From patchwork Tue Jun 8 11:03:33 2021 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Naushir Patuck X-Patchwork-Id: 12516 Return-Path: X-Original-To: parsemail@patchwork.libcamera.org Delivered-To: parsemail@patchwork.libcamera.org Received: from lancelot.ideasonboard.com (lancelot.ideasonboard.com [92.243.16.209]) by patchwork.libcamera.org (Postfix) with ESMTPS id 97380BD22E for ; Tue, 8 Jun 2021 11:03:46 +0000 (UTC) Received: from lancelot.ideasonboard.com (localhost [IPv6:::1]) by lancelot.ideasonboard.com (Postfix) with ESMTP id 599F96892E; Tue, 8 Jun 2021 13:03:46 +0200 (CEST) Authentication-Results: lancelot.ideasonboard.com; dkim=fail reason="signature verification failed" (2048-bit key; unprotected) header.d=raspberrypi.com header.i=@raspberrypi.com header.b="CeE0ZA1F"; dkim-atps=neutral Received: from mail-wr1-x433.google.com (mail-wr1-x433.google.com [IPv6:2a00:1450:4864:20::433]) by lancelot.ideasonboard.com (Postfix) with ESMTPS id C584168930 for ; Tue, 8 Jun 2021 13:03:41 +0200 (CEST) Received: by mail-wr1-x433.google.com with SMTP id r9so4394908wrz.10 for ; Tue, 08 Jun 2021 04:03:41 -0700 (PDT) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=raspberrypi.com; s=google; h=from:to:cc:subject:date:message-id:in-reply-to:references :mime-version:content-transfer-encoding; bh=yME5FCrCg19JnvRxSTvNgwfjfmnjYTDgYXpLunm2vv8=; b=CeE0ZA1FguQ6qXS0F/V3odVMFn1icFYvUccLM/s45oupHN+aLljVdIGGqwc/TPkmgd C4IRvtvUU8oB94kvNHQso1KzJirz8SPM/yQgH/NxKw4pMzQ0vIHS5CE3wrLZ/DSFEMVz oMlzQ1rctOzdIBRlSMBAHi2Ag0KU9acMy+rjSBTKooDNwjou4kXFSAdq8WY5BrmplZFl 2GQZIWbIC24yWMKKmFoh8bEhvTox99cL/knYHjAadL2d7w40lAIlCufQKG7UbjipYqqz bPp/3qrc7RanLonW16r1Rf2zqDFhcgIhmuwDULp5HGGfA7b2q1IadllKrNvSZwMaLssB E17g== X-Google-DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=1e100.net; s=20161025; h=x-gm-message-state:from:to:cc:subject:date:message-id:in-reply-to :references:mime-version:content-transfer-encoding; bh=yME5FCrCg19JnvRxSTvNgwfjfmnjYTDgYXpLunm2vv8=; b=Qw0FgCi/CRB0R6EOBeEoXlvcKZo1QUWRydBEKnOQE02YBqfiADMeCpyU0qZSxGUGIU cbX8LcOHL1Hid6dtuekVCvxBtmvsPLJZwnWWEM5B29QPB/wqeQKHMK8wNm+1e1sj0O7I IQ1b5meev7cSWNQ6Wgc+7bStFku9rKnZeAsH4Tmjxjeq0U2LaptunXRVhBK15diSHj5v 0Rbxt+CNMEqjRj431QPkt/z8/G2bpHflCns4oHsapQ3xY2iCtWNT1SD3lUHZysSDiUfV hBaROYnNfVXj5wt+mh2H9FGKca2HCzmJk/8UXgeDG12asR47LdaxuTP0n9BNJNKaiPis vOcg== X-Gm-Message-State: AOAM533gJh1LPhMa5v7gAB3ttrmEZyeP/jsJeQwV6WifhXcTPAGbH8A9 I0STtRUaOKN8wQMOOnULPCda2AdtkaGPLg== X-Google-Smtp-Source: ABdhPJyA5WPC4XhgUz2IvCdTjIYWAfB2aYGe5yuR/r8v/db8YHADkLrY4OL39w6Y7JszIWIIOR1jrw== X-Received: by 2002:a05:6000:551:: with SMTP id b17mr21855722wrf.32.1623150220749; Tue, 08 Jun 2021 04:03:40 -0700 (PDT) Received: from naush-laptop.pitowers.org ([2a00:1098:3142:14:5aef:f665:51b0:d8c0]) by smtp.gmail.com with ESMTPSA id o129sm2639350wmo.22.2021.06.08.04.03.39 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Tue, 08 Jun 2021 04:03:40 -0700 (PDT) From: Naushir Patuck To: libcamera-devel@lists.libcamera.org Date: Tue, 8 Jun 2021 12:03:33 +0100 Message-Id: <20210608110335.4078551-3-naush@raspberrypi.com> X-Mailer: git-send-email 2.25.1 In-Reply-To: <20210608110335.4078551-1-naush@raspberrypi.com> References: <20210608110335.4078551-1-naush@raspberrypi.com> MIME-Version: 1.0 Subject: [libcamera-devel] [PATCH v6 2/4] ipa: raspberrypi: Switch ipa and cam_helper to use utils::Duration X-BeenThere: libcamera-devel@lists.libcamera.org X-Mailman-Version: 2.1.29 Precedence: list List-Id: List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , Errors-To: libcamera-devel-bounces@lists.libcamera.org Sender: "libcamera-devel" Switch the ipa and cam_helper code to use libcamera::utils::Duration for all time based variables. This improves code readability and avoids possible errors when converting between time bases. Signed-off-by: Naushir Patuck Reviewed-by: David Plowman Reviewed-by: Laurent Pinchart Reviewed-by: Jacopo Mondi --- src/ipa/raspberrypi/cam_helper.cpp | 20 ++++--- src/ipa/raspberrypi/cam_helper.hpp | 10 ++-- src/ipa/raspberrypi/controller/camera_mode.h | 6 +- src/ipa/raspberrypi/raspberrypi.cpp | 62 ++++++++++---------- 4 files changed, 53 insertions(+), 45 deletions(-) diff --git a/src/ipa/raspberrypi/cam_helper.cpp b/src/ipa/raspberrypi/cam_helper.cpp index 09917f3cc079..92a38007f038 100644 --- a/src/ipa/raspberrypi/cam_helper.cpp +++ b/src/ipa/raspberrypi/cam_helper.cpp @@ -18,6 +18,7 @@ using namespace RPiController; using namespace libcamera; +using libcamera::utils::Duration; namespace libcamera { LOG_DECLARE_CATEGORY(IPARPI) @@ -61,20 +62,21 @@ void CamHelper::Process([[maybe_unused]] StatisticsPtr &stats, { } -uint32_t CamHelper::ExposureLines(double exposure_us) const +uint32_t CamHelper::ExposureLines(const Duration exposure) const { assert(initialized_); - return exposure_us * 1000.0 / mode_.line_length; + return exposure / mode_.line_length; } -double CamHelper::Exposure(uint32_t exposure_lines) const +Duration CamHelper::Exposure(uint32_t exposure_lines) const { assert(initialized_); - return exposure_lines * mode_.line_length / 1000.0; + return exposure_lines * mode_.line_length; } -uint32_t CamHelper::GetVBlanking(double &exposure, double minFrameDuration, - double maxFrameDuration) const +uint32_t CamHelper::GetVBlanking(Duration &exposure, + Duration minFrameDuration, + Duration maxFrameDuration) const { uint32_t frameLengthMin, frameLengthMax, vblank; uint32_t exposureLines = ExposureLines(exposure); @@ -85,8 +87,8 @@ uint32_t CamHelper::GetVBlanking(double &exposure, double minFrameDuration, * minFrameDuration and maxFrameDuration are clamped by the caller * based on the limits for the active sensor mode. */ - frameLengthMin = 1e3 * minFrameDuration / mode_.line_length; - frameLengthMax = 1e3 * maxFrameDuration / mode_.line_length; + frameLengthMin = minFrameDuration / mode_.line_length; + frameLengthMax = maxFrameDuration / mode_.line_length; /* * Limit the exposure to the maximum frame duration requested, and @@ -182,7 +184,7 @@ void CamHelper::parseEmbeddedData(Span buffer, return; } - deviceStatus.shutter_speed = Exposure(exposureLines); + deviceStatus.shutter_speed = Exposure(exposureLines).get(); deviceStatus.analogue_gain = Gain(gainCode); LOG(IPARPI, Debug) << "Metadata updated - Exposure : " diff --git a/src/ipa/raspberrypi/cam_helper.hpp b/src/ipa/raspberrypi/cam_helper.hpp index a52f3f0b583c..f53f5c39b01c 100644 --- a/src/ipa/raspberrypi/cam_helper.hpp +++ b/src/ipa/raspberrypi/cam_helper.hpp @@ -15,6 +15,7 @@ #include "controller/metadata.hpp" #include "md_parser.hpp" +#include "libcamera/internal/utils.h" #include "libcamera/internal/v4l2_videodevice.h" namespace RPiController { @@ -72,10 +73,11 @@ public: virtual void Prepare(libcamera::Span buffer, Metadata &metadata); virtual void Process(StatisticsPtr &stats, Metadata &metadata); - uint32_t ExposureLines(double exposure_us) const; - double Exposure(uint32_t exposure_lines) const; // in us - virtual uint32_t GetVBlanking(double &exposure_us, double minFrameDuration, - double maxFrameDuration) const; + uint32_t ExposureLines(libcamera::utils::Duration exposure) const; + libcamera::utils::Duration Exposure(uint32_t exposure_lines) const; + virtual uint32_t GetVBlanking(libcamera::utils::Duration &exposure, + libcamera::utils::Duration minFrameDuration, + libcamera::utils::Duration maxFrameDuration) const; virtual uint32_t GainCode(double gain) const = 0; virtual double Gain(uint32_t gain_code) const = 0; virtual void GetDelays(int &exposure_delay, int &gain_delay, diff --git a/src/ipa/raspberrypi/controller/camera_mode.h b/src/ipa/raspberrypi/controller/camera_mode.h index 256438c931d9..2aa2335dcf90 100644 --- a/src/ipa/raspberrypi/controller/camera_mode.h +++ b/src/ipa/raspberrypi/controller/camera_mode.h @@ -8,6 +8,8 @@ #include +#include "libcamera/internal/utils.h" + // Description of a "camera mode", holding enough information for control // algorithms to adapt their behaviour to the different modes of the camera, // including binning, scaling, cropping etc. @@ -33,8 +35,8 @@ struct CameraMode { double scale_x, scale_y; // scaling of the noise compared to the native sensor mode double noise_factor; - // line time in nanoseconds - double line_length; + // line time + libcamera::utils::Duration line_length; // any camera transform *not* reflected already in the camera tuning libcamera::Transform transform; // minimum and maximum fame lengths in units of lines diff --git a/src/ipa/raspberrypi/raspberrypi.cpp b/src/ipa/raspberrypi/raspberrypi.cpp index 0c4752ecffb6..33b316b90d16 100644 --- a/src/ipa/raspberrypi/raspberrypi.cpp +++ b/src/ipa/raspberrypi/raspberrypi.cpp @@ -54,19 +54,22 @@ namespace libcamera { +using namespace std::literals::chrono_literals; +using utils::Duration; + /* Configure the sensor with these values initially. */ constexpr double DefaultAnalogueGain = 1.0; -constexpr unsigned int DefaultExposureTime = 20000; -constexpr double defaultMinFrameDuration = 1e6 / 30.0; -constexpr double defaultMaxFrameDuration = 1e6 / 0.01; +constexpr Duration DefaultExposureTime = 20.0ms; +constexpr Duration defaultMinFrameDuration = 1.0s / 30.0; +constexpr Duration defaultMaxFrameDuration = 100.0s; /* - * Determine the minimum allowable inter-frame duration (in us) to run the - * controller algorithms. If the pipeline handler provider frames at a rate - * higher than this, we rate-limit the controller Prepare() and Process() calls - * to lower than or equal to this rate. + * Determine the minimum allowable inter-frame duration to run the controller + * algorithms. If the pipeline handler provider frames at a rate higher than this, + * we rate-limit the controller Prepare() and Process() calls to lower than or + * equal to this rate. */ -constexpr double controllerMinFrameDuration = 1e6 / 60.0; +constexpr Duration controllerMinFrameDuration = 1.0s / 60.0; LOG_DEFINE_CATEGORY(IPARPI) @@ -110,7 +113,7 @@ private: void reportMetadata(); void fillDeviceStatus(const ControlList &sensorControls); void processStats(unsigned int bufferId); - void applyFrameDurations(double minFrameDuration, double maxFrameDuration); + void applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration); void applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls); void applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls); void applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls); @@ -166,9 +169,9 @@ private: /* Distinguish the first camera start from others. */ bool firstStart_; - /* Frame duration (1/fps) limits, given in microseconds. */ - double minFrameDuration_; - double maxFrameDuration_; + /* Frame duration (1/fps) limits. */ + Duration minFrameDuration_; + Duration maxFrameDuration_; }; int IPARPi::init(const IPASettings &settings, ipa::RPi::SensorConfig *sensorConfig) @@ -310,10 +313,10 @@ void IPARPi::setMode(const IPACameraSensorInfo &sensorInfo) mode_.noise_factor = sqrt(mode_.bin_x * mode_.bin_y); /* - * Calculate the line length in nanoseconds as the ratio between - * the line length in pixels and the pixel rate. + * Calculate the line length as the ratio between the line length in + * pixels and the pixel rate. */ - mode_.line_length = 1e9 * sensorInfo.lineLength / sensorInfo.pixelRate; + mode_.line_length = sensorInfo.lineLength * (1.0s / sensorInfo.pixelRate); /* * Set the frame length limits for the mode to ensure exposure and @@ -386,7 +389,7 @@ int IPARPi::configure(const IPACameraSensorInfo &sensorInfo, /* Supply initial values for gain and exposure. */ ControlList ctrls(sensorCtrls_); AgcStatus agcStatus; - agcStatus.shutter_time = DefaultExposureTime; + agcStatus.shutter_time = DefaultExposureTime.get(); agcStatus.analogue_gain = DefaultAnalogueGain; applyAGC(&agcStatus, ctrls); @@ -861,7 +864,7 @@ void IPARPi::queueRequest(const ControlList &controls) case controls::FRAME_DURATION_LIMITS: { auto frameDurations = ctrl.second.get>(); - applyFrameDurations(frameDurations[0], frameDurations[1]); + applyFrameDurations(frameDurations[0] * 1.0us, frameDurations[1] * 1.0us); break; } @@ -936,9 +939,9 @@ void IPARPi::prepareISP(const ipa::RPi::ISPConfig &data) returnEmbeddedBuffer(data.embeddedBufferId); /* Allow a 10% margin on the comparison below. */ - constexpr double eps = controllerMinFrameDuration * 1e3 * 0.1; + Duration delta = (frameTimestamp - lastRunTimestamp_) * 1.0ns; if (lastRunTimestamp_ && frameCount_ > dropFrameCount_ && - frameTimestamp - lastRunTimestamp_ + eps < controllerMinFrameDuration * 1e3) { + delta < controllerMinFrameDuration * 0.9) { /* * Ensure we merge the previous frame's metadata with the current * frame. This will not overwrite exposure/gain values for the @@ -1011,7 +1014,7 @@ void IPARPi::fillDeviceStatus(const ControlList &sensorControls) int32_t exposureLines = sensorControls.get(V4L2_CID_EXPOSURE).get(); int32_t gainCode = sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get(); - deviceStatus.shutter_speed = helper_->Exposure(exposureLines); + deviceStatus.shutter_speed = helper_->Exposure(exposureLines).get(); deviceStatus.analogue_gain = helper_->Gain(gainCode); LOG(IPARPI, Debug) << "Metadata - Exposure : " @@ -1056,10 +1059,10 @@ void IPARPi::applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls) static_cast(awbStatus->gain_b * 1000)); } -void IPARPi::applyFrameDurations(double minFrameDuration, double maxFrameDuration) +void IPARPi::applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration) { - const double minSensorFrameDuration = 1e-3 * mode_.min_frame_length * mode_.line_length; - const double maxSensorFrameDuration = 1e-3 * mode_.max_frame_length * mode_.line_length; + const Duration minSensorFrameDuration = mode_.min_frame_length * mode_.line_length; + const Duration maxSensorFrameDuration = mode_.max_frame_length * mode_.line_length; /* * This will only be applied once AGC recalculations occur. @@ -1075,20 +1078,20 @@ void IPARPi::applyFrameDurations(double minFrameDuration, double maxFrameDuratio /* Return the validated limits via metadata. */ libcameraMetadata_.set(controls::FrameDurationLimits, - { static_cast(minFrameDuration_), - static_cast(maxFrameDuration_) }); + { static_cast(minFrameDuration_.get()), + static_cast(maxFrameDuration_.get()) }); /* * Calculate the maximum exposure time possible for the AGC to use. * GetVBlanking() will update maxShutter with the largest exposure * value possible. */ - double maxShutter = std::numeric_limits::max(); + Duration maxShutter = Duration::max(); helper_->GetVBlanking(maxShutter, minFrameDuration_, maxFrameDuration_); RPiController::AgcAlgorithm *agc = dynamic_cast( controller_.GetAlgorithm("agc")); - agc->SetMaxShutter(maxShutter); + agc->SetMaxShutter(maxShutter.get()); } void IPARPi::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls) @@ -1096,9 +1099,8 @@ void IPARPi::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls) int32_t gainCode = helper_->GainCode(agcStatus->analogue_gain); /* GetVBlanking might clip exposure time to the fps limits. */ - double exposure = agcStatus->shutter_time; - int32_t vblanking = helper_->GetVBlanking(exposure, minFrameDuration_, - maxFrameDuration_); + Duration exposure = agcStatus->shutter_time * 1.0us; + int32_t vblanking = helper_->GetVBlanking(exposure, minFrameDuration_, maxFrameDuration_); int32_t exposureLines = helper_->ExposureLines(exposure); LOG(IPARPI, Debug) << "Applying AGC Exposure: " << exposure