Merge branch 'master' into next

Author: naushir

Documentation/Doxyfile-common.in

@@ -57,7 +57,8 @@ GENERATE_LATEX         = NO
 MACRO_EXPANSION        = YES
 EXPAND_ONLY_PREDEF     = YES
 
-INCLUDE_PATH           = "@TOP_SRCDIR@/include/libcamera"
+INCLUDE_PATH           = "@TOP_BUILDDIR@/include" \
+                         "@TOP_SRCDIR@/include"
 INCLUDE_FILE_PATTERNS  = *.h
 
 IMAGE_PATH             = "@TOP_SRCDIR@/Documentation/images"

Documentation/guides/application-developer.rst

@@ -618,7 +618,7 @@ accordingly. In this example, the application file has been named
 
    simple_cam = executable('simple-cam',
        'simple-cam.cpp',
-       dependencies: dependency('libcamera', required : true))
+       dependencies: dependency('libcamera'))
 
 The ``dependencies`` line instructs meson to ask ``pkgconfig`` (or ``cmake``) to
 locate the ``libcamera`` library,  which the test application will be

Documentation/guides/pipeline-handler.rst

@@ -213,7 +213,7 @@ implementations for the overridden class members.
           std::vector<std::unique_ptr<FrameBuffer>> *buffers) override;
 
           int start(Camera *camera, const ControlList *controls) override;
-          void stop(Camera *camera) override;
+          void stopDevice(Camera *camera) override;
 
           int queueRequestDevice(Camera *camera, Request *request) override;
 
@@ -247,7 +247,7 @@ implementations for the overridden class members.
           return -1;
    }
 
-   void PipelineHandlerVivid::stop(Camera *camera)
+   void PipelineHandlerVivid::stopDevice(Camera *camera)
    {
    }
 
@@ -521,14 +521,14 @@ handler and camera manager using `registerCamera`_.
 Finally with a successful construction, we return 'true' indicating that the
 PipelineHandler successfully matched and constructed a device.
 
-.. _Camera::create: https://libcamera.org/api-html/classlibcamera_1_1Camera.html#a453740e0d2a2f495048ae307a85a2574
+.. _Camera::create: https://libcamera.org/internal-api-html/classlibcamera_1_1Camera.html#adf5e6c22411f953bfaa1ae21155d6c31
 .. _registerCamera: https://libcamera.org/api-html/classlibcamera_1_1PipelineHandler.html#adf02a7f1bbd87aca73c0e8d8e0e6c98b
 
 .. code-block:: cpp
 
    std::set<Stream *> streams{ &data->stream_ };
-   std::shared_ptr<Camera> camera = Camera::create(this, data->video_->deviceName(), streams);
-   registerCamera(std::move(camera), std::move(data));
+   std::shared_ptr<Camera> camera = Camera::create(std::move(data), data->video_->deviceName(), streams);
+   registerCamera(std::move(camera));
 
    return true;
 
@@ -554,8 +554,7 @@ Our match function should now look like the following:
 
    	/* Create and register the camera. */
    	std::set<Stream *> streams{ &data->stream_ };
-   	const std::string &id = data->video_->deviceName();
-   	std::shared_ptr<Camera> camera = Camera::create(data.release(), id, streams);
+   	std::shared_ptr<Camera> camera = Camera::create(std::move(data), data->video_->deviceName(), streams);
    	registerCamera(std::move(camera));
 
    	return true;
@@ -593,11 +592,11 @@ immutable properties of the ``Camera`` device.
 The libcamera controls and properties are defined in YAML form which is
 processed to automatically generate documentation and interfaces. Controls are
 defined by the src/libcamera/`control_ids_core.yaml`_ file and camera properties
-are defined by src/libcamera/`properties_ids_core.yaml`_.
+are defined by src/libcamera/`property_ids_core.yaml`_.
 
 .. _controls framework: https://libcamera.org/api-html/controls_8h.html
 .. _control_ids_core.yaml: https://libcamera.org/api-html/control__ids_8h.html
-.. _properties_ids_core.yaml: https://libcamera.org/api-html/property__ids_8h.html
+.. _property_ids_core.yaml: https://libcamera.org/api-html/property__ids_8h.html
 
 Pipeline handlers can optionally register the list of controls an application
 can set as well as a list of immutable camera properties. Being both
@@ -800,8 +799,7 @@ derived class, and assign it to a base class pointer.
 
 .. code-block:: cpp
 
-   VividCameraData *data = cameraData(camera);
-   CameraConfiguration *config = new VividCameraConfiguration();
+   auto config = std::make_unique<VividCameraConfiguration>();
 
 A ``CameraConfiguration`` is specific to each pipeline, so you can only create
 it from the pipeline handler code path. Applications can also generate an empty
@@ -829,9 +827,7 @@ To generate a ``StreamConfiguration``, you need a list of pixel formats and
 frame sizes which are supported as outputs of the stream. You can fetch a map of
 the ``V4LPixelFormat`` and ``SizeRange`` supported by the underlying output
 device, but the pipeline handler needs to convert this to a
-``libcamera::PixelFormat`` type to pass to applications. We do this here using
-``std::transform`` to convert the formats and populate a new ``PixelFormat`` map
-as shown below.
+``libcamera::PixelFormat`` type to pass to applications.
 
 Continue adding the following code example to our ``generateConfiguration``
 implementation.
@@ -841,14 +837,12 @@ implementation.
    std::map<V4L2PixelFormat, std::vector<SizeRange>> v4l2Formats =
            data->video_->formats();
    std::map<PixelFormat, std::vector<SizeRange>> deviceFormats;
-   std::transform(v4l2Formats.begin(), v4l2Formats.end(),
-          std::inserter(deviceFormats, deviceFormats.begin()),
-          [&](const decltype(v4l2Formats)::value_type &format) {
-              return decltype(deviceFormats)::value_type{
-                  format.first.toPixelFormat(),
-                  format.second
-              };
-          });
+
+   for (auto &[v4l2PixelFormat, sizes] : v4l2Formats) {
+           PixelFormat pixelFormat = v4l2PixelFormat.toPixelFormat();
+           if (pixelFormat.isValid())
+                   deviceFormats.try_emplace(pixelFormat, std::move(sizes));
+   }
 
 The `StreamFormats`_ class holds information about the pixel formats and frame
 sizes that a stream can support. The class groups size information by the pixel
@@ -938,9 +932,9 @@ Add the following function implementation to your file:
 
            StreamConfiguration &cfg = config_[0];
 
-           const std::vector<libcamera::PixelFormat> formats = cfg.formats().pixelformats();
+           const std::vector<libcamera::PixelFormat> &formats = cfg.formats().pixelformats();
            if (std::find(formats.begin(), formats.end(), cfg.pixelFormat) == formats.end()) {
-                  cfg.pixelFormat = cfg.formats().pixelformats()[0];
+                  cfg.pixelFormat = formats[0];
                   LOG(VIVID, Debug) << "Adjusting format to " << cfg.pixelFormat.toString();
                   status = Adjusted;
            }
@@ -1158,7 +1152,7 @@ available to the devices which have to be started and ready to produce
 images. At the end of a capture session the ``Camera`` device needs to be
 stopped, to gracefully clean up any allocated memory and stop the hardware
 devices. Pipeline handlers implement two functions for these purposes, the
-``start()`` and ``stop()`` functions.
+``start()`` and ``stopDevice()`` functions.
 
 The memory initialization phase that happens at ``start()`` time serves to
 configure video devices to be able to use memory buffers exported as dma-buf
@@ -1261,8 +1255,8 @@ algorithms, or other devices you should also stop them.
 .. _releaseBuffers: https://libcamera.org/api-html/classlibcamera_1_1V4L2VideoDevice.html#a191619c152f764e03bc461611f3fcd35
 
 Of course we also need to handle the corresponding actions to stop streaming on
-a device, Add the following to the ``stop`` function, to stop the stream with
-the `streamOff`_ function and release all buffers.
+a device, Add the following to the ``stopDevice()`` function, to stop the
+stream with the `streamOff`_ function and release all buffers.
 
 .. _streamOff: https://libcamera.org/api-html/classlibcamera_1_1V4L2VideoDevice.html#a61998710615bdf7aa25a046c8565ed66
 

README.rst

@@ -118,7 +118,7 @@ for cam: [optional]
         - libtiff-dev: Enables writing DNG
 
 for qcam: [optional]
-        libtiff-dev qt6-base-dev qt6-tools-dev-tools
+        libtiff-dev qt6-base-dev
 
 for tracing with lttng: [optional]
         liblttng-ust-dev python3-jinja2 lttng-tools

include/libcamera/controls.h

@@ -120,7 +120,7 @@ struct control_type<Point> {
 };
 
 template<typename T, std::size_t N>
-struct control_type<Span<T, N>> : public control_type<std::remove_cv_t<T>> {
+struct control_type<Span<T, N>, std::enable_if_t<control_type<std::remove_cv_t<T>>::size == 0>> : public control_type<std::remove_cv_t<T>> {
 	static constexpr std::size_t size = N;
 };
 

include/libcamera/internal/ipa_data_serializer.h

@@ -309,7 +309,6 @@ class IPADataSerializer<Flags<E>>
 	serialize(const Flags<E> &data, [[maybe_unused]] ControlSerializer *cs = nullptr)
 	{
 		std::vector<uint8_t> dataVec;
-		dataVec.reserve(sizeof(Flags<E>));
 		appendPOD<uint32_t>(dataVec, static_cast<typename Flags<E>::Type>(data));
 
 		return { dataVec, {} };

include/libcamera/internal/ipa_module.h

@@ -29,7 +29,7 @@ class IPAModule : public Loggable
 	bool isValid() const;
 
 	const struct IPAModuleInfo &info() const;
-	const std::vector<uint8_t> signature() const;
+	const std::vector<uint8_t> &signature() const;
 	const std::string &path() const;
 
 	bool load();

include/libcamera/internal/matrix.h

@@ -8,6 +8,7 @@
 
 #include <algorithm>
 #include <sstream>
+#include <type_traits>
 #include <vector>
 
 #include <libcamera/base/log.h>
@@ -20,25 +21,32 @@ namespace libcamera {
 LOG_DECLARE_CATEGORY(Matrix)
 
 #ifndef __DOXYGEN__
-template<typename T, unsigned int Rows, unsigned int Cols,
-	 std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr>
-#else
-template<typename T, unsigned int Rows, unsigned int Cols>
+template<typename T>
+bool matrixInvert(Span<const T> dataIn, Span<T> dataOut, unsigned int dim,
+		  Span<T> scratchBuffer, Span<unsigned int> swapBuffer);
 #endif /* __DOXYGEN__ */
+
+template<typename T, unsigned int Rows, unsigned int Cols>
 class Matrix
 {
+	static_assert(std::is_arithmetic_v<T>, "Matrix type must be arithmetic");
+
 public:
-	Matrix()
+	constexpr Matrix()
 	{
-		data_.fill(static_cast<T>(0));
 	}
 
 	Matrix(const std::array<T, Rows * Cols> &data)
 	{
 		std::copy(data.begin(), data.end(), data_.begin());
 	}
 
-	static Matrix identity()
+	Matrix(const Span<const T, Rows * Cols> data)
+	{
+		std::copy(data.begin(), data.end(), data_.begin());
+	}
+
+	static constexpr Matrix identity()
 	{
 		Matrix ret;
 		for (size_t i = 0; i < std::min(Rows, Cols); i++)
@@ -66,14 +74,14 @@ class Matrix
 		return out.str();
 	}
 
-	Span<const T, Rows * Cols> data() const { return data_; }
+	constexpr Span<const T, Rows * Cols> data() const { return data_; }
 
-	Span<const T, Cols> operator[](size_t i) const
+	constexpr Span<const T, Cols> operator[](size_t i) const
 	{
 		return Span<const T, Cols>{ &data_.data()[i * Cols], Cols };
 	}
 
-	Span<T, Cols> operator[](size_t i)
+	constexpr Span<T, Cols> operator[](size_t i)
 	{
 		return Span<T, Cols>{ &data_.data()[i * Cols], Cols };
 	}
@@ -90,8 +98,30 @@ class Matrix
 		return *this;
 	}
 
+	Matrix<T, Rows, Cols> inverse(bool *ok = nullptr) const
+	{
+		static_assert(Rows == Cols, "Matrix must be square");
+
+		Matrix<T, Rows, Cols> inverse;
+		std::array<T, Rows * Cols * 2> scratchBuffer;
+		std::array<unsigned int, Rows> swapBuffer;
+		bool res = matrixInvert(Span<const T>(data_),
+					Span<T>(inverse.data_),
+					Rows,
+					Span<T>(scratchBuffer),
+					Span<unsigned int>(swapBuffer));
+		if (ok)
+			*ok = res;
+		return inverse;
+	}
+
 private:
-	std::array<T, Rows * Cols> data_;
+	/*
+	 * \todo The initializer is only necessary for the constructor to be
+	 * constexpr in C++17. Remove the initializer as soon as we are on
+	 * C++20.
+	 */
+	std::array<T, Rows * Cols> data_ = {};
 };
 
 #ifndef __DOXYGEN__
@@ -123,21 +153,16 @@ Matrix<U, Rows, Cols> operator*(const Matrix<U, Rows, Cols> &m, T d)
 	return d * m;
 }
 
-#ifndef __DOXYGEN__
-template<typename T,
-	 unsigned int R1, unsigned int C1,
-	 unsigned int R2, unsigned int C2,
-	 std::enable_if_t<C1 == R2> * = nullptr>
-#else
-template<typename T, unsigned int R1, unsigned int C1, unsigned int R2, unsigned in C2>
-#endif /* __DOXYGEN__ */
-Matrix<T, R1, C2> operator*(const Matrix<T, R1, C1> &m1, const Matrix<T, R2, C2> &m2)
+template<typename T1, unsigned int R1, unsigned int C1, typename T2, unsigned int R2, unsigned int C2>
+constexpr Matrix<std::common_type_t<T1, T2>, R1, C2> operator*(const Matrix<T1, R1, C1> &m1,
+							       const Matrix<T2, R2, C2> &m2)
 {
-	Matrix<T, R1, C2> result;
+	static_assert(C1 == R2, "Matrix dimensions must match for multiplication");
+	Matrix<std::common_type_t<T1, T2>, R1, C2> result;
 
 	for (unsigned int i = 0; i < R1; i++) {
 		for (unsigned int j = 0; j < C2; j++) {
-			T sum = 0;
+			std::common_type_t<T1, T2> sum = 0;
 
 			for (unsigned int k = 0; k < C1; k++)
 				sum += m1[i][k] * m2[k][j];
@@ -150,7 +175,7 @@ Matrix<T, R1, C2> operator*(const Matrix<T, R1, C1> &m1, const Matrix<T, R2, C2>
 }
 
 template<typename T, unsigned int Rows, unsigned int Cols>
-Matrix<T, Rows, Cols> operator+(const Matrix<T, Rows, Cols> &m1, const Matrix<T, Rows, Cols> &m2)
+constexpr Matrix<T, Rows, Cols> operator+(const Matrix<T, Rows, Cols> &m1, const Matrix<T, Rows, Cols> &m2)
 {
 	Matrix<T, Rows, Cols> result;
 

include/libcamera/internal/media_device.h

@@ -55,6 +55,8 @@ class MediaDevice : protected Loggable
 
 	Signal<> disconnected;
 
+	std::vector<MediaEntity *> locateEntities(unsigned int function);
+
 protected:
 	std::string logPrefix() const override;
 

include/libcamera/internal/media_pipeline.h

@@ -0,0 +1,59 @@
+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2024, Ideas on Board Oy
+ *
+ * Media pipeline support
+ */
+
+#pragma once
+
+#include <list>
+#include <string>
+
+#include <libcamera/base/log.h>
+
+namespace libcamera {
+
+class CameraSensor;
+class MediaEntity;
+class MediaLink;
+class MediaPad;
+struct V4L2SubdeviceFormat;
+
+class MediaPipeline
+{
+public:
+	int init(MediaEntity *source, std::string_view sink);
+	int initLinks();
+	int configure(CameraSensor *sensor, V4L2SubdeviceFormat *);
+
+private:
+	struct Entity {
+		/* The media entity, always valid. */
+		MediaEntity *entity;
+		/*
+		 * Whether or not the entity is a subdev that supports the
+		 * routing API.
+		 */
+		bool supportsRouting;
+		/*
+		 * The local sink pad connected to the upstream entity, null for
+		 * the camera sensor at the beginning of the pipeline.
+		 */
+		const MediaPad *sink;
+		/*
+		 * The local source pad connected to the downstream entity, null
+		 * for the video node at the end of the pipeline.
+		 */
+		const MediaPad *source;
+		/*
+		 * The link on the source pad, to the downstream entity, null
+		 * for the video node at the end of the pipeline.
+		 */
+		MediaLink *sourceLink;
+	};
+
+	std::list<Entity> entities_;
+};
+
+} /* namespace libcamera */