From 2dc20dcba02fbb823cf8f4a7dee99d62aa9f2163 Mon Sep 17 00:00:00 2001 From: Jacopo Mondi Date: Fri, 31 Oct 2025 09:02:53 +0100 Subject: [PATCH] libcamera: mali-c55: Split TPG and Inline camera handling MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit In order to prepare to support memory input cameras, split the handling of the TPG and Inline camera cases. The Mali C55 pipeline handler uses the entity and subdevice stored in the CameraData to support both the handling of the TPG and of the Inline (CSI-2 + sensor) use cases. Adding support for memory cameras by using the CRU unit would add yet-another special case making the code harder to follow and more prone to errors. Split the handling of the TPG and Inline cameras by introducing an std::variant<> variable and to deflect the functions called on the camera data to the correct type by using overloaded std::visit<>(). Signed-off-by: Jacopo Mondi Reviewed-by: Daniel Scally Reviewed-by: Barnabás Pőcze --- src/libcamera/pipeline/mali-c55/mali-c55.cpp | 280 +++++++++++-------- 1 file changed, 163 insertions(+), 117 deletions(-) diff --git a/src/libcamera/pipeline/mali-c55/mali-c55.cpp b/src/libcamera/pipeline/mali-c55/mali-c55.cpp index e39c8d5a..8dce2f48 100644 --- a/src/libcamera/pipeline/mali-c55/mali-c55.cpp +++ b/src/libcamera/pipeline/mali-c55/mali-c55.cpp @@ -11,12 +11,14 @@ #include #include #include +#include #include #include #include #include +#include #include #include @@ -91,17 +93,77 @@ struct MaliC55FrameInfo { class MaliC55CameraData : public Camera::Private { public: - MaliC55CameraData(PipelineHandler *pipe, MediaEntity *entity) - : Camera::Private(pipe), entity_(entity) + struct Tpg { + std::vector sizes(unsigned int mbusCode) const; + + Size resolution_; + std::unique_ptr sd_; + }; + + struct Inline { + std::unique_ptr csi2_; + std::unique_ptr sensor_; + }; + using CameraType = std::variant; + + MaliC55CameraData(PipelineHandler *pipe) + : Camera::Private(pipe) { } - int init(); int loadIPA(); - /* Deflect these functionalities to either TPG or CameraSensor. */ - std::vector sizes(unsigned int mbusCode) const; - Size resolution() const; + Tpg *initTpg(MediaEntity *entity); + Inline *initInline(MediaEntity *entity); + + std::vector sizes(unsigned int mbusCode) const + { + return std::visit(utils::overloaded{ + [&](const Tpg &tpg) -> std::vector { + return tpg.sizes(mbusCode); + }, + [&](const Inline &in) -> std::vector { + return in.sensor_->sizes(mbusCode); + } + }, input_); + } + + V4L2Subdevice *subdev() const + { + return std::visit(utils::overloaded{ + [&](const Tpg &tpg) -> V4L2Subdevice * { + return tpg.sd_.get(); + }, + [&](const Inline &in) -> V4L2Subdevice * { + return in.sensor_->device(); + }, + }, input_); + } + + CameraSensor *sensor() const + { + return std::visit(utils::overloaded{ + [&](auto &) -> CameraSensor * { + ASSERT(false); + return nullptr; + }, + [&](const Inline &in) -> CameraSensor * { + return in.sensor_.get(); + }, + }, input_); + } + + Size resolution() const + { + return std::visit(utils::overloaded{ + [&](const Tpg &tpg) -> Size { + return tpg.resolution_; + }, + [&](const Inline &in) -> Size { + return in.sensor_->resolution(); + }, + }, input_); + } int pixfmtToMbusCode(const PixelFormat &pixFmt) const; const PixelFormat &bestRawFormat() const; @@ -111,11 +173,6 @@ public: PixelFormat adjustRawFormat(const PixelFormat &pixFmt) const; Size adjustRawSizes(const PixelFormat &pixFmt, const Size &rawSize) const; - std::unique_ptr sensor_; - - MediaEntity *entity_; - std::unique_ptr csi_; - std::unique_ptr sd_; Stream frStream_; Stream dsStream_; @@ -125,58 +182,28 @@ public: std::unique_ptr delayedCtrls_; -private: - void initTPGData(); - void setSensorControls(const ControlList &sensorControls); + CameraType input_; +private: + void setSensorControls(const ControlList &sensorControls); std::string id_; - Size tpgResolution_; }; -int MaliC55CameraData::init() +MaliC55CameraData::Tpg *MaliC55CameraData::initTpg(MediaEntity *entity) { - int ret; + Tpg tpg; - sd_ = std::make_unique(entity_); - ret = sd_->open(); + tpg.sd_ = std::make_unique(entity); + int ret = tpg.sd_->open(); if (ret) { - LOG(MaliC55, Error) << "Failed to open sensor subdevice"; - return ret; + LOG(MaliC55, Error) << "Failed to open TPG subdevice"; + return nullptr; } - /* If this camera is created from TPG, we return here. */ - if (entity_->name() == "mali-c55 tpg") { - initTPGData(); - return 0; - } - - /* - * Register a CameraSensor if we connect to a sensor and create - * an entity for the connected CSI-2 receiver. - */ - sensor_ = CameraSensorFactoryBase::create(entity_); - if (!sensor_) - return -ENODEV; - - const MediaPad *sourcePad = entity_->getPadByIndex(0); - MediaEntity *csiEntity = sourcePad->links()[0]->sink()->entity(); - - csi_ = std::make_unique(csiEntity); - ret = csi_->open(); - if (ret) { - LOG(MaliC55, Error) << "Failed to open CSI-2 subdevice"; - return ret; - } - - return 0; -} - -void MaliC55CameraData::initTPGData() -{ /* Replicate the CameraSensor implementation for TPG. */ - V4L2Subdevice::Formats formats = sd_->formats(0); + V4L2Subdevice::Formats formats = tpg.sd_->formats(0); if (formats.empty()) - return; + return nullptr; std::vector tpgSizes; @@ -186,19 +213,35 @@ void MaliC55CameraData::initTPGData() [](const SizeRange &range) { return range.max; }); } - tpgResolution_ = tpgSizes.back(); + tpg.resolution_ = tpgSizes.back(); + + return &input_.emplace(std::move(tpg)); } -void MaliC55CameraData::setSensorControls(const ControlList &sensorControls) +MaliC55CameraData::Inline *MaliC55CameraData::initInline(MediaEntity *sensor) { - delayedCtrls_->push(sensorControls); + Inline in; + + /* Register a CameraSensor and create an entity for the CSI-2 receiver. */ + in.sensor_ = CameraSensorFactoryBase::create(sensor); + if (!in.sensor_) + return nullptr; + + const MediaPad *sourcePad = sensor->getPadByIndex(0); + MediaEntity *csiEntity = sourcePad->links()[0]->sink()->entity(); + + in.csi2_ = std::make_unique(csiEntity); + int ret = in.csi2_->open(); + if (ret) { + LOG(MaliC55, Error) << "Failed to open CSI-2 subdevice"; + return nullptr; + } + + return &input_.emplace(std::move(in)); } -std::vector MaliC55CameraData::sizes(unsigned int mbusCode) const +std::vector MaliC55CameraData::Tpg::sizes(unsigned int mbusCode) const { - if (sensor_) - return sensor_->sizes(mbusCode); - V4L2Subdevice::Formats formats = sd_->formats(0); if (formats.empty()) return {}; @@ -217,12 +260,9 @@ std::vector MaliC55CameraData::sizes(unsigned int mbusCode) const return sizes; } -Size MaliC55CameraData::resolution() const +void MaliC55CameraData::setSensorControls(const ControlList &sensorControls) { - if (sensor_) - return sensor_->resolution(); - - return tpgResolution_; + delayedCtrls_->push(sensorControls); } /* @@ -241,7 +281,7 @@ int MaliC55CameraData::pixfmtToMbusCode(const PixelFormat &pixFmt) const if (!bayerFormat.isValid()) return -EINVAL; - V4L2Subdevice::Formats formats = sd_->formats(0); + V4L2Subdevice::Formats formats = subdev()->formats(0); unsigned int sensorMbusCode = 0; unsigned int bitDepth = 0; @@ -279,7 +319,7 @@ const PixelFormat &MaliC55CameraData::bestRawFormat() const { static const PixelFormat invalidPixFmt = {}; - for (const auto &fmt : sd_->formats(0)) { + for (const auto &fmt : subdev()->formats(0)) { BayerFormat sensorBayer = BayerFormat::fromMbusCode(fmt.first); if (!sensorBayer.isValid()) @@ -301,11 +341,11 @@ const PixelFormat &MaliC55CameraData::bestRawFormat() const void MaliC55CameraData::updateControls(const ControlInfoMap &ipaControls) { - if (!sensor_) + if (std::holds_alternative(input_)) return; IPACameraSensorInfo sensorInfo; - int ret = sensor_->sensorInfo(&sensorInfo); + int ret = sensor()->sensorInfo(&sensorInfo); if (ret) { LOG(MaliC55, Error) << "Failed to retrieve sensor info"; return; @@ -378,7 +418,7 @@ int MaliC55CameraData::loadIPA() int ret; /* Do not initialize IPA for TPG. */ - if (!sensor_) + if (std::holds_alternative(input_)) return 0; ipa_ = pipe()->createIPA(1, 1); @@ -387,20 +427,20 @@ int MaliC55CameraData::loadIPA() ipa_->setSensorControls.connect(this, &MaliC55CameraData::setSensorControls); - std::string ipaTuningFile = ipa_->configurationFile(sensor_->model() + ".yaml", + std::string ipaTuningFile = ipa_->configurationFile(sensor()->model() + ".yaml", "uncalibrated.yaml"); /* We need to inform the IPA of the sensor configuration */ ipa::mali_c55::IPAConfigInfo ipaConfig{}; - ret = sensor_->sensorInfo(&ipaConfig.sensorInfo); + ret = sensor()->sensorInfo(&ipaConfig.sensorInfo); if (ret) return ret; - ipaConfig.sensorControls = sensor_->controls(); + ipaConfig.sensorControls = sensor()->controls(); ControlInfoMap ipaControls; - ret = ipa_->init({ ipaTuningFile, sensor_->model() }, ipaConfig, + ret = ipa_->init({ ipaTuningFile, sensor()->model() }, ipaConfig, &ipaControls); if (ret) { LOG(MaliC55, Error) << "Failed to initialise the Mali-C55 IPA"; @@ -443,13 +483,13 @@ CameraConfiguration::Status MaliC55CameraConfiguration::validate() * The TPG doesn't support flips, so we only need to calculate a * transform if we have a sensor. */ - if (data_->sensor_) { + if (std::holds_alternative(data_->input_)) { + combinedTransform_ = Transform::Rot0; + } else { Orientation requestedOrientation = orientation; - combinedTransform_ = data_->sensor_->computeTransform(&orientation); + combinedTransform_ = data_->sensor()->computeTransform(&orientation); if (orientation != requestedOrientation) status = Adjusted; - } else { - combinedTransform_ = Transform::Rot0; } /* Only 2 streams available. */ @@ -926,39 +966,44 @@ int PipelineHandlerMaliC55::configure(Camera *camera, /* Link the graph depending if we are operating the TPG or a sensor. */ MaliC55CameraData *data = cameraData(camera); - if (data->csi_) { - const MediaEntity *csiEntity = data->csi_->entity(); - ret = csiEntity->getPadByIndex(1)->links()[0]->setEnabled(true); - } else { - ret = data->entity_->getPadByIndex(0)->links()[0]->setEnabled(true); - } + ret = std::visit(utils::overloaded{ + [](MaliC55CameraData::Tpg &tpg) { + const MediaEntity *tpgEntity = tpg.sd_->entity(); + return tpgEntity->getPadByIndex(0)->links()[0]->setEnabled(true); + }, + [](MaliC55CameraData::Inline &in) { + const MediaEntity *csi2Entity = in.csi2_->entity(); + return csi2Entity->getPadByIndex(1)->links()[0]->setEnabled(true); + }, + }, data->input_); if (ret) return ret; MaliC55CameraConfiguration *maliConfig = static_cast(config); V4L2SubdeviceFormat subdevFormat = maliConfig->sensorFormat_; - ret = data->sd_->getFormat(0, &subdevFormat); + + /* Apply format to the origin of the pipeline and propagate it. */ + ret = std::visit(utils::overloaded{ + [&](MaliC55CameraData::Tpg &tpg) { + return tpg.sd_->setFormat(0, &subdevFormat); + }, + [&](MaliC55CameraData::Inline &in) { + int r = in.sensor_->setFormat(&subdevFormat, + maliConfig->combinedTransform()); + if (r) + return r; + + r = in.csi2_->setFormat(0, &subdevFormat); + if (r) + return r; + + return in.csi2_->getFormat(1, &subdevFormat); + }, + }, data->input_); if (ret) return ret; - if (data->sensor_) { - ret = data->sensor_->setFormat(&subdevFormat, - maliConfig->combinedTransform()); - if (ret) - return ret; - } - - if (data->csi_) { - ret = data->csi_->setFormat(0, &subdevFormat); - if (ret) - return ret; - - ret = data->csi_->getFormat(1, &subdevFormat); - if (ret) - return ret; - } - V4L2DeviceFormat statsFormat; ret = stats_->getFormat(&statsFormat); if (ret) @@ -972,8 +1017,6 @@ int PipelineHandlerMaliC55::configure(Camera *camera, /* * Propagate the format to the ISP sink pad and configure the input * crop rectangle (no crop at the moment). - * - * \todo Configure the CSI-2 receiver. */ ret = isp_->setFormat(0, &subdevFormat); if (ret) @@ -1057,18 +1100,18 @@ int PipelineHandlerMaliC55::configure(Camera *camera, /* We need to inform the IPA of the sensor configuration */ ipa::mali_c55::IPAConfigInfo ipaConfig{}; - ret = data->sensor_->sensorInfo(&ipaConfig.sensorInfo); + ret = data->sensor()->sensorInfo(&ipaConfig.sensorInfo); if (ret) return ret; - ipaConfig.sensorControls = data->sensor_->controls(); + ipaConfig.sensorControls = data->sensor()->controls(); /* * And we also need to tell the IPA the bayerOrder of the data (as * affected by any flips that we've configured) */ const Transform &combinedTransform = maliConfig->combinedTransform(); - BayerFormat::Order bayerOrder = data->sensor_->bayerOrder(combinedTransform); + BayerFormat::Order bayerOrder = data->sensor()->bayerOrder(combinedTransform); ControlInfoMap ipaControls; ret = data->ipa_->configure(ipaConfig, utils::to_underlying(bayerOrder), @@ -1282,7 +1325,7 @@ void PipelineHandlerMaliC55::applyScalerCrop(Camera *camera, if (!scalerCrop) return; - if (!data->sensor_) { + if (std::holds_alternative(data->input_)) { LOG(MaliC55, Error) << "ScalerCrop not supported for TPG"; return; } @@ -1290,7 +1333,7 @@ void PipelineHandlerMaliC55::applyScalerCrop(Camera *camera, Rectangle nativeCrop = *scalerCrop; IPACameraSensorInfo sensorInfo; - int ret = data->sensor_->sensorInfo(&sensorInfo); + int ret = data->sensor()->sensorInfo(&sensorInfo); if (ret) { LOG(MaliC55, Error) << "Failed to retrieve sensor info"; return; @@ -1572,9 +1615,9 @@ bool PipelineHandlerMaliC55::registerTPGCamera(MediaLink *link) } std::unique_ptr data = - std::make_unique(this, link->source()->entity()); + std::make_unique(this); - if (data->init()) + if (!data->initTpg(link->source()->entity())) return false; return registerMaliCamera(std::move(data), name); @@ -1599,21 +1642,24 @@ bool PipelineHandlerMaliC55::registerSensorCamera(MediaLink *ispLink) continue; std::unique_ptr data = - std::make_unique(this, sensor); - if (data->init()) + std::make_unique(this); + + auto *in = data->initInline(sensor); + if (!in) return false; - data->properties_ = data->sensor_->properties(); + data->properties_ = in->sensor_->properties(); - const CameraSensorProperties::SensorDelays &delays = data->sensor_->sensorDelays(); + const CameraSensorProperties::SensorDelays &delays = + in->sensor_->sensorDelays(); std::unordered_map params = { { V4L2_CID_ANALOGUE_GAIN, { delays.gainDelay, false } }, { V4L2_CID_EXPOSURE, { delays.exposureDelay, false } }, }; - data->delayedCtrls_ = - std::make_unique(data->sensor_->device(), - params); + V4L2Subdevice *sensorSubdev = in->sensor_->device(); + data->delayedCtrls_ = std::make_unique(sensorSubdev, + params); isp_->frameStart.connect(data->delayedCtrls_.get(), &DelayedControls::applyControls);