[libcamera-devel,v2,19/24] ipa: Define a plain C API

2315 diff mbox series

The C++ objects that are expected to convey data through the IPA API
will have associated methods that would require IPAs to link to
libcamera. Even though the libcamera license allows this, suppliers of
closed-source IPAs may have a different interpretation. To ease their
mind and clearly separate vendor code and libcamera code, define a plain
C IPA API. The corresponding C objects are stored in plain C structures
or have their binary format documented, removing the need for linking to
libcamera code on the IPA side.

The C API adds three new C structures, ipa_context, ipa_context_ops and
ipa_callback_ops. The ipa_context_ops and ipa_callback_ops contain
function pointers for all the IPA interface methods and signals,
respectively. The ipa_context represents a context of operation for the
IPA, and is passed to the IPA oparations. The IPAInterface class is
retained as it is easier to use than a plain C API for pipeline
handlers, and wrappers will be developed to translate between the C and
C++ APIs.

Switching to the C API internally will be done in a second step.

Signed-off-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
Signed-off-by: Jacopo Mondi <jacopo@jmondi.org>
---
 include/ipa/ipa_interface.h     |  77 +++++++++
 src/libcamera/ipa_interface.cpp | 295 ++++++++++++++++++++++++++++----
 2 files changed, 340 insertions(+), 32 deletions(-)

Hi Laurent,

Thanks for your work.

On 2019-11-08 22:54:04 +0200, Laurent Pinchart wrote:
> The C++ objects that are expected to convey data through the IPA API
> will have associated methods that would require IPAs to link to
> libcamera. Even though the libcamera license allows this, suppliers of
> closed-source IPAs may have a different interpretation. To ease their
> mind and clearly separate vendor code and libcamera code, define a plain
> C IPA API. The corresponding C objects are stored in plain C structures
> or have their binary format documented, removing the need for linking to
> libcamera code on the IPA side.
> 
> The C API adds three new C structures, ipa_context, ipa_context_ops and
> ipa_callback_ops. The ipa_context_ops and ipa_callback_ops contain
> function pointers for all the IPA interface methods and signals,
> respectively. The ipa_context represents a context of operation for the
> IPA, and is passed to the IPA oparations. The IPAInterface class is
> retained as it is easier to use than a plain C API for pipeline
> handlers, and wrappers will be developed to translate between the C and
> C++ APIs.
> 
> Switching to the C API internally will be done in a second step.
> 
> Signed-off-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
> Signed-off-by: Jacopo Mondi <jacopo@jmondi.org>

Reviewed-by: Niklas Söderlund <niklas.soderlund@ragnatech.se>

> ---
>  include/ipa/ipa_interface.h     |  77 +++++++++
>  src/libcamera/ipa_interface.cpp | 295 ++++++++++++++++++++++++++++----
>  2 files changed, 340 insertions(+), 32 deletions(-)
> 
> diff --git a/include/ipa/ipa_interface.h b/include/ipa/ipa_interface.h
> index 35dc4b4e3165..3a423e37671f 100644
> --- a/include/ipa/ipa_interface.h
> +++ b/include/ipa/ipa_interface.h
> @@ -7,6 +7,82 @@
>  #ifndef __LIBCAMERA_IPA_INTERFACE_H__
>  #define __LIBCAMERA_IPA_INTERFACE_H__
>  
> +#include <stddef.h>
> +#include <stdint.h>
> +
> +#ifdef __cplusplus
> +extern "C" {
> +#endif
> +
> +struct ipa_context {
> +	const struct ipa_context_ops *ops;
> +};
> +
> +struct ipa_stream {
> +	unsigned int id;
> +	unsigned int pixel_format;
> +	unsigned int width;
> +	unsigned int height;
> +};
> +
> +struct ipa_control_info_map {
> +	unsigned int id;
> +	const uint8_t *data;
> +	size_t size;
> +};
> +
> +struct ipa_buffer_plane {
> +	int dmabuf;
> +	size_t length;
> +};
> +
> +struct ipa_buffer {
> +	unsigned int id;
> +	unsigned int num_planes;
> +	struct ipa_buffer_plane planes[3];
> +};
> +
> +struct ipa_control_list {
> +	const uint8_t *data;
> +	unsigned int size;
> +};
> +
> +struct ipa_operation_data {
> +	unsigned int operation;
> +	const uint32_t *data;
> +	unsigned int num_data;
> +	const struct ipa_control_list *lists;
> +	unsigned int num_lists;
> +};
> +
> +struct ipa_callback_ops {
> +	void (*queue_frame_action)(void *cb_ctx, unsigned int frame,
> +				   struct ipa_operation_data &data);
> +};
> +
> +struct ipa_context_ops {
> +	void (*destroy)(struct ipa_context *ctx);
> +	void (*init)(struct ipa_context *ctx);
> +	void (*register_callbacks)(struct ipa_context *ctx,
> +				   const struct ipa_callback_ops *callbacks,
> +				   void *cb_ctx);
> +	void (*configure)(struct ipa_context *ctx,
> +			  const struct ipa_stream *streams,
> +			  unsigned int num_streams,
> +			  const struct ipa_control_info_map *maps,
> +			  unsigned int num_maps);
> +	void (*map_buffers)(struct ipa_context *ctx,
> +			    const struct ipa_buffer *buffers,
> +			    size_t num_buffers);
> +	void (*unmap_buffers)(struct ipa_context *ctx, const unsigned int *ids,
> +			      size_t num_buffers);
> +	void (*process_event)(struct ipa_context *ctx,
> +			      const struct ipa_operation_data *data);
> +};
> +
> +#ifdef __cplusplus
> +}
> +
>  #include <map>
>  #include <vector>
>  
> @@ -53,5 +129,6 @@ public:
>  };
>  
>  } /* namespace libcamera */
> +#endif
>  
>  #endif /* __LIBCAMERA_IPA_INTERFACE_H__ */
> diff --git a/src/libcamera/ipa_interface.cpp b/src/libcamera/ipa_interface.cpp
> index 0571b8e6bf8b..89fce0e8347f 100644
> --- a/src/libcamera/ipa_interface.cpp
> +++ b/src/libcamera/ipa_interface.cpp
> @@ -11,27 +11,254 @@
>   * \file ipa_interface.h
>   * \brief Image Processing Algorithm interface
>   *
> - * Pipeline handlers communicate with IPAs through a C++ interface defined by
> - * the IPAInterface class. The class defines high-level methods and signals to
> - * configure the IPA, notify it of events, and receive actions back from the
> - * IPA.
> - *
> - * Pipeline handlers define the set of events and actions used to communicate
> - * with their IPA. These are collectively referred to as IPA operations and
> - * define the pipeline handler-specific IPA protocol. Each operation defines the
> - * data that it carries, and how the data is encoded in the IPAOperationData
> - * structure.
> - *
> - * IPAs can be isolated in a separate process. This implies that all arguments
> - * to the IPA interface may need to be transferred over IPC. The IPA interface
> - * thus uses serialisable data types only. The IPA interface defines custom data
> - * structures that mirror core libcamera structures when the latter are not
> - * suitable, such as IPAStream to carry StreamConfiguration data.
> + * Every pipeline handler in libcamera may attach some or all of its cameras to
> + * an Image Processing Algorithm (IPA) module. An IPA module is developed for a
> + * specific pipeline handler and each pipeline handler may be compatible with
> + * multiple IPA implementations, both open and closed source. To support this,
> + * libcamera communicates with IPA modules through a standard plain C interface.
> + *
> + * IPA modules shall expose a public function named ipaCreate() with the
> + * following prototype.
> + *
> + * \code{.c}
> + * struct ipa_context *ipaCreate();
> + * \endcode
> + *
> + * The ipaCreate() function creates an instance of an IPA context, which models
> + * a context of execution for the IPA. IPA modules shall support creating one
> + * context per camera, as required by their associated pipeline handler.
> + *
> + * The IPA module context operations are defined in the struct ipa_context_ops.
> + * They model a low-level interface to configure the IPA, notify it of events,
> + * and receive IPA actions through callbacks. An IPA module stores a pointer to
> + * the operations corresponding to its context in the ipa_context::ops field.
> + * That pointer is immutable for the lifetime of the context, and may differ
> + * between different contexts created by the same IPA module.
> + *
> + * The IPA interface defines base data types and functions to exchange data. On
> + * top of this, each pipeline handler is responsible for defining the set of
> + * events and actions used to communicate with their IPA. These are collectively
> + * referred to as IPA operations and define the pipeline handler-specific IPA
> + * protocol. Each operation defines the data that it carries, and how that data
> + * is encoded in the ipa_context_ops functions arguments.
> + *
> + * \todo Add reference to how pipelines shall document their protocol.
> + *
> + * IPAs can be isolated in a separate process. This implies that arguments to
> + * the IPA interface functions may need to be transferred over IPC. All
> + * arguments use Plain Old Data types and are documented either in the form of C
> + * data types, or as a textual description of byte arrays for types that can't
> + * be expressed using C data types (such as arrays of mixed data types). IPA
> + * modules can thus use the C API without calling into libcamera to access the
> + * data passed to the IPA context operations.
>   *
>   * Due to IPC, synchronous communication between pipeline handlers and IPAs can
>   * be costly. For that reason, the interface operates asynchronously. This
> - * implies that methods don't return a status, and that both methods and signals
> - * may copy their arguments.
> + * implies that methods don't return a status, and that all methods may copy
> + * their arguments.
> + *
> + * The IPAInterface class is a C++ representation of the ipa_context_ops, using
> + * C++ data classes provided by libcamera. This is the API exposed to pipeline
> + * handlers to communicate with IPA modules. IPA modules may use the
> + * IPAInterface API internally if they want to benefit from the data and helper
> + * classes offered by libcamera.
> + */
> +
> +/**
> + * \struct ipa_context
> + * \brief IPA module context of execution
> + *
> + * This structure models a context of execution for an IPA module. It is
> + * instantiated by the IPA module ipaCreate() function. IPA modules allocate
> + * context instances in an implementation-defined way, contexts shall thus be
> + * destroyed using the ipa_operation::destroy function only.
> + *
> + * The ipa_context structure provides a pointer to the IPA context operations.
> + * It shall otherwise be treated as a constant black-box cookie and passed
> + * unmodified to the functions defined in struct ipa_context_ops.
> + *
> + * IPA modules are expected to extend struct ipa_context by inheriting from it,
> + * either through structure embedding to model inheritance in plain C, or
> + * through C++ class inheritance. A simple example of the latter is available
> + * in the IPAContextWrapper class implementation.
> + *
> + * \var ipa_context::ops
> + * \brief The IPA context operations
> + */
> +
> +/**
> + * \struct ipa_stream
> + * \brief Stream information for the IPA context operations
> + *
> + * \var ipa_stream::id
> + * \brief Identifier for the stream, defined by the IPA protocol
> + *
> + * \var ipa_stream::pixel_format
> + * \brief The stream pixel format, as defined by the PixelFormat class
> + *
> + * \var ipa_stream::width
> + * \brief The stream width in pixels
> + *
> + * \var ipa_stream::height
> + * \brief The stream height in pixels
> + */
> +
> +/**
> + * \struct ipa_control_info_map
> + * \brief ControlInfoMap description for the IPA context operations
> + *
> + * \var ipa_control_info_map::id
> + * \brief Identifier for the ControlInfoMap, defined by the IPA protocol
> + *
> + * \var ipa_control_info_map::data
> + * \brief Pointer to a control packet for the ControlInfoMap
> + * \sa ipa_controls.h
> + *
> + * \var ipa_control_info_map::size
> + * \brief The size of the control packet in bytes
> + */
> +
> +/**
> + * \struct ipa_buffer_plane
> + * \brief A plane for an ipa_buffer
> + *
> + * \var ipa_buffer_plane::dmabuf
> + * \brief The dmabuf file descriptor for the plane (-1 for unused planes)
> + *
> + * \var ipa_buffer_plane::length
> + * \brief The plane length in bytes (0 for unused planes)
> + */
> +
> +/**
> + * \struct ipa_buffer
> + * \brief Buffer information for the IPA context operations
> + *
> + * \var ipa_buffer::id
> + * \brief The buffer unique ID (see \ref libcamera::IPABuffer::id)
> + *
> + * \var ipa_buffer::num_planes
> + * \brief The number of used planes in the ipa_buffer::planes array
> + *
> + * \var ipa_buffer::planes
> + * \brief The buffer planes (up to 3)
> + */
> +
> +/**
> + * \struct ipa_control_list
> + * \brief ControlList description for the IPA context operations
> + *
> + * \var ipa_control_list::data
> + * \brief Pointer to a control packet for the ControlList
> + * \sa ipa_controls.h
> + *
> + * \var ipa_control_list::size
> + * \brief The size of the control packet in bytes
> + */
> +
> +/**
> + * \struct ipa_operation_data
> + * \brief IPA operation data for the IPA context operations
> + * \sa libcamera::IPAOperationData
> + *
> + * \var ipa_operation_data::operation
> + * \brief IPA protocol operation
> + *
> + * \var ipa_operation_data::data
> + * \brief Pointer to the operation data array
> + *
> + * \var ipa_operation_data::num_data
> + * \brief Number of entries in the ipa_operation_data::data array
> + *
> + * \var ipa_operation_data::lists
> + * \brief Pointer to an array of ipa_control_list
> + *
> + * \var ipa_operation_data::num_lists
> + * \brief Number of entries in the ipa_control_list array
> + */
> +
> +/**
> + * \struct ipa_callback_ops
> + * \brief IPA context operations as a set of function pointers
> + */
> +
> +/**
> + * \var ipa_callback_ops::queue_frame_action
> + * \brief Queue an action associated with a frame to the pipeline handler
> + * \param[in] cb_ctx The callback context registered with
> + * ipa_context_ops::register_callbacks
> + * \param[in] frame The frame number
> + *
> + * \sa libcamera::IPAInterface::queueFrameAction
> + */
> +
> +/**
> + * \struct ipa_context_ops
> + * \brief IPA context operations as a set of function pointers
> + *
> + * To allow for isolation of IPA modules in separate processes, the functions
> + * defined in the ipa_context_ops structure return only data related to the
> + * libcamera side of the operations. In particular, error related to the
> + * libcamera side of the IPC may be returned. Data returned by the IPA,
> + * including status information, shall be provided through callbacks from the
> + * IPA to libcamera.
> + */
> +
> +/**
> + * \var ipa_context_ops::destroy
> + * \brief Destroy the IPA context created by the module's ipaCreate() function
> + * \param[in] ctx The IPA context
> + */
> +
> +/**
> + * \var ipa_context_ops::init
> + * \brief Initialise the IPA context
> + * \param[in] ctx The IPA context
> + *
> + * \sa libcamera::IPAInterface::init()
> + */
> +
> +/**
> + * \var ipa_context_ops::register_callbacks
> + * \brief Register callback operation from the IPA to the pipeline handler
> + * \param[in] ctx The IPA context
> + * \param[in] callback The IPA callback operations
> + * \param[in] cb_ctx The callback context, passed to all callback operations
> + */
> +
> +/**
> + * \var ipa_context_ops::configure
> + * \brief Configure the IPA stream and sensor settings
> + * \param[in] ctx The IPA context
> + *
> + * \sa libcamera::IPAInterface::configure()
> + */
> +
> +/**
> + * \var ipa_context_ops::map_buffers
> + * \brief Map buffers shared between the pipeline handler and the IPA
> + * \param[in] ctx The IPA context
> + * \param[in] buffers The buffers to map
> + * \param[in] num_buffers The number of entries in the \a buffers array
> + *
> + * \sa libcamera::IPAInterface::mapBuffers()
> + */
> +
> +/**
> + * \var ipa_context_ops::unmap_buffers
> + * \brief Unmap buffers shared by the pipeline to the IPA
> + * \param[in] ctx The IPA context
> + * \param[in] ids The IDs of the buffers to unmap
> + * \param[in] num_buffers The number of entries in the \a ids array
> + *
> + * \sa libcamera::IPAInterface::unmapBuffers()
> + */
> +
> +/**
> + * \var ipa_context_ops::process_event
> + * \brief Process an event from the pipeline handler
> + * \param[in] ctx The IPA context
> + *
> + * \sa libcamera::IPAInterface::processEvent()
>   */
>  
>  namespace libcamera {
> @@ -122,26 +349,30 @@ namespace libcamera {
>  
>  /**
>   * \class IPAInterface
> - * \brief Interface for IPA implementation
> + * \brief C++ Interface for IPA implementation
>   *
> - * Every pipeline handler in libcamera may attach all or some of its cameras to
> - * an Image Processing Algorithm (IPA) module. An IPA module is developed for a
> - * specific pipeline handler and each pipeline handler may have multiple
> - * compatible IPA implementations, both open and closed source.
> + * This pure virtual class defines a C++ API corresponding to the ipa_context,
> + * ipa_context_ops and ipa_callback_ops API. It is used by pipeline handlers to
> + * interact with IPA modules, and may be used internally in IPA modules if
> + * desired to benefit from the data and helper classes provided by libcamera.
> + *
> + * Functions defined in the ipa_context_ops structure are mapped to IPAInterface
> + * methods, while functions defined in the ipa_callback_ops are mapped to
> + * IPAInterface signals. As with the C API, the IPA C++ interface uses
> + * serializable data types only. It reuses structures defined by the C API, or
> + * defines corresponding classes using C++ containers when required.
>   *
> - * To allow for multiple IPA modules for the same pipeline handler, a standard
> - * interface for the pipeline handler and IPA communication is needed.
> - * IPAInterface is this interface.
> + * Due to process isolation all arguments to the IPAInterface methods and
> + * signals may need to be transferred over IPC. The class thus uses serializable
> + * data types only. The IPA C++ interface defines custom data structures that
> + * mirror core libcamera structures when the latter are not suitable, such as
> + * IPAStream to carry StreamConfiguration data.
>   *
> - * The interface defines base data types and methods to exchange data. On top of
> - * this, each pipeline handler is responsible for defining specific operations
> - * that make up its IPA protocol, shared by all IPA modules compatible with the
> - * pipeline handler.
> + * As for the functions defined in struct ipa_context_ops, the methods defined
> + * by this class shall not return data from the IPA.
>   *
>   * The pipeline handler shall use the IPAManager to locate a compatible
>   * IPAInterface. The interface may then be used to interact with the IPA module.
> - *
> - * \todo Add reference to how pipelines shall document their protocol.
>   */
>  
>  /**
> -- 
> Regards,
> 
> Laurent Pinchart
> 
> _______________________________________________
> libcamera-devel mailing list
> libcamera-devel@lists.libcamera.org
> https://lists.libcamera.org/listinfo/libcamera-devel