libcamera/src/libcamera/pipeline/rkisp1/rkisp1.cpp

/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
 * Copyright (C) 2019, Google Inc.
 *
 * rkisp1.cpp - Pipeline handler for Rockchip ISP1
 */

#include <algorithm>
#include <array>
#include <iomanip>
#include <memory>
#include <numeric>
#include <queue>

#include <linux/media-bus-format.h>

#include <libcamera/buffer.h>
#include <libcamera/camera.h>
#include <libcamera/control_ids.h>
#include <libcamera/formats.h>
#include <libcamera/ipa/rkisp1.h>
#include <libcamera/request.h>
#include <libcamera/stream.h>

#include "libcamera/internal/camera_sensor.h"
#include "libcamera/internal/device_enumerator.h"
#include "libcamera/internal/ipa_manager.h"
#include "libcamera/internal/log.h"
#include "libcamera/internal/media_device.h"
#include "libcamera/internal/pipeline_handler.h"
#include "libcamera/internal/utils.h"
#include "libcamera/internal/v4l2_subdevice.h"
#include "libcamera/internal/v4l2_videodevice.h"

#include "rkisp1_path.h"
#include "timeline.h"

namespace libcamera {

LOG_DEFINE_CATEGORY(RkISP1)

class PipelineHandlerRkISP1;
class RkISP1ActionQueueBuffers;
class RkISP1CameraData;

enum RkISP1ActionType {
	SetSensor,
	SOE,
	QueueBuffers,
};

struct RkISP1FrameInfo {
	unsigned int frame;
	Request *request;

	FrameBuffer *paramBuffer;
	FrameBuffer *statBuffer;
	FrameBuffer *mainPathBuffer;
	FrameBuffer *selfPathBuffer;

	bool paramFilled;
	bool paramDequeued;
	bool metadataProcessed;
};

class RkISP1Frames
{
public:
	RkISP1Frames(PipelineHandler *pipe);

	RkISP1FrameInfo *create(const RkISP1CameraData *data, Request *request);
	int destroy(unsigned int frame);
	void clear();

	RkISP1FrameInfo *find(unsigned int frame);
	RkISP1FrameInfo *find(FrameBuffer *buffer);
	RkISP1FrameInfo *find(Request *request);

private:
	PipelineHandlerRkISP1 *pipe_;
	std::map<unsigned int, RkISP1FrameInfo *> frameInfo_;
};

class RkISP1Timeline : public Timeline
{
public:
	RkISP1Timeline()
		: Timeline()
	{
		setDelay(SetSensor, -1, 5);
		setDelay(SOE, 0, -1);
		setDelay(QueueBuffers, -1, 10);
	}

	void bufferReady(FrameBuffer *buffer)
	{
		/*
		 * Calculate SOE by taking the end of DMA set by the kernel and applying
		 * the time offsets provideprovided by the IPA to find the best estimate
		 * of SOE.
		 */

		ASSERT(frameOffset(SOE) == 0);

		utils::time_point soe = std::chrono::time_point<utils::clock>()
			+ std::chrono::nanoseconds(buffer->metadata().timestamp)
			+ timeOffset(SOE);

		notifyStartOfExposure(buffer->metadata().sequence, soe);
	}

	void setDelay(unsigned int type, int frame, int msdelay)
	{
		utils::duration delay = std::chrono::milliseconds(msdelay);
		setRawDelay(type, frame, delay);
	}
};

class RkISP1CameraData : public CameraData
{
public:
	RkISP1CameraData(PipelineHandler *pipe, RkISP1MainPath *mainPath,
			 RkISP1SelfPath *selfPath)
		: CameraData(pipe), sensor_(nullptr), frame_(0),
		  frameInfo_(pipe), mainPath_(mainPath), selfPath_(selfPath)
	{
	}

	~RkISP1CameraData()
	{
		delete sensor_;
	}

	int loadIPA();

	Stream mainPathStream_;
	Stream selfPathStream_;
	CameraSensor *sensor_;
	unsigned int frame_;
	std::vector<IPABuffer> ipaBuffers_;
	RkISP1Frames frameInfo_;
	RkISP1Timeline timeline_;

	RkISP1MainPath *mainPath_;
	RkISP1SelfPath *selfPath_;

private:
	void queueFrameAction(unsigned int frame,
			      const IPAOperationData &action);

	void metadataReady(unsigned int frame, const ControlList &metadata);
};

class RkISP1CameraConfiguration : public CameraConfiguration
{
public:
	RkISP1CameraConfiguration(Camera *camera, RkISP1CameraData *data);

	Status validate() override;

	const V4L2SubdeviceFormat &sensorFormat() { return sensorFormat_; }

private:
	bool fitsAllPaths(const StreamConfiguration &cfg);

	/*
	 * The RkISP1CameraData instance is guaranteed to be valid as long as the
	 * corresponding Camera instance is valid. In order to borrow a
	 * reference to the camera data, store a new reference to the camera.
	 */
	std::shared_ptr<Camera> camera_;
	const RkISP1CameraData *data_;

	V4L2SubdeviceFormat sensorFormat_;
};

class PipelineHandlerRkISP1 : public PipelineHandler
{
public:
	PipelineHandlerRkISP1(CameraManager *manager);
	~PipelineHandlerRkISP1();

	CameraConfiguration *generateConfiguration(Camera *camera,
		const StreamRoles &roles) override;
	int configure(Camera *camera, CameraConfiguration *config) override;

	int exportFrameBuffers(Camera *camera, Stream *stream,
			       std::vector<std::unique_ptr<FrameBuffer>> *buffers) override;

	int start(Camera *camera, ControlList *controls) override;
	void stop(Camera *camera) override;

	int queueRequestDevice(Camera *camera, Request *request) override;

	bool match(DeviceEnumerator *enumerator) override;

private:
	RkISP1CameraData *cameraData(const Camera *camera)
	{
		return static_cast<RkISP1CameraData *>(
			PipelineHandler::cameraData(camera));
	}

	friend RkISP1ActionQueueBuffers;
	friend RkISP1CameraData;
	friend RkISP1Frames;

	int initLinks(const Camera *camera, const CameraSensor *sensor,
		      const RkISP1CameraConfiguration &config);
	int createCamera(MediaEntity *sensor);
	void tryCompleteRequest(Request *request);
	void bufferReady(FrameBuffer *buffer);
	void paramReady(FrameBuffer *buffer);
	void statReady(FrameBuffer *buffer);

	int allocateBuffers(Camera *camera);
	int freeBuffers(Camera *camera);

	MediaDevice *media_;
	std::unique_ptr<V4L2Subdevice> isp_;
	V4L2VideoDevice *param_;
	V4L2VideoDevice *stat_;

	RkISP1MainPath mainPath_;
	RkISP1SelfPath selfPath_;

	std::vector<std::unique_ptr<FrameBuffer>> paramBuffers_;
	std::vector<std::unique_ptr<FrameBuffer>> statBuffers_;
	std::queue<FrameBuffer *> availableParamBuffers_;
	std::queue<FrameBuffer *> availableStatBuffers_;

	Camera *activeCamera_;
};

RkISP1Frames::RkISP1Frames(PipelineHandler *pipe)
	: pipe_(static_cast<PipelineHandlerRkISP1 *>(pipe))
{
}

RkISP1FrameInfo *RkISP1Frames::create(const RkISP1CameraData *data, Request *request)
{
	unsigned int frame = data->frame_;

	if (pipe_->availableParamBuffers_.empty()) {
		LOG(RkISP1, Error) << "Parameters buffer underrun";
		return nullptr;
	}
	FrameBuffer *paramBuffer = pipe_->availableParamBuffers_.front();

	if (pipe_->availableStatBuffers_.empty()) {
		LOG(RkISP1, Error) << "Statisitc buffer underrun";
		return nullptr;
	}
	FrameBuffer *statBuffer = pipe_->availableStatBuffers_.front();

	FrameBuffer *mainPathBuffer = request->findBuffer(&data->mainPathStream_);
	FrameBuffer *selfPathBuffer = request->findBuffer(&data->selfPathStream_);

	pipe_->availableParamBuffers_.pop();
	pipe_->availableStatBuffers_.pop();

	RkISP1FrameInfo *info = new RkISP1FrameInfo;

	info->frame = frame;
	info->request = request;
	info->paramBuffer = paramBuffer;
	info->mainPathBuffer = mainPathBuffer;
	info->selfPathBuffer = selfPathBuffer;
	info->statBuffer = statBuffer;
	info->paramFilled = false;
	info->paramDequeued = false;
	info->metadataProcessed = false;

	frameInfo_[frame] = info;

	return info;
}

int RkISP1Frames::destroy(unsigned int frame)
{
	RkISP1FrameInfo *info = find(frame);
	if (!info)
		return -ENOENT;

	pipe_->availableParamBuffers_.push(info->paramBuffer);
	pipe_->availableStatBuffers_.push(info->statBuffer);

	frameInfo_.erase(info->frame);

	delete info;

	return 0;
}

void RkISP1Frames::clear()
{
	for (const auto &entry : frameInfo_) {
		RkISP1FrameInfo *info = entry.second;

		pipe_->availableParamBuffers_.push(info->paramBuffer);
		pipe_->availableStatBuffers_.push(info->statBuffer);

		delete info;
	}

	frameInfo_.clear();
}

RkISP1FrameInfo *RkISP1Frames::find(unsigned int frame)
{
	auto itInfo = frameInfo_.find(frame);

	if (itInfo != frameInfo_.end())
		return itInfo->second;

	LOG(RkISP1, Error) << "Can't locate info from frame";
	return nullptr;
}

RkISP1FrameInfo *RkISP1Frames::find(FrameBuffer *buffer)
{
	for (auto &itInfo : frameInfo_) {
		RkISP1FrameInfo *info = itInfo.second;

		if (info->paramBuffer == buffer ||
		    info->statBuffer == buffer ||
		    info->mainPathBuffer == buffer ||
		    info->selfPathBuffer == buffer)
			return info;
	}

	LOG(RkISP1, Error) << "Can't locate info from buffer";
	return nullptr;
}

RkISP1FrameInfo *RkISP1Frames::find(Request *request)
{
	for (auto &itInfo : frameInfo_) {
		RkISP1FrameInfo *info = itInfo.second;

		if (info->request == request)
			return info;
	}

	LOG(RkISP1, Error) << "Can't locate info from request";
	return nullptr;
}

class RkISP1ActionSetSensor : public FrameAction
{
public:
	RkISP1ActionSetSensor(unsigned int frame, CameraSensor *sensor, const ControlList &controls)
		: FrameAction(frame, SetSensor), sensor_(sensor), controls_(controls) {}

protected:
	void run() override
	{
		sensor_->setControls(&controls_);
	}

private:
	CameraSensor *sensor_;
	ControlList controls_;
};

class RkISP1ActionQueueBuffers : public FrameAction
{
public:
	RkISP1ActionQueueBuffers(unsigned int frame, RkISP1CameraData *data,
				 PipelineHandlerRkISP1 *pipe)
		: FrameAction(frame, QueueBuffers), data_(data), pipe_(pipe)
	{
	}

protected:
	void run() override
	{
		RkISP1FrameInfo *info = data_->frameInfo_.find(frame());
		if (!info)
			LOG(RkISP1, Fatal) << "Frame not known";

		/*
		 * \todo: If parameters are not filled a better method to handle
		 * the situation than queuing a buffer with unknown content
		 * should be used.
		 *
		 * It seems excessive to keep an internal zeroed scratch
		 * parameters buffer around as this should not happen unless the
		 * devices is under too much load. Perhaps failing the request
		 * and returning it to the application with an error code is
		 * better than queue it to hardware?
		 */
		if (!info->paramFilled)
			LOG(RkISP1, Error)
				<< "Parameters not ready on time for frame "
				<< frame();

		pipe_->param_->queueBuffer(info->paramBuffer);
		pipe_->stat_->queueBuffer(info->statBuffer);

		if (info->mainPathBuffer)
			pipe_->mainPath_.queueBuffer(info->mainPathBuffer);

		if (info->selfPathBuffer)
			pipe_->selfPath_.queueBuffer(info->selfPathBuffer);
	}

private:
	RkISP1CameraData *data_;
	PipelineHandlerRkISP1 *pipe_;
};

int RkISP1CameraData::loadIPA()
{
	ipa_ = IPAManager::createIPA(pipe_, 1, 1);
	if (!ipa_)
		return -ENOENT;

	ipa_->queueFrameAction.connect(this,
				       &RkISP1CameraData::queueFrameAction);

	ipa_->init(IPASettings{});

	return 0;
}

void RkISP1CameraData::queueFrameAction(unsigned int frame,
					const IPAOperationData &action)
{
	switch (action.operation) {
	case RKISP1_IPA_ACTION_V4L2_SET: {
		const ControlList &controls = action.controls[0];
		timeline_.scheduleAction(std::make_unique<RkISP1ActionSetSensor>(frame,
										 sensor_,
										 controls));
		break;
	}
	case RKISP1_IPA_ACTION_PARAM_FILLED: {
		RkISP1FrameInfo *info = frameInfo_.find(frame);
		if (info)
			info->paramFilled = true;
		break;
	}
	case RKISP1_IPA_ACTION_METADATA:
		metadataReady(frame, action.controls[0]);
		break;
	default:
		LOG(RkISP1, Error) << "Unknown action " << action.operation;
		break;
	}
}

void RkISP1CameraData::metadataReady(unsigned int frame, const ControlList &metadata)
{
	PipelineHandlerRkISP1 *pipe =
		static_cast<PipelineHandlerRkISP1 *>(pipe_);

	RkISP1FrameInfo *info = frameInfo_.find(frame);
	if (!info)
		return;

	info->request->metadata() = metadata;
	info->metadataProcessed = true;

	pipe->tryCompleteRequest(info->request);
}

RkISP1CameraConfiguration::RkISP1CameraConfiguration(Camera *camera,
						     RkISP1CameraData *data)
	: CameraConfiguration()
{
	camera_ = camera->shared_from_this();
	data_ = data;
}

bool RkISP1CameraConfiguration::fitsAllPaths(const StreamConfiguration &cfg)
{
	StreamConfiguration config;

	config = cfg;
	if (data_->mainPath_->validate(&config) != Valid)
		return false;

	config = cfg;
	if (data_->selfPath_->validate(&config) != Valid)
		return false;

	return true;
}

CameraConfiguration::Status RkISP1CameraConfiguration::validate()
{
	const CameraSensor *sensor = data_->sensor_;
	Status status = Valid;

	if (config_.empty())
		return Invalid;

	if (transform != Transform::Identity) {
		transform = Transform::Identity;
		status = Adjusted;
	}

	/* Cap the number of entries to the available streams. */
	if (config_.size() > 2) {
		config_.resize(2);
		status = Adjusted;
	}

	/*
	 * If there are more than one stream in the configuration figure out the
	 * order to evaluate the streams. The first stream has the highest
	 * priority but if both main path and self path can satisfy it evaluate
	 * the second stream first as the first stream is guaranteed to work
	 * with whichever path is not used by the second one.
	 */
	std::vector<unsigned int> order(config_.size());
	std::iota(order.begin(), order.end(), 0);
	if (config_.size() == 2 && fitsAllPaths(config_[0]))
		std::reverse(order.begin(), order.end());

	bool mainPathAvailable = true;
	bool selfPathAvailable = true;
	for (unsigned int index : order) {
		StreamConfiguration &cfg = config_[index];

		/* Try to match stream without adjusting configuration. */
		if (mainPathAvailable) {
			StreamConfiguration tryCfg = cfg;
			if (data_->mainPath_->validate(&tryCfg) == Valid) {
				mainPathAvailable = false;
				cfg = tryCfg;
				cfg.setStream(const_cast<Stream *>(&data_->mainPathStream_));
				continue;
			}
		}

		if (selfPathAvailable) {
			StreamConfiguration tryCfg = cfg;
			if (data_->selfPath_->validate(&tryCfg) == Valid) {
				selfPathAvailable = false;
				cfg = tryCfg;
				cfg.setStream(const_cast<Stream *>(&data_->selfPathStream_));
				continue;
			}
		}

		/* Try to match stream allowing adjusting configuration. */
		if (mainPathAvailable) {
			StreamConfiguration tryCfg = cfg;
			if (data_->mainPath_->validate(&tryCfg) == Adjusted) {
				mainPathAvailable = false;
				cfg = tryCfg;
				cfg.setStream(const_cast<Stream *>(&data_->mainPathStream_));
				status = Adjusted;
				continue;
			}
		}

		if (selfPathAvailable) {
			StreamConfiguration tryCfg = cfg;
			if (data_->selfPath_->validate(&tryCfg) == Adjusted) {
				selfPathAvailable = false;
				cfg = tryCfg;
				cfg.setStream(const_cast<Stream *>(&data_->selfPathStream_));
				status = Adjusted;
				continue;
			}
		}

		/* All paths rejected configuraiton. */
		LOG(RkISP1, Debug) << "Camera configuration not supported "
				   << cfg.toString();
		return Invalid;
	}

	/* Select the sensor format. */
	Size maxSize;
	for (const StreamConfiguration &cfg : config_)
		maxSize = std::max(maxSize, cfg.size);

	sensorFormat_ = sensor->getFormat({ MEDIA_BUS_FMT_SBGGR12_1X12,
					    MEDIA_BUS_FMT_SGBRG12_1X12,
					    MEDIA_BUS_FMT_SGRBG12_1X12,
					    MEDIA_BUS_FMT_SRGGB12_1X12,
					    MEDIA_BUS_FMT_SBGGR10_1X10,
					    MEDIA_BUS_FMT_SGBRG10_1X10,
					    MEDIA_BUS_FMT_SGRBG10_1X10,
					    MEDIA_BUS_FMT_SRGGB10_1X10,
					    MEDIA_BUS_FMT_SBGGR8_1X8,
					    MEDIA_BUS_FMT_SGBRG8_1X8,
					    MEDIA_BUS_FMT_SGRBG8_1X8,
					    MEDIA_BUS_FMT_SRGGB8_1X8 },
					  maxSize);
	if (sensorFormat_.size.isNull())
		sensorFormat_.size = sensor->resolution();

	return status;
}

PipelineHandlerRkISP1::PipelineHandlerRkISP1(CameraManager *manager)
	: PipelineHandler(manager), param_(nullptr), stat_(nullptr)
{
}

PipelineHandlerRkISP1::~PipelineHandlerRkISP1()
{
	delete param_;
	delete stat_;
}

/* -----------------------------------------------------------------------------
 * Pipeline Operations
 */

CameraConfiguration *PipelineHandlerRkISP1::generateConfiguration(Camera *camera,
	const StreamRoles &roles)
{
	RkISP1CameraData *data = cameraData(camera);
	CameraConfiguration *config = new RkISP1CameraConfiguration(camera, data);
	if (roles.empty())
		return config;

	bool mainPathAvailable = true;
	bool selfPathAvailable = true;
	for (const StreamRole role : roles) {
		bool useMainPath;

		switch (role) {
		case StreamRole::StillCapture: {
			useMainPath = mainPathAvailable;
			break;
		}
		case StreamRole::Viewfinder:
		case StreamRole::VideoRecording: {
			useMainPath = !selfPathAvailable;
			break;
		}
		default:
			LOG(RkISP1, Warning)
				<< "Requested stream role not supported: " << role;
			delete config;
			return nullptr;
		}

		StreamConfiguration cfg;
		if (useMainPath) {
			cfg = data->mainPath_->generateConfiguration(
				data->sensor_->resolution());
			mainPathAvailable = false;
		} else {
			cfg = data->selfPath_->generateConfiguration(
				data->sensor_->resolution());
			selfPathAvailable = false;
		}

		config->addConfiguration(cfg);
	}

	config->validate();

	return config;
}

int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c)
{
	RkISP1CameraConfiguration *config =
		static_cast<RkISP1CameraConfiguration *>(c);
	RkISP1CameraData *data = cameraData(camera);
	CameraSensor *sensor = data->sensor_;
	int ret;

	ret = initLinks(camera, sensor, *config);
	if (ret)
		return ret;

	/*
	 * Configure the format on the sensor output and propagate it through
	 * the pipeline.
	 */
	V4L2SubdeviceFormat format = config->sensorFormat();
	LOG(RkISP1, Debug) << "Configuring sensor with " << format.toString();

	ret = sensor->setFormat(&format);
	if (ret < 0)
		return ret;

	LOG(RkISP1, Debug) << "Sensor configured with " << format.toString();

	ret = isp_->setFormat(0, &format);
	if (ret < 0)
		return ret;

	Rectangle rect(0, 0, format.size);
	ret = isp_->setSelection(0, V4L2_SEL_TGT_CROP, &rect);
	if (ret < 0)
		return ret;

	LOG(RkISP1, Debug)
		<< "ISP input pad configured with " << format.toString()
		<< " crop " << rect.toString();

	/* YUYV8_2X8 is required on the ISP source path pad for YUV output. */
	format.mbus_code = MEDIA_BUS_FMT_YUYV8_2X8;
	LOG(RkISP1, Debug)
		<< "Configuring ISP output pad with " << format.toString()
		<< " crop " << rect.toString();

	ret = isp_->setSelection(2, V4L2_SEL_TGT_CROP, &rect);
	if (ret < 0)
		return ret;

	ret = isp_->setFormat(2, &format);
	if (ret < 0)
		return ret;

	LOG(RkISP1, Debug)
		<< "ISP output pad configured with " << format.toString()
		<< " crop " << rect.toString();

	for (const StreamConfiguration &cfg : *config) {
		if (cfg.stream() == &data->mainPathStream_)
			ret = mainPath_.configure(cfg, format);
		else
			ret = selfPath_.configure(cfg, format);

		if (ret)
			return ret;
	}

	V4L2DeviceFormat paramFormat;
	paramFormat.fourcc = V4L2PixelFormat(V4L2_META_FMT_RK_ISP1_PARAMS);
	ret = param_->setFormat(&paramFormat);
	if (ret)
		return ret;

	V4L2DeviceFormat statFormat;
	statFormat.fourcc = V4L2PixelFormat(V4L2_META_FMT_RK_ISP1_STAT_3A);
	ret = stat_->setFormat(&statFormat);
	if (ret)
		return ret;

	return 0;
}

int PipelineHandlerRkISP1::exportFrameBuffers([[maybe_unused]] Camera *camera, Stream *stream,
					      std::vector<std::unique_ptr<FrameBuffer>> *buffers)
{
	RkISP1CameraData *data = cameraData(camera);
	unsigned int count = stream->configuration().bufferCount;

	if (stream == &data->mainPathStream_)
		return mainPath_.exportBuffers(count, buffers);
	else if (stream == &data->selfPathStream_)
		return selfPath_.exportBuffers(count, buffers);

	return -EINVAL;
}

int PipelineHandlerRkISP1::allocateBuffers(Camera *camera)
{
	RkISP1CameraData *data = cameraData(camera);
	unsigned int ipaBufferId = 1;
	int ret;

	unsigned int maxCount = std::max({
		data->mainPathStream_.configuration().bufferCount,
		data->selfPathStream_.configuration().bufferCount,
	});

	ret = param_->allocateBuffers(maxCount, &paramBuffers_);
	if (ret < 0)
		goto error;

	ret = stat_->allocateBuffers(maxCount, &statBuffers_);
	if (ret < 0)
		goto error;

	for (std::unique_ptr<FrameBuffer> &buffer : paramBuffers_) {
		buffer->setCookie(ipaBufferId++);
		data->ipaBuffers_.push_back({ .id = buffer->cookie(),
					      .planes = buffer->planes() });
		availableParamBuffers_.push(buffer.get());
	}

	for (std::unique_ptr<FrameBuffer> &buffer : statBuffers_) {
		buffer->setCookie(ipaBufferId++);
		data->ipaBuffers_.push_back({ .id = buffer->cookie(),
					      .planes = buffer->planes() });
		availableStatBuffers_.push(buffer.get());
	}

	data->ipa_->mapBuffers(data->ipaBuffers_);

	return 0;

error:
	paramBuffers_.clear();
	statBuffers_.clear();

	return ret;
}

int PipelineHandlerRkISP1::freeBuffers(Camera *camera)
{
	RkISP1CameraData *data = cameraData(camera);

	while (!availableStatBuffers_.empty())
		availableStatBuffers_.pop();

	while (!availableParamBuffers_.empty())
		availableParamBuffers_.pop();

	paramBuffers_.clear();
	statBuffers_.clear();

	std::vector<unsigned int> ids;
	for (IPABuffer &ipabuf : data->ipaBuffers_)
		ids.push_back(ipabuf.id);

	data->ipa_->unmapBuffers(ids);
	data->ipaBuffers_.clear();

	if (param_->releaseBuffers())
		LOG(RkISP1, Error) << "Failed to release parameters buffers";

	if (stat_->releaseBuffers())
		LOG(RkISP1, Error) << "Failed to release stat buffers";

	return 0;
}

int PipelineHandlerRkISP1::start(Camera *camera, [[maybe_unused]] ControlList *controls)
{
	RkISP1CameraData *data = cameraData(camera);
	int ret;

	/* Allocate buffers for internal pipeline usage. */
	ret = allocateBuffers(camera);
	if (ret)
		return ret;

	IPAOperationData ipaData = {};
	ret = data->ipa_->start(ipaData, nullptr);
	if (ret) {
		freeBuffers(camera);
		LOG(RkISP1, Error)
			<< "Failed to start IPA " << camera->id();
		return ret;
	}

	data->frame_ = 0;

	ret = param_->streamOn();
	if (ret) {
		data->ipa_->stop();
		freeBuffers(camera);
		LOG(RkISP1, Error)
			<< "Failed to start parameters " << camera->id();
		return ret;
	}

	ret = stat_->streamOn();
	if (ret) {
		param_->streamOff();
		data->ipa_->stop();
		freeBuffers(camera);
		LOG(RkISP1, Error)
			<< "Failed to start statistics " << camera->id();
		return ret;
	}

	std::map<unsigned int, IPAStream> streamConfig;

	if (data->mainPath_->isEnabled()) {
		ret = mainPath_.start();
		if (ret) {
			param_->streamOff();
			stat_->streamOff();
			data->ipa_->stop();
			freeBuffers(camera);
			return ret;
		}

		streamConfig[0] = {
			.pixelFormat = data->mainPathStream_.configuration().pixelFormat,
			.size = data->mainPathStream_.configuration().size,
		};
	}

	if (data->selfPath_->isEnabled()) {
		ret = selfPath_.start();
		if (ret) {
			mainPath_.stop();
			param_->streamOff();
			stat_->streamOff();
			data->ipa_->stop();
			freeBuffers(camera);
			return ret;
		}

		streamConfig[1] = {
			.pixelFormat = data->selfPathStream_.configuration().pixelFormat,
			.size = data->selfPathStream_.configuration().size,
		};
	}

	activeCamera_ = camera;

	/* Inform IPA of stream configuration and sensor controls. */
	CameraSensorInfo sensorInfo = {};
	ret = data->sensor_->sensorInfo(&sensorInfo);
	if (ret) {
		/* \todo Turn this in an hard failure. */
		LOG(RkISP1, Warning) << "Camera sensor information not available";
		sensorInfo = {};
		ret = 0;
	}

	std::map<unsigned int, const ControlInfoMap &> entityControls;
	entityControls.emplace(0, data->sensor_->controls());

	IPAOperationData ipaConfig;
	data->ipa_->configure(sensorInfo, streamConfig, entityControls,
			      ipaConfig, nullptr);

	return ret;
}

void PipelineHandlerRkISP1::stop(Camera *camera)
{
	RkISP1CameraData *data = cameraData(camera);
	int ret;

	selfPath_.stop();
	mainPath_.stop();

	ret = stat_->streamOff();
	if (ret)
		LOG(RkISP1, Warning)
			<< "Failed to stop statistics for " << camera->id();

	ret = param_->streamOff();
	if (ret)
		LOG(RkISP1, Warning)
			<< "Failed to stop parameters for " << camera->id();

	data->ipa_->stop();

	data->timeline_.reset();

	data->frameInfo_.clear();

	freeBuffers(camera);

	activeCamera_ = nullptr;
}

int PipelineHandlerRkISP1::queueRequestDevice(Camera *camera, Request *request)
{
	RkISP1CameraData *data = cameraData(camera);

	RkISP1FrameInfo *info = data->frameInfo_.create(data, request);
	if (!info)
		return -ENOENT;

	IPAOperationData op;
	op.operation = RKISP1_IPA_EVENT_QUEUE_REQUEST;
	op.data = { data->frame_, info->paramBuffer->cookie() };
	op.controls = { request->controls() };
	data->ipa_->processEvent(op);

	data->timeline_.scheduleAction(std::make_unique<RkISP1ActionQueueBuffers>(data->frame_,
										  data,
										  this));

	data->frame_++;

	return 0;
}

/* -----------------------------------------------------------------------------
 * Match and Setup
 */

int PipelineHandlerRkISP1::initLinks(const Camera *camera,
				     const CameraSensor *sensor,
				     const RkISP1CameraConfiguration &config)
{
	RkISP1CameraData *data = cameraData(camera);
	int ret;

	ret = media_->disableLinks();
	if (ret < 0)
		return ret;

	/*
	 * Configure the sensor links: enable the link corresponding to this
	 * camera.
	 */
	const MediaPad *pad = isp_->entity()->getPadByIndex(0);
	for (MediaLink *link : pad->links()) {
		if (link->source()->entity() != sensor->entity())
			continue;

		LOG(RkISP1, Debug)
			<< "Enabling link from sensor '"
			<< link->source()->entity()->name()
			<< "' to ISP";

		ret = link->setEnabled(true);
		if (ret < 0)
			return ret;
	}

	for (const StreamConfiguration &cfg : config) {
		if (cfg.stream() == &data->mainPathStream_)
			ret = data->mainPath_->setEnabled(true);
		else if (cfg.stream() == &data->selfPathStream_)
			ret = data->selfPath_->setEnabled(true);
		else
			return -EINVAL;

		if (ret < 0)
			return ret;
	}

	return 0;
}

int PipelineHandlerRkISP1::createCamera(MediaEntity *sensor)
{
	int ret;

	std::unique_ptr<RkISP1CameraData> data =
		std::make_unique<RkISP1CameraData>(this, &mainPath_, &selfPath_);

	ControlInfoMap::Map ctrls;
	ctrls.emplace(std::piecewise_construct,
		      std::forward_as_tuple(&controls::AeEnable),
		      std::forward_as_tuple(false, true));

	data->controlInfo_ = std::move(ctrls);

	data->sensor_ = new CameraSensor(sensor);
	ret = data->sensor_->init();
	if (ret)
		return ret;

	/* Initialize the camera properties. */
	data->properties_ = data->sensor_->properties();

	ret = data->loadIPA();
	if (ret)
		return ret;

	std::set<Stream *> streams{
		&data->mainPathStream_,
		&data->selfPathStream_,
	};
	std::shared_ptr<Camera> camera =
		Camera::create(this, data->sensor_->id(), streams);
	registerCamera(std::move(camera), std::move(data));

	return 0;
}

bool PipelineHandlerRkISP1::match(DeviceEnumerator *enumerator)
{
	const MediaPad *pad;

	DeviceMatch dm("rkisp1");
	dm.add("rkisp1_isp");
	dm.add("rkisp1_resizer_selfpath");
	dm.add("rkisp1_resizer_mainpath");
	dm.add("rkisp1_selfpath");
	dm.add("rkisp1_mainpath");
	dm.add("rkisp1_stats");
	dm.add("rkisp1_params");

	media_ = acquireMediaDevice(enumerator, dm);
	if (!media_)
		return false;

	/* Create the V4L2 subdevices we will need. */
	isp_ = V4L2Subdevice::fromEntityName(media_, "rkisp1_isp");
	if (isp_->open() < 0)
		return false;

	/* Locate and open the stats and params video nodes. */
	stat_ = V4L2VideoDevice::fromEntityName(media_, "rkisp1_stats");
	if (stat_->open() < 0)
		return false;

	param_ = V4L2VideoDevice::fromEntityName(media_, "rkisp1_params");
	if (param_->open() < 0)
		return false;

	/* Locate and open the ISP main and self paths. */
	if (!mainPath_.init(media_))
		return false;

	if (!selfPath_.init(media_))
		return false;

	mainPath_.bufferReady().connect(this, &PipelineHandlerRkISP1::bufferReady);
	selfPath_.bufferReady().connect(this, &PipelineHandlerRkISP1::bufferReady);
	stat_->bufferReady.connect(this, &PipelineHandlerRkISP1::statReady);
	param_->bufferReady.connect(this, &PipelineHandlerRkISP1::paramReady);

	/*
	 * Enumerate all sensors connected to the ISP and create one
	 * camera instance for each of them.
	 */
	pad = isp_->entity()->getPadByIndex(0);
	if (!pad)
		return false;

	bool registered = false;
	for (MediaLink *link : pad->links()) {
		if (!createCamera(link->source()->entity()))
			registered = true;
	}

	return registered;
}

/* -----------------------------------------------------------------------------
 * Buffer Handling
 */

void PipelineHandlerRkISP1::tryCompleteRequest(Request *request)
{
	RkISP1CameraData *data = cameraData(activeCamera_);
	RkISP1FrameInfo *info = data->frameInfo_.find(request);
	if (!info)
		return;

	if (request->hasPendingBuffers())
		return;

	if (!info->metadataProcessed)
		return;

	if (!info->paramDequeued)
		return;

	data->frameInfo_.destroy(info->frame);

	completeRequest(activeCamera_, request);
}

void PipelineHandlerRkISP1::bufferReady(FrameBuffer *buffer)
{
	ASSERT(activeCamera_);
	Request *request = buffer->request();

	completeBuffer(activeCamera_, request, buffer);
	tryCompleteRequest(request);
}

void PipelineHandlerRkISP1::paramReady(FrameBuffer *buffer)
{
	if (buffer->metadata().status == FrameMetadata::FrameCancelled)
		return;

	ASSERT(activeCamera_);
	RkISP1CameraData *data = cameraData(activeCamera_);

	RkISP1FrameInfo *info = data->frameInfo_.find(buffer);

	info->paramDequeued = true;
	tryCompleteRequest(info->request);
}

void PipelineHandlerRkISP1::statReady(FrameBuffer *buffer)
{
	if (buffer->metadata().status == FrameMetadata::FrameCancelled)
		return;

	ASSERT(activeCamera_);
	RkISP1CameraData *data = cameraData(activeCamera_);

	RkISP1FrameInfo *info = data->frameInfo_.find(buffer);
	if (!info)
		return;

	data->timeline_.bufferReady(buffer);

	if (data->frame_ <= buffer->metadata().sequence)
		data->frame_ = buffer->metadata().sequence + 1;

	IPAOperationData op;
	op.operation = RKISP1_IPA_EVENT_SIGNAL_STAT_BUFFER;
	op.data = { info->frame, info->statBuffer->cookie() };
	data->ipa_->processEvent(op);
}

REGISTER_PIPELINE_HANDLER(PipelineHandlerRkISP1)

} /* namespace libcamera */