controller.cpp

/* SPDX-License-Identifier: BSD-2-Clause */
/*
 * Copyright (C) 2019, Raspberry Pi Ltd
 *
 * ISP controller
 */

#include <assert.h>

#include <libcamera/base/file.h>
#include <libcamera/base/log.h>

#include "libcamera/internal/yaml_parser.h"

#include "algorithm.h"
#include "controller.h"

using namespace RPiController;
using namespace libcamera;
using namespace std::literals::chrono_literals;

LOG_DEFINE_CATEGORY(RPiController)

namespace {

const std::map<std::string, Controller::HardwareConfig> &hardwareConfigMap()
{
	static const std::map<std::string, Controller::HardwareConfig> map = {
		{
			"bcm2835",
			{
				/*
				* There are only ever 15 AGC regions computed by the firmware
				* due to zoning, but the HW defines AGC_REGIONS == 16!
				*/
				.agcRegions = { 15 , 1 },
				.agcZoneWeights = { 15 , 1 },
				.awbRegions = { 16, 12 },
				.cacRegions = { 0, 0 },
				.focusRegions = { 4, 3 },
				.numHistogramBins = 128,
				.numGammaPoints = 33,
				.pipelineWidth = 13,
				.statsInline = false,
				.minPixelProcessingTime = 0s,
				.dataBufferStrided = true,
			}
		},
		{
			"pisp",
			{
				.agcRegions = { 0, 0 },
				.agcZoneWeights = { 15, 15 },
				.awbRegions = { 32, 32 },
				.cacRegions = { 8, 8 },
				.focusRegions = { 8, 8 },
				.numHistogramBins = 1024,
				.numGammaPoints = 64,
				.pipelineWidth = 16,
				.statsInline = true,

				/*
				* The constraint below is on the rate of pixels going
				* from CSI2 peripheral to ISP-FE (400Mpix/s, plus tiny
				* overheads per scanline, for which 380Mpix/s is a
				* conservative bound).
				*
				* There is a 64kbit data FIFO before the bottleneck,
				* which means that in all reasonable cases the
				* constraint applies at a timescale >= 1 scanline, so
				* adding horizontal blanking can prevent loss.
				*
				* If the backlog were to grow beyond 64kbit during a
				* single scanline, there could still be loss. This
				* could happen using 4 lanes at 1.5Gbps at 10bpp with
				* frames wider than ~16,000 pixels.
				*/
				.minPixelProcessingTime = 1.0us / 380,
				.dataBufferStrided = false,
			}
		},
	};

	return map;
}

} /* namespace */

Controller::Controller()
	: switchModeCalled_(false)
{
}

Controller::~Controller() {}

int Controller::read(char const *filename)
{
	File file(filename);
	if (!file.open(File::OpenModeFlag::ReadOnly)) {
		LOG(RPiController, Warning)
			<< "Failed to open tuning file '" << filename << "'";
		return -EINVAL;
	}

	std::unique_ptr<ValueNode> root = YamlParser::parse(file);
	if (!root)
		return -EINVAL;

	double version = (*root)["version"].get<double>(1.0);
	target_ = (*root)["target"].get<std::string>("bcm2835");

	if (version < 2.0) {
		LOG(RPiController, Warning)
			<< "This format of the tuning file will be deprecated soon!"
			<< " Please use the convert_tuning.py utility to update to version 2.0.";

		for (const auto &[key, value] : root->asDict()) {
			int ret = createAlgorithm(key, value);
			if (ret)
				return ret;
		}
	} else if (version < 3.0) {
		if (!root->contains("algorithms")) {
			LOG(RPiController, Error)
				<< "Tuning file " << filename
				<< " does not have an \"algorithms\" list!";
			return -EINVAL;
		}

		for (const auto &rootAlgo : (*root)["algorithms"].asList())
			for (const auto &[key, value] : rootAlgo.asDict()) {
				int ret = createAlgorithm(key, value);
				if (ret)
					return ret;
			}
	} else {
		LOG(RPiController, Error)
			<< "Unrecognised version " << version
			<< " for the tuning file " << filename;
		return -EINVAL;
	}

	return 0;
}

int Controller::createAlgorithm(const std::string &name, const ValueNode &params)
{
	/* Any algorithm may be disabled by setting "enabled" to false. */
	bool enabled = params["enabled"].get<bool>(true);
	LOG(RPiController, Debug)
		<< "Algorithm " << name << ": "
		<< (enabled ? "enabled" : "disabled");
	if (!enabled)
		return 0;

	auto it = getAlgorithms().find(name);
	if (it == getAlgorithms().end()) {
		LOG(RPiController, Warning)
			<< "No algorithm found for \"" << name << "\"";
		return 0;
	}

	/* Do not allow duplicate versions of algorithms (e.g. AWB) to run. */
	size_t pos = name.find_last_of('.');
	std::string const &algoType =
		pos == std::string::npos ? name : name.substr(pos + 1);
	if (getAlgorithm(algoType)) {
		LOG(RPiController, Error)
			<< "Algorithm type '" << algoType << "' already exists";
		return -1;
	}

	Algorithm *algo = (*it->second)(this);
	int ret = algo->read(params);
	if (ret)
		return ret;

	algorithms_.push_back(AlgorithmPtr(algo));
	return 0;
}

void Controller::initialise()
{
	for (auto &algo : algorithms_)
		algo->initialise();
}

void Controller::switchMode(CameraMode const &cameraMode, Metadata *metadata)
{
	for (auto &algo : algorithms_)
		algo->switchMode(cameraMode, metadata);
	switchModeCalled_ = true;
}

void Controller::prepare(Metadata *imageMetadata)
{
	assert(switchModeCalled_);
	for (auto &algo : algorithms_)
		algo->prepare(imageMetadata);
}

void Controller::process(StatisticsPtr stats, Metadata *imageMetadata)
{
	assert(switchModeCalled_);
	for (auto &algo : algorithms_)
		algo->process(stats, imageMetadata);
}

Metadata &Controller::getGlobalMetadata()
{
	return globalMetadata_;
}

Algorithm *Controller::getAlgorithm(std::string const &name) const
{
	/*
	 * The passed name must be the entire algorithm name, or must match the
	 * last part of it with a period (.) just before.
	 */
	size_t nameLen = name.length();
	for (auto &algo : algorithms_) {
		char const *algoName = algo->name();
		size_t algoNameLen = strlen(algoName);
		if (algoNameLen >= nameLen &&
		    strcasecmp(name.c_str(),
			       algoName + algoNameLen - nameLen) == 0 &&
		    (nameLen == algoNameLen ||
		     algoName[algoNameLen - nameLen - 1] == '.'))
			return algo.get();
	}
	return nullptr;
}

const std::string &Controller::getTarget() const
{
	return target_;
}

const Controller::HardwareConfig &Controller::getHardwareConfig() const
{
	auto cfg = hardwareConfigMap().find(getTarget());

	/*
	 * This really should not happen, the IPA ought to validate the target
	 * on initialisation.
	 */
	ASSERT(cfg != hardwareConfigMap().end());
	return cfg->second;
}