| Message ID | 20201116120256.149789-1-naush@raspberrypi.com |
|---|---|
| State | Accepted |
| Headers | show |
| Series |
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| Related | show |
Hi Naush I've tried this out both in qcam, in our own libcamera apps, and in simple-cam with StreamRole::StillCapture and bufferCount set to 1 and 2 (had to rewind my libcamera tree a bit to make simple-cam work again). Anyway, everything worked fine for me. On Mon, 16 Nov 2020 at 12:05, Naushir Patuck <naush@raspberrypi.com> wrote: > > There is a condition that would cause the buffers to never be in sync > when we using only a single buffer in the bayer and embedded data streams. > This occurred because even though both streams would get flushed to resync, > one stream's only buffer was already queued in the device, and would end > up never matching. > > Rework the buffer matching logic by combining updateQueue() and > tryFlushQueue() into a single function findMatchingBuffers(). This would > allow us to flush the queues at the same time as we match buffers, avoiding > the the above condition. > > Signed-off-by: Naushir Patuck <naush@raspberrypi.com> Tested-by: David Plowman <david.plowman@raspberrypi.com> Best regards David > --- > .../pipeline/raspberrypi/raspberrypi.cpp | 176 +++++++++--------- > 1 file changed, 88 insertions(+), 88 deletions(-) > > diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > index 7ad66f21..26c6731c 100644 > --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > @@ -205,9 +205,7 @@ public: > private: > void checkRequestCompleted(); > void tryRunPipeline(); > - void tryFlushQueues(); > - FrameBuffer *updateQueue(std::queue<FrameBuffer *> &q, uint64_t timestamp, > - RPi::Stream *stream); > + bool findMatchingBuffers(FrameBuffer *&bayerBuffer, FrameBuffer *&embeddedBuffer); > > unsigned int ispOutputCount_; > }; > @@ -1537,7 +1535,6 @@ void RPiCameraData::handleState() > > case State::Idle: > tryRunPipeline(); > - tryFlushQueues(); > break; > } > } > @@ -1588,41 +1585,8 @@ void RPiCameraData::tryRunPipeline() > bayerQueue_.empty() || embeddedQueue_.empty()) > return; > > - /* Start with the front of the bayer buffer queue. */ > - bayerBuffer = bayerQueue_.front(); > - > - /* > - * 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. > - */ > - embeddedBuffer = updateQueue(embeddedQueue_, bayerBuffer->metadata().timestamp, > - &unicam_[Unicam::Embedded]); > - > - if (!embeddedBuffer) { > - LOG(RPI, Debug) << "Could not find matching embedded buffer"; > - > - /* > - * Look the other way, try to match a bayer buffer with the > - * first embedded buffer in the queue. This will also do some > - * housekeeping on the bayer image queue - clear out any > - * buffers that are older than the first buffer in the embedded > - * queue. > - * > - * But first check if the embedded queue has emptied out. > - */ > - if (embeddedQueue_.empty()) > - return; > - > - embeddedBuffer = embeddedQueue_.front(); > - bayerBuffer = updateQueue(bayerQueue_, embeddedBuffer->metadata().timestamp, > - &unicam_[Unicam::Image]); > - > - if (!bayerBuffer) { > - LOG(RPI, Debug) << "Could not find matching bayer buffer - ending."; > - return; > - } > - } > + if (!findMatchingBuffers(bayerBuffer, embeddedBuffer)) > + return; > > /* Take the first request from the queue and action the IPA. */ > Request *request = requestQueue_.front(); > @@ -1665,10 +1629,6 @@ void RPiCameraData::tryRunPipeline() > op.controls = { request->controls() }; > ipa_->processEvent(op); > > - /* Ready to use the buffers, pop them off the queue. */ > - bayerQueue_.pop(); > - embeddedQueue_.pop(); > - > /* Set our state to say the pipeline is active. */ > state_ = State::Busy; > > @@ -1685,62 +1645,102 @@ void RPiCameraData::tryRunPipeline() > ipa_->processEvent(op); > } > > -void RPiCameraData::tryFlushQueues() > +bool RPiCameraData::findMatchingBuffers(FrameBuffer *&bayerBuffer, FrameBuffer *&embeddedBuffer) > { > - /* > - * It is possible for us to end up in a situation where all available > - * Unicam buffers have been dequeued but do not match. This can happen > - * when the system is heavily loaded and we get out of lock-step with > - * the two channels. > - * > - * In such cases, the best thing to do is the re-queue all the buffers > - * and give a chance for the hardware to return to lock-step. We do have > - * to drop all interim frames. > - */ > - if (unicam_[Unicam::Image].getBuffers().size() == bayerQueue_.size() && > - unicam_[Unicam::Embedded].getBuffers().size() == embeddedQueue_.size()) { > - /* This cannot happen when Unicam streams are external. */ > - assert(!unicam_[Unicam::Image].isExternal()); > + unsigned int embeddedRequeueCount = 0, bayerRequeueCount = 0; > > - LOG(RPI, Warning) << "Flushing all buffer queues!"; > - > - while (!bayerQueue_.empty()) { > - unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); > - bayerQueue_.pop(); > - } > + /* Loop until we find a matching bayer and embedded data buffer. */ > + while (!bayerQueue_.empty()) { > + /* Start with the front of the bayer queue. */ > + bayerBuffer = bayerQueue_.front(); > > + /* > + * 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 = bayerBuffer->metadata().timestamp; > + embeddedBuffer = nullptr; > while (!embeddedQueue_.empty()) { > - unicam_[Unicam::Embedded].queueBuffer(embeddedQueue_.front()); > - embeddedQueue_.pop(); > + FrameBuffer *b = embeddedQueue_.front(); > + if (!unicam_[Unicam::Embedded].isExternal() && b->metadata().timestamp < ts) { > + embeddedQueue_.pop(); > + unicam_[Unicam::Embedded].queueBuffer(b); > + embeddedRequeueCount++; > + LOG(RPI, Warning) << "Dropping unmatched input frame in stream " > + << unicam_[Unicam::Embedded].name(); > + } else if (unicam_[Unicam::Embedded].isExternal() || b->metadata().timestamp == ts) { > + /* The calling function will pop the item from the queue. */ > + embeddedBuffer = b; > + break; > + } else { > + break; /* Only higher timestamps from here. */ > + } > } > - } > -} > > -FrameBuffer *RPiCameraData::updateQueue(std::queue<FrameBuffer *> &q, uint64_t timestamp, > - RPi::Stream *stream) > -{ > - /* > - * If the unicam streams are external (both have be to the same), then we > - * can only return out the top buffer in the queue, and assume they have > - * been synced by queuing at the same time. We cannot drop these frames, > - * as they may have been provided externally. > - */ > - while (!q.empty()) { > - FrameBuffer *b = q.front(); > - if (!stream->isExternal() && b->metadata().timestamp < timestamp) { > - q.pop(); > - stream->queueBuffer(b); > + if (!embeddedBuffer) { > + LOG(RPI, Debug) << "Could not find matching embedded buffer"; > + > + /* > + * If we have requeued all available embedded data buffers in this loop, > + * then we are fully out of sync, so might as well requeue all the pending > + * bayer buffers. > + */ > + if (embeddedRequeueCount == unicam_[Unicam::Embedded].getBuffers().size()) { > + /* The embedded queue must be empty at this point! */ > + ASSERT(embeddedQueue_.empty()); > + > + LOG(RPI, Warning) << "Flushing bayer stream!"; > + while (!bayerQueue_.empty()) { > + unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); > + bayerQueue_.pop(); > + } > + return false; > + } > + > + /* > + * Not found a matching embedded buffer for the bayer buffer in > + * the front of the queue. This buffer is now orphaned, so requeue > + * it back to the device. > + */ > + unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); > + bayerQueue_.pop(); > + bayerRequeueCount++; > LOG(RPI, Warning) << "Dropping unmatched input frame in stream " > - << stream->name(); > - } else if (stream->isExternal() || b->metadata().timestamp == timestamp) { > - /* The calling function will pop the item from the queue. */ > - return b; > + << unicam_[Unicam::Image].name(); > + > + /* > + * Similar to the above, if we have requeued all available bayer buffers in > + * the loop, then we are fully out of sync, so might as well requeue all the > + * pending embedded data buffers. > + */ > + if (bayerRequeueCount == unicam_[Unicam::Image].getBuffers().size()) { > + /* The embedded queue must be empty at this point! */ > + ASSERT(bayerQueue_.empty()); > + > + LOG(RPI, Warning) << "Flushing embedded data stream!"; > + while (!embeddedQueue_.empty()) { > + unicam_[Unicam::Embedded].queueBuffer(embeddedQueue_.front()); > + embeddedQueue_.pop(); > + } > + return false; > + } > + > + /* If the embedded queue has become empty, we cannot do any more. */ > + if (embeddedQueue_.empty()) > + return false; > } else { > - break; /* Only higher timestamps from here. */ > + /* > + * We have found a matching bayer and embedded data buffer, so > + * nothing more to do apart from popping the buffers from the queue. > + */ > + bayerQueue_.pop(); > + embeddedQueue_.pop(); > + return true; > } > } > > - return nullptr; > + return false; > } > > REGISTER_PIPELINE_HANDLER(PipelineHandlerRPi) > -- > 2.25.1 > > _______________________________________________ > libcamera-devel mailing list > libcamera-devel@lists.libcamera.org > https://lists.libcamera.org/listinfo/libcamera-devel
Hi David, On Mon, Nov 16, 2020 at 01:11:23PM +0000, David Plowman wrote: > Hi Naush > > I've tried this out both in qcam, in our own libcamera apps, and in > simple-cam with StreamRole::StillCapture and bufferCount set to 1 and > 2 (had to rewind my libcamera tree a bit to make simple-cam work > again). Sorry for breaking that in the first place :-S Kieran is working on a fix. > Anyway, everything worked fine for me. > > On Mon, 16 Nov 2020 at 12:05, Naushir Patuck <naush@raspberrypi.com> wrote: > > > > There is a condition that would cause the buffers to never be in sync > > when we using only a single buffer in the bayer and embedded data streams. > > This occurred because even though both streams would get flushed to resync, > > one stream's only buffer was already queued in the device, and would end > > up never matching. > > > > Rework the buffer matching logic by combining updateQueue() and > > tryFlushQueue() into a single function findMatchingBuffers(). This would > > allow us to flush the queues at the same time as we match buffers, avoiding > > the the above condition. > > > > Signed-off-by: Naushir Patuck <naush@raspberrypi.com> > > Tested-by: David Plowman <david.plowman@raspberrypi.com> > > Best regards > David > > > --- > > .../pipeline/raspberrypi/raspberrypi.cpp | 176 +++++++++--------- > > 1 file changed, 88 insertions(+), 88 deletions(-) > > > > diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > index 7ad66f21..26c6731c 100644 > > --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > @@ -205,9 +205,7 @@ public: > > private: > > void checkRequestCompleted(); > > void tryRunPipeline(); > > - void tryFlushQueues(); > > - FrameBuffer *updateQueue(std::queue<FrameBuffer *> &q, uint64_t timestamp, > > - RPi::Stream *stream); > > + bool findMatchingBuffers(FrameBuffer *&bayerBuffer, FrameBuffer *&embeddedBuffer); > > > > unsigned int ispOutputCount_; > > }; > > @@ -1537,7 +1535,6 @@ void RPiCameraData::handleState() > > > > case State::Idle: > > tryRunPipeline(); > > - tryFlushQueues(); > > break; > > } > > } > > @@ -1588,41 +1585,8 @@ void RPiCameraData::tryRunPipeline() > > bayerQueue_.empty() || embeddedQueue_.empty()) > > return; > > > > - /* Start with the front of the bayer buffer queue. */ > > - bayerBuffer = bayerQueue_.front(); > > - > > - /* > > - * 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. > > - */ > > - embeddedBuffer = updateQueue(embeddedQueue_, bayerBuffer->metadata().timestamp, > > - &unicam_[Unicam::Embedded]); > > - > > - if (!embeddedBuffer) { > > - LOG(RPI, Debug) << "Could not find matching embedded buffer"; > > - > > - /* > > - * Look the other way, try to match a bayer buffer with the > > - * first embedded buffer in the queue. This will also do some > > - * housekeeping on the bayer image queue - clear out any > > - * buffers that are older than the first buffer in the embedded > > - * queue. > > - * > > - * But first check if the embedded queue has emptied out. > > - */ > > - if (embeddedQueue_.empty()) > > - return; > > - > > - embeddedBuffer = embeddedQueue_.front(); > > - bayerBuffer = updateQueue(bayerQueue_, embeddedBuffer->metadata().timestamp, > > - &unicam_[Unicam::Image]); > > - > > - if (!bayerBuffer) { > > - LOG(RPI, Debug) << "Could not find matching bayer buffer - ending."; > > - return; > > - } > > - } > > + if (!findMatchingBuffers(bayerBuffer, embeddedBuffer)) > > + return; > > > > /* Take the first request from the queue and action the IPA. */ > > Request *request = requestQueue_.front(); > > @@ -1665,10 +1629,6 @@ void RPiCameraData::tryRunPipeline() > > op.controls = { request->controls() }; > > ipa_->processEvent(op); > > > > - /* Ready to use the buffers, pop them off the queue. */ > > - bayerQueue_.pop(); > > - embeddedQueue_.pop(); > > - > > /* Set our state to say the pipeline is active. */ > > state_ = State::Busy; > > > > @@ -1685,62 +1645,102 @@ void RPiCameraData::tryRunPipeline() > > ipa_->processEvent(op); > > } > > > > -void RPiCameraData::tryFlushQueues() > > +bool RPiCameraData::findMatchingBuffers(FrameBuffer *&bayerBuffer, FrameBuffer *&embeddedBuffer) > > { > > - /* > > - * It is possible for us to end up in a situation where all available > > - * Unicam buffers have been dequeued but do not match. This can happen > > - * when the system is heavily loaded and we get out of lock-step with > > - * the two channels. > > - * > > - * In such cases, the best thing to do is the re-queue all the buffers > > - * and give a chance for the hardware to return to lock-step. We do have > > - * to drop all interim frames. > > - */ > > - if (unicam_[Unicam::Image].getBuffers().size() == bayerQueue_.size() && > > - unicam_[Unicam::Embedded].getBuffers().size() == embeddedQueue_.size()) { > > - /* This cannot happen when Unicam streams are external. */ > > - assert(!unicam_[Unicam::Image].isExternal()); > > + unsigned int embeddedRequeueCount = 0, bayerRequeueCount = 0; > > > > - LOG(RPI, Warning) << "Flushing all buffer queues!"; > > - > > - while (!bayerQueue_.empty()) { > > - unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); > > - bayerQueue_.pop(); > > - } > > + /* Loop until we find a matching bayer and embedded data buffer. */ > > + while (!bayerQueue_.empty()) { > > + /* Start with the front of the bayer queue. */ > > + bayerBuffer = bayerQueue_.front(); > > > > + /* > > + * 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 = bayerBuffer->metadata().timestamp; > > + embeddedBuffer = nullptr; > > while (!embeddedQueue_.empty()) { > > - unicam_[Unicam::Embedded].queueBuffer(embeddedQueue_.front()); > > - embeddedQueue_.pop(); > > + FrameBuffer *b = embeddedQueue_.front(); > > + if (!unicam_[Unicam::Embedded].isExternal() && b->metadata().timestamp < ts) { > > + embeddedQueue_.pop(); > > + unicam_[Unicam::Embedded].queueBuffer(b); > > + embeddedRequeueCount++; > > + LOG(RPI, Warning) << "Dropping unmatched input frame in stream " > > + << unicam_[Unicam::Embedded].name(); > > + } else if (unicam_[Unicam::Embedded].isExternal() || b->metadata().timestamp == ts) { > > + /* The calling function will pop the item from the queue. */ > > + embeddedBuffer = b; > > + break; > > + } else { > > + break; /* Only higher timestamps from here. */ > > + } > > } > > - } > > -} > > > > -FrameBuffer *RPiCameraData::updateQueue(std::queue<FrameBuffer *> &q, uint64_t timestamp, > > - RPi::Stream *stream) > > -{ > > - /* > > - * If the unicam streams are external (both have be to the same), then we > > - * can only return out the top buffer in the queue, and assume they have > > - * been synced by queuing at the same time. We cannot drop these frames, > > - * as they may have been provided externally. > > - */ > > - while (!q.empty()) { > > - FrameBuffer *b = q.front(); > > - if (!stream->isExternal() && b->metadata().timestamp < timestamp) { > > - q.pop(); > > - stream->queueBuffer(b); > > + if (!embeddedBuffer) { > > + LOG(RPI, Debug) << "Could not find matching embedded buffer"; > > + > > + /* > > + * If we have requeued all available embedded data buffers in this loop, > > + * then we are fully out of sync, so might as well requeue all the pending > > + * bayer buffers. > > + */ > > + if (embeddedRequeueCount == unicam_[Unicam::Embedded].getBuffers().size()) { > > + /* The embedded queue must be empty at this point! */ > > + ASSERT(embeddedQueue_.empty()); > > + > > + LOG(RPI, Warning) << "Flushing bayer stream!"; > > + while (!bayerQueue_.empty()) { > > + unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); > > + bayerQueue_.pop(); > > + } > > + return false; > > + } > > + > > + /* > > + * Not found a matching embedded buffer for the bayer buffer in > > + * the front of the queue. This buffer is now orphaned, so requeue > > + * it back to the device. > > + */ > > + unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); > > + bayerQueue_.pop(); > > + bayerRequeueCount++; > > LOG(RPI, Warning) << "Dropping unmatched input frame in stream " > > - << stream->name(); > > - } else if (stream->isExternal() || b->metadata().timestamp == timestamp) { > > - /* The calling function will pop the item from the queue. */ > > - return b; > > + << unicam_[Unicam::Image].name(); > > + > > + /* > > + * Similar to the above, if we have requeued all available bayer buffers in > > + * the loop, then we are fully out of sync, so might as well requeue all the > > + * pending embedded data buffers. > > + */ > > + if (bayerRequeueCount == unicam_[Unicam::Image].getBuffers().size()) { > > + /* The embedded queue must be empty at this point! */ > > + ASSERT(bayerQueue_.empty()); > > + > > + LOG(RPI, Warning) << "Flushing embedded data stream!"; > > + while (!embeddedQueue_.empty()) { > > + unicam_[Unicam::Embedded].queueBuffer(embeddedQueue_.front()); > > + embeddedQueue_.pop(); > > + } > > + return false; > > + } > > + > > + /* If the embedded queue has become empty, we cannot do any more. */ > > + if (embeddedQueue_.empty()) > > + return false; > > } else { > > - break; /* Only higher timestamps from here. */ > > + /* > > + * We have found a matching bayer and embedded data buffer, so > > + * nothing more to do apart from popping the buffers from the queue. > > + */ > > + bayerQueue_.pop(); > > + embeddedQueue_.pop(); > > + return true; > > } > > } > > > > - return nullptr; > > + return false; > > } > > > > REGISTER_PIPELINE_HANDLER(PipelineHandlerRPi)
Hi Naush, Thank you for the patch. On Mon, Nov 16, 2020 at 12:02:56PM +0000, Naushir Patuck wrote: > There is a condition that would cause the buffers to never be in sync > when we using only a single buffer in the bayer and embedded data streams. > This occurred because even though both streams would get flushed to resync, > one stream's only buffer was already queued in the device, and would end > up never matching. > > Rework the buffer matching logic by combining updateQueue() and > tryFlushQueue() into a single function findMatchingBuffers(). This would > allow us to flush the queues at the same time as we match buffers, avoiding > the the above condition. > > Signed-off-by: Naushir Patuck <naush@raspberrypi.com> > --- > .../pipeline/raspberrypi/raspberrypi.cpp | 176 +++++++++--------- > 1 file changed, 88 insertions(+), 88 deletions(-) > > diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > index 7ad66f21..26c6731c 100644 > --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > @@ -205,9 +205,7 @@ public: > private: > void checkRequestCompleted(); > void tryRunPipeline(); > - void tryFlushQueues(); > - FrameBuffer *updateQueue(std::queue<FrameBuffer *> &q, uint64_t timestamp, > - RPi::Stream *stream); > + bool findMatchingBuffers(FrameBuffer *&bayerBuffer, FrameBuffer *&embeddedBuffer); > > unsigned int ispOutputCount_; > }; > @@ -1537,7 +1535,6 @@ void RPiCameraData::handleState() > > case State::Idle: > tryRunPipeline(); > - tryFlushQueues(); > break; > } > } > @@ -1588,41 +1585,8 @@ void RPiCameraData::tryRunPipeline() > bayerQueue_.empty() || embeddedQueue_.empty()) > return; > > - /* Start with the front of the bayer buffer queue. */ > - bayerBuffer = bayerQueue_.front(); > - > - /* > - * 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. > - */ > - embeddedBuffer = updateQueue(embeddedQueue_, bayerBuffer->metadata().timestamp, > - &unicam_[Unicam::Embedded]); > - > - if (!embeddedBuffer) { > - LOG(RPI, Debug) << "Could not find matching embedded buffer"; > - > - /* > - * Look the other way, try to match a bayer buffer with the > - * first embedded buffer in the queue. This will also do some > - * housekeeping on the bayer image queue - clear out any > - * buffers that are older than the first buffer in the embedded > - * queue. > - * > - * But first check if the embedded queue has emptied out. > - */ > - if (embeddedQueue_.empty()) > - return; > - > - embeddedBuffer = embeddedQueue_.front(); > - bayerBuffer = updateQueue(bayerQueue_, embeddedBuffer->metadata().timestamp, > - &unicam_[Unicam::Image]); > - > - if (!bayerBuffer) { > - LOG(RPI, Debug) << "Could not find matching bayer buffer - ending."; > - return; > - } > - } > + if (!findMatchingBuffers(bayerBuffer, embeddedBuffer)) > + return; > > /* Take the first request from the queue and action the IPA. */ > Request *request = requestQueue_.front(); > @@ -1665,10 +1629,6 @@ void RPiCameraData::tryRunPipeline() > op.controls = { request->controls() }; > ipa_->processEvent(op); > > - /* Ready to use the buffers, pop them off the queue. */ > - bayerQueue_.pop(); > - embeddedQueue_.pop(); > - > /* Set our state to say the pipeline is active. */ > state_ = State::Busy; > > @@ -1685,62 +1645,102 @@ void RPiCameraData::tryRunPipeline() > ipa_->processEvent(op); > } > > -void RPiCameraData::tryFlushQueues() > +bool RPiCameraData::findMatchingBuffers(FrameBuffer *&bayerBuffer, FrameBuffer *&embeddedBuffer) > { > - /* > - * It is possible for us to end up in a situation where all available > - * Unicam buffers have been dequeued but do not match. This can happen > - * when the system is heavily loaded and we get out of lock-step with > - * the two channels. > - * > - * In such cases, the best thing to do is the re-queue all the buffers > - * and give a chance for the hardware to return to lock-step. We do have > - * to drop all interim frames. > - */ > - if (unicam_[Unicam::Image].getBuffers().size() == bayerQueue_.size() && > - unicam_[Unicam::Embedded].getBuffers().size() == embeddedQueue_.size()) { > - /* This cannot happen when Unicam streams are external. */ > - assert(!unicam_[Unicam::Image].isExternal()); > + unsigned int embeddedRequeueCount = 0, bayerRequeueCount = 0; > > - LOG(RPI, Warning) << "Flushing all buffer queues!"; > - > - while (!bayerQueue_.empty()) { > - unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); > - bayerQueue_.pop(); > - } > + /* Loop until we find a matching bayer and embedded data buffer. */ > + while (!bayerQueue_.empty()) { > + /* Start with the front of the bayer queue. */ > + bayerBuffer = bayerQueue_.front(); > > + /* > + * 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. > + */ Missing space before *. > + uint64_t ts = bayerBuffer->metadata().timestamp; > + embeddedBuffer = nullptr; > while (!embeddedQueue_.empty()) { > - unicam_[Unicam::Embedded].queueBuffer(embeddedQueue_.front()); > - embeddedQueue_.pop(); > + FrameBuffer *b = embeddedQueue_.front(); > + if (!unicam_[Unicam::Embedded].isExternal() && b->metadata().timestamp < ts) { > + embeddedQueue_.pop(); > + unicam_[Unicam::Embedded].queueBuffer(b); > + embeddedRequeueCount++; > + LOG(RPI, Warning) << "Dropping unmatched input frame in stream " > + << unicam_[Unicam::Embedded].name(); > + } else if (unicam_[Unicam::Embedded].isExternal() || b->metadata().timestamp == ts) { I wonder if we could use the sequence number here, as the timestamp seems a bit fragile. I suppose the current unicam implementation guarantees that the image and embedded data timestamps will be identical if they refer to the same frame, but I'm concerned this could change in the future. Is there a similar guarantee on the sequence number, or can we only rely on the timestamp ? > + /* The calling function will pop the item from the queue. */ Is it the calling function, or the code at the end of this function ? > + embeddedBuffer = b; > + break; > + } else { > + break; /* Only higher timestamps from here. */ > + } > } > - } > -} > > -FrameBuffer *RPiCameraData::updateQueue(std::queue<FrameBuffer *> &q, uint64_t timestamp, > - RPi::Stream *stream) > -{ > - /* > - * If the unicam streams are external (both have be to the same), then we > - * can only return out the top buffer in the queue, and assume they have > - * been synced by queuing at the same time. We cannot drop these frames, > - * as they may have been provided externally. > - */ > - while (!q.empty()) { > - FrameBuffer *b = q.front(); > - if (!stream->isExternal() && b->metadata().timestamp < timestamp) { > - q.pop(); > - stream->queueBuffer(b); > + if (!embeddedBuffer) { > + LOG(RPI, Debug) << "Could not find matching embedded buffer"; > + > + /* > + * If we have requeued all available embedded data buffers in this loop, > + * then we are fully out of sync, so might as well requeue all the pending > + * bayer buffers. > + */ > + if (embeddedRequeueCount == unicam_[Unicam::Embedded].getBuffers().size()) { > + /* The embedded queue must be empty at this point! */ > + ASSERT(embeddedQueue_.empty()); > + > + LOG(RPI, Warning) << "Flushing bayer stream!"; > + while (!bayerQueue_.empty()) { > + unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); > + bayerQueue_.pop(); > + } > + return false; > + } > + > + /* > + * Not found a matching embedded buffer for the bayer buffer in > + * the front of the queue. This buffer is now orphaned, so requeue > + * it back to the device. > + */ > + unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); > + bayerQueue_.pop(); > + bayerRequeueCount++; > LOG(RPI, Warning) << "Dropping unmatched input frame in stream " > - << stream->name(); > - } else if (stream->isExternal() || b->metadata().timestamp == timestamp) { > - /* The calling function will pop the item from the queue. */ > - return b; > + << unicam_[Unicam::Image].name(); > + > + /* > + * Similar to the above, if we have requeued all available bayer buffers in > + * the loop, then we are fully out of sync, so might as well requeue all the > + * pending embedded data buffers. > + */ > + if (bayerRequeueCount == unicam_[Unicam::Image].getBuffers().size()) { > + /* The embedded queue must be empty at this point! */ > + ASSERT(bayerQueue_.empty()); > + > + LOG(RPI, Warning) << "Flushing embedded data stream!"; > + while (!embeddedQueue_.empty()) { > + unicam_[Unicam::Embedded].queueBuffer(embeddedQueue_.front()); > + embeddedQueue_.pop(); > + } > + return false; > + } > + > + /* If the embedded queue has become empty, we cannot do any more. */ > + if (embeddedQueue_.empty()) > + return false; > } else { > - break; /* Only higher timestamps from here. */ > + /* > + * We have found a matching bayer and embedded data buffer, so > + * nothing more to do apart from popping the buffers from the queue. > + */ > + bayerQueue_.pop(); > + embeddedQueue_.pop(); > + return true; > } > } > > - return nullptr; > + return false; The logic is too complex for my taste, but not worse than it was :-) I'm sure we'll have opportunities to refactor all this in the future when introducing new helpers. With the above issues addressed if applicable, Acked-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com> > } > > REGISTER_PIPELINE_HANDLER(PipelineHandlerRPi)
Hi Laurent, Thank you for your comments. On Mon, 16 Nov 2020 at 15:14, Laurent Pinchart < laurent.pinchart@ideasonboard.com> wrote: > Hi Naush, > > Thank you for the patch. > > On Mon, Nov 16, 2020 at 12:02:56PM +0000, Naushir Patuck wrote: > > There is a condition that would cause the buffers to never be in sync > > when we using only a single buffer in the bayer and embedded data > streams. > > This occurred because even though both streams would get flushed to > resync, > > one stream's only buffer was already queued in the device, and would end > > up never matching. > > > > Rework the buffer matching logic by combining updateQueue() and > > tryFlushQueue() into a single function findMatchingBuffers(). This would > > allow us to flush the queues at the same time as we match buffers, > avoiding > > the the above condition. > > > > Signed-off-by: Naushir Patuck <naush@raspberrypi.com> > > --- > > .../pipeline/raspberrypi/raspberrypi.cpp | 176 +++++++++--------- > > 1 file changed, 88 insertions(+), 88 deletions(-) > > > > diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > index 7ad66f21..26c6731c 100644 > > --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > @@ -205,9 +205,7 @@ public: > > private: > > void checkRequestCompleted(); > > void tryRunPipeline(); > > - void tryFlushQueues(); > > - FrameBuffer *updateQueue(std::queue<FrameBuffer *> &q, uint64_t > timestamp, > > - RPi::Stream *stream); > > + bool findMatchingBuffers(FrameBuffer *&bayerBuffer, FrameBuffer > *&embeddedBuffer); > > > > unsigned int ispOutputCount_; > > }; > > @@ -1537,7 +1535,6 @@ void RPiCameraData::handleState() > > > > case State::Idle: > > tryRunPipeline(); > > - tryFlushQueues(); > > break; > > } > > } > > @@ -1588,41 +1585,8 @@ void RPiCameraData::tryRunPipeline() > > bayerQueue_.empty() || embeddedQueue_.empty()) > > return; > > > > - /* Start with the front of the bayer buffer queue. */ > > - bayerBuffer = bayerQueue_.front(); > > - > > - /* > > - * 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. > > - */ > > - embeddedBuffer = updateQueue(embeddedQueue_, > bayerBuffer->metadata().timestamp, > > - &unicam_[Unicam::Embedded]); > > - > > - if (!embeddedBuffer) { > > - LOG(RPI, Debug) << "Could not find matching embedded > buffer"; > > - > > - /* > > - * Look the other way, try to match a bayer buffer with the > > - * first embedded buffer in the queue. This will also do > some > > - * housekeeping on the bayer image queue - clear out any > > - * buffers that are older than the first buffer in the > embedded > > - * queue. > > - * > > - * But first check if the embedded queue has emptied out. > > - */ > > - if (embeddedQueue_.empty()) > > - return; > > - > > - embeddedBuffer = embeddedQueue_.front(); > > - bayerBuffer = updateQueue(bayerQueue_, > embeddedBuffer->metadata().timestamp, > > - &unicam_[Unicam::Image]); > > - > > - if (!bayerBuffer) { > > - LOG(RPI, Debug) << "Could not find matching bayer > buffer - ending."; > > - return; > > - } > > - } > > + if (!findMatchingBuffers(bayerBuffer, embeddedBuffer)) > > + return; > > > > /* Take the first request from the queue and action the IPA. */ > > Request *request = requestQueue_.front(); > > @@ -1665,10 +1629,6 @@ void RPiCameraData::tryRunPipeline() > > op.controls = { request->controls() }; > > ipa_->processEvent(op); > > > > - /* Ready to use the buffers, pop them off the queue. */ > > - bayerQueue_.pop(); > > - embeddedQueue_.pop(); > > - > > /* Set our state to say the pipeline is active. */ > > state_ = State::Busy; > > > > @@ -1685,62 +1645,102 @@ void RPiCameraData::tryRunPipeline() > > ipa_->processEvent(op); > > } > > > > -void RPiCameraData::tryFlushQueues() > > +bool RPiCameraData::findMatchingBuffers(FrameBuffer *&bayerBuffer, > FrameBuffer *&embeddedBuffer) > > { > > - /* > > - * It is possible for us to end up in a situation where all > available > > - * Unicam buffers have been dequeued but do not match. This can > happen > > - * when the system is heavily loaded and we get out of lock-step > with > > - * the two channels. > > - * > > - * In such cases, the best thing to do is the re-queue all the > buffers > > - * and give a chance for the hardware to return to lock-step. We > do have > > - * to drop all interim frames. > > - */ > > - if (unicam_[Unicam::Image].getBuffers().size() == > bayerQueue_.size() && > > - unicam_[Unicam::Embedded].getBuffers().size() == > embeddedQueue_.size()) { > > - /* This cannot happen when Unicam streams are external. */ > > - assert(!unicam_[Unicam::Image].isExternal()); > > + unsigned int embeddedRequeueCount = 0, bayerRequeueCount = 0; > > > > - LOG(RPI, Warning) << "Flushing all buffer queues!"; > > - > > - while (!bayerQueue_.empty()) { > > - > unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); > > - bayerQueue_.pop(); > > - } > > + /* Loop until we find a matching bayer and embedded data buffer. */ > > + while (!bayerQueue_.empty()) { > > + /* Start with the front of the bayer queue. */ > > + bayerBuffer = bayerQueue_.front(); > > > > + /* > > + * 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. > > + */ > > Missing space before *. > > Oops, ack. Surprised the check patch script did not flag this one up. > > + uint64_t ts = bayerBuffer->metadata().timestamp; > > + embeddedBuffer = nullptr; > > while (!embeddedQueue_.empty()) { > > - > unicam_[Unicam::Embedded].queueBuffer(embeddedQueue_.front()); > > - embeddedQueue_.pop(); > > + FrameBuffer *b = embeddedQueue_.front(); > > + if (!unicam_[Unicam::Embedded].isExternal() && > b->metadata().timestamp < ts) { > > + embeddedQueue_.pop(); > > + unicam_[Unicam::Embedded].queueBuffer(b); > > + embeddedRequeueCount++; > > + LOG(RPI, Warning) << "Dropping unmatched > input frame in stream " > > + << > unicam_[Unicam::Embedded].name(); > > + } else if (unicam_[Unicam::Embedded].isExternal() > || b->metadata().timestamp == ts) { > > I wonder if we could use the sequence number here, as the timestamp > seems a bit fragile. I suppose the current unicam implementation > guarantees that the image and embedded data timestamps will be identical > if they refer to the same frame, but I'm concerned this could change in > the future. Is there a similar guarantee on the sequence number, or can > we only rely on the timestamp ? > Using sequence numbers would work equally well. Both sequence number and timestamps are guaranteed to be the same for the embedded + image buffer pair. However, I would prefer to make that change separate to this patch if that is ok? Only because I've done exhaustive testing when using timestamps and not sequence numbers. > > + /* The calling function will pop the item > from the queue. */ > > Is it the calling function, or the code at the end of this function ? > Sorry, this is an error in the comment. The calling function no longer pops the item, we do it at the end of the function. > > > + embeddedBuffer = b; > > + break; > > + } else { > > + break; /* Only higher timestamps from > here. */ > > + } > > } > > - } > > -} > > > > -FrameBuffer *RPiCameraData::updateQueue(std::queue<FrameBuffer *> &q, > uint64_t timestamp, > > - RPi::Stream *stream) > > -{ > > - /* > > - * If the unicam streams are external (both have be to the same), > then we > > - * can only return out the top buffer in the queue, and assume > they have > > - * been synced by queuing at the same time. We cannot drop these > frames, > > - * as they may have been provided externally. > > - */ > > - while (!q.empty()) { > > - FrameBuffer *b = q.front(); > > - if (!stream->isExternal() && b->metadata().timestamp < > timestamp) { > > - q.pop(); > > - stream->queueBuffer(b); > > + if (!embeddedBuffer) { > > + LOG(RPI, Debug) << "Could not find matching > embedded buffer"; > > + > > + /* > > + * If we have requeued all available embedded data > buffers in this loop, > > + * then we are fully out of sync, so might as well > requeue all the pending > > + * bayer buffers. > > + */ > > + if (embeddedRequeueCount == > unicam_[Unicam::Embedded].getBuffers().size()) { > > + /* The embedded queue must be empty at > this point! */ > > + ASSERT(embeddedQueue_.empty()); > > + > > + LOG(RPI, Warning) << "Flushing bayer > stream!"; > > + while (!bayerQueue_.empty()) { > > + > unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); > > + bayerQueue_.pop(); > > + } > > + return false; > > + } > > + > > + /* > > + * Not found a matching embedded buffer for the > bayer buffer in > > + * the front of the queue. This buffer is now > orphaned, so requeue > > + * it back to the device. > > + */ > > + > unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); > > + bayerQueue_.pop(); > > + bayerRequeueCount++; > > LOG(RPI, Warning) << "Dropping unmatched input > frame in stream " > > - << stream->name(); > > - } else if (stream->isExternal() || b->metadata().timestamp > == timestamp) { > > - /* The calling function will pop the item from the > queue. */ > > - return b; > > + << unicam_[Unicam::Image].name(); > > + > > + /* > > + * Similar to the above, if we have requeued all > available bayer buffers in > > + * the loop, then we are fully out of sync, so > might as well requeue all the > > + * pending embedded data buffers. > > + */ > > + if (bayerRequeueCount == > unicam_[Unicam::Image].getBuffers().size()) { > > + /* The embedded queue must be empty at > this point! */ > > + ASSERT(bayerQueue_.empty()); > > + > > + LOG(RPI, Warning) << "Flushing embedded > data stream!"; > > + while (!embeddedQueue_.empty()) { > > + > unicam_[Unicam::Embedded].queueBuffer(embeddedQueue_.front()); > > + embeddedQueue_.pop(); > > + } > > + return false; > > + } > > + > > + /* If the embedded queue has become empty, we > cannot do any more. */ > > + if (embeddedQueue_.empty()) > > + return false; > > } else { > > - break; /* Only higher timestamps from here. */ > > + /* > > + * We have found a matching bayer and embedded > data buffer, so > > + * nothing more to do apart from popping the > buffers from the queue. > > + */ > > + bayerQueue_.pop(); > > + embeddedQueue_.pop(); > > + return true; > > } > > } > > > > - return nullptr; > > + return false; > > The logic is too complex for my taste, but not worse than it was :-) I'm > sure we'll have opportunities to refactor all this in the future when > introducing new helpers. > > Indeed it is a bit complicated, and I have tried to simplify it as much as I can, but this buffer matching/handling is notoriously difficult to handle all edge cases fully :-) Yes, hopefully some of this might become libcamera helpers and simplify things! Regards, Naush With the above issues addressed if applicable, > > Acked-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com> > > > } > > > > REGISTER_PIPELINE_HANDLER(PipelineHandlerRPi) > > -- > Regards, > > Laurent Pinchart >
Hi Naush, On Tue, Nov 17, 2020 at 10:09:27AM +0000, Naushir Patuck wrote: > On Mon, 16 Nov 2020 at 15:14, Laurent Pinchart wrote: > > On Mon, Nov 16, 2020 at 12:02:56PM +0000, Naushir Patuck wrote: > > > There is a condition that would cause the buffers to never be in sync > > > when we using only a single buffer in the bayer and embedded datastreams. > > > This occurred because even though both streams would get flushed toresync, > > > one stream's only buffer was already queued in the device, and would end > > > up never matching. > > > > > > Rework the buffer matching logic by combining updateQueue() and > > > tryFlushQueue() into a single function findMatchingBuffers(). This would > > > allow us to flush the queues at the same time as we match buffers,avoiding > > > the the above condition. > > > > > > Signed-off-by: Naushir Patuck <naush@raspberrypi.com> > > > --- > > > .../pipeline/raspberrypi/raspberrypi.cpp | 176 +++++++++--------- > > > 1 file changed, 88 insertions(+), 88 deletions(-) > > > > > > diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cppb/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > > index 7ad66f21..26c6731c 100644 > > > --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > > +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > > > @@ -205,9 +205,7 @@ public: > > > private: > > > void checkRequestCompleted(); > > > void tryRunPipeline(); > > > - void tryFlushQueues(); > > > - FrameBuffer *updateQueue(std::queue<FrameBuffer *> &q, uint64_ttimestamp, > > > - RPi::Stream *stream); > > > + bool findMatchingBuffers(FrameBuffer *&bayerBuffer, FrameBuffer*&embeddedBuffer); > > > > > > unsigned int ispOutputCount_; > > > }; > > > @@ -1537,7 +1535,6 @@ void RPiCameraData::handleState() > > > > > > case State::Idle: > > > tryRunPipeline(); > > > - tryFlushQueues(); > > > break; > > > } > > > } > > > @@ -1588,41 +1585,8 @@ void RPiCameraData::tryRunPipeline() > > > bayerQueue_.empty() || embeddedQueue_.empty()) > > > return; > > > > > > - /* Start with the front of the bayer buffer queue. */ > > > - bayerBuffer = bayerQueue_.front(); > > > - > > > - /* > > > - * Find the embedded data buffer with a matching timestamp to passto > > > - * the IPA. Any embedded buffers with a timestamp lower than the > > > - * current bayer buffer will be removed and re-queued to thedriver. > > > - */ > > > - embeddedBuffer = updateQueue(embeddedQueue_,bayerBuffer->metadata().timestamp, > > > - &unicam_[Unicam::Embedded]); > > > - > > > - if (!embeddedBuffer) { > > > - LOG(RPI, Debug) << "Could not find matching embeddedbuffer"; > > > - > > > - /* > > > - * Look the other way, try to match a bayer buffer with the > > > - * first embedded buffer in the queue. This will also dosome > > > - * housekeeping on the bayer image queue - clear out any > > > - * buffers that are older than the first buffer in theembedded > > > - * queue. > > > - * > > > - * But first check if the embedded queue has emptied out. > > > - */ > > > - if (embeddedQueue_.empty()) > > > - return; > > > - > > > - embeddedBuffer = embeddedQueue_.front(); > > > - bayerBuffer = updateQueue(bayerQueue_,embeddedBuffer->metadata().timestamp, > > > - &unicam_[Unicam::Image]); > > > - > > > - if (!bayerBuffer) { > > > - LOG(RPI, Debug) << "Could not find matching bayerbuffer - ending."; > > > - return; > > > - } > > > - } > > > + if (!findMatchingBuffers(bayerBuffer, embeddedBuffer)) > > > + return; > > > > > > /* Take the first request from the queue and action the IPA. */ > > > Request *request = requestQueue_.front(); > > > @@ -1665,10 +1629,6 @@ void RPiCameraData::tryRunPipeline() > > > op.controls = { request->controls() }; > > > ipa_->processEvent(op); > > > > > > - /* Ready to use the buffers, pop them off the queue. */ > > > - bayerQueue_.pop(); > > > - embeddedQueue_.pop(); > > > - > > > /* Set our state to say the pipeline is active. */ > > > state_ = State::Busy; > > > > > > @@ -1685,62 +1645,102 @@ void RPiCameraData::tryRunPipeline() > > > ipa_->processEvent(op); > > > } > > > > > > -void RPiCameraData::tryFlushQueues() > > > +bool RPiCameraData::findMatchingBuffers(FrameBuffer *&bayerBuffer,FrameBuffer *&embeddedBuffer) > > > { > > > - /* > > > - * It is possible for us to end up in a situation where allavailable > > > - * Unicam buffers have been dequeued but do not match. This canhappen > > > - * when the system is heavily loaded and we get out of lock-stepwith > > > - * the two channels. > > > - * > > > - * In such cases, the best thing to do is the re-queue all thebuffers > > > - * and give a chance for the hardware to return to lock-step. Wedo have > > > - * to drop all interim frames. > > > - */ > > > - if (unicam_[Unicam::Image].getBuffers().size() ==bayerQueue_.size() && > > > - unicam_[Unicam::Embedded].getBuffers().size() ==embeddedQueue_.size()) { > > > - /* This cannot happen when Unicam streams are external. */ > > > - assert(!unicam_[Unicam::Image].isExternal()); > > > + unsigned int embeddedRequeueCount = 0, bayerRequeueCount = 0; > > > > > > - LOG(RPI, Warning) << "Flushing all buffer queues!"; > > > - > > > - while (!bayerQueue_.empty()) { > > > - unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); > > > - bayerQueue_.pop(); > > > - } > > > + /* Loop until we find a matching bayer and embedded data buffer. */ > > > + while (!bayerQueue_.empty()) { > > > + /* Start with the front of the bayer queue. */ > > > + bayerBuffer = bayerQueue_.front(); > > > > > > + /* > > > + * Find the embedded data buffer with a matching timestampto pass to > > > + * the IPA. Any embedded buffers with a timestamp lowerthan the > > > + * current bayer buffer will be removed and re-queued tothe driver. > > > + */ > > > > Missing space before *. > > Oops, ack. Surprised the check patch script did not flag this one up. > > > > + uint64_t ts = bayerBuffer->metadata().timestamp; > > > + embeddedBuffer = nullptr; > > > while (!embeddedQueue_.empty()) { > > > - unicam_[Unicam::Embedded].queueBuffer(embeddedQueue_.front()); > > > - embeddedQueue_.pop(); > > > + FrameBuffer *b = embeddedQueue_.front(); > > > + if (!unicam_[Unicam::Embedded].isExternal() &&b->metadata().timestamp < ts) { > > > + embeddedQueue_.pop(); > > > + unicam_[Unicam::Embedded].queueBuffer(b); > > > + embeddedRequeueCount++; > > > + LOG(RPI, Warning) << "Dropping unmatchedinput frame in stream " > > > + <<unicam_[Unicam::Embedded].name(); > > > + } else if (unicam_[Unicam::Embedded].isExternal()|| b->metadata().timestamp == ts) { > > > > I wonder if we could use the sequence number here, as the timestamp > > seems a bit fragile. I suppose the current unicam implementation > > guarantees that the image and embedded data timestamps will be identical > > if they refer to the same frame, but I'm concerned this could change in > > the future. Is there a similar guarantee on the sequence number, or can > > we only rely on the timestamp ? > > Using sequence numbers would work equally well. Both sequence number and > timestamps are guaranteed to be the same for the embedded + image buffer > pair. However, I would prefer to make that change separate to this patch > if that is ok? Only because I've done exhaustive testing when using > timestamps and not sequence numbers. Sure, no issue. > > > + /* The calling function will pop the itemfrom the queue. */ > > > > Is it the calling function, or the code at the end of this function ? > > Sorry, this is an error in the comment. The calling function no longer > pops the item, we do it at the end of the function. > > > > + embeddedBuffer = b; > > > + break; > > > + } else { > > > + break; /* Only higher timestamps fromhere. */ > > > + } > > > } > > > - } > > > -} > > > > > > -FrameBuffer *RPiCameraData::updateQueue(std::queue<FrameBuffer *> &q,uint64_t timestamp, > > > - RPi::Stream *stream) > > > -{ > > > - /* > > > - * If the unicam streams are external (both have be to the same),then we > > > - * can only return out the top buffer in the queue, and assumethey have > > > - * been synced by queuing at the same time. We cannot drop theseframes, > > > - * as they may have been provided externally. > > > - */ > > > - while (!q.empty()) { > > > - FrameBuffer *b = q.front(); > > > - if (!stream->isExternal() && b->metadata().timestamp <timestamp) { > > > - q.pop(); > > > - stream->queueBuffer(b); > > > + if (!embeddedBuffer) { > > > + LOG(RPI, Debug) << "Could not find matchingembedded buffer"; > > > + > > > + /* > > > + * If we have requeued all available embedded databuffers in this loop, > > > + * then we are fully out of sync, so might as wellrequeue all the pending > > > + * bayer buffers. > > > + */ > > > + if (embeddedRequeueCount ==unicam_[Unicam::Embedded].getBuffers().size()) { > > > + /* The embedded queue must be empty atthis point! */ > > > + ASSERT(embeddedQueue_.empty()); > > > + > > > + LOG(RPI, Warning) << "Flushing bayerstream!"; > > > + while (!bayerQueue_.empty()) { > > > + unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); > > > + bayerQueue_.pop(); > > > + } > > > + return false; > > > + } > > > + > > > + /* > > > + * Not found a matching embedded buffer for thebayer buffer in > > > + * the front of the queue. This buffer is noworphaned, so requeue > > > + * it back to the device. > > > + */ > > > + unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); > > > + bayerQueue_.pop(); > > > + bayerRequeueCount++; > > > LOG(RPI, Warning) << "Dropping unmatched inputframe in stream " > > > - << stream->name(); > > > - } else if (stream->isExternal() || b->metadata().timestamp== timestamp) { > > > - /* The calling function will pop the item from thequeue. */ > > > - return b; > > > + << unicam_[Unicam::Image].name(); > > > + > > > + /* > > > + * Similar to the above, if we have requeued allavailable bayer buffers in > > > + * the loop, then we are fully out of sync, somight as well requeue all the > > > + * pending embedded data buffers. > > > + */ > > > + if (bayerRequeueCount ==unicam_[Unicam::Image].getBuffers().size()) { > > > + /* The embedded queue must be empty atthis point! */ > > > + ASSERT(bayerQueue_.empty()); > > > + > > > + LOG(RPI, Warning) << "Flushing embeddeddata stream!"; > > > + while (!embeddedQueue_.empty()) { > > > + unicam_[Unicam::Embedded].queueBuffer(embeddedQueue_.front()); > > > + embeddedQueue_.pop(); > > > + } > > > + return false; > > > + } > > > + > > > + /* If the embedded queue has become empty, wecannot do any more. */ > > > + if (embeddedQueue_.empty()) > > > + return false; > > > } else { > > > - break; /* Only higher timestamps from here. */ > > > + /* > > > + * We have found a matching bayer and embeddeddata buffer, so > > > + * nothing more to do apart from popping thebuffers from the queue. > > > + */ > > > + bayerQueue_.pop(); > > > + embeddedQueue_.pop(); > > > + return true; > > > } > > > } > > > > > > - return nullptr; > > > + return false; > > > > The logic is too complex for my taste, but not worse than it was :-) I'm > > sure we'll have opportunities to refactor all this in the future when > > introducing new helpers. > > Indeed it is a bit complicated, and I have tried to simplify it as much as > I can, but this buffer matching/handling is notoriously difficult to handle > all edge cases fully :-) > Yes, hopefully some of this might become libcamera helpers and simplify > things! > > > With the above issues addressed if applicable, > > > > Acked-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com> > > > > > } > > > > > > REGISTER_PIPELINE_HANDLER(PipelineHandlerRPi)
diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp index 7ad66f21..26c6731c 100644 --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp @@ -205,9 +205,7 @@ public: private: void checkRequestCompleted(); void tryRunPipeline(); - void tryFlushQueues(); - FrameBuffer *updateQueue(std::queue<FrameBuffer *> &q, uint64_t timestamp, - RPi::Stream *stream); + bool findMatchingBuffers(FrameBuffer *&bayerBuffer, FrameBuffer *&embeddedBuffer); unsigned int ispOutputCount_; }; @@ -1537,7 +1535,6 @@ void RPiCameraData::handleState() case State::Idle: tryRunPipeline(); - tryFlushQueues(); break; } } @@ -1588,41 +1585,8 @@ void RPiCameraData::tryRunPipeline() bayerQueue_.empty() || embeddedQueue_.empty()) return; - /* Start with the front of the bayer buffer queue. */ - bayerBuffer = bayerQueue_.front(); - - /* - * 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. - */ - embeddedBuffer = updateQueue(embeddedQueue_, bayerBuffer->metadata().timestamp, - &unicam_[Unicam::Embedded]); - - if (!embeddedBuffer) { - LOG(RPI, Debug) << "Could not find matching embedded buffer"; - - /* - * Look the other way, try to match a bayer buffer with the - * first embedded buffer in the queue. This will also do some - * housekeeping on the bayer image queue - clear out any - * buffers that are older than the first buffer in the embedded - * queue. - * - * But first check if the embedded queue has emptied out. - */ - if (embeddedQueue_.empty()) - return; - - embeddedBuffer = embeddedQueue_.front(); - bayerBuffer = updateQueue(bayerQueue_, embeddedBuffer->metadata().timestamp, - &unicam_[Unicam::Image]); - - if (!bayerBuffer) { - LOG(RPI, Debug) << "Could not find matching bayer buffer - ending."; - return; - } - } + if (!findMatchingBuffers(bayerBuffer, embeddedBuffer)) + return; /* Take the first request from the queue and action the IPA. */ Request *request = requestQueue_.front(); @@ -1665,10 +1629,6 @@ void RPiCameraData::tryRunPipeline() op.controls = { request->controls() }; ipa_->processEvent(op); - /* Ready to use the buffers, pop them off the queue. */ - bayerQueue_.pop(); - embeddedQueue_.pop(); - /* Set our state to say the pipeline is active. */ state_ = State::Busy; @@ -1685,62 +1645,102 @@ void RPiCameraData::tryRunPipeline() ipa_->processEvent(op); } -void RPiCameraData::tryFlushQueues() +bool RPiCameraData::findMatchingBuffers(FrameBuffer *&bayerBuffer, FrameBuffer *&embeddedBuffer) { - /* - * It is possible for us to end up in a situation where all available - * Unicam buffers have been dequeued but do not match. This can happen - * when the system is heavily loaded and we get out of lock-step with - * the two channels. - * - * In such cases, the best thing to do is the re-queue all the buffers - * and give a chance for the hardware to return to lock-step. We do have - * to drop all interim frames. - */ - if (unicam_[Unicam::Image].getBuffers().size() == bayerQueue_.size() && - unicam_[Unicam::Embedded].getBuffers().size() == embeddedQueue_.size()) { - /* This cannot happen when Unicam streams are external. */ - assert(!unicam_[Unicam::Image].isExternal()); + unsigned int embeddedRequeueCount = 0, bayerRequeueCount = 0; - LOG(RPI, Warning) << "Flushing all buffer queues!"; - - while (!bayerQueue_.empty()) { - unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); - bayerQueue_.pop(); - } + /* Loop until we find a matching bayer and embedded data buffer. */ + while (!bayerQueue_.empty()) { + /* Start with the front of the bayer queue. */ + bayerBuffer = bayerQueue_.front(); + /* + * 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 = bayerBuffer->metadata().timestamp; + embeddedBuffer = nullptr; while (!embeddedQueue_.empty()) { - unicam_[Unicam::Embedded].queueBuffer(embeddedQueue_.front()); - embeddedQueue_.pop(); + FrameBuffer *b = embeddedQueue_.front(); + if (!unicam_[Unicam::Embedded].isExternal() && b->metadata().timestamp < ts) { + embeddedQueue_.pop(); + unicam_[Unicam::Embedded].queueBuffer(b); + embeddedRequeueCount++; + LOG(RPI, Warning) << "Dropping unmatched input frame in stream " + << unicam_[Unicam::Embedded].name(); + } else if (unicam_[Unicam::Embedded].isExternal() || b->metadata().timestamp == ts) { + /* The calling function will pop the item from the queue. */ + embeddedBuffer = b; + break; + } else { + break; /* Only higher timestamps from here. */ + } } - } -} -FrameBuffer *RPiCameraData::updateQueue(std::queue<FrameBuffer *> &q, uint64_t timestamp, - RPi::Stream *stream) -{ - /* - * If the unicam streams are external (both have be to the same), then we - * can only return out the top buffer in the queue, and assume they have - * been synced by queuing at the same time. We cannot drop these frames, - * as they may have been provided externally. - */ - while (!q.empty()) { - FrameBuffer *b = q.front(); - if (!stream->isExternal() && b->metadata().timestamp < timestamp) { - q.pop(); - stream->queueBuffer(b); + if (!embeddedBuffer) { + LOG(RPI, Debug) << "Could not find matching embedded buffer"; + + /* + * If we have requeued all available embedded data buffers in this loop, + * then we are fully out of sync, so might as well requeue all the pending + * bayer buffers. + */ + if (embeddedRequeueCount == unicam_[Unicam::Embedded].getBuffers().size()) { + /* The embedded queue must be empty at this point! */ + ASSERT(embeddedQueue_.empty()); + + LOG(RPI, Warning) << "Flushing bayer stream!"; + while (!bayerQueue_.empty()) { + unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); + bayerQueue_.pop(); + } + return false; + } + + /* + * Not found a matching embedded buffer for the bayer buffer in + * the front of the queue. This buffer is now orphaned, so requeue + * it back to the device. + */ + unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); + bayerQueue_.pop(); + bayerRequeueCount++; LOG(RPI, Warning) << "Dropping unmatched input frame in stream " - << stream->name(); - } else if (stream->isExternal() || b->metadata().timestamp == timestamp) { - /* The calling function will pop the item from the queue. */ - return b; + << unicam_[Unicam::Image].name(); + + /* + * Similar to the above, if we have requeued all available bayer buffers in + * the loop, then we are fully out of sync, so might as well requeue all the + * pending embedded data buffers. + */ + if (bayerRequeueCount == unicam_[Unicam::Image].getBuffers().size()) { + /* The embedded queue must be empty at this point! */ + ASSERT(bayerQueue_.empty()); + + LOG(RPI, Warning) << "Flushing embedded data stream!"; + while (!embeddedQueue_.empty()) { + unicam_[Unicam::Embedded].queueBuffer(embeddedQueue_.front()); + embeddedQueue_.pop(); + } + return false; + } + + /* If the embedded queue has become empty, we cannot do any more. */ + if (embeddedQueue_.empty()) + return false; } else { - break; /* Only higher timestamps from here. */ + /* + * We have found a matching bayer and embedded data buffer, so + * nothing more to do apart from popping the buffers from the queue. + */ + bayerQueue_.pop(); + embeddedQueue_.pop(); + return true; } } - return nullptr; + return false; } REGISTER_PIPELINE_HANDLER(PipelineHandlerRPi)
There is a condition that would cause the buffers to never be in sync when we using only a single buffer in the bayer and embedded data streams. This occurred because even though both streams would get flushed to resync, one stream's only buffer was already queued in the device, and would end up never matching. Rework the buffer matching logic by combining updateQueue() and tryFlushQueue() into a single function findMatchingBuffers(). This would allow us to flush the queues at the same time as we match buffers, avoiding the the above condition. Signed-off-by: Naushir Patuck <naush@raspberrypi.com> --- .../pipeline/raspberrypi/raspberrypi.cpp | 176 +++++++++--------- 1 file changed, 88 insertions(+), 88 deletions(-)