| Message ID | 20200713084727.232422-7-naush@raspberrypi.com |
|---|---|
| State | Superseded |
| Headers | show |
| Series |
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| Related | show |
Hi Naushir, Thanks for your patch. On 2020-07-13 09:47:25 +0100, Naushir Patuck wrote: > Stop using v4l2_videodevice::allocateBuffer() for internal buffers and > instead export/import all buffers. This allows the pipeline to return > any stream buffer requested by the application as zero-copy. > > Advertise the Unicam Image stream as the RAW capture stream now. > > The RPiStream object now maintains a new list of buffers that are > available to queue into a device. This is needed to distinguish between > FrameBuffers allocated for internal use vs externally provided buffers. > When a Request comes in, if a buffer is not provided for an exported > stream, we re-use a buffer from this list. > > Signed-off-by: Naushir Patuck <naush@raspberrypi.com> I'm no expert on this pipeline but from a RAW point of view I think it looks good! > --- > .../pipeline/raspberrypi/raspberrypi.cpp | 181 ++++++++---------- > .../pipeline/raspberrypi/rpi_stream.h | 136 +++++++++---- > 2 files changed, 179 insertions(+), 138 deletions(-) > > diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > index 2f4255a4..f7e16a6c 100644 > --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp > @@ -200,7 +200,8 @@ private: > void checkRequestCompleted(); > void tryRunPipeline(); > void tryFlushQueues(); > - FrameBuffer *updateQueue(std::queue<FrameBuffer *> &q, uint64_t timestamp, V4L2VideoDevice *dev); > + FrameBuffer *updateQueue(std::queue<FrameBuffer *> &q, uint64_t timestamp, > + RPi::RPiStream *stream); > > unsigned int ispOutputCount_; > }; > @@ -523,8 +524,15 @@ int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config) > StreamConfiguration &cfg = config->at(i); > > if (isRaw(cfg.pixelFormat)) { > - cfg.setStream(&data->isp_[Isp::Input]); > - data->isp_[Isp::Input].setExternal(true); > + cfg.setStream(&data->unicam_[Unicam::Image]); > + /* > + * We must set both Unicam streams as external, even > + * though the application may only request RAW frames. > + * This is because we match timestamps on both streams > + * to synchronise buffers. > + */ > + data->unicam_[Unicam::Image].setExternal(true); > + data->unicam_[Unicam::Embedded].setExternal(true); > continue; > } > > @@ -718,14 +726,13 @@ int PipelineHandlerRPi::queueRequestDevice(Camera *camera, Request *request) > if (data->state_ == RPiCameraData::State::Stopped) > return -EINVAL; > > - /* Ensure all external streams have associated buffers! */ > - for (auto &stream : data->isp_) { > - if (!stream.isExternal()) > - continue; > + LOG(RPI, Debug) << "queueRequestDevice: New request."; > > - if (!request->findBuffer(&stream)) { > - LOG(RPI, Error) << "Attempt to queue request with invalid stream."; > - return -ENOENT; > + /* Push all buffers supplied in the Request to the respective streams. */ > + for (auto stream : data->streams_) { > + if (stream->isExternal()) { > + FrameBuffer *buffer = request->findBuffer(stream); > + stream->queueBuffer(data->dropFrameCount_ ? nullptr : buffer); > } > } > > @@ -814,12 +821,10 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator) > /* Initialize the camera properties. */ > data->properties_ = data->sensor_->properties(); > > - /* > - * List the available output streams. > - * Currently cannot do Unicam streams! > - */ > + /*List the available streams an application may request. */ > std::set<Stream *> streams; > - streams.insert(&data->isp_[Isp::Input]); > + streams.insert(&data->unicam_[Unicam::Image]); > + streams.insert(&data->unicam_[Unicam::Embedded]); > streams.insert(&data->isp_[Isp::Output0]); > streams.insert(&data->isp_[Isp::Output1]); > streams.insert(&data->isp_[Isp::Stats]); > @@ -896,7 +901,7 @@ int PipelineHandlerRPi::queueAllBuffers(Camera *camera) > int ret; > > for (auto const stream : data->streams_) { > - ret = stream->queueBuffers(); > + ret = stream->queueAllBuffers(); > if (ret < 0) > return ret; > } > @@ -912,7 +917,8 @@ int PipelineHandlerRPi::prepareBuffers(Camera *camera) > /* > * Decide how many internal buffers to allocate. For now, simply look > * at how many external buffers will be provided. Will need to improve > - * this logic. > + * this logic. However, we really must have all stream allocate the same > + * number of buffers to simplify error handling in queueRequestDevice(). > */ > unsigned int maxBuffers = 0; > for (const Stream *s : camera->streams()) > @@ -920,33 +926,9 @@ int PipelineHandlerRPi::prepareBuffers(Camera *camera) > maxBuffers = std::max(maxBuffers, s->configuration().bufferCount); > > for (auto const stream : data->streams_) { > - if (stream->isExternal() || stream->isImporter()) { > - /* > - * If a stream is marked as external reserve memory to > - * prepare to import as many buffers are requested in > - * the stream configuration. > - * > - * If a stream is an internal stream with importer > - * role, reserve as many buffers as possible. > - */ > - unsigned int count = stream->isExternal() > - ? stream->configuration().bufferCount > - : maxBuffers; > - ret = stream->importBuffers(count); > - if (ret < 0) > - return ret; > - } else { > - /* > - * If the stream is an internal exporter allocate and > - * export as many buffers as possible to its internal > - * pool. > - */ > - ret = stream->allocateBuffers(maxBuffers); > - if (ret < 0) { > - freeBuffers(camera); > - return ret; > - } > - } > + ret = stream->prepareBuffers(maxBuffers); > + if (ret < 0) > + return ret; > } > > /* > @@ -954,7 +936,7 @@ int PipelineHandlerRPi::prepareBuffers(Camera *camera) > * the IPA and RPI_IPA_EVENT_SIGNAL_ISP_PREPARE event. > */ > count = 0; > - for (auto const &b : *data->unicam_[Unicam::Image].getBuffers()) { > + for (auto const &b : data->unicam_[Unicam::Image].getBuffers()) { > b->setCookie(count++); > } > > @@ -963,14 +945,14 @@ int PipelineHandlerRPi::prepareBuffers(Camera *camera) > * the IPA. > */ > count = 0; > - for (auto const &b : *data->isp_[Isp::Stats].getBuffers()) { > + for (auto const &b : data->isp_[Isp::Stats].getBuffers()) { > b->setCookie(count++); > data->ipaBuffers_.push_back({ .id = RPiIpaMask::STATS | b->cookie(), > .planes = b->planes() }); > } > > count = 0; > - for (auto const &b : *data->unicam_[Unicam::Embedded].getBuffers()) { > + for (auto const &b : data->unicam_[Unicam::Embedded].getBuffers()) { > b->setCookie(count++); > data->ipaBuffers_.push_back({ .id = RPiIpaMask::EMBEDDED_DATA | b->cookie(), > .planes = b->planes() }); > @@ -1081,7 +1063,7 @@ void RPiCameraData::queueFrameAction(unsigned int frame, const IPAOperationData > switch (action.operation) { > case RPI_IPA_ACTION_STATS_METADATA_COMPLETE: { > unsigned int bufferId = action.data[0]; > - FrameBuffer *buffer = isp_[Isp::Stats].getBuffers()->at(bufferId).get(); > + FrameBuffer *buffer = isp_[Isp::Stats].getBuffers().at(bufferId); > > handleStreamBuffer(buffer, &isp_[Isp::Stats]); > /* Fill the Request metadata buffer with what the IPA has provided */ > @@ -1092,19 +1074,19 @@ void RPiCameraData::queueFrameAction(unsigned int frame, const IPAOperationData > > case RPI_IPA_ACTION_EMBEDDED_COMPLETE: { > unsigned int bufferId = action.data[0]; > - FrameBuffer *buffer = unicam_[Unicam::Embedded].getBuffers()->at(bufferId).get(); > + FrameBuffer *buffer = unicam_[Unicam::Embedded].getBuffers().at(bufferId); > handleStreamBuffer(buffer, &unicam_[Unicam::Embedded]); > break; > } > > case RPI_IPA_ACTION_RUN_ISP: { > unsigned int bufferId = action.data[0]; > - FrameBuffer *buffer = unicam_[Unicam::Image].getBuffers()->at(bufferId).get(); > + FrameBuffer *buffer = unicam_[Unicam::Image].getBuffers().at(bufferId); > > LOG(RPI, Debug) << "Input re-queue to ISP, buffer id " << buffer->cookie() > << ", timestamp: " << buffer->metadata().timestamp; > > - isp_[Isp::Input].dev()->queueBuffer(buffer); > + isp_[Isp::Input].queueBuffer(buffer); > ispOutputCount_ = 0; > break; > } > @@ -1205,7 +1187,12 @@ void RPiCameraData::ispOutputDequeue(FrameBuffer *buffer) > << ", buffer id " << buffer->cookie() > << ", timestamp: " << buffer->metadata().timestamp; > > - handleStreamBuffer(buffer, stream); > + /* > + * ISP statistics buffer must not be re-queued or sent back to the > + * application until after the IPA signals so. > + */ > + if (stream != &isp_[Isp::Stats]) > + handleStreamBuffer(buffer, stream); > > /* > * Increment the number of ISP outputs generated. > @@ -1233,8 +1220,12 @@ void RPiCameraData::clearIncompleteRequests() > */ > for (auto const request : requestQueue_) { > for (auto const stream : streams_) { > - if (stream->isExternal()) > - stream->dev()->queueBuffer(request->findBuffer(stream)); > + if (!stream->isExternal()) > + continue; > + > + FrameBuffer *buffer = request->findBuffer(stream); > + if (buffer) > + stream->queueBuffer(buffer); > } > } > > @@ -1263,7 +1254,7 @@ void RPiCameraData::clearIncompleteRequests() > * Has the buffer already been handed back to the > * request? If not, do so now. > */ > - if (buffer->request()) > + if (buffer && buffer->request()) > pipe_->completeBuffer(camera_, request, buffer); > } > > @@ -1275,30 +1266,24 @@ void RPiCameraData::clearIncompleteRequests() > void RPiCameraData::handleStreamBuffer(FrameBuffer *buffer, RPi::RPiStream *stream) > { > if (stream->isExternal()) { > - if (!dropFrameCount_) { > - Request *request = buffer->request(); > + Request *request = requestQueue_.front(); > + > + if (!dropFrameCount_ && request->findBuffer(stream) == buffer) { > + /* > + * Tag the buffer as completed, returning it to the > + * application. > + */ > pipe_->completeBuffer(camera_, request, buffer); > + } else { > + /* > + * This buffer was not part of the Request, so we can > + * recycle it. > + */ > + stream->returnBuffer(buffer); > } > } else { > - /* Special handling for RAW buffer Requests. > - * > - * The ISP input stream is alway an import stream, but if the > - * current Request has been made for a buffer on the stream, > - * simply memcpy to the Request buffer and requeue back to the > - * device. > - */ > - if (stream == &unicam_[Unicam::Image] && !dropFrameCount_) { > - const Stream *rawStream = static_cast<const Stream *>(&isp_[Isp::Input]); > - Request *request = requestQueue_.front(); > - FrameBuffer *raw = request->findBuffer(const_cast<Stream *>(rawStream)); > - if (raw) { > - raw->copyFrom(buffer); > - pipe_->completeBuffer(camera_, request, raw); > - } > - } > - > - /* Simply requeue the buffer. */ > - stream->dev()->queueBuffer(buffer); > + /* Simply re-queue the buffer to the requested stream. */ > + stream->queueBuffer(buffer); > } > } > > @@ -1382,7 +1367,7 @@ void RPiCameraData::tryRunPipeline() > * current bayer buffer will be removed and re-queued to the driver. > */ > embeddedBuffer = updateQueue(embeddedQueue_, bayerBuffer->metadata().timestamp, > - unicam_[Unicam::Embedded].dev()); > + &unicam_[Unicam::Embedded]); > > if (!embeddedBuffer) { > LOG(RPI, Debug) << "Could not find matching embedded buffer"; > @@ -1401,7 +1386,7 @@ void RPiCameraData::tryRunPipeline() > > embeddedBuffer = embeddedQueue_.front(); > bayerBuffer = updateQueue(bayerQueue_, embeddedBuffer->metadata().timestamp, > - unicam_[Unicam::Image].dev()); > + &unicam_[Unicam::Image]); > > if (!bayerBuffer) { > LOG(RPI, Debug) << "Could not find matching bayer buffer - ending."; > @@ -1409,11 +1394,7 @@ void RPiCameraData::tryRunPipeline() > } > } > > - /* > - * Take the first request from the queue and action the IPA. > - * Unicam buffers for the request have already been queued as they come > - * in. > - */ > + /* Take the first request from the queue and action the IPA. */ > Request *request = requestQueue_.front(); > > /* > @@ -1425,12 +1406,6 @@ void RPiCameraData::tryRunPipeline() > op.controls = { request->controls() }; > ipa_->processEvent(op); > > - /* Queue up any ISP buffers passed into the request. */ > - for (auto &stream : isp_) { > - if (stream.isExternal()) > - stream.dev()->queueBuffer(request->findBuffer(&stream)); > - } > - > /* Ready to use the buffers, pop them off the queue. */ > bayerQueue_.pop(); > embeddedQueue_.pop(); > @@ -1460,32 +1435,42 @@ void RPiCameraData::tryFlushQueues() > * 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()) { > + 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()); > + > LOG(RPI, Warning) << "Flushing all buffer queues!"; > > while (!bayerQueue_.empty()) { > - unicam_[Unicam::Image].dev()->queueBuffer(bayerQueue_.front()); > + unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); > bayerQueue_.pop(); > } > > while (!embeddedQueue_.empty()) { > - unicam_[Unicam::Embedded].dev()->queueBuffer(embeddedQueue_.front()); > + unicam_[Unicam::Embedded].queueBuffer(embeddedQueue_.front()); > embeddedQueue_.pop(); > } > } > } > > FrameBuffer *RPiCameraData::updateQueue(std::queue<FrameBuffer *> &q, uint64_t timestamp, > - V4L2VideoDevice *dev) > + RPi::RPiStream *stream) > { > + /* > + * If the unicam streams are external (both have 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 (b->metadata().timestamp < timestamp) { > + if (!stream->isExternal() && b->metadata().timestamp < timestamp) { > q.pop(); > - dev->queueBuffer(b); > - LOG(RPI, Warning) << "Dropping input frame!"; > - } else if (b->metadata().timestamp == timestamp) { > + stream->queueBuffer(b); > + 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; > } else { > diff --git a/src/libcamera/pipeline/raspberrypi/rpi_stream.h b/src/libcamera/pipeline/raspberrypi/rpi_stream.h > index ed4f4987..a6f573fa 100644 > --- a/src/libcamera/pipeline/raspberrypi/rpi_stream.h > +++ b/src/libcamera/pipeline/raspberrypi/rpi_stream.h > @@ -44,30 +44,20 @@ public: > > void setExternal(bool external) > { > + /* Import streams cannot be external. */ > + assert(!external || !importOnly_); > external_ = external; > } > > bool isExternal() const > { > - /* > - * Import streams cannot be external. > - * > - * RAW capture is a special case where we simply copy the RAW > - * buffer out of the request. All other buffer handling happens > - * as if the stream is internal. > - */ > - return external_ && !importOnly_; > - } > - > - bool isImporter() const > - { > - return importOnly_; > + return external_; > } > > void reset() > { > external_ = false; > - internalBuffers_.clear(); > + clearBuffers(); > } > > std::string name() const > @@ -77,67 +67,124 @@ public: > > void setExternalBuffers(std::vector<std::unique_ptr<FrameBuffer>> *buffers) > { > - externalBuffers_ = buffers; > + std::transform(buffers->begin(), buffers->end(), std::back_inserter(bufferList_), > + [](std::unique_ptr<FrameBuffer> &b) { return b.get(); }); > } > > - const std::vector<std::unique_ptr<FrameBuffer>> *getBuffers() const > + const std::vector<FrameBuffer *> &getBuffers() const > { > - return external_ ? externalBuffers_ : &internalBuffers_; > + return bufferList_; > } > > void releaseBuffers() > { > dev_->releaseBuffers(); > - if (!external_ && !importOnly_) > - internalBuffers_.clear(); > + clearBuffers(); > } > > - int importBuffers(unsigned int count) > + int prepareBuffers(unsigned int count) > { > + int ret; > + > + if (!importOnly_) { > + if (count) { > + /* Export some frame buffers for internal use. */ > + ret = dev_->exportBuffers(count, &internalBuffers_); > + if (ret < 0) > + return ret; > + > + /* Add these exported buffers to the internal/external buffer list. */ > + std::transform(internalBuffers_.begin(), internalBuffers_.end(), > + std::back_inserter(bufferList_), > + [](std::unique_ptr<FrameBuffer> &b) { return b.get(); }); > + > + /* Add these buffers to the queue of internal usable buffers. */ > + for (auto const &buffer : internalBuffers_) > + availableBuffers_.push(buffer.get()); > + } > + > + /* We must import all internal/external exported buffers. */ > + count = bufferList_.size(); > + } > + > return dev_->importBuffers(count); > } > > - int allocateBuffers(unsigned int count) > + int queueAllBuffers() > { > - return dev_->allocateBuffers(count, &internalBuffers_); > - } > + int ret; > > - int queueBuffers() > - { > if (external_) > return 0; > > - for (auto &b : internalBuffers_) { > - int ret = dev_->queueBuffer(b.get()); > - if (ret) { > - LOG(RPISTREAM, Error) << "Failed to queue buffers for " > - << name_; > + while (!availableBuffers_.empty()) { > + ret = queueBuffer(availableBuffers_.front()); > + if (ret < 0) > return ret; > - } > + > + availableBuffers_.pop(); > } > > return 0; > } > > - bool findFrameBuffer(FrameBuffer *buffer) const > + int queueBuffer(FrameBuffer *buffer) > { > - auto start = external_ ? externalBuffers_->begin() : internalBuffers_.begin(); > - auto end = external_ ? externalBuffers_->end() : internalBuffers_.end(); > + /* > + * A nullptr buffer implies an external stream, but no external > + * buffer has been supplied. So, pick one from the availableBuffers_ > + * queue. > + */ > + if (!buffer) { > + if (availableBuffers_.empty()) { > + LOG(RPISTREAM, Warning) << "No buffers available for " > + << name_; > + return -EINVAL; > + } > > + buffer = availableBuffers_.front(); > + availableBuffers_.pop(); > + } > + > + LOG(RPISTREAM, Debug) << "Queuing buffer " << buffer->cookie() > + << " for " << name_; > + > + int ret = dev_->queueBuffer(buffer); > + if (ret) { > + LOG(RPISTREAM, Error) << "Failed to queue buffer for " > + << name_; > + } > + > + return ret; > + } > + > + void returnBuffer(FrameBuffer *buffer) > + { > + availableBuffers_.push(buffer); > + } > + > + bool findFrameBuffer(FrameBuffer *buffer) const > + { > if (importOnly_) > return false; > > - if (std::find_if(start, end, > - [buffer](std::unique_ptr<FrameBuffer> const &ref) { return ref.get() == buffer; }) != end) > + if (std::find(bufferList_.begin(), bufferList_.end(), buffer) != bufferList_.end()) > return true; > > return false; > } > > private: > + void clearBuffers() > + { > + availableBuffers_ = std::queue<FrameBuffer *>{}; > + internalBuffers_.clear(); > + bufferList_.clear(); > + } > + > /* > * Indicates that this stream is active externally, i.e. the buffers > - * are provided by the application. > + * might be provided by (and returned to) the application. > */ > bool external_; > /* Indicates that this stream only imports buffers, e.g. ISP input. */ > @@ -146,10 +193,19 @@ private: > std::string name_; > /* The actual device stream. */ > std::unique_ptr<V4L2VideoDevice> dev_; > - /* Internally allocated framebuffers associated with this device stream. */ > + /* All framebuffers associated with this device stream. */ > + std::vector<FrameBuffer *> bufferList_; > + /* > + * List of frame buffer that we can use if none have been provided by > + * the application for external streams. This is populated by the > + * buffers exported internally. > + */ > + std::queue<FrameBuffer *> availableBuffers_; > + /* > + * This is a list of buffers exported internally. Need to keep this around > + * as the stream needs to maintain ownership of these buffers. > + */ > std::vector<std::unique_ptr<FrameBuffer>> internalBuffers_; > - /* Externally allocated framebuffers associated with this device stream. */ > - std::vector<std::unique_ptr<FrameBuffer>> *externalBuffers_; > }; > > /* > -- > 2.25.1 > > _______________________________________________ > libcamera-devel mailing list > libcamera-devel@lists.libcamera.org > https://lists.libcamera.org/listinfo/libcamera-devel
diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp index 2f4255a4..f7e16a6c 100644 --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp +++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp @@ -200,7 +200,8 @@ private: void checkRequestCompleted(); void tryRunPipeline(); void tryFlushQueues(); - FrameBuffer *updateQueue(std::queue<FrameBuffer *> &q, uint64_t timestamp, V4L2VideoDevice *dev); + FrameBuffer *updateQueue(std::queue<FrameBuffer *> &q, uint64_t timestamp, + RPi::RPiStream *stream); unsigned int ispOutputCount_; }; @@ -523,8 +524,15 @@ int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config) StreamConfiguration &cfg = config->at(i); if (isRaw(cfg.pixelFormat)) { - cfg.setStream(&data->isp_[Isp::Input]); - data->isp_[Isp::Input].setExternal(true); + cfg.setStream(&data->unicam_[Unicam::Image]); + /* + * We must set both Unicam streams as external, even + * though the application may only request RAW frames. + * This is because we match timestamps on both streams + * to synchronise buffers. + */ + data->unicam_[Unicam::Image].setExternal(true); + data->unicam_[Unicam::Embedded].setExternal(true); continue; } @@ -718,14 +726,13 @@ int PipelineHandlerRPi::queueRequestDevice(Camera *camera, Request *request) if (data->state_ == RPiCameraData::State::Stopped) return -EINVAL; - /* Ensure all external streams have associated buffers! */ - for (auto &stream : data->isp_) { - if (!stream.isExternal()) - continue; + LOG(RPI, Debug) << "queueRequestDevice: New request."; - if (!request->findBuffer(&stream)) { - LOG(RPI, Error) << "Attempt to queue request with invalid stream."; - return -ENOENT; + /* Push all buffers supplied in the Request to the respective streams. */ + for (auto stream : data->streams_) { + if (stream->isExternal()) { + FrameBuffer *buffer = request->findBuffer(stream); + stream->queueBuffer(data->dropFrameCount_ ? nullptr : buffer); } } @@ -814,12 +821,10 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator) /* Initialize the camera properties. */ data->properties_ = data->sensor_->properties(); - /* - * List the available output streams. - * Currently cannot do Unicam streams! - */ + /*List the available streams an application may request. */ std::set<Stream *> streams; - streams.insert(&data->isp_[Isp::Input]); + streams.insert(&data->unicam_[Unicam::Image]); + streams.insert(&data->unicam_[Unicam::Embedded]); streams.insert(&data->isp_[Isp::Output0]); streams.insert(&data->isp_[Isp::Output1]); streams.insert(&data->isp_[Isp::Stats]); @@ -896,7 +901,7 @@ int PipelineHandlerRPi::queueAllBuffers(Camera *camera) int ret; for (auto const stream : data->streams_) { - ret = stream->queueBuffers(); + ret = stream->queueAllBuffers(); if (ret < 0) return ret; } @@ -912,7 +917,8 @@ int PipelineHandlerRPi::prepareBuffers(Camera *camera) /* * Decide how many internal buffers to allocate. For now, simply look * at how many external buffers will be provided. Will need to improve - * this logic. + * this logic. However, we really must have all stream allocate the same + * number of buffers to simplify error handling in queueRequestDevice(). */ unsigned int maxBuffers = 0; for (const Stream *s : camera->streams()) @@ -920,33 +926,9 @@ int PipelineHandlerRPi::prepareBuffers(Camera *camera) maxBuffers = std::max(maxBuffers, s->configuration().bufferCount); for (auto const stream : data->streams_) { - if (stream->isExternal() || stream->isImporter()) { - /* - * If a stream is marked as external reserve memory to - * prepare to import as many buffers are requested in - * the stream configuration. - * - * If a stream is an internal stream with importer - * role, reserve as many buffers as possible. - */ - unsigned int count = stream->isExternal() - ? stream->configuration().bufferCount - : maxBuffers; - ret = stream->importBuffers(count); - if (ret < 0) - return ret; - } else { - /* - * If the stream is an internal exporter allocate and - * export as many buffers as possible to its internal - * pool. - */ - ret = stream->allocateBuffers(maxBuffers); - if (ret < 0) { - freeBuffers(camera); - return ret; - } - } + ret = stream->prepareBuffers(maxBuffers); + if (ret < 0) + return ret; } /* @@ -954,7 +936,7 @@ int PipelineHandlerRPi::prepareBuffers(Camera *camera) * the IPA and RPI_IPA_EVENT_SIGNAL_ISP_PREPARE event. */ count = 0; - for (auto const &b : *data->unicam_[Unicam::Image].getBuffers()) { + for (auto const &b : data->unicam_[Unicam::Image].getBuffers()) { b->setCookie(count++); } @@ -963,14 +945,14 @@ int PipelineHandlerRPi::prepareBuffers(Camera *camera) * the IPA. */ count = 0; - for (auto const &b : *data->isp_[Isp::Stats].getBuffers()) { + for (auto const &b : data->isp_[Isp::Stats].getBuffers()) { b->setCookie(count++); data->ipaBuffers_.push_back({ .id = RPiIpaMask::STATS | b->cookie(), .planes = b->planes() }); } count = 0; - for (auto const &b : *data->unicam_[Unicam::Embedded].getBuffers()) { + for (auto const &b : data->unicam_[Unicam::Embedded].getBuffers()) { b->setCookie(count++); data->ipaBuffers_.push_back({ .id = RPiIpaMask::EMBEDDED_DATA | b->cookie(), .planes = b->planes() }); @@ -1081,7 +1063,7 @@ void RPiCameraData::queueFrameAction(unsigned int frame, const IPAOperationData switch (action.operation) { case RPI_IPA_ACTION_STATS_METADATA_COMPLETE: { unsigned int bufferId = action.data[0]; - FrameBuffer *buffer = isp_[Isp::Stats].getBuffers()->at(bufferId).get(); + FrameBuffer *buffer = isp_[Isp::Stats].getBuffers().at(bufferId); handleStreamBuffer(buffer, &isp_[Isp::Stats]); /* Fill the Request metadata buffer with what the IPA has provided */ @@ -1092,19 +1074,19 @@ void RPiCameraData::queueFrameAction(unsigned int frame, const IPAOperationData case RPI_IPA_ACTION_EMBEDDED_COMPLETE: { unsigned int bufferId = action.data[0]; - FrameBuffer *buffer = unicam_[Unicam::Embedded].getBuffers()->at(bufferId).get(); + FrameBuffer *buffer = unicam_[Unicam::Embedded].getBuffers().at(bufferId); handleStreamBuffer(buffer, &unicam_[Unicam::Embedded]); break; } case RPI_IPA_ACTION_RUN_ISP: { unsigned int bufferId = action.data[0]; - FrameBuffer *buffer = unicam_[Unicam::Image].getBuffers()->at(bufferId).get(); + FrameBuffer *buffer = unicam_[Unicam::Image].getBuffers().at(bufferId); LOG(RPI, Debug) << "Input re-queue to ISP, buffer id " << buffer->cookie() << ", timestamp: " << buffer->metadata().timestamp; - isp_[Isp::Input].dev()->queueBuffer(buffer); + isp_[Isp::Input].queueBuffer(buffer); ispOutputCount_ = 0; break; } @@ -1205,7 +1187,12 @@ void RPiCameraData::ispOutputDequeue(FrameBuffer *buffer) << ", buffer id " << buffer->cookie() << ", timestamp: " << buffer->metadata().timestamp; - handleStreamBuffer(buffer, stream); + /* + * ISP statistics buffer must not be re-queued or sent back to the + * application until after the IPA signals so. + */ + if (stream != &isp_[Isp::Stats]) + handleStreamBuffer(buffer, stream); /* * Increment the number of ISP outputs generated. @@ -1233,8 +1220,12 @@ void RPiCameraData::clearIncompleteRequests() */ for (auto const request : requestQueue_) { for (auto const stream : streams_) { - if (stream->isExternal()) - stream->dev()->queueBuffer(request->findBuffer(stream)); + if (!stream->isExternal()) + continue; + + FrameBuffer *buffer = request->findBuffer(stream); + if (buffer) + stream->queueBuffer(buffer); } } @@ -1263,7 +1254,7 @@ void RPiCameraData::clearIncompleteRequests() * Has the buffer already been handed back to the * request? If not, do so now. */ - if (buffer->request()) + if (buffer && buffer->request()) pipe_->completeBuffer(camera_, request, buffer); } @@ -1275,30 +1266,24 @@ void RPiCameraData::clearIncompleteRequests() void RPiCameraData::handleStreamBuffer(FrameBuffer *buffer, RPi::RPiStream *stream) { if (stream->isExternal()) { - if (!dropFrameCount_) { - Request *request = buffer->request(); + Request *request = requestQueue_.front(); + + if (!dropFrameCount_ && request->findBuffer(stream) == buffer) { + /* + * Tag the buffer as completed, returning it to the + * application. + */ pipe_->completeBuffer(camera_, request, buffer); + } else { + /* + * This buffer was not part of the Request, so we can + * recycle it. + */ + stream->returnBuffer(buffer); } } else { - /* Special handling for RAW buffer Requests. - * - * The ISP input stream is alway an import stream, but if the - * current Request has been made for a buffer on the stream, - * simply memcpy to the Request buffer and requeue back to the - * device. - */ - if (stream == &unicam_[Unicam::Image] && !dropFrameCount_) { - const Stream *rawStream = static_cast<const Stream *>(&isp_[Isp::Input]); - Request *request = requestQueue_.front(); - FrameBuffer *raw = request->findBuffer(const_cast<Stream *>(rawStream)); - if (raw) { - raw->copyFrom(buffer); - pipe_->completeBuffer(camera_, request, raw); - } - } - - /* Simply requeue the buffer. */ - stream->dev()->queueBuffer(buffer); + /* Simply re-queue the buffer to the requested stream. */ + stream->queueBuffer(buffer); } } @@ -1382,7 +1367,7 @@ void RPiCameraData::tryRunPipeline() * current bayer buffer will be removed and re-queued to the driver. */ embeddedBuffer = updateQueue(embeddedQueue_, bayerBuffer->metadata().timestamp, - unicam_[Unicam::Embedded].dev()); + &unicam_[Unicam::Embedded]); if (!embeddedBuffer) { LOG(RPI, Debug) << "Could not find matching embedded buffer"; @@ -1401,7 +1386,7 @@ void RPiCameraData::tryRunPipeline() embeddedBuffer = embeddedQueue_.front(); bayerBuffer = updateQueue(bayerQueue_, embeddedBuffer->metadata().timestamp, - unicam_[Unicam::Image].dev()); + &unicam_[Unicam::Image]); if (!bayerBuffer) { LOG(RPI, Debug) << "Could not find matching bayer buffer - ending."; @@ -1409,11 +1394,7 @@ void RPiCameraData::tryRunPipeline() } } - /* - * Take the first request from the queue and action the IPA. - * Unicam buffers for the request have already been queued as they come - * in. - */ + /* Take the first request from the queue and action the IPA. */ Request *request = requestQueue_.front(); /* @@ -1425,12 +1406,6 @@ void RPiCameraData::tryRunPipeline() op.controls = { request->controls() }; ipa_->processEvent(op); - /* Queue up any ISP buffers passed into the request. */ - for (auto &stream : isp_) { - if (stream.isExternal()) - stream.dev()->queueBuffer(request->findBuffer(&stream)); - } - /* Ready to use the buffers, pop them off the queue. */ bayerQueue_.pop(); embeddedQueue_.pop(); @@ -1460,32 +1435,42 @@ void RPiCameraData::tryFlushQueues() * 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()) { + 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()); + LOG(RPI, Warning) << "Flushing all buffer queues!"; while (!bayerQueue_.empty()) { - unicam_[Unicam::Image].dev()->queueBuffer(bayerQueue_.front()); + unicam_[Unicam::Image].queueBuffer(bayerQueue_.front()); bayerQueue_.pop(); } while (!embeddedQueue_.empty()) { - unicam_[Unicam::Embedded].dev()->queueBuffer(embeddedQueue_.front()); + unicam_[Unicam::Embedded].queueBuffer(embeddedQueue_.front()); embeddedQueue_.pop(); } } } FrameBuffer *RPiCameraData::updateQueue(std::queue<FrameBuffer *> &q, uint64_t timestamp, - V4L2VideoDevice *dev) + RPi::RPiStream *stream) { + /* + * If the unicam streams are external (both have 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 (b->metadata().timestamp < timestamp) { + if (!stream->isExternal() && b->metadata().timestamp < timestamp) { q.pop(); - dev->queueBuffer(b); - LOG(RPI, Warning) << "Dropping input frame!"; - } else if (b->metadata().timestamp == timestamp) { + stream->queueBuffer(b); + 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; } else { diff --git a/src/libcamera/pipeline/raspberrypi/rpi_stream.h b/src/libcamera/pipeline/raspberrypi/rpi_stream.h index ed4f4987..a6f573fa 100644 --- a/src/libcamera/pipeline/raspberrypi/rpi_stream.h +++ b/src/libcamera/pipeline/raspberrypi/rpi_stream.h @@ -44,30 +44,20 @@ public: void setExternal(bool external) { + /* Import streams cannot be external. */ + assert(!external || !importOnly_); external_ = external; } bool isExternal() const { - /* - * Import streams cannot be external. - * - * RAW capture is a special case where we simply copy the RAW - * buffer out of the request. All other buffer handling happens - * as if the stream is internal. - */ - return external_ && !importOnly_; - } - - bool isImporter() const - { - return importOnly_; + return external_; } void reset() { external_ = false; - internalBuffers_.clear(); + clearBuffers(); } std::string name() const @@ -77,67 +67,124 @@ public: void setExternalBuffers(std::vector<std::unique_ptr<FrameBuffer>> *buffers) { - externalBuffers_ = buffers; + std::transform(buffers->begin(), buffers->end(), std::back_inserter(bufferList_), + [](std::unique_ptr<FrameBuffer> &b) { return b.get(); }); } - const std::vector<std::unique_ptr<FrameBuffer>> *getBuffers() const + const std::vector<FrameBuffer *> &getBuffers() const { - return external_ ? externalBuffers_ : &internalBuffers_; + return bufferList_; } void releaseBuffers() { dev_->releaseBuffers(); - if (!external_ && !importOnly_) - internalBuffers_.clear(); + clearBuffers(); } - int importBuffers(unsigned int count) + int prepareBuffers(unsigned int count) { + int ret; + + if (!importOnly_) { + if (count) { + /* Export some frame buffers for internal use. */ + ret = dev_->exportBuffers(count, &internalBuffers_); + if (ret < 0) + return ret; + + /* Add these exported buffers to the internal/external buffer list. */ + std::transform(internalBuffers_.begin(), internalBuffers_.end(), + std::back_inserter(bufferList_), + [](std::unique_ptr<FrameBuffer> &b) { return b.get(); }); + + /* Add these buffers to the queue of internal usable buffers. */ + for (auto const &buffer : internalBuffers_) + availableBuffers_.push(buffer.get()); + } + + /* We must import all internal/external exported buffers. */ + count = bufferList_.size(); + } + return dev_->importBuffers(count); } - int allocateBuffers(unsigned int count) + int queueAllBuffers() { - return dev_->allocateBuffers(count, &internalBuffers_); - } + int ret; - int queueBuffers() - { if (external_) return 0; - for (auto &b : internalBuffers_) { - int ret = dev_->queueBuffer(b.get()); - if (ret) { - LOG(RPISTREAM, Error) << "Failed to queue buffers for " - << name_; + while (!availableBuffers_.empty()) { + ret = queueBuffer(availableBuffers_.front()); + if (ret < 0) return ret; - } + + availableBuffers_.pop(); } return 0; } - bool findFrameBuffer(FrameBuffer *buffer) const + int queueBuffer(FrameBuffer *buffer) { - auto start = external_ ? externalBuffers_->begin() : internalBuffers_.begin(); - auto end = external_ ? externalBuffers_->end() : internalBuffers_.end(); + /* + * A nullptr buffer implies an external stream, but no external + * buffer has been supplied. So, pick one from the availableBuffers_ + * queue. + */ + if (!buffer) { + if (availableBuffers_.empty()) { + LOG(RPISTREAM, Warning) << "No buffers available for " + << name_; + return -EINVAL; + } + buffer = availableBuffers_.front(); + availableBuffers_.pop(); + } + + LOG(RPISTREAM, Debug) << "Queuing buffer " << buffer->cookie() + << " for " << name_; + + int ret = dev_->queueBuffer(buffer); + if (ret) { + LOG(RPISTREAM, Error) << "Failed to queue buffer for " + << name_; + } + + return ret; + } + + void returnBuffer(FrameBuffer *buffer) + { + availableBuffers_.push(buffer); + } + + bool findFrameBuffer(FrameBuffer *buffer) const + { if (importOnly_) return false; - if (std::find_if(start, end, - [buffer](std::unique_ptr<FrameBuffer> const &ref) { return ref.get() == buffer; }) != end) + if (std::find(bufferList_.begin(), bufferList_.end(), buffer) != bufferList_.end()) return true; return false; } private: + void clearBuffers() + { + availableBuffers_ = std::queue<FrameBuffer *>{}; + internalBuffers_.clear(); + bufferList_.clear(); + } + /* * Indicates that this stream is active externally, i.e. the buffers - * are provided by the application. + * might be provided by (and returned to) the application. */ bool external_; /* Indicates that this stream only imports buffers, e.g. ISP input. */ @@ -146,10 +193,19 @@ private: std::string name_; /* The actual device stream. */ std::unique_ptr<V4L2VideoDevice> dev_; - /* Internally allocated framebuffers associated with this device stream. */ + /* All framebuffers associated with this device stream. */ + std::vector<FrameBuffer *> bufferList_; + /* + * List of frame buffer that we can use if none have been provided by + * the application for external streams. This is populated by the + * buffers exported internally. + */ + std::queue<FrameBuffer *> availableBuffers_; + /* + * This is a list of buffers exported internally. Need to keep this around + * as the stream needs to maintain ownership of these buffers. + */ std::vector<std::unique_ptr<FrameBuffer>> internalBuffers_; - /* Externally allocated framebuffers associated with this device stream. */ - std::vector<std::unique_ptr<FrameBuffer>> *externalBuffers_; }; /*
Stop using v4l2_videodevice::allocateBuffer() for internal buffers and instead export/import all buffers. This allows the pipeline to return any stream buffer requested by the application as zero-copy. Advertise the Unicam Image stream as the RAW capture stream now. The RPiStream object now maintains a new list of buffers that are available to queue into a device. This is needed to distinguish between FrameBuffers allocated for internal use vs externally provided buffers. When a Request comes in, if a buffer is not provided for an exported stream, we re-use a buffer from this list. Signed-off-by: Naushir Patuck <naush@raspberrypi.com> --- .../pipeline/raspberrypi/raspberrypi.cpp | 181 ++++++++---------- .../pipeline/raspberrypi/rpi_stream.h | 136 +++++++++---- 2 files changed, 179 insertions(+), 138 deletions(-)