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Literal.Number.Integer.Long *//* SPDX-License-Identifier: LGPL-2.1-or-later */ /* * Copyright (C) 2018, Google Inc. * * camera.cpp - Camera device */ #include #include #include #include #include #include #include #include #include #include #include "libcamera/internal/camera.h" #include "libcamera/internal/camera_controls.h" #include "libcamera/internal/formats.h" #include "libcamera/internal/pipeline_handler.h" #include "libcamera/internal/request.h" /** * \file libcamera/camera.h * \brief Camera device handling * * \page camera-model Camera Model * * libcamera acts as a middleware between applications and camera hardware. It * provides a solution to an unsolvable problem: reconciling applications, * which need to run on different systems without dealing with device-specific * details, and camera hardware, which exhibits a wide variety of features, * limitations and architecture variations. In order to do so, it creates an * abstract camera model that hides the camera hardware from applications. The * model is designed to strike the right balance between genericity, to please * generic applications, and flexibility, to expose even the most specific * hardware features to the most demanding applications. * * In libcamera, a Camera is defined as a device that can capture frames * continuously from a camera sensor and store them in memory. If supported by * the device and desired by the application, the camera may store each * captured frame in multiple copies, possibly in different formats and sizes. * Each of these memory outputs of the camera is called a Stream. * * A camera contains a single image source, and separate camera instances * relate to different image sources. For instance, a phone containing front * and back image sensors will be modelled with two cameras, one for each * sensor. When multiple streams can be produced from the same image source, * all those streams are guaranteed to be part of the same camera. * * While not sharing image sources, separate cameras can share other system * resources, such as ISPs. For this reason camera instances may not be fully * independent, in which case usage restrictions may apply. For instance, a * phone with a front and a back camera may not allow usage of the two cameras * simultaneously. * * The camera model defines an implicit pipeline, whose input is the camera * sensor, and whose outputs are the streams. Along the pipeline, the frames * produced by the camera sensor are transformed by the camera into a format * suitable for applications, with image processing that improves the quality * of the captured frames. The camera exposes a set of controls that * applications may use to manually control the processing steps. This * high-level camera model is the minimum baseline that all cameras must * conform to. * * \section camera-pipeline-model Pipeline Model * * Camera hardware differs in the supported image processing operations and the * order in which they are applied. The libcamera pipelines abstract the * hardware differences and expose a logical view of the processing operations * with a fixed order. This offers low-level control of those operations to * applications, while keeping application code generic. * * Starting from the camera sensor, a pipeline applies the following * operations, in that order. * * - Pixel exposure * - Analog to digital conversion and readout * - Black level subtraction * - Defective pixel correction * - Lens shading correction * - Spatial noise filtering * - Per-channel gains (white balance) * - Demosaicing (color filter array interpolation) * - Color correction matrix (typically RGB to RGB) * - Gamma correction * - Color space transformation (typically RGB to YUV) * - Cropping * - Scaling * * Not all cameras implement all operations, and they are not necessarily * implemented in the above order at the hardware level. The libcamera pipeline * handlers translate the pipeline model to the real hardware configuration. * * \subsection digital-zoom Digital Zoom * * Digital zoom is implemented as a combination of the cropping and scaling * stages of the pipeline. Cropping is controlled explicitly through the * controls::ScalerCrop control, while scaling is controlled implicitly based * on the crop rectangle and the output stream size. The crop rectangle is * expressed relatively to the full pixel array size and indicates how the field * of view is affected by the pipeline. */ namespace libcamera { LOG_DECLARE_CATEGORY(Camera) /** * \class CameraConfiguration * \brief Hold configuration for streams of the camera * The CameraConfiguration holds an ordered list of stream configurations. It * supports iterators and operates as a vector of StreamConfiguration instances. * The stream configurations are inserted by addConfiguration(), and the * at() function or operator[] return a reference to the StreamConfiguration * based on its insertion index. Accessing a stream configuration with an * invalid index results in undefined behaviour. * * CameraConfiguration instances are retrieved from the camera with * Camera::generateConfiguration(). Applications may then inspect the * configuration, modify it, and possibly add new stream configuration entries * with addConfiguration(). Once the camera configuration satisfies the * application, it shall be validated by a call to validate(). The validation * implements "try" semantics: it adjusts invalid configurations to the closest * achievable parameters instead of rejecting them completely. Applications * then decide whether to accept the modified configuration, or try again with * a different set of parameters. Once the configuration is valid, it is passed * to Camera::configure(). */ /** * \enum CameraConfiguration::Status * \brief Validity of a camera configuration * \var CameraConfiguration::Valid * The configuration is fully valid * \var CameraConfiguration::Adjusted * The configuration has been adjusted to a valid configuration * \var CameraConfiguration::Invalid * The configuration is invalid and can't be adjusted automatically */ /** * \typedef CameraConfiguration::iterator * \brief Iterator for the stream configurations in the camera configuration */ /** * \typedef CameraConfiguration::const_iterator * \brief Const iterator for the stream configuration in the camera * configuration */ /** * \brief Create an empty camera configuration */ CameraConfiguration::CameraConfiguration() : transform(Transform::Identity), config_({}) { } CameraConfiguration::~CameraConfiguration() { } /** * \brief Add a stream configuration to the camera configuration * \param[in] cfg The stream configuration */ void CameraConfiguration::addConfiguration(const StreamConfiguration &cfg) { config_.push_back(cfg); } /** * \fn CameraConfiguration::validate() * \brief Validate and possibly adjust the camera configuration * * This function adjusts the camera configuration to the closest valid * configuration and returns the validation status. * * \todo Define exactly when to return each status code. Should stream * parameters set to 0 by the caller be adjusted without returning Adjusted ? * This would potentially be useful for applications but would get in the way * in Camera::configure(). Do we need an extra status code to signal this ? * * \todo Handle validation of buffers count when refactoring the buffers API. * * \return A CameraConfiguration::Status value that describes the validation * status. * \retval CameraConfiguration::Invalid The configuration is invalid and can't * be adjusted. This may only occur in extreme cases such as when the * configuration is empty. * \retval CameraConfigutation::Adjusted The configuration has been adjusted * and is now valid. Parameters may have changed for any stream, and stream * configurations may have been removed. The caller shall check the * configuration carefully. * \retval CameraConfiguration::Valid The configuration was already valid and * hasn't been adjusted. */ /** * \brief Retrieve a reference to a stream configuration * \param[in] index Numerical index * * The \a index represents the zero based insertion order of stream * configuration into the camera configuration with addConfiguration(). Calling * this function with an invalid index results in undefined behaviour. * * \return The stream configuration */ StreamConfiguration &CameraConfiguration::at(unsigned int index) { return config_[index]; } /** * \brief Retrieve a const reference to a stream configuration * \param[in] index Numerical index * * The \a index represents the zero based insertion order of stream * configuration into the camera configuration with addConfiguration(). Calling * this function with an invalid index results in undefined behaviour. * * \return The stream configuration */ const StreamConfiguration &CameraConfiguration::at(unsigned int index) const { return config_[index]; } /** * \fn StreamConfiguration &CameraConfiguration::operator[](unsigned int) * \brief Retrieve a reference to a stream configuration * \param[in] index Numerical index * * The \a index represents the zero based insertion order of stream * configuration into the camera configuration with addConfiguration(). Calling * this function with an invalid index results in undefined behaviour. * * \return The stream configuration */ /** * \fn const StreamConfiguration &CameraConfiguration::operator[](unsigned int) const * \brief Retrieve a const reference to a stream configuration * \param[in] index Numerical index * * The \a index represents the zero based insertion order of stream * configuration into the camera configuration with addConfiguration(). Calling * this function with an invalid index results in undefined behaviour. * * \return The stream configuration */ /** * \brief Retrieve an iterator to the first stream configuration in the * sequence * \return An iterator to the first stream configuration */ CameraConfiguration::iterator CameraConfiguration::begin() { return config_.begin(); } /** * \brief Retrieve a const iterator to the first element of the stream * configurations * \return A const iterator to the first stream configuration */ CameraConfiguration::const_iterator CameraConfiguration::begin() const { return config_.begin(); } /** * \brief Retrieve an iterator pointing to the past-the-end stream * configuration in the sequence * \return An iterator to the element following the last stream configuration */ CameraConfiguration::iterator CameraConfiguration::end() { return config_.end(); } /** * \brief Retrieve a const iterator pointing to the past-the-end stream * configuration in the sequence * \return A const iterator to the element following the last stream * configuration */ CameraConfiguration::const_iterator CameraConfiguration::end() const { return config_.end(); } /** * \brief Check if the camera configuration is empty * \return True if the configuration is empty */ bool CameraConfiguration::empty() const { return config_.empty(); } /** * \brief Retrieve the number of stream configurations * \return Number of stream configurations */ std::size_t CameraConfiguration::size() const { return config_.size(); } namespace { bool isRaw(const PixelFormat &pixFmt) { const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt); return info.isValid() && info.colourEncoding == PixelFormatInfo::ColourEncodingRAW; } } /* namespace */ /** * \enum CameraConfiguration::ColorSpaceFlag * \brief Specify the behaviour of validateColorSpaces * \var CameraConfiguration::ColorSpaceFlag::None * \brief No extra validation of color spaces is required * \var CameraConfiguration::ColorSpaceFlag::StreamsShareColorSpace * \brief Non-raw output streams must share the same color space */ /** * \typedef CameraConfiguration::ColorSpaceFlags * \brief A bitwise combination of ColorSpaceFlag values */ /** * \brief Check the color spaces requested for each stream * \param[in] flags Flags to control the behaviour of this function * * This function performs certain consistency checks on the color spaces of * the streams and may adjust them so that: * * - Any raw streams have the Raw color space * - If the StreamsShareColorSpace flag is set, all output streams are forced * to share the same color space (this may be a constraint on some platforms). * * It is optional for a pipeline handler to use this function. * * \return A CameraConfiguration::Status value that describes the validation * status. * \retval CameraConfigutation::Adjusted The configuration has been adjusted * and is now valid. The color space of some or all of the streams may have * been changed. The caller shall check the color spaces carefully. * \retval CameraConfiguration::Valid The configuration was already valid and * hasn't been adjusted. */ CameraConfiguration::Status CameraConfiguration::validateColorSpaces(ColorSpaceFlags flags) { Status status = Valid; /* * Set all raw streams to the Raw color space, and make a note of the largest * non-raw stream with a defined color space (if there is one). */ int index = -1; for (auto [i, cfg] : utils::enumerate(config_)) { if (isRaw(cfg.pixelFormat)) { if (cfg.colorSpace != ColorSpace::Raw) { cfg.colorSpace = ColorSpace::Raw; status = Adjusted; } } else if (cfg.colorSpace && (index == -1 || cfg.size > config_[i].size)) { index = i; } } if (index < 0 || !(flags & ColorSpaceFlag::StreamsShareColorSpace)) return status; /* Make all output color spaces the same, if requested. */ for (auto &cfg : config_) { if (!isRaw(cfg.pixelFormat) && cfg.colorSpace != config_[index].colorSpace) { cfg.colorSpace = config_[index].colorSpace; status = Adjusted; } } return status; } /** * \var CameraConfiguration::transform * \brief User-specified transform to be applied to the image * * The transform is a user-specified 2D plane transform that will be applied * to the camera images by the processing pipeline before being handed to * the application. This is subsequent to any transform that is already * required to fix up any platform-defined rotation. * * The usual 2D plane transforms are allowed here (horizontal/vertical * flips, multiple of 90-degree rotations etc.), but the validate() function * may adjust this field at its discretion if the selection is not supported. */ /** * \var CameraConfiguration::config_ * \brief The vector of stream configurations */ /** * \class Camera::Private * \brief Base class for camera private data * * The Camera::Private class stores all private data associated with a camera. * In addition to hiding core Camera data from the public API, it is expected to * be subclassed by pipeline handlers to store pipeline-specific data. * * Pipeline handlers can obtain the Camera::Private instance associated with a * camera by calling Camera::_d(). */ /** * \brief Construct a Camera::Private instance * \param[in] pipe The pipeline handler responsible for the camera device */ Camera::Private::Private(PipelineHandler *pipe) : requestSequence_(0), pipe_(pipe->shared_from_this()), disconnected_(false), state_(CameraAvailable) { } Camera::Private::~Private() { if (state_.load(std::memory_order_acquire) != Private::CameraAvailable) LOG(Camera, Error) << "Removing camera while still in use"; } /** * \fn Camera::Private::pipe() * \brief Retrieve the pipeline handler related to this camera * \return The pipeline handler that created this camera */ /** * \fn Camera::Private::validator() * \brief Retrieve the control validator related to this camera * \return The control validator associated with this camera */ /** * \var Camera::Private::queuedRequests_ * \brief The list of queued and not yet completed requests * * This list tracks requests queued in order to ensure completion of all * requests when the pipeline handler is stopped. * * \sa PipelineHandler::queueRequest(), PipelineHandler::stop(), * PipelineHandler::completeRequest() */ /** * \var Camera::Private::controlInfo_ * \brief The set of controls supported by the camera * * The control information shall be initialised by the pipeline handler when * creating the camera. * * \todo This member was initially meant to stay constant after the camera is * created. Several pipeline handlers are already updating it when the camera * is configured. Update the documentation accordingly, and possibly the API as * well, when implementing official support for control info updates. */ /** * \var Camera::Private::properties_ * \brief The list of properties supported by the camera * * The list of camera properties shall be initialised by the pipeline handler * when creating the camera, and shall not be modified afterwards. */ /** * \var Camera::Private::requestSequence_ * \brief The queuing sequence number of the request * * When requests are queued, they are given a per-camera sequence number to * facilitate debugging of internal request usage. * * The requestSequence_ tracks the number of requests queued to a camera * over a single capture session. */ static const char *const camera_state_names[] = { "Available", "Acquired", "Configured", "Stopping", "Running", }; bool Camera::Private::isAcquired() const { return state_.load(std::memory_order_acquire) == CameraRunning; } bool Camera::Private::isRunning() const { return state_.load(std::memory_order_acquire) == CameraRunning; } int Camera::Private::isAccessAllowed(State state, bool allowDisconnected, const char *from) const { if (!allowDisconnected && disconnected_) return -ENODEV; State currentState = state_.load(std::memory_order_acquire); if (currentState == state) return 0; ASSERT(static_cast(state) < std::size(camera_state_names)); LOG(Camera, Error) << "Camera in " << camera_state_names[currentState] << " state trying " << from << "() requiring state " << camera_state_names[state]; return -EACCES; } int Camera::Private::isAccessAllowed(State low, State high, bool allowDisconnected, const char *from) const { if (!allowDisconnected && disconnected_) return -ENODEV; State currentState = state_.load(std::memory_order_acquire); if (currentState >= low && currentState <= high) return 0; ASSERT(static_cast(low) < std::size(camera_state_names) && static_cast(high) < std::size(camera_state_names)); LOG(Camera, Error) << "Camera in " << camera_state_names[currentState] << " state trying " << from << "() requiring state between " << camera_state_names[low] << " and " << camera_state_names[high]; return -EACCES; } void Camera::Private::disconnect() { /* * If the camera was running when the hardware was removed force the * state to Configured state to allow applications to free resources * and call release() before deleting the camera. */ if (state_.load(std::memory_order_acquire) == Private::CameraRunning) state_.store(Private::CameraConfigured, std::memory_order_release); disconnected_ = true; } void Camera::Private::setState(State state) { state_.store(state, std::memory_order_release); } /** * \class Camera * \brief Camera device * * \todo Add documentation for camera start timings. What exactly does the * camera expect the pipeline handler to do when start() is called? * * The Camera class models a camera capable of producing one or more image * streams from a single image source. It provides the main interface to * configuring and controlling the device, and capturing image streams. It is * the central object exposed by libcamera. * * To support the central nature of Camera objects, libcamera manages the * lifetime of camera instances with std::shared_ptr<>. Instances shall be * created with the create() function which returns a shared pointer. The * Camera constructors and destructor are private, to prevent instances from * being constructed and destroyed manually. * * \section camera_operation Operating the Camera * * An application needs to perform a sequence of operations on a camera before * it is ready to process requests. The camera needs to be acquired and * configured to prepare the camera for capture. Once started the camera can * process requests until it is stopped. When an application is done with a * camera, the camera needs to be released. * * An application may start and stop a camera multiple times as long as it is * not released. The camera may also be reconfigured. * * Functions that affect the camera state as defined below are generally not * synchronized with each other by the Camera class. The caller is responsible * for ensuring their synchronization if necessary. * * \subsection Camera States * * To help manage the sequence of operations needed to control the camera a set * of states are defined. Each state describes which operations may be performed * on the camera. Performing an operation not allowed in the camera state * results in undefined behaviour. Operations not listed at all in the state * diagram are allowed in all states. * * \dot * digraph camera_state_machine { * node [shape = doublecircle ]; Available; * node [shape = circle ]; Acquired; * node [shape = circle ]; Configured; * node [shape = circle ]; Stopping; * node [shape = circle ]; Running; * * Available -> Available [label = "release()"]; * Available -> Acquired [label = "acquire()"]; * * Acquired -> Available [label = "release()"]; * Acquired -> Configured [label = "configure()"]; * * Configured -> Available [label = "release()"]; * Configured -> Configured [label = "configure(), createRequest()"]; * Configured -> Running [label = "start()"]; * * Running -> Stopping [label = "stop()"]; * Stopping -> Configured; * Running -> Running [label = "createRequest(), queueRequest()"]; * } * \enddot * * \subsubsection Available * The base state of a camera, an application can inspect the properties of the * camera to determine if it wishes to use it. If an application wishes to use * a camera it should acquire() it to proceed to the Acquired state. * * \subsubsection Acquired * In the acquired state an application has exclusive access to the camera and * may modify the camera's parameters to configure it and proceed to the * Configured state. * * \subsubsection Configured * The camera is configured and ready to be started. The application may * release() the camera and to get back to the Available state or start() * it to progress to the Running state. * * \subsubsection Stopping * The camera has been asked to stop. Pending requests are being completed or * cancelled, and no new requests are permitted to be queued. The camera will * transition to the Configured state when all queued requests have been * returned to the application. * * \subsubsection Running * The camera is running and ready to process requests queued by the * application. The camera remains in this state until it is stopped and moved * to the Configured state. */ /** * \brief Create a camera instance * \param[in] d Camera private data * \param[in] id The ID of the camera device * \param[in] streams Array of streams the camera provides * * The caller is responsible for guaranteeing a stable and unique camera ID * matching the constraints described by Camera::id(). Parameters that are * allocated dynamically at system startup, such as bus numbers that may be * enumerated differently, are therefore not suitable to use in the ID. * * Pipeline handlers that use a CameraSensor may use the CameraSensor::id() to * generate an ID that satisfies the criteria of a stable and unique camera ID. * * \return A shared pointer to the newly created camera object */ std::shared_ptr Camera::create(std::unique_ptr d, const std::string &id, const std::set &streams) { ASSERT(d); struct Deleter : std::default_delete { void operator()(Camera *camera) { if (Thread::current() == camera->thread()) delete camera; else camera->deleteLater(); } }; Camera *camera = new Camera(std::move(d), id, streams); return std::shared_ptr(camera, Deleter()); } /** * \brief Retrieve the ID of the camera * * The camera ID is a free-form string that identifies a camera in the system. * IDs are guaranteed to be unique and stable: the same camera, when connected * to the system in the same way (e.g. in the same USB port), will have the same * ID across both unplug/replug and system reboots. * * Applications may store the camera ID and use it later to acquire the same * camera. They shall treat the ID as an opaque identifier, without interpreting * its value. * * Camera IDs may change when the system hardware or firmware is modified, for * instance when replacing a PCI USB controller or moving it to another PCI * slot, or updating the ACPI tables or Device Tree. * * \context This function is \threadsafe. * * \return ID of the camera device */ const std::string &Camera::id() const { return _d()->id_; } /** * \var Camera::bufferCompleted * \brief Signal emitted when a buffer for a request queued to the camera has * completed */ /** * \var Camera::requestCompleted * \brief Signal emitted when a request queued to the camera has completed */ /** * \var Camera::disconnected * \brief Signal emitted when the camera is disconnected from the system * * This signal is emitted when libcamera detects that the camera has been * removed from the system. For hot-pluggable devices this is usually caused by * physical device disconnection. The media device is passed as a parameter. * * As soon as this signal is emitted the camera instance will refuse all new * application API calls by returning errors immediately. */ Camera::Camera(std::unique_ptr d, const std::string &id, const std::set &streams) : Extensible(std::move(d)) { _d()->id_ = id; _d()->streams_ = streams; _d()->validator_ = std::make_unique(this); } Camera::~Camera() { } /** * \brief Notify camera disconnection * * This function is used to notify the camera instance that the underlying * hardware has been unplugged. In response to the disconnection the camera * instance notifies the application by emitting the #disconnected signal, and * ensures that all new calls to the application-facing Camera API return an * error immediately. * * \todo Deal with pending requests if the camera is disconnected in a * running state. */ void Camera::disconnect() { LOG(Camera, Debug) << "Disconnecting camera " << id(); _d()->disconnect(); disconnected.emit(); } int Camera::exportFrameBuffers(Stream *stream, std::vector> *buffers) { Private *const d = _d(); int ret = d->isAccessAllowed(Private::CameraConfigured); if (ret < 0) return ret; if (streams().find(stream) == streams().end()) return -EINVAL; if (d->activeStreams_.find(stream) == d->activeStreams_.end()) return -EINVAL; return d->pipe_->invokeMethod(&PipelineHandler::exportFrameBuffers, ConnectionTypeBlocking, this, stream, buffers); } /** * \brief Acquire the camera device for exclusive access * * After opening the device with open(), exclusive access must be obtained * before performing operations that change the device state. This function is * not blocking, if the device has already been acquired (by the same or another * process) the -EBUSY error code is returned. * * Acquiring a camera may limit usage of any other camera(s) provided by the * same pipeline handler to the same instance of libcamera. The limit is in * effect until all cameras from the pipeline handler are released. Other * instances of libcamera can still list and examine the cameras but will fail * if they attempt to acquire() any of them. * * Once exclusive access isn't needed anymore, the device should be released * with a call to the release() function. * * \context This function is \threadsafe. It may only be called when the camera * is in the Available state as defined in \ref camera_operation. * * \return 0 on success or a negative error code otherwise * \retval -ENODEV The camera has been disconnected from the system * \retval -EBUSY The camera is not free and can't be acquired by the caller */ int Camera::acquire() { Private *const d = _d(); /* * No manual locking is required as PipelineHandler::lock() is * thread-safe. */ int ret = d->isAccessAllowed(Private::CameraAvailable); if (ret < 0) return ret == -EACCES ? -EBUSY : ret; if (!d->pipe_->acquire()) { LOG(Camera, Info) << "Pipeline handler in use by another process"; return -EBUSY; } d->setState(Private::CameraAcquired); return 0; } /** * \brief Release exclusive access to the camera device * * Releasing the camera device allows other users to acquire exclusive access * with the acquire() function. * * \context This function may only be called when the camera is in the * Available or Configured state as defined in \ref camera_operation, and shall * be synchronized by the caller with other functions that affect the camera * state. * * \return 0 on success or a negative error code otherwise * \retval -EBUSY The camera is running and can't be released */ int Camera::release() { Private *const d = _d(); int ret = d->isAccessAllowed(Private::CameraAvailable, Private::CameraConfigured, true); if (ret < 0) return ret == -EACCES ? -EBUSY : ret; if (d->isAcquired()) d->pipe_->release(); d->setState(Private::CameraAvailable); return 0; } /** * \brief Retrieve the list of controls supported by the camera * * The list of controls supported by the camera and their associated * constraints remain constant through the lifetime of the Camera object. * * \context This function is \threadsafe. * * \return A ControlInfoMap listing the controls supported by the camera */ const ControlInfoMap &Camera::controls() const { return _d()->controlInfo_; } /** * \brief Retrieve the list of properties of the camera * * Camera properties are static information that describe the capabilities of * the camera. They remain constant through the lifetime of the Camera object. * * \return A ControlList of properties supported by the camera */ const ControlList &Camera::properties() const { return _d()->properties_; } /** * \brief Retrieve all the camera's stream information * * Retrieve all of the camera's static stream information. The static * information describes among other things how many streams the camera * supports and the capabilities of each stream. * * \context This function is \threadsafe. * * \return An array of all the camera's streams */ const std::set &Camera::streams() const { return _d()->streams_; } /** * \brief Generate a default camera configuration according to stream roles * \param[in] roles A list of stream roles * * Generate a camera configuration for a set of desired stream roles. The caller * specifies a list of stream roles and the camera returns a configuration * containing suitable streams and their suggested default configurations. An * empty list of roles is valid, and will generate an empty configuration that * can be filled by the caller. * * \context This function is \threadsafe. * * \return A CameraConfiguration if the requested roles can be satisfied, or a * null pointer otherwise. The ownership of the returned configuration is * passed to the caller. */ std::unique_ptr Camera::generateConfiguration(const StreamRoles &roles) { Private *const d = _d(); int ret = d->isAccessAllowed(Private::CameraAvailable, Private::CameraRunning); if (ret < 0) return nullptr; if (roles.size() > streams().size()) return nullptr; CameraConfiguration *config = d->pipe_->generateConfiguration(this, roles); if (!config) { LOG(Camera, Debug) << "Pipeline handler failed to generate configuration"; return nullptr; } std::ostringstream msg("streams configuration:", std::ios_base::ate); if (config->empty()) msg << " empty"; for (unsigned int index = 0; index < config->size(); ++index) msg << " (" << index << ") " << config->at(index).toString(); LOG(Camera, Debug) << msg.str(); return std::unique_ptr(config); } /** * \brief Configure the camera prior to capture * \param[in] config The camera configurations to setup * * Prior to starting capture, the camera must be configured to select a * group of streams to be involved in the capture and their configuration. * The caller specifies which streams are to be involved and their configuration * by populating \a config. * * The configuration is created by generateConfiguration(), and adjusted by the * caller with CameraConfiguration::validate(). This function only accepts fully * valid configurations and returns an error if \a config is not valid. * * Exclusive access to the camera shall be ensured by a call to acquire() prior * to calling this function, otherwise an -EACCES error will be returned. * * \context This function may only be called when the camera is in the Acquired * or Configured state as defined in \ref camera_operation, and shall be * synchronized by the caller with other functions that affect the camera * state. * * Upon return the StreamConfiguration entries in \a config are associated with * Stream instances which can be retrieved with StreamConfiguration::stream(). * * \return 0 on success or a negative error code otherwise * \retval -ENODEV The camera has been disconnected from the system * \retval -EACCES The camera is not in a state where it can be configured * \retval -EINVAL The configuration is not valid */ int Camera::configure(CameraConfiguration *config) { Private *const d = _d(); int ret = d->isAccessAllowed(Private::CameraAcquired, Private::CameraConfigured); if (ret < 0) return ret; for (auto it : *config) it.setStream(nullptr); if (config->validate() != CameraConfiguration::Valid) { LOG(Camera, Error) << "Can't configure camera with invalid configuration"; return -EINVAL; } std::ostringstream msg("configuring streams:", std::ios_base::ate); for (unsigned int index = 0; index < config->size(); ++index) { StreamConfiguration &cfg = config->at(index); msg << " (" << index << ") " << cfg.toString(); } LOG(Camera, Info) << msg.str(); ret = d->pipe_->invokeMethod(&PipelineHandler::configure, ConnectionTypeBlocking, this, config); if (ret) return ret; d->activeStreams_.clear(); for (const StreamConfiguration &cfg : *config) { Stream *stream = cfg.stream(); if (!stream) { LOG(Camera, Fatal) << "Pipeline handler failed to update stream configuration"; d->activeStreams_.clear(); return -EINVAL; } stream->configuration_ = cfg; d->activeStreams_.insert(stream); } d->setState(Private::CameraConfigured); return 0; } /** * \brief Create a request object for the camera * \param[in] cookie Opaque cookie for application use * * This function creates an empty request for the application to fill with * buffers and parameters, and queue for capture. * * The \a cookie is stored in the request and is accessible through the * Request::cookie() function at any time. It is typically used by applications * to map the request to an external resource in the request completion * handler, and is completely opaque to libcamera. * * The ownership of the returned request is passed to the caller, which is * responsible for deleting it. The request may be deleted in the completion * handler, or reused after resetting its state with Request::reuse(). * * \context This function is \threadsafe. It may only be called when the camera * is in the Configured or Running state as defined in \ref camera_operation. * * \return A pointer to the newly created request, or nullptr on error */ std::unique_ptr Camera::createRequest(uint64_t cookie) { Private *const d = _d(); int ret = d->isAccessAllowed(Private::CameraConfigured, Private::CameraRunning); if (ret < 0) return nullptr; std::unique_ptr request = std::make_unique(this, cookie); /* Associate the request with the pipeline handler. */ d->pipe_->registerRequest(request.get()); return request; } /** * \brief Queue a request to the camera * \param[in] request The request to queue to the camera * * This function queues a \a request to the camera for capture. * * After allocating the request with createRequest(), the application shall * fill it with at least one capture buffer before queuing it. Requests that * contain no buffers are invalid and are rejected without being queued. * * Once the request has been queued, the camera will notify its completion * through the \ref requestCompleted signal. * * \context This function is \threadsafe. It may only be called when the camera * is in the Running state as defined in \ref camera_operation. * * \return 0 on success or a negative error code otherwise * \retval -ENODEV The camera has been disconnected from the system * \retval -EACCES The camera is not running so requests can't be queued * \retval -EXDEV The request does not belong to this camera * \retval -EINVAL The request is invalid * \retval -ENOMEM No buffer memory was available to handle the request */ int Camera::queueRequest(Request *request) { Private *const d = _d(); int ret = d->isAccessAllowed(Private::CameraRunning); if (ret < 0) return ret; /* Requests can only be queued to the camera that created them. */ if (request->_d()->camera() != this) { LOG(Camera, Error) << "Request was not created by this camera"; return -EXDEV; } /* * The camera state may change until the end of the function. No locking * is however needed as PipelineHandler::queueRequest() will handle * this. */ if (request->buffers().empty()) { LOG(Camera, Error) << "Request contains no buffers"; return -EINVAL; } for (auto const &it : request->buffers()) { const Stream *stream = it.first; if (d->activeStreams_.find(stream) == d->activeStreams_.end()) { LOG(Camera, Error) << "Invalid request"; return -EINVAL; } } d->pipe_->invokeMethod(&PipelineHandler::queueRequest, ConnectionTypeQueued, request); return 0; } /** * \brief Start capture from camera * \param[in] controls Controls to be applied before starting the Camera * * Start the camera capture session, optionally providing a list of controls to * apply before starting. Once the camera is started the application can queue * requests to the camera to process and return to the application until the * capture session is terminated with \a stop(). * * \context This function may only be called when the camera is in the * Configured state as defined in \ref camera_operation, and shall be * synchronized by the caller with other functions that affect the camera * state. * * \return 0 on success or a negative error code otherwise * \retval -ENODEV The camera has been disconnected from the system * \retval -EACCES The camera is not in a state where it can be started */ int Camera::start(const ControlList *controls) { Private *const d = _d(); int ret = d->isAccessAllowed(Private::CameraConfigured); if (ret < 0) return ret; LOG(Camera, Debug) << "Starting capture"; ASSERT(d->requestSequence_ == 0); ret = d->pipe_->invokeMethod(&PipelineHandler::start, ConnectionTypeBlocking, this, controls); if (ret) return ret; d->setState(Private::CameraRunning); return 0; } /** * \brief Stop capture from camera * * This function stops capturing and processing requests immediately. All * pending requests are cancelled and complete synchronously in an error state. * * \context This function may be called in any camera state as defined in \ref * camera_operation, and shall be synchronized by the caller with other * functions that affect the camera state. If called when the camera isn't * running, it is a no-op. * * \return 0 on success or a negative error code otherwise * \retval -ENODEV The camera has been disconnected from the system * \retval -EACCES The camera is not running so can't be stopped */ int Camera::stop() { Private *const d = _d(); /* * \todo Make calling stop() when not in 'Running' part of the state * machine rather than take this shortcut */ if (!d->isRunning()) return 0; int ret = d->isAccessAllowed(Private::CameraRunning); if (ret < 0) return ret; LOG(Camera, Debug) << "Stopping capture"; d->setState(Private::CameraStopping); d->pipe_->invokeMethod(&PipelineHandler::stop, ConnectionTypeBlocking, this); ASSERT(!d->pipe_->hasPendingRequests(this)); d->setState(Private::CameraConfigured); return 0; } /** * \brief Handle request completion and notify application * \param[in] request The request that has completed * * This function is called by the pipeline handler to notify the camera that * the request has completed. It emits the requestCompleted signal. */ void Camera::requestComplete(Request *request) { /* Disconnected cameras are still able to complete requests. */ if (_d()->isAccessAllowed(Private::CameraStopping, Private::CameraRunning, true)) LOG(Camera, Fatal) << "Trying to complete a request when stopped"; requestCompleted.emit(request); } } /* namespace libcamera */