diff options
Diffstat (limited to 'spa/plugins/libcamera/libcamera-utils.cpp')
| -rw-r--r-- | spa/plugins/libcamera/libcamera-utils.cpp | 990 |
1 files changed, 990 insertions, 0 deletions
diff --git a/spa/plugins/libcamera/libcamera-utils.cpp b/spa/plugins/libcamera/libcamera-utils.cpp new file mode 100644 index 0000000..af07484 --- /dev/null +++ b/spa/plugins/libcamera/libcamera-utils.cpp @@ -0,0 +1,990 @@ +/* Spa + * + * Copyright (C) 2020, Collabora Ltd. + * Author: Raghavendra Rao Sidlagatta <raghavendra.rao@collabora.com> + * Copyright (C) 2021 Wim Taymans <wim.taymans@gmail.com> + * + * libcamera-utils.cpp + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and associated documentation files (the "Software"), + * to deal in the Software without restriction, including without limitation + * the rights to use, copy, modify, merge, publish, distribute, sublicense, + * and/or sell copies of the Software, and to permit persons to whom the + * Software is furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice (including the next + * paragraph) shall be included in all copies or substantial portions of the + * Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING + * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER + * DEALINGS IN THE SOFTWARE. + */ +#include <stdio.h> +#include <string.h> +#include <unistd.h> +#include <sched.h> +#include <errno.h> +#include <sys/mman.h> +#include <poll.h> +#include <limits.h> + +#include <linux/media.h> + +int spa_libcamera_open(struct impl *impl) +{ + if (impl->acquired) + return 0; + + spa_log_info(impl->log, "open camera %s", impl->device_id.c_str()); + impl->camera->acquire(); + + impl->allocator = new FrameBufferAllocator(impl->camera); + + impl->acquired = true; + return 0; +} + +int spa_libcamera_close(struct impl *impl) +{ + struct port *port = &impl->out_ports[0]; + if (!impl->acquired) + return 0; + if (impl->active || port->current_format) + return 0; + + spa_log_info(impl->log, "close camera %s", impl->device_id.c_str()); + delete impl->allocator; + impl->allocator = nullptr; + + impl->camera->release(); + + impl->acquired = false; + return 0; +} + +static void spa_libcamera_get_config(struct impl *impl) +{ + if (impl->config) + return; + + StreamRoles roles; + roles.push_back(StreamRole::VideoRecording); + impl->config = impl->camera->generateConfiguration(roles); +} + +static int spa_libcamera_buffer_recycle(struct impl *impl, struct port *port, uint32_t buffer_id) +{ + struct buffer *b = &port->buffers[buffer_id]; + int res; + + if (!SPA_FLAG_IS_SET(b->flags, BUFFER_FLAG_OUTSTANDING)) + return 0; + + SPA_FLAG_CLEAR(b->flags, BUFFER_FLAG_OUTSTANDING); + + if (buffer_id >= impl->requestPool.size()) { + spa_log_warn(impl->log, "invalid buffer_id %u >= %zu", + buffer_id, impl->requestPool.size()); + return -EINVAL; + } + Request *request = impl->requestPool[buffer_id].get(); + Stream *stream = port->streamConfig.stream(); + FrameBuffer *buffer = impl->allocator->buffers(stream)[buffer_id].get(); + if ((res = request->addBuffer(stream, buffer)) < 0) { + spa_log_warn(impl->log, "can't add buffer %u for request: %s", + buffer_id, spa_strerror(res)); + return -ENOMEM; + } + if (!impl->active) { + impl->pendingRequests.push_back(request); + return 0; + } else { + request->controls().merge(impl->ctrls); + impl->ctrls.clear(); + if ((res = impl->camera->queueRequest(request)) < 0) { + spa_log_warn(impl->log, "can't queue buffer %u: %s", + buffer_id, spa_strerror(res)); + return res == -EACCES ? -EBUSY : res; + } + } + return 0; +} + +static int allocBuffers(struct impl *impl, struct port *port, unsigned int count) +{ + int res; + + if ((res = impl->allocator->allocate(port->streamConfig.stream())) < 0) + return res; + + for (unsigned int i = 0; i < count; i++) { + std::unique_ptr<Request> request = impl->camera->createRequest(i); + if (!request) { + impl->requestPool.clear(); + return -ENOMEM; + } + impl->requestPool.push_back(std::move(request)); + } + return res; +} + +static void freeBuffers(struct impl *impl, struct port *port) +{ + impl->pendingRequests.clear(); + impl->requestPool.clear(); + impl->allocator->free(port->streamConfig.stream()); +} + +static int spa_libcamera_clear_buffers(struct impl *impl, struct port *port) +{ + uint32_t i; + + if (port->n_buffers == 0) + return 0; + + for (i = 0; i < port->n_buffers; i++) { + struct buffer *b; + struct spa_data *d; + + b = &port->buffers[i]; + d = b->outbuf->datas; + + if (SPA_FLAG_IS_SET(b->flags, BUFFER_FLAG_OUTSTANDING)) { + spa_log_debug(impl->log, "queueing outstanding buffer %p", b); + spa_libcamera_buffer_recycle(impl, port, i); + } + if (SPA_FLAG_IS_SET(b->flags, BUFFER_FLAG_MAPPED)) { + munmap(SPA_PTROFF(b->ptr, -d[0].mapoffset, void), + d[0].maxsize - d[0].mapoffset); + } + if (SPA_FLAG_IS_SET(b->flags, BUFFER_FLAG_ALLOCATED)) { + close(d[0].fd); + } + d[0].type = SPA_ID_INVALID; + } + + freeBuffers(impl, port); + port->n_buffers = 0; + + return 0; +} + +struct format_info { + PixelFormat pix; + uint32_t format; + uint32_t media_type; + uint32_t media_subtype; +}; + +#define MAKE_FMT(pix,fmt,mt,mst) { pix, SPA_VIDEO_FORMAT_ ##fmt, SPA_MEDIA_TYPE_ ##mt, SPA_MEDIA_SUBTYPE_ ##mst } +static const struct format_info format_info[] = { + /* RGB formats */ + MAKE_FMT(formats::RGB565, RGB16, video, raw), + MAKE_FMT(formats::RGB565_BE, RGB16, video, raw), + MAKE_FMT(formats::RGB888, RGB, video, raw), + MAKE_FMT(formats::BGR888, BGR, video, raw), + MAKE_FMT(formats::XRGB8888, xRGB, video, raw), + MAKE_FMT(formats::XBGR8888, xBGR, video, raw), + MAKE_FMT(formats::RGBX8888, RGBx, video, raw), + MAKE_FMT(formats::BGRX8888, BGRx, video, raw), + MAKE_FMT(formats::ARGB8888, ARGB, video, raw), + MAKE_FMT(formats::ABGR8888, ABGR, video, raw), + MAKE_FMT(formats::RGBA8888, RGBA, video, raw), + MAKE_FMT(formats::BGRA8888, BGRA, video, raw), + + MAKE_FMT(formats::YUYV, YUY2, video, raw), + MAKE_FMT(formats::YVYU, YVYU, video, raw), + MAKE_FMT(formats::UYVY, UYVY, video, raw), + MAKE_FMT(formats::VYUY, VYUY, video, raw), + + MAKE_FMT(formats::NV12, NV12, video, raw), + MAKE_FMT(formats::NV21, NV21, video, raw), + MAKE_FMT(formats::NV16, NV16, video, raw), + MAKE_FMT(formats::NV61, NV61, video, raw), + MAKE_FMT(formats::NV24, NV24, video, raw), + + MAKE_FMT(formats::YUV420, I420, video, raw), + MAKE_FMT(formats::YVU420, YV12, video, raw), + MAKE_FMT(formats::YUV422, Y42B, video, raw), + + MAKE_FMT(formats::MJPEG, ENCODED, video, mjpg), +#undef MAKE_FMT +}; + +static const struct format_info *video_format_to_info(const PixelFormat &pix) { + size_t i; + + for (i = 0; i < SPA_N_ELEMENTS(format_info); i++) { + if (format_info[i].pix == pix) + return &format_info[i]; + } + return NULL; +} + +static const struct format_info *find_format_info_by_media_type(uint32_t type, + uint32_t subtype, uint32_t format, int startidx) +{ + size_t i; + + for (i = startidx; i < SPA_N_ELEMENTS(format_info); i++) { + if ((format_info[i].media_type == type) && + (format_info[i].media_subtype == subtype) && + (format == 0 || format_info[i].format == format)) + return &format_info[i]; + } + return NULL; +} + +static int score_size(Size &a, Size &b) +{ + int x, y; + x = (int)a.width - (int)b.width; + y = (int)a.height - (int)b.height; + return x * x + y * y; +} + +static int +spa_libcamera_enum_format(struct impl *impl, struct port *port, int seq, + uint32_t start, uint32_t num, const struct spa_pod *filter) +{ + int res; + const struct format_info *info; + uint8_t buffer[1024]; + struct spa_pod_builder b = { 0 }; + struct spa_pod_frame f[2]; + struct spa_result_node_params result; + struct spa_pod *fmt; + uint32_t i, count = 0, num_sizes; + PixelFormat format; + Size frameSize; + SizeRange sizeRange = SizeRange(); + + spa_libcamera_get_config(impl); + + const StreamConfiguration& streamConfig = impl->config->at(0); + const StreamFormats &formats = streamConfig.formats(); + + result.id = SPA_PARAM_EnumFormat; + result.next = start; + + if (result.next == 0) { + port->fmt_index = 0; + port->size_index = 0; + } +next: + result.index = result.next++; + +next_fmt: + if (port->fmt_index >= formats.pixelformats().size()) + goto enum_end; + + format = formats.pixelformats()[port->fmt_index]; + + spa_log_debug(impl->log, "format: %s", format.toString().c_str()); + + info = video_format_to_info(format); + if (info == NULL) { + spa_log_debug(impl->log, "unknown format"); + port->fmt_index++; + goto next_fmt; + } + + num_sizes = formats.sizes(format).size(); + if (num_sizes > 0 && port->size_index <= num_sizes) { + if (port->size_index == 0) { + Size wanted = Size(640, 480), test; + int score, best = INT_MAX; + for (i = 0; i < num_sizes; i++) { + test = formats.sizes(format)[i]; + score = score_size(wanted, test); + if (score < best) { + best = score; + frameSize = test; + } + } + } + else { + frameSize = formats.sizes(format)[port->size_index - 1]; + } + } else if (port->size_index < 1) { + sizeRange = formats.range(format); + if (sizeRange.hStep == 0 || sizeRange.vStep == 0) { + port->size_index = 0; + port->fmt_index++; + goto next_fmt; + } + } else { + port->size_index = 0; + port->fmt_index++; + goto next_fmt; + } + port->size_index++; + + spa_pod_builder_init(&b, buffer, sizeof(buffer)); + spa_pod_builder_push_object(&b, &f[0], SPA_TYPE_OBJECT_Format, SPA_PARAM_EnumFormat); + spa_pod_builder_add(&b, + SPA_FORMAT_mediaType, SPA_POD_Id(info->media_type), + SPA_FORMAT_mediaSubtype, SPA_POD_Id(info->media_subtype), + 0); + + if (info->media_subtype == SPA_MEDIA_SUBTYPE_raw) { + spa_pod_builder_prop(&b, SPA_FORMAT_VIDEO_format, 0); + spa_pod_builder_id(&b, info->format); + } + if (info->pix.modifier()) { + spa_pod_builder_prop(&b, SPA_FORMAT_VIDEO_modifier, 0); + spa_pod_builder_long(&b, info->pix.modifier()); + } + spa_pod_builder_prop(&b, SPA_FORMAT_VIDEO_size, 0); + + if (sizeRange.hStep != 0 && sizeRange.vStep != 0) { + spa_pod_builder_push_choice(&b, &f[1], SPA_CHOICE_Step, 0); + spa_pod_builder_frame(&b, &f[1]); + spa_pod_builder_rectangle(&b, + sizeRange.min.width, + sizeRange.min.height); + spa_pod_builder_rectangle(&b, + sizeRange.min.width, + sizeRange.min.height); + spa_pod_builder_rectangle(&b, + sizeRange.max.width, + sizeRange.max.height); + spa_pod_builder_rectangle(&b, + sizeRange.hStep, + sizeRange.vStep); + spa_pod_builder_pop(&b, &f[1]); + + } else { + spa_pod_builder_rectangle(&b, frameSize.width, frameSize.height); + } + + fmt = (struct spa_pod*) spa_pod_builder_pop(&b, &f[0]); + + if (spa_pod_filter(&b, &result.param, fmt, filter) < 0) + goto next; + + spa_node_emit_result(&impl->hooks, seq, 0, SPA_RESULT_TYPE_NODE_PARAMS, &result); + + if (++count != num) + goto next; + + enum_end: + res = 0; + return res; +} + +static int spa_libcamera_set_format(struct impl *impl, struct port *port, + struct spa_video_info *format, bool try_only) +{ + const struct format_info *info = NULL; + uint32_t video_format; + struct spa_rectangle *size = NULL; + struct spa_fraction *framerate = NULL; + CameraConfiguration::Status validation; + int res; + + switch (format->media_subtype) { + case SPA_MEDIA_SUBTYPE_raw: + video_format = format->info.raw.format; + size = &format->info.raw.size; + framerate = &format->info.raw.framerate; + break; + case SPA_MEDIA_SUBTYPE_mjpg: + case SPA_MEDIA_SUBTYPE_jpeg: + video_format = SPA_VIDEO_FORMAT_ENCODED; + size = &format->info.mjpg.size; + framerate = &format->info.mjpg.framerate; + break; + case SPA_MEDIA_SUBTYPE_h264: + video_format = SPA_VIDEO_FORMAT_ENCODED; + size = &format->info.h264.size; + framerate = &format->info.h264.framerate; + break; + default: + video_format = SPA_VIDEO_FORMAT_ENCODED; + break; + } + + info = find_format_info_by_media_type(format->media_type, + format->media_subtype, video_format, 0); + if (info == NULL || size == NULL || framerate == NULL) { + spa_log_error(impl->log, "unknown media type %d %d %d", format->media_type, + format->media_subtype, video_format); + return -EINVAL; + } + StreamConfiguration& streamConfig = impl->config->at(0); + + streamConfig.pixelFormat = info->pix; + streamConfig.size.width = size->width; + streamConfig.size.height = size->height; + streamConfig.bufferCount = 8; + + validation = impl->config->validate(); + if (validation == CameraConfiguration::Invalid) + return -EINVAL; + + if (try_only) + return 0; + + if ((res = spa_libcamera_open(impl)) < 0) + return res; + + res = impl->camera->configure(impl->config.get()); + if (res != 0) + goto error; + + port->streamConfig = impl->config->at(0); + + if ((res = allocBuffers(impl, port, port->streamConfig.bufferCount)) < 0) + goto error; + + port->info.change_mask |= SPA_PORT_CHANGE_MASK_FLAGS | SPA_PORT_CHANGE_MASK_RATE; + port->info.flags = SPA_PORT_FLAG_CAN_ALLOC_BUFFERS | + SPA_PORT_FLAG_LIVE | + SPA_PORT_FLAG_PHYSICAL | + SPA_PORT_FLAG_TERMINAL; + port->info.rate = SPA_FRACTION(port->rate.num, port->rate.denom); + + return 0; +error: + spa_libcamera_close(impl); + return res; + +} + +static int +spa_libcamera_enum_controls(struct impl *impl, struct port *port, int seq, + uint32_t start, uint32_t num, + const struct spa_pod *filter) +{ + const ControlInfoMap &info = impl->camera->controls(); + uint8_t buffer[1024]; + struct spa_pod_builder b = { 0 }; + struct spa_pod_frame f[2]; + struct spa_result_node_params result; + struct spa_pod *ctrl; + uint32_t count = 0, skip; + int res; + const ControlId *ctrl_id; + ControlInfo ctrl_info; + + result.id = SPA_PARAM_PropInfo; + result.next = start; + + auto it = info.begin(); + for (skip = result.next; skip; skip--) + it++; + + if (false) { +next: + it++; + } + result.index = result.next++; + if (it == info.end()) + goto enum_end; + + ctrl_id = it->first; + ctrl_info = it->second; + + spa_pod_builder_init(&b, buffer, sizeof(buffer)); + spa_pod_builder_push_object(&b, &f[0], SPA_TYPE_OBJECT_PropInfo, SPA_PARAM_PropInfo); + spa_pod_builder_add(&b, + SPA_PROP_INFO_id, SPA_POD_Id(ctrl_id->id()), + SPA_PROP_INFO_description, SPA_POD_String(ctrl_id->name().c_str()), + 0); + + switch (ctrl_id->type()) { + case ControlTypeBool: { + bool def; + if (ctrl_info.def().isNone()) + def = ctrl_info.min().get<bool>(); + else + def = ctrl_info.def().get<bool>(); + + spa_pod_builder_add(&b, + SPA_PROP_INFO_type, SPA_POD_CHOICE_Bool( + def), + 0); + } break; + case ControlTypeFloat: { + float min = ctrl_info.min().get<float>(); + float max = ctrl_info.max().get<float>(); + float def; + + if (ctrl_info.def().isNone()) + def = (min + max) / 2; + else + def = ctrl_info.def().get<float>(); + + spa_pod_builder_add(&b, + SPA_PROP_INFO_type, SPA_POD_CHOICE_RANGE_Float( + def, min, max), + 0); + } break; + case ControlTypeInteger32: { + int32_t min = ctrl_info.min().get<int32_t>(); + int32_t max = ctrl_info.max().get<int32_t>(); + int32_t def; + + if (ctrl_info.def().isNone()) + def = (min + max) / 2; + else + def = ctrl_info.def().get<int32_t>(); + + spa_pod_builder_add(&b, + SPA_PROP_INFO_type, SPA_POD_CHOICE_RANGE_Int( + def, min, max), + 0); + } break; + default: + goto next; + } + + ctrl = (struct spa_pod*) spa_pod_builder_pop(&b, &f[0]); + + if (spa_pod_filter(&b, &result.param, ctrl, filter) < 0) + goto next; + + spa_node_emit_result(&impl->hooks, seq, 0, SPA_RESULT_TYPE_NODE_PARAMS, &result); + + if (++count != num) + goto next; + +enum_end: + res = 0; + return res; +} + +struct val { + uint32_t type; + float f_val; + int32_t i_val; + bool b_val; + uint32_t id; +}; + +static int do_update_ctrls(struct spa_loop *loop, + bool async, + uint32_t seq, + const void *data, + size_t size, + void *user_data) +{ + struct impl *impl = (struct impl *)user_data; + const struct val *d = (const struct val *)data; + switch (d->type) { + case ControlTypeBool: + impl->ctrls.set(d->id, d->b_val); + break; + case ControlTypeFloat: + impl->ctrls.set(d->id, d->f_val); + break; + case ControlTypeInteger32: + //impl->ctrls.set(d->id, (int32_t)d->i_val); + break; + default: + break; + } + return 0; +} + +static int +spa_libcamera_set_control(struct impl *impl, const struct spa_pod_prop *prop) +{ + const ControlInfoMap &info = impl->camera->controls(); + const ControlId *ctrl_id; + int res; + struct val d; + + auto v = info.idmap().find(prop->key); + if (v == info.idmap().end()) + return -ENOENT; + + ctrl_id = v->second; + + d.type = ctrl_id->type(); + d.id = ctrl_id->id(); + + switch (d.type) { + case ControlTypeBool: + if ((res = spa_pod_get_bool(&prop->value, &d.b_val)) < 0) + goto done; + break; + case ControlTypeFloat: + if ((res = spa_pod_get_float(&prop->value, &d.f_val)) < 0) + goto done; + break; + case ControlTypeInteger32: + if ((res = spa_pod_get_int(&prop->value, &d.i_val)) < 0) + goto done; + break; + default: + res = -EINVAL; + goto done; + } + spa_loop_invoke(impl->data_loop, do_update_ctrls, 0, &d, sizeof(d), true, impl); + res = 0; +done: + return res; +} + + +static void libcamera_on_fd_events(struct spa_source *source) +{ + struct impl *impl = (struct impl*) source->data; + struct spa_io_buffers *io; + struct port *port = &impl->out_ports[0]; + uint32_t index, buffer_id; + struct buffer *b; + uint64_t cnt; + + if (source->rmask & SPA_IO_ERR) { + spa_log_error(impl->log, "libcamera %p: error %08x", impl, source->rmask); + if (impl->source.loop) + spa_loop_remove_source(impl->data_loop, &impl->source); + return; + } + + if (!(source->rmask & SPA_IO_IN)) { + spa_log_warn(impl->log, "libcamera %p: spurious wakeup %d", impl, source->rmask); + return; + } + + if (spa_system_eventfd_read(impl->system, impl->source.fd, &cnt) < 0) { + spa_log_error(impl->log, "Failed to read on event fd"); + return; + } + + if (spa_ringbuffer_get_read_index(&port->ring, &index) < 1) { + spa_log_error(impl->log, "nothing is queued"); + return; + } + buffer_id = port->ring_ids[index & MASK_BUFFERS]; + spa_ringbuffer_read_update(&port->ring, index + 1); + + b = &port->buffers[buffer_id]; + spa_list_append(&port->queue, &b->link); + + io = port->io; + if (io == NULL) { + b = spa_list_first(&port->queue, struct buffer, link); + spa_list_remove(&b->link); + SPA_FLAG_SET(b->flags, BUFFER_FLAG_OUTSTANDING); + spa_libcamera_buffer_recycle(impl, port, b->id); + } else if (io->status != SPA_STATUS_HAVE_DATA) { + if (io->buffer_id < port->n_buffers) + spa_libcamera_buffer_recycle(impl, port, io->buffer_id); + + b = spa_list_first(&port->queue, struct buffer, link); + spa_list_remove(&b->link); + SPA_FLAG_SET(b->flags, BUFFER_FLAG_OUTSTANDING); + + io->buffer_id = b->id; + io->status = SPA_STATUS_HAVE_DATA; + spa_log_trace(impl->log, "libcamera %p: now queued %d", impl, b->id); + } + spa_node_call_ready(&impl->callbacks, SPA_STATUS_HAVE_DATA); +} + +static int spa_libcamera_use_buffers(struct impl *impl, struct port *port, + struct spa_buffer **buffers, uint32_t n_buffers) +{ + return -ENOTSUP; +} + +static const struct { + Transform libcamera_transform; + uint32_t spa_transform_value; +} transform_map[] = { + { Transform::Identity, SPA_META_TRANSFORMATION_None }, + { Transform::Rot0, SPA_META_TRANSFORMATION_None }, + { Transform::HFlip, SPA_META_TRANSFORMATION_Flipped }, + { Transform::VFlip, SPA_META_TRANSFORMATION_Flipped180 }, + { Transform::HVFlip, SPA_META_TRANSFORMATION_180 }, + { Transform::Rot180, SPA_META_TRANSFORMATION_180 }, + { Transform::Transpose, SPA_META_TRANSFORMATION_Flipped90 }, + { Transform::Rot90, SPA_META_TRANSFORMATION_90 }, + { Transform::Rot270, SPA_META_TRANSFORMATION_270 }, + { Transform::Rot180Transpose, SPA_META_TRANSFORMATION_Flipped270 }, +}; + +static uint32_t libcamera_transform_to_spa_transform_value(Transform transform) +{ + for (const auto& t : transform_map) { + if (t.libcamera_transform == transform) + return t.spa_transform_value; + } + return SPA_META_TRANSFORMATION_None; +} + +static int +mmap_init(struct impl *impl, struct port *port, + struct spa_buffer **buffers, uint32_t n_buffers) +{ + unsigned int i, j; + struct spa_data *d; + Stream *stream = impl->config->at(0).stream(); + const std::vector<std::unique_ptr<FrameBuffer>> &bufs = + impl->allocator->buffers(stream); + + if (n_buffers > 0) { + if (bufs.size() != n_buffers) + return -EINVAL; + + d = buffers[0]->datas; + + if (d[0].type != SPA_ID_INVALID && + d[0].type & (1u << SPA_DATA_DmaBuf)) { + port->memtype = SPA_DATA_DmaBuf; + } else if (d[0].type != SPA_ID_INVALID && + d[0].type & (1u << SPA_DATA_MemFd)) { + port->memtype = SPA_DATA_MemFd; + } else if (d[0].type & (1u << SPA_DATA_MemPtr)) { + port->memtype = SPA_DATA_MemPtr; + } else { + spa_log_error(impl->log, "v4l2: can't use buffers of type %d", d[0].type); + return -EINVAL; + } + } + + for (i = 0; i < n_buffers; i++) { + struct buffer *b; + + if (buffers[i]->n_datas < 1) { + spa_log_error(impl->log, "invalid buffer data"); + return -EINVAL; + } + + b = &port->buffers[i]; + b->id = i; + b->outbuf = buffers[i]; + b->flags = BUFFER_FLAG_OUTSTANDING; + b->h = (struct spa_meta_header*)spa_buffer_find_meta_data(buffers[i], SPA_META_Header, sizeof(*b->h)); + + b->videotransform = (struct spa_meta_videotransform*)spa_buffer_find_meta_data( + buffers[i], SPA_META_VideoTransform, sizeof(*b->videotransform)); + if (b->videotransform) { + b->videotransform->transform = + libcamera_transform_to_spa_transform_value(impl->config->transform); + spa_log_debug(impl->log, "Setting videotransform for buffer %d to %u (from %s)", + i, b->videotransform->transform, transformToString(impl->config->transform)); + + } + + d = buffers[i]->datas; + for(j = 0; j < buffers[i]->n_datas; ++j) { + d[j].type = port->memtype; + d[j].flags = SPA_DATA_FLAG_READABLE; + d[j].mapoffset = 0; + d[j].maxsize = port->streamConfig.frameSize; + d[j].chunk->offset = 0; + d[j].chunk->size = port->streamConfig.frameSize; + d[j].chunk->stride = port->streamConfig.stride; + d[j].chunk->flags = 0; + + if (port->memtype == SPA_DATA_DmaBuf || + port->memtype == SPA_DATA_MemFd) { + d[j].fd = bufs[i]->planes()[j].fd.get(); + spa_log_debug(impl->log, "Got fd = %ld for buffer: #%d", d[j].fd, i); + d[j].data = NULL; + SPA_FLAG_SET(b->flags, BUFFER_FLAG_ALLOCATED); + } + else if(port->memtype == SPA_DATA_MemPtr) { + d[j].fd = -1; + d[j].data = mmap(NULL, + d[j].maxsize + d[j].mapoffset, + PROT_READ, MAP_SHARED, + bufs[i]->planes()[j].fd.get(), + 0); + if (d[j].data == MAP_FAILED) { + spa_log_error(impl->log, "mmap: %m"); + continue; + } + b->ptr = d[j].data; + SPA_FLAG_SET(b->flags, BUFFER_FLAG_MAPPED); + spa_log_debug(impl->log, "mmap ptr:%p", d[j].data); + } else { + spa_log_error(impl->log, "invalid buffer type"); + return -EIO; + } + } + spa_libcamera_buffer_recycle(impl, port, i); + } + port->n_buffers = n_buffers; + spa_log_debug(impl->log, "we have %d buffers", n_buffers); + + return 0; +} + +static int +spa_libcamera_alloc_buffers(struct impl *impl, struct port *port, + struct spa_buffer **buffers, + uint32_t n_buffers) +{ + int res; + + if (port->n_buffers > 0) + return -EIO; + + if ((res = mmap_init(impl, port, buffers, n_buffers)) < 0) + return res; + + return 0; +} + + +void impl::requestComplete(libcamera::Request *request) +{ + struct impl *impl = this; + struct port *port = &impl->out_ports[0]; + Stream *stream = port->streamConfig.stream(); + uint32_t index, buffer_id; + struct buffer *b; + + spa_log_debug(impl->log, "request complete"); + + buffer_id = request->cookie(); + b = &port->buffers[buffer_id]; + + if ((request->status() == Request::RequestCancelled)) { + spa_log_debug(impl->log, "Request was cancelled"); + request->reuse(); + SPA_FLAG_SET(b->flags, BUFFER_FLAG_OUTSTANDING); + spa_libcamera_buffer_recycle(impl, port, b->id); + return; + } + FrameBuffer *buffer = request->findBuffer(stream); + if (buffer == nullptr) { + spa_log_warn(impl->log, "unknown buffer"); + return; + } + const FrameMetadata &fmd = buffer->metadata(); + + + + if (impl->clock) { + impl->clock->nsec = fmd.timestamp; + impl->clock->rate = port->rate; + impl->clock->position = fmd.sequence; + impl->clock->duration = 1; + impl->clock->delay = 0; + impl->clock->rate_diff = 1.0; + impl->clock->next_nsec = fmd.timestamp; + } + if (b->h) { + b->h->flags = 0; + b->h->offset = 0; + b->h->seq = fmd.sequence; + b->h->pts = fmd.timestamp; + b->h->dts_offset = 0; + } + request->reuse(); + + spa_ringbuffer_get_write_index(&port->ring, &index); + port->ring_ids[index & MASK_BUFFERS] = buffer_id; + spa_ringbuffer_write_update(&port->ring, index + 1); + + if (spa_system_eventfd_write(impl->system, impl->source.fd, 1) < 0) + spa_log_error(impl->log, "Failed to write on event fd"); + +} + +static int spa_libcamera_stream_on(struct impl *impl) +{ + struct port *port = &impl->out_ports[0]; + int res; + + if (!port->current_format) { + spa_log_error(impl->log, "Exting %s with -EIO", __FUNCTION__); + return -EIO; + } + + if (impl->active) + return 0; + + impl->camera->requestCompleted.connect(impl, &impl::requestComplete); + + spa_log_info(impl->log, "starting camera %s", impl->device_id.c_str()); + if ((res = impl->camera->start()) < 0) + goto error; + + for (Request *req : impl->pendingRequests) { + if ((res = impl->camera->queueRequest(req)) < 0) + goto error_stop; + } + impl->pendingRequests.clear(); + + impl->source.func = libcamera_on_fd_events; + impl->source.data = impl; + impl->source.fd = spa_system_eventfd_create(impl->system, SPA_FD_CLOEXEC | SPA_FD_NONBLOCK); + impl->source.mask = SPA_IO_IN | SPA_IO_ERR; + impl->source.rmask = 0; + if (impl->source.fd < 0) { + spa_log_error(impl->log, "Failed to create eventfd: %s", spa_strerror(impl->source.fd)); + res = impl->source.fd; + goto error_stop; + } + spa_loop_add_source(impl->data_loop, &impl->source); + + impl->active = true; + + return 0; + +error_stop: + impl->camera->stop(); +error: + impl->camera->requestCompleted.disconnect(impl, &impl::requestComplete); + return res == -EACCES ? -EBUSY : res; +} + +static int do_remove_source(struct spa_loop *loop, + bool async, + uint32_t seq, + const void *data, + size_t size, + void *user_data) +{ + struct impl *impl = (struct impl *)user_data; + if (impl->source.loop) + spa_loop_remove_source(loop, &impl->source); + return 0; +} + +static int spa_libcamera_stream_off(struct impl *impl) +{ + struct port *port = &impl->out_ports[0]; + int res; + + if (!impl->active) { + for (std::unique_ptr<Request> &req : impl->requestPool) + req->reuse(); + return 0; + } + + impl->active = false; + spa_log_info(impl->log, "stopping camera %s", impl->device_id.c_str()); + impl->pendingRequests.clear(); + + if ((res = impl->camera->stop()) < 0) { + spa_log_warn(impl->log, "error stopping camera %s: %s", + impl->device_id.c_str(), spa_strerror(res)); + } + + impl->camera->requestCompleted.disconnect(impl, &impl::requestComplete); + + spa_loop_invoke(impl->data_loop, do_remove_source, 0, NULL, 0, true, impl); + if (impl->source.fd >= 0) { + spa_system_close(impl->system, impl->source.fd); + impl->source.fd = -1; + } + + spa_list_init(&port->queue); + + return 0; +} |