> -				if (pf.isValid())
> -					deviceFormats.emplace(std::piecewise_construct,	std::forward_as_tuple(pf),
> -						std::forward_as_tuple(format.second.begin(), format.second.end()));
> -			}
> -		} else {
> -			/*
> -			 * Translate the V4L2PixelFormat to PixelFormat. Note that we
> -			 * limit the recommended largest ISP output size to match the
> -			 * sensor resolution.
> -			 */
> -			for (const auto &format : fmts) {
> -				PixelFormat pf = format.first.toPixelFormat();
> -				if (pf.isValid()) {
> -					const SizeRange &ispSizes = format.second[0];
> -					deviceFormats[pf].emplace_back(ispSizes.min, sensorSize,
> -								       ispSizes.hStep, ispSizes.vStep);
> -				}
> -			}
> -		}
> -
> -		/* Add the stream format based on the device node used for the use case. */
> -		StreamFormats formats(deviceFormats);
> -		StreamConfiguration cfg(formats);
> -		cfg.size = size;
> -		cfg.pixelFormat = pixelFormat;
> -		cfg.colorSpace = colorSpace;
> -		cfg.bufferCount = bufferCount;
> -		config->addConfiguration(cfg);
> -	}
> -
> -	config->validate();
> -
> -	return config;
> -}
> -
> -int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config)
> -{
> -	RPiCameraData *data = cameraData(camera);
> -	int ret;
> -
> -	/* Start by freeing all buffers and reset the Unicam and ISP stream states. */
> -	data->freeBuffers();
> -	for (auto const stream : data->streams_)
> -		stream->setExternal(false);
> -
> -	BayerFormat::Packing packing = BayerFormat::Packing::CSI2;
> -	Size maxSize, sensorSize;
> -	unsigned int maxIndex = 0;
> -	bool rawStream = false;
> -	unsigned int bitDepth = defaultRawBitDepth;
> -
> -	/*
> -	 * Look for the RAW stream (if given) size as well as the largest
> -	 * ISP output size.
> -	 */
> -	for (unsigned i = 0; i < config->size(); i++) {
> -		StreamConfiguration &cfg = config->at(i);
> -
> -		if (isRaw(cfg.pixelFormat)) {
> -			/*
> -			 * If we have been given a RAW stream, use that size
> -			 * for setting up the sensor.
> -			 */
> -			sensorSize = cfg.size;
> -			rawStream = true;
> -			/* Check if the user has explicitly set an unpacked format. */
> -			BayerFormat bayerFormat = BayerFormat::fromPixelFormat(cfg.pixelFormat);
> -			packing = bayerFormat.packing;
> -			bitDepth = bayerFormat.bitDepth;
> -		} else {
> -			if (cfg.size > maxSize) {
> -				maxSize = config->at(i).size;
> -				maxIndex = i;
> -			}
> -		}
> -	}
> -
> -	/*
> -	 * Calculate the best sensor mode we can use based on the user's
> -	 * request, and apply it to the sensor with the cached transform, if
> -	 * any.
> -	 */
> -	V4L2SubdeviceFormat sensorFormat = findBestFormat(data->sensorFormats_, rawStream ? sensorSize : maxSize, bitDepth);
> -	const RPiCameraConfiguration *rpiConfig = static_cast<const RPiCameraConfiguration *>(config);
> -	ret = data->sensor_->setFormat(&sensorFormat, rpiConfig->combinedTransform_);
> -	if (ret)
> -		return ret;
> -
> -	V4L2VideoDevice *unicam = data->unicam_[Unicam::Image].dev();
> -	V4L2DeviceFormat unicamFormat = toV4L2DeviceFormat(unicam, sensorFormat, packing);
> -	ret = unicam->setFormat(&unicamFormat);
> -	if (ret)
> -		return ret;
> -
> -	LOG(RPI, Info) << "Sensor: " << camera->id()
> -		       << " - Selected sensor format: " << sensorFormat
> -		       << " - Selected unicam format: " << unicamFormat;
> -
> -	ret = data->isp_[Isp::Input].dev()->setFormat(&unicamFormat);
> -	if (ret)
> -		return ret;
> -
> -	/*
> -	 * See which streams are requested, and route the user
> -	 * StreamConfiguration appropriately.
> -	 */
> -	V4L2DeviceFormat format;
> -	bool output0Set = false, output1Set = false;
> -	for (unsigned i = 0; i < config->size(); i++) {
> -		StreamConfiguration &cfg = config->at(i);
> -
> -		if (isRaw(cfg.pixelFormat)) {
> -			cfg.setStream(&data->unicam_[Unicam::Image]);
> -			data->unicam_[Unicam::Image].setExternal(true);
> -			continue;
> -		}
> -
> -		/* The largest resolution gets routed to the ISP Output 0 node. */
> -		RPi::Stream *stream = i == maxIndex ? &data->isp_[Isp::Output0]
> -						    : &data->isp_[Isp::Output1];
> -
> -		V4L2PixelFormat fourcc = stream->dev()->toV4L2PixelFormat(cfg.pixelFormat);
> -		format.size = cfg.size;
> -		format.fourcc = fourcc;
> -		format.colorSpace = cfg.colorSpace;
> -
> -		LOG(RPI, Debug) << "Setting " << stream->name() << " to "
> -				<< format;
> -
> -		ret = stream->dev()->setFormat(&format);
> -		if (ret)
> -			return -EINVAL;
> -
> -		if (format.size != cfg.size || format.fourcc != fourcc) {
> -			LOG(RPI, Error)
> -				<< "Failed to set requested format on " << stream->name()
> -				<< ", returned " << format;
> -			return -EINVAL;
> -		}
> -
> -		LOG(RPI, Debug)
> -			<< "Stream " << stream->name() << " has color space "
> -			<< ColorSpace::toString(cfg.colorSpace);
> -
> -		cfg.setStream(stream);
> -		stream->setExternal(true);
> -
> -		if (i != maxIndex)
> -			output1Set = true;
> -		else
> -			output0Set = true;
> -	}
> -
> -	/*
> -	 * If ISP::Output0 stream has not been configured by the application,
> -	 * we must allow the hardware to generate an output so that the data
> -	 * flow in the pipeline handler remains consistent, and we still generate
> -	 * statistics for the IPA to use. So enable the output at a very low
> -	 * resolution for internal use.
> -	 *
> -	 * \todo Allow the pipeline to work correctly without Output0 and only
> -	 * statistics coming from the hardware.
> -	 */
> -	if (!output0Set) {
> -		V4L2VideoDevice *dev = data->isp_[Isp::Output0].dev();
> -
> -		maxSize = Size(320, 240);
> -		format = {};
> -		format.size = maxSize;
> -		format.fourcc = dev->toV4L2PixelFormat(formats::YUV420);
> -		/* No one asked for output, so the color space doesn't matter. */
> -		format.colorSpace = ColorSpace::Sycc;
> -		ret = dev->setFormat(&format);
> -		if (ret) {
> -			LOG(RPI, Error)
> -				<< "Failed to set default format on ISP Output0: "
> -				<< ret;
> -			return -EINVAL;
> -		}
> -
> -		LOG(RPI, Debug) << "Defaulting ISP Output0 format to "
> -				<< format;
> -	}
> -
> -	/*
> -	 * If ISP::Output1 stream has not been requested by the application, we
> -	 * set it up for internal use now. This second stream will be used for
> -	 * fast colour denoise, and must be a quarter resolution of the ISP::Output0
> -	 * stream. However, also limit the maximum size to 1200 pixels in the
> -	 * larger dimension, just to avoid being wasteful with buffer allocations
> -	 * and memory bandwidth.
> -	 *
> -	 * \todo If Output 1 format is not YUV420, Output 1 ought to be disabled as
> -	 * colour denoise will not run.
> -	 */
> -	if (!output1Set) {
> -		V4L2VideoDevice *dev = data->isp_[Isp::Output1].dev();
> -
> -		V4L2DeviceFormat output1Format;
> -		constexpr Size maxDimensions(1200, 1200);
> -		const Size limit = maxDimensions.boundedToAspectRatio(format.size);
> -
> -		output1Format.size = (format.size / 2).boundedTo(limit).alignedDownTo(2, 2);
> -		output1Format.colorSpace = format.colorSpace;
> -		output1Format.fourcc = dev->toV4L2PixelFormat(formats::YUV420);
> -
> -		LOG(RPI, Debug) << "Setting ISP Output1 (internal) to "
> -				<< output1Format;
> -
> -		ret = dev->setFormat(&output1Format);
> -		if (ret) {
> -			LOG(RPI, Error) << "Failed to set format on ISP Output1: "
> -					<< ret;
> -			return -EINVAL;
> -		}
> -	}
> -
> -	/* ISP statistics output format. */
> -	format = {};
> -	format.fourcc = V4L2PixelFormat(V4L2_META_FMT_BCM2835_ISP_STATS);
> -	ret = data->isp_[Isp::Stats].dev()->setFormat(&format);
> -	if (ret) {
> -		LOG(RPI, Error) << "Failed to set format on ISP stats stream: "
> -				<< format;
> -		return ret;
> -	}
> -
> -	/* Figure out the smallest selection the ISP will allow. */
> -	Rectangle testCrop(0, 0, 1, 1);
> -	data->isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &testCrop);
> -	data->ispMinCropSize_ = testCrop.size();
> -
> -	/* Adjust aspect ratio by providing crops on the input image. */
> -	Size size = unicamFormat.size.boundedToAspectRatio(maxSize);
> -	Rectangle crop = size.centeredTo(Rectangle(unicamFormat.size).center());
> -	Rectangle defaultCrop = crop;
> -	data->ispCrop_ = crop;
> -
> -	data->isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &crop);
> -
> -	ipa::RPi::ConfigResult result;
> -	ret = data->configureIPA(config, &result);
> -	if (ret)
> -		LOG(RPI, Error) << "Failed to configure the IPA: " << ret;
> -
> -	/*
> -	 * Set the scaler crop to the value we are using (scaled to native sensor
> -	 * coordinates).
> -	 */
> -	data->scalerCrop_ = data->scaleIspCrop(data->ispCrop_);
> -
> -	/*
> -	 * Configure the Unicam embedded data output format only if the sensor
> -	 * supports it.
> -	 */
> -	if (data->sensorMetadata_) {
> -		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);
> -		if (ret) {
> -			LOG(RPI, Error) << "Failed to set format on Unicam embedded: "
> -					<< format;
> -			return ret;
> -		}
> -	}
> -
> -	/*
> -	 * Update the ScalerCropMaximum to the correct value for this camera mode.
> -	 * For us, it's the same as the "analogue crop".
> -	 *
> -	 * \todo Make this property the ScalerCrop maximum value when dynamic
> -	 * controls are available and set it at validate() time
> -	 */
> -	data->properties_.set(properties::ScalerCropMaximum, data->sensorInfo_.analogCrop);
> -
> -	/* Store the mode sensitivity for the application. */
> -	data->properties_.set(properties::SensorSensitivity, result.modeSensitivity);
> -
> -	/* Update the controls that the Raspberry Pi IPA can handle. */
> -	ControlInfoMap::Map ctrlMap;
> -	for (auto const &c : result.controlInfo)
> -		ctrlMap.emplace(c.first, c.second);
> -
> -	/* Add the ScalerCrop control limits based on the current mode. */
> -	Rectangle ispMinCrop = data->scaleIspCrop(Rectangle(data->ispMinCropSize_));
> -	defaultCrop = data->scaleIspCrop(defaultCrop);
> -	ctrlMap[&controls::ScalerCrop] = ControlInfo(ispMinCrop, data->sensorInfo_.analogCrop, defaultCrop);
> -
> -	data->controlInfo_ = ControlInfoMap(std::move(ctrlMap), result.controlInfo.idmap());
> -
> -	/* Setup the Video Mux/Bridge entities. */
> -	for (auto &[device, link] : data->bridgeDevices_) {
> -		/*
> -		 * Start by disabling all the sink pad links on the devices in the
> -		 * cascade, with the exception of the link connecting the device.
> -		 */
> -		for (const MediaPad *p : device->entity()->pads()) {
> -			if (!(p->flags() & MEDIA_PAD_FL_SINK))
> -				continue;
> -
> -			for (MediaLink *l : p->links()) {
> -				if (l != link)
> -					l->setEnabled(false);
> -			}
> -		}
> -
> -		/*
> -		 * Next, enable the entity -> entity links, and setup the pad format.
> -		 *
> -		 * \todo Some bridge devices may chainge the media bus code, so we
> -		 * ought to read the source pad format and propagate it to the sink pad.
> -		 */
> -		link->setEnabled(true);
> -		const MediaPad *sinkPad = link->sink();
> -		ret = device->setFormat(sinkPad->index(), &sensorFormat);
> -		if (ret) {
> -			LOG(RPI, Error) << "Failed to set format on " << device->entity()->name()
> -					<< " pad " << sinkPad->index()
> -					<< " with format  " << format
> -					<< ": " << ret;
> -			return ret;
> -		}
> -
> -		LOG(RPI, Debug) << "Configured media link on device " << device->entity()->name()
> -				<< " on pad " << sinkPad->index();
> -	}
> -
> -	return ret;
> -}
> -
> -int PipelineHandlerRPi::exportFrameBuffers([[maybe_unused]] Camera *camera, Stream *stream,
> -					   std::vector<std::unique_ptr<FrameBuffer>> *buffers)
> -{
> -	RPi::Stream *s = static_cast<RPi::Stream *>(stream);
> -	unsigned int count = stream->configuration().bufferCount;
> -	int ret = s->dev()->exportBuffers(count, buffers);
> -
> -	s->setExportedBuffers(buffers);
> -
> -	return ret;
> -}
> -
> -int PipelineHandlerRPi::start(Camera *camera, const ControlList *controls)
> -{
> -	RPiCameraData *data = cameraData(camera);
> -	int ret;
> -
> -	/* Check if a ScalerCrop control was specified. */
> -	if (controls)
> -		data->applyScalerCrop(*controls);
> -
> -	/* Start the IPA. */
> -	ipa::RPi::StartResult result;
> -	data->ipa_->start(controls ? *controls : ControlList{ controls::controls },
> -			  &result);
> -
> -	/* Apply any gain/exposure settings that the IPA may have passed back. */
> -	if (!result.controls.empty())
> -		data->setSensorControls(result.controls);
> -
> -	/* Configure the number of dropped frames required on startup. */
> -	data->dropFrameCount_ = data->config_.disableStartupFrameDrops
> -				? 0 : result.dropFrameCount;
> -
> -	for (auto const stream : data->streams_)
> -		stream->resetBuffers();
> -
> -	if (!data->buffersAllocated_) {
> -		/* Allocate buffers for internal pipeline usage. */
> -		ret = prepareBuffers(camera);
> -		if (ret) {
> -			LOG(RPI, Error) << "Failed to allocate buffers";
> -			data->freeBuffers();
> -			stop(camera);
> -			return ret;
> -		}
> -		data->buffersAllocated_ = true;
> -	}
> -
> -	/* We need to set the dropFrameCount_ before queueing buffers. */
> -	ret = queueAllBuffers(camera);
> -	if (ret) {
> -		LOG(RPI, Error) << "Failed to queue buffers";
> -		stop(camera);
> -		return ret;
> -	}
> -
> -	/* Enable SOF event generation. */
> -	data->unicam_[Unicam::Image].dev()->setFrameStartEnabled(true);
> -
> -	/*
> -	 * Reset the delayed controls with the gain and exposure values set by
> -	 * the IPA.
> -	 */
> -	data->delayedCtrls_->reset(0);
> -
> -	data->state_ = RPiCameraData::State::Idle;
> -
> -	/* Start all streams. */
> -	for (auto const stream : data->streams_) {
> -		ret = stream->dev()->streamOn();
> -		if (ret) {
> -			stop(camera);
> -			return ret;
> -		}
> -	}
> -
> -	return 0;
> -}
> -
> -void PipelineHandlerRPi::stopDevice(Camera *camera)
> -{
> -	RPiCameraData *data = cameraData(camera);
> -
> -	data->state_ = RPiCameraData::State::Stopped;
> -
> -	/* Disable SOF event generation. */
> -	data->unicam_[Unicam::Image].dev()->setFrameStartEnabled(false);
> -
> -	for (auto const stream : data->streams_)
> -		stream->dev()->streamOff();
> -
> -	data->clearIncompleteRequests();
> -	data->bayerQueue_ = {};
> -	data->embeddedQueue_ = {};
> -
> -	/* Stop the IPA. */
> -	data->ipa_->stop();
> -}
> -
> -int PipelineHandlerRPi::queueRequestDevice(Camera *camera, Request *request)
> -{
> -	RPiCameraData *data = cameraData(camera);
> -
> -	if (!data->isRunning())
> -		return -EINVAL;
> -
> -	LOG(RPI, Debug) << "queueRequestDevice: New request.";
> -
> -	/* Push all buffers supplied in the Request to the respective streams. */
> -	for (auto stream : data->streams_) {
> -		if (!stream->isExternal())
> -			continue;
> -
> -		FrameBuffer *buffer = request->findBuffer(stream);
> -		if (buffer && !stream->getBufferId(buffer)) {
> -			/*
> -			 * This buffer is not recognised, so it must have been allocated
> -			 * outside the v4l2 device. Store it in the stream buffer list
> -			 * so we can track it.
> -			 */
> -			stream->setExternalBuffer(buffer);
> -		}
> -
> -		/*
> -		 * If no buffer is provided by the request for this stream, we
> -		 * queue a nullptr to the stream to signify that it must use an
> -		 * internally allocated buffer for this capture request. This
> -		 * buffer will not be given back to the application, but is used
> -		 * to support the internal pipeline flow.
> -		 *
> -		 * The below queueBuffer() call will do nothing if there are not
> -		 * enough internal buffers allocated, but this will be handled by
> -		 * queuing the request for buffers in the RPiStream object.
> -		 */
> -		int ret = stream->queueBuffer(buffer);
> -		if (ret)
> -			return ret;
> -	}
> -
> -	/* Push the request to the back of the queue. */
> -	data->requestQueue_.push_back(request);
> -	data->handleState();
> -
> -	return 0;
> -}
> -
> -bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator)
> -{
> -	constexpr unsigned int numUnicamDevices = 2;
> -
> -	/*
> -	 * Loop over all Unicam instances, but return out once a match is found.
> -	 * This is to ensure we correctly enumrate the camera when an instance
> -	 * of Unicam has registered with media controller, but has not registered
> -	 * device nodes due to a sensor subdevice failure.
> -	 */
> -	for (unsigned int i = 0; i < numUnicamDevices; i++) {
> -		DeviceMatch unicam("unicam");
> -		MediaDevice *unicamDevice = acquireMediaDevice(enumerator, unicam);
> -
> -		if (!unicamDevice) {
> -			LOG(RPI, Debug) << "Unable to acquire a Unicam instance";
> -			continue;
> -		}
> -
> -		DeviceMatch isp("bcm2835-isp");
> -		MediaDevice *ispDevice = acquireMediaDevice(enumerator, isp);
> -
> -		if (!ispDevice) {
> -			LOG(RPI, Debug) << "Unable to acquire ISP instance";
> -			continue;
> -		}
> -
> -		/*
> -		 * The loop below is used to register multiple cameras behind one or more
> -		 * video mux devices that are attached to a particular Unicam instance.
> -		 * Obviously these cameras cannot be used simultaneously.
> -		 */
> -		unsigned int numCameras = 0;
> -		for (MediaEntity *entity : unicamDevice->entities()) {
> -			if (entity->function() != MEDIA_ENT_F_CAM_SENSOR)
> -				continue;
> -
> -			int ret = registerCamera(unicamDevice, ispDevice, entity);
> -			if (ret)
> -				LOG(RPI, Error) << "Failed to register camera "
> -						<< entity->name() << ": " << ret;
> -			else
> -				numCameras++;
> -		}
> -
> -		if (numCameras)
> -			return true;
> -	}
> -
> -	return false;
> -}
> -
> -void PipelineHandlerRPi::releaseDevice(Camera *camera)
> -{
> -	RPiCameraData *data = cameraData(camera);
> -	data->freeBuffers();
> -}
> -
> -int PipelineHandlerRPi::registerCamera(MediaDevice *unicam, MediaDevice *isp, MediaEntity *sensorEntity)
> -{
> -	std::unique_ptr<RPiCameraData> data = std::make_unique<RPiCameraData>(this);
> -
> -	if (!data->dmaHeap_.isValid())
> -		return -ENOMEM;
> -
> -	MediaEntity *unicamImage = unicam->getEntityByName("unicam-image");
> -	MediaEntity *ispOutput0 = isp->getEntityByName("bcm2835-isp0-output0");
> -	MediaEntity *ispCapture1 = isp->getEntityByName("bcm2835-isp0-capture1");
> -	MediaEntity *ispCapture2 = isp->getEntityByName("bcm2835-isp0-capture2");
> -	MediaEntity *ispCapture3 = isp->getEntityByName("bcm2835-isp0-capture3");
> -
> -	if (!unicamImage || !ispOutput0 || !ispCapture1 || !ispCapture2 || !ispCapture3)
> -		return -ENOENT;
> -
> -	/* Locate and open the unicam video streams. */
> -	data->unicam_[Unicam::Image] = RPi::Stream("Unicam Image", unicamImage);
> -
> -	/* An embedded data node will not be present if the sensor does not support it. */
> -	MediaEntity *unicamEmbedded = unicam->getEntityByName("unicam-embedded");
> -	if (unicamEmbedded) {
> -		data->unicam_[Unicam::Embedded] = RPi::Stream("Unicam Embedded", unicamEmbedded);
> -		data->unicam_[Unicam::Embedded].dev()->bufferReady.connect(data.get(),
> -									   &RPiCameraData::unicamBufferDequeue);
> -	}
> -
> -	/* Tag the ISP input stream as an import stream. */
> -	data->isp_[Isp::Input] = RPi::Stream("ISP Input", ispOutput0, true);
> -	data->isp_[Isp::Output0] = RPi::Stream("ISP Output0", ispCapture1);
> -	data->isp_[Isp::Output1] = RPi::Stream("ISP Output1", ispCapture2);
> -	data->isp_[Isp::Stats] = RPi::Stream("ISP Stats", ispCapture3);
> -
> -	/* Wire up all the buffer connections. */
> -	data->unicam_[Unicam::Image].dev()->dequeueTimeout.connect(data.get(), &RPiCameraData::unicamTimeout);
> -	data->unicam_[Unicam::Image].dev()->frameStart.connect(data.get(), &RPiCameraData::frameStarted);
> -	data->unicam_[Unicam::Image].dev()->bufferReady.connect(data.get(), &RPiCameraData::unicamBufferDequeue);
> -	data->isp_[Isp::Input].dev()->bufferReady.connect(data.get(), &RPiCameraData::ispInputDequeue);
> -	data->isp_[Isp::Output0].dev()->bufferReady.connect(data.get(), &RPiCameraData::ispOutputDequeue);
> -	data->isp_[Isp::Output1].dev()->bufferReady.connect(data.get(), &RPiCameraData::ispOutputDequeue);
> -	data->isp_[Isp::Stats].dev()->bufferReady.connect(data.get(), &RPiCameraData::ispOutputDequeue);
> -
> -	data->sensor_ = std::make_unique<CameraSensor>(sensorEntity);
> -	if (!data->sensor_)
> -		return -EINVAL;
> -
> -	if (data->sensor_->init())
> -		return -EINVAL;
> -
> -	/*
> -	 * Enumerate all the Video Mux/Bridge devices across the sensor -> unicam
> -	 * chain. There may be a cascade of devices in this chain!
> -	 */
> -	MediaLink *link = sensorEntity->getPadByIndex(0)->links()[0];
> -	data->enumerateVideoDevices(link);
> -
> -	data->sensorFormats_ = populateSensorFormats(data->sensor_);
> -
> -	ipa::RPi::InitResult result;
> -	if (data->loadIPA(&result)) {
> -		LOG(RPI, Error) << "Failed to load a suitable IPA library";
> -		return -EINVAL;
> -	}
> -
> -	if (result.sensorConfig.sensorMetadata ^ !!unicamEmbedded) {
> -		LOG(RPI, Warning) << "Mismatch between Unicam and CamHelper for embedded data usage!";
> -		result.sensorConfig.sensorMetadata = false;
> -		if (unicamEmbedded)
> -			data->unicam_[Unicam::Embedded].dev()->bufferReady.disconnect();
> -	}
> -
> -	/*
> -	 * Open all Unicam and ISP streams. The exception is the embedded data
> -	 * stream, which only gets opened below if the IPA reports that the sensor
> -	 * supports embedded data.
> -	 *
> -	 * The below grouping is just for convenience so that we can easily
> -	 * iterate over all streams in one go.
> -	 */
> -	data->streams_.push_back(&data->unicam_[Unicam::Image]);
> -	if (result.sensorConfig.sensorMetadata)
> -		data->streams_.push_back(&data->unicam_[Unicam::Embedded]);
> -
> -	for (auto &stream : data->isp_)
> -		data->streams_.push_back(&stream);
> -
> -	for (auto stream : data->streams_) {
> -		int ret = stream->dev()->open();
> -		if (ret)
> -			return ret;
> -	}
> -
> -	if (!data->unicam_[Unicam::Image].dev()->caps().hasMediaController()) {
> -		LOG(RPI, Error) << "Unicam driver does not use the MediaController, please update your kernel!";
> -		return -EINVAL;
> -	}
> -
> -	/*
> -	 * Setup our delayed control writer with the sensor default
> -	 * gain and exposure delays. Mark VBLANK for priority write.
> -	 */
> -	std::unordered_map<uint32_t, RPi::DelayedControls::ControlParams> params = {
> -		{ V4L2_CID_ANALOGUE_GAIN, { result.sensorConfig.gainDelay, false } },
> -		{ V4L2_CID_EXPOSURE, { result.sensorConfig.exposureDelay, false } },
> -		{ V4L2_CID_HBLANK, { result.sensorConfig.hblankDelay, false } },
> -		{ V4L2_CID_VBLANK, { result.sensorConfig.vblankDelay, true } }
> -	};
> -	data->delayedCtrls_ = std::make_unique<RPi::DelayedControls>(data->sensor_->device(), params);
> -	data->sensorMetadata_ = result.sensorConfig.sensorMetadata;
> -
> -	/* Register initial controls that the Raspberry Pi IPA can handle. */
> -	data->controlInfo_ = std::move(result.controlInfo);
> -
> -	/* Initialize the camera properties. */
> -	data->properties_ = data->sensor_->properties();
> -
> -	/*
> -	 * The V4L2_CID_NOTIFY_GAINS control, if present, is used to inform the
> -	 * sensor of the colour gains. It is defined to be a linear gain where
> -	 * the default value represents a gain of exactly one.
> -	 */
> -	auto it = data->sensor_->controls().find(V4L2_CID_NOTIFY_GAINS);
> -	if (it != data->sensor_->controls().end())
> -		data->notifyGainsUnity_ = it->second.def().get<int32_t>();
> -
> -	/*
> -	 * Set a default value for the ScalerCropMaximum property to show
> -	 * that we support its use, however, initialise it to zero because
> -	 * it's not meaningful until a camera mode has been chosen.
> -	 */
> -	data->properties_.set(properties::ScalerCropMaximum, Rectangle{});
> -
> -	/*
> -	 * We cache two things about the sensor in relation to transforms
> -	 * (meaning horizontal and vertical flips): if they affect the Bayer
> -	 * ordering, and what the "native" Bayer order is, when no transforms
> -	 * are applied.
> -	 *
> -	 * We note that the sensor's cached list of supported formats is
> -	 * already in the "native" order, with any flips having been undone.
> -	 */
> -	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->flipsAlterBayerOrder_ = hflipCtrl->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT;
> -	}
> -
> -	/* Look for a valid Bayer format. */
> -	BayerFormat bayerFormat;
> -	for (const auto &iter : data->sensorFormats_) {
> -		bayerFormat = BayerFormat::fromMbusCode(iter.first);
> -		if (bayerFormat.isValid())
> -			break;
> -	}
> -
> -	if (!bayerFormat.isValid()) {
> -		LOG(RPI, Error) << "No Bayer format found";
> -		return -EINVAL;
> -	}
> -	data->nativeBayerOrder_ = bayerFormat.order;
> -
> -	/*
> -	 * List the available streams an application may request. At present, we
> -	 * do not advertise Unicam Embedded and ISP Statistics streams, as there
> -	 * is no mechanism for the application to request non-image buffer formats.
> -	 */
> -	std::set<Stream *> streams;
> -	streams.insert(&data->unicam_[Unicam::Image]);
> -	streams.insert(&data->isp_[Isp::Output0]);
> -	streams.insert(&data->isp_[Isp::Output1]);
> -
> -	int ret = data->loadPipelineConfiguration();
> -	if (ret) {
> -		LOG(RPI, Error) << "Unable to load pipeline configuration";
> -		return ret;
> -	}
> -
> -	/* Create and register the camera. */
> -	const std::string &id = data->sensor_->id();
> -	std::shared_ptr<Camera> camera =
> -		Camera::create(std::move(data), id, streams);
> -	PipelineHandler::registerCamera(std::move(camera));
> -
> -	LOG(RPI, Info) << "Registered camera " << id
> -		       << " to Unicam device " << unicam->deviceNode()
> -		       << " and ISP device " << isp->deviceNode();
> -	return 0;
> -}
> -
> -int PipelineHandlerRPi::queueAllBuffers(Camera *camera)
> -{
> -	RPiCameraData *data = cameraData(camera);
> -	int ret;
> -
> -	for (auto const stream : data->streams_) {
> -		if (!stream->isExternal()) {
> -			ret = stream->queueAllBuffers();
> -			if (ret < 0)
> -				return ret;
> -		} else {
> -			/*
> -			 * For external streams, we must queue up a set of internal
> -			 * buffers to handle the number of drop frames requested by
> -			 * the IPA. This is done by passing nullptr in queueBuffer().
> -			 *
> -			 * The below queueBuffer() call will do nothing if there
> -			 * are not enough internal buffers allocated, but this will
> -			 * be handled by queuing the request for buffers in the
> -			 * RPiStream object.
> -			 */
> -			unsigned int i;
> -			for (i = 0; i < data->dropFrameCount_; i++) {
> -				ret = stream->queueBuffer(nullptr);
> -				if (ret)
> -					return ret;
> -			}
> -		}
> -	}
> -
> -	return 0;
> -}
> -
> -int PipelineHandlerRPi::prepareBuffers(Camera *camera)
> -{
> -	RPiCameraData *data = cameraData(camera);
> -	unsigned int numRawBuffers = 0;
> -	int ret;
> -
> -	for (Stream *s : camera->streams()) {
> -		if (isRaw(s->configuration().pixelFormat)) {
> -			numRawBuffers = s->configuration().bufferCount;
> -			break;
> -		}
> -	}
> -
> -	/* Decide how many internal buffers to allocate. */
> -	for (auto const stream : data->streams_) {
> -		unsigned int numBuffers;
> -		/*
> -		 * For Unicam, allocate a minimum number of buffers for internal
> -		 * use as we want to avoid any frame drops.
> -		 */
> -		const unsigned int minBuffers = data->config_.minTotalUnicamBuffers;
> -		if (stream == &data->unicam_[Unicam::Image]) {
> -			/*
> -			 * If an application has configured a RAW stream, allocate
> -			 * additional buffers to make up the minimum, but ensure
> -			 * we have at least minUnicamBuffers of internal buffers
> -			 * to use to minimise frame drops.
> -			 */
> -			numBuffers = std::max<int>(data->config_.minUnicamBuffers,
> -						   minBuffers - numRawBuffers);
> -		} else if (stream == &data->isp_[Isp::Input]) {
> -			/*
> -			 * ISP input buffers are imported from Unicam, so follow
> -			 * similar logic as above to count all the RAW buffers
> -			 * available.
> -			 */
> -			numBuffers = numRawBuffers +
> -				     std::max<int>(data->config_.minUnicamBuffers,
> -						   minBuffers - numRawBuffers);
> -
> -		} else if (stream == &data->unicam_[Unicam::Embedded]) {
> -			/*
> -			 * Embedded data buffers are (currently) for internal use,
> -			 * so allocate the minimum required to avoid frame drops.
> -			 */
> -			numBuffers = minBuffers;
> -		} else {
> -			/*
> -			 * Since the ISP runs synchronous with the IPA and requests,
> -			 * we only ever need one set of internal buffers. Any buffers
> -			 * the application wants to hold onto will already be exported
> -			 * through PipelineHandlerRPi::exportFrameBuffers().
> -			 */
> -			numBuffers = 1;
> -		}
> -
> -		ret = stream->prepareBuffers(numBuffers);
> -		if (ret < 0)
> -			return ret;
> -	}
> -
> -	/*
> -	 * Pass the stats and embedded data buffers to the IPA. No other
> -	 * buffers need to be passed.
> -	 */
> -	mapBuffers(camera, data->isp_[Isp::Stats].getBuffers(), RPi::MaskStats);
> -	if (data->sensorMetadata_)
> -		mapBuffers(camera, data->unicam_[Unicam::Embedded].getBuffers(),
> -			   RPi::MaskEmbeddedData);
> -
> -	return 0;
> -}
> -
> -void PipelineHandlerRPi::mapBuffers(Camera *camera, const RPi::BufferMap &buffers, unsigned int mask)
> -{
> -	RPiCameraData *data = cameraData(camera);
> -	std::vector<IPABuffer> bufferIds;
> -	/*
> -	 * Link the FrameBuffers with the id (key value) in the map stored in
> -	 * the RPi stream object - along with an identifier mask.
> -	 *
> -	 * This will allow us to identify buffers passed between the pipeline
> -	 * handler and the IPA.
> -	 */
> -	for (auto const &it : buffers) {
> -		bufferIds.push_back(IPABuffer(mask | it.first,
> -					       it.second->planes()));
> -		data->bufferIds_.insert(mask | it.first);
> -	}
> -
> -	data->ipa_->mapBuffers(bufferIds);
> -}
> -
> -void RPiCameraData::freeBuffers()
> -{
> -	if (ipa_) {
> -		/*
> -		 * Copy the buffer ids from the unordered_set to a vector to
> -		 * pass to the IPA.
> -		 */
> -		std::vector<unsigned int> bufferIds(bufferIds_.begin(),
> -						    bufferIds_.end());
> -		ipa_->unmapBuffers(bufferIds);
> -		bufferIds_.clear();
> -	}
> -
> -	for (auto const stream : streams_)
> -		stream->releaseBuffers();
> -
> -	buffersAllocated_ = false;
> -}
> -
> -void RPiCameraData::frameStarted(uint32_t sequence)
> -{
> -	LOG(RPI, Debug) << "frame start " << sequence;
> -
> -	/* Write any controls for the next frame as soon as we can. */
> -	delayedCtrls_->applyControls(sequence);
> -}
> -
> -int RPiCameraData::loadIPA(ipa::RPi::InitResult *result)
> -{
> -	ipa_ = IPAManager::createIPA<ipa::RPi::IPAProxyRPi>(pipe(), 1, 1);
> -
> -	if (!ipa_)
> -		return -ENOENT;
> -
> -	ipa_->processStatsComplete.connect(this, &RPiCameraData::processStatsComplete);
> -	ipa_->prepareIspComplete.connect(this, &RPiCameraData::prepareIspComplete);
> -	ipa_->setIspControls.connect(this, &RPiCameraData::setIspControls);
> -	ipa_->setDelayedControls.connect(this, &RPiCameraData::setDelayedControls);
> -	ipa_->setLensControls.connect(this, &RPiCameraData::setLensControls);
> -	ipa_->setCameraTimeout.connect(this, &RPiCameraData::setCameraTimeout);
> -
> -	/*
> -	 * The configuration (tuning file) is made from the sensor name unless
> -	 * the environment variable overrides it.
> -	 */
> -	std::string configurationFile;
> -	char const *configFromEnv = utils::secure_getenv("LIBCAMERA_RPI_TUNING_FILE");
> -	if (!configFromEnv || *configFromEnv == '\0') {
> -		std::string model = sensor_->model();
> -		if (isMonoSensor(sensor_))
> -			model += "_mono";
> -		configurationFile = ipa_->configurationFile(model + ".json", "rpi");
> -	} else {
> -		configurationFile = std::string(configFromEnv);
> -	}
> -
> -	IPASettings settings(configurationFile, sensor_->model());
> -	ipa::RPi::InitParams params;
> -
> -	params.lensPresent = !!sensor_->focusLens();
> -	return ipa_->init(settings, params, result);
> -}
> -
> -int RPiCameraData::configureIPA(const CameraConfiguration *config, ipa::RPi::ConfigResult *result)
> -{
> -	std::map<unsigned int, ControlInfoMap> entityControls;
> -	ipa::RPi::ConfigParams params;
> -
> -	/* \todo Move passing of ispControls and lensControls to ipa::init() */
> -	params.sensorControls = sensor_->controls();
> -	params.ispControls = isp_[Isp::Input].dev()->controls();
> -	if (sensor_->focusLens())
> -		params.lensControls = sensor_->focusLens()->controls();
> -
> -	/* Always send the user transform to the IPA. */
> -	params.transform = static_cast<unsigned int>(config->transform);
> -
> -	/* Allocate the lens shading table via dmaHeap and pass to the IPA. */
> -	if (!lsTable_.isValid()) {
> -		lsTable_ = SharedFD(dmaHeap_.alloc("ls_grid", ipa::RPi::MaxLsGridSize));
> -		if (!lsTable_.isValid())
> -			return -ENOMEM;
> -
> -		/* Allow the IPA to mmap the LS table via the file descriptor. */
> -		/*
> -		 * \todo Investigate if mapping the lens shading table buffer
> -		 * could be handled with mapBuffers().
> -		 */
> -		params.lsTableHandle = lsTable_;
> -	}
> -
> -	/* We store the IPACameraSensorInfo for digital zoom calculations. */
> -	int ret = sensor_->sensorInfo(&sensorInfo_);
> -	if (ret) {
> -		LOG(RPI, Error) << "Failed to retrieve camera sensor info";
> -		return ret;
> -	}
> -
> -	/* Ready the IPA - it must know about the sensor resolution. */
> -	ret = ipa_->configure(sensorInfo_, params, result);
> -	if (ret < 0) {
> -		LOG(RPI, Error) << "IPA configuration failed!";
> -		return -EPIPE;
> -	}
> -
> -	if (!result->controls.empty())
> -		setSensorControls(result->controls);
> -
> -	return 0;
> -}
> -
> -int RPiCameraData::loadPipelineConfiguration()
> -{
> -	config_ = {
> -		.minUnicamBuffers = 2,
> -		.minTotalUnicamBuffers = 4,
> -		.disableStartupFrameDrops = false,
> -		.unicamTimeoutValue = 0,
> -	};
> -
> -	char const *configFromEnv = utils::secure_getenv("LIBCAMERA_RPI_CONFIG_FILE");
> -	if (!configFromEnv || *configFromEnv == '\0')
> -		return 0;
> -
> -	std::string filename = std::string(configFromEnv);
> -	File file(filename);
> -
> -	if (!file.open(File::OpenModeFlag::ReadOnly)) {
> -		LOG(RPI, Error) << "Failed to open configuration file '" << filename << "'";
> -		return -EIO;
> -	}
> -
> -	LOG(RPI, Info) << "Using configuration file '" << filename << "'";
> -
> -	std::unique_ptr<YamlObject> root = YamlParser::parse(file);
> -	if (!root) {
> -		LOG(RPI, Warning) << "Failed to parse configuration file, using defaults";
> -		return 0;
> -	}
> -
> -	std::optional<double> ver = (*root)["version"].get<double>();
> -	if (!ver || *ver != 1.0) {
> -		LOG(RPI, Error) << "Unexpected configuration file version reported";
> -		return -EINVAL;
> -	}
> -
> -	const YamlObject &phConfig = (*root)["pipeline_handler"];
> -	config_.minUnicamBuffers =
> -		phConfig["min_unicam_buffers"].get<unsigned int>(config_.minUnicamBuffers);
> -	config_.minTotalUnicamBuffers =
> -		phConfig["min_total_unicam_buffers"].get<unsigned int>(config_.minTotalUnicamBuffers);
> -	config_.disableStartupFrameDrops =
> -		phConfig["disable_startup_frame_drops"].get<bool>(config_.disableStartupFrameDrops);
> -	config_.unicamTimeoutValue =
> -		phConfig["unicam_timeout_value_ms"].get<unsigned int>(config_.unicamTimeoutValue);
> -
> -	if (config_.unicamTimeoutValue) {
> -		/* Disable the IPA signal to control timeout and set the user requested value. */
> -		ipa_->setCameraTimeout.disconnect();
> -		unicam_[Unicam::Image].dev()->setDequeueTimeout(config_.unicamTimeoutValue * 1ms);
> -	}
> -
> -	if (config_.minTotalUnicamBuffers < config_.minUnicamBuffers) {
> -		LOG(RPI, Error) << "Invalid configuration: min_total_unicam_buffers must be >= min_unicam_buffers";
> -		return -EINVAL;
> -	}
> -
> -	if (config_.minTotalUnicamBuffers < 1) {
> -		LOG(RPI, Error) << "Invalid configuration: min_total_unicam_buffers must be >= 1";
> -		return -EINVAL;
> -	}
> -
> -	return 0;
> -}
> -
> -/*
> - * enumerateVideoDevices() iterates over the Media Controller topology, starting
> - * at the sensor and finishing at Unicam. For each sensor, RPiCameraData stores
> - * a unique list of any intermediate video mux or bridge devices connected in a
> - * cascade, together with the entity to entity link.
> - *
> - * Entity pad configuration and link enabling happens at the end of configure().
> - * We first disable all pad links on each entity device in the chain, and then
> - * selectively enabling the specific links to link sensor to Unicam across all
> - * intermediate muxes and bridges.
> - *
> - * In the cascaded topology below, if Sensor1 is used, the Mux2 -> Mux1 link
> - * will be disabled, and Sensor1 -> Mux1 -> Unicam links enabled. Alternatively,
> - * if Sensor3 is used, the Sensor2 -> Mux2 and Sensor1 -> Mux1 links are disabled,
> - * and Sensor3 -> Mux2 -> Mux1 -> Unicam links are enabled. All other links will
> - * remain unchanged.
> - *
> - *  +----------+
> - *  |  Unicam  |
> - *  +-----^----+
> - *        |
> - *    +---+---+
> - *    |  Mux1 <-------+
> - *    +--^----+       |
> - *       |            |
> - * +-----+---+    +---+---+
> - * | Sensor1 |    |  Mux2 |<--+
> - * +---------+    +-^-----+   |
> - *                  |         |
> - *          +-------+-+   +---+-----+
> - *          | Sensor2 |   | Sensor3 |
> - *          +---------+   +---------+
> - */
> -void RPiCameraData::enumerateVideoDevices(MediaLink *link)
> -{
> -	const MediaPad *sinkPad = link->sink();
> -	const MediaEntity *entity = sinkPad->entity();
> -	bool unicamFound = false;
> -
> -	/* We only deal with Video Mux and Bridge devices in cascade. */
> -	if (entity->function() != MEDIA_ENT_F_VID_MUX &&
> -	    entity->function() != MEDIA_ENT_F_VID_IF_BRIDGE)
> -		return;
> -
> -	/* Find the source pad for this Video Mux or Bridge device. */
> -	const MediaPad *sourcePad = nullptr;
> -	for (const MediaPad *pad : entity->pads()) {
> -		if (pad->flags() & MEDIA_PAD_FL_SOURCE) {
> -			/*
> -			 * We can only deal with devices that have a single source
> -			 * pad. If this device has multiple source pads, ignore it
> -			 * and this branch in the cascade.
> -			 */
> -			if (sourcePad)
> -				return;
> -
> -			sourcePad = pad;
> -		}
> -	}
> -
> -	LOG(RPI, Debug) << "Found video mux device " << entity->name()
> -			<< " linked to sink pad " << sinkPad->index();
> -
> -	bridgeDevices_.emplace_back(std::make_unique<V4L2Subdevice>(entity), link);
> -	bridgeDevices_.back().first->open();
> -
> -	/*
> -	 * Iterate through all the sink pad links down the cascade to find any
> -	 * other Video Mux and Bridge devices.
> -	 */
> -	for (MediaLink *l : sourcePad->links()) {
> -		enumerateVideoDevices(l);
> -		/* Once we reach the Unicam entity, we are done. */
> -		if (l->sink()->entity()->name() == "unicam-image") {
> -			unicamFound = true;
> -			break;
> -		}
> -	}
> -
> -	/* This identifies the end of our entity enumeration recursion. */
> -	if (link->source()->entity()->function() == MEDIA_ENT_F_CAM_SENSOR) {
> -		/*
> -		* If Unicam is not at the end of this cascade, we cannot configure
> -		* this topology automatically, so remove all entity references.
> -		*/
> -		if (!unicamFound) {
> -			LOG(RPI, Warning) << "Cannot automatically configure this MC topology!";
> -			bridgeDevices_.clear();
> -		}
> -	}
> -}
> -
> -void RPiCameraData::processStatsComplete(const ipa::RPi::BufferIds &buffers)
> -{
> -	if (!isRunning())
> -		return;
> -
> -	FrameBuffer *buffer = isp_[Isp::Stats].getBuffers().at(buffers.stats & RPi::MaskID);
> -
> -	handleStreamBuffer(buffer, &isp_[Isp::Stats]);
> -
> -	/* Last thing to do is to fill up the request metadata. */
> -	Request *request = requestQueue_.front();
> -	ControlList metadata;
> -
> -	ipa_->reportMetadata(request->sequence(), &metadata);
> -	request->metadata().merge(metadata);
> -
> -	/*
> -	 * Inform the sensor of the latest colour gains if it has the
> -	 * V4L2_CID_NOTIFY_GAINS control (which means notifyGainsUnity_ is set).
> -	 */
> -	const auto &colourGains = metadata.get(libcamera::controls::ColourGains);
> -	if (notifyGainsUnity_ && colourGains) {
> -		/* The control wants linear gains in the order B, Gb, Gr, R. */
> -		ControlList ctrls(sensor_->controls());
> -		std::array<int32_t, 4> gains{
> -			static_cast<int32_t>((*colourGains)[1] * *notifyGainsUnity_),
> -			*notifyGainsUnity_,
> -			*notifyGainsUnity_,
> -			static_cast<int32_t>((*colourGains)[0] * *notifyGainsUnity_)
> -		};
> -		ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ gains });
> -
> -		sensor_->setControls(&ctrls);
> -	}
> -
> -	state_ = State::IpaComplete;
> -	handleState();
> -}
> -
> -void RPiCameraData::prepareIspComplete(const ipa::RPi::BufferIds &buffers)
> -{
> -	unsigned int embeddedId = buffers.embedded & RPi::MaskID;
> -	unsigned int bayer = buffers.bayer & RPi::MaskID;
> -	FrameBuffer *buffer;
> -
> -	if (!isRunning())
> -		return;
> -
> -	buffer = unicam_[Unicam::Image].getBuffers().at(bayer & RPi::MaskID);
> -	LOG(RPI, Debug) << "Input re-queue to ISP, buffer id " << (bayer & RPi::MaskID)
> -			<< ", timestamp: " << buffer->metadata().timestamp;
> -
> -	isp_[Isp::Input].queueBuffer(buffer);
> -	ispOutputCount_ = 0;
> -
> -	if (sensorMetadata_ && embeddedId) {
> -		buffer = unicam_[Unicam::Embedded].getBuffers().at(embeddedId & RPi::MaskID);
> -		handleStreamBuffer(buffer, &unicam_[Unicam::Embedded]);
> -	}
> -
> -	handleState();
> -}
> -
> -void RPiCameraData::setIspControls(const ControlList &controls)
> -{
> -	ControlList ctrls = controls;
> -
> -	if (ctrls.contains(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING)) {
> -		ControlValue &value =
> -			const_cast<ControlValue &>(ctrls.get(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING));
> -		Span<uint8_t> s = value.data();
> -		bcm2835_isp_lens_shading *ls =
> -			reinterpret_cast<bcm2835_isp_lens_shading *>(s.data());
> -		ls->dmabuf = lsTable_.get();
> -	}
> -
> -	isp_[Isp::Input].dev()->setControls(&ctrls);
> -	handleState();
> -}
> -
> -void RPiCameraData::setDelayedControls(const ControlList &controls, uint32_t delayContext)
> -{
> -	if (!delayedCtrls_->push(controls, delayContext))
> -		LOG(RPI, Error) << "V4L2 DelayedControl set failed";
> -	handleState();
> -}
> -
> -void RPiCameraData::setLensControls(const ControlList &controls)
> -{
> -	CameraLens *lens = sensor_->focusLens();
> -
> -	if (lens && controls.contains(V4L2_CID_FOCUS_ABSOLUTE)) {
> -		ControlValue const &focusValue = controls.get(V4L2_CID_FOCUS_ABSOLUTE);
> -		lens->setFocusPosition(focusValue.get<int32_t>());
> -	}
> -}
> -
> -void RPiCameraData::setCameraTimeout(uint32_t maxFrameLengthMs)
> -{
> -	/*
> -	 * Set the dequeue timeout to the larger of 5x the maximum reported
> -	 * frame length advertised by the IPA over a number of frames. Allow
> -	 * a minimum timeout value of 1s.
> -	 */
> -	utils::Duration timeout =
> -		std::max<utils::Duration>(1s, 5 * maxFrameLengthMs * 1ms);
> -
> -	LOG(RPI, Debug) << "Setting Unicam timeout to " << timeout;
> -	unicam_[Unicam::Image].dev()->setDequeueTimeout(timeout);
> -}
> -
> -void RPiCameraData::setSensorControls(ControlList &controls)
> -{
> -	/*
> -	 * We need to ensure that if both VBLANK and EXPOSURE are present, the
> -	 * former must be written ahead of, and separately from EXPOSURE to avoid
> -	 * V4L2 rejecting the latter. This is identical to what DelayedControls
> -	 * does with the priority write flag.
> -	 *
> -	 * As a consequence of the below logic, VBLANK gets set twice, and we
> -	 * rely on the v4l2 framework to not pass the second control set to the
> -	 * driver as the actual control value has not changed.
> -	 */
> -	if (controls.contains(V4L2_CID_EXPOSURE) && controls.contains(V4L2_CID_VBLANK)) {
> -		ControlList vblank_ctrl;
> -
> -		vblank_ctrl.set(V4L2_CID_VBLANK, controls.get(V4L2_CID_VBLANK));
> -		sensor_->setControls(&vblank_ctrl);
> -	}
> -
> -	sensor_->setControls(&controls);
> -}
> -
> -void RPiCameraData::unicamTimeout()
> -{
> -	LOG(RPI, Error) << "Unicam has timed out!";
> -	LOG(RPI, Error) << "Please check that your camera sensor connector is attached securely.";
> -	LOG(RPI, Error) << "Alternatively, try another cable and/or sensor.";
> -
> -	state_ = RPiCameraData::State::Error;
> -	/*
> -	 * To allow the application to attempt a recovery from this timeout,
> -	 * stop all devices streaming, and return any outstanding requests as
> -	 * incomplete and cancelled.
> -	 */
> -	for (auto const stream : streams_)
> -		stream->dev()->streamOff();
> -
> -	clearIncompleteRequests();
> -}
> -
> -void RPiCameraData::unicamBufferDequeue(FrameBuffer *buffer)
> -{
> -	RPi::Stream *stream = nullptr;
> -	int index;
> -
> -	if (!isRunning())
> -		return;
> -
> -	for (RPi::Stream &s : unicam_) {
> -		index = s.getBufferId(buffer);
> -		if (index) {
> -			stream = &s;
> -			break;
> -		}
> -	}
> -
> -	/* The buffer must belong to one of our streams. */
> -	ASSERT(stream);
> -
> -	LOG(RPI, Debug) << "Stream " << stream->name() << " buffer dequeue"
> -			<< ", buffer id " << index
> -			<< ", timestamp: " << buffer->metadata().timestamp;
> -
> -	if (stream == &unicam_[Unicam::Image]) {
> -		/*
> -		 * Lookup the sensor controls used for this frame sequence from
> -		 * DelayedControl and queue them along with the frame buffer.
> -		 */
> -		auto [ctrl, delayContext] = delayedCtrls_->get(buffer->metadata().sequence);
> -		/*
> -		 * Add the frame timestamp to the ControlList for the IPA to use
> -		 * as it does not receive the FrameBuffer object.
> -		 */
> -		ctrl.set(controls::SensorTimestamp, buffer->metadata().timestamp);
> -		bayerQueue_.push({ buffer, std::move(ctrl), delayContext });
> -	} else {
> -		embeddedQueue_.push(buffer);
> -	}
> -
> -	handleState();
> -}
> -
> -void RPiCameraData::ispInputDequeue(FrameBuffer *buffer)
> -{
> -	if (!isRunning())
> -		return;
> -
> -	LOG(RPI, Debug) << "Stream ISP Input buffer complete"
> -			<< ", buffer id " << unicam_[Unicam::Image].getBufferId(buffer)
> -			<< ", timestamp: " << buffer->metadata().timestamp;
> -
> -	/* The ISP input buffer gets re-queued into Unicam. */
> -	handleStreamBuffer(buffer, &unicam_[Unicam::Image]);
> -	handleState();
> -}
> -
> -void RPiCameraData::ispOutputDequeue(FrameBuffer *buffer)
> -{
> -	RPi::Stream *stream = nullptr;
> -	int index;
> -
> -	if (!isRunning())
> -		return;
> -
> -	for (RPi::Stream &s : isp_) {
> -		index = s.getBufferId(buffer);
> -		if (index) {
> -			stream = &s;
> -			break;
> -		}
> -	}
> -
> -	/* The buffer must belong to one of our ISP output streams. */
> -	ASSERT(stream);
> -
> -	LOG(RPI, Debug) << "Stream " << stream->name() << " buffer complete"
> -			<< ", buffer id " << index
> -			<< ", timestamp: " << buffer->metadata().timestamp;
> -
> -	/*
> -	 * ISP statistics buffer must not be re-queued or sent back to the
> -	 * application until after the IPA signals so.
> -	 */
> -	if (stream == &isp_[Isp::Stats]) {
> -		ipa::RPi::ProcessParams params;
> -		params.buffers.stats = index | RPi::MaskStats;
> -		params.ipaContext = requestQueue_.front()->sequence();
> -		ipa_->processStats(params);
> -	} else {
> -		/* Any other ISP output can be handed back to the application now. */
> -		handleStreamBuffer(buffer, stream);
> -	}
> -
> -	/*
> -	 * Increment the number of ISP outputs generated.
> -	 * This is needed to track dropped frames.
> -	 */
> -	ispOutputCount_++;
> -
> -	handleState();
> -}
> -
> -void RPiCameraData::clearIncompleteRequests()
> -{
> -	/*
> -	 * All outstanding requests (and associated buffers) must be returned
> -	 * back to the application.
> -	 */
> -	while (!requestQueue_.empty()) {
> -		Request *request = requestQueue_.front();
> -
> -		for (auto &b : request->buffers()) {
> -			FrameBuffer *buffer = b.second;
> -			/*
> -			 * Has the buffer already been handed back to the
> -			 * request? If not, do so now.
> -			 */
> -			if (buffer->request()) {
> -				buffer->_d()->cancel();
> -				pipe()->completeBuffer(request, buffer);
> -			}
> -		}
> -
> -		pipe()->completeRequest(request);
> -		requestQueue_.pop_front();
> -	}
> -}
> -
> -void RPiCameraData::handleStreamBuffer(FrameBuffer *buffer, RPi::Stream *stream)
> -{
> -	/*
> -	 * It is possible to be here without a pending request, so check
> -	 * that we actually have one to action, otherwise we just return
> -	 * buffer back to the stream.
> -	 */
> -	Request *request = requestQueue_.empty() ? nullptr : requestQueue_.front();
> -	if (!dropFrameCount_ && request && request->findBuffer(stream) == buffer) {
> -		/*
> -		 * Check if this is an externally provided buffer, and if
> -		 * so, we must stop tracking it in the pipeline handler.
> -		 */
> -		handleExternalBuffer(buffer, stream);
> -		/*
> -		 * Tag the buffer as completed, returning it to the
> -		 * application.
> -		 */
> -		pipe()->completeBuffer(request, buffer);
> -	} else {
> -		/*
> -		 * This buffer was not part of the Request (which happens if an
> -		 * internal buffer was used for an external stream, or
> -		 * unconditionally for internal streams), or there is no pending
> -		 * request, so we can recycle it.
> -		 */
> -		stream->returnBuffer(buffer);
> -	}
> -}
> -
> -void RPiCameraData::handleExternalBuffer(FrameBuffer *buffer, RPi::Stream *stream)
> -{
> -	unsigned int id = stream->getBufferId(buffer);
> -
> -	if (!(id & RPi::MaskExternalBuffer))
> -		return;
> -
> -	/* Stop the Stream object from tracking the buffer. */
> -	stream->removeExternalBuffer(buffer);
> -}
> -
> -void RPiCameraData::handleState()
> -{
> -	switch (state_) {
> -	case State::Stopped:
> -	case State::Busy:
> -	case State::Error:
> -		break;
> -
> -	case State::IpaComplete:
> -		/* If the request is completed, we will switch to Idle state. */
> -		checkRequestCompleted();
> -		/*
> -		 * No break here, we want to try running the pipeline again.
> -		 * The fallthrough clause below suppresses compiler warnings.
> -		 */
> -		[[fallthrough]];
> -
> -	case State::Idle:
> -		tryRunPipeline();
> -		break;
> -	}
> -}
> -
> -void RPiCameraData::checkRequestCompleted()
> -{
> -	bool requestCompleted = false;
> -	/*
> -	 * If we are dropping this frame, do not touch the request, simply
> -	 * change the state to IDLE when ready.
> -	 */
> -	if (!dropFrameCount_) {
> -		Request *request = requestQueue_.front();
> -		if (request->hasPendingBuffers())
> -			return;
> -
> -		/* Must wait for metadata to be filled in before completing. */
> -		if (state_ != State::IpaComplete)
> -			return;
> -
> -		pipe()->completeRequest(request);
> -		requestQueue_.pop_front();
> -		requestCompleted = true;
> -	}
> -
> -	/*
> -	 * Make sure we have three outputs completed in the case of a dropped
> -	 * frame.
> -	 */
> -	if (state_ == State::IpaComplete &&
> -	    ((ispOutputCount_ == 3 && dropFrameCount_) || requestCompleted)) {
> -		state_ = State::Idle;
> -		if (dropFrameCount_) {
> -			dropFrameCount_--;
> -			LOG(RPI, Debug) << "Dropping frame at the request of the IPA ("
> -					<< dropFrameCount_ << " left)";
> -		}
> -	}
> -}
> -
> -Rectangle RPiCameraData::scaleIspCrop(const Rectangle &ispCrop) const
> -{
> -	/*
> -	 * Scale a crop rectangle defined in the ISP's coordinates into native sensor
> -	 * coordinates.
> -	 */
> -	Rectangle nativeCrop = ispCrop.scaledBy(sensorInfo_.analogCrop.size(),
> -						sensorInfo_.outputSize);
> -	nativeCrop.translateBy(sensorInfo_.analogCrop.topLeft());
> -	return nativeCrop;
> -}
> -
> -void RPiCameraData::applyScalerCrop(const ControlList &controls)
> -{
> -	const auto &scalerCrop = controls.get<Rectangle>(controls::ScalerCrop);
> -	if (scalerCrop) {
> -		Rectangle nativeCrop = *scalerCrop;
> -
> -		if (!nativeCrop.width || !nativeCrop.height)
> -			nativeCrop = { 0, 0, 1, 1 };
> -
> -		/* Create a version of the crop scaled to ISP (camera mode) pixels. */
> -		Rectangle ispCrop = nativeCrop.translatedBy(-sensorInfo_.analogCrop.topLeft());
> -		ispCrop.scaleBy(sensorInfo_.outputSize, sensorInfo_.analogCrop.size());
> -
> -		/*
> -		 * The crop that we set must be:
> -		 * 1. At least as big as ispMinCropSize_, once that's been
> -		 *    enlarged to the same aspect ratio.
> -		 * 2. With the same mid-point, if possible.
> -		 * 3. But it can't go outside the sensor area.
> -		 */
> -		Size minSize = ispMinCropSize_.expandedToAspectRatio(nativeCrop.size());
> -		Size size = ispCrop.size().expandedTo(minSize);
> -		ispCrop = size.centeredTo(ispCrop.center()).enclosedIn(Rectangle(sensorInfo_.outputSize));
> -
> -		if (ispCrop != ispCrop_) {
> -			isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &ispCrop);
> -			ispCrop_ = ispCrop;
> -
> -			/*
> -			 * Also update the ScalerCrop in the metadata with what we actually
> -			 * used. But we must first rescale that from ISP (camera mode) pixels
> -			 * back into sensor native pixels.
> -			 */
> -			scalerCrop_ = scaleIspCrop(ispCrop_);
> -		}
> -	}
> -}
> -
> -void RPiCameraData::fillRequestMetadata(const ControlList &bufferControls,
> -					Request *request)
> -{
> -	request->metadata().set(controls::SensorTimestamp,
> -				bufferControls.get(controls::SensorTimestamp).value_or(0));
> -
> -	request->metadata().set(controls::ScalerCrop, scalerCrop_);
> -}
> -
> -void RPiCameraData::tryRunPipeline()
> -{
> -	FrameBuffer *embeddedBuffer;
> -	BayerFrame bayerFrame;
> -
> -	/* If any of our request or buffer queues are empty, we cannot proceed. */
> -	if (state_ != State::Idle || requestQueue_.empty() ||
> -	    bayerQueue_.empty() || (embeddedQueue_.empty() && sensorMetadata_))
> -		return;
> -
> -	if (!findMatchingBuffers(bayerFrame, embeddedBuffer))
> -		return;
> -
> -	/* Take the first request from the queue and action the IPA. */
> -	Request *request = requestQueue_.front();
> -
> -	/* See if a new ScalerCrop value needs to be applied. */
> -	applyScalerCrop(request->controls());
> -
> -	/*
> -	 * Clear the request metadata and fill it with some initial non-IPA
> -	 * related controls. We clear it first because the request metadata
> -	 * may have been populated if we have dropped the previous frame.
> -	 */
> -	request->metadata().clear();
> -	fillRequestMetadata(bayerFrame.controls, request);
> -
> -	/* Set our state to say the pipeline is active. */
> -	state_ = State::Busy;
> -
> -	unsigned int bayer = unicam_[Unicam::Image].getBufferId(bayerFrame.buffer);
> -
> -	LOG(RPI, Debug) << "Signalling prepareIsp:"
> -			<< " Bayer buffer id: " << bayer;
> -
> -	ipa::RPi::PrepareParams params;
> -	params.buffers.bayer = RPi::MaskBayerData | bayer;
> -	params.sensorControls = std::move(bayerFrame.controls);
> -	params.requestControls = request->controls();
> -	params.ipaContext = request->sequence();
> -	params.delayContext = bayerFrame.delayContext;
> -
> -	if (embeddedBuffer) {
> -		unsigned int embeddedId = unicam_[Unicam::Embedded].getBufferId(embeddedBuffer);
> -
> -		params.buffers.embedded = RPi::MaskEmbeddedData | embeddedId;
> -		LOG(RPI, Debug) << "Signalling prepareIsp:"
> -				<< " Embedded buffer id: " << embeddedId;
> -	}
> -
> -	ipa_->prepareIsp(params);
> -}
> -
> -bool RPiCameraData::findMatchingBuffers(BayerFrame &bayerFrame, FrameBuffer *&embeddedBuffer)
> -{
> -	if (bayerQueue_.empty())
> -		return false;
> -
> -	/*
> -	 * Find the embedded data buffer with a matching timestamp to pass to
> -	 * the IPA. Any embedded buffers with a timestamp lower than the
> -	 * current bayer buffer will be removed and re-queued to the driver.
> -	 */
> -	uint64_t ts = bayerQueue_.front().buffer->metadata().timestamp;
> -	embeddedBuffer = nullptr;
> -	while (!embeddedQueue_.empty()) {
> -		FrameBuffer *b = embeddedQueue_.front();
> -		if (b->metadata().timestamp < ts) {
> -			embeddedQueue_.pop();
> -			unicam_[Unicam::Embedded].returnBuffer(b);
> -			LOG(RPI, Debug) << "Dropping unmatched input frame in stream "
> -					<< unicam_[Unicam::Embedded].name();
> -		} else if (b->metadata().timestamp == ts) {
> -			/* Found a match! */
> -			embeddedBuffer = b;
> -			embeddedQueue_.pop();
> -			break;
> -		} else {
> -			break; /* Only higher timestamps from here. */
> -		}
> -	}
> -
> -	if (!embeddedBuffer && sensorMetadata_) {
> -		if (embeddedQueue_.empty()) {
> -			/*
> -			 * If the embedded buffer queue is empty, wait for the next
> -			 * buffer to arrive - dequeue ordering may send the image
> -			 * buffer first.
> -			 */
> -			LOG(RPI, Debug) << "Waiting for next embedded buffer.";
> -			return false;
> -		}
> -
> -		/* Log if there is no matching embedded data buffer found. */
> -		LOG(RPI, Debug) << "Returning bayer frame without a matching embedded buffer.";
> -	}
> -
> -	bayerFrame = std::move(bayerQueue_.front());
> -	bayerQueue_.pop();
> -
> -	return true;
> -}
> -
> -REGISTER_PIPELINE_HANDLER(PipelineHandlerRPi)
> -
> -} /* namespace libcamera */
> diff --git a/src/libcamera/pipeline/rpi/vc4/vc4.cpp b/src/libcamera/pipeline/rpi/vc4/vc4.cpp
> new file mode 100644
> index 000000000000..a085a06376a8
> --- /dev/null
> +++ b/src/libcamera/pipeline/rpi/vc4/vc4.cpp
> @@ -0,0 +1,1001 @@
> +/* SPDX-License-Identifier: LGPL-2.1-or-later */
> +/*
> + * Copyright (C) 2019-2023, Raspberry Pi Ltd
> + *
> + * vc4.cpp - Pipeline handler for VC4 based Raspberry Pi devices
> + */
> +
> +#include <linux/bcm2835-isp.h>
> +#include <linux/v4l2-controls.h>
> +#include <linux/videodev2.h>
> +
> +#include <libcamera/formats.h>
> +
> +#include "libcamera/internal/device_enumerator.h"
> +
> +#include "dma_heaps.h"
> +#include "pipeline_base.h"
> +#include "rpi_stream.h"
> +
> +using namespace std::chrono_literals;
> +
> +namespace libcamera {
> +
> +LOG_DECLARE_CATEGORY(RPI)
> +
> +namespace {
> +
> +enum class Unicam : unsigned int { Image, Embedded };
> +enum class Isp : unsigned int { Input, Output0, Output1, Stats };
> +
> +} /* namespace */
> +
> +class Vc4CameraData final : public RPi::CameraData
> +{
> +public:
> +	Vc4CameraData(PipelineHandler *pipe)
> +		: RPi::CameraData(pipe)
> +	{
> +	}
> +
> +	~Vc4CameraData()
> +	{
> +		freeBuffers();
> +	}
> +
> +	V4L2VideoDevice::Formats ispFormats() const override
> +	{
> +		return isp_[Isp::Output0].dev()->formats();
> +	}
> +
> +	V4L2VideoDevice::Formats rawFormats() const override
> +	{
> +		return unicam_[Unicam::Image].dev()->formats();
> +	}
> +
> +	V4L2VideoDevice *frontendDevice() override
> +	{
> +		return unicam_[Unicam::Image].dev();
> +	}
> +
> +	void platformFreeBuffers() override
> +	{
> +	}
> +
> +	CameraConfiguration::Status platformValidate(std::vector<StreamParams> &rawStreams,
> +						     std::vector<StreamParams> &outStreams) const override;
> +
> +	int platformPipelineConfigure(const std::unique_ptr<YamlObject> &root) override;
> +
> +	void platformStart() override;
> +	void platformStop() override;
> +
> +	void unicamBufferDequeue(FrameBuffer *buffer);
> +	void ispInputDequeue(FrameBuffer *buffer);
> +	void ispOutputDequeue(FrameBuffer *buffer);
> +
> +	void processStatsComplete(const ipa::RPi::BufferIds &buffers);
> +	void prepareIspComplete(const ipa::RPi::BufferIds &buffers);
> +	void setIspControls(const ControlList &controls);
> +	void setCameraTimeout(uint32_t maxFrameLengthMs);
> +
> +	/* Array of Unicam and ISP device streams and associated buffers/streams. */
> +	RPi::Device<Unicam, 2> unicam_;
> +	RPi::Device<Isp, 4> isp_;
> +
> +	/* DMAHEAP allocation helper. */
> +	RPi::DmaHeap dmaHeap_;
> +	SharedFD lsTable_;
> +
> +	struct Config {
> +		/*
> +		 * The minimum number of internal buffers to be allocated for
> +		 * the Unicam Image stream.
> +		 */
> +		unsigned int minUnicamBuffers;
> +		/*
> +		 * The minimum total (internal + external) buffer count used for
> +		 * the Unicam Image stream.
> +		 *
> +		 * Note that:
> +		 * minTotalUnicamBuffers must be >= 1, and
> +		 * minTotalUnicamBuffers >= minUnicamBuffers
> +		 */
> +		unsigned int minTotalUnicamBuffers;
> +	};
> +
> +	Config config_;
> +
> +private:
> +	void platformIspCrop() override
> +	{
> +		isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &ispCrop_);
> +	}
> +
> +	int platformConfigure(const V4L2SubdeviceFormat &sensorFormat,
> +			      std::optional<BayerFormat::Packing> packing,
> +			      std::vector<StreamParams> &rawStreams,
> +			      std::vector<StreamParams> &outStreams) override;
> +	int platformConfigureIpa(ipa::RPi::ConfigParams &params) override;
> +
> +	int platformInitIpa([[maybe_unused]] ipa::RPi::InitParams &params) override
> +	{
> +		return 0;
> +	}
> +
> +	struct BayerFrame {
> +		FrameBuffer *buffer;
> +		ControlList controls;
> +		unsigned int delayContext;
> +	};
> +
> +	void tryRunPipeline() override;
> +	bool findMatchingBuffers(BayerFrame &bayerFrame, FrameBuffer *&embeddedBuffer);
> +
> +	std::queue<BayerFrame> bayerQueue_;
> +	std::queue<FrameBuffer *> embeddedQueue_;
> +};
> +
> +class PipelineHandlerVc4 : public RPi::PipelineHandlerBase
> +{
> +public:
> +	PipelineHandlerVc4(CameraManager *manager)
> +		: RPi::PipelineHandlerBase(manager)
> +	{
> +	}
> +
> +	~PipelineHandlerVc4()
> +	{
> +	}
> +
> +	bool match(DeviceEnumerator *enumerator) override;
> +
> +private:
> +	Vc4CameraData *cameraData(Camera *camera)
> +	{
> +		return static_cast<Vc4CameraData *>(camera->_d());
> +	}
> +
> +	std::unique_ptr<RPi::CameraData> allocateCameraData() override
> +	{
> +		return std::make_unique<Vc4CameraData>(this);
> +	}
> +
> +	int prepareBuffers(Camera *camera) override;
> +	int platformRegister(std::unique_ptr<RPi::CameraData> &cameraData,
> +			     MediaDevice *unicam, MediaDevice *isp) override;
> +};
> +
> +bool PipelineHandlerVc4::match(DeviceEnumerator *enumerator)
> +{
> +	constexpr unsigned int numUnicamDevices = 2;
> +
> +	/*
> +	 * Loop over all Unicam instances, but return out once a match is found.
> +	 * This is to ensure we correctly enumrate the camera when an instance
> +	 * of Unicam has registered with media controller, but has not registered
> +	 * device nodes due to a sensor subdevice failure.
> +	 */
> +	for (unsigned int i = 0; i < numUnicamDevices; i++) {
> +		DeviceMatch unicam("unicam");
> +		MediaDevice *unicamDevice = acquireMediaDevice(enumerator, unicam);
> +
> +		if (!unicamDevice) {
> +			LOG(RPI, Debug) << "Unable to acquire a Unicam instance";
> +			break;
> +		}
> +
> +		DeviceMatch isp("bcm2835-isp");
> +		MediaDevice *ispDevice = acquireMediaDevice(enumerator, isp);
> +
> +		if (!ispDevice) {
> +			LOG(RPI, Debug) << "Unable to acquire ISP instance";
> +			break;
> +		}
> +
> +		/*
> +		 * The loop below is used to register multiple cameras behind one or more
> +		 * video mux devices that are attached to a particular Unicam instance.
> +		 * Obviously these cameras cannot be used simultaneously.
> +		 */
> +		unsigned int numCameras = 0;
> +		for (MediaEntity *entity : unicamDevice->entities()) {
> +			if (entity->function() != MEDIA_ENT_F_CAM_SENSOR)
> +				continue;
> +
> +			int ret = RPi::PipelineHandlerBase::registerCamera(unicamDevice, "unicam-image",
> +									   ispDevice, entity);
> +			if (ret)
> +				LOG(RPI, Error) << "Failed to register camera "
> +						<< entity->name() << ": " << ret;
> +			else
> +				numCameras++;
> +		}
> +
> +		if (numCameras)
> +			return true;
> +	}
> +
> +	return false;
> +}
> +
> +int PipelineHandlerVc4::prepareBuffers(Camera *camera)
> +{
> +	Vc4CameraData *data = cameraData(camera);
> +	unsigned int numRawBuffers = 0;
> +	int ret;
> +
> +	for (Stream *s : camera->streams()) {
> +		if (BayerFormat::fromPixelFormat(s->configuration().pixelFormat).isValid()) {
> +			numRawBuffers = s->configuration().bufferCount;
> +			break;
> +		}
> +	}
> +
> +	/* Decide how many internal buffers to allocate. */
> +	for (auto const stream : data->streams_) {
> +		unsigned int numBuffers;
> +		/*
> +		 * For Unicam, allocate a minimum number of buffers for internal
> +		 * use as we want to avoid any frame drops.
> +		 */
> +		const unsigned int minBuffers = data->config_.minTotalUnicamBuffers;
> +		if (stream == &data->unicam_[Unicam::Image]) {
> +			/*
> +			 * If an application has configured a RAW stream, allocate
> +			 * additional buffers to make up the minimum, but ensure
> +			 * we have at least minUnicamBuffers of internal buffers
> +			 * to use to minimise frame drops.
> +			 */
> +			numBuffers = std::max<int>(data->config_.minUnicamBuffers,
> +						   minBuffers - numRawBuffers);
> +		} else if (stream == &data->isp_[Isp::Input]) {
> +			/*
> +			 * ISP input buffers are imported from Unicam, so follow
> +			 * similar logic as above to count all the RAW buffers
> +			 * available.
> +			 */
> +			numBuffers = numRawBuffers +
> +				     std::max<int>(data->config_.minUnicamBuffers,
> +						   minBuffers - numRawBuffers);
> +
> +		} else if (stream == &data->unicam_[Unicam::Embedded]) {
> +			/*
> +			 * Embedded data buffers are (currently) for internal use,
> +			 * so allocate the minimum required to avoid frame drops.
> +			 */
> +			numBuffers = minBuffers;
> +		} else {
> +			/*
> +			 * Since the ISP runs synchronous with the IPA and requests,
> +			 * we only ever need one set of internal buffers. Any buffers
> +			 * the application wants to hold onto will already be exported
> +			 * through PipelineHandlerRPi::exportFrameBuffers().
> +			 */
> +			numBuffers = 1;
> +		}
> +
> +		ret = stream->prepareBuffers(numBuffers);
> +		if (ret < 0)
> +			return ret;
> +	}
> +
> +	/*
> +	 * Pass the stats and embedded data buffers to the IPA. No other
> +	 * buffers need to be passed.
> +	 */
> +	mapBuffers(camera, data->isp_[Isp::Stats].getBuffers(), RPi::MaskStats);
> +	if (data->sensorMetadata_)
> +		mapBuffers(camera, data->unicam_[Unicam::Embedded].getBuffers(),
> +			   RPi::MaskEmbeddedData);
> +
> +	return 0;
> +}
> +
> +int PipelineHandlerVc4::platformRegister(std::unique_ptr<RPi::CameraData> &cameraData, MediaDevice *unicam, MediaDevice *isp)
> +{
> +	Vc4CameraData *data = static_cast<Vc4CameraData *>(cameraData.get());
> +
> +	if (!data->dmaHeap_.isValid())
> +		return -ENOMEM;
> +
> +	MediaEntity *unicamImage = unicam->getEntityByName("unicam-image");
> +	MediaEntity *ispOutput0 = isp->getEntityByName("bcm2835-isp0-output0");
> +	MediaEntity *ispCapture1 = isp->getEntityByName("bcm2835-isp0-capture1");
> +	MediaEntity *ispCapture2 = isp->getEntityByName("bcm2835-isp0-capture2");
> +	MediaEntity *ispCapture3 = isp->getEntityByName("bcm2835-isp0-capture3");
> +
> +	if (!unicamImage || !ispOutput0 || !ispCapture1 || !ispCapture2 || !ispCapture3)
> +		return -ENOENT;
> +
> +	/* Locate and open the unicam video streams. */
> +	data->unicam_[Unicam::Image] = RPi::Stream("Unicam Image", unicamImage);
> +
> +	/* An embedded data node will not be present if the sensor does not support it. */
> +	MediaEntity *unicamEmbedded = unicam->getEntityByName("unicam-embedded");
> +	if (unicamEmbedded) {
> +		data->unicam_[Unicam::Embedded] = RPi::Stream("Unicam Embedded", unicamEmbedded);
> +		data->unicam_[Unicam::Embedded].dev()->bufferReady.connect(data,
> +									   &Vc4CameraData::unicamBufferDequeue);
> +	}
> +
> +	/* Tag the ISP input stream as an import stream. */
> +	data->isp_[Isp::Input] = RPi::Stream("ISP Input", ispOutput0, true);
> +	data->isp_[Isp::Output0] = RPi::Stream("ISP Output0", ispCapture1);
> +	data->isp_[Isp::Output1] = RPi::Stream("ISP Output1", ispCapture2);
> +	data->isp_[Isp::Stats] = RPi::Stream("ISP Stats", ispCapture3);
> +
> +	/* Wire up all the buffer connections. */
> +	data->unicam_[Unicam::Image].dev()->bufferReady.connect(data, &Vc4CameraData::unicamBufferDequeue);
> +	data->isp_[Isp::Input].dev()->bufferReady.connect(data, &Vc4CameraData::ispInputDequeue);
> +	data->isp_[Isp::Output0].dev()->bufferReady.connect(data, &Vc4CameraData::ispOutputDequeue);
> +	data->isp_[Isp::Output1].dev()->bufferReady.connect(data, &Vc4CameraData::ispOutputDequeue);
> +	data->isp_[Isp::Stats].dev()->bufferReady.connect(data, &Vc4CameraData::ispOutputDequeue);
> +
> +	if (data->sensorMetadata_ ^ !!data->unicam_[Unicam::Embedded].dev()) {
> +		LOG(RPI, Warning) << "Mismatch between Unicam and CamHelper for embedded data usage!";
> +		data->sensorMetadata_ = false;
> +		if (data->unicam_[Unicam::Embedded].dev())
> +			data->unicam_[Unicam::Embedded].dev()->bufferReady.disconnect();
> +	}
> +
> +	/*
> +	 * Open all Unicam and ISP streams. The exception is the embedded data
> +	 * stream, which only gets opened below if the IPA reports that the sensor
> +	 * supports embedded data.
> +	 *
> +	 * The below grouping is just for convenience so that we can easily
> +	 * iterate over all streams in one go.
> +	 */
> +	data->streams_.push_back(&data->unicam_[Unicam::Image]);
> +	if (data->sensorMetadata_)
> +		data->streams_.push_back(&data->unicam_[Unicam::Embedded]);
> +
> +	for (auto &stream : data->isp_)
> +		data->streams_.push_back(&stream);
> +
> +	for (auto stream : data->streams_) {
> +		int ret = stream->dev()->open();
> +		if (ret)
> +			return ret;
> +	}
> +
> +	if (!data->unicam_[Unicam::Image].dev()->caps().hasMediaController()) {
> +		LOG(RPI, Error) << "Unicam driver does not use the MediaController, please update your kernel!";
> +		return -EINVAL;
> +	}
> +
> +	/* Write up all the IPA connections. */
> +	data->ipa_->processStatsComplete.connect(data, &Vc4CameraData::processStatsComplete);
> +	data->ipa_->prepareIspComplete.connect(data, &Vc4CameraData::prepareIspComplete);
> +	data->ipa_->setIspControls.connect(data, &Vc4CameraData::setIspControls);
> +	data->ipa_->setCameraTimeout.connect(data, &Vc4CameraData::setCameraTimeout);
> +
> +	/*
> +	 * List the available streams an application may request. At present, we
> +	 * do not advertise Unicam Embedded and ISP Statistics streams, as there
> +	 * is no mechanism for the application to request non-image buffer formats.
> +	 */
> +	std::set<Stream *> streams;
> +	streams.insert(&data->unicam_[Unicam::Image]);
> +	streams.insert(&data->isp_[Isp::Output0]);
> +	streams.insert(&data->isp_[Isp::Output1]);
> +
> +	/* Create and register the camera. */
> +	const std::string &id = data->sensor_->id();
> +	std::shared_ptr<Camera> camera =
> +		Camera::create(std::move(cameraData), id, streams);
> +	PipelineHandler::registerCamera(std::move(camera));
> +
> +	LOG(RPI, Info) << "Registered camera " << id
> +		       << " to Unicam device " << unicam->deviceNode()
> +		       << " and ISP device " << isp->deviceNode();
> +
> +	return 0;
> +}
> +
> +CameraConfiguration::Status Vc4CameraData::platformValidate(std::vector<StreamParams> &rawStreams,
> +							    std::vector<StreamParams> &outStreams) const
> +{
> +	CameraConfiguration::Status status = CameraConfiguration::Status::Valid;
> +
> +	/* Can only output 1 RAW stream, or 2 YUV/RGB streams. */
> +	if (rawStreams.size() > 1 || outStreams.size() > 2) {
> +		LOG(RPI, Error) << "Invalid number of streams requested";
> +		return CameraConfiguration::Status::Invalid;
> +	}
> +
> +	if (!rawStreams.empty())
> +		rawStreams[0].dev = unicam_[Unicam::Image].dev();
> +
> +	/*
> +	 * For the two ISP outputs, one stream must be equal or smaller than the
> +	 * other in all dimensions.
> +	 *
> +	 * Index 0 contains the largest requested resolution.
> +	 */
> +	for (unsigned int i = 0; i < outStreams.size(); i++) {
> +		Size size;
> +
> +		size.width = std::min(outStreams[i].cfg->size.width,
> +				      outStreams[0].cfg->size.width);
> +		size.height = std::min(outStreams[i].cfg->size.height,
> +				       outStreams[0].cfg->size.height);
> +
> +		if (outStreams[i].cfg->size != size) {
> +			outStreams[i].cfg->size = size;
> +			status = CameraConfiguration::Status::Adjusted;
> +		}
> +
> +		/*
> +		 * Output 0 must be for the largest resolution. We will
> +		 * have that fixed up in the code above.
> +		 */
> +		outStreams[i].dev = isp_[i == 0 ? Isp::Output0 : Isp::Output1].dev();
> +	}
> +
> +	return status;
> +}
> +
> +int Vc4CameraData::platformPipelineConfigure(const std::unique_ptr<YamlObject> &root)
> +{
> +	config_ = {
> +		.minUnicamBuffers = 2,
> +		.minTotalUnicamBuffers = 4,
> +	};
> +
> +	if (!root)
> +		return 0;
> +
> +	std::optional<double> ver = (*root)["version"].get<double>();
> +	if (!ver || *ver != 1.0) {
> +		LOG(RPI, Error) << "Unexpected configuration file version reported";
> +		return -EINVAL;
> +	}
> +
> +	std::optional<std::string> target = (*root)["target"].get<std::string>();
> +	if (!target || *target != "bcm2835") {
> +		LOG(RPI, Error) << "Unexpected target reported: expected \"bcm2835\", got "
> +				<< *target;
> +		return -EINVAL;
> +	}
> +
> +	const YamlObject &phConfig = (*root)["pipeline_handler"];
> +	config_.minUnicamBuffers =
> +		phConfig["min_unicam_buffers"].get<unsigned int>(config_.minUnicamBuffers);
> +	config_.minTotalUnicamBuffers =
> +		phConfig["min_total_unicam_buffers"].get<unsigned int>(config_.minTotalUnicamBuffers);
> +
> +	if (config_.minTotalUnicamBuffers < config_.minUnicamBuffers) {
> +		LOG(RPI, Error) << "Invalid configuration: min_total_unicam_buffers must be >= min_unicam_buffers";
> +		return -EINVAL;
> +	}
> +
> +	if (config_.minTotalUnicamBuffers < 1) {
> +		LOG(RPI, Error) << "Invalid configuration: min_total_unicam_buffers must be >= 1";
> +		return -EINVAL;
> +	}
> +
> +	return 0;
> +}
> +
> +int Vc4CameraData::platformConfigure(const V4L2SubdeviceFormat &sensorFormat,
> +				     std::optional<BayerFormat::Packing> packing,
> +				     std::vector<StreamParams> &rawStreams,
> +				     std::vector<StreamParams> &outStreams)
> +{
> +	int ret;
> +
> +	if (!packing)
> +		packing = BayerFormat::Packing::CSI2;
> +
> +	V4L2VideoDevice *unicam = unicam_[Unicam::Image].dev();
> +	V4L2DeviceFormat unicamFormat = RPi::PipelineHandlerBase::toV4L2DeviceFormat(unicam, sensorFormat, *packing);
> +
> +	ret = unicam->setFormat(&unicamFormat);
> +	if (ret)
> +		return ret;
> +
> +	/*
> +	 * See which streams are requested, and route the user
> +	 * StreamConfiguration appropriately.
> +	 */
> +	if (!rawStreams.empty()) {
> +		rawStreams[0].cfg->setStream(&unicam_[Unicam::Image]);
> +		unicam_[Unicam::Image].setExternal(true);
> +	}
> +
> +	ret = isp_[Isp::Input].dev()->setFormat(&unicamFormat);
> +	if (ret)
> +		return ret;
> +
> +	LOG(RPI, Info) << "Sensor: " << sensor_->id()
> +		       << " - Selected sensor format: " << sensorFormat
> +		       << " - Selected unicam format: " << unicamFormat;
> +
> +	/* Use a sensible small default size if no output streams are configured. */
> +	Size maxSize = outStreams.empty() ? Size(320, 240) : outStreams[0].cfg->size;
> +	V4L2DeviceFormat format;
> +
> +	for (unsigned int i = 0; i < outStreams.size(); i++) {
> +		StreamConfiguration *cfg = outStreams[i].cfg;
> +
> +		/* The largest resolution gets routed to the ISP Output 0 node. */
> +		RPi::Stream *stream = i == 0 ? &isp_[Isp::Output0] : &isp_[Isp::Output1];
> +
> +		V4L2PixelFormat fourcc = stream->dev()->toV4L2PixelFormat(cfg->pixelFormat);
> +		format.size = cfg->size;
> +		format.fourcc = fourcc;
> +		format.colorSpace = cfg->colorSpace;
> +
> +		LOG(RPI, Debug) << "Setting " << stream->name() << " to "
> +				<< format;
> +
> +		ret = stream->dev()->setFormat(&format);
> +		if (ret)
> +			return -EINVAL;
> +
> +		if (format.size != cfg->size || format.fourcc != fourcc) {
> +			LOG(RPI, Error)
> +				<< "Failed to set requested format on " << stream->name()
> +				<< ", returned " << format;
> +			return -EINVAL;
> +		}
> +
> +		LOG(RPI, Debug)
> +			<< "Stream " << stream->name() << " has color space "
> +			<< ColorSpace::toString(cfg->colorSpace);
> +
> +		cfg->setStream(stream);
> +		stream->setExternal(true);
> +	}
> +
> +	ispOutputTotal_ = outStreams.size();
> +
> +	/*
> +	 * If ISP::Output0 stream has not been configured by the application,
> +	 * we must allow the hardware to generate an output so that the data
> +	 * flow in the pipeline handler remains consistent, and we still generate
> +	 * statistics for the IPA to use. So enable the output at a very low
> +	 * resolution for internal use.
> +	 *
> +	 * \todo Allow the pipeline to work correctly without Output0 and only
> +	 * statistics coming from the hardware.
> +	 */
> +	if (outStreams.empty()) {
> +		V4L2VideoDevice *dev = isp_[Isp::Output0].dev();
> +
> +		format = {};
> +		format.size = maxSize;
> +		format.fourcc = dev->toV4L2PixelFormat(formats::YUV420);
> +		/* No one asked for output, so the color space doesn't matter. */
> +		format.colorSpace = ColorSpace::Sycc;
> +		ret = dev->setFormat(&format);
> +		if (ret) {
> +			LOG(RPI, Error)
> +				<< "Failed to set default format on ISP Output0: "
> +				<< ret;
> +			return -EINVAL;
> +		}
> +
> +		ispOutputTotal_++;
> +
> +		LOG(RPI, Debug) << "Defaulting ISP Output0 format to "
> +				<< format;
> +	}
> +
> +	/*
> +	 * If ISP::Output1 stream has not been requested by the application, we
> +	 * set it up for internal use now. This second stream will be used for
> +	 * fast colour denoise, and must be a quarter resolution of the ISP::Output0
> +	 * stream. However, also limit the maximum size to 1200 pixels in the
> +	 * larger dimension, just to avoid being wasteful with buffer allocations
> +	 * and memory bandwidth.
> +	 *
> +	 * \todo If Output 1 format is not YUV420, Output 1 ought to be disabled as
> +	 * colour denoise will not run.
> +	 */
> +	if (outStreams.size() == 1) {
> +		V4L2VideoDevice *dev = isp_[Isp::Output1].dev();
> +
> +		V4L2DeviceFormat output1Format;
> +		constexpr Size maxDimensions(1200, 1200);
> +		const Size limit = maxDimensions.boundedToAspectRatio(format.size);
> +
> +		output1Format.size = (format.size / 2).boundedTo(limit).alignedDownTo(2, 2);
> +		output1Format.colorSpace = format.colorSpace;
> +		output1Format.fourcc = dev->toV4L2PixelFormat(formats::YUV420);
> +
> +		LOG(RPI, Debug) << "Setting ISP Output1 (internal) to "
> +				<< output1Format;
> +
> +		ret = dev->setFormat(&output1Format);
> +		if (ret) {
> +			LOG(RPI, Error) << "Failed to set format on ISP Output1: "
> +					<< ret;
> +			return -EINVAL;
> +		}
> +
> +		ispOutputTotal_++;
> +	}
> +
> +	/* ISP statistics output format. */
> +	format = {};
> +	format.fourcc = V4L2PixelFormat(V4L2_META_FMT_BCM2835_ISP_STATS);
> +	ret = isp_[Isp::Stats].dev()->setFormat(&format);
> +	if (ret) {
> +		LOG(RPI, Error) << "Failed to set format on ISP stats stream: "
> +				<< format;
> +		return ret;
> +	}
> +
> +	ispOutputTotal_++;
> +
> +	/*
> +	 * Configure the Unicam embedded data output format only if the sensor
> +	 * supports it.
> +	 */
> +	if (sensorMetadata_) {
> +		V4L2SubdeviceFormat embeddedFormat;
> +
> +		sensor_->device()->getFormat(1, &embeddedFormat);
> +		format = {};
> +		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 " << format.toString();
> +		ret = unicam_[Unicam::Embedded].dev()->setFormat(&format);
> +		if (ret) {
> +			LOG(RPI, Error) << "Failed to set format on Unicam embedded: "
> +					<< format;
> +			return ret;
> +		}
> +	}
> +
> +	/* Figure out the smallest selection the ISP will allow. */
> +	Rectangle testCrop(0, 0, 1, 1);
> +	isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &testCrop);
> +	ispMinCropSize_ = testCrop.size();
> +
> +	/* Adjust aspect ratio by providing crops on the input image. */
> +	Size size = unicamFormat.size.boundedToAspectRatio(maxSize);
> +	ispCrop_ = size.centeredTo(Rectangle(unicamFormat.size).center());
> +
> +	platformIspCrop();
> +
> +	return 0;
> +}
> +
> +int Vc4CameraData::platformConfigureIpa(ipa::RPi::ConfigParams &params)
> +{
> +	params.ispControls = isp_[Isp::Input].dev()->controls();
> +
> +	/* Allocate the lens shading table via dmaHeap and pass to the IPA. */
> +	if (!lsTable_.isValid()) {
> +		lsTable_ = SharedFD(dmaHeap_.alloc("ls_grid", ipa::RPi::MaxLsGridSize));
> +		if (!lsTable_.isValid())
> +			return -ENOMEM;
> +
> +		/* Allow the IPA to mmap the LS table via the file descriptor. */
> +		/*
> +		 * \todo Investigate if mapping the lens shading table buffer
> +		 * could be handled with mapBuffers().
> +		 */
> +		params.lsTableHandle = lsTable_;
> +	}
> +
> +	return 0;
> +}
> +
> +void Vc4CameraData::platformStart()
> +{
> +}
> +
> +void Vc4CameraData::platformStop()
> +{
> +	bayerQueue_ = {};
> +	embeddedQueue_ = {};
> +}
> +
> +void Vc4CameraData::unicamBufferDequeue(FrameBuffer *buffer)
> +{
> +	RPi::Stream *stream = nullptr;
> +	unsigned int index;
> +
> +	if (!isRunning())
> +		return;
> +
> +	for (RPi::Stream &s : unicam_) {
> +		index = s.getBufferId(buffer);
> +		if (index) {
> +			stream = &s;
> +			break;
> +		}
> +	}
> +
> +	/* The buffer must belong to one of our streams. */
> +	ASSERT(stream);
> +
> +	LOG(RPI, Debug) << "Stream " << stream->name() << " buffer dequeue"
> +			<< ", buffer id " << index
> +			<< ", timestamp: " << buffer->metadata().timestamp;
> +
> +	if (stream == &unicam_[Unicam::Image]) {
> +		/*
> +		 * Lookup the sensor controls used for this frame sequence from
> +		 * DelayedControl and queue them along with the frame buffer.
> +		 */
> +		auto [ctrl, delayContext] = delayedCtrls_->get(buffer->metadata().sequence);
> +		/*
> +		 * Add the frame timestamp to the ControlList for the IPA to use
> +		 * as it does not receive the FrameBuffer object.
> +		 */
> +		ctrl.set(controls::SensorTimestamp, buffer->metadata().timestamp);
> +		bayerQueue_.push({ buffer, std::move(ctrl), delayContext });
> +	} else {
> +		embeddedQueue_.push(buffer);
> +	}
> +
> +	handleState();
> +}
> +
> +void Vc4CameraData::ispInputDequeue(FrameBuffer *buffer)
> +{
> +	if (!isRunning())
> +		return;
> +
> +	LOG(RPI, Debug) << "Stream ISP Input buffer complete"
> +			<< ", buffer id " << unicam_[Unicam::Image].getBufferId(buffer)
> +			<< ", timestamp: " << buffer->metadata().timestamp;
> +
> +	/* The ISP input buffer gets re-queued into Unicam. */
> +	handleStreamBuffer(buffer, &unicam_[Unicam::Image]);
> +	handleState();
> +}
> +
> +void Vc4CameraData::ispOutputDequeue(FrameBuffer *buffer)
> +{
> +	RPi::Stream *stream = nullptr;
> +	unsigned int index;
> +
> +	if (!isRunning())
> +		return;
> +
> +	for (RPi::Stream &s : isp_) {
> +		index = s.getBufferId(buffer);
> +		if (index) {
> +			stream = &s;
> +			break;
> +		}
> +	}
> +
> +	/* The buffer must belong to one of our ISP output streams. */
> +	ASSERT(stream);
> +
> +	LOG(RPI, Debug) << "Stream " << stream->name() << " buffer complete"
> +			<< ", buffer id " << index
> +			<< ", timestamp: " << buffer->metadata().timestamp;
> +
> +	/*
> +	 * ISP statistics buffer must not be re-queued or sent back to the
> +	 * application until after the IPA signals so.
> +	 */
> +	if (stream == &isp_[Isp::Stats]) {
> +		ipa::RPi::ProcessParams params;
> +		params.buffers.stats = index | RPi::MaskStats;
> +		params.ipaContext = requestQueue_.front()->sequence();
> +		ipa_->processStats(params);
> +	} else {
> +		/* Any other ISP output can be handed back to the application now. */
> +		handleStreamBuffer(buffer, stream);
> +	}
> +
> +	/*
> +	 * Increment the number of ISP outputs generated.
> +	 * This is needed to track dropped frames.
> +	 */
> +	ispOutputCount_++;
> +
> +	handleState();
> +}
> +
> +void Vc4CameraData::processStatsComplete(const ipa::RPi::BufferIds &buffers)
> +{
> +	if (!isRunning())
> +		return;
> +
> +	FrameBuffer *buffer = isp_[Isp::Stats].getBuffers().at(buffers.stats & RPi::MaskID);
> +
> +	handleStreamBuffer(buffer, &isp_[Isp::Stats]);
> +
> +	/* Last thing to do is to fill up the request metadata. */
> +	Request *request = requestQueue_.front();
> +	ControlList metadata(controls::controls);
> +
> +	ipa_->reportMetadata(request->sequence(), &metadata);
> +	request->metadata().merge(metadata);
> +
> +	/*
> +	 * Inform the sensor of the latest colour gains if it has the
> +	 * V4L2_CID_NOTIFY_GAINS control (which means notifyGainsUnity_ is set).
> +	 */
> +	const auto &colourGains = metadata.get(libcamera::controls::ColourGains);
> +	if (notifyGainsUnity_ && colourGains) {
> +		/* The control wants linear gains in the order B, Gb, Gr, R. */
> +		ControlList ctrls(sensor_->controls());
> +		std::array<int32_t, 4> gains{
> +			static_cast<int32_t>((*colourGains)[1] * *notifyGainsUnity_),
> +			*notifyGainsUnity_,
> +			*notifyGainsUnity_,
> +			static_cast<int32_t>((*colourGains)[0] * *notifyGainsUnity_)
> +		};
> +		ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ gains });
> +
> +		sensor_->setControls(&ctrls);
> +	}
> +
> +	state_ = State::IpaComplete;
> +	handleState();
> +}
> +
> +void Vc4CameraData::prepareIspComplete(const ipa::RPi::BufferIds &buffers)
> +{
> +	unsigned int embeddedId = buffers.embedded & RPi::MaskID;
> +	unsigned int bayer = buffers.bayer & RPi::MaskID;
> +	FrameBuffer *buffer;
> +
> +	if (!isRunning())
> +		return;
> +
> +	buffer = unicam_[Unicam::Image].getBuffers().at(bayer & RPi::MaskID);
> +	LOG(RPI, Debug) << "Input re-queue to ISP, buffer id " << (bayer & RPi::MaskID)
> +			<< ", timestamp: " << buffer->metadata().timestamp;
> +
> +	isp_[Isp::Input].queueBuffer(buffer);
> +	ispOutputCount_ = 0;
> +
> +	if (sensorMetadata_ && embeddedId) {
> +		buffer = unicam_[Unicam::Embedded].getBuffers().at(embeddedId & RPi::MaskID);
> +		handleStreamBuffer(buffer, &unicam_[Unicam::Embedded]);
> +	}
> +
> +	handleState();
> +}
> +
> +void Vc4CameraData::setIspControls(const ControlList &controls)
> +{
> +	ControlList ctrls = controls;
> +
> +	if (ctrls.contains(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING)) {
> +		ControlValue &value =
> +			const_cast<ControlValue &>(ctrls.get(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING));
> +		Span<uint8_t> s = value.data();
> +		bcm2835_isp_lens_shading *ls =
> +			reinterpret_cast<bcm2835_isp_lens_shading *>(s.data());
> +		ls->dmabuf = lsTable_.get();
> +	}
> +
> +	isp_[Isp::Input].dev()->setControls(&ctrls);
> +	handleState();
> +}
> +
> +void Vc4CameraData::setCameraTimeout(uint32_t maxFrameLengthMs)
> +{
> +	/*
> +	 * Set the dequeue timeout to the larger of 5x the maximum reported
> +	 * frame length advertised by the IPA over a number of frames. Allow
> +	 * a minimum timeout value of 1s.
> +	 */
> +	utils::Duration timeout =
> +		std::max<utils::Duration>(1s, 5 * maxFrameLengthMs * 1ms);
> +
> +	LOG(RPI, Debug) << "Setting Unicam timeout to " << timeout;
> +	unicam_[Unicam::Image].dev()->setDequeueTimeout(timeout);
> +}
> +
> +void Vc4CameraData::tryRunPipeline()
> +{
> +	FrameBuffer *embeddedBuffer;
> +	BayerFrame bayerFrame;
> +
> +	/* If any of our request or buffer queues are empty, we cannot proceed. */
> +	if (state_ != State::Idle || requestQueue_.empty() ||
> +	    bayerQueue_.empty() || (embeddedQueue_.empty() && sensorMetadata_))
> +		return;
> +
> +	if (!findMatchingBuffers(bayerFrame, embeddedBuffer))
> +		return;
> +
> +	/* Take the first request from the queue and action the IPA. */
> +	Request *request = requestQueue_.front();
> +
> +	/* See if a new ScalerCrop value needs to be applied. */
> +	calculateScalerCrop(request->controls());
> +
> +	/*
> +	 * Clear the request metadata and fill it with some initial non-IPA
> +	 * related controls. We clear it first because the request metadata
> +	 * may have been populated if we have dropped the previous frame.
> +	 */
> +	request->metadata().clear();
> +	fillRequestMetadata(bayerFrame.controls, request);
> +
> +	/* Set our state to say the pipeline is active. */
> +	state_ = State::Busy;
> +
> +	unsigned int bayer = unicam_[Unicam::Image].getBufferId(bayerFrame.buffer);
> +
> +	LOG(RPI, Debug) << "Signalling prepareIsp:"
> +			<< " Bayer buffer id: " << bayer;
> +
> +	ipa::RPi::PrepareParams params;
> +	params.buffers.bayer = RPi::MaskBayerData | bayer;
> +	params.sensorControls = std::move(bayerFrame.controls);
> +	params.requestControls = request->controls();
> +	params.ipaContext = request->sequence();
> +	params.delayContext = bayerFrame.delayContext;
> +
> +	if (embeddedBuffer) {
> +		unsigned int embeddedId = unicam_[Unicam::Embedded].getBufferId(embeddedBuffer);
> +
> +		params.buffers.embedded = RPi::MaskEmbeddedData | embeddedId;
> +		LOG(RPI, Debug) << "Signalling prepareIsp:"
> +				<< " Embedded buffer id: " << embeddedId;
> +	}
> +
> +	ipa_->prepareIsp(params);
> +}
> +
> +bool Vc4CameraData::findMatchingBuffers(BayerFrame &bayerFrame, FrameBuffer *&embeddedBuffer)
> +{
> +	if (bayerQueue_.empty())
> +		return false;
> +
> +	/*
> +	 * Find the embedded data buffer with a matching timestamp to pass to
> +	 * the IPA. Any embedded buffers with a timestamp lower than the
> +	 * current bayer buffer will be removed and re-queued to the driver.
> +	 */
> +	uint64_t ts = bayerQueue_.front().buffer->metadata().timestamp;
> +	embeddedBuffer = nullptr;
> +	while (!embeddedQueue_.empty()) {
> +		FrameBuffer *b = embeddedQueue_.front();
> +		if (b->metadata().timestamp < ts) {
> +			embeddedQueue_.pop();
> +			unicam_[Unicam::Embedded].returnBuffer(b);
> +			LOG(RPI, Debug) << "Dropping unmatched input frame in stream "
> +					<< unicam_[Unicam::Embedded].name();
> +		} else if (b->metadata().timestamp == ts) {
> +			/* Found a match! */
> +			embeddedBuffer = b;
> +			embeddedQueue_.pop();
> +			break;
> +		} else {
> +			break; /* Only higher timestamps from here. */
> +		}
> +	}
> +
> +	if (!embeddedBuffer && sensorMetadata_) {
> +		if (embeddedQueue_.empty()) {
> +			/*
> +			 * If the embedded buffer queue is empty, wait for the next
> +			 * buffer to arrive - dequeue ordering may send the image
> +			 * buffer first.
> +			 */
> +			LOG(RPI, Debug) << "Waiting for next embedded buffer.";
> +			return false;
> +		}
> +
> +		/* Log if there is no matching embedded data buffer found. */
> +		LOG(RPI, Debug) << "Returning bayer frame without a matching embedded buffer.";
> +	}
> +
> +	bayerFrame = std::move(bayerQueue_.front());
> +	bayerQueue_.pop();
> +
> +	return true;
> +}
> +
> +REGISTER_PIPELINE_HANDLER(PipelineHandlerVc4)
> +
> +} /* namespace libcamera */
> --
> 2.34.1
>

Hi Naush,

Thank you for the patch.

On Wed, Apr 26, 2023 at 02:10:55PM +0100, Naushir Patuck via libcamera-devel wrote:
> Create a new PipelineHandlerBase class that handles general purpose
> housekeeping duties for the Raspberry Pi pipeline handler. Code the
> implementation of new class is essentially pulled from the existing
> pipeline/rpi/vc4/raspberrypi.cpp file with a small amount of
> refactoring.
> 
> Create a derived PipelineHandlerVc4 class from PipelineHandlerBase that
> handles the VC4 pipeline specific tasks of the pipeline handler. Again,
> code for this class implementation is taken from the existing
> pipeline/rpi/vc4/raspberrypi.cpp with a small amount of
> refactoring.
> 
> The goal of this change is to allow third parties to implement their own
> pipeline handlers running on the Raspberry Pi without duplicating all of
> the pipeline handler housekeeping tasks.
> 
> Signed-off-by: Naushir Patuck <naush@raspberrypi.com>
> ---
>  src/ipa/rpi/vc4/vc4.cpp                       |    2 +-
>  src/libcamera/pipeline/rpi/common/meson.build |    1 +
>  .../pipeline/rpi/common/pipeline_base.cpp     | 1447 ++++++++++
>  .../pipeline/rpi/common/pipeline_base.h       |  276 ++
>  .../pipeline/rpi/vc4/data/example.yaml        |    4 +-
>  src/libcamera/pipeline/rpi/vc4/meson.build    |    2 +-
>  .../pipeline/rpi/vc4/raspberrypi.cpp          | 2428 -----------------
>  src/libcamera/pipeline/rpi/vc4/vc4.cpp        | 1001 +++++++
>  8 files changed, 2729 insertions(+), 2432 deletions(-)
>  create mode 100644 src/libcamera/pipeline/rpi/common/pipeline_base.cpp
>  create mode 100644 src/libcamera/pipeline/rpi/common/pipeline_base.h
>  delete mode 100644 src/libcamera/pipeline/rpi/vc4/raspberrypi.cpp
>  create mode 100644 src/libcamera/pipeline/rpi/vc4/vc4.cpp
> 
> diff --git a/src/ipa/rpi/vc4/vc4.cpp b/src/ipa/rpi/vc4/vc4.cpp
> index 0e022c2aeed3..f3d83b2afadf 100644
> --- a/src/ipa/rpi/vc4/vc4.cpp
> +++ b/src/ipa/rpi/vc4/vc4.cpp
> @@ -538,7 +538,7 @@ extern "C" {
>  const struct IPAModuleInfo ipaModuleInfo = {
>  	IPA_MODULE_API_VERSION,
>  	1,
> -	"PipelineHandlerRPi",
> +	"PipelineHandlerVc4",
>  	"vc4",
>  };
>  
> diff --git a/src/libcamera/pipeline/rpi/common/meson.build b/src/libcamera/pipeline/rpi/common/meson.build
> index 1dec6d3d028b..f8ea790b42a1 100644
> --- a/src/libcamera/pipeline/rpi/common/meson.build
> +++ b/src/libcamera/pipeline/rpi/common/meson.build
> @@ -2,6 +2,7 @@
>  
>  libcamera_sources += files([
>      'delayed_controls.cpp',
> +    'pipeline_base.cpp',
>      'rpi_stream.cpp',
>  ])
>  
> diff --git a/src/libcamera/pipeline/rpi/common/pipeline_base.cpp b/src/libcamera/pipeline/rpi/common/pipeline_base.cpp
> new file mode 100644
> index 000000000000..012766b38c32
> --- /dev/null
> +++ b/src/libcamera/pipeline/rpi/common/pipeline_base.cpp
> @@ -0,0 +1,1447 @@
> +/* SPDX-License-Identifier: LGPL-2.1-or-later */
> +/*
> + * Copyright (C) 2019-2023, Raspberry Pi Ltd
> + *
> + * pipeline_base.h - Pipeline handler base class for Raspberry Pi devices

pipeline_base.cpp

Maybe we should drop the file names...

> + */
> +
> +#include "pipeline_base.h"
> +
> +#include <chrono>
> +
> +#include <linux/media-bus-format.h>
> +#include <linux/videodev2.h>
> +
> +#include <libcamera/base/file.h>
> +#include <libcamera/base/utils.h>
> +
> +#include <libcamera/formats.h>
> +#include <libcamera/logging.h>
> +#include <libcamera/property_ids.h>
> +
> +#include "libcamera/internal/camera_lens.h"
> +#include "libcamera/internal/ipa_manager.h"
> +#include "libcamera/internal/v4l2_subdevice.h"
> +
> +using namespace std::chrono_literals;
> +
> +namespace libcamera {
> +
> +using namespace RPi;
> +
> +LOG_DEFINE_CATEGORY(RPI)
> +
> +namespace {
> +
> +constexpr unsigned int defaultRawBitDepth = 12;
> +
> +bool isRaw(const PixelFormat &pixFmt)
> +{
> +	/* This test works for both Bayer and raw mono formats. */
> +	return BayerFormat::fromPixelFormat(pixFmt).isValid();
> +}
> +
> +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;
> +}
> +
> +SensorFormats populateSensorFormats(std::unique_ptr<CameraSensor> &sensor)
> +{
> +	SensorFormats formats;
> +
> +	for (auto const mbusCode : sensor->mbusCodes())
> +		formats.emplace(mbusCode, sensor->sizes(mbusCode));
> +
> +	return formats;
> +}
> +
> +bool isMonoSensor(std::unique_ptr<CameraSensor> &sensor)
> +{
> +	unsigned int mbusCode = sensor->mbusCodes()[0];
> +	const BayerFormat &bayer = BayerFormat::fromMbusCode(mbusCode);
> +
> +	return bayer.order == BayerFormat::Order::MONO;
> +}
> +
> +double scoreFormat(double desired, double actual)
> +{
> +	double score = desired - actual;
> +	/* Smaller desired dimensions are preferred. */
> +	if (score < 0.0)
> +		score = (-score) / 8;
> +	/* Penalise non-exact matches. */
> +	if (actual != desired)
> +		score *= 2;
> +
> +	return score;
> +}
> +
> +V4L2SubdeviceFormat findBestFormat(const SensorFormats &formatsMap, const Size &req, unsigned int bitDepth)
> +{
> +	double bestScore = std::numeric_limits<double>::max(), score;
> +	V4L2SubdeviceFormat bestFormat;
> +	bestFormat.colorSpace = ColorSpace::Raw;
> +
> +	constexpr float penaltyAr = 1500.0;
> +	constexpr float penaltyBitDepth = 500.0;
> +
> +	/* Calculate the closest/best mode from the user requested size. */
> +	for (const auto &iter : formatsMap) {
> +		const unsigned int mbusCode = iter.first;
> +		const PixelFormat format = mbusCodeToPixelFormat(mbusCode,
> +								 BayerFormat::Packing::None);
> +		const PixelFormatInfo &info = PixelFormatInfo::info(format);
> +
> +		for (const Size &size : iter.second) {
> +			double reqAr = static_cast<double>(req.width) / req.height;
> +			double fmtAr = static_cast<double>(size.width) / size.height;
> +
> +			/* Score the dimensions for closeness. */
> +			score = scoreFormat(req.width, size.width);
> +			score += scoreFormat(req.height, size.height);
> +			score += penaltyAr * scoreFormat(reqAr, fmtAr);
> +
> +			/* Add any penalties... this is not an exact science! */
> +			score += utils::abs_diff(info.bitsPerPixel, bitDepth) * penaltyBitDepth;
> +
> +			if (score <= bestScore) {
> +				bestScore = score;
> +				bestFormat.mbus_code = mbusCode;
> +				bestFormat.size = size;
> +			}
> +
> +			LOG(RPI, Debug) << "Format: " << size
> +					<< " fmt " << format
> +					<< " Score: " << score
> +					<< " (best " << bestScore << ")";
> +		}
> +	}
> +
> +	return bestFormat;
> +}
> +
> +const std::vector<ColorSpace> validColorSpaces = {
> +	ColorSpace::Sycc,
> +	ColorSpace::Smpte170m,
> +	ColorSpace::Rec709
> +};
> +
> +std::optional<ColorSpace> findValidColorSpace(const ColorSpace &colourSpace)
> +{
> +	for (auto cs : validColorSpaces) {
> +		if (colourSpace.primaries == cs.primaries &&
> +		    colourSpace.transferFunction == cs.transferFunction)
> +			return cs;
> +	}
> +
> +	return std::nullopt;
> +}
> +
> +bool isRgb(const PixelFormat &pixFmt)
> +{
> +	const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt);
> +	return info.colourEncoding == PixelFormatInfo::ColourEncodingRGB;
> +}
> +
> +bool isYuv(const PixelFormat &pixFmt)
> +{
> +	/* The code below would return true for raw mono streams, so weed those out first. */
> +	if (isRaw(pixFmt))
> +		return false;
> +
> +	const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt);
> +	return info.colourEncoding == PixelFormatInfo::ColourEncodingYUV;
> +}
> +
> +} /* namespace */
> +
> +/*
> + * Raspberry Pi drivers expect the following colour spaces:
> + * - V4L2_COLORSPACE_RAW for raw streams.
> + * - One of V4L2_COLORSPACE_JPEG, V4L2_COLORSPACE_SMPTE170M, V4L2_COLORSPACE_REC709 for
> + *   non-raw streams. Other fields such as transfer function, YCbCr encoding and
> + *   quantisation are not used.
> + *
> + * The libcamera colour spaces that we wish to use corresponding to these are therefore:
> + * - ColorSpace::Raw for V4L2_COLORSPACE_RAW
> + * - ColorSpace::Sycc for V4L2_COLORSPACE_JPEG
> + * - ColorSpace::Smpte170m for V4L2_COLORSPACE_SMPTE170M
> + * - ColorSpace::Rec709 for V4L2_COLORSPACE_REC709
> + */
> +CameraConfiguration::Status RPiCameraConfiguration::validateColorSpaces([[maybe_unused]] ColorSpaceFlags flags)
> +{
> +	Status status = Valid;
> +	yuvColorSpace_.reset();
> +
> +	for (auto cfg : config_) {
> +		/* First fix up raw streams to have the "raw" colour space. */
> +		if (isRaw(cfg.pixelFormat)) {
> +			/* If there was no value here, that doesn't count as "adjusted". */
> +			if (cfg.colorSpace && cfg.colorSpace != ColorSpace::Raw)
> +				status = Adjusted;
> +			cfg.colorSpace = ColorSpace::Raw;
> +			continue;
> +		}
> +
> +		/* Next we need to find our shared colour space. The first valid one will do. */
> +		if (cfg.colorSpace && !yuvColorSpace_)
> +			yuvColorSpace_ = findValidColorSpace(cfg.colorSpace.value());
> +	}
> +
> +	/* If no colour space was given anywhere, choose sYCC. */
> +	if (!yuvColorSpace_)
> +		yuvColorSpace_ = ColorSpace::Sycc;
> +
> +	/* Note the version of this that any RGB streams will have to use. */
> +	rgbColorSpace_ = yuvColorSpace_;
> +	rgbColorSpace_->ycbcrEncoding = ColorSpace::YcbcrEncoding::None;
> +	rgbColorSpace_->range = ColorSpace::Range::Full;
> +
> +	/* Go through the streams again and force everyone to the same colour space. */
> +	for (auto cfg : config_) {
> +		if (cfg.colorSpace == ColorSpace::Raw)
> +			continue;
> +
> +		if (isYuv(cfg.pixelFormat) && cfg.colorSpace != yuvColorSpace_) {
> +			/* Again, no value means "not adjusted". */
> +			if (cfg.colorSpace)
> +				status = Adjusted;
> +			cfg.colorSpace = yuvColorSpace_;
> +		}
> +		if (isRgb(cfg.pixelFormat) && cfg.colorSpace != rgbColorSpace_) {
> +			/* Be nice, and let the YUV version count as non-adjusted too. */
> +			if (cfg.colorSpace && cfg.colorSpace != yuvColorSpace_)
> +				status = Adjusted;
> +			cfg.colorSpace = rgbColorSpace_;
> +		}
> +	}
> +
> +	return status;
> +}
> +
> +CameraConfiguration::Status RPiCameraConfiguration::validate()
> +{
> +	Status status = Valid;
> +
> +	if (config_.empty())
> +		return Invalid;
> +
> +	status = validateColorSpaces(ColorSpaceFlag::StreamsShareColorSpace);
> +
> +	/*
> +	 * Validate the requested transform against the sensor capabilities and
> +	 * rotation and store the final combined transform that configure() will
> +	 * need to apply to the sensor to save us working it out again.
> +	 */
> +	Transform requestedTransform = transform;
> +	combinedTransform_ = data_->sensor_->validateTransform(&transform);
> +	if (transform != requestedTransform)
> +		status = Adjusted;
> +
> +	std::vector<CameraData::StreamParams> rawStreams, outStreams;
> +	for (const auto &[index, cfg] : utils::enumerate(config_)) {
> +		if (isRaw(cfg.pixelFormat))
> +			rawStreams.emplace_back(index, &cfg);
> +		else
> +			outStreams.emplace_back(index, &cfg);
> +	}
> +
> +	/* Sort the streams so the highest resolution is first. */
> +	std::sort(rawStreams.begin(), rawStreams.end(),
> +		  [](auto &l, auto &r) { return l.cfg->size > r.cfg->size; });
> +
> +	std::sort(outStreams.begin(), outStreams.end(),
> +		  [](auto &l, auto &r) { return l.cfg->size > r.cfg->size; });
> +
> +	/* Do any platform specific fixups. */
> +	status = data_->platformValidate(rawStreams, outStreams);
> +	if (status == Invalid)
> +		return Invalid;
> +
> +	/* Further fixups on the RAW streams. */
> +	for (auto &raw : rawStreams) {
> +		StreamConfiguration &cfg = config_.at(raw.index);
> +		V4L2DeviceFormat rawFormat;
> +
> +		const PixelFormatInfo &info = PixelFormatInfo::info(cfg.pixelFormat);
> +		unsigned int bitDepth = info.isValid() ? info.bitsPerPixel : defaultRawBitDepth;
> +		V4L2SubdeviceFormat sensorFormat = findBestFormat(data_->sensorFormats_, cfg.size, bitDepth);
> +
> +		rawFormat.size = sensorFormat.size;
> +		rawFormat.fourcc = raw.dev->toV4L2PixelFormat(cfg.pixelFormat);
> +
> +		int ret = raw.dev->tryFormat(&rawFormat);
> +		if (ret)
> +			return Invalid;
> +		/*
> +		 * Some sensors change their Bayer order when they are h-flipped
> +		 * or v-flipped, according to the transform. If this one does, we
> +		 * must advertise the transformed Bayer order in the raw stream.
> +		 * Note how we must fetch the "native" (i.e. untransformed) Bayer
> +		 * order, because the sensor may currently be flipped!
> +		 */
> +		V4L2PixelFormat fourcc = rawFormat.fourcc;
> +		if (data_->flipsAlterBayerOrder_) {
> +			BayerFormat bayer = BayerFormat::fromV4L2PixelFormat(fourcc);
> +			bayer.order = data_->nativeBayerOrder_;
> +			bayer = bayer.transform(combinedTransform_);
> +			fourcc = bayer.toV4L2PixelFormat();
> +		}
> +
> +		PixelFormat inputPixFormat = fourcc.toPixelFormat();
> +		if (raw.cfg->size != rawFormat.size || raw.cfg->pixelFormat != inputPixFormat) {
> +			raw.cfg->size = rawFormat.size;
> +			raw.cfg->pixelFormat = inputPixFormat;
> +			status = Adjusted;
> +		}
> +
> +		raw.cfg->stride = rawFormat.planes[0].bpl;
> +		raw.cfg->frameSize = rawFormat.planes[0].size;
> +	}
> +
> +	/* Further fixups on the ISP output streams. */
> +	for (auto &out : outStreams) {
> +		StreamConfiguration &cfg = config_.at(out.index);
> +		PixelFormat &cfgPixFmt = cfg.pixelFormat;
> +		V4L2VideoDevice::Formats fmts = out.dev->formats();
> +
> +		if (fmts.find(out.dev->toV4L2PixelFormat(cfgPixFmt)) == fmts.end()) {
> +			/* If we cannot find a native format, use a default one. */
> +			cfgPixFmt = formats::NV12;
> +			status = Adjusted;
> +		}
> +
> +		V4L2DeviceFormat format;
> +		format.fourcc = out.dev->toV4L2PixelFormat(cfg.pixelFormat);
> +		format.size = cfg.size;
> +		/* We want to send the associated YCbCr info through to the driver. */
> +		format.colorSpace = yuvColorSpace_;
> +
> +		LOG(RPI, Debug)
> +			<< "Try color space " << ColorSpace::toString(cfg.colorSpace);
> +
> +		int ret = out.dev->tryFormat(&format);
> +		if (ret)
> +			return Invalid;
> +
> +		/*
> +		 * But for RGB streams, the YCbCr info gets overwritten on the way back
> +		 * so we must check against what the stream cfg says, not what we actually
> +		 * requested (which carefully included the YCbCr info)!
> +		 */
> +		if (cfg.colorSpace != format.colorSpace) {
> +			status = Adjusted;
> +			LOG(RPI, Debug)
> +				<< "Color space changed from "
> +				<< ColorSpace::toString(cfg.colorSpace) << " to "
> +				<< ColorSpace::toString(format.colorSpace);
> +		}
> +
> +		cfg.colorSpace = format.colorSpace;
> +		cfg.stride = format.planes[0].bpl;
> +		cfg.frameSize = format.planes[0].size;
> +	}
> +
> +	return status;
> +}
> +
> +V4L2DeviceFormat PipelineHandlerBase::toV4L2DeviceFormat(const V4L2VideoDevice *dev,
> +							 const V4L2SubdeviceFormat &format,
> +							 BayerFormat::Packing packingReq)
> +{
> +	unsigned int mbus_code = format.mbus_code;
> +	const PixelFormat pix = mbusCodeToPixelFormat(mbus_code, packingReq);
> +	V4L2DeviceFormat deviceFormat;
> +
> +	deviceFormat.fourcc = dev->toV4L2PixelFormat(pix);
> +	deviceFormat.size = format.size;
> +	deviceFormat.colorSpace = format.colorSpace;
> +	return deviceFormat;
> +}
> +
> +std::unique_ptr<CameraConfiguration>
> +PipelineHandlerBase::generateConfiguration(Camera *camera, const StreamRoles &roles)
> +{
> +	CameraData *data = cameraData(camera);
> +	std::unique_ptr<CameraConfiguration> config =
> +		std::make_unique<RPiCameraConfiguration>(data);
> +	V4L2SubdeviceFormat sensorFormat;
> +	unsigned int bufferCount;
> +	PixelFormat pixelFormat;
> +	V4L2VideoDevice::Formats fmts;
> +	Size size;
> +	std::optional<ColorSpace> colorSpace;
> +
> +	if (roles.empty())
> +		return config;
> +
> +	Size sensorSize = data->sensor_->resolution();
> +	for (const StreamRole role : roles) {
> +		switch (role) {
> +		case StreamRole::Raw:
> +			size = sensorSize;
> +			sensorFormat = findBestFormat(data->sensorFormats_, size, defaultRawBitDepth);
> +			pixelFormat = mbusCodeToPixelFormat(sensorFormat.mbus_code,
> +							    BayerFormat::Packing::CSI2);
> +			ASSERT(pixelFormat.isValid());
> +			colorSpace = ColorSpace::Raw;
> +			bufferCount = 2;
> +			break;
> +
> +		case StreamRole::StillCapture:
> +			fmts = data->ispFormats();
> +			pixelFormat = formats::NV12;
> +			/*
> +			 * Still image codecs usually expect the sYCC color space.
> +			 * Even RGB codecs will be fine as the RGB we get with the
> +			 * sYCC color space is the same as sRGB.
> +			 */
> +			colorSpace = ColorSpace::Sycc;
> +			/* Return the largest sensor resolution. */
> +			size = sensorSize;
> +			bufferCount = 1;
> +			break;
> +
> +		case StreamRole::VideoRecording:
> +			/*
> +			 * The colour denoise algorithm requires the analysis
> +			 * image, produced by the second ISP output, to be in
> +			 * YUV420 format. Select this format as the default, to
> +			 * maximize chances that it will be picked by
> +			 * applications and enable usage of the colour denoise
> +			 * algorithm.
> +			 */
> +			fmts = data->ispFormats();
> +			pixelFormat = formats::YUV420;
> +			/*
> +			 * Choose a color space appropriate for video recording.
> +			 * Rec.709 will be a good default for HD resolutions.
> +			 */
> +			colorSpace = ColorSpace::Rec709;
> +			size = { 1920, 1080 };
> +			bufferCount = 4;
> +			break;
> +
> +		case StreamRole::Viewfinder:
> +			fmts = data->ispFormats();
> +			pixelFormat = formats::ARGB8888;
> +			colorSpace = ColorSpace::Sycc;
> +			size = { 800, 600 };
> +			bufferCount = 4;
> +			break;
> +
> +		default:
> +			LOG(RPI, Error) << "Requested stream role not supported: "
> +					<< role;
> +			return nullptr;
> +		}
> +
> +		std::map<PixelFormat, std::vector<SizeRange>> deviceFormats;
> +		if (role == StreamRole::Raw) {
> +			/* Translate the MBUS codes to a PixelFormat. */
> +			for (const auto &format : data->sensorFormats_) {
> +				PixelFormat pf = mbusCodeToPixelFormat(format.first,
> +								       BayerFormat::Packing::CSI2);
> +				if (pf.isValid())
> +					deviceFormats.emplace(std::piecewise_construct, std::forward_as_tuple(pf),
> +							      std::forward_as_tuple(format.second.begin(), format.second.end()));
> +			}
> +		} else {
> +			/*
> +			 * Translate the V4L2PixelFormat to PixelFormat. Note that we
> +			 * limit the recommended largest ISP output size to match the
> +			 * sensor resolution.
> +			 */
> +			for (const auto &format : fmts) {
> +				PixelFormat pf = format.first.toPixelFormat();
> +				if (pf.isValid()) {
> +					const SizeRange &ispSizes = format.second[0];
> +					deviceFormats[pf].emplace_back(ispSizes.min, sensorSize,
> +								       ispSizes.hStep, ispSizes.vStep);
> +				}
> +			}
> +		}
> +
> +		/* Add the stream format based on the device node used for the use case. */
> +		StreamFormats formats(deviceFormats);
> +		StreamConfiguration cfg(formats);
> +		cfg.size = size;
> +		cfg.pixelFormat = pixelFormat;
> +		cfg.colorSpace = colorSpace;
> +		cfg.bufferCount = bufferCount;
> +		config->addConfiguration(cfg);
> +	}
> +
> +	config->validate();
> +
> +	return config;
> +}
> +
> +int PipelineHandlerBase::configure(Camera *camera, CameraConfiguration *config)
> +{
> +	CameraData *data = cameraData(camera);
> +	int ret;
> +
> +	/* Start by freeing all buffers and reset the stream states. */
> +	data->freeBuffers();
> +	for (auto const stream : data->streams_)
> +		stream->setExternal(false);
> +
> +	std::vector<CameraData::StreamParams> rawStreams, ispStreams;
> +	std::optional<BayerFormat::Packing> packing;
> +	unsigned int bitDepth = defaultRawBitDepth;
> +
> +	for (unsigned i = 0; i < config->size(); i++) {
> +		StreamConfiguration *cfg = &config->at(i);
> +
> +		if (isRaw(cfg->pixelFormat))
> +			rawStreams.emplace_back(i, cfg);
> +		else
> +			ispStreams.emplace_back(i, cfg);
> +	}
> +
> +	/* Sort the streams so the highest resolution is first. */
> +	std::sort(rawStreams.begin(), rawStreams.end(),
> +		  [](auto &l, auto &r) { return l.cfg->size > r.cfg->size; });
> +
> +	std::sort(ispStreams.begin(), ispStreams.end(),
> +		  [](auto &l, auto &r) { return l.cfg->size > r.cfg->size; });
> +
> +	/*
> +	 * Calculate the best sensor mode we can use based on the user's request,
> +	 * and apply it to the sensor with the cached tranform, if any.
> +	 *
> +	 * If we have been given a RAW stream, use that size for setting up the sensor.
> +	 */
> +	if (!rawStreams.empty()) {
> +		BayerFormat bayerFormat = BayerFormat::fromPixelFormat(rawStreams[0].cfg->pixelFormat);
> +		/* Replace the user requested packing/bit-depth. */
> +		packing = bayerFormat.packing;
> +		bitDepth = bayerFormat.bitDepth;
> +	}
> +
> +	V4L2SubdeviceFormat sensorFormat = findBestFormat(data->sensorFormats_,
> +							  rawStreams.empty() ? ispStreams[0].cfg->size
> +									     : rawStreams[0].cfg->size,
> +							  bitDepth);
> +	/* Apply any cached transform. */
> +	const RPiCameraConfiguration *rpiConfig = static_cast<const RPiCameraConfiguration *>(config);
> +
> +	/* Then apply the format on the sensor. */
> +	ret = data->sensor_->setFormat(&sensorFormat, rpiConfig->combinedTransform_);
> +	if (ret)
> +		return ret;
> +
> +	/*
> +	 * Platform specific internal stream configuration. This also assigns
> +	 * external streams which get configured below.
> +	 */
> +	ret = data->platformConfigure(sensorFormat, packing, rawStreams, ispStreams);
> +	if (ret)
> +		return ret;
> +
> +	ipa::RPi::ConfigResult result;
> +	ret = data->configureIPA(config, &result);
> +	if (ret) {
> +		LOG(RPI, Error) << "Failed to configure the IPA: " << ret;
> +		return ret;
> +	}
> +
> +	/*
> +	 * Set the scaler crop to the value we are using (scaled to native sensor
> +	 * coordinates).
> +	 */
> +	data->scalerCrop_ = data->scaleIspCrop(data->ispCrop_);
> +
> +	/*
> +	 * Update the ScalerCropMaximum to the correct value for this camera mode.
> +	 * For us, it's the same as the "analogue crop".
> +	 *
> +	 * \todo Make this property the ScalerCrop maximum value when dynamic
> +	 * controls are available and set it at validate() time
> +	 */
> +	data->properties_.set(properties::ScalerCropMaximum, data->sensorInfo_.analogCrop);
> +
> +	/* Store the mode sensitivity for the application. */
> +	data->properties_.set(properties::SensorSensitivity, result.modeSensitivity);
> +
> +	/* Update the controls that the Raspberry Pi IPA can handle. */
> +	ControlInfoMap::Map ctrlMap;
> +	for (auto const &c : result.controlInfo)
> +		ctrlMap.emplace(c.first, c.second);
> +
> +	/* Add the ScalerCrop control limits based on the current mode. */
> +	Rectangle ispMinCrop = data->scaleIspCrop(Rectangle(data->ispMinCropSize_));
> +	ctrlMap[&controls::ScalerCrop] = ControlInfo(ispMinCrop, data->sensorInfo_.analogCrop, data->scalerCrop_);
> +
> +	data->controlInfo_ = ControlInfoMap(std::move(ctrlMap), result.controlInfo.idmap());
> +
> +	/* Setup the Video Mux/Bridge entities. */
> +	for (auto &[device, link] : data->bridgeDevices_) {
> +		/*
> +		 * Start by disabling all the sink pad links on the devices in the
> +		 * cascade, with the exception of the link connecting the device.
> +		 */
> +		for (const MediaPad *p : device->entity()->pads()) {
> +			if (!(p->flags() & MEDIA_PAD_FL_SINK))
> +				continue;
> +
> +			for (MediaLink *l : p->links()) {
> +				if (l != link)
> +					l->setEnabled(false);
> +			}
> +		}
> +
> +		/*
> +		 * Next, enable the entity -> entity links, and setup the pad format.
> +		 *
> +		 * \todo Some bridge devices may chainge the media bus code, so we
> +		 * ought to read the source pad format and propagate it to the sink pad.
> +		 */
> +		link->setEnabled(true);
> +		const MediaPad *sinkPad = link->sink();
> +		ret = device->setFormat(sinkPad->index(), &sensorFormat);
> +		if (ret) {
> +			LOG(RPI, Error) << "Failed to set format on " << device->entity()->name()
> +					<< " pad " << sinkPad->index()
> +					<< " with format  " << sensorFormat
> +					<< ": " << ret;
> +			return ret;
> +		}
> +
> +		LOG(RPI, Debug) << "Configured media link on device " << device->entity()->name()
> +				<< " on pad " << sinkPad->index();
> +	}
> +
> +	return 0;
> +}
> +
> +int PipelineHandlerBase::exportFrameBuffers([[maybe_unused]] Camera *camera, libcamera::Stream *stream,
> +					    std::vector<std::unique_ptr<FrameBuffer>> *buffers)
> +{
> +	RPi::Stream *s = static_cast<RPi::Stream *>(stream);
> +	unsigned int count = stream->configuration().bufferCount;
> +	int ret = s->dev()->exportBuffers(count, buffers);
> +
> +	s->setExportedBuffers(buffers);
> +
> +	return ret;
> +}
> +
> +int PipelineHandlerBase::start(Camera *camera, const ControlList *controls)
> +{
> +	CameraData *data = cameraData(camera);
> +	int ret;
> +
> +	/* Check if a ScalerCrop control was specified. */
> +	if (controls)
> +		data->calculateScalerCrop(*controls);
> +
> +	/* Start the IPA. */
> +	ipa::RPi::StartResult result;
> +	data->ipa_->start(controls ? *controls : ControlList{ controls::controls },
> +			  &result);
> +
> +	/* Apply any gain/exposure settings that the IPA may have passed back. */
> +	if (!result.controls.empty())
> +		data->setSensorControls(result.controls);
> +
> +	/* Configure the number of dropped frames required on startup. */
> +	data->dropFrameCount_ = data->config_.disableStartupFrameDrops ? 0
> +								       : result.dropFrameCount;

	data->dropFrameCount_ = data->config_.disableStartupFrameDrops
			      ? 0 : result.dropFrameCount;

> +
> +	for (auto const stream : data->streams_)
> +		stream->resetBuffers();
> +
> +	if (!data->buffersAllocated_) {
> +		/* Allocate buffers for internal pipeline usage. */
> +		ret = prepareBuffers(camera);
> +		if (ret) {
> +			LOG(RPI, Error) << "Failed to allocate buffers";
> +			data->freeBuffers();
> +			stop(camera);
> +			return ret;
> +		}
> +		data->buffersAllocated_ = true;
> +	}
> +
> +	/* We need to set the dropFrameCount_ before queueing buffers. */
> +	ret = queueAllBuffers(camera);
> +	if (ret) {
> +		LOG(RPI, Error) << "Failed to queue buffers";
> +		stop(camera);
> +		return ret;
> +	}
> +
> +	/*
> +	 * Reset the delayed controls with the gain and exposure values set by
> +	 * the IPA.
> +	 */
> +	data->delayedCtrls_->reset(0);
> +	data->state_ = CameraData::State::Idle;
> +
> +	/* Enable SOF event generation. */
> +	data->frontendDevice()->setFrameStartEnabled(true);
> +
> +	data->platformStart();
> +
> +	/* Start all streams. */
> +	for (auto const stream : data->streams_) {
> +		ret = stream->dev()->streamOn();
> +		if (ret) {
> +			stop(camera);
> +			return ret;
> +		}
> +	}
> +
> +	return 0;
> +}
> +
> +void PipelineHandlerBase::stopDevice(Camera *camera)
> +{
> +	CameraData *data = cameraData(camera);
> +
> +	data->state_ = CameraData::State::Stopped;
> +	data->platformStop();
> +
> +	for (auto const stream : data->streams_)
> +		stream->dev()->streamOff();
> +
> +	/* Disable SOF event generation. */
> +	data->frontendDevice()->setFrameStartEnabled(false);
> +
> +	data->clearIncompleteRequests();
> +
> +	/* Stop the IPA. */
> +	data->ipa_->stop();
> +}
> +
> +void PipelineHandlerBase::releaseDevice(Camera *camera)
> +{
> +	CameraData *data = cameraData(camera);
> +	data->freeBuffers();
> +}
> +
> +int PipelineHandlerBase::queueRequestDevice(Camera *camera, Request *request)
> +{
> +	CameraData *data = cameraData(camera);
> +
> +	if (!data->isRunning())
> +		return -EINVAL;
> +
> +	LOG(RPI, Debug) << "queueRequestDevice: New request.";
> +
> +	/* Push all buffers supplied in the Request to the respective streams. */
> +	for (auto stream : data->streams_) {
> +		if (!stream->isExternal())
> +			continue;
> +
> +		FrameBuffer *buffer = request->findBuffer(stream);
> +		if (buffer && !stream->getBufferId(buffer)) {
> +			/*
> +			 * This buffer is not recognised, so it must have been allocated
> +			 * outside the v4l2 device. Store it in the stream buffer list
> +			 * so we can track it.
> +			 */
> +			stream->setExternalBuffer(buffer);
> +		}
> +
> +		/*
> +		 * If no buffer is provided by the request for this stream, we
> +		 * queue a nullptr to the stream to signify that it must use an
> +		 * internally allocated buffer for this capture request. This
> +		 * buffer will not be given back to the application, but is used
> +		 * to support the internal pipeline flow.
> +		 *
> +		 * The below queueBuffer() call will do nothing if there are not
> +		 * enough internal buffers allocated, but this will be handled by
> +		 * queuing the request for buffers in the RPiStream object.
> +		 */
> +		int ret = stream->queueBuffer(buffer);
> +		if (ret)
> +			return ret;
> +	}
> +
> +	/* Push the request to the back of the queue. */
> +	data->requestQueue_.push(request);
> +	data->handleState();
> +
> +	return 0;
> +}
> +
> +int PipelineHandlerBase::registerCamera(MediaDevice *frontend, const std::string &frontendName,
> +					MediaDevice *backend, MediaEntity *sensorEntity)
> +{
> +	std::unique_ptr<CameraData> cameraData = allocateCameraData();
> +	CameraData *data = cameraData.get();
> +	int ret;
> +
> +	data->sensor_ = std::make_unique<CameraSensor>(sensorEntity);
> +	if (!data->sensor_)
> +		return -EINVAL;
> +
> +	if (data->sensor_->init())
> +		return -EINVAL;
> +
> +	data->sensorFormats_ = populateSensorFormats(data->sensor_);
> +
> +	/*
> +	 * Enumerate all the Video Mux/Bridge devices across the sensor -> Fr
> +	 * chain. There may be a cascade of devices in this chain!
> +	 */
> +	MediaLink *link = sensorEntity->getPadByIndex(0)->links()[0];
> +	data->enumerateVideoDevices(link, frontendName);
> +
> +	ipa::RPi::InitResult result;
> +	if (data->loadIPA(&result)) {
> +		LOG(RPI, Error) << "Failed to load a suitable IPA library";
> +		return -EINVAL;
> +	}
> +
> +	/*
> +	 * Setup our delayed control writer with the sensor default
> +	 * gain and exposure delays. Mark VBLANK for priority write.
> +	 */
> +	std::unordered_map<uint32_t, RPi::DelayedControls::ControlParams> params = {
> +		{ V4L2_CID_ANALOGUE_GAIN, { result.sensorConfig.gainDelay, false } },
> +		{ V4L2_CID_EXPOSURE, { result.sensorConfig.exposureDelay, false } },
> +		{ V4L2_CID_HBLANK, { result.sensorConfig.hblankDelay, false } },
> +		{ V4L2_CID_VBLANK, { result.sensorConfig.vblankDelay, true } }
> +	};
> +	data->delayedCtrls_ = std::make_unique<RPi::DelayedControls>(data->sensor_->device(), params);
> +	data->sensorMetadata_ = result.sensorConfig.sensorMetadata;
> +
> +	/* Register initial controls that the Raspberry Pi IPA can handle. */
> +	data->controlInfo_ = std::move(result.controlInfo);
> +
> +	/* Initialize the camera properties. */
> +	data->properties_ = data->sensor_->properties();
> +
> +	/*
> +	 * The V4L2_CID_NOTIFY_GAINS control, if present, is used to inform the
> +	 * sensor of the colour gains. It is defined to be a linear gain where
> +	 * the default value represents a gain of exactly one.
> +	 */
> +	auto it = data->sensor_->controls().find(V4L2_CID_NOTIFY_GAINS);
> +	if (it != data->sensor_->controls().end())
> +		data->notifyGainsUnity_ = it->second.def().get<int32_t>();
> +
> +	/*
> +	 * Set a default value for the ScalerCropMaximum property to show
> +	 * that we support its use, however, initialise it to zero because
> +	 * it's not meaningful until a camera mode has been chosen.
> +	 */
> +	data->properties_.set(properties::ScalerCropMaximum, Rectangle{});
> +
> +	/*
> +	 * We cache two things about the sensor in relation to transforms
> +	 * (meaning horizontal and vertical flips): if they affect the Bayer
> +         * ordering, and what the "native" Bayer order is, when no transforms

Wrong indentation.

> +	 * are applied.
> +	 *
> +	 * If flips are supported verify if they affect the Bayer ordering
> +	 * and what the "native" Bayer order is, when no transforms are
> +	 * applied.
> +	 *
> +	 * We note that the sensor's cached list of supported formats is
> +	 * already in the "native" order, with any flips having been undone.
> +	 */
> +	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->flipsAlterBayerOrder_ = hflipCtrl->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT;
> +	}
> +
> +	/* Look for a valid Bayer format. */
> +	BayerFormat bayerFormat;
> +	for (const auto &iter : data->sensorFormats_) {
> +		bayerFormat = BayerFormat::fromMbusCode(iter.first);
> +		if (bayerFormat.isValid())
> +			break;
> +	}
> +
> +	if (!bayerFormat.isValid()) {
> +		LOG(RPI, Error) << "No Bayer format found";
> +		return -EINVAL;
> +	}
> +	data->nativeBayerOrder_ = bayerFormat.order;
> +
> +	ret = data->loadPipelineConfiguration();
> +	if (ret) {
> +		LOG(RPI, Error) << "Unable to load pipeline configuration";
> +		return ret;
> +	}
> +
> +	ret = platformRegister(cameraData, frontend, backend);
> +	if (ret)
> +		return ret;
> +
> +	/* Setup the general IPA signal handlers. */
> +	data->frontendDevice()->dequeueTimeout.connect(data, &RPi::CameraData::cameraTimeout);
> +	data->frontendDevice()->frameStart.connect(data, &RPi::CameraData::frameStarted);
> +	data->ipa_->setDelayedControls.connect(data, &CameraData::setDelayedControls);
> +	data->ipa_->setLensControls.connect(data, &CameraData::setLensControls);
> +
> +	return 0;
> +}
> +
> +void PipelineHandlerBase::mapBuffers(Camera *camera, const BufferMap &buffers, unsigned int mask)
> +{
> +	CameraData *data = cameraData(camera);
> +	std::vector<IPABuffer> bufferIds;
> +	/*
> +	 * Link the FrameBuffers with the id (key value) in the map stored in
> +	 * the RPi stream object - along with an identifier mask.
> +	 *
> +	 * This will allow us to identify buffers passed between the pipeline
> +	 * handler and the IPA.
> +	 */
> +	for (auto const &it : buffers) {
> +		bufferIds.push_back(IPABuffer(mask | it.first,
> +					      it.second->planes()));
> +		data->bufferIds_.insert(mask | it.first);
> +	}
> +
> +	data->ipa_->mapBuffers(bufferIds);
> +}
> +
> +int PipelineHandlerBase::queueAllBuffers(Camera *camera)
> +{
> +	CameraData *data = cameraData(camera);
> +	int ret;
> +
> +	for (auto const stream : data->streams_) {
> +		if (!stream->isExternal()) {
> +			ret = stream->queueAllBuffers();
> +			if (ret < 0)
> +				return ret;
> +		} else {
> +			/*
> +			 * For external streams, we must queue up a set of internal
> +			 * buffers to handle the number of drop frames requested by
> +			 * the IPA. This is done by passing nullptr in queueBuffer().
> +			 *
> +			 * The below queueBuffer() call will do nothing if there
> +			 * are not enough internal buffers allocated, but this will
> +			 * be handled by queuing the request for buffers in the
> +			 * RPiStream object.
> +			 */
> +			unsigned int i;
> +			for (i = 0; i < data->dropFrameCount_; i++) {
> +				ret = stream->queueBuffer(nullptr);
> +				if (ret)
> +					return ret;
> +			}
> +		}
> +	}
> +
> +	return 0;
> +}
> +
> +void CameraData::freeBuffers()
> +{
> +	if (ipa_) {
> +		/*
> +		 * Copy the buffer ids from the unordered_set to a vector to
> +		 * pass to the IPA.
> +		 */
> +		std::vector<unsigned int> bufferIds(bufferIds_.begin(),
> +						    bufferIds_.end());
> +		ipa_->unmapBuffers(bufferIds);
> +		bufferIds_.clear();
> +	}
> +
> +	for (auto const stream : streams_)
> +		stream->releaseBuffers();
> +
> +	platformFreeBuffers();
> +
> +	buffersAllocated_ = false;
> +}
> +
> +/*
> + * enumerateVideoDevices() iterates over the Media Controller topology, starting
> + * at the sensor and finishing at the frontend. For each sensor, CameraData stores
> + * a unique list of any intermediate video mux or bridge devices connected in a
> + * cascade, together with the entity to entity link.
> + *
> + * Entity pad configuration and link enabling happens at the end of configure().
> + * We first disable all pad links on each entity device in the chain, and then
> + * selectively enabling the specific links to link sensor to the frontend across
> + * all intermediate muxes and bridges.
> + *
> + * In the cascaded topology below, if Sensor1 is used, the Mux2 -> Mux1 link
> + * will be disabled, and Sensor1 -> Mux1 -> Frontend links enabled. Alternatively,
> + * if Sensor3 is used, the Sensor2 -> Mux2 and Sensor1 -> Mux1 links are disabled,
> + * and Sensor3 -> Mux2 -> Mux1 -> Frontend links are enabled. All other links will
> + * remain unchanged.
> + *
> + *  +----------+
> + *  |     FE   |
> + *  +-----^----+
> + *        |
> + *    +---+---+
> + *    | Mux1  |<------+
> + *    +--^----        |
> + *       |            |
> + * +-----+---+    +---+---+
> + * | Sensor1 |    |  Mux2 |<--+
> + * +---------+    +-^-----+   |
> + *                  |         |
> + *          +-------+-+   +---+-----+
> + *          | Sensor2 |   | Sensor3 |
> + *          +---------+   +---------+
> + */
> +void CameraData::enumerateVideoDevices(MediaLink *link, const std::string &frontend)
> +{
> +	const MediaPad *sinkPad = link->sink();
> +	const MediaEntity *entity = sinkPad->entity();
> +	bool frontendFound = false;
> +
> +	/* We only deal with Video Mux and Bridge devices in cascade. */
> +	if (entity->function() != MEDIA_ENT_F_VID_MUX &&
> +	    entity->function() != MEDIA_ENT_F_VID_IF_BRIDGE)
> +		return;
> +
> +	/* Find the source pad for this Video Mux or Bridge device. */
> +	const MediaPad *sourcePad = nullptr;
> +	for (const MediaPad *pad : entity->pads()) {
> +		if (pad->flags() & MEDIA_PAD_FL_SOURCE) {
> +			/*
> +			 * We can only deal with devices that have a single source
> +			 * pad. If this device has multiple source pads, ignore it
> +			 * and this branch in the cascade.
> +			 */
> +			if (sourcePad)
> +				return;
> +
> +			sourcePad = pad;
> +		}
> +	}
> +
> +	LOG(RPI, Debug) << "Found video mux device " << entity->name()
> +			<< " linked to sink pad " << sinkPad->index();
> +
> +	bridgeDevices_.emplace_back(std::make_unique<V4L2Subdevice>(entity), link);
> +	bridgeDevices_.back().first->open();
> +
> +	/*
> +	 * Iterate through all the sink pad links down the cascade to find any
> +	 * other Video Mux and Bridge devices.
> +	 */
> +	for (MediaLink *l : sourcePad->links()) {
> +		enumerateVideoDevices(l, frontend);
> +		/* Once we reach the Frontend entity, we are done. */
> +		if (l->sink()->entity()->name() == frontend) {
> +			frontendFound = true;
> +			break;
> +		}
> +	}
> +
> +	/* This identifies the end of our entity enumeration recursion. */
> +	if (link->source()->entity()->function() == MEDIA_ENT_F_CAM_SENSOR) {
> +		/*
> +		* If the frontend is not at the end of this cascade, we cannot
> +		* configure this topology automatically, so remove all entity references.

Line wrap.

> +		*/
> +		if (!frontendFound) {
> +			LOG(RPI, Warning) << "Cannot automatically configure this MC topology!";
> +			bridgeDevices_.clear();
> +		}
> +	}
> +}
> +
> +int CameraData::loadPipelineConfiguration()
> +{
> +	config_ = {
> +		.disableStartupFrameDrops = false,
> +		.cameraTimeoutValue = 0,
> +	};
> +
> +	/* Initial configuration of the platform, in case no config file is present */
> +	platformPipelineConfigure({});
> +
> +	char const *configFromEnv = utils::secure_getenv("LIBCAMERA_RPI_CONFIG_FILE");
> +	if (!configFromEnv || *configFromEnv == '\0')
> +		return 0;
> +
> +	std::string filename = std::string(configFromEnv);
> +	File file(filename);
> +
> +	if (!file.open(File::OpenModeFlag::ReadOnly)) {
> +		LOG(RPI, Error) << "Failed to open configuration file '" << filename << "'";
> +		return -EIO;
> +	}
> +
> +	LOG(RPI, Info) << "Using configuration file '" << filename << "'";
> +
> +	std::unique_ptr<YamlObject> root = YamlParser::parse(file);
> +	if (!root) {
> +		LOG(RPI, Warning) << "Failed to parse configuration file, using defaults";
> +		return 0;
> +	}
> +
> +	std::optional<double> ver = (*root)["version"].get<double>();
> +	if (!ver || *ver != 1.0) {
> +		LOG(RPI, Error) << "Unexpected configuration file version reported";
> +		return -EINVAL;
> +	}
> +
> +	const YamlObject &phConfig = (*root)["pipeline_handler"];
> +
> +	config_.disableStartupFrameDrops =
> +		phConfig["disable_startup_frame_drops"].get<bool>(config_.disableStartupFrameDrops);
> +
> +	config_.cameraTimeoutValue =
> +		phConfig["camera_timeout_value_ms"].get<unsigned int>(config_.cameraTimeoutValue);
> +
> +	if (config_.cameraTimeoutValue) {
> +		/* Disable the IPA signal to control timeout and set the user requested value. */
> +		ipa_->setCameraTimeout.disconnect();
> +		frontendDevice()->setDequeueTimeout(config_.cameraTimeoutValue * 1ms);
> +	}
> +
> +	return platformPipelineConfigure(root);
> +}
> +
> +int CameraData::loadIPA(ipa::RPi::InitResult *result)
> +{
> +	ipa_ = IPAManager::createIPA<ipa::RPi::IPAProxyRPi>(pipe(), 1, 1);
> +
> +	if (!ipa_)
> +		return -ENOENT;
> +
> +	/*
> +	 * The configuration (tuning file) is made from the sensor name unless
> +	 * the environment variable overrides it.
> +	 */
> +	std::string configurationFile;
> +	char const *configFromEnv = utils::secure_getenv("LIBCAMERA_RPI_TUNING_FILE");
> +	if (!configFromEnv || *configFromEnv == '\0') {
> +		std::string model = sensor_->model();
> +		if (isMonoSensor(sensor_))
> +			model += "_mono";
> +		configurationFile = ipa_->configurationFile(model + ".json", "rpi");
> +	} else {
> +		configurationFile = std::string(configFromEnv);
> +	}
> +
> +	IPASettings settings(configurationFile, sensor_->model());
> +	ipa::RPi::InitParams params;
> +
> +	params.lensPresent = !!sensor_->focusLens();
> +	int ret = platformInitIpa(params);
> +	if (ret)
> +		return ret;
> +
> +	return ipa_->init(settings, params, result);
> +}
> +
> +int CameraData::configureIPA(const CameraConfiguration *config, ipa::RPi::ConfigResult *result)
> +{
> +	std::map<unsigned int, ControlInfoMap> entityControls;
> +	ipa::RPi::ConfigParams params;
> +	int ret;
> +
> +	params.sensorControls = sensor_->controls();
> +	if (sensor_->focusLens())
> +		params.lensControls = sensor_->focusLens()->controls();
> +
> +	ret = platformConfigureIpa(params);
> +	if (ret)
> +		return ret;
> +
> +	/* We store the IPACameraSensorInfo for digital zoom calculations. */
> +	ret = sensor_->sensorInfo(&sensorInfo_);
> +	if (ret) {
> +		LOG(RPI, Error) << "Failed to retrieve camera sensor info";
> +		return ret;
> +	}
> +
> +	/* Always send the user transform to the IPA. */
> +	params.transform = static_cast<unsigned int>(config->transform);
> +
> +	/* Ready the IPA - it must know about the sensor resolution. */
> +	ret = ipa_->configure(sensorInfo_, params, result);
> +	if (ret < 0) {
> +		LOG(RPI, Error) << "IPA configuration failed!";
> +		return -EPIPE;
> +	}
> +
> +	if (!result->controls.empty())
> +		setSensorControls(result->controls);
> +
> +	return 0;
> +}
> +
> +void CameraData::setDelayedControls(const ControlList &controls, uint32_t delayContext)
> +{
> +	if (!delayedCtrls_->push(controls, delayContext))
> +		LOG(RPI, Error) << "V4L2 DelayedControl set failed";
> +}
> +
> +void CameraData::setLensControls(const ControlList &controls)
> +{
> +	CameraLens *lens = sensor_->focusLens();
> +
> +	if (lens && controls.contains(V4L2_CID_FOCUS_ABSOLUTE)) {
> +		ControlValue const &focusValue = controls.get(V4L2_CID_FOCUS_ABSOLUTE);
> +		lens->setFocusPosition(focusValue.get<int32_t>());
> +	}
> +}
> +
> +void CameraData::setSensorControls(ControlList &controls)
> +{
> +	/*
> +	 * We need to ensure that if both VBLANK and EXPOSURE are present, the
> +	 * former must be written ahead of, and separately from EXPOSURE to avoid
> +	 * V4L2 rejecting the latter. This is identical to what DelayedControls
> +	 * does with the priority write flag.
> +	 *
> +	 * As a consequence of the below logic, VBLANK gets set twice, and we
> +	 * rely on the v4l2 framework to not pass the second control set to the
> +	 * driver as the actual control value has not changed.
> +	 */
> +	if (controls.contains(V4L2_CID_EXPOSURE) && controls.contains(V4L2_CID_VBLANK)) {
> +		ControlList vblank_ctrl;
> +
> +		vblank_ctrl.set(V4L2_CID_VBLANK, controls.get(V4L2_CID_VBLANK));
> +		sensor_->setControls(&vblank_ctrl);
> +	}
> +
> +	sensor_->setControls(&controls);
> +}
> +
> +Rectangle CameraData::scaleIspCrop(const Rectangle &ispCrop) const
> +{
> +	/*
> +	 * Scale a crop rectangle defined in the ISP's coordinates into native sensor
> +	 * coordinates.
> +	 */
> +	Rectangle nativeCrop = ispCrop.scaledBy(sensorInfo_.analogCrop.size(),
> +						sensorInfo_.outputSize);
> +	nativeCrop.translateBy(sensorInfo_.analogCrop.topLeft());
> +	return nativeCrop;
> +}
> +
> +void CameraData::calculateScalerCrop(const ControlList &controls)
> +{
> +	const auto &scalerCrop = controls.get<Rectangle>(controls::ScalerCrop);
> +	if (scalerCrop) {
> +		Rectangle nativeCrop = *scalerCrop;
> +
> +		if (!nativeCrop.width || !nativeCrop.height)
> +			nativeCrop = { 0, 0, 1, 1 };
> +
> +		/* Create a version of the crop scaled to ISP (camera mode) pixels. */
> +		Rectangle ispCrop = nativeCrop.translatedBy(-sensorInfo_.analogCrop.topLeft());
> +		ispCrop.scaleBy(sensorInfo_.outputSize, sensorInfo_.analogCrop.size());
> +
> +		/*
> +		 * The crop that we set must be:
> +		 * 1. At least as big as ispMinCropSize_, once that's been
> +		 *    enlarged to the same aspect ratio.
> +		 * 2. With the same mid-point, if possible.
> +		 * 3. But it can't go outside the sensor area.
> +		 */
> +		Size minSize = ispMinCropSize_.expandedToAspectRatio(nativeCrop.size());
> +		Size size = ispCrop.size().expandedTo(minSize);
> +		ispCrop = size.centeredTo(ispCrop.center()).enclosedIn(Rectangle(sensorInfo_.outputSize));
> +
> +		if (ispCrop != ispCrop_) {
> +			ispCrop_ = ispCrop;
> +			platformIspCrop();

The CameraData::calculateScalerCrop() function was previously called
applyScalerCrop(). The new name implies it calculates the crop rectangle
only, without applying it.

platformIspCrop() is a fairly non-descriptive name. As far as I
understand its purpose is to apply the ISP input crop rectangle, could
you rename it accordingly ?

> +
> +			/*
> +			 * Also update the ScalerCrop in the metadata with what we actually
> +			 * used. But we must first rescale that from ISP (camera mode) pixels
> +			 * back into sensor native pixels.
> +			 */
> +			scalerCrop_ = scaleIspCrop(ispCrop_);
> +		}
> +	}
> +}
> +
> +void CameraData::cameraTimeout()
> +{
> +	LOG(RPI, Error) << "Camera frontend has timed out!";
> +	LOG(RPI, Error) << "Please check that your camera sensor connector is attached securely.";
> +	LOG(RPI, Error) << "Alternatively, try another cable and/or sensor.";
> +
> +	state_ = CameraData::State::Error;
> +	platformStop();
> +
> +	/*
> +	 * To allow the application to attempt a recovery from this timeout,
> +	 * stop all devices streaming, and return any outstanding requests as
> +	 * incomplete and cancelled.
> +	 */
> +	for (auto const stream : streams_)
> +		stream->dev()->streamOff();
> +
> +	clearIncompleteRequests();
> +}
> +
> +void CameraData::frameStarted(uint32_t sequence)
> +{
> +	LOG(RPI, Debug) << "Frame start " << sequence;
> +
> +	/* Write any controls for the next frame as soon as we can. */
> +	delayedCtrls_->applyControls(sequence);
> +}
> +
> +void CameraData::clearIncompleteRequests()
> +{
> +	/*
> +	 * All outstanding requests (and associated buffers) must be returned
> +	 * back to the application.
> +	 */
> +	while (!requestQueue_.empty()) {
> +		Request *request = requestQueue_.front();
> +
> +		for (auto &b : request->buffers()) {
> +			FrameBuffer *buffer = b.second;
> +			/*
> +			 * Has the buffer already been handed back to the
> +			 * request? If not, do so now.
> +			 */
> +			if (buffer->request()) {
> +				buffer->_d()->cancel();
> +				pipe()->completeBuffer(request, buffer);
> +			}
> +		}
> +
> +		pipe()->completeRequest(request);
> +		requestQueue_.pop();
> +	}
> +}
> +
> +void CameraData::handleStreamBuffer(FrameBuffer *buffer, RPi::Stream *stream)
> +{
> +	/*
> +	 * It is possible to be here without a pending request, so check
> +	 * that we actually have one to action, otherwise we just return
> +	 * buffer back to the stream.
> +	 */
> +	Request *request = requestQueue_.empty() ? nullptr : requestQueue_.front();
> +	if (!dropFrameCount_ && request && request->findBuffer(stream) == buffer) {
> +		/*
> +		 * Check if this is an externally provided buffer, and if
> +		 * so, we must stop tracking it in the pipeline handler.
> +		 */
> +		handleExternalBuffer(buffer, stream);
> +		/*
> +		 * Tag the buffer as completed, returning it to the
> +		 * application.
> +		 */
> +		pipe()->completeBuffer(request, buffer);
> +	} else {
> +		/*
> +		 * This buffer was not part of the Request (which happens if an
> +		 * internal buffer was used for an external stream, or
> +		 * unconditionally for internal streams), or there is no pending
> +		 * request, so we can recycle it.
> +		 */
> +		stream->returnBuffer(buffer);
> +	}
> +}
> +
> +void CameraData::handleState()
> +{
> +	switch (state_) {
> +	case State::Stopped:
> +	case State::Busy:
> +	case State::Error:
> +		break;
> +
> +	case State::IpaComplete:
> +		/* If the request is completed, we will switch to Idle state. */
> +		checkRequestCompleted();
> +		/*
> +		 * No break here, we want to try running the pipeline again.
> +		 * The fallthrough clause below suppresses compiler warnings.
> +		 */
> +		[[fallthrough]];
> +
> +	case State::Idle:
> +		tryRunPipeline();
> +		break;
> +	}
> +}
> +
> +void CameraData::handleExternalBuffer(FrameBuffer *buffer, RPi::Stream *stream)
> +{
> +	unsigned int id = stream->getBufferId(buffer);
> +
> +	if (!(id & MaskExternalBuffer))
> +		return;
> +
> +	/* Stop the Stream object from tracking the buffer. */
> +	stream->removeExternalBuffer(buffer);
> +}
> +
> +void CameraData::checkRequestCompleted()
> +{
> +	bool requestCompleted = false;
> +	/*
> +	 * If we are dropping this frame, do not touch the request, simply
> +	 * change the state to IDLE when ready.
> +	 */
> +	if (!dropFrameCount_) {
> +		Request *request = requestQueue_.front();
> +		if (request->hasPendingBuffers())
> +			return;
> +
> +		/* Must wait for metadata to be filled in before completing. */
> +		if (state_ != State::IpaComplete)
> +			return;
> +
> +		pipe()->completeRequest(request);
> +		requestQueue_.pop();
> +		requestCompleted = true;
> +	}
> +
> +	/*
> +	 * Make sure we have three outputs completed in the case of a dropped
> +	 * frame.
> +	 */
> +	if (state_ == State::IpaComplete &&
> +	    ((ispOutputCount_ == ispOutputTotal_ && dropFrameCount_) || requestCompleted)) {

Line wrap.

> +		state_ = State::Idle;
> +		if (dropFrameCount_) {
> +			dropFrameCount_--;
> +			LOG(RPI, Debug) << "Dropping frame at the request of the IPA ("
> +					<< dropFrameCount_ << " left)";
> +		}
> +	}
> +}
> +
> +void CameraData::fillRequestMetadata(const ControlList &bufferControls, Request *request)
> +{
> +	request->metadata().set(controls::SensorTimestamp,
> +				bufferControls.get(controls::SensorTimestamp).value_or(0));
> +
> +	request->metadata().set(controls::ScalerCrop, scalerCrop_);
> +}
> +
> +} /* namespace libcamera */
> diff --git a/src/libcamera/pipeline/rpi/common/pipeline_base.h b/src/libcamera/pipeline/rpi/common/pipeline_base.h
> new file mode 100644
> index 000000000000..318266a6fb51
> --- /dev/null
> +++ b/src/libcamera/pipeline/rpi/common/pipeline_base.h
> @@ -0,0 +1,276 @@
> +/* SPDX-License-Identifier: LGPL-2.1-or-later */
> +/*
> + * Copyright (C) 2019-2023, Raspberry Pi Ltd
> + *
> + * pipeline_base.h - Pipeline handler base class for Raspberry Pi devices
> + */
> +
> +#include <map>
> +#include <memory>
> +#include <optional>
> +#include <queue>
> +#include <string>
> +#include <unordered_set>
> +#include <utility>
> +#include <vector>
> +
> +#include <libcamera/controls.h>
> +#include <libcamera/request.h>
> +
> +#include "libcamera/internal/bayer_format.h"
> +#include "libcamera/internal/camera.h"
> +#include "libcamera/internal/camera_sensor.h"
> +#include "libcamera/internal/framebuffer.h"
> +#include "libcamera/internal/media_device.h"
> +#include "libcamera/internal/media_object.h"
> +#include "libcamera/internal/pipeline_handler.h"
> +#include "libcamera/internal/v4l2_videodevice.h"
> +#include "libcamera/internal/yaml_parser.h"
> +
> +#include <libcamera/ipa/raspberrypi_ipa_interface.h>
> +#include <libcamera/ipa/raspberrypi_ipa_proxy.h>
> +
> +#include "delayed_controls.h"
> +#include "rpi_stream.h"
> +
> +using namespace std::chrono_literals;
> +
> +namespace libcamera {
> +
> +namespace RPi {
> +
> +/* Map of mbus codes to supported sizes reported by the sensor. */
> +using SensorFormats = std::map<unsigned int, std::vector<Size>>;
> +
> +class CameraData : public Camera::Private
> +{
> +public:
> +	CameraData(PipelineHandler *pipe)
> +		: Camera::Private(pipe), state_(State::Stopped),
> +		  flipsAlterBayerOrder_(false), dropFrameCount_(0), buffersAllocated_(false),
> +		  ispOutputCount_(0), ispOutputTotal_(0)
> +	{
> +	}
> +
> +	virtual ~CameraData()
> +	{
> +	}
> +
> +	struct StreamParams {
> +		StreamParams()
> +			: index(0), cfg(nullptr), dev(nullptr)
> +		{
> +		}
> +
> +		StreamParams(unsigned int index_, StreamConfiguration *cfg_)
> +			: index(index_), cfg(cfg_), dev(nullptr)
> +		{
> +		}
> +
> +		unsigned int index;
> +		StreamConfiguration *cfg;
> +		V4L2VideoDevice *dev;
> +	};
> +
> +	virtual CameraConfiguration::Status platformValidate(std::vector<StreamParams> &rawStreams,
> +							     std::vector<StreamParams> &outStreams) const = 0;
> +	virtual int platformConfigure(const V4L2SubdeviceFormat &sensorFormat,
> +				      std::optional<BayerFormat::Packing> packing,
> +				      std::vector<StreamParams> &rawStreams,
> +				      std::vector<StreamParams> &outStreams) = 0;

As explained in the review of the corresponding refactoring for the IPA
module, all those abstract virtual platform*() functions are not nice.
It may be possible to remove some by overriding the PipelineHandler
functions in the derived class and calling PipelineHandlerBase functions
from there.

> +	virtual void platformStart() = 0;
> +	virtual void platformStop() = 0;
> +
> +	void freeBuffers();
> +	virtual void platformFreeBuffers() = 0;
> +
> +	void enumerateVideoDevices(MediaLink *link, const std::string &frontend);
> +
> +	int loadPipelineConfiguration();
> +	int loadIPA(ipa::RPi::InitResult *result);
> +	int configureIPA(const CameraConfiguration *config, ipa::RPi::ConfigResult *result);
> +	virtual int platformInitIpa(ipa::RPi::InitParams &params) = 0;
> +	virtual int platformConfigureIpa(ipa::RPi::ConfigParams &params) = 0;
> +
> +	void setDelayedControls(const ControlList &controls, uint32_t delayContext);
> +	void setLensControls(const ControlList &controls);
> +	void setSensorControls(ControlList &controls);
> +
> +	Rectangle scaleIspCrop(const Rectangle &ispCrop) const;
> +	void calculateScalerCrop(const ControlList &controls);
> +	virtual void platformIspCrop() = 0;
> +
> +	void cameraTimeout();
> +	void frameStarted(uint32_t sequence);
> +
> +	void clearIncompleteRequests();
> +	void handleStreamBuffer(FrameBuffer *buffer, Stream *stream);
> +	void handleState();
> +
> +	virtual V4L2VideoDevice::Formats ispFormats() const = 0;
> +	virtual V4L2VideoDevice::Formats rawFormats() const = 0;
> +	virtual V4L2VideoDevice *frontendDevice() = 0;
> +
> +	virtual int platformPipelineConfigure(const std::unique_ptr<YamlObject> &root) = 0;
> +
> +	std::unique_ptr<ipa::RPi::IPAProxyRPi> ipa_;
> +
> +	std::unique_ptr<CameraSensor> sensor_;
> +	SensorFormats sensorFormats_;
> +
> +	/* The vector below is just for convenience when iterating over all streams. */
> +	std::vector<Stream *> streams_;
> +	/* Stores the ids of the buffers mapped in the IPA. */
> +	std::unordered_set<unsigned int> bufferIds_;
> +	/*
> +	 * Stores a cascade of Video Mux or Bridge devices between the sensor and
> +	 * Unicam together with media link across the entities.
> +	 */
> +	std::vector<std::pair<std::unique_ptr<V4L2Subdevice>, MediaLink *>> bridgeDevices_;
> +
> +	std::unique_ptr<DelayedControls> delayedCtrls_;
> +	bool sensorMetadata_;
> +
> +	/*
> +	 * All the functions in this class are called from a single calling
> +	 * thread. So, we do not need to have any mutex to protect access to any
> +	 * of the variables below.
> +	 */
> +	enum class State { Stopped, Idle, Busy, IpaComplete, Error };
> +	State state_;
> +
> +	bool isRunning()
> +	{
> +		return state_ != State::Stopped && state_ != State::Error;
> +	}
> +
> +	std::queue<Request *> requestQueue_;
> +
> +	/* Store the "native" Bayer order (that is, with no transforms applied). */
> +	bool flipsAlterBayerOrder_;
> +	BayerFormat::Order nativeBayerOrder_;
> +
> +	/* For handling digital zoom. */
> +	IPACameraSensorInfo sensorInfo_;
> +	Rectangle ispCrop_; /* crop in ISP (camera mode) pixels */
> +	Rectangle scalerCrop_; /* crop in sensor native pixels */
> +	Size ispMinCropSize_;
> +
> +	unsigned int dropFrameCount_;
> +
> +	/*
> +	 * If set, this stores the value that represets a gain of one for
> +	 * the V4L2_CID_NOTIFY_GAINS control.
> +	 */
> +	std::optional<int32_t> notifyGainsUnity_;
> +
> +	/* Have internal buffers been allocated? */
> +	bool buffersAllocated_;
> +
> +	struct Config {
> +		/*
> +		 * Override any request from the IPA to drop a number of startup
> +		 * frames.
> +		 */
> +		bool disableStartupFrameDrops;
> +		/*
> +		 * Override the camera timeout value calculated by the IPA based
> +		 * on frame durations.
> +		 */
> +		unsigned int cameraTimeoutValue;
> +	};
> +
> +	Config config_;
> +
> +protected:
> +	void fillRequestMetadata(const ControlList &bufferControls,
> +				 Request *request);
> +
> +	virtual void tryRunPipeline() = 0;
> +
> +	unsigned int ispOutputCount_;
> +	unsigned int ispOutputTotal_;
> +
> +private:
> +	void handleExternalBuffer(FrameBuffer *buffer, Stream *stream);
> +	void checkRequestCompleted();
> +};
> +
> +class PipelineHandlerBase : public PipelineHandler
> +{
> +public:
> +	PipelineHandlerBase(CameraManager *manager)
> +		: PipelineHandler(manager)
> +	{
> +	}
> +
> +	virtual ~PipelineHandlerBase()
> +	{
> +	}
> +
> +	static V4L2DeviceFormat toV4L2DeviceFormat(const V4L2VideoDevice *dev,
> +						   const V4L2SubdeviceFormat &format,
> +						   BayerFormat::Packing packingReq);
> +
> +	std::unique_ptr<CameraConfiguration>
> +	generateConfiguration(Camera *camera, const StreamRoles &roles) override;
> +	int configure(Camera *camera, CameraConfiguration *config) override;
> +
> +	int exportFrameBuffers(Camera *camera, libcamera::Stream *stream,
> +			       std::vector<std::unique_ptr<FrameBuffer>> *buffers) override;
> +
> +	int start(Camera *camera, const ControlList *controls) override;
> +	void stopDevice(Camera *camera) override;
> +	void releaseDevice(Camera *camera) override;
> +
> +	int queueRequestDevice(Camera *camera, Request *request) override;
> +
> +protected:
> +	int registerCamera(MediaDevice *frontent, const std::string &frontendName,
> +			   MediaDevice *backend, MediaEntity *sensorEntity);
> +
> +	void mapBuffers(Camera *camera, const BufferMap &buffers, unsigned int mask);
> +
> +	virtual std::unique_ptr<CameraData> allocateCameraData() = 0;
> +	virtual int platformRegister(std::unique_ptr<CameraData> &cameraData,
> +				     MediaDevice *unicam, MediaDevice *isp) = 0;
> +
> +private:
> +	CameraData *cameraData(Camera *camera)
> +	{
> +		return static_cast<CameraData *>(camera->_d());
> +	}
> +
> +	int queueAllBuffers(Camera *camera);
> +	virtual int prepareBuffers(Camera *camera) = 0;
> +};
> +
> +class RPiCameraConfiguration final : public CameraConfiguration
> +{
> +public:
> +	RPiCameraConfiguration(const CameraData *data)
> +		: CameraConfiguration(), data_(data)
> +	{
> +	}
> +
> +	CameraConfiguration::Status validateColorSpaces(ColorSpaceFlags flags);
> +	Status validate() override;
> +
> +	/* Cache the combinedTransform_ that will be applied to the sensor */
> +	Transform combinedTransform_;
> +
> +private:
> +	const CameraData *data_;
> +
> +	/*
> +	 * Store the colour spaces that all our streams will have. RGB format streams
> +	 * will have the same colorspace as YUV streams, with YCbCr field cleared and
> +	 * range set to full.
> +         */
> +	std::optional<ColorSpace> yuvColorSpace_;
> +	std::optional<ColorSpace> rgbColorSpace_;
> +};
> +
> +} /* namespace RPi */
> +
> +} /* namespace libcamera */
> diff --git a/src/libcamera/pipeline/rpi/vc4/data/example.yaml b/src/libcamera/pipeline/rpi/vc4/data/example.yaml
> index c90f518f8849..b8e01adeaf40 100644
> --- a/src/libcamera/pipeline/rpi/vc4/data/example.yaml
> +++ b/src/libcamera/pipeline/rpi/vc4/data/example.yaml
> @@ -34,13 +34,13 @@
>                  #
>                  # "disable_startup_frame_drops": false,
>  
> -                # Custom timeout value (in ms) for Unicam to use. This overrides
> +                # Custom timeout value (in ms) for camera to use. This overrides
>                  # the value computed by the pipeline handler based on frame
>                  # durations.
>                  #
>                  # Set this value to 0 to use the pipeline handler computed
>                  # timeout value.
>                  #
> -                # "unicam_timeout_value_ms": 0,
> +                # "camera_timeout_value_ms": 0,
>          }
>  }
> diff --git a/src/libcamera/pipeline/rpi/vc4/meson.build b/src/libcamera/pipeline/rpi/vc4/meson.build
> index 228823f30922..cdb049c58d2c 100644
> --- a/src/libcamera/pipeline/rpi/vc4/meson.build
> +++ b/src/libcamera/pipeline/rpi/vc4/meson.build
> @@ -2,7 +2,7 @@
>  
>  libcamera_sources += files([
>      'dma_heaps.cpp',
> -    'raspberrypi.cpp',
> +    'vc4.cpp',
>  ])
>  
>  subdir('data')

[snip]

> diff --git a/src/libcamera/pipeline/rpi/vc4/vc4.cpp b/src/libcamera/pipeline/rpi/vc4/vc4.cpp
> new file mode 100644
> index 000000000000..a085a06376a8
> --- /dev/null
> +++ b/src/libcamera/pipeline/rpi/vc4/vc4.cpp
> @@ -0,0 +1,1001 @@
> +/* SPDX-License-Identifier: LGPL-2.1-or-later */
> +/*
> + * Copyright (C) 2019-2023, Raspberry Pi Ltd
> + *
> + * vc4.cpp - Pipeline handler for VC4 based Raspberry Pi devices
> + */
> +
> +#include <linux/bcm2835-isp.h>
> +#include <linux/v4l2-controls.h>
> +#include <linux/videodev2.h>
> +
> +#include <libcamera/formats.h>
> +
> +#include "libcamera/internal/device_enumerator.h"
> +
> +#include "dma_heaps.h"
> +#include "pipeline_base.h"
> +#include "rpi_stream.h"
> +
> +using namespace std::chrono_literals;
> +
> +namespace libcamera {
> +
> +LOG_DECLARE_CATEGORY(RPI)
> +
> +namespace {
> +
> +enum class Unicam : unsigned int { Image, Embedded };
> +enum class Isp : unsigned int { Input, Output0, Output1, Stats };
> +
> +} /* namespace */
> +
> +class Vc4CameraData final : public RPi::CameraData
> +{
> +public:
> +	Vc4CameraData(PipelineHandler *pipe)
> +		: RPi::CameraData(pipe)
> +	{
> +	}
> +
> +	~Vc4CameraData()
> +	{
> +		freeBuffers();
> +	}
> +
> +	V4L2VideoDevice::Formats ispFormats() const override
> +	{
> +		return isp_[Isp::Output0].dev()->formats();
> +	}
> +
> +	V4L2VideoDevice::Formats rawFormats() const override
> +	{
> +		return unicam_[Unicam::Image].dev()->formats();
> +	}
> +
> +	V4L2VideoDevice *frontendDevice() override
> +	{
> +		return unicam_[Unicam::Image].dev();
> +	}
> +
> +	void platformFreeBuffers() override
> +	{
> +	}
> +
> +	CameraConfiguration::Status platformValidate(std::vector<StreamParams> &rawStreams,
> +						     std::vector<StreamParams> &outStreams) const override;
> +
> +	int platformPipelineConfigure(const std::unique_ptr<YamlObject> &root) override;
> +
> +	void platformStart() override;
> +	void platformStop() override;
> +
> +	void unicamBufferDequeue(FrameBuffer *buffer);
> +	void ispInputDequeue(FrameBuffer *buffer);
> +	void ispOutputDequeue(FrameBuffer *buffer);
> +
> +	void processStatsComplete(const ipa::RPi::BufferIds &buffers);
> +	void prepareIspComplete(const ipa::RPi::BufferIds &buffers);
> +	void setIspControls(const ControlList &controls);
> +	void setCameraTimeout(uint32_t maxFrameLengthMs);
> +
> +	/* Array of Unicam and ISP device streams and associated buffers/streams. */
> +	RPi::Device<Unicam, 2> unicam_;
> +	RPi::Device<Isp, 4> isp_;
> +
> +	/* DMAHEAP allocation helper. */
> +	RPi::DmaHeap dmaHeap_;
> +	SharedFD lsTable_;
> +
> +	struct Config {
> +		/*
> +		 * The minimum number of internal buffers to be allocated for
> +		 * the Unicam Image stream.
> +		 */
> +		unsigned int minUnicamBuffers;
> +		/*
> +		 * The minimum total (internal + external) buffer count used for
> +		 * the Unicam Image stream.
> +		 *
> +		 * Note that:
> +		 * minTotalUnicamBuffers must be >= 1, and
> +		 * minTotalUnicamBuffers >= minUnicamBuffers
> +		 */
> +		unsigned int minTotalUnicamBuffers;
> +	};
> +
> +	Config config_;
> +
> +private:
> +	void platformIspCrop() override
> +	{
> +		isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &ispCrop_);
> +	}
> +
> +	int platformConfigure(const V4L2SubdeviceFormat &sensorFormat,
> +			      std::optional<BayerFormat::Packing> packing,
> +			      std::vector<StreamParams> &rawStreams,
> +			      std::vector<StreamParams> &outStreams) override;
> +	int platformConfigureIpa(ipa::RPi::ConfigParams &params) override;
> +
> +	int platformInitIpa([[maybe_unused]] ipa::RPi::InitParams &params) override
> +	{
> +		return 0;
> +	}
> +
> +	struct BayerFrame {
> +		FrameBuffer *buffer;
> +		ControlList controls;
> +		unsigned int delayContext;
> +	};
> +
> +	void tryRunPipeline() override;
> +	bool findMatchingBuffers(BayerFrame &bayerFrame, FrameBuffer *&embeddedBuffer);
> +
> +	std::queue<BayerFrame> bayerQueue_;
> +	std::queue<FrameBuffer *> embeddedQueue_;
> +};
> +
> +class PipelineHandlerVc4 : public RPi::PipelineHandlerBase
> +{
> +public:
> +	PipelineHandlerVc4(CameraManager *manager)
> +		: RPi::PipelineHandlerBase(manager)
> +	{
> +	}
> +
> +	~PipelineHandlerVc4()
> +	{
> +	}
> +
> +	bool match(DeviceEnumerator *enumerator) override;
> +
> +private:
> +	Vc4CameraData *cameraData(Camera *camera)
> +	{
> +		return static_cast<Vc4CameraData *>(camera->_d());
> +	}
> +
> +	std::unique_ptr<RPi::CameraData> allocateCameraData() override
> +	{
> +		return std::make_unique<Vc4CameraData>(this);
> +	}
> +
> +	int prepareBuffers(Camera *camera) override;
> +	int platformRegister(std::unique_ptr<RPi::CameraData> &cameraData,
> +			     MediaDevice *unicam, MediaDevice *isp) override;
> +};
> +
> +bool PipelineHandlerVc4::match(DeviceEnumerator *enumerator)
> +{
> +	constexpr unsigned int numUnicamDevices = 2;
> +
> +	/*
> +	 * Loop over all Unicam instances, but return out once a match is found.
> +	 * This is to ensure we correctly enumrate the camera when an instance
> +	 * of Unicam has registered with media controller, but has not registered
> +	 * device nodes due to a sensor subdevice failure.
> +	 */
> +	for (unsigned int i = 0; i < numUnicamDevices; i++) {
> +		DeviceMatch unicam("unicam");
> +		MediaDevice *unicamDevice = acquireMediaDevice(enumerator, unicam);
> +
> +		if (!unicamDevice) {
> +			LOG(RPI, Debug) << "Unable to acquire a Unicam instance";
> +			break;

The existing code continues here instead of breaking. Same if
!ispDevice. Is this change intended ?

> +		}
> +
> +		DeviceMatch isp("bcm2835-isp");
> +		MediaDevice *ispDevice = acquireMediaDevice(enumerator, isp);
> +
> +		if (!ispDevice) {
> +			LOG(RPI, Debug) << "Unable to acquire ISP instance";
> +			break;
> +		}
> +
> +		/*
> +		 * The loop below is used to register multiple cameras behind one or more
> +		 * video mux devices that are attached to a particular Unicam instance.
> +		 * Obviously these cameras cannot be used simultaneously.
> +		 */
> +		unsigned int numCameras = 0;
> +		for (MediaEntity *entity : unicamDevice->entities()) {
> +			if (entity->function() != MEDIA_ENT_F_CAM_SENSOR)
> +				continue;
> +
> +			int ret = RPi::PipelineHandlerBase::registerCamera(unicamDevice, "unicam-image",
> +									   ispDevice, entity);
> +			if (ret)
> +				LOG(RPI, Error) << "Failed to register camera "
> +						<< entity->name() << ": " << ret;
> +			else
> +				numCameras++;
> +		}
> +
> +		if (numCameras)
> +			return true;
> +	}
> +
> +	return false;
> +}
> +
> +int PipelineHandlerVc4::prepareBuffers(Camera *camera)
> +{
> +	Vc4CameraData *data = cameraData(camera);
> +	unsigned int numRawBuffers = 0;
> +	int ret;
> +
> +	for (Stream *s : camera->streams()) {
> +		if (BayerFormat::fromPixelFormat(s->configuration().pixelFormat).isValid()) {
> +			numRawBuffers = s->configuration().bufferCount;
> +			break;
> +		}
> +	}
> +
> +	/* Decide how many internal buffers to allocate. */
> +	for (auto const stream : data->streams_) {
> +		unsigned int numBuffers;
> +		/*
> +		 * For Unicam, allocate a minimum number of buffers for internal
> +		 * use as we want to avoid any frame drops.
> +		 */
> +		const unsigned int minBuffers = data->config_.minTotalUnicamBuffers;
> +		if (stream == &data->unicam_[Unicam::Image]) {
> +			/*
> +			 * If an application has configured a RAW stream, allocate
> +			 * additional buffers to make up the minimum, but ensure
> +			 * we have at least minUnicamBuffers of internal buffers
> +			 * to use to minimise frame drops.
> +			 */
> +			numBuffers = std::max<int>(data->config_.minUnicamBuffers,
> +						   minBuffers - numRawBuffers);
> +		} else if (stream == &data->isp_[Isp::Input]) {
> +			/*
> +			 * ISP input buffers are imported from Unicam, so follow
> +			 * similar logic as above to count all the RAW buffers
> +			 * available.
> +			 */
> +			numBuffers = numRawBuffers +
> +				     std::max<int>(data->config_.minUnicamBuffers,
> +						   minBuffers - numRawBuffers);
> +
> +		} else if (stream == &data->unicam_[Unicam::Embedded]) {
> +			/*
> +			 * Embedded data buffers are (currently) for internal use,
> +			 * so allocate the minimum required to avoid frame drops.
> +			 */
> +			numBuffers = minBuffers;
> +		} else {
> +			/*
> +			 * Since the ISP runs synchronous with the IPA and requests,
> +			 * we only ever need one set of internal buffers. Any buffers
> +			 * the application wants to hold onto will already be exported
> +			 * through PipelineHandlerRPi::exportFrameBuffers().
> +			 */
> +			numBuffers = 1;
> +		}
> +
> +		ret = stream->prepareBuffers(numBuffers);
> +		if (ret < 0)
> +			return ret;
> +	}
> +
> +	/*
> +	 * Pass the stats and embedded data buffers to the IPA. No other
> +	 * buffers need to be passed.
> +	 */
> +	mapBuffers(camera, data->isp_[Isp::Stats].getBuffers(), RPi::MaskStats);
> +	if (data->sensorMetadata_)
> +		mapBuffers(camera, data->unicam_[Unicam::Embedded].getBuffers(),
> +			   RPi::MaskEmbeddedData);
> +
> +	return 0;
> +}
> +
> +int PipelineHandlerVc4::platformRegister(std::unique_ptr<RPi::CameraData> &cameraData, MediaDevice *unicam, MediaDevice *isp)
> +{
> +	Vc4CameraData *data = static_cast<Vc4CameraData *>(cameraData.get());
> +
> +	if (!data->dmaHeap_.isValid())
> +		return -ENOMEM;
> +
> +	MediaEntity *unicamImage = unicam->getEntityByName("unicam-image");
> +	MediaEntity *ispOutput0 = isp->getEntityByName("bcm2835-isp0-output0");
> +	MediaEntity *ispCapture1 = isp->getEntityByName("bcm2835-isp0-capture1");
> +	MediaEntity *ispCapture2 = isp->getEntityByName("bcm2835-isp0-capture2");
> +	MediaEntity *ispCapture3 = isp->getEntityByName("bcm2835-isp0-capture3");
> +
> +	if (!unicamImage || !ispOutput0 || !ispCapture1 || !ispCapture2 || !ispCapture3)
> +		return -ENOENT;
> +
> +	/* Locate and open the unicam video streams. */
> +	data->unicam_[Unicam::Image] = RPi::Stream("Unicam Image", unicamImage);
> +
> +	/* An embedded data node will not be present if the sensor does not support it. */
> +	MediaEntity *unicamEmbedded = unicam->getEntityByName("unicam-embedded");
> +	if (unicamEmbedded) {
> +		data->unicam_[Unicam::Embedded] = RPi::Stream("Unicam Embedded", unicamEmbedded);
> +		data->unicam_[Unicam::Embedded].dev()->bufferReady.connect(data,
> +									   &Vc4CameraData::unicamBufferDequeue);
> +	}
> +
> +	/* Tag the ISP input stream as an import stream. */
> +	data->isp_[Isp::Input] = RPi::Stream("ISP Input", ispOutput0, true);
> +	data->isp_[Isp::Output0] = RPi::Stream("ISP Output0", ispCapture1);
> +	data->isp_[Isp::Output1] = RPi::Stream("ISP Output1", ispCapture2);
> +	data->isp_[Isp::Stats] = RPi::Stream("ISP Stats", ispCapture3);
> +
> +	/* Wire up all the buffer connections. */
> +	data->unicam_[Unicam::Image].dev()->bufferReady.connect(data, &Vc4CameraData::unicamBufferDequeue);
> +	data->isp_[Isp::Input].dev()->bufferReady.connect(data, &Vc4CameraData::ispInputDequeue);
> +	data->isp_[Isp::Output0].dev()->bufferReady.connect(data, &Vc4CameraData::ispOutputDequeue);
> +	data->isp_[Isp::Output1].dev()->bufferReady.connect(data, &Vc4CameraData::ispOutputDequeue);
> +	data->isp_[Isp::Stats].dev()->bufferReady.connect(data, &Vc4CameraData::ispOutputDequeue);
> +
> +	if (data->sensorMetadata_ ^ !!data->unicam_[Unicam::Embedded].dev()) {
> +		LOG(RPI, Warning) << "Mismatch between Unicam and CamHelper for embedded data usage!";
> +		data->sensorMetadata_ = false;
> +		if (data->unicam_[Unicam::Embedded].dev())
> +			data->unicam_[Unicam::Embedded].dev()->bufferReady.disconnect();
> +	}
> +
> +	/*
> +	 * Open all Unicam and ISP streams. The exception is the embedded data
> +	 * stream, which only gets opened below if the IPA reports that the sensor
> +	 * supports embedded data.
> +	 *
> +	 * The below grouping is just for convenience so that we can easily
> +	 * iterate over all streams in one go.
> +	 */
> +	data->streams_.push_back(&data->unicam_[Unicam::Image]);
> +	if (data->sensorMetadata_)
> +		data->streams_.push_back(&data->unicam_[Unicam::Embedded]);
> +
> +	for (auto &stream : data->isp_)
> +		data->streams_.push_back(&stream);
> +
> +	for (auto stream : data->streams_) {
> +		int ret = stream->dev()->open();
> +		if (ret)
> +			return ret;
> +	}
> +
> +	if (!data->unicam_[Unicam::Image].dev()->caps().hasMediaController()) {
> +		LOG(RPI, Error) << "Unicam driver does not use the MediaController, please update your kernel!";
> +		return -EINVAL;
> +	}
> +
> +	/* Write up all the IPA connections. */
> +	data->ipa_->processStatsComplete.connect(data, &Vc4CameraData::processStatsComplete);
> +	data->ipa_->prepareIspComplete.connect(data, &Vc4CameraData::prepareIspComplete);
> +	data->ipa_->setIspControls.connect(data, &Vc4CameraData::setIspControls);
> +	data->ipa_->setCameraTimeout.connect(data, &Vc4CameraData::setCameraTimeout);
> +
> +	/*
> +	 * List the available streams an application may request. At present, we
> +	 * do not advertise Unicam Embedded and ISP Statistics streams, as there
> +	 * is no mechanism for the application to request non-image buffer formats.
> +	 */
> +	std::set<Stream *> streams;
> +	streams.insert(&data->unicam_[Unicam::Image]);
> +	streams.insert(&data->isp_[Isp::Output0]);
> +	streams.insert(&data->isp_[Isp::Output1]);
> +
> +	/* Create and register the camera. */
> +	const std::string &id = data->sensor_->id();
> +	std::shared_ptr<Camera> camera =
> +		Camera::create(std::move(cameraData), id, streams);
> +	PipelineHandler::registerCamera(std::move(camera));
> +
> +	LOG(RPI, Info) << "Registered camera " << id
> +		       << " to Unicam device " << unicam->deviceNode()
> +		       << " and ISP device " << isp->deviceNode();
> +
> +	return 0;
> +}
> +
> +CameraConfiguration::Status Vc4CameraData::platformValidate(std::vector<StreamParams> &rawStreams,
> +							    std::vector<StreamParams> &outStreams) const
> +{
> +	CameraConfiguration::Status status = CameraConfiguration::Status::Valid;
> +
> +	/* Can only output 1 RAW stream, or 2 YUV/RGB streams. */
> +	if (rawStreams.size() > 1 || outStreams.size() > 2) {
> +		LOG(RPI, Error) << "Invalid number of streams requested";
> +		return CameraConfiguration::Status::Invalid;
> +	}
> +
> +	if (!rawStreams.empty())
> +		rawStreams[0].dev = unicam_[Unicam::Image].dev();
> +
> +	/*
> +	 * For the two ISP outputs, one stream must be equal or smaller than the
> +	 * other in all dimensions.
> +	 *
> +	 * Index 0 contains the largest requested resolution.
> +	 */
> +	for (unsigned int i = 0; i < outStreams.size(); i++) {
> +		Size size;
> +
> +		size.width = std::min(outStreams[i].cfg->size.width,
> +				      outStreams[0].cfg->size.width);
> +		size.height = std::min(outStreams[i].cfg->size.height,
> +				       outStreams[0].cfg->size.height);
> +
> +		if (outStreams[i].cfg->size != size) {
> +			outStreams[i].cfg->size = size;
> +			status = CameraConfiguration::Status::Adjusted;
> +		}
> +
> +		/*
> +		 * Output 0 must be for the largest resolution. We will
> +		 * have that fixed up in the code above.
> +		 */
> +		outStreams[i].dev = isp_[i == 0 ? Isp::Output0 : Isp::Output1].dev();
> +	}
> +
> +	return status;
> +}
> +
> +int Vc4CameraData::platformPipelineConfigure(const std::unique_ptr<YamlObject> &root)
> +{
> +	config_ = {
> +		.minUnicamBuffers = 2,
> +		.minTotalUnicamBuffers = 4,
> +	};
> +
> +	if (!root)
> +		return 0;
> +
> +	std::optional<double> ver = (*root)["version"].get<double>();
> +	if (!ver || *ver != 1.0) {
> +		LOG(RPI, Error) << "Unexpected configuration file version reported";
> +		return -EINVAL;
> +	}
> +
> +	std::optional<std::string> target = (*root)["target"].get<std::string>();
> +	if (!target || *target != "bcm2835") {
> +		LOG(RPI, Error) << "Unexpected target reported: expected \"bcm2835\", got "
> +				<< *target;
> +		return -EINVAL;
> +	}
> +
> +	const YamlObject &phConfig = (*root)["pipeline_handler"];
> +	config_.minUnicamBuffers =
> +		phConfig["min_unicam_buffers"].get<unsigned int>(config_.minUnicamBuffers);
> +	config_.minTotalUnicamBuffers =
> +		phConfig["min_total_unicam_buffers"].get<unsigned int>(config_.minTotalUnicamBuffers);
> +
> +	if (config_.minTotalUnicamBuffers < config_.minUnicamBuffers) {
> +		LOG(RPI, Error) << "Invalid configuration: min_total_unicam_buffers must be >= min_unicam_buffers";
> +		return -EINVAL;
> +	}
> +
> +	if (config_.minTotalUnicamBuffers < 1) {
> +		LOG(RPI, Error) << "Invalid configuration: min_total_unicam_buffers must be >= 1";
> +		return -EINVAL;
> +	}
> +
> +	return 0;
> +}
> +
> +int Vc4CameraData::platformConfigure(const V4L2SubdeviceFormat &sensorFormat,
> +				     std::optional<BayerFormat::Packing> packing,
> +				     std::vector<StreamParams> &rawStreams,
> +				     std::vector<StreamParams> &outStreams)
> +{
> +	int ret;
> +
> +	if (!packing)
> +		packing = BayerFormat::Packing::CSI2;
> +
> +	V4L2VideoDevice *unicam = unicam_[Unicam::Image].dev();
> +	V4L2DeviceFormat unicamFormat = RPi::PipelineHandlerBase::toV4L2DeviceFormat(unicam, sensorFormat, *packing);
> +
> +	ret = unicam->setFormat(&unicamFormat);
> +	if (ret)
> +		return ret;
> +
> +	/*
> +	 * See which streams are requested, and route the user
> +	 * StreamConfiguration appropriately.
> +	 */
> +	if (!rawStreams.empty()) {
> +		rawStreams[0].cfg->setStream(&unicam_[Unicam::Image]);
> +		unicam_[Unicam::Image].setExternal(true);
> +	}
> +
> +	ret = isp_[Isp::Input].dev()->setFormat(&unicamFormat);
> +	if (ret)
> +		return ret;
> +
> +	LOG(RPI, Info) << "Sensor: " << sensor_->id()
> +		       << " - Selected sensor format: " << sensorFormat
> +		       << " - Selected unicam format: " << unicamFormat;
> +
> +	/* Use a sensible small default size if no output streams are configured. */
> +	Size maxSize = outStreams.empty() ? Size(320, 240) : outStreams[0].cfg->size;
> +	V4L2DeviceFormat format;
> +
> +	for (unsigned int i = 0; i < outStreams.size(); i++) {
> +		StreamConfiguration *cfg = outStreams[i].cfg;
> +
> +		/* The largest resolution gets routed to the ISP Output 0 node. */
> +		RPi::Stream *stream = i == 0 ? &isp_[Isp::Output0] : &isp_[Isp::Output1];
> +
> +		V4L2PixelFormat fourcc = stream->dev()->toV4L2PixelFormat(cfg->pixelFormat);
> +		format.size = cfg->size;
> +		format.fourcc = fourcc;
> +		format.colorSpace = cfg->colorSpace;
> +
> +		LOG(RPI, Debug) << "Setting " << stream->name() << " to "
> +				<< format;
> +
> +		ret = stream->dev()->setFormat(&format);
> +		if (ret)
> +			return -EINVAL;
> +
> +		if (format.size != cfg->size || format.fourcc != fourcc) {
> +			LOG(RPI, Error)
> +				<< "Failed to set requested format on " << stream->name()
> +				<< ", returned " << format;
> +			return -EINVAL;
> +		}
> +
> +		LOG(RPI, Debug)
> +			<< "Stream " << stream->name() << " has color space "
> +			<< ColorSpace::toString(cfg->colorSpace);
> +
> +		cfg->setStream(stream);
> +		stream->setExternal(true);
> +	}
> +
> +	ispOutputTotal_ = outStreams.size();
> +
> +	/*
> +	 * If ISP::Output0 stream has not been configured by the application,
> +	 * we must allow the hardware to generate an output so that the data
> +	 * flow in the pipeline handler remains consistent, and we still generate
> +	 * statistics for the IPA to use. So enable the output at a very low
> +	 * resolution for internal use.
> +	 *
> +	 * \todo Allow the pipeline to work correctly without Output0 and only
> +	 * statistics coming from the hardware.
> +	 */
> +	if (outStreams.empty()) {
> +		V4L2VideoDevice *dev = isp_[Isp::Output0].dev();
> +
> +		format = {};
> +		format.size = maxSize;
> +		format.fourcc = dev->toV4L2PixelFormat(formats::YUV420);
> +		/* No one asked for output, so the color space doesn't matter. */
> +		format.colorSpace = ColorSpace::Sycc;
> +		ret = dev->setFormat(&format);
> +		if (ret) {
> +			LOG(RPI, Error)
> +				<< "Failed to set default format on ISP Output0: "
> +				<< ret;
> +			return -EINVAL;
> +		}
> +
> +		ispOutputTotal_++;
> +
> +		LOG(RPI, Debug) << "Defaulting ISP Output0 format to "
> +				<< format;
> +	}
> +
> +	/*
> +	 * If ISP::Output1 stream has not been requested by the application, we
> +	 * set it up for internal use now. This second stream will be used for
> +	 * fast colour denoise, and must be a quarter resolution of the ISP::Output0
> +	 * stream. However, also limit the maximum size to 1200 pixels in the
> +	 * larger dimension, just to avoid being wasteful with buffer allocations
> +	 * and memory bandwidth.
> +	 *
> +	 * \todo If Output 1 format is not YUV420, Output 1 ought to be disabled as
> +	 * colour denoise will not run.
> +	 */
> +	if (outStreams.size() == 1) {
> +		V4L2VideoDevice *dev = isp_[Isp::Output1].dev();
> +
> +		V4L2DeviceFormat output1Format;
> +		constexpr Size maxDimensions(1200, 1200);
> +		const Size limit = maxDimensions.boundedToAspectRatio(format.size);
> +
> +		output1Format.size = (format.size / 2).boundedTo(limit).alignedDownTo(2, 2);
> +		output1Format.colorSpace = format.colorSpace;
> +		output1Format.fourcc = dev->toV4L2PixelFormat(formats::YUV420);
> +
> +		LOG(RPI, Debug) << "Setting ISP Output1 (internal) to "
> +				<< output1Format;
> +
> +		ret = dev->setFormat(&output1Format);
> +		if (ret) {
> +			LOG(RPI, Error) << "Failed to set format on ISP Output1: "
> +					<< ret;
> +			return -EINVAL;
> +		}
> +
> +		ispOutputTotal_++;
> +	}
> +
> +	/* ISP statistics output format. */
> +	format = {};
> +	format.fourcc = V4L2PixelFormat(V4L2_META_FMT_BCM2835_ISP_STATS);
> +	ret = isp_[Isp::Stats].dev()->setFormat(&format);
> +	if (ret) {
> +		LOG(RPI, Error) << "Failed to set format on ISP stats stream: "
> +				<< format;
> +		return ret;
> +	}
> +
> +	ispOutputTotal_++;
> +
> +	/*
> +	 * Configure the Unicam embedded data output format only if the sensor
> +	 * supports it.
> +	 */
> +	if (sensorMetadata_) {
> +		V4L2SubdeviceFormat embeddedFormat;
> +
> +		sensor_->device()->getFormat(1, &embeddedFormat);
> +		format = {};
> +		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 " << format.toString();
> +		ret = unicam_[Unicam::Embedded].dev()->setFormat(&format);
> +		if (ret) {
> +			LOG(RPI, Error) << "Failed to set format on Unicam embedded: "
> +					<< format;
> +			return ret;
> +		}
> +	}
> +
> +	/* Figure out the smallest selection the ISP will allow. */
> +	Rectangle testCrop(0, 0, 1, 1);
> +	isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &testCrop);
> +	ispMinCropSize_ = testCrop.size();
> +
> +	/* Adjust aspect ratio by providing crops on the input image. */
> +	Size size = unicamFormat.size.boundedToAspectRatio(maxSize);
> +	ispCrop_ = size.centeredTo(Rectangle(unicamFormat.size).center());
> +
> +	platformIspCrop();
> +
> +	return 0;
> +}
> +
> +int Vc4CameraData::platformConfigureIpa(ipa::RPi::ConfigParams &params)
> +{
> +	params.ispControls = isp_[Isp::Input].dev()->controls();
> +
> +	/* Allocate the lens shading table via dmaHeap and pass to the IPA. */
> +	if (!lsTable_.isValid()) {
> +		lsTable_ = SharedFD(dmaHeap_.alloc("ls_grid", ipa::RPi::MaxLsGridSize));
> +		if (!lsTable_.isValid())
> +			return -ENOMEM;
> +
> +		/* Allow the IPA to mmap the LS table via the file descriptor. */
> +		/*
> +		 * \todo Investigate if mapping the lens shading table buffer
> +		 * could be handled with mapBuffers().
> +		 */
> +		params.lsTableHandle = lsTable_;
> +	}
> +
> +	return 0;
> +}
> +
> +void Vc4CameraData::platformStart()
> +{
> +}
> +
> +void Vc4CameraData::platformStop()
> +{
> +	bayerQueue_ = {};
> +	embeddedQueue_ = {};
> +}
> +
> +void Vc4CameraData::unicamBufferDequeue(FrameBuffer *buffer)
> +{
> +	RPi::Stream *stream = nullptr;
> +	unsigned int index;
> +
> +	if (!isRunning())
> +		return;
> +
> +	for (RPi::Stream &s : unicam_) {
> +		index = s.getBufferId(buffer);
> +		if (index) {
> +			stream = &s;
> +			break;
> +		}
> +	}
> +
> +	/* The buffer must belong to one of our streams. */
> +	ASSERT(stream);
> +
> +	LOG(RPI, Debug) << "Stream " << stream->name() << " buffer dequeue"
> +			<< ", buffer id " << index
> +			<< ", timestamp: " << buffer->metadata().timestamp;
> +
> +	if (stream == &unicam_[Unicam::Image]) {
> +		/*
> +		 * Lookup the sensor controls used for this frame sequence from
> +		 * DelayedControl and queue them along with the frame buffer.
> +		 */
> +		auto [ctrl, delayContext] = delayedCtrls_->get(buffer->metadata().sequence);
> +		/*
> +		 * Add the frame timestamp to the ControlList for the IPA to use
> +		 * as it does not receive the FrameBuffer object.
> +		 */
> +		ctrl.set(controls::SensorTimestamp, buffer->metadata().timestamp);
> +		bayerQueue_.push({ buffer, std::move(ctrl), delayContext });
> +	} else {
> +		embeddedQueue_.push(buffer);
> +	}
> +
> +	handleState();
> +}
> +
> +void Vc4CameraData::ispInputDequeue(FrameBuffer *buffer)
> +{
> +	if (!isRunning())
> +		return;
> +
> +	LOG(RPI, Debug) << "Stream ISP Input buffer complete"
> +			<< ", buffer id " << unicam_[Unicam::Image].getBufferId(buffer)
> +			<< ", timestamp: " << buffer->metadata().timestamp;
> +
> +	/* The ISP input buffer gets re-queued into Unicam. */
> +	handleStreamBuffer(buffer, &unicam_[Unicam::Image]);
> +	handleState();
> +}
> +
> +void Vc4CameraData::ispOutputDequeue(FrameBuffer *buffer)
> +{
> +	RPi::Stream *stream = nullptr;
> +	unsigned int index;
> +
> +	if (!isRunning())
> +		return;
> +
> +	for (RPi::Stream &s : isp_) {
> +		index = s.getBufferId(buffer);
> +		if (index) {
> +			stream = &s;
> +			break;
> +		}
> +	}
> +
> +	/* The buffer must belong to one of our ISP output streams. */
> +	ASSERT(stream);
> +
> +	LOG(RPI, Debug) << "Stream " << stream->name() << " buffer complete"
> +			<< ", buffer id " << index
> +			<< ", timestamp: " << buffer->metadata().timestamp;
> +
> +	/*
> +	 * ISP statistics buffer must not be re-queued or sent back to the
> +	 * application until after the IPA signals so.
> +	 */
> +	if (stream == &isp_[Isp::Stats]) {
> +		ipa::RPi::ProcessParams params;
> +		params.buffers.stats = index | RPi::MaskStats;
> +		params.ipaContext = requestQueue_.front()->sequence();
> +		ipa_->processStats(params);
> +	} else {
> +		/* Any other ISP output can be handed back to the application now. */
> +		handleStreamBuffer(buffer, stream);
> +	}
> +
> +	/*
> +	 * Increment the number of ISP outputs generated.
> +	 * This is needed to track dropped frames.
> +	 */
> +	ispOutputCount_++;
> +
> +	handleState();
> +}
> +
> +void Vc4CameraData::processStatsComplete(const ipa::RPi::BufferIds &buffers)
> +{
> +	if (!isRunning())
> +		return;
> +
> +	FrameBuffer *buffer = isp_[Isp::Stats].getBuffers().at(buffers.stats & RPi::MaskID);
> +
> +	handleStreamBuffer(buffer, &isp_[Isp::Stats]);
> +
> +	/* Last thing to do is to fill up the request metadata. */
> +	Request *request = requestQueue_.front();
> +	ControlList metadata(controls::controls);
> +
> +	ipa_->reportMetadata(request->sequence(), &metadata);
> +	request->metadata().merge(metadata);
> +
> +	/*
> +	 * Inform the sensor of the latest colour gains if it has the
> +	 * V4L2_CID_NOTIFY_GAINS control (which means notifyGainsUnity_ is set).
> +	 */
> +	const auto &colourGains = metadata.get(libcamera::controls::ColourGains);
> +	if (notifyGainsUnity_ && colourGains) {
> +		/* The control wants linear gains in the order B, Gb, Gr, R. */
> +		ControlList ctrls(sensor_->controls());
> +		std::array<int32_t, 4> gains{
> +			static_cast<int32_t>((*colourGains)[1] * *notifyGainsUnity_),
> +			*notifyGainsUnity_,
> +			*notifyGainsUnity_,
> +			static_cast<int32_t>((*colourGains)[0] * *notifyGainsUnity_)
> +		};
> +		ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ gains });
> +
> +		sensor_->setControls(&ctrls);
> +	}
> +
> +	state_ = State::IpaComplete;
> +	handleState();
> +}
> +
> +void Vc4CameraData::prepareIspComplete(const ipa::RPi::BufferIds &buffers)
> +{
> +	unsigned int embeddedId = buffers.embedded & RPi::MaskID;
> +	unsigned int bayer = buffers.bayer & RPi::MaskID;
> +	FrameBuffer *buffer;
> +
> +	if (!isRunning())
> +		return;
> +
> +	buffer = unicam_[Unicam::Image].getBuffers().at(bayer & RPi::MaskID);
> +	LOG(RPI, Debug) << "Input re-queue to ISP, buffer id " << (bayer & RPi::MaskID)
> +			<< ", timestamp: " << buffer->metadata().timestamp;
> +
> +	isp_[Isp::Input].queueBuffer(buffer);
> +	ispOutputCount_ = 0;
> +
> +	if (sensorMetadata_ && embeddedId) {
> +		buffer = unicam_[Unicam::Embedded].getBuffers().at(embeddedId & RPi::MaskID);
> +		handleStreamBuffer(buffer, &unicam_[Unicam::Embedded]);
> +	}
> +
> +	handleState();
> +}
> +
> +void Vc4CameraData::setIspControls(const ControlList &controls)
> +{
> +	ControlList ctrls = controls;
> +
> +	if (ctrls.contains(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING)) {
> +		ControlValue &value =
> +			const_cast<ControlValue &>(ctrls.get(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING));
> +		Span<uint8_t> s = value.data();
> +		bcm2835_isp_lens_shading *ls =
> +			reinterpret_cast<bcm2835_isp_lens_shading *>(s.data());
> +		ls->dmabuf = lsTable_.get();
> +	}
> +
> +	isp_[Isp::Input].dev()->setControls(&ctrls);
> +	handleState();
> +}
> +
> +void Vc4CameraData::setCameraTimeout(uint32_t maxFrameLengthMs)
> +{
> +	/*
> +	 * Set the dequeue timeout to the larger of 5x the maximum reported
> +	 * frame length advertised by the IPA over a number of frames. Allow
> +	 * a minimum timeout value of 1s.
> +	 */
> +	utils::Duration timeout =
> +		std::max<utils::Duration>(1s, 5 * maxFrameLengthMs * 1ms);
> +
> +	LOG(RPI, Debug) << "Setting Unicam timeout to " << timeout;
> +	unicam_[Unicam::Image].dev()->setDequeueTimeout(timeout);
> +}
> +
> +void Vc4CameraData::tryRunPipeline()
> +{
> +	FrameBuffer *embeddedBuffer;
> +	BayerFrame bayerFrame;
> +
> +	/* If any of our request or buffer queues are empty, we cannot proceed. */
> +	if (state_ != State::Idle || requestQueue_.empty() ||
> +	    bayerQueue_.empty() || (embeddedQueue_.empty() && sensorMetadata_))
> +		return;
> +
> +	if (!findMatchingBuffers(bayerFrame, embeddedBuffer))
> +		return;
> +
> +	/* Take the first request from the queue and action the IPA. */
> +	Request *request = requestQueue_.front();
> +
> +	/* See if a new ScalerCrop value needs to be applied. */
> +	calculateScalerCrop(request->controls());
> +
> +	/*
> +	 * Clear the request metadata and fill it with some initial non-IPA
> +	 * related controls. We clear it first because the request metadata
> +	 * may have been populated if we have dropped the previous frame.
> +	 */
> +	request->metadata().clear();
> +	fillRequestMetadata(bayerFrame.controls, request);
> +
> +	/* Set our state to say the pipeline is active. */
> +	state_ = State::Busy;
> +
> +	unsigned int bayer = unicam_[Unicam::Image].getBufferId(bayerFrame.buffer);
> +
> +	LOG(RPI, Debug) << "Signalling prepareIsp:"
> +			<< " Bayer buffer id: " << bayer;
> +
> +	ipa::RPi::PrepareParams params;
> +	params.buffers.bayer = RPi::MaskBayerData | bayer;
> +	params.sensorControls = std::move(bayerFrame.controls);
> +	params.requestControls = request->controls();
> +	params.ipaContext = request->sequence();
> +	params.delayContext = bayerFrame.delayContext;
> +
> +	if (embeddedBuffer) {
> +		unsigned int embeddedId = unicam_[Unicam::Embedded].getBufferId(embeddedBuffer);
> +
> +		params.buffers.embedded = RPi::MaskEmbeddedData | embeddedId;
> +		LOG(RPI, Debug) << "Signalling prepareIsp:"
> +				<< " Embedded buffer id: " << embeddedId;
> +	}
> +
> +	ipa_->prepareIsp(params);
> +}
> +
> +bool Vc4CameraData::findMatchingBuffers(BayerFrame &bayerFrame, FrameBuffer *&embeddedBuffer)
> +{
> +	if (bayerQueue_.empty())
> +		return false;
> +
> +	/*
> +	 * Find the embedded data buffer with a matching timestamp to pass to
> +	 * the IPA. Any embedded buffers with a timestamp lower than the
> +	 * current bayer buffer will be removed and re-queued to the driver.
> +	 */
> +	uint64_t ts = bayerQueue_.front().buffer->metadata().timestamp;
> +	embeddedBuffer = nullptr;
> +	while (!embeddedQueue_.empty()) {
> +		FrameBuffer *b = embeddedQueue_.front();
> +		if (b->metadata().timestamp < ts) {
> +			embeddedQueue_.pop();
> +			unicam_[Unicam::Embedded].returnBuffer(b);
> +			LOG(RPI, Debug) << "Dropping unmatched input frame in stream "
> +					<< unicam_[Unicam::Embedded].name();
> +		} else if (b->metadata().timestamp == ts) {
> +			/* Found a match! */
> +			embeddedBuffer = b;
> +			embeddedQueue_.pop();
> +			break;
> +		} else {
> +			break; /* Only higher timestamps from here. */
> +		}
> +	}
> +
> +	if (!embeddedBuffer && sensorMetadata_) {
> +		if (embeddedQueue_.empty()) {
> +			/*
> +			 * If the embedded buffer queue is empty, wait for the next
> +			 * buffer to arrive - dequeue ordering may send the image
> +			 * buffer first.
> +			 */
> +			LOG(RPI, Debug) << "Waiting for next embedded buffer.";
> +			return false;
> +		}
> +
> +		/* Log if there is no matching embedded data buffer found. */
> +		LOG(RPI, Debug) << "Returning bayer frame without a matching embedded buffer.";
> +	}
> +
> +	bayerFrame = std::move(bayerQueue_.front());
> +	bayerQueue_.pop();
> +
> +	return true;
> +}
> +
> +REGISTER_PIPELINE_HANDLER(PipelineHandlerVc4)
> +
> +} /* namespace libcamera */