| /* SPDX-License-Identifier: LGPL-2.1-or-later */ |
| /* |
| * Copyright (C) 2018, Google Inc. |
| * |
| * camera.cpp - Camera device |
| */ |
| |
| #include <libcamera/camera.h> |
| |
| #include <atomic> |
| #include <iomanip> |
| |
| #include <libcamera/framebuffer_allocator.h> |
| #include <libcamera/request.h> |
| #include <libcamera/stream.h> |
| |
| #include "libcamera/internal/log.h" |
| #include "libcamera/internal/pipeline_handler.h" |
| #include "libcamera/internal/utils.h" |
| |
| /** |
| * \file camera.h |
| * \brief Camera device handling |
| * |
| * At the core of libcamera is the camera device, combining one image source |
| * with processing hardware able to provide one or multiple image streams. The |
| * Camera class represents a camera device. |
| * |
| * A camera device contains a single image source, and separate camera device |
| * instances relate to different image sources. For instance, a phone containing |
| * front and back image sensors will be modelled with two camera devices, 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 |
| * device. |
| * |
| * While not sharing image sources, separate camera devices can share other |
| * system resources, such as an ISP. For this reason camera device instances may |
| * not be fully independent, in which case usage restrictions may apply. For |
| * instance, a phone with a front and a back camera device may not allow usage |
| * of the two devices simultaneously. |
| */ |
| |
| 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 |
| * operator[](int) returns 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() |
| : 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 method 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 method 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 method 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 method 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 method 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(); |
| } |
| |
| /** |
| * \var CameraConfiguration::config_ |
| * \brief The vector of stream configurations |
| */ |
| |
| class Camera::Private |
| { |
| public: |
| enum State { |
| CameraAvailable, |
| CameraAcquired, |
| CameraConfigured, |
| CameraRunning, |
| }; |
| |
| Private(PipelineHandler *pipe, const std::string &name, |
| const std::set<Stream *> &streams); |
| ~Private(); |
| |
| int isAccessAllowed(State state, bool allowDisconnected = false) const; |
| int isAccessAllowed(State low, State high, |
| bool allowDisconnected = false) const; |
| |
| void disconnect(); |
| void setState(State state); |
| |
| std::shared_ptr<PipelineHandler> pipe_; |
| std::string name_; |
| std::set<Stream *> streams_; |
| std::set<Stream *> activeStreams_; |
| |
| private: |
| bool disconnected_; |
| std::atomic<State> state_; |
| }; |
| |
| Camera::Private::Private(PipelineHandler *pipe, const std::string &name, |
| const std::set<Stream *> &streams) |
| : pipe_(pipe->shared_from_this()), name_(name), streams_(streams), |
| 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"; |
| } |
| |
| static const char *const camera_state_names[] = { |
| "Available", |
| "Acquired", |
| "Configured", |
| "Running", |
| }; |
| |
| int Camera::Private::isAccessAllowed(State state, bool allowDisconnected) const |
| { |
| if (!allowDisconnected && disconnected_) |
| return -ENODEV; |
| |
| State currentState = state_.load(std::memory_order_acquire); |
| if (currentState == state) |
| return 0; |
| |
| ASSERT(static_cast<unsigned int>(state) < ARRAY_SIZE(camera_state_names)); |
| |
| LOG(Camera, Debug) << "Camera in " << camera_state_names[currentState] |
| << " state trying operation requiring state " |
| << camera_state_names[state]; |
| |
| return -EACCES; |
| } |
| |
| int Camera::Private::isAccessAllowed(State low, State high, |
| bool allowDisconnected) const |
| { |
| if (!allowDisconnected && disconnected_) |
| return -ENODEV; |
| |
| State currentState = state_.load(std::memory_order_acquire); |
| if (currentState >= low && currentState <= high) |
| return 0; |
| |
| ASSERT(static_cast<unsigned int>(low) < ARRAY_SIZE(camera_state_names) && |
| static_cast<unsigned int>(high) < ARRAY_SIZE(camera_state_names)); |
| |
| LOG(Camera, Debug) << "Camera in " << camera_state_names[currentState] |
| << " state trying operation 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 ]; 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 -> Configured [label = "stop()"]; |
| * 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 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] name The name of the camera device |
| * \param[in] pipe The pipeline handler responsible for the camera device |
| * \param[in] streams Array of streams the camera provides |
| * |
| * The caller is responsible for guaranteeing unicity of the camera name. |
| * |
| * \return A shared pointer to the newly created camera object |
| */ |
| std::shared_ptr<Camera> Camera::create(PipelineHandler *pipe, |
| const std::string &name, |
| const std::set<Stream *> &streams) |
| { |
| struct Deleter : std::default_delete<Camera> { |
| void operator()(Camera *camera) |
| { |
| delete camera; |
| } |
| }; |
| |
| Camera *camera = new Camera(pipe, name, streams); |
| |
| return std::shared_ptr<Camera>(camera, Deleter()); |
| } |
| |
| /** |
| * \brief Retrieve the name of the camera |
| * \context This function is \threadsafe. |
| * \return Name of the camera device |
| */ |
| const std::string &Camera::name() const |
| { |
| return p_->name_; |
| } |
| |
| /** |
| * \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(PipelineHandler *pipe, const std::string &name, |
| const std::set<Stream *> &streams) |
| : p_(new Private(pipe, name, streams)) |
| { |
| } |
| |
| Camera::~Camera() |
| { |
| } |
| |
| /** |
| * \brief Notify camera disconnection |
| * |
| * This method 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 " << name(); |
| |
| p_->disconnect(); |
| disconnected.emit(this); |
| } |
| |
| int Camera::exportFrameBuffers(Stream *stream, |
| std::vector<std::unique_ptr<FrameBuffer>> *buffers) |
| { |
| int ret = p_->isAccessAllowed(Private::CameraConfigured); |
| if (ret < 0) |
| return ret; |
| |
| if (streams().find(stream) == streams().end()) |
| return -EINVAL; |
| |
| if (p_->activeStreams_.find(stream) == p_->activeStreams_.end()) |
| return -EINVAL; |
| |
| return p_->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 will 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() |
| { |
| /* |
| * No manual locking is required as PipelineHandler::lock() is |
| * thread-safe. |
| */ |
| int ret = p_->isAccessAllowed(Private::CameraAvailable); |
| if (ret < 0) |
| return ret == -EACCES ? -EBUSY : ret; |
| |
| if (!p_->pipe_->lock()) { |
| LOG(Camera, Info) |
| << "Pipeline handler in use by another process"; |
| return -EBUSY; |
| } |
| |
| p_->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() |
| { |
| int ret = p_->isAccessAllowed(Private::CameraAvailable, |
| Private::CameraConfigured, true); |
| if (ret < 0) |
| return ret == -EACCES ? -EBUSY : ret; |
| |
| p_->pipe_->unlock(); |
| |
| p_->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() |
| { |
| return p_->pipe_->controls(this); |
| } |
| |
| /** |
| * \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() |
| { |
| return p_->pipe_->properties(this); |
| } |
| |
| /** |
| * \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<Stream *> &Camera::streams() const |
| { |
| return p_->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<CameraConfiguration> Camera::generateConfiguration(const StreamRoles &roles) |
| { |
| int ret = p_->isAccessAllowed(Private::CameraAvailable, |
| Private::CameraRunning); |
| if (ret < 0) |
| return nullptr; |
| |
| if (roles.size() > streams().size()) |
| return nullptr; |
| |
| CameraConfiguration *config = p_->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<CameraConfiguration>(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 method 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) |
| { |
| int ret = p_->isAccessAllowed(Private::CameraAcquired, |
| Private::CameraConfigured); |
| if (ret < 0) |
| return ret; |
| |
| 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); |
| cfg.setStream(nullptr); |
| msg << " (" << index << ") " << cfg.toString(); |
| } |
| |
| LOG(Camera, Info) << msg.str(); |
| |
| ret = p_->pipe_->invokeMethod(&PipelineHandler::configure, |
| ConnectionTypeBlocking, this, config); |
| if (ret) |
| return ret; |
| |
| p_->activeStreams_.clear(); |
| for (const StreamConfiguration &cfg : *config) { |
| Stream *stream = cfg.stream(); |
| if (!stream) { |
| LOG(Camera, Fatal) |
| << "Pipeline handler failed to update stream configuration"; |
| p_->activeStreams_.clear(); |
| return -EINVAL; |
| } |
| |
| stream->configuration_ = cfg; |
| p_->activeStreams_.insert(stream); |
| } |
| |
| p_->setState(Private::CameraConfigured); |
| |
| return 0; |
| } |
| |
| /** |
| * \brief Create a request object for the camera |
| * \param[in] cookie Opaque cookie for application use |
| * |
| * This method 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() method 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 either queueing the request or deleting it. |
| * |
| * \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 |
| */ |
| Request *Camera::createRequest(uint64_t cookie) |
| { |
| int ret = p_->isAccessAllowed(Private::CameraConfigured, |
| Private::CameraRunning); |
| if (ret < 0) |
| return nullptr; |
| |
| return new Request(this, cookie); |
| } |
| |
| /** |
| * \brief Queue a request to the camera |
| * \param[in] request The request to queue to the camera |
| * |
| * This method 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. |
| * |
| * Ownership of the request is transferred to the camera. It will be deleted |
| * automatically after it completes. |
| * |
| * \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 -EINVAL The request is invalid |
| * \retval -ENOMEM No buffer memory was available to handle the request |
| */ |
| int Camera::queueRequest(Request *request) |
| { |
| int ret = p_->isAccessAllowed(Private::CameraRunning); |
| if (ret < 0) |
| return ret; |
| |
| /* |
| * The camera state may chance 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()) { |
| Stream *stream = it.first; |
| |
| if (p_->activeStreams_.find(stream) == p_->activeStreams_.end()) { |
| LOG(Camera, Error) << "Invalid request"; |
| return -EINVAL; |
| } |
| } |
| |
| return p_->pipe_->invokeMethod(&PipelineHandler::queueRequest, |
| ConnectionTypeQueued, this, request); |
| } |
| |
| /** |
| * \brief Start capture from camera |
| * |
| * Start the camera capture session. 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() |
| { |
| int ret = p_->isAccessAllowed(Private::CameraConfigured); |
| if (ret < 0) |
| return ret; |
| |
| LOG(Camera, Debug) << "Starting capture"; |
| |
| ret = p_->pipe_->invokeMethod(&PipelineHandler::start, |
| ConnectionTypeBlocking, this); |
| if (ret) |
| return ret; |
| |
| p_->setState(Private::CameraRunning); |
| |
| return 0; |
| } |
| |
| /** |
| * \brief Stop capture from camera |
| * |
| * This method stops capturing and processing requests immediately. All pending |
| * requests are cancelled and complete synchronously in an error state. |
| * |
| * \context This function may only be called when the camera is in the Running |
| * 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 running so can't be stopped |
| */ |
| int Camera::stop() |
| { |
| int ret = p_->isAccessAllowed(Private::CameraRunning); |
| if (ret < 0) |
| return ret; |
| |
| LOG(Camera, Debug) << "Stopping capture"; |
| |
| p_->setState(Private::CameraConfigured); |
| |
| p_->pipe_->invokeMethod(&PipelineHandler::stop, ConnectionTypeBlocking, |
| this); |
| |
| 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 and deletes |
| * the request. |
| */ |
| void Camera::requestComplete(Request *request) |
| { |
| requestCompleted.emit(request); |
| delete request; |
| } |
| |
| } /* namespace libcamera */ |