v4l2: v4l2_compat: Add V4L2 compatibility layer
Add libcamera V4L2 compatibility layer. This initial implementation supports the minimal set of V4L2 operations, which allows getting, setting, and enumerating formats, and streaming frames from a video device. Some data about the wrapped V4L2 video device are hardcoded. Add a build option named 'v4l2' and adjust the build system to selectively compile the V4L2 compatibility layer. For now we match the V4L2 device node to a libcamera camera based on a devnum that a pipeline handler may optionally map to a libcamera camera. Signed-off-by: Paul Elder <paul.elder@ideasonboard.com> Reviewed-by: Jacopo Mondi <jacopo@jmondi.org> Reviewed-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
This commit is contained in:
Paul Elder
parent
a3b80f3af8
commit
0ce8f2390b
10 changed files with 1486 additions and 0 deletions
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src/v4l2/v4l2_camera_proxy.cpp
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src/v4l2/v4l2_camera_proxy.cpp
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/* SPDX-License-Identifier: GPL-2.0-or-later */
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/*
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* Copyright (C) 2019, Google Inc.
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*
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* v4l2_camera_proxy.cpp - Proxy to V4L2 compatibility camera
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*/
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#include "v4l2_camera_proxy.h"
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#include <algorithm>
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#include <errno.h>
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#include <linux/drm_fourcc.h>
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#include <linux/videodev2.h>
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#include <string.h>
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#include <sys/mman.h>
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#include <libcamera/camera.h>
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#include <libcamera/object.h>
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#include "log.h"
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#include "utils.h"
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#include "v4l2_camera.h"
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#include "v4l2_compat_manager.h"
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#define KERNEL_VERSION(a, b, c) (((a) << 16) + ((b) << 8) + (c))
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using namespace libcamera;
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LOG_DECLARE_CATEGORY(V4L2Compat);
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V4L2CameraProxy::V4L2CameraProxy(unsigned int index,
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std::shared_ptr<Camera> camera)
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: refcount_(0), index_(index), bufferCount_(0), currentBuf_(0),
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vcam_(utils::make_unique<V4L2Camera>(camera))
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{
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querycap(camera);
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}
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int V4L2CameraProxy::open(bool nonBlocking)
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{
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LOG(V4L2Compat, Debug) << "Servicing open";
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int ret;
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vcam_->invokeMethod(&V4L2Camera::open, ConnectionTypeBlocking,
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&ret);
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if (ret < 0) {
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errno = -ret;
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return -1;
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}
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nonBlocking_ = nonBlocking;
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vcam_->invokeMethod(&V4L2Camera::getStreamConfig,
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ConnectionTypeBlocking, &streamConfig_);
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setFmtFromConfig(streamConfig_);
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sizeimage_ = calculateSizeImage(streamConfig_);
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refcount_++;
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return 0;
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}
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void V4L2CameraProxy::dup()
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{
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refcount_++;
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}
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void V4L2CameraProxy::close()
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{
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LOG(V4L2Compat, Debug) << "Servicing close";
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if (--refcount_ > 0)
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return;
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vcam_->invokeMethod(&V4L2Camera::close, ConnectionTypeBlocking);
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}
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void *V4L2CameraProxy::mmap(size_t length, int prot, int flags, off_t offset)
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{
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LOG(V4L2Compat, Debug) << "Servicing mmap";
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/* \todo Validate prot and flags properly. */
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if (prot != (PROT_READ | PROT_WRITE)) {
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errno = EINVAL;
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return MAP_FAILED;
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}
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unsigned int index = offset / sizeimage_;
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if (index * sizeimage_ != offset || length != sizeimage_) {
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errno = EINVAL;
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return MAP_FAILED;
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}
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void *val;
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vcam_->invokeMethod(&V4L2Camera::mmap, ConnectionTypeBlocking,
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&val, index);
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buffers_[index].flags |= V4L2_BUF_FLAG_MAPPED;
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mmaps_[val] = index;
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return val;
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}
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int V4L2CameraProxy::munmap(void *addr, size_t length)
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{
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LOG(V4L2Compat, Debug) << "Servicing munmap";
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auto iter = mmaps_.find(addr);
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if (iter == mmaps_.end() || length != sizeimage_) {
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errno = EINVAL;
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return -1;
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}
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buffers_[iter->second].flags &= ~V4L2_BUF_FLAG_MAPPED;
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mmaps_.erase(iter);
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return 0;
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}
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bool V4L2CameraProxy::validateBufferType(uint32_t type)
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{
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return type == V4L2_BUF_TYPE_VIDEO_CAPTURE;
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}
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bool V4L2CameraProxy::validateMemoryType(uint32_t memory)
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{
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return memory == V4L2_MEMORY_MMAP;
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}
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void V4L2CameraProxy::setFmtFromConfig(StreamConfiguration &streamConfig)
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{
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curV4L2Format_.fmt.pix.width = streamConfig.size.width;
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curV4L2Format_.fmt.pix.height = streamConfig.size.height;
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curV4L2Format_.fmt.pix.pixelformat = drmToV4L2(streamConfig.pixelFormat);
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curV4L2Format_.fmt.pix.field = V4L2_FIELD_NONE;
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curV4L2Format_.fmt.pix.bytesperline =
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bplMultiplier(curV4L2Format_.fmt.pix.pixelformat) *
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curV4L2Format_.fmt.pix.width;
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curV4L2Format_.fmt.pix.sizeimage =
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imageSize(curV4L2Format_.fmt.pix.pixelformat,
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curV4L2Format_.fmt.pix.width,
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curV4L2Format_.fmt.pix.height);
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curV4L2Format_.fmt.pix.colorspace = V4L2_COLORSPACE_SRGB;
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}
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unsigned int V4L2CameraProxy::calculateSizeImage(StreamConfiguration &streamConfig)
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{
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/*
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* \todo Merge this method with setFmtFromConfig (need imageSize to
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* support all libcamera formats first, or filter out MJPEG for now).
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*/
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return imageSize(drmToV4L2(streamConfig.pixelFormat),
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streamConfig.size.width,
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streamConfig.size.height);
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}
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void V4L2CameraProxy::querycap(std::shared_ptr<Camera> camera)
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{
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std::string driver = "libcamera";
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std::string bus_info = driver + ":" + std::to_string(index_);
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utils::strlcpy(reinterpret_cast<char *>(capabilities_.driver), driver.c_str(),
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sizeof(capabilities_.driver));
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utils::strlcpy(reinterpret_cast<char *>(capabilities_.card), camera->name().c_str(),
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sizeof(capabilities_.card));
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utils::strlcpy(reinterpret_cast<char *>(capabilities_.bus_info), bus_info.c_str(),
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sizeof(capabilities_.bus_info));
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/* \todo Put this in a header/config somewhere. */
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capabilities_.version = KERNEL_VERSION(5, 2, 0);
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capabilities_.device_caps = V4L2_CAP_VIDEO_CAPTURE;
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capabilities_.capabilities = capabilities_.device_caps
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| V4L2_CAP_DEVICE_CAPS;
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memset(capabilities_.reserved, 0, sizeof(capabilities_.reserved));
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}
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void V4L2CameraProxy::updateBuffers()
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{
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std::vector<FrameMetadata> completedBuffers = vcam_->completedBuffers();
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for (FrameMetadata &fmd : completedBuffers) {
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struct v4l2_buffer &buf = buffers_[fmd.index()];
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switch (fmd.status()) {
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case Buffer::Status::BufferSuccess:
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buf.bytesused = fmd.bytesused();
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buf.field = V4L2_FIELD_NONE;
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buf.timestamp.tv_sec = fmd.timestamp() / 1000000000;
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buf.timestamp.tv_usec = fmd.timestamp() % 1000000;
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buf.sequence = fmd.sequence();
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buf.flags |= V4L2_BUF_FLAG_DONE;
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break;
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case Buffer::Status::BufferError:
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buf.flags |= V4L2_BUF_FLAG_ERROR;
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break;
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default:
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break;
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}
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}
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}
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int V4L2CameraProxy::vidioc_querycap(struct v4l2_capability *arg)
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{
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LOG(V4L2Compat, Debug) << "Servicing vidioc_querycap";
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*arg = capabilities_;
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return 0;
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}
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int V4L2CameraProxy::vidioc_enum_fmt(struct v4l2_fmtdesc *arg)
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{
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LOG(V4L2Compat, Debug) << "Servicing vidioc_enum_fmt";
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if (!validateBufferType(arg->type) ||
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arg->index > streamConfig_.formats().pixelformats().size())
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return -EINVAL;
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/* \todo Add map from format to description. */
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utils::strlcpy(reinterpret_cast<char *>(arg->description), "Video Format Description",
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sizeof(arg->description));
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arg->pixelformat = drmToV4L2(streamConfig_.formats().pixelformats()[arg->index]);
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return 0;
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}
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int V4L2CameraProxy::vidioc_g_fmt(struct v4l2_format *arg)
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{
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LOG(V4L2Compat, Debug) << "Servicing vidioc_g_fmt";
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if (!validateBufferType(arg->type))
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return -EINVAL;
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memset(&arg->fmt, 0, sizeof(arg->fmt));
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arg->fmt.pix = curV4L2Format_.fmt.pix;
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return 0;
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}
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int V4L2CameraProxy::vidioc_s_fmt(struct v4l2_format *arg)
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{
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LOG(V4L2Compat, Debug) << "Servicing vidioc_s_fmt";
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int ret = vidioc_try_fmt(arg);
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if (ret < 0)
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return ret;
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Size size(arg->fmt.pix.width, arg->fmt.pix.height);
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vcam_->invokeMethod(&V4L2Camera::configure, ConnectionTypeBlocking,
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&ret, &streamConfig_, size,
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v4l2ToDrm(arg->fmt.pix.pixelformat), bufferCount_);
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if (ret < 0)
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return -EINVAL;
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unsigned int sizeimage = calculateSizeImage(streamConfig_);
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if (sizeimage == 0)
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return -EINVAL;
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sizeimage_ = sizeimage;
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setFmtFromConfig(streamConfig_);
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return 0;
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}
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int V4L2CameraProxy::vidioc_try_fmt(struct v4l2_format *arg)
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{
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LOG(V4L2Compat, Debug) << "Servicing vidioc_try_fmt";
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if (!validateBufferType(arg->type))
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return -EINVAL;
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PixelFormat format = v4l2ToDrm(arg->fmt.pix.pixelformat);
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const std::vector<PixelFormat> &formats =
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streamConfig_.formats().pixelformats();
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if (std::find(formats.begin(), formats.end(), format) == formats.end())
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format = streamConfig_.formats().pixelformats()[0];
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Size size(arg->fmt.pix.width, arg->fmt.pix.height);
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const std::vector<Size> &sizes = streamConfig_.formats().sizes(format);
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if (std::find(sizes.begin(), sizes.end(), size) == sizes.end())
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size = streamConfig_.formats().sizes(format)[0];
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arg->fmt.pix.width = size.width;
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arg->fmt.pix.height = size.height;
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arg->fmt.pix.pixelformat = v4l2ToDrm(format);
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arg->fmt.pix.field = V4L2_FIELD_NONE;
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arg->fmt.pix.bytesperline = bplMultiplier(drmToV4L2(format)) *
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arg->fmt.pix.width;
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arg->fmt.pix.sizeimage = imageSize(drmToV4L2(format),
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arg->fmt.pix.width,
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arg->fmt.pix.height);
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arg->fmt.pix.colorspace = V4L2_COLORSPACE_SRGB;
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return 0;
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}
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int V4L2CameraProxy::freeBuffers()
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{
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LOG(V4L2Compat, Debug) << "Freeing libcamera bufs";
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int ret;
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vcam_->invokeMethod(&V4L2Camera::streamOff,
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ConnectionTypeBlocking, &ret);
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if (ret < 0) {
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LOG(V4L2Compat, Error) << "Failed to stop stream";
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return ret;
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}
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vcam_->invokeMethod(&V4L2Camera::freeBuffers, ConnectionTypeBlocking);
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bufferCount_ = 0;
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return 0;
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}
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int V4L2CameraProxy::vidioc_reqbufs(struct v4l2_requestbuffers *arg)
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{
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int ret;
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LOG(V4L2Compat, Debug) << "Servicing vidioc_reqbufs";
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if (!validateBufferType(arg->type) ||
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!validateMemoryType(arg->memory))
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return -EINVAL;
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LOG(V4L2Compat, Debug) << arg->count << " buffers requested ";
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arg->capabilities = V4L2_BUF_CAP_SUPPORTS_MMAP;
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if (arg->count == 0)
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return freeBuffers();
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Size size(curV4L2Format_.fmt.pix.width, curV4L2Format_.fmt.pix.height);
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vcam_->invokeMethod(&V4L2Camera::configure, ConnectionTypeBlocking,
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&ret, &streamConfig_, size,
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v4l2ToDrm(curV4L2Format_.fmt.pix.pixelformat),
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arg->count);
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if (ret < 0)
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return -EINVAL;
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sizeimage_ = calculateSizeImage(streamConfig_);
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if (sizeimage_ == 0)
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return -EINVAL;
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setFmtFromConfig(streamConfig_);
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arg->count = streamConfig_.bufferCount;
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bufferCount_ = arg->count;
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vcam_->invokeMethod(&V4L2Camera::allocBuffers,
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ConnectionTypeBlocking, &ret, arg->count);
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if (ret < 0) {
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arg->count = 0;
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return ret;
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}
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buffers_.resize(arg->count);
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for (unsigned int i = 0; i < arg->count; i++) {
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struct v4l2_buffer buf = {};
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buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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buf.length = curV4L2Format_.fmt.pix.sizeimage;
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buf.memory = V4L2_MEMORY_MMAP;
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buf.m.offset = i * curV4L2Format_.fmt.pix.sizeimage;
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buf.index = i;
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buffers_[i] = buf;
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}
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LOG(V4L2Compat, Debug) << "Allocated " << arg->count << " buffers";
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return 0;
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}
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int V4L2CameraProxy::vidioc_querybuf(struct v4l2_buffer *arg)
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{
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LOG(V4L2Compat, Debug) << "Servicing vidioc_querybuf";
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if (!validateBufferType(arg->type) ||
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arg->index >= bufferCount_)
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return -EINVAL;
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updateBuffers();
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*arg = buffers_[arg->index];
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return 0;
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}
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int V4L2CameraProxy::vidioc_qbuf(struct v4l2_buffer *arg)
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{
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LOG(V4L2Compat, Debug) << "Servicing vidioc_qbuf, index = "
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<< arg->index;
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if (!validateBufferType(arg->type) ||
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!validateMemoryType(arg->memory) ||
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arg->index >= bufferCount_)
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return -EINVAL;
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int ret;
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vcam_->invokeMethod(&V4L2Camera::qbuf, ConnectionTypeBlocking,
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&ret, arg->index);
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if (ret < 0)
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return ret;
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arg->flags |= V4L2_BUF_FLAG_QUEUED;
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arg->flags &= ~V4L2_BUF_FLAG_DONE;
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return ret;
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}
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int V4L2CameraProxy::vidioc_dqbuf(struct v4l2_buffer *arg)
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{
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LOG(V4L2Compat, Debug) << "Servicing vidioc_dqbuf";
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if (!validateBufferType(arg->type) ||
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!validateMemoryType(arg->memory))
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return -EINVAL;
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if (nonBlocking_ && !vcam_->bufferSema_.tryAcquire())
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return -EAGAIN;
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else
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vcam_->bufferSema_.acquire();
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updateBuffers();
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struct v4l2_buffer &buf = buffers_[currentBuf_];
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buf.flags &= ~V4L2_BUF_FLAG_QUEUED;
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buf.length = sizeimage_;
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*arg = buf;
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currentBuf_ = (currentBuf_ + 1) % bufferCount_;
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return 0;
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}
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int V4L2CameraProxy::vidioc_streamon(int *arg)
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{
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LOG(V4L2Compat, Debug) << "Servicing vidioc_streamon";
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if (!validateBufferType(*arg))
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return -EINVAL;
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int ret;
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vcam_->invokeMethod(&V4L2Camera::streamOn,
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ConnectionTypeBlocking, &ret);
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return ret;
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}
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int V4L2CameraProxy::vidioc_streamoff(int *arg)
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{
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LOG(V4L2Compat, Debug) << "Servicing vidioc_streamoff";
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if (!validateBufferType(*arg))
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return -EINVAL;
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int ret;
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vcam_->invokeMethod(&V4L2Camera::streamOff,
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ConnectionTypeBlocking, &ret);
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for (struct v4l2_buffer &buf : buffers_)
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buf.flags &= ~(V4L2_BUF_FLAG_QUEUED | V4L2_BUF_FLAG_DONE);
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return ret;
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}
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int V4L2CameraProxy::ioctl(unsigned long request, void *arg)
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{
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int ret;
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switch (request) {
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case VIDIOC_QUERYCAP:
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ret = vidioc_querycap(static_cast<struct v4l2_capability *>(arg));
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break;
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||||
case VIDIOC_ENUM_FMT:
|
||||
ret = vidioc_enum_fmt(static_cast<struct v4l2_fmtdesc *>(arg));
|
||||
break;
|
||||
case VIDIOC_G_FMT:
|
||||
ret = vidioc_g_fmt(static_cast<struct v4l2_format *>(arg));
|
||||
break;
|
||||
case VIDIOC_S_FMT:
|
||||
ret = vidioc_s_fmt(static_cast<struct v4l2_format *>(arg));
|
||||
break;
|
||||
case VIDIOC_TRY_FMT:
|
||||
ret = vidioc_try_fmt(static_cast<struct v4l2_format *>(arg));
|
||||
break;
|
||||
case VIDIOC_REQBUFS:
|
||||
ret = vidioc_reqbufs(static_cast<struct v4l2_requestbuffers *>(arg));
|
||||
break;
|
||||
case VIDIOC_QUERYBUF:
|
||||
ret = vidioc_querybuf(static_cast<struct v4l2_buffer *>(arg));
|
||||
break;
|
||||
case VIDIOC_QBUF:
|
||||
ret = vidioc_qbuf(static_cast<struct v4l2_buffer *>(arg));
|
||||
break;
|
||||
case VIDIOC_DQBUF:
|
||||
ret = vidioc_dqbuf(static_cast<struct v4l2_buffer *>(arg));
|
||||
break;
|
||||
case VIDIOC_STREAMON:
|
||||
ret = vidioc_streamon(static_cast<int *>(arg));
|
||||
break;
|
||||
case VIDIOC_STREAMOFF:
|
||||
ret = vidioc_streamoff(static_cast<int *>(arg));
|
||||
break;
|
||||
default:
|
||||
ret = -ENOTTY;
|
||||
break;
|
||||
}
|
||||
|
||||
if (ret < 0) {
|
||||
errno = -ret;
|
||||
return -1;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* \todo make libcamera export these */
|
||||
int V4L2CameraProxy::bplMultiplier(unsigned int format)
|
||||
{
|
||||
switch (format) {
|
||||
case V4L2_PIX_FMT_NV12:
|
||||
case V4L2_PIX_FMT_NV21:
|
||||
case V4L2_PIX_FMT_NV16:
|
||||
case V4L2_PIX_FMT_NV61:
|
||||
case V4L2_PIX_FMT_NV24:
|
||||
case V4L2_PIX_FMT_NV42:
|
||||
return 1;
|
||||
case V4L2_PIX_FMT_BGR24:
|
||||
case V4L2_PIX_FMT_RGB24:
|
||||
return 3;
|
||||
case V4L2_PIX_FMT_ARGB32:
|
||||
return 4;
|
||||
case V4L2_PIX_FMT_VYUY:
|
||||
case V4L2_PIX_FMT_YVYU:
|
||||
case V4L2_PIX_FMT_UYVY:
|
||||
case V4L2_PIX_FMT_YUYV:
|
||||
return 2;
|
||||
default:
|
||||
return 0;
|
||||
};
|
||||
}
|
||||
|
||||
int V4L2CameraProxy::imageSize(unsigned int format,
|
||||
unsigned int width, unsigned int height)
|
||||
{
|
||||
switch (format) {
|
||||
case V4L2_PIX_FMT_NV12:
|
||||
case V4L2_PIX_FMT_NV21:
|
||||
return width * height * 3 / 2;
|
||||
case V4L2_PIX_FMT_NV16:
|
||||
case V4L2_PIX_FMT_NV61:
|
||||
return width * height * 2;
|
||||
case V4L2_PIX_FMT_NV24:
|
||||
case V4L2_PIX_FMT_NV42:
|
||||
return width * height * 3;
|
||||
case V4L2_PIX_FMT_BGR24:
|
||||
case V4L2_PIX_FMT_RGB24:
|
||||
return width * height * 3;
|
||||
case V4L2_PIX_FMT_ARGB32:
|
||||
return width * height * 4;
|
||||
case V4L2_PIX_FMT_VYUY:
|
||||
case V4L2_PIX_FMT_YVYU:
|
||||
case V4L2_PIX_FMT_UYVY:
|
||||
case V4L2_PIX_FMT_YUYV:
|
||||
return width * height * 2;
|
||||
default:
|
||||
return 0;
|
||||
};
|
||||
}
|
||||
|
||||
unsigned int V4L2CameraProxy::v4l2ToDrm(unsigned int pixelformat)
|
||||
{
|
||||
switch (pixelformat) {
|
||||
/* RGB formats. */
|
||||
case V4L2_PIX_FMT_RGB24:
|
||||
return DRM_FORMAT_BGR888;
|
||||
case V4L2_PIX_FMT_BGR24:
|
||||
return DRM_FORMAT_RGB888;
|
||||
case V4L2_PIX_FMT_ARGB32:
|
||||
return DRM_FORMAT_BGRA8888;
|
||||
|
||||
/* YUV packed formats. */
|
||||
case V4L2_PIX_FMT_YUYV:
|
||||
return DRM_FORMAT_YUYV;
|
||||
case V4L2_PIX_FMT_YVYU:
|
||||
return DRM_FORMAT_YVYU;
|
||||
case V4L2_PIX_FMT_UYVY:
|
||||
return DRM_FORMAT_UYVY;
|
||||
case V4L2_PIX_FMT_VYUY:
|
||||
return DRM_FORMAT_VYUY;
|
||||
|
||||
/* YUY planar formats. */
|
||||
case V4L2_PIX_FMT_NV16:
|
||||
return DRM_FORMAT_NV16;
|
||||
case V4L2_PIX_FMT_NV61:
|
||||
return DRM_FORMAT_NV61;
|
||||
case V4L2_PIX_FMT_NV12:
|
||||
return DRM_FORMAT_NV12;
|
||||
case V4L2_PIX_FMT_NV21:
|
||||
return DRM_FORMAT_NV21;
|
||||
case V4L2_PIX_FMT_NV24:
|
||||
return DRM_FORMAT_NV24;
|
||||
case V4L2_PIX_FMT_NV42:
|
||||
return DRM_FORMAT_NV42;
|
||||
default:
|
||||
return pixelformat;
|
||||
};
|
||||
}
|
||||
|
||||
unsigned int V4L2CameraProxy::drmToV4L2(unsigned int pixelformat)
|
||||
{
|
||||
switch (pixelformat) {
|
||||
/* RGB formats. */
|
||||
case DRM_FORMAT_BGR888:
|
||||
return V4L2_PIX_FMT_RGB24;
|
||||
case DRM_FORMAT_RGB888:
|
||||
return V4L2_PIX_FMT_BGR24;
|
||||
case DRM_FORMAT_BGRA8888:
|
||||
return V4L2_PIX_FMT_ARGB32;
|
||||
|
||||
/* YUV packed formats. */
|
||||
case DRM_FORMAT_YUYV:
|
||||
return V4L2_PIX_FMT_YUYV;
|
||||
case DRM_FORMAT_YVYU:
|
||||
return V4L2_PIX_FMT_YVYU;
|
||||
case DRM_FORMAT_UYVY:
|
||||
return V4L2_PIX_FMT_UYVY;
|
||||
case DRM_FORMAT_VYUY:
|
||||
return V4L2_PIX_FMT_VYUY;
|
||||
|
||||
/* YUY planar formats. */
|
||||
case DRM_FORMAT_NV16:
|
||||
return V4L2_PIX_FMT_NV16;
|
||||
case DRM_FORMAT_NV61:
|
||||
return V4L2_PIX_FMT_NV61;
|
||||
case DRM_FORMAT_NV12:
|
||||
return V4L2_PIX_FMT_NV12;
|
||||
case DRM_FORMAT_NV21:
|
||||
return V4L2_PIX_FMT_NV21;
|
||||
case DRM_FORMAT_NV24:
|
||||
return V4L2_PIX_FMT_NV24;
|
||||
case DRM_FORMAT_NV42:
|
||||
return V4L2_PIX_FMT_NV42;
|
||||
default:
|
||||
return pixelformat;
|
||||
}
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue