@@ -186,7 +186,8 @@ 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_;
};
@@ -507,8 +508,15 @@ 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;
}
@@ -611,7 +619,7 @@ int PipelineHandlerRPi::exportFrameBuffers(Camera *camera, Stream *stream,
unsigned int count = stream->configuration().bufferCount;
int ret = s->dev()->exportBuffers(count, buffers);
- s->setExternalBuffers(buffers);
+ s->setExportedBuffers(buffers);
return ret;
}
@@ -625,6 +633,7 @@ int PipelineHandlerRPi::start(Camera *camera)
ret = prepareBuffers(camera);
if (ret) {
LOG(RPI, Error) << "Failed to allocate buffers";
+ stop(camera);
return ret;
}
@@ -711,14 +720,26 @@ 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);
+ /*
+ * If no buffer is provided by the request for this stream, we
+ * queue a nullptr to the stream to signify that it must use an
+ * internally allocated buffer for this capture request. This
+ * buffer will not be given back to the application, but is used
+ * to support the internal pipeline flow.
+ *
+ * The below queueBuffer() call will do nothing if there are not
+ * enough internal buffers allocated, but this will be handled by
+ * queuing the request for buffers in the RPiStream object.
+ */
+ int ret = stream->queueBuffer(buffer);
+ if (ret)
+ return ret;
}
}
@@ -808,14 +829,14 @@ bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator)
data->properties_ = data->sensor_->properties();
/*
- * List the available output streams.
- * Currently cannot do Unicam streams!
+ * List the available streams an application may request. At present, we
+ * do not advertise Unicam Embedded and ISP Statistics streams, as there
+ * is no mechanism for the application to request non-image buffer formats.
*/
std::set<Stream *> streams;
- streams.insert(&data->isp_[Isp::Input]);
+ streams.insert(&data->unicam_[Unicam::Image]);
streams.insert(&data->isp_[Isp::Output0]);
streams.insert(&data->isp_[Isp::Output1]);
- streams.insert(&data->isp_[Isp::Stats]);
/* Create and register the camera. */
std::shared_ptr<Camera> camera = Camera::create(this, data->sensor_->model(), streams);
@@ -830,9 +851,28 @@ int PipelineHandlerRPi::queueAllBuffers(Camera *camera)
int ret;
for (auto const stream : data->streams_) {
- ret = stream->queueBuffers();
- if (ret < 0)
- return ret;
+ if (!stream->isExternal()) {
+ ret = stream->queueAllBuffers();
+ if (ret < 0)
+ return ret;
+ } else {
+ /*
+ * For external streams, we must queue up a set of internal
+ * buffers to handle the number of drop frames requested by
+ * the IPA. This is done by passing nullptr in queueBuffer().
+ *
+ * The below queueBuffer() call will do nothing if there
+ * are not enough internal buffers allocated, but this will
+ * be handled by queuing the request for buffers in the
+ * RPiStream object.
+ */
+ unsigned int i;
+ for (i = 0; i < data->dropFrameCount_; i++) {
+ int ret = stream->queueBuffer(nullptr);
+ if (ret)
+ return ret;
+ }
+ }
}
return 0;
@@ -846,7 +886,8 @@ 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 streams allocate the same
+ * number of buffers to simplify error handling in queueRequestDevice().
*/
unsigned int maxBuffers = 0;
for (const Stream *s : camera->streams())
@@ -854,33 +895,9 @@ 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;
}
/*
@@ -888,7 +905,7 @@ 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++);
}
@@ -897,14 +914,14 @@ 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() });
@@ -1065,7 +1082,7 @@ 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 */
@@ -1076,19 +1093,19 @@ 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;
}
@@ -1189,22 +1206,26 @@ void RPiCameraData::ispOutputDequeue(FrameBuffer *buffer)
<< ", buffer id " << buffer->cookie()
<< ", timestamp: " << buffer->metadata().timestamp;
- handleStreamBuffer(buffer, stream);
-
/*
- * Increment the number of ISP outputs generated.
- * This is needed to track dropped frames.
+ * ISP statistics buffer must not be re-queued or sent back to the
+ * application until after the IPA signals so.
*/
- ispOutputCount_++;
-
- /* If this is a stats output, hand it to the IPA now. */
if (stream == &isp_[Isp::Stats]) {
IPAOperationData op;
op.operation = RPI_IPA_EVENT_SIGNAL_STAT_READY;
op.data = { RPiIpaMask::STATS | buffer->cookie() };
ipa_->processEvent(op);
+ } else {
+ /* Any other ISP output can be handed back to the application now. */
+ handleStreamBuffer(buffer, stream);
}
+ /*
+ * Increment the number of ISP outputs generated.
+ * This is needed to track dropped frames.
+ */
+ ispOutputCount_++;
+
handleState();
}
@@ -1217,8 +1238,12 @@ 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);
}
}
@@ -1247,7 +1272,7 @@ 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);
}
@@ -1259,30 +1284,24 @@ 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);
}
}
@@ -1364,7 +1383,7 @@ 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";
@@ -1383,7 +1402,7 @@ 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.";
@@ -1391,11 +1410,7 @@ 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();
/*
@@ -1407,12 +1422,6 @@ 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();
@@ -1442,32 +1451,42 @@ 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 be to the same), then we
+ * can only return out the top buffer in the queue, and assume they have
+ * been synced by queuing at the same time. We cannot drop these frames,
+ * as they may have been provided externally.
+ */
while (!q.empty()) {
FrameBuffer *b = q.front();
- if (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 {
@@ -27,78 +27,120 @@ std::string RPiStream::name() const
void RPiStream::reset()
{
external_ = false;
- internalBuffers_.clear();
-}
-
-bool RPiStream::isImporter() const
-{
- return importOnly_;
+ clearBuffers();
}
void RPiStream::setExternal(bool external)
{
+ /* Import streams cannot be external. */
+ ASSERT(!external || !importOnly_);
external_ = external;
}
bool RPiStream::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_;
+ return external_;
}
-void RPiStream::setExternalBuffers(std::vector<std::unique_ptr<FrameBuffer>> *buffers)
+void RPiStream::setExportedBuffers(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>> *RPiStream::getBuffers() const
+const std::vector<FrameBuffer *> &RPiStream::getBuffers() const
{
- return external_ ? externalBuffers_ : &internalBuffers_;
+ return bufferList_;
}
bool RPiStream::findFrameBuffer(FrameBuffer *buffer) const
{
- auto start = external_ ? externalBuffers_->begin() : internalBuffers_.begin();
- auto end = external_ ? externalBuffers_->end() : internalBuffers_.end();
-
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;
}
-int RPiStream::importBuffers(unsigned int count)
+int RPiStream::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. */
+ setExportedBuffers(&internalBuffers_);
+
+ /* 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 RPiStream::allocateBuffers(unsigned int count)
+int RPiStream::queueBuffer(FrameBuffer *buffer)
+{
+ /*
+ * 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 RPiStream::returnBuffer(FrameBuffer *buffer)
{
- return dev_->allocateBuffers(count, &internalBuffers_);
+ /* This can only be called for external streams. */
+ assert(external_);
+
+ availableBuffers_.push(buffer);
}
-int RPiStream::queueBuffers()
+int RPiStream::queueAllBuffers()
{
+ int ret;
+
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;
@@ -107,8 +149,14 @@ int RPiStream::queueBuffers()
void RPiStream::releaseBuffers()
{
dev_->releaseBuffers();
- if (!external_ && !importOnly_)
- internalBuffers_.clear();
+ clearBuffers();
+}
+
+void RPiStream::clearBuffers()
+{
+ availableBuffers_ = std::queue<FrameBuffer *>{};
+ internalBuffers_.clear();
+ bufferList_.clear();
}
} /* namespace RPi */
@@ -44,20 +44,23 @@ public:
void setExternal(bool external);
bool isExternal() const;
- void setExternalBuffers(std::vector<std::unique_ptr<FrameBuffer>> *buffers);
- const std::vector<std::unique_ptr<FrameBuffer>> *getBuffers() const;
+ void setExportedBuffers(std::vector<std::unique_ptr<FrameBuffer>> *buffers);
+ const std::vector<FrameBuffer *> &getBuffers() const;
bool findFrameBuffer(FrameBuffer *buffer) const;
- int importBuffers(unsigned int count);
- int allocateBuffers(unsigned int count);
+ int prepareBuffers(unsigned int count);
+ int queueBuffer(FrameBuffer *buffer);
+ void returnBuffer(FrameBuffer *buffer);
- int queueBuffers();
+ int queueAllBuffers();
void releaseBuffers();
private:
+ void clearBuffers();
+
/*
* 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_;
@@ -70,11 +73,21 @@ private:
/* The actual device stream. */
std::unique_ptr<V4L2VideoDevice> dev_;
- /* Internally allocated framebuffers associated with this device stream. */
- std::vector<std::unique_ptr<FrameBuffer>> internalBuffers_;
+ /* All framebuffers associated with this device stream. */
+ std::vector<FrameBuffer *> bufferList_;
+
+ /*
+ * List of frame buffers 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_;
- /* Externally allocated framebuffers associated with this device stream. */
- std::vector<std::unique_ptr<FrameBuffer>> *externalBuffers_;
+ /*
+ * 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_;
};
/*