diff --git a/Documentation/Doxyfile-common.in b/Documentation/Doxyfile-common.in index f11ec593d5..131fdcc608 100644 --- a/Documentation/Doxyfile-common.in +++ b/Documentation/Doxyfile-common.in @@ -37,6 +37,7 @@ EXCLUDE_PATTERNS = @TOP_BUILDDIR@/include/libcamera/ipa/*_serializer.h \ @TOP_BUILDDIR@/include/libcamera/ipa/mali-c55_*.h \ @TOP_BUILDDIR@/include/libcamera/ipa/raspberrypi_*.h \ @TOP_BUILDDIR@/include/libcamera/ipa/rkisp1_*.h \ + @TOP_BUILDDIR@/include/libcamera/ipa/rppx1_*.h \ @TOP_BUILDDIR@/include/libcamera/ipa/vimc_*.h EXCLUDE_SYMBOLS = libcamera::BoundMethodArgs \ diff --git a/include/libcamera/ipa/meson.build b/include/libcamera/ipa/meson.build index fb518526a2..7dcefc8b26 100644 --- a/include/libcamera/ipa/meson.build +++ b/include/libcamera/ipa/meson.build @@ -65,6 +65,7 @@ libcamera_ipa_headers += custom_target('core_ipa_serializer_h', pipeline_ipa_mojom_mapping = { 'ipu3': 'ipu3.mojom', 'mali-c55': 'mali-c55.mojom', + 'rcar-gen4': 'rppx1.mojom', 'rkisp1': 'rkisp1.mojom', 'rpi/pisp': 'raspberrypi.mojom', 'rpi/vc4': 'raspberrypi.mojom', diff --git a/include/libcamera/ipa/rppx1.mojom b/include/libcamera/ipa/rppx1.mojom new file mode 100644 index 0000000000..6d280b9ef1 --- /dev/null +++ b/include/libcamera/ipa/rppx1.mojom @@ -0,0 +1,40 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ + +/* + * \todo Document the interface and remove the related EXCLUDE_PATTERNS entry. + */ + +module ipa.rppx1; + +import "include/libcamera/ipa/core.mojom"; + +struct IPAConfigInfo { + libcamera.IPACameraSensorInfo sensorInfo; + libcamera.ControlInfoMap sensorControls; +}; + +interface IPARppX1Interface { + init(libcamera.IPASettings settings, + libcamera.IPACameraSensorInfo sensorInfo, + libcamera.ControlInfoMap sensorControls) + => (int32 ret, libcamera.ControlInfoMap ipaControls); + start() => (int32 ret); + stop(); + + configure(IPAConfigInfo configInfo) + => (int32 ret, libcamera.ControlInfoMap ipaControls); + + mapBuffers(array buffers); + unmapBuffers(array ids); + + [async] queueRequest(uint32 frame, libcamera.ControlList reqControls); + [async] computeParams(uint32 frame, uint32 bufferId); + [async] processStats(uint32 frame, uint32 bufferId, + libcamera.ControlList sensorControls); +}; + +interface IPARppX1EventInterface { + paramsComputed(uint32 frame, uint32 bytesused); + setSensorControls(uint32 frame, libcamera.ControlList sensorControls); + metadataReady(uint32 frame, libcamera.ControlList metadata); +}; diff --git a/meson.build b/meson.build index 37fe9ce4f4..6598d8c437 100644 --- a/meson.build +++ b/meson.build @@ -218,6 +218,7 @@ pipelines_support = { 'imx8-isi': arch_arm, 'ipu3': arch_x86, 'mali-c55': arch_arm, + 'rcar-gen4': arch_arm, 'rkisp1': arch_arm, 'rpi/pisp': arch_arm, 'rpi/vc4': arch_arm, diff --git a/meson_options.txt b/meson_options.txt index e829ebe604..3c4bc9f8e7 100644 --- a/meson_options.txt +++ b/meson_options.txt @@ -81,6 +81,7 @@ option('pipelines', 'imx8-isi', 'ipu3', 'mali-c55', + 'rcar-gen4', 'rkisp1', 'rpi/pisp', 'rpi/vc4', diff --git a/src/libcamera/pipeline/rcar-gen4/frames.cpp b/src/libcamera/pipeline/rcar-gen4/frames.cpp new file mode 100644 index 0000000000..496dac1bcc --- /dev/null +++ b/src/libcamera/pipeline/rcar-gen4/frames.cpp @@ -0,0 +1,270 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright 2025 Renesas Electronics Co + * Copyright 2025 Niklas Söderlund + * + * Renesas R-Car Gen4 VIN pipeline + */ + +#include "frames.h" + +#include + +#include +#include + +#include "libcamera/internal/framebuffer.h" +#include "libcamera/internal/pipeline_handler.h" + +#include "isp.h" + +namespace libcamera { + +LOG_DECLARE_CATEGORY(RCar4) + +int RCar4Frames::start(RCarISPDevice *isp, ipa::rppx1::IPAProxyRppX1 *ipa, + unsigned int bufferCount) +{ + unsigned int ipaBufferId = 1; + int ret; + + auto pushBuffers = [&](const std::vector> &buffers, + std::queue &queue) { + for (const std::unique_ptr &buffer : buffers) { + std::span planes = buffer->planes(); + + buffer->setCookie(ipaBufferId++); + ipaBuffers_.emplace_back(buffer->cookie(), + std::vector{ planes.begin(), + planes.end() }); + queue.push(buffer.get()); + } + }; + + frameInfo_.clear(); + + ret = isp->input_->exportBuffers(bufferCount, &inputBuffers_); + if (ret < 0) { + LOG(RCar4, Error) << "Failed to allocate ISP input buffers"; + goto error; + } + + ret = isp->param_->allocateBuffers(bufferCount, ¶mBuffers_); + if (ret < 0) { + LOG(RCar4, Error) << "Failed to allocate ISP param buffers"; + goto error; + } + + ret = isp->stat_->allocateBuffers(bufferCount, &statBuffers_); + if (ret < 0) { + LOG(RCar4, Error) << "Failed to allocate ISP stat buffers"; + goto error; + } + + ret = isp->output_->exportBuffers(bufferCount, &outputBuffers_); + if (ret < 0) { + LOG(RCar4, Error) << "Failed to allocate ISP output buffers"; + goto error; + } + + for (const std::unique_ptr &buffer : inputBuffers_) + availableInputBuffers_.push(buffer.get()); + + pushBuffers(paramBuffers_, availableParamBuffers_); + pushBuffers(statBuffers_, availableStatBuffers_); + + for (const std::unique_ptr &buffer : outputBuffers_) + availableOutputBuffers_.push(buffer.get()); + + ipa->mapBuffers(ipaBuffers_); + + return 0; +error: + stop(isp, ipa); + return ret; +} + +void RCar4Frames::stop(RCarISPDevice *isp, ipa::rppx1::IPAProxyRppX1 *ipa) +{ + std::vector ids; + + availableInputBuffers_ = {}; + availableParamBuffers_ = {}; + availableStatBuffers_ = {}; + availableOutputBuffers_ = {}; + + outputBuffers_.clear(); + statBuffers_.clear(); + paramBuffers_.clear(); + inputBuffers_.clear(); + + for (IPABuffer &ipabuf : ipaBuffers_) + ids.push_back(ipabuf.id); + + ipa->unmapBuffers(ids); + ipaBuffers_.clear(); + + if (isp->output_->releaseBuffers()) + LOG(RCar4, Error) << "Failed to release ISP output buffers"; + + if (isp->stat_->releaseBuffers()) + LOG(RCar4, Error) << "Failed to release ISP stat buffers"; + + if (isp->param_->releaseBuffers()) + LOG(RCar4, Error) << "Failed to release ISP param buffers"; + + if (isp->input_->releaseBuffers()) + LOG(RCar4, Error) << "Failed to release ISP input buffers"; +} + +RCar4Frames::Info *RCar4Frames::create(Request *request) +{ + unsigned int frame = request->sequence(); + + /* Try to get input and output buffers from request. */ + FrameBuffer *inputBuffer = request->findBuffer(&rawStream_); + FrameBuffer *outputBuffer = request->findBuffer(&outputStream_); + + /* Make sure we have enough internal buffers. */ + if (!inputBuffer && availableInputBuffers_.empty()) { + LOG(RCar4, Debug) << "Input buffer underrun"; + return nullptr; + } + + if (availableParamBuffers_.empty()) { + LOG(RCar4, Debug) << "Parameters buffer underrun"; + return nullptr; + } + + if (availableStatBuffers_.empty()) { + LOG(RCar4, Debug) << "Statistics buffer underrun"; + return nullptr; + } + + if (!outputBuffer && availableOutputBuffers_.empty()) { + LOG(RCar4, Debug) << "Output buffer underrun"; + return nullptr; + } + + /* Select buffers to use. */ + if (!inputBuffer) { + inputBuffer = availableInputBuffers_.front(); + availableInputBuffers_.pop(); + } + + FrameBuffer *paramBuffer = availableParamBuffers_.front(); + availableParamBuffers_.pop(); + + FrameBuffer *statBuffer = availableStatBuffers_.front(); + availableStatBuffers_.pop(); + + if (!outputBuffer) { + outputBuffer = availableOutputBuffers_.front(); + availableOutputBuffers_.pop(); + } + + /* Record the info needed to process one frame. */ + auto [it, inserted] = frameInfo_.try_emplace(frame); + if (!inserted) + return nullptr; + + auto &info = it->second; + + info.frame = frame; + info.request = request; + info.inputBuffer = inputBuffer; + info.paramBuffer = paramBuffer; + info.statBuffer = statBuffer; + info.outputBuffer = outputBuffer; + info.rawDequeued = false; + info.paramDequeued = false; + info.metadataProcessed = false; + info.outputDequeued = false; + + return &info; +} + +void RCar4Frames::remove(RCar4Frames::Info *info) +{ + /* If internal input buffer used, return for reuse. */ + for (const std::unique_ptr &buf : inputBuffers_) { + if (info->inputBuffer == buf.get()) { + availableInputBuffers_.push(info->inputBuffer); + break; + } + } + + /* Return param and stat buffer for reuse. */ + availableParamBuffers_.push(info->paramBuffer); + availableStatBuffers_.push(info->statBuffer); + + /* If internal output buffer used, return for reuse. */ + for (const std::unique_ptr &buf : outputBuffers_) { + if (info->outputBuffer == buf.get()) { + availableOutputBuffers_.push(info->outputBuffer); + break; + } + } + + /* Delete the extended frame information. */ + frameInfo_.erase(info->frame); +} + +bool RCar4Frames::tryComplete(RCar4Frames::Info *info) +{ + Request *request = info->request; + + if (request->hasPendingBuffers()) + return false; + + if (!info->rawDequeued) + return false; + + if (!info->metadataProcessed) + return false; + + if (!info->paramDequeued) + return false; + + if (!info->outputDequeued) + return false; + + remove(info); + + return true; +} + +RCar4Frames::Info *RCar4Frames::find(unsigned int frame) +{ + const auto &itInfo = frameInfo_.find(frame); + + if (itInfo != frameInfo_.end()) + return &itInfo->second; + + LOG(RCar4, Fatal) << "Can't find tracking information for frame " << frame; + + return nullptr; +} + +RCar4Frames::Info *RCar4Frames::find(FrameBuffer *buffer) +{ + for (auto &itInfo : frameInfo_) { + Info *info = &itInfo.second; + + for (const auto &[stream, fb] : info->request->buffers()) + if (buffer == fb) + return info; + + if (info->inputBuffer == buffer || + info->paramBuffer == buffer || + info->statBuffer == buffer || + info->outputBuffer == buffer) + return info; + } + + LOG(RCar4, Fatal) << "Can't find tracking information from buffer"; + + return nullptr; +} + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/rcar-gen4/frames.h b/src/libcamera/pipeline/rcar-gen4/frames.h new file mode 100644 index 0000000000..79365f38e5 --- /dev/null +++ b/src/libcamera/pipeline/rcar-gen4/frames.h @@ -0,0 +1,84 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright 2025 Renesas Electronics Co + * Copyright 2025 Niklas Söderlund + * + * Renesas R-Car Gen4 VIN pipeline + */ + +#pragma once + +#include +#include +#include +#include + +#include + +#include +#include + +#include + +#include "isp.h" + +namespace libcamera { + +class RCarISPDevice; +class FrameBuffer; +class Request; + +class RCar4Frames +{ +public: + struct Info { + unsigned int frame; + Request *request; + + FrameBuffer *inputBuffer; + FrameBuffer *paramBuffer; + FrameBuffer *statBuffer; + FrameBuffer *outputBuffer; + + ControlList effectiveSensorControls; + + bool rawDequeued; + bool paramDequeued; + bool metadataProcessed; + bool outputDequeued; + }; + + int start(RCarISPDevice *isp, ipa::rppx1::IPAProxyRppX1 *ipa, + unsigned int bufferCount); + void stop(RCarISPDevice *isp, ipa::rppx1::IPAProxyRppX1 *ipa); + + Info *create(Request *request); + void remove(Info *info); + bool tryComplete(Info *info); + + Info *find(unsigned int frame); + Info *find(FrameBuffer *buffer); + + Stream rawStream_; + Stream outputStream_; + +private: + std::map frameInfo_; + + /* Buffers for internal use, if none is provided in request. */ + std::vector> inputBuffers_; + std::vector> paramBuffers_; + std::vector> statBuffers_; + std::vector> outputBuffers_; + + /* Queues of available internal buffers. */ + std::queue availableInputBuffers_; + std::queue availableParamBuffers_; + std::queue availableStatBuffers_; + std::queue availableOutputBuffers_; + + /* Buffers mapped and shared with IPA. */ + std::vector ipaBuffers_; +}; + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/rcar-gen4/isp.cpp b/src/libcamera/pipeline/rcar-gen4/isp.cpp new file mode 100644 index 0000000000..7166cc2ca8 --- /dev/null +++ b/src/libcamera/pipeline/rcar-gen4/isp.cpp @@ -0,0 +1,193 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright 2025 Renesas Electronics Co + * Copyright 2025 Niklas Söderlund + * + * Renesas R-Car Gen4 ISP pipeline + */ + +#include "isp.h" + +#include +#include +#include + +#include + +#include +#include + +#include +#include + +#include "libcamera/internal/media_device.h" +#include "libcamera/internal/v4l2_subdevice.h" + +namespace libcamera { + +LOG_DECLARE_CATEGORY(RCar4) + +int RCarISPDevice::init(const MediaDevice *media, const std::string &pipeId) +{ + const MediaEntity *entity; + const MediaPad *pad, *next; + int ret; + + /* Locate IPSCORE, e.g. rcar_isp fed00000.isp core */ + std::unique_ptr core = + V4L2Subdevice::fromEntityName(media, pipeId + " core"); + if (!core) { + LOG(RCar4, Error) << "Failed to find ISPCORE " << pipeId; + return -EINVAL; + } + + entity = core->entity(); + + /* Use the media links to find all video devices. */ + pad = entity->getPadByIndex(0); + next = pad->links()[0]->source(); + input_ = V4L2VideoDevice::fromEntityName(media, next->entity()->name()); + if (!input_) { + LOG(RCar4, Error) << "Failed to find ISP input entity"; + return -EINVAL; + } + + pad = entity->getPadByIndex(1); + next = pad->links()[0]->source(); + param_ = V4L2VideoDevice::fromEntityName(media, next->entity()->name()); + if (!param_) { + LOG(RCar4, Error) << "Failed to find ISP param entity"; + return -EINVAL; + } + + pad = entity->getPadByIndex(2); + next = pad->links()[0]->sink(); + stat_ = V4L2VideoDevice::fromEntityName(media, next->entity()->name()); + if (!stat_) { + LOG(RCar4, Error) << "Failed to find ISP stat entity"; + return -EINVAL; + } + + pad = entity->getPadByIndex(3); + next = pad->links()[0]->sink(); + output_ = V4L2VideoDevice::fromEntityName(media, next->entity()->name()); + if (!output_) { + LOG(RCar4, Error) << "Failed to find ISP output entity"; + return -EINVAL; + } + + /* Open all devices. */ + ret = input_->open(); + if (ret) + return ret; + + ret = param_->open(); + if (ret) + return ret; + + ret = stat_->open(); + if (ret) + return ret; + + ret = output_->open(); + if (ret) + return ret; + + return 0; +} + +int RCarISPDevice::configure(const V4L2DeviceFormat &sensorFormat, + const PixelFormat &outputPixelFormat) +{ + auto inputFormat = sensorFormat; + int ret; + + /* Configure the RAW input. */ + ret = input_->setFormat(&inputFormat); + if (ret) + return ret; + + if (inputFormat.fourcc != sensorFormat.fourcc || inputFormat.size != sensorFormat.size) + return -EINVAL; + + /* Configure the image output. */ + V4L2DeviceFormat outputFormat = {}; + auto outputPf = output_->toV4L2PixelFormat(outputPixelFormat); + outputFormat.fourcc = outputPf; + outputFormat.size = inputFormat.size; + ret = output_->setFormat(&outputFormat); + if (ret) + return ret; + + if (outputFormat.fourcc != outputPf || outputFormat.size != inputFormat.size) + return -EINVAL; + + /* Configure paramaters. */ + V4L2DeviceFormat paramFormat = {}; + paramFormat.fourcc = V4L2PixelFormat(V4L2_META_FMT_RPPX1_PARAMS); + ret = param_->setFormat(¶mFormat); + if (ret) + return ret; + + /* Configure statistics. */ + V4L2DeviceFormat statFormat = {}; + statFormat.fourcc = V4L2PixelFormat(V4L2_META_FMT_RPPX1_STATS); + ret = stat_->setFormat(&statFormat); + if (ret) + return ret; + + return 0; +} + +int RCarISPDevice::start(unsigned int bufferCount) +{ + int ret; + + ret = input_->importBuffers(bufferCount); + if (ret) { + LOG(RCar4, Error) << "Failed to import ISP input buffers"; + return ret; + } + + ret = output_->importBuffers(bufferCount); + if (ret) { + LOG(RCar4, Error) << "Failed to import ISP output buffers"; + return ret; + } + + ret = output_->streamOn(); + if (ret) { + LOG(RCar4, Error) << "Failed to start ISP output"; + return ret; + } + + ret = param_->streamOn(); + if (ret) { + LOG(RCar4, Error) << "Failed to start ISP param"; + return ret; + } + + ret = stat_->streamOn(); + if (ret) { + LOG(RCar4, Error) << "Failed to start ISP stat"; + return ret; + } + + ret = input_->streamOn(); + if (ret) { + LOG(RCar4, Error) << "Failed to start ISP input"; + return ret; + } + + return 0; +} + +void RCarISPDevice::stop() +{ + output_->streamOff(); + param_->streamOff(); + stat_->streamOff(); + input_->streamOff(); +} + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/rcar-gen4/isp.h b/src/libcamera/pipeline/rcar-gen4/isp.h new file mode 100644 index 0000000000..55987f1f51 --- /dev/null +++ b/src/libcamera/pipeline/rcar-gen4/isp.h @@ -0,0 +1,39 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright 2025 Renesas Electronics Co + * Copyright 2025 Niklas Söderlund + * + * Renesas R-Car Gen4 ISP pipeline + */ + +#pragma once + +#include +#include + +#include "libcamera/internal/v4l2_videodevice.h" + +namespace libcamera { + +class MediaDevice; +class Size; +struct StreamConfiguration; + +class RCarISPDevice +{ +public: + int init(const MediaDevice *media, const std::string &pipeId); + + int configure(const V4L2DeviceFormat &inputFormat, + const PixelFormat &outputPixelFormat); + + int start(unsigned int bufferCount); + void stop(); + + std::unique_ptr input_; + std::unique_ptr param_; + std::unique_ptr stat_; + std::unique_ptr output_; +}; + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/rcar-gen4/meson.build b/src/libcamera/pipeline/rcar-gen4/meson.build new file mode 100644 index 0000000000..431eb54e28 --- /dev/null +++ b/src/libcamera/pipeline/rcar-gen4/meson.build @@ -0,0 +1,8 @@ +# SPDX-License-Identifier: CC0-1.0 + +libcamera_internal_sources += files([ + 'frames.cpp', + 'isp.cpp', + 'rcar-gen4.cpp', + 'vin.cpp', +]) diff --git a/src/libcamera/pipeline/rcar-gen4/rcar-gen4.cpp b/src/libcamera/pipeline/rcar-gen4/rcar-gen4.cpp new file mode 100644 index 0000000000..656fefc99f --- /dev/null +++ b/src/libcamera/pipeline/rcar-gen4/rcar-gen4.cpp @@ -0,0 +1,870 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright 2025 Renesas Electronics Co + * Copyright 2025 Niklas Söderlund + * + * Renesas R-Car Gen4 ISP pipeline + */ + +#include +#include +#include +#include + +#include + +#include +#include + +#include +#include +#include + +#include "libcamera/internal/camera.h" +#include "libcamera/internal/camera_sensor.h" +#include "libcamera/internal/delayed_controls.h" +#include "libcamera/internal/device_enumerator.h" +#include "libcamera/internal/framebuffer.h" +#include "libcamera/internal/ipa_manager.h" +#include "libcamera/internal/media_device.h" +#include "libcamera/internal/pipeline_handler.h" +#include "libcamera/internal/request.h" +#include "libcamera/internal/v4l2_subdevice.h" +#include "libcamera/internal/v4l2_videodevice.h" + +#include "frames.h" +#include "isp.h" +#include "vin.h" + +namespace libcamera { + +namespace { + +static constexpr unsigned int kMaxRequests = 4; +static constexpr unsigned int kDefaultBufferCount = kMaxRequests; + +} /* namespace */ + +LOG_DEFINE_CATEGORY(RCar4) + +/* ----------------------------------------------------------------------------- + * Camera Data + */ + +class RCar4CameraData final : public Camera::Private +{ +public: + RCar4CameraData(PipelineHandler *pipe) + : Camera::Private(pipe) + { + } + + int init(const MediaDevice *mdev, const std::string &pipeId); + + [[nodiscard]] + bool populateFormats(); + + void updateControls(); + + [[nodiscard]] + std::tuple + findSensorFormat(PixelFormat pixelFormat, Size size, Transform transform) const; + + /* Slots for processing ready buffers. */ + void vinBufferReady(FrameBuffer *buffer); + void inputBufferReady(FrameBuffer *buffer); + void paramBufferReady(FrameBuffer *buffer); + void statBufferReady(FrameBuffer *buffer); + void outputBufferReady(FrameBuffer *buffer); + + /* Slots for processing IPA interactions. */ + void paramsComputed(unsigned int frame, unsigned int bytesused); + void setSensorControls(unsigned int frame, + const ControlList &sensorControls); + void metadataReady(unsigned int frame, const ControlList &metadata); + + RCarVINDevice vin_; + RCarISPDevice isp_; + std::unique_ptr ipa_; + + RCar4Frames frames_; + std::unique_ptr delayedCtrls_; + ControlInfoMap ipaControls_; + + std::map> rawFormats_; + std::map> outputFormats_; +}; + +int RCar4CameraData::init(const MediaDevice *mdev, const std::string &pipeId) +{ + int ret; + + ret = vin_.init(mdev, pipeId); + if (ret) + return ret; + + ret = isp_.init(mdev, pipeId); + if (ret) + return ret; + + /* + * Load the RPP-X1 IPA for use with RCar4. + */ + ipa_ = pipe()->createIPA("rppx1", 1, 1); + if (!ipa_) { + LOG(RCar4, Error) << "No IPA module found"; + return -ENOENT; + } + + /* The IPA tuning file is made from the sensor name. */ + std::string ipaTuningFile = ipa_->configurationFile( + vin_.sensor()->model() + ".yaml", "uncalibrated.yaml"); + + IPACameraSensorInfo sensorInfo; + ret = vin_.sensor()->sensorInfo(&sensorInfo); + if (ret) { + LOG(RCar4, Error) << "Camera sensor information not available"; + return ret; + } + + IPASettings settings{ + std::move(ipaTuningFile), + vin_.sensor()->model(), + }; + + ret = ipa_->init(std::move(settings), sensorInfo, + vin_.sensor()->controls(), &ipaControls_); + if (ret < 0) { + LOG(RCar4, Error) << "IPA initialization failure"; + return ret; + } + + updateControls(); + + /* + * Initialize the camera properties. + */ + properties_ = vin_.sensor()->properties(); + const CameraSensorProperties::SensorDelays &delays = vin_.sensor()->sensorDelays(); + std::unordered_map params = { + { V4L2_CID_ANALOGUE_GAIN, { delays.gainDelay, false } }, + { V4L2_CID_EXPOSURE, { delays.exposureDelay, false } }, + { V4L2_CID_VBLANK, { delays.vblankDelay, true } }, + }; + + delayedCtrls_ = std::make_unique( + vin_.sensor()->device(), params); + + /* Connect bufferReady for each video device to a handler. */ + vin_.bufferReady().connect(this, &RCar4CameraData::vinBufferReady); + isp_.input_->bufferReady.connect(this, &RCar4CameraData::inputBufferReady); + isp_.param_->bufferReady.connect(this, &RCar4CameraData::paramBufferReady); + isp_.stat_->bufferReady.connect(this, &RCar4CameraData::statBufferReady); + isp_.output_->bufferReady.connect(this, &RCar4CameraData::outputBufferReady); + + /* Connect IPA signals. */ + ipa_->setSensorControls.connect(this, &RCar4CameraData::setSensorControls); + ipa_->paramsComputed.connect(this, &RCar4CameraData::paramsComputed); + ipa_->metadataReady.connect(this, &RCar4CameraData::metadataReady); + + /* Apply controls at start of frame. */ + vin_.frameStart().connect(delayedCtrls_.get(), &DelayedControls::applyControls); + + if (!populateFormats()) { + LOG(RCar4, Error) + << "Sensor " << vin_.sensor()->entity()->name() + << " has no format and size compatible with the VIN and ISP"; + return -ENOTSUP; + } + + return 0; +} + +namespace { + +/* + * \todo This should obviously be common code. + */ +void filterSizes(std::vector &sizes, std::span filter) +{ + for (auto it = sizes.begin(); it != sizes.end();) { + bool accept = false; + + for (const auto &range : filter) { + accept = range.contains(*it); + if (accept) + break; + } + + if (!accept) + it = sizes.erase(it); + else + ++it; + } +} + +} /* namespace */ + +/* + * \todo This should obviously be common code. + */ +bool RCar4CameraData::populateFormats() +{ + const auto &vinFormats = vin_.output()->formats(); + const auto &inputFormats = isp_.input_->formats(); + std::set outputSizes; + + rawFormats_.clear(); + outputFormats_.clear(); + + for (unsigned int mbusCode : vin_.sensor()->mbusCodes()) { + auto v4pf = BayerFormat::fromMbusCode(mbusCode).toV4L2PixelFormat(); + + auto it = vinFormats.find(v4pf); + if (it == vinFormats.end()) + continue; + + auto it2 = inputFormats.find(v4pf); + if (it2 == inputFormats.end()) + continue; + + auto sizes = vin_.sensor()->sizes(mbusCode); + filterSizes(sizes, it->second); + filterSizes(sizes, it2->second); + + if (sizes.empty()) + continue; + + /* + * \todo This assumes any input size is accepted as output size + * for all output formats. + */ + outputSizes.insert(sizes.begin(), sizes.end()); + + rawFormats_.try_emplace(mbusCode, std::move(sizes)); + } + + for (const auto &[v4pf, sizes] : isp_.output_->formats()) { + auto pf = v4pf.toPixelFormat(); + if (!pf.isValid()) + continue; + + outputFormats_.try_emplace(pf, outputSizes.begin(), outputSizes.end()); + } + + return !rawFormats_.empty() && !outputFormats_.empty(); +} + +void RCar4CameraData::updateControls() +{ + ControlInfoMap::Map controls{ + ipaControls_.begin(), ipaControls_.end() + }; + + controlInfo_ = { std::move(controls), controls::controls }; +} + +/* + * \todo This should obviously be common code. + * + * CameraSensor::getFormat() is not adequate as it cannot take + * specific requirements along a pipeline into account. + */ +std::tuple +RCar4CameraData::findSensorFormat(PixelFormat targetFormat, Size targetSize, + Transform transform) const +{ + struct { + unsigned int mbusCode; + PixelFormat pf; + Size size; + unsigned bpp; + uint64_t areaDiff = -1; + } best = {}; + + const auto targetArea = uint64_t(targetSize.width) * targetSize.height; + + for (const auto &[mbusCode, sizes] : rawFormats_) { + ASSERT(!sizes.empty()); + + auto bayerFormat = BayerFormat::fromMbusCode(mbusCode); + ASSERT(bayerFormat.isValid()); + bayerFormat.order = vin_.sensor()->bayerOrder(transform); + + auto pf = bayerFormat.toPixelFormat(); + ASSERT(pf.isValid()); + + const auto &info = PixelFormatInfo::info(pf); + + for (const Size &size : sizes) { + const auto area = uint64_t(size.width) * size.height; + const auto areaDiff = utils::abs_diff(targetArea, area); + + if ((pf == targetFormat && best.pf != targetFormat) || + areaDiff < best.areaDiff || + (areaDiff == best.areaDiff && info.bitsPerPixel > best.bpp)) + best = { mbusCode, pf, size, info.bitsPerPixel, areaDiff }; + } + + if (targetFormat.isValid() && best.pf == targetFormat) + break; + } + + LOG(RCar4, Debug) + << "format: " << best.pf << ", " + << "size: " << best.size; + + /* + * The un-transformed mbus code is returned as it is expected + * that the sensor driver handles that correctly. + */ + + return { best.pf, best.mbusCode, best.size }; +} + +void RCar4CameraData::vinBufferReady(FrameBuffer *buffer) +{ + RCar4Frames::Info *info = frames_.find(buffer); + if (!info) + return; + + Request *request = info->request; + + /* If the buffer is cancelled force a complete of the whole request. */ + if (buffer->metadata().status == FrameMetadata::FrameCancelled) { + frames_.remove(info); + request->_d()->cancel(); + pipe()->completeRequest(request); + return; + } + + /* Record the sensor's timestamp in the request metadata. */ + request->_d()->metadata().set(controls::SensorTimestamp, + buffer->metadata().timestamp); + + ipa_->computeParams(info->frame, info->paramBuffer->cookie()); +} + +void RCar4CameraData::inputBufferReady(FrameBuffer *buffer) +{ + RCar4Frames::Info *info = frames_.find(buffer); + if (!info) + return; + + Request *request = info->request; + + if (request->findBuffer(&frames_.rawStream_)) + pipe()->completeBuffer(request, buffer); + + info->rawDequeued = true; + + if (frames_.tryComplete(info)) + pipe()->completeRequest(request); +} + +void RCar4CameraData::paramBufferReady(FrameBuffer *buffer) +{ + RCar4Frames::Info *info = frames_.find(buffer); + if (!info) + return; + + Request *request = info->request; + + info->paramDequeued = true; + + if (frames_.tryComplete(info)) + pipe()->completeRequest(request); +} + +void RCar4CameraData::statBufferReady(FrameBuffer *buffer) +{ + RCar4Frames::Info *info = frames_.find(buffer); + if (!info) + return; + + Request *request = info->request; + + if (buffer->metadata().status == FrameMetadata::FrameCancelled) { + info->metadataProcessed = true; + + if (frames_.tryComplete(info)) + pipe()->completeRequest(request); + + return; + } + + ipa_->processStats(info->frame, info->statBuffer->cookie(), + delayedCtrls_->get(buffer->metadata().sequence)); +} + +void RCar4CameraData::outputBufferReady(FrameBuffer *buffer) +{ + RCar4Frames::Info *info = frames_.find(buffer); + if (!info) + return; + + Request *request = info->request; + + if (request->findBuffer(&frames_.outputStream_)) + pipe()->completeBuffer(request, buffer); + + request->_d()->metadata().set(controls::draft::PipelineDepth, 3); + + info->outputDequeued = true; + + if (frames_.tryComplete(info)) + pipe()->completeRequest(request); +} + +void RCar4CameraData::paramsComputed(unsigned int frame, unsigned int bytesused) +{ + RCar4Frames::Info *info = frames_.find(frame); + if (!info) + return; + + info->paramBuffer->_d()->metadata().planes()[0].bytesused = bytesused; + + isp_.output_->queueBuffer(info->outputBuffer); + isp_.param_->queueBuffer(info->paramBuffer); + isp_.stat_->queueBuffer(info->statBuffer); + isp_.input_->queueBuffer(info->inputBuffer); +} + +void RCar4CameraData::setSensorControls([[maybe_unused]] unsigned int frame, + const ControlList &sensorControls) +{ + delayedCtrls_->push(sensorControls); +} + +void RCar4CameraData::metadataReady(unsigned int frame, const ControlList &metadata) +{ + RCar4Frames::Info *info = frames_.find(frame); + if (!info) + return; + + Request *request = info->request; + + info->request->_d()->metadata().merge(metadata); + info->metadataProcessed = true; + + if (frames_.tryComplete(info)) + pipe()->completeRequest(request); +} + +/* ----------------------------------------------------------------------------- + * Camera Configuration + */ + +class RCar4CameraConfiguration final : public CameraConfiguration +{ +public: + RCar4CameraConfiguration(RCar4CameraData *data); + + Status validate() override; + + const V4L2SubdeviceFormat &sensorFormat() { return sensorFormat_; } + const Transform &combinedTransform() { return combinedTransform_; } + const PixelFormat &ispOutputFormat() { return ispOutputFormat_; } + +private: + std::shared_ptr data_; + + V4L2SubdeviceFormat sensorFormat_; + Transform combinedTransform_; + PixelFormat ispOutputFormat_; +}; + +RCar4CameraConfiguration::RCar4CameraConfiguration(RCar4CameraData *data) + : CameraConfiguration(), data_(data->_o()->shared_from_this(), data) +{ +} + +CameraConfiguration::Status RCar4CameraConfiguration::validate() +{ + if (config_.empty()) + return Invalid; + + if (sensorConfig) { + LOG(RCar4, Error) + << "Setting sensor configuration is not implemented"; + return Invalid; + } + + Status status = validateColorSpaces(ColorSpaceFlag::StreamsShareColorSpace); + + /* Cap the number of entries to the available streams. */ + if (config_.size() > 2) { + config_.resize(2); + status = Adjusted; + } + + Orientation requestedOrientation = orientation; + combinedTransform_ = data_->vin_.sensor()->computeTransform(&orientation); + if (orientation != requestedOrientation) + status = Adjusted; + + StreamConfiguration *rawCfg = nullptr; + StreamConfiguration *processedCfg = nullptr; + + for (size_t i = 0; i < config_.size(); i++) { + StreamConfiguration &cfg = config_.at(i); + const PixelFormatInfo &info = PixelFormatInfo::info(cfg.pixelFormat); + + if (info.colourEncoding == PixelFormatInfo::ColourEncodingRAW) { + if (rawCfg) { + LOG(RCar4, Error) + << "Camera configuration supports only one RAW stream"; + return Invalid; + } + + rawCfg = &cfg; + } else { + if (processedCfg) { + LOG(RCar4, Error) + << "Camera configuration supports only one processed stream"; + return Invalid; + } + + processedCfg = &cfg; + } + + if (cfg.bufferCount == 0) { + cfg.bufferCount = kDefaultBufferCount; + status = Adjusted; + } + } + + ASSERT(rawCfg || processedCfg); + + auto [sensorFormat, sensorCode, sensorSize] = data_->findSensorFormat( + rawCfg ? rawCfg->pixelFormat : PixelFormat{}, + rawCfg ? rawCfg->size : processedCfg->size, + combinedTransform_); + + V4L2DeviceFormat vinFormat = {}; + const auto vinPf = data_->vin_.output()->toV4L2PixelFormat(sensorFormat); + vinFormat.fourcc = vinPf; + vinFormat.size = sensorSize; + + if (data_->vin_.output()->tryFormat(&vinFormat)) + return Invalid; + + /* The format is expected to be accepted without adjustments. */ + if (vinFormat.fourcc != vinPf || vinFormat.size != sensorSize) + return Invalid; + + ispOutputFormat_ = data_->outputFormats_.begin()->first; + sensorFormat_ = { + .code = sensorCode, + .size = sensorSize, + .colorSpace = ColorSpace::Raw, + }; + + if (rawCfg) { + if (rawCfg->pixelFormat != sensorFormat) + status = Adjusted; + if (rawCfg->size != sensorSize) + status = Adjusted; + + rawCfg->pixelFormat = sensorFormat; + rawCfg->size = vinFormat.size; + rawCfg->stride = vinFormat.planes[0].bpl; + rawCfg->frameSize = vinFormat.planes[0].size; + rawCfg->colorSpace = vinFormat.colorSpace; + rawCfg->setStream(&data_->frames_.rawStream_); + } + + if (processedCfg) { + V4L2DeviceFormat ispFormat = {}; + ispFormat.fourcc = data_->isp_.output_->toV4L2PixelFormat( + processedCfg->pixelFormat); + ispFormat.size = sensorSize; + + if (data_->isp_.output_->tryFormat(&ispFormat)) + return Invalid; + + auto pf = ispFormat.fourcc.toPixelFormat(); + if (!pf.isValid()) + return Invalid; + + if (ispFormat.size != vinFormat.size) + return Invalid; + + if (processedCfg->pixelFormat != pf) + status = Adjusted; + if (processedCfg->size != ispFormat.size) + status = Adjusted; + + processedCfg->pixelFormat = pf; + processedCfg->size = ispFormat.size; + processedCfg->stride = ispFormat.planes[0].bpl; + processedCfg->frameSize = ispFormat.planes[0].size; + processedCfg->colorSpace = ispFormat.colorSpace; + processedCfg->setStream(&data_->frames_.outputStream_); + + ispOutputFormat_ = processedCfg->pixelFormat; + } + + return status; +} + +/* ----------------------------------------------------------------------------- + * Pipeline Handler + */ + +class PipelineHandlerRCar4 final : public PipelineHandler +{ +public: + PipelineHandlerRCar4(CameraManager *manager); + + std::unique_ptr generateConfiguration(Camera *camera, + std::span roles) override; + int configure(Camera *camera, CameraConfiguration *config) override; + + int exportFrameBuffers(Camera *camera, Stream *stream, + std::vector> *buffers) override; + + int start(Camera *camera, const ControlList *controls) override; + void stopDevice(Camera *camera) override; + + int queueRequestDevice(Camera *camera, Request *request) override; + + bool match(DeviceEnumerator *enumerator) override; + +private: + RCar4CameraData *cameraData(Camera *camera) + { + return static_cast(camera->_d()); + } + + int createCamera(const MediaDevice *mdev, const std::string &pipeId); +}; + +PipelineHandlerRCar4::PipelineHandlerRCar4(CameraManager *manager) + : PipelineHandler(manager, kMaxRequests) +{ +} + +std::unique_ptr +PipelineHandlerRCar4::generateConfiguration(Camera *camera, + std::span roles) +{ + RCar4CameraData *data = cameraData(camera); + auto config = std::make_unique(data); + + if (roles.empty()) + return config; + + auto [sensorFormat, sensorCode, sensorSize] = data->findSensorFormat( + {}, { -1u, -1u }, Transform::Identity); + + for (const StreamRole role : roles) { + std::map> formats; + std::optional colorSpace; + PixelFormat pixelFormat; + + switch (role) { + case StreamRole::Raw: + for (const auto &[mbusCode, sizes] : data->rawFormats_) { + auto pf = BayerFormat::fromMbusCode(mbusCode).toPixelFormat(); + ASSERT(pf.isValid()); + formats.try_emplace(pf, sizes.begin(), sizes.end()); + } + + pixelFormat = sensorFormat; + colorSpace = ColorSpace::Raw; + break; + default: { + for (const auto &[pf, sizes] : data->outputFormats_) + formats.try_emplace(pf, sizes.begin(), sizes.end()); + + pixelFormat = formats.begin()->first; + colorSpace = ColorSpace::Rec709; + break; + } + } + + ASSERT(!formats.empty()); + StreamConfiguration cfg(StreamFormats{ formats }); + + cfg.pixelFormat = pixelFormat; + cfg.size = sensorSize; + cfg.colorSpace = colorSpace; + + config->addConfiguration(cfg); + } + + if (config->validate() == CameraConfiguration::Invalid) + return {}; + + return config; +} + +int PipelineHandlerRCar4::configure(Camera *camera, CameraConfiguration *c) +{ + RCar4CameraConfiguration *config = static_cast(c); + RCar4CameraData *data = cameraData(camera); + + V4L2DeviceFormat vinFormat; + int ret; + + /* Configure VIN and propagate format to ISP. */ + ret = data->vin_.configure(config->sensorFormat(), + config->combinedTransform(), &vinFormat); + if (ret) + return ret; + + ret = data->isp_.configure(vinFormat, config->ispOutputFormat()); + if (ret) + return ret; + + /* Inform IPA of stream configuration and sensor controls. */ + IPACameraSensorInfo sensorInfo; + ret = data->vin_.sensor()->sensorInfo(&sensorInfo); + if (ret) + return ret; + + ipa::rppx1::IPAConfigInfo ipaConfig{ + std::move(sensorInfo), + data->vin_.sensor()->controls(), + }; + + ret = data->ipa_->configure(std::move(ipaConfig), &data->ipaControls_); + if (ret) { + LOG(RCar4, Error) << "failed configuring IPA (" << ret << ")"; + return ret; + } + + data->updateControls(); + + return 0; +} + +int PipelineHandlerRCar4::exportFrameBuffers(Camera *camera, Stream *stream, + std::vector> *buffers) +{ + RCar4CameraData *data = cameraData(camera); + unsigned int count = stream->configuration().bufferCount; + + if (stream == &data->frames_.outputStream_) + return data->isp_.output_->exportBuffers(count, buffers); + + if (stream == &data->frames_.rawStream_) + return data->isp_.input_->exportBuffers(count, buffers); + + return -EINVAL; +} + +int PipelineHandlerRCar4::start(Camera *camera, + [[maybe_unused]] const ControlList *controls) +{ + utils::scope_exit stopGuard([&] { stop(camera); }); + RCar4CameraData *data = cameraData(camera); + + data->delayedCtrls_->reset(); + + int ret = data->frames_.start(&data->isp_, data->ipa_.get(), kMaxRequests); + if (ret) + return ret; + + ret = data->vin_.start(kMaxRequests); + if (ret) + return ret; + + ret = data->isp_.start(kMaxRequests); + if (ret) + return ret; + + ret = data->ipa_->start(); + if (ret) + return ret; + + stopGuard.release(); + return 0; +} + +void PipelineHandlerRCar4::stopDevice(Camera *camera) +{ + RCar4CameraData *data = cameraData(camera); + + data->ipa_->stop(); + data->isp_.stop(); + data->vin_.stop(); + + data->frames_.stop(&data->isp_, data->ipa_.get()); +} + +int PipelineHandlerRCar4::queueRequestDevice(Camera *camera, Request *request) +{ + RCar4CameraData *data = cameraData(camera); + + RCar4Frames::Info *info = data->frames_.create(request); + + /* Always expected to have buffers for `kMaxRequests` in-flight requests. */ + ASSERT(info); + + int ret = data->vin_.queueBuffer(info->inputBuffer); + if (ret) { + data->frames_.remove(info); + return ret; + } + + data->ipa_->queueRequest(info->frame, request->controls()); + + return 0; +} + +int PipelineHandlerRCar4::createCamera(const MediaDevice *mdev, + const std::string &pipeId) +{ + auto data = std::make_unique(this); + + int ret = data->init(mdev, pipeId); + if (ret) + return ret; + + const std::string &id = data->vin_.sensor()->id(); + std::set streams{ + &data->frames_.rawStream_, + &data->frames_.outputStream_, + }; + + registerCamera(Camera::create(std::move(data), id, streams)); + + return 0; +} + +bool PipelineHandlerRCar4::match(DeviceEnumerator *enumerator) +{ + DeviceMatch dm("rcar_vin"); + + auto media = acquireMediaDevice(enumerator, dm); + if (!media) + return false; + + bool registered = false; + for (const MediaEntity *entity : media->entities()) { + if (!entity->name().starts_with("rcar_isp")) + continue; + if (entity->name().rfind("core") == std::string::npos) + continue; + + /* + * Isolate the unit address that identifies one ISP + * instance. pipeId will look like + * 'rcar_isp fed00000.isp'. + */ + constexpr size_t prefix = + std::string_view("rcar_isp fed00000.isp").length(); + + std::string pipeId = entity->name().substr(0, prefix); + if (!createCamera(media.get(), pipeId)) + registered = true; + } + + return registered; +} + +REGISTER_PIPELINE_HANDLER(PipelineHandlerRCar4, "rcar-gen4") + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/rcar-gen4/vin.cpp b/src/libcamera/pipeline/rcar-gen4/vin.cpp new file mode 100644 index 0000000000..23ccb3ff0c --- /dev/null +++ b/src/libcamera/pipeline/rcar-gen4/vin.cpp @@ -0,0 +1,173 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright 2025 Renesas Electronics Co + * Copyright 2025 Niklas Söderlund + * + * Renesas R-Car Gen4 VIN pipeline + */ + +#include "vin.h" + +#include + +#include + +#include +#include +#include +#include + +#include "libcamera/internal/bayer_format.h" +#include "libcamera/internal/camera_sensor.h" +#include "libcamera/internal/media_device.h" +#include "libcamera/internal/v4l2_subdevice.h" + +namespace libcamera { + +LOG_DECLARE_CATEGORY(RCar4) + +int RCarVINDevice::init(const MediaDevice *media, const std::string &pipeId) +{ + const MediaEntity *entity; + const MediaPad *pad, *next; + int ret; + + /* Locate IPS Channel Selector, e.g. rcar_isp fed00000.isp */ + csisp_ = V4L2Subdevice::fromEntityName(media, pipeId); + if (!csisp_) { + LOG(RCar4, Error) << "Failed to find Channel Selector " << pipeId; + return -EINVAL; + } + + /* Use the Channel Selector links to find CSI-2 Rx and Sensor. */ + entity = csisp_->entity(); + pad = entity->getPadByIndex(0); + next = pad->links()[0]->source(); + csi2_ = V4L2Subdevice::fromEntityName(media, next->entity()->name()); + if (!csi2_) { + LOG(RCar4, Error) << "Failed to find CSI-2 Rx entity"; + return -EINVAL; + } + + entity = csi2_->entity(); + pad = entity->getPadByIndex(0); + next = pad->links()[0]->source(); + sensor_ = CameraSensorFactoryBase::create(next->entity()); + if (!sensor_) { + LOG(RCar4, Error) << "Failed to find sensor entity"; + return -EINVAL; + } + + /* Use the Channel Selector links to find VIN. */ + entity = csisp_->entity(); + pad = entity->getPadByIndex(1); + next = pad->links()[0]->sink(); + output_ = V4L2VideoDevice::fromEntityName(media, next->entity()->name()); + if (!output_) { + LOG(RCar4, Error) << "Failed to find VIN entity"; + return -EINVAL; + } + + /* Open all devices. */ + ret = csi2_->open(); + if (ret) + return ret; + + ret = csisp_->open(); + if (ret) + return ret; + + ret = output_->open(); + if (ret) + return ret; + + return 0; +} + +int RCarVINDevice::configure(const V4L2SubdeviceFormat &format, Transform transform, + V4L2DeviceFormat *outputFormat) +{ + auto sensorFormat = format; + int ret; + + /* Configure sensor */ + ret = sensor_->setFormat(&sensorFormat, transform); + if (ret) + return ret; + + /* Configure CSI-2 */ + ret = csi2_->setFormat(0, &sensorFormat); + if (ret) + return ret; + + /* Configure Channel selector. */ + ret = csisp_->setFormat(0, &sensorFormat); + if (ret) + return ret; + + auto bayerFormat = BayerFormat::fromMbusCode(sensorFormat.code); + if (!bayerFormat.isValid()) + return -ENOTSUP; + + /* Transform already applied to format by `CameraSensor::setFormat()`. */ + auto v4pf = bayerFormat.toV4L2PixelFormat(); + + /* Configure VIN */ + outputFormat->fourcc = v4pf; + outputFormat->size = sensorFormat.size; + outputFormat->planesCount = 1; + outputFormat->colorSpace = sensorFormat.colorSpace; + + ret = output_->setFormat(outputFormat); + if (ret) + return ret; + + LOG(RCar4, Debug) + << "sensor: " << sensorFormat << ", " + << "VIN: " << *outputFormat; + + if (outputFormat->size != format.size || outputFormat->fourcc != v4pf) + return -EINVAL; + + return 0; +} + +int RCarVINDevice::start(unsigned int bufferCount) +{ + int ret; + + ret = output_->importBuffers(bufferCount); + if (ret) { + LOG(RCar4, Error) << "Failed to import VIN buffers"; + return ret; + } + + utils::scope_exit stopGuard([&] { stop(); }); + + ret = output_->streamOn(); + if (ret) { + LOG(RCar4, Error) << "Failed to start VIN"; + return ret; + } + + ret = output_->setFrameStartEnabled(true); + if (ret) { + LOG(RCar4, Error) << "Failed to enable Frame Start"; + return ret; + } + + stopGuard.release(); + return 0; +} + +void RCarVINDevice::stop() +{ + output_->setFrameStartEnabled(false); + + output_->streamOff(); + + if (output_->releaseBuffers()) + LOG(RCar4, Error) << "Failed to release VIN buffers"; +} + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/rcar-gen4/vin.h b/src/libcamera/pipeline/rcar-gen4/vin.h new file mode 100644 index 0000000000..6fd2dcfa6d --- /dev/null +++ b/src/libcamera/pipeline/rcar-gen4/vin.h @@ -0,0 +1,60 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright 2025 Renesas Electronics Co + * Copyright 2025 Niklas Söderlund + * + * Renesas R-Car Gen4 VIN pipeline + */ + +#pragma once + +#include + +#include + +#include "libcamera/internal/v4l2_subdevice.h" +#include "libcamera/internal/v4l2_videodevice.h" + +namespace libcamera { + +class CameraSensor; +class FrameBuffer; +class MediaDevice; +class PixelFormat; +class Request; +class Size; +class SizeRange; +struct StreamConfiguration; +enum class Transform; + +class RCarVINDevice +{ +public: + int init(const MediaDevice *media, const std::string &pipeId); + int configure(const V4L2SubdeviceFormat &format, Transform transform, + V4L2DeviceFormat *outputFormat); + + int start(unsigned int bufferCount); + void stop(); + + CameraSensor *sensor() { return sensor_.get(); } + const CameraSensor *sensor() const { return sensor_.get(); } + V4L2VideoDevice *output() { return output_.get(); } + const V4L2VideoDevice *output() const { return output_.get(); } + + int queueBuffer(FrameBuffer *buffer) + { + return output_->queueBuffer(buffer); + } + + Signal &bufferReady() { return output_->bufferReady; } + Signal &frameStart() { return output_->frameStart; } + +private: + std::unique_ptr sensor_; + std::unique_ptr csi2_; + std::unique_ptr csisp_; + std::unique_ptr output_; +}; + +} /* namespace libcamera */