diff --git a/.github/workflows/gen_orig.yml b/.github/workflows/gen_orig.yml new file mode 100644 index 000000000..6c41dc47d --- /dev/null +++ b/.github/workflows/gen_orig.yml @@ -0,0 +1,34 @@ +name: Generate source release tarball +run-name: Generating source release tarball +on: + push: + tags: # vX.Y.Z+rptYYYMMDD + - 'v[0-9]+.[0-9]+.[0-9]+\+rpt[0-9][0-9][0-9][0-9][0-9][0-9][0-9][0-9]' + workflow_dispatch: +jobs: + publish_tarball: + permissions: + contents: write + runs-on: ubuntu-latest + steps: + - name: Install dependencies + run: | # Local cmake needs to be removed for pybind11 to be detected + sudo rm -rf /usr/local/bin/cmake + pip3 install --user meson + sudo apt-get update + sudo apt-get install -y ninja-build pkgconf cmake libgtest-dev libyaml-dev python3 python3-dev pybind11-dev python3-jinja2 python3-ply python3-yaml + - name: Check out repository code + uses: actions/checkout@v4 + with: + fetch-depth: 0 # Required for 'git describe' to work + - name: Generate tarball + run: | + meson setup build -Dpycamera=enabled + meson dist --no-tests --include-subprojects -C build + mv build/meson-dist/*.tar.xz "build/meson-dist/libcamera-${GITHUB_REF_NAME:1}.tar.xz" + - name: Release tarball + uses: softprops/action-gh-release@v1 + with: + files: build/meson-dist/*.tar.xz + - if: failure() + run: cat build/meson-logs/meson-log.txt diff --git a/Documentation/guides/pipeline-handler.rst b/Documentation/guides/pipeline-handler.rst index 26aea4334..333d4b88e 100644 --- a/Documentation/guides/pipeline-handler.rst +++ b/Documentation/guides/pipeline-handler.rst @@ -186,7 +186,7 @@ to the libcamera build options in the top level ``meson_options.txt``. option('pipelines', type : 'array', - choices : ['ipu3', 'rkisp1', 'rpi/vc4', 'simple', 'uvcvideo', 'vimc', 'vivid'], + choices : ['ipu3', 'rkisp1', 'rpi/pisp', 'rpi/vc4', 'simple', 'uvcvideo', 'vimc', 'vivid'], description : 'Select which pipeline handlers to include') diff --git a/README.rst b/README.rst index 4068c6cc8..29a017d64 100644 --- a/README.rst +++ b/README.rst @@ -25,15 +25,47 @@ systems, including traditional Linux distributions, ChromeOS and Android. Getting Started --------------- -To fetch the sources, build and install: +Only build ``libcamera`` from scratch if you need custom behaviour or the latest features that have not yet reached ``apt`` repositories. +If you run ``Raspberry Pi OS Lite``, begin by installing the following packages: + .. code:: - git clone https://git.libcamera.org/libcamera/libcamera.git + sudo apt install -y python-pip git python3-jinja2 + +First, install the following ``libcamera`` dependencies: +.. code:: + + sudo apt install -y libboost-dev + sudo apt install -y libgnutls28-dev openssl libtiff-dev pybind11-dev + sudo apt install -y qtbase5-dev libqt5core5a libqt5widgets + sudo apt install -y meson cmake + sudo apt install -y python3-yaml python3-ply + sudo apt install -y libglib2.0-dev libgstreamer-plugins-base1.0-dev + +Now we're ready to build ``libcamera`` itself. + +Download a local copy of Raspberry Pi's fork of ``libcamera`` from GitHub, before building and installing freshly-build binary: + +.. code:: + + git clone https://github.com/raspberrypi/libcamera.git cd libcamera - meson setup build + meson setup build --buildtype=release -Dpipelines=rpi/vc4,rpi/pisp -Dipas=rpi/vc4,rpi/pisp -Dv4l2=true -Dgstreamer=enabled -Dtest=false -Dlc-compliance=disabled -Dcam=disabled -Dqcam=disabled -Ddocumentation=disabled -Dpycamera=enabled ninja -C build install +You can disable the ``gstreamer`` plugin by replacing ``-Dgstreamer=enabled`` with ``-Dgstreamer=disabled`` during the ``meson`` build configuration. +If you disable ``gstreamer``, there is no need to install the ``libglib2.0-dev`` and ``libgstreamer-plugins-base1.0-dev`` dependencies. + +On devices with 1GB of memory or less, the build may exceed available memory. Append the ``-j 1`` flag to ``ninja`` commands to limit the build to a single process. +This should prevent the build from exceeding available memory on devices like the Raspberry Pi Zero and the Raspberry Pi 3. + +``libcamera`` does not yet have a stable binary interface. Always build ``rpicam-apps`` after you build ``libcamera``. + +You can find more informations at `Raspberry Pi libcamera documentation`_ pages. + +.. _Raspberry Pi libcamera documentation: https://www.raspberrypi.com/documentation/computers/camera_software.html + Dependencies ~~~~~~~~~~~~ diff --git a/include/libcamera/internal/v4l2_videodevice.h b/include/libcamera/internal/v4l2_videodevice.h index 9057be08f..d077f9580 100644 --- a/include/libcamera/internal/v4l2_videodevice.h +++ b/include/libcamera/internal/v4l2_videodevice.h @@ -12,6 +12,7 @@ #include #include #include +#include #include #include #include @@ -266,6 +267,8 @@ class V4L2VideoDevice : public V4L2Device void bufferAvailable(); FrameBuffer *dequeueBuffer(); + int queueToDevice(FrameBuffer *buffer); + void watchdogExpired(); template @@ -281,6 +284,7 @@ class V4L2VideoDevice : public V4L2Device V4L2BufferCache *cache_; std::map queuedBuffers_; + std::queue pendingBuffersToQueue_; EventNotifier *fdBufferNotifier_; diff --git a/include/libcamera/ipa/meson.build b/include/libcamera/ipa/meson.build index bf55e124e..17050cde0 100644 --- a/include/libcamera/ipa/meson.build +++ b/include/libcamera/ipa/meson.build @@ -65,6 +65,7 @@ libcamera_ipa_headers += custom_target('core_ipa_serializer_h', pipeline_ipa_mojom_mapping = { 'ipu3': 'ipu3.mojom', 'rkisp1': 'rkisp1.mojom', + 'rpi/pisp': 'raspberrypi.mojom', 'rpi/vc4': 'raspberrypi.mojom', 'simple': 'soft.mojom', 'vimc': 'vimc.mojom', diff --git a/include/libcamera/meson.build b/include/libcamera/meson.build index a969a95db..3cb30918d 100644 --- a/include/libcamera/meson.build +++ b/include/libcamera/meson.build @@ -36,6 +36,7 @@ controls_map = { 'controls': { 'draft': 'control_ids_draft.yaml', 'core': 'control_ids_core.yaml', + 'rpi/pisp': 'control_ids_rpi.yaml', 'rpi/vc4': 'control_ids_rpi.yaml', }, diff --git a/meson.build b/meson.build index 63e45465d..86c6582ef 100644 --- a/meson.build +++ b/meson.build @@ -210,6 +210,7 @@ pipelines_support = { 'ipu3': arch_x86, 'mali-c55': arch_arm, 'rkisp1': arch_arm, + 'rpi/pisp': arch_arm, 'rpi/vc4': arch_arm, 'simple': ['any'], 'uvcvideo': ['any'], diff --git a/meson_options.txt b/meson_options.txt index 7aa412491..6a6b68643 100644 --- a/meson_options.txt +++ b/meson_options.txt @@ -32,7 +32,7 @@ option('gstreamer', option('ipas', type : 'array', - choices : ['ipu3', 'rkisp1', 'rpi/vc4', 'simple', 'vimc'], + choices : ['ipu3', 'rkisp1', 'rpi/pisp', 'rpi/vc4', 'simple', 'vimc'], description : 'Select which IPA modules to build') option('lc-compliance', @@ -50,6 +50,7 @@ option('pipelines', 'ipu3', 'mali-c55', 'rkisp1', + 'rpi/pisp', 'rpi/vc4', 'simple', 'uvcvideo', diff --git a/src/ipa/rpi/cam_helper/cam_helper.cpp b/src/ipa/rpi/cam_helper/cam_helper.cpp index ee5d011f1..e857fae8b 100644 --- a/src/ipa/rpi/cam_helper/cam_helper.cpp +++ b/src/ipa/rpi/cam_helper/cam_helper.cpp @@ -156,6 +156,11 @@ void CamHelper::setCameraMode(const CameraMode &mode) } } +void CamHelper::setHwConfig(const Controller::HardwareConfig &hwConfig) +{ + hwConfig_ = hwConfig; +} + void CamHelper::getDelays(int &exposureDelay, int &gainDelay, int &vblankDelay, int &hblankDelay) const { diff --git a/src/ipa/rpi/cam_helper/cam_helper.h b/src/ipa/rpi/cam_helper/cam_helper.h index 4a4ab5e68..fb7eb3202 100644 --- a/src/ipa/rpi/cam_helper/cam_helper.h +++ b/src/ipa/rpi/cam_helper/cam_helper.h @@ -76,6 +76,7 @@ class CamHelper CamHelper(std::unique_ptr parser, unsigned int frameIntegrationDiff); virtual ~CamHelper(); void setCameraMode(const CameraMode &mode); + void setHwConfig(const Controller::HardwareConfig &hwConfig); virtual void prepare(libcamera::Span buffer, Metadata &metadata); virtual void process(StatisticsPtr &stats, Metadata &metadata); @@ -108,6 +109,7 @@ class CamHelper std::unique_ptr parser_; CameraMode mode_; + Controller::HardwareConfig hwConfig_; private: /* diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx500.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx500.cpp new file mode 100644 index 000000000..01ab6367a --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_imx500.cpp @@ -0,0 +1,341 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2024, Raspberry Pi Ltd + * + * cam_helper_imx500.cpp - camera helper for imx500 sensor + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include + +#include "imx500_tensor_parser/imx500_tensor_parser.h" + +#include "cam_helper.h" +#include "md_parser.h" + +using namespace RPiController; +using namespace libcamera; +using libcamera::utils::Duration; + +namespace libcamera { +LOG_DECLARE_CATEGORY(IPARPI) +} + +/* + * We care about two gain registers and a pair of exposure registers. Their + * I2C addresses from the Sony IMX500 datasheet: + */ +constexpr uint32_t expHiReg = 0x0202; +constexpr uint32_t expLoReg = 0x0203; +constexpr uint32_t gainHiReg = 0x0204; +constexpr uint32_t gainLoReg = 0x0205; +constexpr uint32_t frameLengthHiReg = 0x0340; +constexpr uint32_t frameLengthLoReg = 0x0341; +constexpr uint32_t lineLengthHiReg = 0x0342; +constexpr uint32_t lineLengthLoReg = 0x0343; +constexpr uint32_t temperatureReg = 0x013a; +constexpr std::initializer_list registerList = { expHiReg, expLoReg, gainHiReg, gainLoReg, frameLengthHiReg, frameLengthLoReg, + lineLengthHiReg, lineLengthLoReg, temperatureReg }; + +class CamHelperImx500 : public CamHelper +{ +public: + CamHelperImx500(); + uint32_t gainCode(double gain) const override; + double gain(uint32_t gainCode) const override; + void prepare(libcamera::Span buffer, Metadata &metadata) override; + std::pair getBlanking(Duration &exposure, Duration minFrameDuration, + Duration maxFrameDuration) const override; + void getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const override; + bool sensorEmbeddedDataPresent() const override; + +private: + /* + * Smallest difference between the frame length and integration time, + * in units of lines. + */ + static constexpr int frameIntegrationDiff = 22; + /* Maximum frame length allowable for long exposure calculations. */ + static constexpr int frameLengthMax = 0xffdc; + /* Largest long exposure scale factor given as a left shift on the frame length. */ + static constexpr int longExposureShiftMax = 7; + + void parseInferenceData(libcamera::Span buffer, Metadata &metadata); + void populateMetadata(const MdParser::RegisterMap ®isters, + Metadata &metadata) const override; + + std::unique_ptr savedInputTensor_; +}; + +CamHelperImx500::CamHelperImx500() + : CamHelper(std::make_unique(registerList), frameIntegrationDiff) +{ +} + +uint32_t CamHelperImx500::gainCode(double gain) const +{ + return static_cast(1024 - 1024 / gain); +} + +double CamHelperImx500::gain(uint32_t gainCode) const +{ + return 1024.0 / (1024 - gainCode); +} + +void CamHelperImx500::prepare(libcamera::Span buffer, Metadata &metadata) +{ + MdParser::RegisterMap registers; + DeviceStatus deviceStatus; + + if (metadata.get("device.status", deviceStatus)) { + LOG(IPARPI, Error) << "DeviceStatus not found from DelayedControls"; + return; + } + + parseEmbeddedData(buffer, metadata); + + /* + * The DeviceStatus struct is first populated with values obtained from + * DelayedControls. If this reports frame length is > frameLengthMax, + * it means we are using a long exposure mode. Since the long exposure + * scale factor is not returned back through embedded data, we must rely + * on the existing exposure lines and frame length values returned by + * DelayedControls. + * + * Otherwise, all values are updated with what is reported in the + * embedded data. + */ + if (deviceStatus.frameLength > frameLengthMax) { + DeviceStatus parsedDeviceStatus; + + metadata.get("device.status", parsedDeviceStatus); + parsedDeviceStatus.shutterSpeed = deviceStatus.shutterSpeed; + parsedDeviceStatus.frameLength = deviceStatus.frameLength; + metadata.set("device.status", parsedDeviceStatus); + + LOG(IPARPI, Debug) << "Metadata updated for long exposure: " + << parsedDeviceStatus; + } + + parseInferenceData(buffer, metadata); +} + +std::pair CamHelperImx500::getBlanking(Duration &exposure, + Duration minFrameDuration, + Duration maxFrameDuration) const +{ + uint32_t frameLength, exposureLines; + unsigned int shift = 0; + + auto [vblank, hblank] = CamHelper::getBlanking(exposure, minFrameDuration, + maxFrameDuration); + + frameLength = mode_.height + vblank; + Duration lineLength = hblankToLineLength(hblank); + + /* + * Check if the frame length calculated needs to be setup for long + * exposure mode. This will require us to use a long exposure scale + * factor provided by a shift operation in the sensor. + */ + while (frameLength > frameLengthMax) { + if (++shift > longExposureShiftMax) { + shift = longExposureShiftMax; + frameLength = frameLengthMax; + break; + } + frameLength >>= 1; + } + + if (shift) { + /* Account for any rounding in the scaled frame length value. */ + frameLength <<= shift; + exposureLines = CamHelperImx500::exposureLines(exposure, lineLength); + exposureLines = std::min(exposureLines, frameLength - frameIntegrationDiff); + exposure = CamHelperImx500::exposure(exposureLines, lineLength); + } + + return { frameLength - mode_.height, hblank }; +} + +void CamHelperImx500::getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const +{ + exposureDelay = 2; + gainDelay = 2; + vblankDelay = 3; + hblankDelay = 3; +} + +bool CamHelperImx500::sensorEmbeddedDataPresent() const +{ + return true; +} + +void CamHelperImx500::parseInferenceData(libcamera::Span buffer, + Metadata &metadata) +{ + /* Inference data comes after 2 lines of embedded data. */ + constexpr unsigned int StartLine = 2; + size_t bytesPerLine = (mode_.width * mode_.bitdepth) >> 3; + if (hwConfig_.cfeDataBufferStrided) + bytesPerLine = (bytesPerLine + 15) & ~15; + + if (buffer.size() <= StartLine * bytesPerLine) + return; + + /* Check if an input tensor is needed - this is sticky! */ + bool enableInputTensor = false; + metadata.get("cnn.enable_input_tensor", enableInputTensor); + + /* Cache the DNN metadata for fast parsing. */ + unsigned int tensorBufferSize = buffer.size() - (StartLine * bytesPerLine); + std::unique_ptr cache = std::make_unique(tensorBufferSize); + memcpy(cache.get(), buffer.data() + StartLine * bytesPerLine, tensorBufferSize); + Span tensors(cache.get(), tensorBufferSize); + + std::unordered_map offsets = RPiController::imx500SplitTensors(tensors); + auto itIn = offsets.find(TensorType::InputTensor); + auto itOut = offsets.find(TensorType::OutputTensor); + + if (itIn != offsets.end() && itOut != offsets.end()) { + const unsigned int inputTensorOffset = itIn->second.offset; + const unsigned int outputTensorOffset = itOut->second.offset; + const unsigned int inputTensorSize = outputTensorOffset - inputTensorOffset; + Span inputTensor; + + if (itIn->second.valid) { + if (itOut->second.valid) { + /* Valid input and output tensor, get the span directly from the current cache. */ + inputTensor = Span(cache.get() + inputTensorOffset, + inputTensorSize); + } else { + /* + * Invalid output tensor with valid input tensor. + * This is likely because the DNN takes longer than + * a frame time to generate the output tensor. + * + * In such cases, we don't process the input tensor, + * but simply save it for when the next output + * tensor is valid. This way, we ensure that both + * valid input and output tensors are in lock-step. + */ + savedInputTensor_ = std::make_unique(inputTensorSize); + memcpy(savedInputTensor_.get(), cache.get() + inputTensorOffset, + inputTensorSize); + } + } else if (itOut->second.valid && savedInputTensor_) { + /* + * Invalid input tensor with valid output tensor. This is + * likely because the DNN takes longer than a frame time + * to generate the output tensor. + * + * In such cases, use the previously saved input tensor + * if possible. + */ + inputTensor = Span(savedInputTensor_.get(), inputTensorSize); + } + + if (inputTensor.size()) { + IMX500InputTensorInfo inputTensorInfo; + if (!imx500ParseInputTensor(inputTensorInfo, inputTensor)) { + CnnInputTensorInfo exported{}; + exported.width = inputTensorInfo.width; + exported.height = inputTensorInfo.height; + exported.numChannels = inputTensorInfo.channels; + strncpy(exported.networkName, inputTensorInfo.networkName.c_str(), + sizeof(exported.networkName)); + exported.networkName[sizeof(exported.networkName) - 1] = '\0'; + metadata.set("cnn.input_tensor_info", exported); + metadata.set("cnn.input_tensor", std::move(inputTensorInfo.data)); + metadata.set("cnn.input_tensor_size", inputTensorInfo.size); + } + + /* We can now safely clear the saved input tensor. */ + savedInputTensor_.reset(); + } + } + + if (itOut != offsets.end() && itOut->second.valid) { + unsigned int outputTensorOffset = itOut->second.offset; + Span outputTensor(cache.get() + outputTensorOffset, + tensorBufferSize - outputTensorOffset); + + IMX500OutputTensorInfo outputTensorInfo; + if (!imx500ParseOutputTensor(outputTensorInfo, outputTensor)) { + CnnOutputTensorInfo exported{}; + if (outputTensorInfo.numTensors < MaxNumTensors) { + exported.numTensors = outputTensorInfo.numTensors; + for (unsigned int i = 0; i < exported.numTensors; i++) { + exported.info[i].tensorDataNum = outputTensorInfo.tensorDataNum[i]; + exported.info[i].numDimensions = outputTensorInfo.numDimensions[i]; + for (unsigned int j = 0; j < exported.info[i].numDimensions; j++) + exported.info[i].size[j] = outputTensorInfo.vecDim[i][j].size; + } + } else { + LOG(IPARPI, Debug) + << "IMX500 output tensor info export failed, numTensors > MaxNumTensors"; + } + strncpy(exported.networkName, outputTensorInfo.networkName.c_str(), + sizeof(exported.networkName)); + exported.networkName[sizeof(exported.networkName) - 1] = '\0'; + metadata.set("cnn.output_tensor_info", exported); + metadata.set("cnn.output_tensor", std::move(outputTensorInfo.data)); + metadata.set("cnn.output_tensor_size", outputTensorInfo.totalSize); + + auto itKpi = offsets.find(TensorType::Kpi); + if (itKpi != offsets.end()) { + constexpr unsigned int DnnRuntimeOffset = 9; + constexpr unsigned int DspRuntimeOffset = 10; + CnnKpiInfo kpi; + + uint8_t *k = cache.get() + itKpi->second.offset; + kpi.dnnRuntime = k[4 * DnnRuntimeOffset + 3] << 24 | + k[4 * DnnRuntimeOffset + 2] << 16 | + k[4 * DnnRuntimeOffset + 1] << 8 | + k[4 * DnnRuntimeOffset]; + kpi.dspRuntime = k[4 * DspRuntimeOffset + 3] << 24 | + k[4 * DspRuntimeOffset + 2] << 16 | + k[4 * DspRuntimeOffset + 1] << 8 | + k[4 * DspRuntimeOffset]; + metadata.set("cnn.kpi_info", kpi); + } + } + } +} + +void CamHelperImx500::populateMetadata(const MdParser::RegisterMap ®isters, + Metadata &metadata) const +{ + DeviceStatus deviceStatus; + + deviceStatus.lineLength = lineLengthPckToDuration(registers.at(lineLengthHiReg) * 256 + + registers.at(lineLengthLoReg)); + deviceStatus.shutterSpeed = exposure(registers.at(expHiReg) * 256 + registers.at(expLoReg), + deviceStatus.lineLength); + deviceStatus.analogueGain = gain(registers.at(gainHiReg) * 256 + registers.at(gainLoReg)); + deviceStatus.frameLength = registers.at(frameLengthHiReg) * 256 + registers.at(frameLengthLoReg); + deviceStatus.sensorTemperature = std::clamp(registers.at(temperatureReg), -20, 80); + + metadata.set("device.status", deviceStatus); +} + +static CamHelper *create() +{ + return new CamHelperImx500(); +} + +static RegisterCamHelper reg_imx500("imx500", &create); diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/apParams.flatbuffers_generated.h b/src/ipa/rpi/cam_helper/imx500_tensor_parser/apParams.flatbuffers_generated.h new file mode 100644 index 000000000..9c356b152 --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/apParams.flatbuffers_generated.h @@ -0,0 +1,544 @@ +// automatically generated by the FlatBuffers compiler, do not modify + + +#ifndef FLATBUFFERS_GENERATED_APPARAMSFLATBUFFERS_APPARAMS_FB_H_ +#define FLATBUFFERS_GENERATED_APPARAMSFLATBUFFERS_APPARAMS_FB_H_ + +#include "flatbuffers/flatbuffers.h" + +namespace apParams { +namespace fb { + +struct FBDimension; + +struct FBInputTensor; + +struct FBOutputTensor; + +struct FBNetwork; + +struct FBApParams; + +struct FBDimension FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table { + enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE { + VT_ID = 4, + VT_SIZE = 6, + VT_SERIALIZATIONINDEX = 8, + VT_PADDING = 10 + }; + uint8_t id() const { + return GetField(VT_ID, 0); + } + uint16_t size() const { + return GetField(VT_SIZE, 0); + } + uint8_t serializationIndex() const { + return GetField(VT_SERIALIZATIONINDEX, 0); + } + uint8_t padding() const { + return GetField(VT_PADDING, 0); + } + bool Verify(flatbuffers::Verifier &verifier) const { + return VerifyTableStart(verifier) && + VerifyField(verifier, VT_ID) && + VerifyField(verifier, VT_SIZE) && + VerifyField(verifier, VT_SERIALIZATIONINDEX) && + VerifyField(verifier, VT_PADDING) && + verifier.EndTable(); + } +}; + +struct FBDimensionBuilder { + flatbuffers::FlatBufferBuilder &fbb_; + flatbuffers::uoffset_t start_; + void add_id(uint8_t id) { + fbb_.AddElement(FBDimension::VT_ID, id, 0); + } + void add_size(uint16_t size) { + fbb_.AddElement(FBDimension::VT_SIZE, size, 0); + } + void add_serializationIndex(uint8_t serializationIndex) { + fbb_.AddElement(FBDimension::VT_SERIALIZATIONINDEX, serializationIndex, 0); + } + void add_padding(uint8_t padding) { + fbb_.AddElement(FBDimension::VT_PADDING, padding, 0); + } + explicit FBDimensionBuilder(flatbuffers::FlatBufferBuilder &_fbb) + : fbb_(_fbb) { + start_ = fbb_.StartTable(); + } + FBDimensionBuilder &operator=(const FBDimensionBuilder &); + flatbuffers::Offset Finish() { + const auto end = fbb_.EndTable(start_); + auto o = flatbuffers::Offset(end); + return o; + } +}; + +inline flatbuffers::Offset CreateFBDimension( + flatbuffers::FlatBufferBuilder &_fbb, + uint8_t id = 0, + uint16_t size = 0, + uint8_t serializationIndex = 0, + uint8_t padding = 0) { + FBDimensionBuilder builder_(_fbb); + builder_.add_size(size); + builder_.add_padding(padding); + builder_.add_serializationIndex(serializationIndex); + builder_.add_id(id); + return builder_.Finish(); +} + +struct FBInputTensor FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table { + enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE { + VT_ID = 4, + VT_NAME = 6, + VT_NUMOFDIMENSIONS = 8, + VT_DIMENSIONS = 10, + VT_SHIFT = 12, + VT_SCALE = 14, + VT_FORMAT = 16 + }; + uint8_t id() const { + return GetField(VT_ID, 0); + } + const flatbuffers::String *name() const { + return GetPointer(VT_NAME); + } + uint8_t numOfDimensions() const { + return GetField(VT_NUMOFDIMENSIONS, 0); + } + const flatbuffers::Vector> *dimensions() const { + return GetPointer> *>(VT_DIMENSIONS); + } + uint16_t shift() const { + return GetField(VT_SHIFT, 0); + } + float scale() const { + return GetField(VT_SCALE, 0.0f); + } + uint8_t format() const { + return GetField(VT_FORMAT, 0); + } + bool Verify(flatbuffers::Verifier &verifier) const { + return VerifyTableStart(verifier) && + VerifyField(verifier, VT_ID) && + VerifyOffset(verifier, VT_NAME) && + verifier.VerifyString(name()) && + VerifyField(verifier, VT_NUMOFDIMENSIONS) && + VerifyOffset(verifier, VT_DIMENSIONS) && + verifier.VerifyVector(dimensions()) && + verifier.VerifyVectorOfTables(dimensions()) && + VerifyField(verifier, VT_SHIFT) && + VerifyField(verifier, VT_SCALE) && + VerifyField(verifier, VT_FORMAT) && + verifier.EndTable(); + } +}; + +struct FBInputTensorBuilder { + flatbuffers::FlatBufferBuilder &fbb_; + flatbuffers::uoffset_t start_; + void add_id(uint8_t id) { + fbb_.AddElement(FBInputTensor::VT_ID, id, 0); + } + void add_name(flatbuffers::Offset name) { + fbb_.AddOffset(FBInputTensor::VT_NAME, name); + } + void add_numOfDimensions(uint8_t numOfDimensions) { + fbb_.AddElement(FBInputTensor::VT_NUMOFDIMENSIONS, numOfDimensions, 0); + } + void add_dimensions(flatbuffers::Offset>> dimensions) { + fbb_.AddOffset(FBInputTensor::VT_DIMENSIONS, dimensions); + } + void add_shift(uint16_t shift) { + fbb_.AddElement(FBInputTensor::VT_SHIFT, shift, 0); + } + void add_scale(float scale) { + fbb_.AddElement(FBInputTensor::VT_SCALE, scale, 0.0f); + } + void add_format(uint8_t format) { + fbb_.AddElement(FBInputTensor::VT_FORMAT, format, 0); + } + explicit FBInputTensorBuilder(flatbuffers::FlatBufferBuilder &_fbb) + : fbb_(_fbb) { + start_ = fbb_.StartTable(); + } + FBInputTensorBuilder &operator=(const FBInputTensorBuilder &); + flatbuffers::Offset Finish() { + const auto end = fbb_.EndTable(start_); + auto o = flatbuffers::Offset(end); + return o; + } +}; + +inline flatbuffers::Offset CreateFBInputTensor( + flatbuffers::FlatBufferBuilder &_fbb, + uint8_t id = 0, + flatbuffers::Offset name = 0, + uint8_t numOfDimensions = 0, + flatbuffers::Offset>> dimensions = 0, + uint16_t shift = 0, + float scale = 0.0f, + uint8_t format = 0) { + FBInputTensorBuilder builder_(_fbb); + builder_.add_scale(scale); + builder_.add_dimensions(dimensions); + builder_.add_name(name); + builder_.add_shift(shift); + builder_.add_format(format); + builder_.add_numOfDimensions(numOfDimensions); + builder_.add_id(id); + return builder_.Finish(); +} + +inline flatbuffers::Offset CreateFBInputTensorDirect( + flatbuffers::FlatBufferBuilder &_fbb, + uint8_t id = 0, + const char *name = nullptr, + uint8_t numOfDimensions = 0, + const std::vector> *dimensions = nullptr, + uint16_t shift = 0, + float scale = 0.0f, + uint8_t format = 0) { + auto name__ = name ? _fbb.CreateString(name) : 0; + auto dimensions__ = dimensions ? _fbb.CreateVector>(*dimensions) : 0; + return apParams::fb::CreateFBInputTensor( + _fbb, + id, + name__, + numOfDimensions, + dimensions__, + shift, + scale, + format); +} + +struct FBOutputTensor FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table { + enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE { + VT_ID = 4, + VT_NAME = 6, + VT_NUMOFDIMENSIONS = 8, + VT_DIMENSIONS = 10, + VT_BITSPERELEMENT = 12, + VT_SHIFT = 14, + VT_SCALE = 16, + VT_FORMAT = 18 + }; + uint8_t id() const { + return GetField(VT_ID, 0); + } + const flatbuffers::String *name() const { + return GetPointer(VT_NAME); + } + uint8_t numOfDimensions() const { + return GetField(VT_NUMOFDIMENSIONS, 0); + } + const flatbuffers::Vector> *dimensions() const { + return GetPointer> *>(VT_DIMENSIONS); + } + uint8_t bitsPerElement() const { + return GetField(VT_BITSPERELEMENT, 0); + } + uint16_t shift() const { + return GetField(VT_SHIFT, 0); + } + float scale() const { + return GetField(VT_SCALE, 0.0f); + } + uint8_t format() const { + return GetField(VT_FORMAT, 0); + } + bool Verify(flatbuffers::Verifier &verifier) const { + return VerifyTableStart(verifier) && + VerifyField(verifier, VT_ID) && + VerifyOffset(verifier, VT_NAME) && + verifier.VerifyString(name()) && + VerifyField(verifier, VT_NUMOFDIMENSIONS) && + VerifyOffset(verifier, VT_DIMENSIONS) && + verifier.VerifyVector(dimensions()) && + verifier.VerifyVectorOfTables(dimensions()) && + VerifyField(verifier, VT_BITSPERELEMENT) && + VerifyField(verifier, VT_SHIFT) && + VerifyField(verifier, VT_SCALE) && + VerifyField(verifier, VT_FORMAT) && + verifier.EndTable(); + } +}; + +struct FBOutputTensorBuilder { + flatbuffers::FlatBufferBuilder &fbb_; + flatbuffers::uoffset_t start_; + void add_id(uint8_t id) { + fbb_.AddElement(FBOutputTensor::VT_ID, id, 0); + } + void add_name(flatbuffers::Offset name) { + fbb_.AddOffset(FBOutputTensor::VT_NAME, name); + } + void add_numOfDimensions(uint8_t numOfDimensions) { + fbb_.AddElement(FBOutputTensor::VT_NUMOFDIMENSIONS, numOfDimensions, 0); + } + void add_dimensions(flatbuffers::Offset>> dimensions) { + fbb_.AddOffset(FBOutputTensor::VT_DIMENSIONS, dimensions); + } + void add_bitsPerElement(uint8_t bitsPerElement) { + fbb_.AddElement(FBOutputTensor::VT_BITSPERELEMENT, bitsPerElement, 0); + } + void add_shift(uint16_t shift) { + fbb_.AddElement(FBOutputTensor::VT_SHIFT, shift, 0); + } + void add_scale(float scale) { + fbb_.AddElement(FBOutputTensor::VT_SCALE, scale, 0.0f); + } + void add_format(uint8_t format) { + fbb_.AddElement(FBOutputTensor::VT_FORMAT, format, 0); + } + explicit FBOutputTensorBuilder(flatbuffers::FlatBufferBuilder &_fbb) + : fbb_(_fbb) { + start_ = fbb_.StartTable(); + } + FBOutputTensorBuilder &operator=(const FBOutputTensorBuilder &); + flatbuffers::Offset Finish() { + const auto end = fbb_.EndTable(start_); + auto o = flatbuffers::Offset(end); + return o; + } +}; + +inline flatbuffers::Offset CreateFBOutputTensor( + flatbuffers::FlatBufferBuilder &_fbb, + uint8_t id = 0, + flatbuffers::Offset name = 0, + uint8_t numOfDimensions = 0, + flatbuffers::Offset>> dimensions = 0, + uint8_t bitsPerElement = 0, + uint16_t shift = 0, + float scale = 0.0f, + uint8_t format = 0) { + FBOutputTensorBuilder builder_(_fbb); + builder_.add_scale(scale); + builder_.add_dimensions(dimensions); + builder_.add_name(name); + builder_.add_shift(shift); + builder_.add_format(format); + builder_.add_bitsPerElement(bitsPerElement); + builder_.add_numOfDimensions(numOfDimensions); + builder_.add_id(id); + return builder_.Finish(); +} + +inline flatbuffers::Offset CreateFBOutputTensorDirect( + flatbuffers::FlatBufferBuilder &_fbb, + uint8_t id = 0, + const char *name = nullptr, + uint8_t numOfDimensions = 0, + const std::vector> *dimensions = nullptr, + uint8_t bitsPerElement = 0, + uint16_t shift = 0, + float scale = 0.0f, + uint8_t format = 0) { + auto name__ = name ? _fbb.CreateString(name) : 0; + auto dimensions__ = dimensions ? _fbb.CreateVector>(*dimensions) : 0; + return apParams::fb::CreateFBOutputTensor( + _fbb, + id, + name__, + numOfDimensions, + dimensions__, + bitsPerElement, + shift, + scale, + format); +} + +struct FBNetwork FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table { + enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE { + VT_ID = 4, + VT_NAME = 6, + VT_TYPE = 8, + VT_INPUTTENSORS = 10, + VT_OUTPUTTENSORS = 12 + }; + uint16_t id() const { + return GetField(VT_ID, 0); + } + const flatbuffers::String *name() const { + return GetPointer(VT_NAME); + } + const flatbuffers::String *type() const { + return GetPointer(VT_TYPE); + } + const flatbuffers::Vector> *inputTensors() const { + return GetPointer> *>(VT_INPUTTENSORS); + } + const flatbuffers::Vector> *outputTensors() const { + return GetPointer> *>(VT_OUTPUTTENSORS); + } + bool Verify(flatbuffers::Verifier &verifier) const { + return VerifyTableStart(verifier) && + VerifyField(verifier, VT_ID) && + VerifyOffset(verifier, VT_NAME) && + verifier.VerifyString(name()) && + VerifyOffset(verifier, VT_TYPE) && + verifier.VerifyString(type()) && + VerifyOffset(verifier, VT_INPUTTENSORS) && + verifier.VerifyVector(inputTensors()) && + verifier.VerifyVectorOfTables(inputTensors()) && + VerifyOffset(verifier, VT_OUTPUTTENSORS) && + verifier.VerifyVector(outputTensors()) && + verifier.VerifyVectorOfTables(outputTensors()) && + verifier.EndTable(); + } +}; + +struct FBNetworkBuilder { + flatbuffers::FlatBufferBuilder &fbb_; + flatbuffers::uoffset_t start_; + void add_id(uint16_t id) { + fbb_.AddElement(FBNetwork::VT_ID, id, 0); + } + void add_name(flatbuffers::Offset name) { + fbb_.AddOffset(FBNetwork::VT_NAME, name); + } + void add_type(flatbuffers::Offset type) { + fbb_.AddOffset(FBNetwork::VT_TYPE, type); + } + void add_inputTensors(flatbuffers::Offset>> inputTensors) { + fbb_.AddOffset(FBNetwork::VT_INPUTTENSORS, inputTensors); + } + void add_outputTensors(flatbuffers::Offset>> outputTensors) { + fbb_.AddOffset(FBNetwork::VT_OUTPUTTENSORS, outputTensors); + } + explicit FBNetworkBuilder(flatbuffers::FlatBufferBuilder &_fbb) + : fbb_(_fbb) { + start_ = fbb_.StartTable(); + } + FBNetworkBuilder &operator=(const FBNetworkBuilder &); + flatbuffers::Offset Finish() { + const auto end = fbb_.EndTable(start_); + auto o = flatbuffers::Offset(end); + return o; + } +}; + +inline flatbuffers::Offset CreateFBNetwork( + flatbuffers::FlatBufferBuilder &_fbb, + uint16_t id = 0, + flatbuffers::Offset name = 0, + flatbuffers::Offset type = 0, + flatbuffers::Offset>> inputTensors = 0, + flatbuffers::Offset>> outputTensors = 0) { + FBNetworkBuilder builder_(_fbb); + builder_.add_outputTensors(outputTensors); + builder_.add_inputTensors(inputTensors); + builder_.add_type(type); + builder_.add_name(name); + builder_.add_id(id); + return builder_.Finish(); +} + +inline flatbuffers::Offset CreateFBNetworkDirect( + flatbuffers::FlatBufferBuilder &_fbb, + uint16_t id = 0, + const char *name = nullptr, + const char *type = nullptr, + const std::vector> *inputTensors = nullptr, + const std::vector> *outputTensors = nullptr) { + auto name__ = name ? _fbb.CreateString(name) : 0; + auto type__ = type ? _fbb.CreateString(type) : 0; + auto inputTensors__ = inputTensors ? _fbb.CreateVector>(*inputTensors) : 0; + auto outputTensors__ = outputTensors ? _fbb.CreateVector>(*outputTensors) : 0; + return apParams::fb::CreateFBNetwork( + _fbb, + id, + name__, + type__, + inputTensors__, + outputTensors__); +} + +struct FBApParams FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table { + enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE { + VT_NETWORKS = 4 + }; + const flatbuffers::Vector> *networks() const { + return GetPointer> *>(VT_NETWORKS); + } + bool Verify(flatbuffers::Verifier &verifier) const { + return VerifyTableStart(verifier) && + VerifyOffset(verifier, VT_NETWORKS) && + verifier.VerifyVector(networks()) && + verifier.VerifyVectorOfTables(networks()) && + verifier.EndTable(); + } +}; + +struct FBApParamsBuilder { + flatbuffers::FlatBufferBuilder &fbb_; + flatbuffers::uoffset_t start_; + void add_networks(flatbuffers::Offset>> networks) { + fbb_.AddOffset(FBApParams::VT_NETWORKS, networks); + } + explicit FBApParamsBuilder(flatbuffers::FlatBufferBuilder &_fbb) + : fbb_(_fbb) { + start_ = fbb_.StartTable(); + } + FBApParamsBuilder &operator=(const FBApParamsBuilder &); + flatbuffers::Offset Finish() { + const auto end = fbb_.EndTable(start_); + auto o = flatbuffers::Offset(end); + return o; + } +}; + +inline flatbuffers::Offset CreateFBApParams( + flatbuffers::FlatBufferBuilder &_fbb, + flatbuffers::Offset>> networks = 0) { + FBApParamsBuilder builder_(_fbb); + builder_.add_networks(networks); + return builder_.Finish(); +} + +inline flatbuffers::Offset CreateFBApParamsDirect( + flatbuffers::FlatBufferBuilder &_fbb, + const std::vector> *networks = nullptr) { + auto networks__ = networks ? _fbb.CreateVector>(*networks) : 0; + return apParams::fb::CreateFBApParams( + _fbb, + networks__); +} + +inline const apParams::fb::FBApParams *GetFBApParams(const void *buf) { + return flatbuffers::GetRoot(buf); +} + +inline const apParams::fb::FBApParams *GetSizePrefixedFBApParams(const void *buf) { + return flatbuffers::GetSizePrefixedRoot(buf); +} + +inline bool VerifyFBApParamsBuffer( + flatbuffers::Verifier &verifier) { + return verifier.VerifyBuffer(nullptr); +} + +inline bool VerifySizePrefixedFBApParamsBuffer( + flatbuffers::Verifier &verifier) { + return verifier.VerifySizePrefixedBuffer(nullptr); +} + +inline void FinishFBApParamsBuffer( + flatbuffers::FlatBufferBuilder &fbb, + flatbuffers::Offset root) { + fbb.Finish(root); +} + +inline void FinishSizePrefixedFBApParamsBuffer( + flatbuffers::FlatBufferBuilder &fbb, + flatbuffers::Offset root) { + fbb.FinishSizePrefixed(root); +} + +} // namespace fb +} // namespace apParams + +#endif // FLATBUFFERS_GENERATED_APPARAMSFLATBUFFERS_APPARAMS_FB_H_ diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/base.h b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/base.h new file mode 100644 index 000000000..53244aa30 --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/base.h @@ -0,0 +1,379 @@ +#ifndef FLATBUFFERS_BASE_H_ +#define FLATBUFFERS_BASE_H_ + +// clang-format off + +// If activate should be declared and included first. +#if defined(FLATBUFFERS_MEMORY_LEAK_TRACKING) && \ + defined(_MSC_VER) && defined(_DEBUG) + // The _CRTDBG_MAP_ALLOC inside will replace + // calloc/free (etc) to its debug version using #define directives. + #define _CRTDBG_MAP_ALLOC + #include + #include + // Replace operator new by trace-enabled version. + #define DEBUG_NEW new(_NORMAL_BLOCK, __FILE__, __LINE__) + #define new DEBUG_NEW +#endif + +#if !defined(FLATBUFFERS_ASSERT) +#include +#define FLATBUFFERS_ASSERT assert +#elif defined(FLATBUFFERS_ASSERT_INCLUDE) +// Include file with forward declaration +#include FLATBUFFERS_ASSERT_INCLUDE +#endif + +#ifndef ARDUINO +#include +#endif + +#include +#include +#include + +#if defined(ARDUINO) && !defined(ARDUINOSTL_M_H) + #include +#else + #include +#endif + +#include +#include +#include +#include +#include +#include +#include + +#ifdef _STLPORT_VERSION + #define FLATBUFFERS_CPP98_STL +#endif +#ifndef FLATBUFFERS_CPP98_STL + #include +#endif + +#include "stl_emulation.h" + +// Note the __clang__ check is needed, because clang presents itself +// as an older GNUC compiler (4.2). +// Clang 3.3 and later implement all of the ISO C++ 2011 standard. +// Clang 3.4 and later implement all of the ISO C++ 2014 standard. +// http://clang.llvm.org/cxx_status.html + +// Note the MSVC value '__cplusplus' may be incorrect: +// The '__cplusplus' predefined macro in the MSVC stuck at the value 199711L, +// indicating (erroneously!) that the compiler conformed to the C++98 Standard. +// This value should be correct starting from MSVC2017-15.7-Preview-3. +// The '__cplusplus' will be valid only if MSVC2017-15.7-P3 and the `/Zc:__cplusplus` switch is set. +// Workaround (for details see MSDN): +// Use the _MSC_VER and _MSVC_LANG definition instead of the __cplusplus for compatibility. +// The _MSVC_LANG macro reports the Standard version regardless of the '/Zc:__cplusplus' switch. + +#if defined(__GNUC__) && !defined(__clang__) + #define FLATBUFFERS_GCC (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__) +#else + #define FLATBUFFERS_GCC 0 +#endif + +#if defined(__clang__) + #define FLATBUFFERS_CLANG (__clang_major__ * 10000 + __clang_minor__ * 100 + __clang_patchlevel__) +#else + #define FLATBUFFERS_CLANG 0 +#endif + +/// @cond FLATBUFFERS_INTERNAL +#if __cplusplus <= 199711L && \ + (!defined(_MSC_VER) || _MSC_VER < 1600) && \ + (!defined(__GNUC__) || \ + (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__ < 40400)) + #error A C++11 compatible compiler with support for the auto typing is \ + required for FlatBuffers. + #error __cplusplus _MSC_VER __GNUC__ __GNUC_MINOR__ __GNUC_PATCHLEVEL__ +#endif + +#if !defined(__clang__) && \ + defined(__GNUC__) && \ + (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__ < 40600) + // Backwards compatability for g++ 4.4, and 4.5 which don't have the nullptr + // and constexpr keywords. Note the __clang__ check is needed, because clang + // presents itself as an older GNUC compiler. + #ifndef nullptr_t + const class nullptr_t { + public: + template inline operator T*() const { return 0; } + private: + void operator&() const; + } nullptr = {}; + #endif + #ifndef constexpr + #define constexpr const + #endif +#endif + +// The wire format uses a little endian encoding (since that's efficient for +// the common platforms). +#if defined(__s390x__) + #define FLATBUFFERS_LITTLEENDIAN 0 +#endif // __s390x__ +#if !defined(FLATBUFFERS_LITTLEENDIAN) + #if defined(__GNUC__) || defined(__clang__) + #if (defined(__BIG_ENDIAN__) || \ + (defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__)) + #define FLATBUFFERS_LITTLEENDIAN 0 + #else + #define FLATBUFFERS_LITTLEENDIAN 1 + #endif // __BIG_ENDIAN__ + #elif defined(_MSC_VER) + #if defined(_M_PPC) + #define FLATBUFFERS_LITTLEENDIAN 0 + #else + #define FLATBUFFERS_LITTLEENDIAN 1 + #endif + #else + #error Unable to determine endianness, define FLATBUFFERS_LITTLEENDIAN. + #endif +#endif // !defined(FLATBUFFERS_LITTLEENDIAN) + +#define FLATBUFFERS_VERSION_MAJOR 1 +#define FLATBUFFERS_VERSION_MINOR 11 +#define FLATBUFFERS_VERSION_REVISION 0 +#define FLATBUFFERS_STRING_EXPAND(X) #X +#define FLATBUFFERS_STRING(X) FLATBUFFERS_STRING_EXPAND(X) + +#if (!defined(_MSC_VER) || _MSC_VER > 1600) && \ + (!defined(__GNUC__) || (__GNUC__ * 100 + __GNUC_MINOR__ >= 407)) || \ + defined(__clang__) + #define FLATBUFFERS_FINAL_CLASS final + #define FLATBUFFERS_OVERRIDE override + #define FLATBUFFERS_VTABLE_UNDERLYING_TYPE : flatbuffers::voffset_t +#else + #define FLATBUFFERS_FINAL_CLASS + #define FLATBUFFERS_OVERRIDE + #define FLATBUFFERS_VTABLE_UNDERLYING_TYPE +#endif + +#if (!defined(_MSC_VER) || _MSC_VER >= 1900) && \ + (!defined(__GNUC__) || (__GNUC__ * 100 + __GNUC_MINOR__ >= 406)) || \ + (defined(__cpp_constexpr) && __cpp_constexpr >= 200704) + #define FLATBUFFERS_CONSTEXPR constexpr +#else + #define FLATBUFFERS_CONSTEXPR const +#endif + +#if (defined(__cplusplus) && __cplusplus >= 201402L) || \ + (defined(__cpp_constexpr) && __cpp_constexpr >= 201304) + #define FLATBUFFERS_CONSTEXPR_CPP14 FLATBUFFERS_CONSTEXPR +#else + #define FLATBUFFERS_CONSTEXPR_CPP14 +#endif + +#if (defined(__GXX_EXPERIMENTAL_CXX0X__) && (__GNUC__ * 100 + __GNUC_MINOR__ >= 406)) || \ + (defined(_MSC_FULL_VER) && (_MSC_FULL_VER >= 190023026)) || \ + defined(__clang__) + #define FLATBUFFERS_NOEXCEPT noexcept +#else + #define FLATBUFFERS_NOEXCEPT +#endif + +// NOTE: the FLATBUFFERS_DELETE_FUNC macro may change the access mode to +// private, so be sure to put it at the end or reset access mode explicitly. +#if (!defined(_MSC_VER) || _MSC_FULL_VER >= 180020827) && \ + (!defined(__GNUC__) || (__GNUC__ * 100 + __GNUC_MINOR__ >= 404)) || \ + defined(__clang__) + #define FLATBUFFERS_DELETE_FUNC(func) func = delete; +#else + #define FLATBUFFERS_DELETE_FUNC(func) private: func; +#endif + +#ifndef FLATBUFFERS_HAS_STRING_VIEW + // Only provide flatbuffers::string_view if __has_include can be used + // to detect a header that provides an implementation + #if defined(__has_include) + // Check for std::string_view (in c++17) + #if __has_include() && (__cplusplus >= 201606 || _HAS_CXX17) + #include + namespace flatbuffers { + typedef std::string_view string_view; + } + #define FLATBUFFERS_HAS_STRING_VIEW 1 + // Check for std::experimental::string_view (in c++14, compiler-dependent) + #elif __has_include() && (__cplusplus >= 201411) + #include + namespace flatbuffers { + typedef std::experimental::string_view string_view; + } + #define FLATBUFFERS_HAS_STRING_VIEW 1 + #endif + #endif // __has_include +#endif // !FLATBUFFERS_HAS_STRING_VIEW + +#ifndef FLATBUFFERS_HAS_NEW_STRTOD + // Modern (C++11) strtod and strtof functions are available for use. + // 1) nan/inf strings as argument of strtod; + // 2) hex-float as argument of strtod/strtof. + #if (defined(_MSC_VER) && _MSC_VER >= 1900) || \ + (defined(__GNUC__) && (__GNUC__ * 100 + __GNUC_MINOR__ >= 409)) || \ + (defined(__clang__)) + #define FLATBUFFERS_HAS_NEW_STRTOD 1 + #endif +#endif // !FLATBUFFERS_HAS_NEW_STRTOD + +#ifndef FLATBUFFERS_LOCALE_INDEPENDENT + // Enable locale independent functions {strtof_l, strtod_l,strtoll_l, strtoull_l}. + // They are part of the POSIX-2008 but not part of the C/C++ standard. + // GCC/Clang have definition (_XOPEN_SOURCE>=700) if POSIX-2008. + #if ((defined(_MSC_VER) && _MSC_VER >= 1800) || \ + (defined(_XOPEN_SOURCE) && (_XOPEN_SOURCE>=700))) + #define FLATBUFFERS_LOCALE_INDEPENDENT 1 + #else + #define FLATBUFFERS_LOCALE_INDEPENDENT 0 + #endif +#endif // !FLATBUFFERS_LOCALE_INDEPENDENT + +// Suppress Undefined Behavior Sanitizer (recoverable only). Usage: +// - __supress_ubsan__("undefined") +// - __supress_ubsan__("signed-integer-overflow") +#if defined(__clang__) + #define __supress_ubsan__(type) __attribute__((no_sanitize(type))) +#elif defined(__GNUC__) && (__GNUC__ * 100 + __GNUC_MINOR__ >= 409) + #define __supress_ubsan__(type) __attribute__((no_sanitize_undefined)) +#else + #define __supress_ubsan__(type) +#endif + +// This is constexpr function used for checking compile-time constants. +// Avoid `#pragma warning(disable: 4127) // C4127: expression is constant`. +template FLATBUFFERS_CONSTEXPR inline bool IsConstTrue(T t) { + return !!t; +} + +// Enable C++ attribute [[]] if std:c++17 or higher. +#if ((__cplusplus >= 201703L) \ + || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L))) + // All attributes unknown to an implementation are ignored without causing an error. + #define FLATBUFFERS_ATTRIBUTE(attr) [[attr]] + + #define FLATBUFFERS_FALLTHROUGH() [[fallthrough]] +#else + #define FLATBUFFERS_ATTRIBUTE(attr) + + #if FLATBUFFERS_CLANG >= 30800 + #define FLATBUFFERS_FALLTHROUGH() [[clang::fallthrough]] + #elif FLATBUFFERS_GCC >= 70300 + #define FLATBUFFERS_FALLTHROUGH() [[gnu::fallthrough]] + #else + #define FLATBUFFERS_FALLTHROUGH() + #endif +#endif + +/// @endcond + +/// @file +namespace flatbuffers { + +/// @cond FLATBUFFERS_INTERNAL +// Our default offset / size type, 32bit on purpose on 64bit systems. +// Also, using a consistent offset type maintains compatibility of serialized +// offset values between 32bit and 64bit systems. +typedef uint32_t uoffset_t; + +// Signed offsets for references that can go in both directions. +typedef int32_t soffset_t; + +// Offset/index used in v-tables, can be changed to uint8_t in +// format forks to save a bit of space if desired. +typedef uint16_t voffset_t; + +typedef uintmax_t largest_scalar_t; + +// In 32bits, this evaluates to 2GB - 1 +#define FLATBUFFERS_MAX_BUFFER_SIZE ((1ULL << (sizeof(soffset_t) * 8 - 1)) - 1) + +// We support aligning the contents of buffers up to this size. +#define FLATBUFFERS_MAX_ALIGNMENT 16 + +#if defined(_MSC_VER) + #pragma warning(push) + #pragma warning(disable: 4127) // C4127: conditional expression is constant +#endif + +template T EndianSwap(T t) { + #if defined(_MSC_VER) + #define FLATBUFFERS_BYTESWAP16 _byteswap_ushort + #define FLATBUFFERS_BYTESWAP32 _byteswap_ulong + #define FLATBUFFERS_BYTESWAP64 _byteswap_uint64 + #else + #if defined(__GNUC__) && __GNUC__ * 100 + __GNUC_MINOR__ < 408 && !defined(__clang__) + // __builtin_bswap16 was missing prior to GCC 4.8. + #define FLATBUFFERS_BYTESWAP16(x) \ + static_cast(__builtin_bswap32(static_cast(x) << 16)) + #else + #define FLATBUFFERS_BYTESWAP16 __builtin_bswap16 + #endif + #define FLATBUFFERS_BYTESWAP32 __builtin_bswap32 + #define FLATBUFFERS_BYTESWAP64 __builtin_bswap64 + #endif + if (sizeof(T) == 1) { // Compile-time if-then's. + return t; + } else if (sizeof(T) == 2) { + union { T t; uint16_t i; } u; + u.t = t; + u.i = FLATBUFFERS_BYTESWAP16(u.i); + return u.t; + } else if (sizeof(T) == 4) { + union { T t; uint32_t i; } u; + u.t = t; + u.i = FLATBUFFERS_BYTESWAP32(u.i); + return u.t; + } else if (sizeof(T) == 8) { + union { T t; uint64_t i; } u; + u.t = t; + u.i = FLATBUFFERS_BYTESWAP64(u.i); + return u.t; + } else { + FLATBUFFERS_ASSERT(0); + } +} + +#if defined(_MSC_VER) + #pragma warning(pop) +#endif + + +template T EndianScalar(T t) { + #if FLATBUFFERS_LITTLEENDIAN + return t; + #else + return EndianSwap(t); + #endif +} + +template +// UBSAN: C++ aliasing type rules, see std::bit_cast<> for details. +__supress_ubsan__("alignment") +T ReadScalar(const void *p) { + return EndianScalar(*reinterpret_cast(p)); +} + +template +// UBSAN: C++ aliasing type rules, see std::bit_cast<> for details. +__supress_ubsan__("alignment") +void WriteScalar(void *p, T t) { + *reinterpret_cast(p) = EndianScalar(t); +} + +template struct Offset; +template __supress_ubsan__("alignment") void WriteScalar(void *p, Offset t) { + *reinterpret_cast(p) = EndianScalar(t.o); +} + +// Computes how many bytes you'd have to pad to be able to write an +// "scalar_size" scalar if the buffer had grown to "buf_size" (downwards in +// memory). +inline size_t PaddingBytes(size_t buf_size, size_t scalar_size) { + return ((~buf_size) + 1) & (scalar_size - 1); +} + +} // namespace flatbuffers +#endif // FLATBUFFERS_BASE_H_ diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/code_generators.h b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/code_generators.h new file mode 100644 index 000000000..c2ed707ae --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/code_generators.h @@ -0,0 +1,203 @@ +/* + * Copyright 2014 Google Inc. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef FLATBUFFERS_CODE_GENERATORS_H_ +#define FLATBUFFERS_CODE_GENERATORS_H_ + +#include +#include +#include "flatbuffers/idl.h" + +namespace flatbuffers { + +// Utility class to assist in generating code through use of text templates. +// +// Example code: +// CodeWriter code; +// code.SetValue("NAME", "Foo"); +// code += "void {{NAME}}() { printf("%s", "{{NAME}}"); }"; +// code.SetValue("NAME", "Bar"); +// code += "void {{NAME}}() { printf("%s", "{{NAME}}"); }"; +// std::cout << code.ToString() << std::endl; +// +// Output: +// void Foo() { printf("%s", "Foo"); } +// void Bar() { printf("%s", "Bar"); } +class CodeWriter { + public: + CodeWriter() {} + + // Clears the current "written" code. + void Clear() { + stream_.str(""); + stream_.clear(); + } + + // Associates a key with a value. All subsequent calls to operator+=, where + // the specified key is contained in {{ and }} delimiters will be replaced by + // the given value. + void SetValue(const std::string &key, const std::string &value) { + value_map_[key] = value; + } + + // Appends the given text to the generated code as well as a newline + // character. Any text within {{ and }} delimeters is replaced by values + // previously stored in the CodeWriter by calling SetValue above. The newline + // will be suppressed if the text ends with the \\ character. + void operator+=(std::string text); + + // Returns the current contents of the CodeWriter as a std::string. + std::string ToString() const { return stream_.str(); } + + private: + std::map value_map_; + std::stringstream stream_; +}; + +class BaseGenerator { + public: + virtual bool generate() = 0; + + static std::string NamespaceDir(const Parser &parser, const std::string &path, + const Namespace &ns); + + protected: + BaseGenerator(const Parser &parser, const std::string &path, + const std::string &file_name, + const std::string qualifying_start, + const std::string qualifying_separator) + : parser_(parser), + path_(path), + file_name_(file_name), + qualifying_start_(qualifying_start), + qualifying_separator_(qualifying_separator) {} + virtual ~BaseGenerator() {} + + // No copy/assign. + BaseGenerator &operator=(const BaseGenerator &); + BaseGenerator(const BaseGenerator &); + + std::string NamespaceDir(const Namespace &ns) const; + + static const char *FlatBuffersGeneratedWarning(); + + static std::string FullNamespace(const char *separator, const Namespace &ns); + + static std::string LastNamespacePart(const Namespace &ns); + + // tracks the current namespace for early exit in WrapInNameSpace + // c++, java and csharp returns a different namespace from + // the following default (no early exit, always fully qualify), + // which works for js and php + virtual const Namespace *CurrentNameSpace() const { return nullptr; } + + // Ensure that a type is prefixed with its namespace whenever it is used + // outside of its namespace. + std::string WrapInNameSpace(const Namespace *ns, + const std::string &name) const; + + std::string WrapInNameSpace(const Definition &def) const; + + std::string GetNameSpace(const Definition &def) const; + + const Parser &parser_; + const std::string &path_; + const std::string &file_name_; + const std::string qualifying_start_; + const std::string qualifying_separator_; +}; + +struct CommentConfig { + const char *first_line; + const char *content_line_prefix; + const char *last_line; +}; + +extern void GenComment(const std::vector &dc, + std::string *code_ptr, const CommentConfig *config, + const char *prefix = ""); + +class FloatConstantGenerator { + public: + virtual ~FloatConstantGenerator() {} + std::string GenFloatConstant(const FieldDef &field) const; + + private: + virtual std::string Value(double v, const std::string &src) const = 0; + virtual std::string Inf(double v) const = 0; + virtual std::string NaN(double v) const = 0; + + virtual std::string Value(float v, const std::string &src) const = 0; + virtual std::string Inf(float v) const = 0; + virtual std::string NaN(float v) const = 0; + + template + std::string GenFloatConstantImpl(const FieldDef &field) const; +}; + +class SimpleFloatConstantGenerator : public FloatConstantGenerator { + public: + SimpleFloatConstantGenerator(const char *nan_number, + const char *pos_inf_number, + const char *neg_inf_number); + + private: + std::string Value(double v, + const std::string &src) const FLATBUFFERS_OVERRIDE; + std::string Inf(double v) const FLATBUFFERS_OVERRIDE; + std::string NaN(double v) const FLATBUFFERS_OVERRIDE; + + std::string Value(float v, const std::string &src) const FLATBUFFERS_OVERRIDE; + std::string Inf(float v) const FLATBUFFERS_OVERRIDE; + std::string NaN(float v) const FLATBUFFERS_OVERRIDE; + + const std::string nan_number_; + const std::string pos_inf_number_; + const std::string neg_inf_number_; +}; + +// C++, C#, Java like generator. +class TypedFloatConstantGenerator : public FloatConstantGenerator { + public: + TypedFloatConstantGenerator(const char *double_prefix, + const char *single_prefix, const char *nan_number, + const char *pos_inf_number, + const char *neg_inf_number = ""); + + private: + std::string Value(double v, + const std::string &src) const FLATBUFFERS_OVERRIDE; + std::string Inf(double v) const FLATBUFFERS_OVERRIDE; + + std::string NaN(double v) const FLATBUFFERS_OVERRIDE; + + std::string Value(float v, const std::string &src) const FLATBUFFERS_OVERRIDE; + std::string Inf(float v) const FLATBUFFERS_OVERRIDE; + std::string NaN(float v) const FLATBUFFERS_OVERRIDE; + + std::string MakeNaN(const std::string &prefix) const; + std::string MakeInf(bool neg, const std::string &prefix) const; + + const std::string double_prefix_; + const std::string single_prefix_; + const std::string nan_number_; + const std::string pos_inf_number_; + const std::string neg_inf_number_; +}; + +} // namespace flatbuffers + +#endif // FLATBUFFERS_CODE_GENERATORS_H_ diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/flatbuffers.h b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/flatbuffers.h new file mode 100644 index 000000000..a373bc470 --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/flatbuffers.h @@ -0,0 +1,2613 @@ +/* + * Copyright 2014 Google Inc. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef FLATBUFFERS_H_ +#define FLATBUFFERS_H_ + +#include "base.h" + +#if defined(FLATBUFFERS_NAN_DEFAULTS) +#include +#endif + +namespace flatbuffers { +// Generic 'operator==' with conditional specialisations. +template inline bool IsTheSameAs(T e, T def) { return e == def; } + +#if defined(FLATBUFFERS_NAN_DEFAULTS) && \ + (!defined(_MSC_VER) || _MSC_VER >= 1800) +// Like `operator==(e, def)` with weak NaN if T=(float|double). +template<> inline bool IsTheSameAs(float e, float def) { + return (e == def) || (std::isnan(def) && std::isnan(e)); +} +template<> inline bool IsTheSameAs(double e, double def) { + return (e == def) || (std::isnan(def) && std::isnan(e)); +} +#endif + +// Wrapper for uoffset_t to allow safe template specialization. +// Value is allowed to be 0 to indicate a null object (see e.g. AddOffset). +template struct Offset { + uoffset_t o; + Offset() : o(0) {} + Offset(uoffset_t _o) : o(_o) {} + Offset Union() const { return Offset(o); } + bool IsNull() const { return !o; } +}; + +inline void EndianCheck() { + int endiantest = 1; + // If this fails, see FLATBUFFERS_LITTLEENDIAN above. + FLATBUFFERS_ASSERT(*reinterpret_cast(&endiantest) == + FLATBUFFERS_LITTLEENDIAN); + (void)endiantest; +} + +template FLATBUFFERS_CONSTEXPR size_t AlignOf() { + // clang-format off + #ifdef _MSC_VER + return __alignof(T); + #else + #ifndef alignof + return __alignof__(T); + #else + return alignof(T); + #endif + #endif + // clang-format on +} + +// When we read serialized data from memory, in the case of most scalars, +// we want to just read T, but in the case of Offset, we want to actually +// perform the indirection and return a pointer. +// The template specialization below does just that. +// It is wrapped in a struct since function templates can't overload on the +// return type like this. +// The typedef is for the convenience of callers of this function +// (avoiding the need for a trailing return decltype) +template struct IndirectHelper { + typedef T return_type; + typedef T mutable_return_type; + static const size_t element_stride = sizeof(T); + static return_type Read(const uint8_t *p, uoffset_t i) { + return EndianScalar((reinterpret_cast(p))[i]); + } +}; +template struct IndirectHelper> { + typedef const T *return_type; + typedef T *mutable_return_type; + static const size_t element_stride = sizeof(uoffset_t); + static return_type Read(const uint8_t *p, uoffset_t i) { + p += i * sizeof(uoffset_t); + return reinterpret_cast(p + ReadScalar(p)); + } +}; +template struct IndirectHelper { + typedef const T *return_type; + typedef T *mutable_return_type; + static const size_t element_stride = sizeof(T); + static return_type Read(const uint8_t *p, uoffset_t i) { + return reinterpret_cast(p + i * sizeof(T)); + } +}; + +// An STL compatible iterator implementation for Vector below, effectively +// calling Get() for every element. +template struct VectorIterator { + typedef std::random_access_iterator_tag iterator_category; + typedef IT value_type; + typedef ptrdiff_t difference_type; + typedef IT *pointer; + typedef IT &reference; + + VectorIterator(const uint8_t *data, uoffset_t i) + : data_(data + IndirectHelper::element_stride * i) {} + VectorIterator(const VectorIterator &other) : data_(other.data_) {} + VectorIterator() : data_(nullptr) {} + + VectorIterator &operator=(const VectorIterator &other) { + data_ = other.data_; + return *this; + } + + // clang-format off + #if !defined(FLATBUFFERS_CPP98_STL) + VectorIterator &operator=(VectorIterator &&other) { + data_ = other.data_; + return *this; + } + #endif // !defined(FLATBUFFERS_CPP98_STL) + // clang-format on + + bool operator==(const VectorIterator &other) const { + return data_ == other.data_; + } + + bool operator<(const VectorIterator &other) const { + return data_ < other.data_; + } + + bool operator!=(const VectorIterator &other) const { + return data_ != other.data_; + } + + difference_type operator-(const VectorIterator &other) const { + return (data_ - other.data_) / IndirectHelper::element_stride; + } + + IT operator*() const { return IndirectHelper::Read(data_, 0); } + + IT operator->() const { return IndirectHelper::Read(data_, 0); } + + VectorIterator &operator++() { + data_ += IndirectHelper::element_stride; + return *this; + } + + VectorIterator operator++(int) { + VectorIterator temp(data_, 0); + data_ += IndirectHelper::element_stride; + return temp; + } + + VectorIterator operator+(const uoffset_t &offset) const { + return VectorIterator(data_ + offset * IndirectHelper::element_stride, + 0); + } + + VectorIterator &operator+=(const uoffset_t &offset) { + data_ += offset * IndirectHelper::element_stride; + return *this; + } + + VectorIterator &operator--() { + data_ -= IndirectHelper::element_stride; + return *this; + } + + VectorIterator operator--(int) { + VectorIterator temp(data_, 0); + data_ -= IndirectHelper::element_stride; + return temp; + } + + VectorIterator operator-(const uoffset_t &offset) const { + return VectorIterator(data_ - offset * IndirectHelper::element_stride, + 0); + } + + VectorIterator &operator-=(const uoffset_t &offset) { + data_ -= offset * IndirectHelper::element_stride; + return *this; + } + + private: + const uint8_t *data_; +}; + +template struct VectorReverseIterator : + public std::reverse_iterator { + + explicit VectorReverseIterator(Iterator iter) : iter_(iter) {} + + typename Iterator::value_type operator*() const { return *(iter_ - 1); } + + typename Iterator::value_type operator->() const { return *(iter_ - 1); } + + private: + Iterator iter_; +}; + +struct String; + +// This is used as a helper type for accessing vectors. +// Vector::data() assumes the vector elements start after the length field. +template class Vector { + public: + typedef VectorIterator::mutable_return_type> + iterator; + typedef VectorIterator::return_type> + const_iterator; + typedef VectorReverseIterator reverse_iterator; + typedef VectorReverseIterator const_reverse_iterator; + + uoffset_t size() const { return EndianScalar(length_); } + + // Deprecated: use size(). Here for backwards compatibility. + FLATBUFFERS_ATTRIBUTE(deprecated("use size() instead")) + uoffset_t Length() const { return size(); } + + typedef typename IndirectHelper::return_type return_type; + typedef typename IndirectHelper::mutable_return_type mutable_return_type; + + return_type Get(uoffset_t i) const { + FLATBUFFERS_ASSERT(i < size()); + return IndirectHelper::Read(Data(), i); + } + + return_type operator[](uoffset_t i) const { return Get(i); } + + // If this is a Vector of enums, T will be its storage type, not the enum + // type. This function makes it convenient to retrieve value with enum + // type E. + template E GetEnum(uoffset_t i) const { + return static_cast(Get(i)); + } + + // If this a vector of unions, this does the cast for you. There's no check + // to make sure this is the right type! + template const U *GetAs(uoffset_t i) const { + return reinterpret_cast(Get(i)); + } + + // If this a vector of unions, this does the cast for you. There's no check + // to make sure this is actually a string! + const String *GetAsString(uoffset_t i) const { + return reinterpret_cast(Get(i)); + } + + const void *GetStructFromOffset(size_t o) const { + return reinterpret_cast(Data() + o); + } + + iterator begin() { return iterator(Data(), 0); } + const_iterator begin() const { return const_iterator(Data(), 0); } + + iterator end() { return iterator(Data(), size()); } + const_iterator end() const { return const_iterator(Data(), size()); } + + reverse_iterator rbegin() { return reverse_iterator(end()); } + const_reverse_iterator rbegin() const { return const_reverse_iterator(end()); } + + reverse_iterator rend() { return reverse_iterator(end()); } + const_reverse_iterator rend() const { return const_reverse_iterator(end()); } + + const_iterator cbegin() const { return begin(); } + + const_iterator cend() const { return end(); } + + const_reverse_iterator crbegin() const { return rbegin(); } + + const_reverse_iterator crend() const { return rend(); } + + // Change elements if you have a non-const pointer to this object. + // Scalars only. See reflection.h, and the documentation. + void Mutate(uoffset_t i, const T &val) { + FLATBUFFERS_ASSERT(i < size()); + WriteScalar(data() + i, val); + } + + // Change an element of a vector of tables (or strings). + // "val" points to the new table/string, as you can obtain from + // e.g. reflection::AddFlatBuffer(). + void MutateOffset(uoffset_t i, const uint8_t *val) { + FLATBUFFERS_ASSERT(i < size()); + static_assert(sizeof(T) == sizeof(uoffset_t), "Unrelated types"); + WriteScalar(data() + i, + static_cast(val - (Data() + i * sizeof(uoffset_t)))); + } + + // Get a mutable pointer to tables/strings inside this vector. + mutable_return_type GetMutableObject(uoffset_t i) const { + FLATBUFFERS_ASSERT(i < size()); + return const_cast(IndirectHelper::Read(Data(), i)); + } + + // The raw data in little endian format. Use with care. + const uint8_t *Data() const { + return reinterpret_cast(&length_ + 1); + } + + uint8_t *Data() { return reinterpret_cast(&length_ + 1); } + + // Similarly, but typed, much like std::vector::data + const T *data() const { return reinterpret_cast(Data()); } + T *data() { return reinterpret_cast(Data()); } + + template return_type LookupByKey(K key) const { + void *search_result = std::bsearch( + &key, Data(), size(), IndirectHelper::element_stride, KeyCompare); + + if (!search_result) { + return nullptr; // Key not found. + } + + const uint8_t *element = reinterpret_cast(search_result); + + return IndirectHelper::Read(element, 0); + } + + protected: + // This class is only used to access pre-existing data. Don't ever + // try to construct these manually. + Vector(); + + uoffset_t length_; + + private: + // This class is a pointer. Copying will therefore create an invalid object. + // Private and unimplemented copy constructor. + Vector(const Vector &); + + template static int KeyCompare(const void *ap, const void *bp) { + const K *key = reinterpret_cast(ap); + const uint8_t *data = reinterpret_cast(bp); + auto table = IndirectHelper::Read(data, 0); + + // std::bsearch compares with the operands transposed, so we negate the + // result here. + return -table->KeyCompareWithValue(*key); + } +}; + +// Represent a vector much like the template above, but in this case we +// don't know what the element types are (used with reflection.h). +class VectorOfAny { + public: + uoffset_t size() const { return EndianScalar(length_); } + + const uint8_t *Data() const { + return reinterpret_cast(&length_ + 1); + } + uint8_t *Data() { return reinterpret_cast(&length_ + 1); } + + protected: + VectorOfAny(); + + uoffset_t length_; + + private: + VectorOfAny(const VectorOfAny &); +}; + +#ifndef FLATBUFFERS_CPP98_STL +template +Vector> *VectorCast(Vector> *ptr) { + static_assert(std::is_base_of::value, "Unrelated types"); + return reinterpret_cast> *>(ptr); +} + +template +const Vector> *VectorCast(const Vector> *ptr) { + static_assert(std::is_base_of::value, "Unrelated types"); + return reinterpret_cast> *>(ptr); +} +#endif + +// Convenient helper function to get the length of any vector, regardless +// of whether it is null or not (the field is not set). +template static inline size_t VectorLength(const Vector *v) { + return v ? v->size() : 0; +} + +// Lexicographically compare two strings (possibly containing nulls), and +// return true if the first is less than the second. +static inline bool StringLessThan(const char *a_data, uoffset_t a_size, + const char *b_data, uoffset_t b_size) { + const auto cmp = memcmp(a_data, b_data, (std::min)(a_size, b_size)); + return cmp == 0 ? a_size < b_size : cmp < 0; +} + +struct String : public Vector { + const char *c_str() const { return reinterpret_cast(Data()); } + std::string str() const { return std::string(c_str(), size()); } + + // clang-format off + #ifdef FLATBUFFERS_HAS_STRING_VIEW + flatbuffers::string_view string_view() const { + return flatbuffers::string_view(c_str(), size()); + } + #endif // FLATBUFFERS_HAS_STRING_VIEW + // clang-format on + + bool operator<(const String &o) const { + return StringLessThan(this->data(), this->size(), o.data(), o.size()); + } +}; + +// Convenience function to get std::string from a String returning an empty +// string on null pointer. +static inline std::string GetString(const String * str) { + return str ? str->str() : ""; +} + +// Convenience function to get char* from a String returning an empty string on +// null pointer. +static inline const char * GetCstring(const String * str) { + return str ? str->c_str() : ""; +} + +// Allocator interface. This is flatbuffers-specific and meant only for +// `vector_downward` usage. +class Allocator { + public: + virtual ~Allocator() {} + + // Allocate `size` bytes of memory. + virtual uint8_t *allocate(size_t size) = 0; + + // Deallocate `size` bytes of memory at `p` allocated by this allocator. + virtual void deallocate(uint8_t *p, size_t size) = 0; + + // Reallocate `new_size` bytes of memory, replacing the old region of size + // `old_size` at `p`. In contrast to a normal realloc, this grows downwards, + // and is intended specifcally for `vector_downward` use. + // `in_use_back` and `in_use_front` indicate how much of `old_size` is + // actually in use at each end, and needs to be copied. + virtual uint8_t *reallocate_downward(uint8_t *old_p, size_t old_size, + size_t new_size, size_t in_use_back, + size_t in_use_front) { + FLATBUFFERS_ASSERT(new_size > old_size); // vector_downward only grows + uint8_t *new_p = allocate(new_size); + memcpy_downward(old_p, old_size, new_p, new_size, in_use_back, + in_use_front); + deallocate(old_p, old_size); + return new_p; + } + + protected: + // Called by `reallocate_downward` to copy memory from `old_p` of `old_size` + // to `new_p` of `new_size`. Only memory of size `in_use_front` and + // `in_use_back` will be copied from the front and back of the old memory + // allocation. + void memcpy_downward(uint8_t *old_p, size_t old_size, + uint8_t *new_p, size_t new_size, + size_t in_use_back, size_t in_use_front) { + memcpy(new_p + new_size - in_use_back, old_p + old_size - in_use_back, + in_use_back); + memcpy(new_p, old_p, in_use_front); + } +}; + +// DefaultAllocator uses new/delete to allocate memory regions +class DefaultAllocator : public Allocator { + public: + uint8_t *allocate(size_t size) FLATBUFFERS_OVERRIDE { + return new uint8_t[size]; + } + + void deallocate(uint8_t *p, size_t) FLATBUFFERS_OVERRIDE { + delete[] p; + } + + static void dealloc(void *p, size_t) { + delete[] static_cast(p); + } +}; + +// These functions allow for a null allocator to mean use the default allocator, +// as used by DetachedBuffer and vector_downward below. +// This is to avoid having a statically or dynamically allocated default +// allocator, or having to move it between the classes that may own it. +inline uint8_t *Allocate(Allocator *allocator, size_t size) { + return allocator ? allocator->allocate(size) + : DefaultAllocator().allocate(size); +} + +inline void Deallocate(Allocator *allocator, uint8_t *p, size_t size) { + if (allocator) allocator->deallocate(p, size); + else DefaultAllocator().deallocate(p, size); +} + +inline uint8_t *ReallocateDownward(Allocator *allocator, uint8_t *old_p, + size_t old_size, size_t new_size, + size_t in_use_back, size_t in_use_front) { + return allocator + ? allocator->reallocate_downward(old_p, old_size, new_size, + in_use_back, in_use_front) + : DefaultAllocator().reallocate_downward(old_p, old_size, new_size, + in_use_back, in_use_front); +} + +// DetachedBuffer is a finished flatbuffer memory region, detached from its +// builder. The original memory region and allocator are also stored so that +// the DetachedBuffer can manage the memory lifetime. +class DetachedBuffer { + public: + DetachedBuffer() + : allocator_(nullptr), + own_allocator_(false), + buf_(nullptr), + reserved_(0), + cur_(nullptr), + size_(0) {} + + DetachedBuffer(Allocator *allocator, bool own_allocator, uint8_t *buf, + size_t reserved, uint8_t *cur, size_t sz) + : allocator_(allocator), + own_allocator_(own_allocator), + buf_(buf), + reserved_(reserved), + cur_(cur), + size_(sz) {} + + // clang-format off + #if !defined(FLATBUFFERS_CPP98_STL) + // clang-format on + DetachedBuffer(DetachedBuffer &&other) + : allocator_(other.allocator_), + own_allocator_(other.own_allocator_), + buf_(other.buf_), + reserved_(other.reserved_), + cur_(other.cur_), + size_(other.size_) { + other.reset(); + } + // clang-format off + #endif // !defined(FLATBUFFERS_CPP98_STL) + // clang-format on + + // clang-format off + #if !defined(FLATBUFFERS_CPP98_STL) + // clang-format on + DetachedBuffer &operator=(DetachedBuffer &&other) { + destroy(); + + allocator_ = other.allocator_; + own_allocator_ = other.own_allocator_; + buf_ = other.buf_; + reserved_ = other.reserved_; + cur_ = other.cur_; + size_ = other.size_; + + other.reset(); + + return *this; + } + // clang-format off + #endif // !defined(FLATBUFFERS_CPP98_STL) + // clang-format on + + ~DetachedBuffer() { destroy(); } + + const uint8_t *data() const { return cur_; } + + uint8_t *data() { return cur_; } + + size_t size() const { return size_; } + + // clang-format off + #if 0 // disabled for now due to the ordering of classes in this header + template + bool Verify() const { + Verifier verifier(data(), size()); + return verifier.Verify(nullptr); + } + + template + const T* GetRoot() const { + return flatbuffers::GetRoot(data()); + } + + template + T* GetRoot() { + return flatbuffers::GetRoot(data()); + } + #endif + // clang-format on + + // clang-format off + #if !defined(FLATBUFFERS_CPP98_STL) + // clang-format on + // These may change access mode, leave these at end of public section + FLATBUFFERS_DELETE_FUNC(DetachedBuffer(const DetachedBuffer &other)) + FLATBUFFERS_DELETE_FUNC( + DetachedBuffer &operator=(const DetachedBuffer &other)) + // clang-format off + #endif // !defined(FLATBUFFERS_CPP98_STL) + // clang-format on + +protected: + Allocator *allocator_; + bool own_allocator_; + uint8_t *buf_; + size_t reserved_; + uint8_t *cur_; + size_t size_; + + inline void destroy() { + if (buf_) Deallocate(allocator_, buf_, reserved_); + if (own_allocator_ && allocator_) { delete allocator_; } + reset(); + } + + inline void reset() { + allocator_ = nullptr; + own_allocator_ = false; + buf_ = nullptr; + reserved_ = 0; + cur_ = nullptr; + size_ = 0; + } +}; + +// This is a minimal replication of std::vector functionality, +// except growing from higher to lower addresses. i.e push_back() inserts data +// in the lowest address in the vector. +// Since this vector leaves the lower part unused, we support a "scratch-pad" +// that can be stored there for temporary data, to share the allocated space. +// Essentially, this supports 2 std::vectors in a single buffer. +class vector_downward { + public: + explicit vector_downward(size_t initial_size, + Allocator *allocator, + bool own_allocator, + size_t buffer_minalign) + : allocator_(allocator), + own_allocator_(own_allocator), + initial_size_(initial_size), + buffer_minalign_(buffer_minalign), + reserved_(0), + buf_(nullptr), + cur_(nullptr), + scratch_(nullptr) {} + + // clang-format off + #if !defined(FLATBUFFERS_CPP98_STL) + vector_downward(vector_downward &&other) + #else + vector_downward(vector_downward &other) + #endif // defined(FLATBUFFERS_CPP98_STL) + // clang-format on + : allocator_(other.allocator_), + own_allocator_(other.own_allocator_), + initial_size_(other.initial_size_), + buffer_minalign_(other.buffer_minalign_), + reserved_(other.reserved_), + buf_(other.buf_), + cur_(other.cur_), + scratch_(other.scratch_) { + // No change in other.allocator_ + // No change in other.initial_size_ + // No change in other.buffer_minalign_ + other.own_allocator_ = false; + other.reserved_ = 0; + other.buf_ = nullptr; + other.cur_ = nullptr; + other.scratch_ = nullptr; + } + + // clang-format off + #if !defined(FLATBUFFERS_CPP98_STL) + // clang-format on + vector_downward &operator=(vector_downward &&other) { + // Move construct a temporary and swap idiom + vector_downward temp(std::move(other)); + swap(temp); + return *this; + } + // clang-format off + #endif // defined(FLATBUFFERS_CPP98_STL) + // clang-format on + + ~vector_downward() { + clear_buffer(); + clear_allocator(); + } + + void reset() { + clear_buffer(); + clear(); + } + + void clear() { + if (buf_) { + cur_ = buf_ + reserved_; + } else { + reserved_ = 0; + cur_ = nullptr; + } + clear_scratch(); + } + + void clear_scratch() { + scratch_ = buf_; + } + + void clear_allocator() { + if (own_allocator_ && allocator_) { delete allocator_; } + allocator_ = nullptr; + own_allocator_ = false; + } + + void clear_buffer() { + if (buf_) Deallocate(allocator_, buf_, reserved_); + buf_ = nullptr; + } + + // Relinquish the pointer to the caller. + uint8_t *release_raw(size_t &allocated_bytes, size_t &offset) { + auto *buf = buf_; + allocated_bytes = reserved_; + offset = static_cast(cur_ - buf_); + + // release_raw only relinquishes the buffer ownership. + // Does not deallocate or reset the allocator. Destructor will do that. + buf_ = nullptr; + clear(); + return buf; + } + + // Relinquish the pointer to the caller. + DetachedBuffer release() { + // allocator ownership (if any) is transferred to DetachedBuffer. + DetachedBuffer fb(allocator_, own_allocator_, buf_, reserved_, cur_, + size()); + if (own_allocator_) { + allocator_ = nullptr; + own_allocator_ = false; + } + buf_ = nullptr; + clear(); + return fb; + } + + size_t ensure_space(size_t len) { + FLATBUFFERS_ASSERT(cur_ >= scratch_ && scratch_ >= buf_); + if (len > static_cast(cur_ - scratch_)) { reallocate(len); } + // Beyond this, signed offsets may not have enough range: + // (FlatBuffers > 2GB not supported). + FLATBUFFERS_ASSERT(size() < FLATBUFFERS_MAX_BUFFER_SIZE); + return len; + } + + inline uint8_t *make_space(size_t len) { + size_t space = ensure_space(len); + cur_ -= space; + return cur_; + } + + // Returns nullptr if using the DefaultAllocator. + Allocator *get_custom_allocator() { return allocator_; } + + uoffset_t size() const { + return static_cast(reserved_ - (cur_ - buf_)); + } + + uoffset_t scratch_size() const { + return static_cast(scratch_ - buf_); + } + + size_t capacity() const { return reserved_; } + + uint8_t *data() const { + FLATBUFFERS_ASSERT(cur_); + return cur_; + } + + uint8_t *scratch_data() const { + FLATBUFFERS_ASSERT(buf_); + return buf_; + } + + uint8_t *scratch_end() const { + FLATBUFFERS_ASSERT(scratch_); + return scratch_; + } + + uint8_t *data_at(size_t offset) const { return buf_ + reserved_ - offset; } + + void push(const uint8_t *bytes, size_t num) { + memcpy(make_space(num), bytes, num); + } + + // Specialized version of push() that avoids memcpy call for small data. + template void push_small(const T &little_endian_t) { + make_space(sizeof(T)); + *reinterpret_cast(cur_) = little_endian_t; + } + + template void scratch_push_small(const T &t) { + ensure_space(sizeof(T)); + *reinterpret_cast(scratch_) = t; + scratch_ += sizeof(T); + } + + // fill() is most frequently called with small byte counts (<= 4), + // which is why we're using loops rather than calling memset. + void fill(size_t zero_pad_bytes) { + make_space(zero_pad_bytes); + for (size_t i = 0; i < zero_pad_bytes; i++) cur_[i] = 0; + } + + // Version for when we know the size is larger. + void fill_big(size_t zero_pad_bytes) { + memset(make_space(zero_pad_bytes), 0, zero_pad_bytes); + } + + void pop(size_t bytes_to_remove) { cur_ += bytes_to_remove; } + void scratch_pop(size_t bytes_to_remove) { scratch_ -= bytes_to_remove; } + + void swap(vector_downward &other) { + using std::swap; + swap(allocator_, other.allocator_); + swap(own_allocator_, other.own_allocator_); + swap(initial_size_, other.initial_size_); + swap(buffer_minalign_, other.buffer_minalign_); + swap(reserved_, other.reserved_); + swap(buf_, other.buf_); + swap(cur_, other.cur_); + swap(scratch_, other.scratch_); + } + + void swap_allocator(vector_downward &other) { + using std::swap; + swap(allocator_, other.allocator_); + swap(own_allocator_, other.own_allocator_); + } + + private: + // You shouldn't really be copying instances of this class. + FLATBUFFERS_DELETE_FUNC(vector_downward(const vector_downward &)) + FLATBUFFERS_DELETE_FUNC(vector_downward &operator=(const vector_downward &)) + + Allocator *allocator_; + bool own_allocator_; + size_t initial_size_; + size_t buffer_minalign_; + size_t reserved_; + uint8_t *buf_; + uint8_t *cur_; // Points at location between empty (below) and used (above). + uint8_t *scratch_; // Points to the end of the scratchpad in use. + + void reallocate(size_t len) { + auto old_reserved = reserved_; + auto old_size = size(); + auto old_scratch_size = scratch_size(); + reserved_ += (std::max)(len, + old_reserved ? old_reserved / 2 : initial_size_); + reserved_ = (reserved_ + buffer_minalign_ - 1) & ~(buffer_minalign_ - 1); + if (buf_) { + buf_ = ReallocateDownward(allocator_, buf_, old_reserved, reserved_, + old_size, old_scratch_size); + } else { + buf_ = Allocate(allocator_, reserved_); + } + cur_ = buf_ + reserved_ - old_size; + scratch_ = buf_ + old_scratch_size; + } +}; + +// Converts a Field ID to a virtual table offset. +inline voffset_t FieldIndexToOffset(voffset_t field_id) { + // Should correspond to what EndTable() below builds up. + const int fixed_fields = 2; // Vtable size and Object Size. + return static_cast((field_id + fixed_fields) * sizeof(voffset_t)); +} + +template +const T *data(const std::vector &v) { + return v.empty() ? nullptr : &v.front(); +} +template T *data(std::vector &v) { + return v.empty() ? nullptr : &v.front(); +} + +/// @endcond + +/// @addtogroup flatbuffers_cpp_api +/// @{ +/// @class FlatBufferBuilder +/// @brief Helper class to hold data needed in creation of a FlatBuffer. +/// To serialize data, you typically call one of the `Create*()` functions in +/// the generated code, which in turn call a sequence of `StartTable`/ +/// `PushElement`/`AddElement`/`EndTable`, or the builtin `CreateString`/ +/// `CreateVector` functions. Do this is depth-first order to build up a tree to +/// the root. `Finish()` wraps up the buffer ready for transport. +class FlatBufferBuilder { + public: + /// @brief Default constructor for FlatBufferBuilder. + /// @param[in] initial_size The initial size of the buffer, in bytes. Defaults + /// to `1024`. + /// @param[in] allocator An `Allocator` to use. If null will use + /// `DefaultAllocator`. + /// @param[in] own_allocator Whether the builder/vector should own the + /// allocator. Defaults to / `false`. + /// @param[in] buffer_minalign Force the buffer to be aligned to the given + /// minimum alignment upon reallocation. Only needed if you intend to store + /// types with custom alignment AND you wish to read the buffer in-place + /// directly after creation. + explicit FlatBufferBuilder(size_t initial_size = 1024, + Allocator *allocator = nullptr, + bool own_allocator = false, + size_t buffer_minalign = + AlignOf()) + : buf_(initial_size, allocator, own_allocator, buffer_minalign), + num_field_loc(0), + max_voffset_(0), + nested(false), + finished(false), + minalign_(1), + force_defaults_(false), + dedup_vtables_(true), + string_pool(nullptr) { + EndianCheck(); + } + + // clang-format off + /// @brief Move constructor for FlatBufferBuilder. + #if !defined(FLATBUFFERS_CPP98_STL) + FlatBufferBuilder(FlatBufferBuilder &&other) + #else + FlatBufferBuilder(FlatBufferBuilder &other) + #endif // #if !defined(FLATBUFFERS_CPP98_STL) + : buf_(1024, nullptr, false, AlignOf()), + num_field_loc(0), + max_voffset_(0), + nested(false), + finished(false), + minalign_(1), + force_defaults_(false), + dedup_vtables_(true), + string_pool(nullptr) { + EndianCheck(); + // Default construct and swap idiom. + // Lack of delegating constructors in vs2010 makes it more verbose than needed. + Swap(other); + } + // clang-format on + + // clang-format off + #if !defined(FLATBUFFERS_CPP98_STL) + // clang-format on + /// @brief Move assignment operator for FlatBufferBuilder. + FlatBufferBuilder &operator=(FlatBufferBuilder &&other) { + // Move construct a temporary and swap idiom + FlatBufferBuilder temp(std::move(other)); + Swap(temp); + return *this; + } + // clang-format off + #endif // defined(FLATBUFFERS_CPP98_STL) + // clang-format on + + void Swap(FlatBufferBuilder &other) { + using std::swap; + buf_.swap(other.buf_); + swap(num_field_loc, other.num_field_loc); + swap(max_voffset_, other.max_voffset_); + swap(nested, other.nested); + swap(finished, other.finished); + swap(minalign_, other.minalign_); + swap(force_defaults_, other.force_defaults_); + swap(dedup_vtables_, other.dedup_vtables_); + swap(string_pool, other.string_pool); + } + + ~FlatBufferBuilder() { + if (string_pool) delete string_pool; + } + + void Reset() { + Clear(); // clear builder state + buf_.reset(); // deallocate buffer + } + + /// @brief Reset all the state in this FlatBufferBuilder so it can be reused + /// to construct another buffer. + void Clear() { + ClearOffsets(); + buf_.clear(); + nested = false; + finished = false; + minalign_ = 1; + if (string_pool) string_pool->clear(); + } + + /// @brief The current size of the serialized buffer, counting from the end. + /// @return Returns an `uoffset_t` with the current size of the buffer. + uoffset_t GetSize() const { return buf_.size(); } + + /// @brief Get the serialized buffer (after you call `Finish()`). + /// @return Returns an `uint8_t` pointer to the FlatBuffer data inside the + /// buffer. + uint8_t *GetBufferPointer() const { + Finished(); + return buf_.data(); + } + + /// @brief Get a pointer to an unfinished buffer. + /// @return Returns a `uint8_t` pointer to the unfinished buffer. + uint8_t *GetCurrentBufferPointer() const { return buf_.data(); } + + /// @brief Get the released pointer to the serialized buffer. + /// @warning Do NOT attempt to use this FlatBufferBuilder afterwards! + /// @return A `FlatBuffer` that owns the buffer and its allocator and + /// behaves similar to a `unique_ptr` with a deleter. + FLATBUFFERS_ATTRIBUTE(deprecated("use Release() instead")) DetachedBuffer + ReleaseBufferPointer() { + Finished(); + return buf_.release(); + } + + /// @brief Get the released DetachedBuffer. + /// @return A `DetachedBuffer` that owns the buffer and its allocator. + DetachedBuffer Release() { + Finished(); + return buf_.release(); + } + + /// @brief Get the released pointer to the serialized buffer. + /// @param The size of the memory block containing + /// the serialized `FlatBuffer`. + /// @param The offset from the released pointer where the finished + /// `FlatBuffer` starts. + /// @return A raw pointer to the start of the memory block containing + /// the serialized `FlatBuffer`. + /// @remark If the allocator is owned, it gets deleted when the destructor is called.. + uint8_t *ReleaseRaw(size_t &size, size_t &offset) { + Finished(); + return buf_.release_raw(size, offset); + } + + /// @brief get the minimum alignment this buffer needs to be accessed + /// properly. This is only known once all elements have been written (after + /// you call Finish()). You can use this information if you need to embed + /// a FlatBuffer in some other buffer, such that you can later read it + /// without first having to copy it into its own buffer. + size_t GetBufferMinAlignment() { + Finished(); + return minalign_; + } + + /// @cond FLATBUFFERS_INTERNAL + void Finished() const { + // If you get this assert, you're attempting to get access a buffer + // which hasn't been finished yet. Be sure to call + // FlatBufferBuilder::Finish with your root table. + // If you really need to access an unfinished buffer, call + // GetCurrentBufferPointer instead. + FLATBUFFERS_ASSERT(finished); + } + /// @endcond + + /// @brief In order to save space, fields that are set to their default value + /// don't get serialized into the buffer. + /// @param[in] bool fd When set to `true`, always serializes default values that are set. + /// Optional fields which are not set explicitly, will still not be serialized. + void ForceDefaults(bool fd) { force_defaults_ = fd; } + + /// @brief By default vtables are deduped in order to save space. + /// @param[in] bool dedup When set to `true`, dedup vtables. + void DedupVtables(bool dedup) { dedup_vtables_ = dedup; } + + /// @cond FLATBUFFERS_INTERNAL + void Pad(size_t num_bytes) { buf_.fill(num_bytes); } + + void TrackMinAlign(size_t elem_size) { + if (elem_size > minalign_) minalign_ = elem_size; + } + + void Align(size_t elem_size) { + TrackMinAlign(elem_size); + buf_.fill(PaddingBytes(buf_.size(), elem_size)); + } + + void PushFlatBuffer(const uint8_t *bytes, size_t size) { + PushBytes(bytes, size); + finished = true; + } + + void PushBytes(const uint8_t *bytes, size_t size) { buf_.push(bytes, size); } + + void PopBytes(size_t amount) { buf_.pop(amount); } + + template void AssertScalarT() { + // The code assumes power of 2 sizes and endian-swap-ability. + static_assert(flatbuffers::is_scalar::value, "T must be a scalar type"); + } + + // Write a single aligned scalar to the buffer + template uoffset_t PushElement(T element) { + AssertScalarT(); + T litle_endian_element = EndianScalar(element); + Align(sizeof(T)); + buf_.push_small(litle_endian_element); + return GetSize(); + } + + template uoffset_t PushElement(Offset off) { + // Special case for offsets: see ReferTo below. + return PushElement(ReferTo(off.o)); + } + + // When writing fields, we track where they are, so we can create correct + // vtables later. + void TrackField(voffset_t field, uoffset_t off) { + FieldLoc fl = { off, field }; + buf_.scratch_push_small(fl); + num_field_loc++; + max_voffset_ = (std::max)(max_voffset_, field); + } + + // Like PushElement, but additionally tracks the field this represents. + template void AddElement(voffset_t field, T e, T def) { + // We don't serialize values equal to the default. + if (IsTheSameAs(e, def) && !force_defaults_) return; + auto off = PushElement(e); + TrackField(field, off); + } + + template void AddOffset(voffset_t field, Offset off) { + if (off.IsNull()) return; // Don't store. + AddElement(field, ReferTo(off.o), static_cast(0)); + } + + template void AddStruct(voffset_t field, const T *structptr) { + if (!structptr) return; // Default, don't store. + Align(AlignOf()); + buf_.push_small(*structptr); + TrackField(field, GetSize()); + } + + void AddStructOffset(voffset_t field, uoffset_t off) { + TrackField(field, off); + } + + // Offsets initially are relative to the end of the buffer (downwards). + // This function converts them to be relative to the current location + // in the buffer (when stored here), pointing upwards. + uoffset_t ReferTo(uoffset_t off) { + // Align to ensure GetSize() below is correct. + Align(sizeof(uoffset_t)); + // Offset must refer to something already in buffer. + FLATBUFFERS_ASSERT(off && off <= GetSize()); + return GetSize() - off + static_cast(sizeof(uoffset_t)); + } + + void NotNested() { + // If you hit this, you're trying to construct a Table/Vector/String + // during the construction of its parent table (between the MyTableBuilder + // and table.Finish(). + // Move the creation of these sub-objects to above the MyTableBuilder to + // not get this assert. + // Ignoring this assert may appear to work in simple cases, but the reason + // it is here is that storing objects in-line may cause vtable offsets + // to not fit anymore. It also leads to vtable duplication. + FLATBUFFERS_ASSERT(!nested); + // If you hit this, fields were added outside the scope of a table. + FLATBUFFERS_ASSERT(!num_field_loc); + } + + // From generated code (or from the parser), we call StartTable/EndTable + // with a sequence of AddElement calls in between. + uoffset_t StartTable() { + NotNested(); + nested = true; + return GetSize(); + } + + // This finishes one serialized object by generating the vtable if it's a + // table, comparing it against existing vtables, and writing the + // resulting vtable offset. + uoffset_t EndTable(uoffset_t start) { + // If you get this assert, a corresponding StartTable wasn't called. + FLATBUFFERS_ASSERT(nested); + // Write the vtable offset, which is the start of any Table. + // We fill it's value later. + auto vtableoffsetloc = PushElement(0); + // Write a vtable, which consists entirely of voffset_t elements. + // It starts with the number of offsets, followed by a type id, followed + // by the offsets themselves. In reverse: + // Include space for the last offset and ensure empty tables have a + // minimum size. + max_voffset_ = + (std::max)(static_cast(max_voffset_ + sizeof(voffset_t)), + FieldIndexToOffset(0)); + buf_.fill_big(max_voffset_); + auto table_object_size = vtableoffsetloc - start; + // Vtable use 16bit offsets. + FLATBUFFERS_ASSERT(table_object_size < 0x10000); + WriteScalar(buf_.data() + sizeof(voffset_t), + static_cast(table_object_size)); + WriteScalar(buf_.data(), max_voffset_); + // Write the offsets into the table + for (auto it = buf_.scratch_end() - num_field_loc * sizeof(FieldLoc); + it < buf_.scratch_end(); it += sizeof(FieldLoc)) { + auto field_location = reinterpret_cast(it); + auto pos = static_cast(vtableoffsetloc - field_location->off); + // If this asserts, it means you've set a field twice. + FLATBUFFERS_ASSERT( + !ReadScalar(buf_.data() + field_location->id)); + WriteScalar(buf_.data() + field_location->id, pos); + } + ClearOffsets(); + auto vt1 = reinterpret_cast(buf_.data()); + auto vt1_size = ReadScalar(vt1); + auto vt_use = GetSize(); + // See if we already have generated a vtable with this exact same + // layout before. If so, make it point to the old one, remove this one. + if (dedup_vtables_) { + for (auto it = buf_.scratch_data(); it < buf_.scratch_end(); + it += sizeof(uoffset_t)) { + auto vt_offset_ptr = reinterpret_cast(it); + auto vt2 = reinterpret_cast(buf_.data_at(*vt_offset_ptr)); + auto vt2_size = *vt2; + if (vt1_size != vt2_size || 0 != memcmp(vt2, vt1, vt1_size)) continue; + vt_use = *vt_offset_ptr; + buf_.pop(GetSize() - vtableoffsetloc); + break; + } + } + // If this is a new vtable, remember it. + if (vt_use == GetSize()) { buf_.scratch_push_small(vt_use); } + // Fill the vtable offset we created above. + // The offset points from the beginning of the object to where the + // vtable is stored. + // Offsets default direction is downward in memory for future format + // flexibility (storing all vtables at the start of the file). + WriteScalar(buf_.data_at(vtableoffsetloc), + static_cast(vt_use) - + static_cast(vtableoffsetloc)); + + nested = false; + return vtableoffsetloc; + } + + FLATBUFFERS_ATTRIBUTE(deprecated("call the version above instead")) + uoffset_t EndTable(uoffset_t start, voffset_t /*numfields*/) { + return EndTable(start); + } + + // This checks a required field has been set in a given table that has + // just been constructed. + template void Required(Offset table, voffset_t field); + + uoffset_t StartStruct(size_t alignment) { + Align(alignment); + return GetSize(); + } + + uoffset_t EndStruct() { return GetSize(); } + + void ClearOffsets() { + buf_.scratch_pop(num_field_loc * sizeof(FieldLoc)); + num_field_loc = 0; + max_voffset_ = 0; + } + + // Aligns such that when "len" bytes are written, an object can be written + // after it with "alignment" without padding. + void PreAlign(size_t len, size_t alignment) { + TrackMinAlign(alignment); + buf_.fill(PaddingBytes(GetSize() + len, alignment)); + } + template void PreAlign(size_t len) { + AssertScalarT(); + PreAlign(len, sizeof(T)); + } + /// @endcond + + /// @brief Store a string in the buffer, which can contain any binary data. + /// @param[in] str A const char pointer to the data to be stored as a string. + /// @param[in] len The number of bytes that should be stored from `str`. + /// @return Returns the offset in the buffer where the string starts. + Offset CreateString(const char *str, size_t len) { + NotNested(); + PreAlign(len + 1); // Always 0-terminated. + buf_.fill(1); + PushBytes(reinterpret_cast(str), len); + PushElement(static_cast(len)); + return Offset(GetSize()); + } + + /// @brief Store a string in the buffer, which is null-terminated. + /// @param[in] str A const char pointer to a C-string to add to the buffer. + /// @return Returns the offset in the buffer where the string starts. + Offset CreateString(const char *str) { + return CreateString(str, strlen(str)); + } + + /// @brief Store a string in the buffer, which is null-terminated. + /// @param[in] str A char pointer to a C-string to add to the buffer. + /// @return Returns the offset in the buffer where the string starts. + Offset CreateString(char *str) { + return CreateString(str, strlen(str)); + } + + /// @brief Store a string in the buffer, which can contain any binary data. + /// @param[in] str A const reference to a std::string to store in the buffer. + /// @return Returns the offset in the buffer where the string starts. + Offset CreateString(const std::string &str) { + return CreateString(str.c_str(), str.length()); + } + + // clang-format off + #ifdef FLATBUFFERS_HAS_STRING_VIEW + /// @brief Store a string in the buffer, which can contain any binary data. + /// @param[in] str A const string_view to copy in to the buffer. + /// @return Returns the offset in the buffer where the string starts. + Offset CreateString(flatbuffers::string_view str) { + return CreateString(str.data(), str.size()); + } + #endif // FLATBUFFERS_HAS_STRING_VIEW + // clang-format on + + /// @brief Store a string in the buffer, which can contain any binary data. + /// @param[in] str A const pointer to a `String` struct to add to the buffer. + /// @return Returns the offset in the buffer where the string starts + Offset CreateString(const String *str) { + return str ? CreateString(str->c_str(), str->size()) : 0; + } + + /// @brief Store a string in the buffer, which can contain any binary data. + /// @param[in] str A const reference to a std::string like type with support + /// of T::c_str() and T::length() to store in the buffer. + /// @return Returns the offset in the buffer where the string starts. + template Offset CreateString(const T &str) { + return CreateString(str.c_str(), str.length()); + } + + /// @brief Store a string in the buffer, which can contain any binary data. + /// If a string with this exact contents has already been serialized before, + /// instead simply returns the offset of the existing string. + /// @param[in] str A const char pointer to the data to be stored as a string. + /// @param[in] len The number of bytes that should be stored from `str`. + /// @return Returns the offset in the buffer where the string starts. + Offset CreateSharedString(const char *str, size_t len) { + if (!string_pool) + string_pool = new StringOffsetMap(StringOffsetCompare(buf_)); + auto size_before_string = buf_.size(); + // Must first serialize the string, since the set is all offsets into + // buffer. + auto off = CreateString(str, len); + auto it = string_pool->find(off); + // If it exists we reuse existing serialized data! + if (it != string_pool->end()) { + // We can remove the string we serialized. + buf_.pop(buf_.size() - size_before_string); + return *it; + } + // Record this string for future use. + string_pool->insert(off); + return off; + } + + /// @brief Store a string in the buffer, which null-terminated. + /// If a string with this exact contents has already been serialized before, + /// instead simply returns the offset of the existing string. + /// @param[in] str A const char pointer to a C-string to add to the buffer. + /// @return Returns the offset in the buffer where the string starts. + Offset CreateSharedString(const char *str) { + return CreateSharedString(str, strlen(str)); + } + + /// @brief Store a string in the buffer, which can contain any binary data. + /// If a string with this exact contents has already been serialized before, + /// instead simply returns the offset of the existing string. + /// @param[in] str A const reference to a std::string to store in the buffer. + /// @return Returns the offset in the buffer where the string starts. + Offset CreateSharedString(const std::string &str) { + return CreateSharedString(str.c_str(), str.length()); + } + + /// @brief Store a string in the buffer, which can contain any binary data. + /// If a string with this exact contents has already been serialized before, + /// instead simply returns the offset of the existing string. + /// @param[in] str A const pointer to a `String` struct to add to the buffer. + /// @return Returns the offset in the buffer where the string starts + Offset CreateSharedString(const String *str) { + return CreateSharedString(str->c_str(), str->size()); + } + + /// @cond FLATBUFFERS_INTERNAL + uoffset_t EndVector(size_t len) { + FLATBUFFERS_ASSERT(nested); // Hit if no corresponding StartVector. + nested = false; + return PushElement(static_cast(len)); + } + + void StartVector(size_t len, size_t elemsize) { + NotNested(); + nested = true; + PreAlign(len * elemsize); + PreAlign(len * elemsize, elemsize); // Just in case elemsize > uoffset_t. + } + + // Call this right before StartVector/CreateVector if you want to force the + // alignment to be something different than what the element size would + // normally dictate. + // This is useful when storing a nested_flatbuffer in a vector of bytes, + // or when storing SIMD floats, etc. + void ForceVectorAlignment(size_t len, size_t elemsize, size_t alignment) { + PreAlign(len * elemsize, alignment); + } + + // Similar to ForceVectorAlignment but for String fields. + void ForceStringAlignment(size_t len, size_t alignment) { + PreAlign((len + 1) * sizeof(char), alignment); + } + + /// @endcond + + /// @brief Serialize an array into a FlatBuffer `vector`. + /// @tparam T The data type of the array elements. + /// @param[in] v A pointer to the array of type `T` to serialize into the + /// buffer as a `vector`. + /// @param[in] len The number of elements to serialize. + /// @return Returns a typed `Offset` into the serialized data indicating + /// where the vector is stored. + template Offset> CreateVector(const T *v, size_t len) { + // If this assert hits, you're specifying a template argument that is + // causing the wrong overload to be selected, remove it. + AssertScalarT(); + StartVector(len, sizeof(T)); + // clang-format off + #if FLATBUFFERS_LITTLEENDIAN + PushBytes(reinterpret_cast(v), len * sizeof(T)); + #else + if (sizeof(T) == 1) { + PushBytes(reinterpret_cast(v), len); + } else { + for (auto i = len; i > 0; ) { + PushElement(v[--i]); + } + } + #endif + // clang-format on + return Offset>(EndVector(len)); + } + + template + Offset>> CreateVector(const Offset *v, size_t len) { + StartVector(len, sizeof(Offset)); + for (auto i = len; i > 0;) { PushElement(v[--i]); } + return Offset>>(EndVector(len)); + } + + /// @brief Serialize a `std::vector` into a FlatBuffer `vector`. + /// @tparam T The data type of the `std::vector` elements. + /// @param v A const reference to the `std::vector` to serialize into the + /// buffer as a `vector`. + /// @return Returns a typed `Offset` into the serialized data indicating + /// where the vector is stored. + template Offset> CreateVector(const std::vector &v) { + return CreateVector(data(v), v.size()); + } + + // vector may be implemented using a bit-set, so we can't access it as + // an array. Instead, read elements manually. + // Background: https://isocpp.org/blog/2012/11/on-vectorbool + Offset> CreateVector(const std::vector &v) { + StartVector(v.size(), sizeof(uint8_t)); + for (auto i = v.size(); i > 0;) { + PushElement(static_cast(v[--i])); + } + return Offset>(EndVector(v.size())); + } + + // clang-format off + #ifndef FLATBUFFERS_CPP98_STL + /// @brief Serialize values returned by a function into a FlatBuffer `vector`. + /// This is a convenience function that takes care of iteration for you. + /// @tparam T The data type of the `std::vector` elements. + /// @param f A function that takes the current iteration 0..vector_size-1 and + /// returns any type that you can construct a FlatBuffers vector out of. + /// @return Returns a typed `Offset` into the serialized data indicating + /// where the vector is stored. + template Offset> CreateVector(size_t vector_size, + const std::function &f) { + std::vector elems(vector_size); + for (size_t i = 0; i < vector_size; i++) elems[i] = f(i); + return CreateVector(elems); + } + #endif + // clang-format on + + /// @brief Serialize values returned by a function into a FlatBuffer `vector`. + /// This is a convenience function that takes care of iteration for you. + /// @tparam T The data type of the `std::vector` elements. + /// @param f A function that takes the current iteration 0..vector_size-1, + /// and the state parameter returning any type that you can construct a + /// FlatBuffers vector out of. + /// @param state State passed to f. + /// @return Returns a typed `Offset` into the serialized data indicating + /// where the vector is stored. + template + Offset> CreateVector(size_t vector_size, F f, S *state) { + std::vector elems(vector_size); + for (size_t i = 0; i < vector_size; i++) elems[i] = f(i, state); + return CreateVector(elems); + } + + /// @brief Serialize a `std::vector` into a FlatBuffer `vector`. + /// This is a convenience function for a common case. + /// @param v A const reference to the `std::vector` to serialize into the + /// buffer as a `vector`. + /// @return Returns a typed `Offset` into the serialized data indicating + /// where the vector is stored. + Offset>> CreateVectorOfStrings( + const std::vector &v) { + std::vector> offsets(v.size()); + for (size_t i = 0; i < v.size(); i++) offsets[i] = CreateString(v[i]); + return CreateVector(offsets); + } + + /// @brief Serialize an array of structs into a FlatBuffer `vector`. + /// @tparam T The data type of the struct array elements. + /// @param[in] v A pointer to the array of type `T` to serialize into the + /// buffer as a `vector`. + /// @param[in] len The number of elements to serialize. + /// @return Returns a typed `Offset` into the serialized data indicating + /// where the vector is stored. + template + Offset> CreateVectorOfStructs(const T *v, size_t len) { + StartVector(len * sizeof(T) / AlignOf(), AlignOf()); + PushBytes(reinterpret_cast(v), sizeof(T) * len); + return Offset>(EndVector(len)); + } + + /// @brief Serialize an array of native structs into a FlatBuffer `vector`. + /// @tparam T The data type of the struct array elements. + /// @tparam S The data type of the native struct array elements. + /// @param[in] v A pointer to the array of type `S` to serialize into the + /// buffer as a `vector`. + /// @param[in] len The number of elements to serialize. + /// @return Returns a typed `Offset` into the serialized data indicating + /// where the vector is stored. + template + Offset> CreateVectorOfNativeStructs(const S *v, + size_t len) { + extern T Pack(const S &); + typedef T (*Pack_t)(const S &); + std::vector vv(len); + std::transform(v, v + len, vv.begin(), static_cast(Pack)); + return CreateVectorOfStructs(vv.data(), vv.size()); + } + + // clang-format off + #ifndef FLATBUFFERS_CPP98_STL + /// @brief Serialize an array of structs into a FlatBuffer `vector`. + /// @tparam T The data type of the struct array elements. + /// @param[in] f A function that takes the current iteration 0..vector_size-1 + /// and a pointer to the struct that must be filled. + /// @return Returns a typed `Offset` into the serialized data indicating + /// where the vector is stored. + /// This is mostly useful when flatbuffers are generated with mutation + /// accessors. + template Offset> CreateVectorOfStructs( + size_t vector_size, const std::function &filler) { + T* structs = StartVectorOfStructs(vector_size); + for (size_t i = 0; i < vector_size; i++) { + filler(i, structs); + structs++; + } + return EndVectorOfStructs(vector_size); + } + #endif + // clang-format on + + /// @brief Serialize an array of structs into a FlatBuffer `vector`. + /// @tparam T The data type of the struct array elements. + /// @param[in] f A function that takes the current iteration 0..vector_size-1, + /// a pointer to the struct that must be filled and the state argument. + /// @param[in] state Arbitrary state to pass to f. + /// @return Returns a typed `Offset` into the serialized data indicating + /// where the vector is stored. + /// This is mostly useful when flatbuffers are generated with mutation + /// accessors. + template + Offset> CreateVectorOfStructs(size_t vector_size, F f, + S *state) { + T *structs = StartVectorOfStructs(vector_size); + for (size_t i = 0; i < vector_size; i++) { + f(i, structs, state); + structs++; + } + return EndVectorOfStructs(vector_size); + } + + /// @brief Serialize a `std::vector` of structs into a FlatBuffer `vector`. + /// @tparam T The data type of the `std::vector` struct elements. + /// @param[in]] v A const reference to the `std::vector` of structs to + /// serialize into the buffer as a `vector`. + /// @return Returns a typed `Offset` into the serialized data indicating + /// where the vector is stored. + template + Offset> CreateVectorOfStructs( + const std::vector &v) { + return CreateVectorOfStructs(data(v), v.size()); + } + + /// @brief Serialize a `std::vector` of native structs into a FlatBuffer + /// `vector`. + /// @tparam T The data type of the `std::vector` struct elements. + /// @tparam S The data type of the `std::vector` native struct elements. + /// @param[in]] v A const reference to the `std::vector` of structs to + /// serialize into the buffer as a `vector`. + /// @return Returns a typed `Offset` into the serialized data indicating + /// where the vector is stored. + template + Offset> CreateVectorOfNativeStructs( + const std::vector &v) { + return CreateVectorOfNativeStructs(data(v), v.size()); + } + + /// @cond FLATBUFFERS_INTERNAL + template struct StructKeyComparator { + bool operator()(const T &a, const T &b) const { + return a.KeyCompareLessThan(&b); + } + + private: + StructKeyComparator &operator=(const StructKeyComparator &); + }; + /// @endcond + + /// @brief Serialize a `std::vector` of structs into a FlatBuffer `vector` + /// in sorted order. + /// @tparam T The data type of the `std::vector` struct elements. + /// @param[in]] v A const reference to the `std::vector` of structs to + /// serialize into the buffer as a `vector`. + /// @return Returns a typed `Offset` into the serialized data indicating + /// where the vector is stored. + template + Offset> CreateVectorOfSortedStructs(std::vector *v) { + return CreateVectorOfSortedStructs(data(*v), v->size()); + } + + /// @brief Serialize a `std::vector` of native structs into a FlatBuffer + /// `vector` in sorted order. + /// @tparam T The data type of the `std::vector` struct elements. + /// @tparam S The data type of the `std::vector` native struct elements. + /// @param[in]] v A const reference to the `std::vector` of structs to + /// serialize into the buffer as a `vector`. + /// @return Returns a typed `Offset` into the serialized data indicating + /// where the vector is stored. + template + Offset> CreateVectorOfSortedNativeStructs( + std::vector *v) { + return CreateVectorOfSortedNativeStructs(data(*v), v->size()); + } + + /// @brief Serialize an array of structs into a FlatBuffer `vector` in sorted + /// order. + /// @tparam T The data type of the struct array elements. + /// @param[in] v A pointer to the array of type `T` to serialize into the + /// buffer as a `vector`. + /// @param[in] len The number of elements to serialize. + /// @return Returns a typed `Offset` into the serialized data indicating + /// where the vector is stored. + template + Offset> CreateVectorOfSortedStructs(T *v, size_t len) { + std::sort(v, v + len, StructKeyComparator()); + return CreateVectorOfStructs(v, len); + } + + /// @brief Serialize an array of native structs into a FlatBuffer `vector` in + /// sorted order. + /// @tparam T The data type of the struct array elements. + /// @tparam S The data type of the native struct array elements. + /// @param[in] v A pointer to the array of type `S` to serialize into the + /// buffer as a `vector`. + /// @param[in] len The number of elements to serialize. + /// @return Returns a typed `Offset` into the serialized data indicating + /// where the vector is stored. + template + Offset> CreateVectorOfSortedNativeStructs(S *v, + size_t len) { + extern T Pack(const S &); + typedef T (*Pack_t)(const S &); + std::vector vv(len); + std::transform(v, v + len, vv.begin(), static_cast(Pack)); + return CreateVectorOfSortedStructs(vv, len); + } + + /// @cond FLATBUFFERS_INTERNAL + template struct TableKeyComparator { + TableKeyComparator(vector_downward &buf) : buf_(buf) {} + bool operator()(const Offset &a, const Offset &b) const { + auto table_a = reinterpret_cast(buf_.data_at(a.o)); + auto table_b = reinterpret_cast(buf_.data_at(b.o)); + return table_a->KeyCompareLessThan(table_b); + } + vector_downward &buf_; + + private: + TableKeyComparator &operator=(const TableKeyComparator &); + }; + /// @endcond + + /// @brief Serialize an array of `table` offsets as a `vector` in the buffer + /// in sorted order. + /// @tparam T The data type that the offset refers to. + /// @param[in] v An array of type `Offset` that contains the `table` + /// offsets to store in the buffer in sorted order. + /// @param[in] len The number of elements to store in the `vector`. + /// @return Returns a typed `Offset` into the serialized data indicating + /// where the vector is stored. + template + Offset>> CreateVectorOfSortedTables(Offset *v, + size_t len) { + std::sort(v, v + len, TableKeyComparator(buf_)); + return CreateVector(v, len); + } + + /// @brief Serialize an array of `table` offsets as a `vector` in the buffer + /// in sorted order. + /// @tparam T The data type that the offset refers to. + /// @param[in] v An array of type `Offset` that contains the `table` + /// offsets to store in the buffer in sorted order. + /// @return Returns a typed `Offset` into the serialized data indicating + /// where the vector is stored. + template + Offset>> CreateVectorOfSortedTables( + std::vector> *v) { + return CreateVectorOfSortedTables(data(*v), v->size()); + } + + /// @brief Specialized version of `CreateVector` for non-copying use cases. + /// Write the data any time later to the returned buffer pointer `buf`. + /// @param[in] len The number of elements to store in the `vector`. + /// @param[in] elemsize The size of each element in the `vector`. + /// @param[out] buf A pointer to a `uint8_t` pointer that can be + /// written to at a later time to serialize the data into a `vector` + /// in the buffer. + uoffset_t CreateUninitializedVector(size_t len, size_t elemsize, + uint8_t **buf) { + NotNested(); + StartVector(len, elemsize); + buf_.make_space(len * elemsize); + auto vec_start = GetSize(); + auto vec_end = EndVector(len); + *buf = buf_.data_at(vec_start); + return vec_end; + } + + /// @brief Specialized version of `CreateVector` for non-copying use cases. + /// Write the data any time later to the returned buffer pointer `buf`. + /// @tparam T The data type of the data that will be stored in the buffer + /// as a `vector`. + /// @param[in] len The number of elements to store in the `vector`. + /// @param[out] buf A pointer to a pointer of type `T` that can be + /// written to at a later time to serialize the data into a `vector` + /// in the buffer. + template + Offset> CreateUninitializedVector(size_t len, T **buf) { + AssertScalarT(); + return CreateUninitializedVector(len, sizeof(T), + reinterpret_cast(buf)); + } + + template + Offset> CreateUninitializedVectorOfStructs(size_t len, T **buf) { + return CreateUninitializedVector(len, sizeof(T), + reinterpret_cast(buf)); + } + + + // @brief Create a vector of scalar type T given as input a vector of scalar + // type U, useful with e.g. pre "enum class" enums, or any existing scalar + // data of the wrong type. + template + Offset> CreateVectorScalarCast(const U *v, size_t len) { + AssertScalarT(); + AssertScalarT(); + StartVector(len, sizeof(T)); + for (auto i = len; i > 0;) { PushElement(static_cast(v[--i])); } + return Offset>(EndVector(len)); + } + + /// @brief Write a struct by itself, typically to be part of a union. + template Offset CreateStruct(const T &structobj) { + NotNested(); + Align(AlignOf()); + buf_.push_small(structobj); + return Offset(GetSize()); + } + + /// @brief The length of a FlatBuffer file header. + static const size_t kFileIdentifierLength = 4; + + /// @brief Finish serializing a buffer by writing the root offset. + /// @param[in] file_identifier If a `file_identifier` is given, the buffer + /// will be prefixed with a standard FlatBuffers file header. + template + void Finish(Offset root, const char *file_identifier = nullptr) { + Finish(root.o, file_identifier, false); + } + + /// @brief Finish a buffer with a 32 bit size field pre-fixed (size of the + /// buffer following the size field). These buffers are NOT compatible + /// with standard buffers created by Finish, i.e. you can't call GetRoot + /// on them, you have to use GetSizePrefixedRoot instead. + /// All >32 bit quantities in this buffer will be aligned when the whole + /// size pre-fixed buffer is aligned. + /// These kinds of buffers are useful for creating a stream of FlatBuffers. + template + void FinishSizePrefixed(Offset root, + const char *file_identifier = nullptr) { + Finish(root.o, file_identifier, true); + } + + void SwapBufAllocator(FlatBufferBuilder &other) { + buf_.swap_allocator(other.buf_); + } + +protected: + + // You shouldn't really be copying instances of this class. + FlatBufferBuilder(const FlatBufferBuilder &); + FlatBufferBuilder &operator=(const FlatBufferBuilder &); + + void Finish(uoffset_t root, const char *file_identifier, bool size_prefix) { + NotNested(); + buf_.clear_scratch(); + // This will cause the whole buffer to be aligned. + PreAlign((size_prefix ? sizeof(uoffset_t) : 0) + sizeof(uoffset_t) + + (file_identifier ? kFileIdentifierLength : 0), + minalign_); + if (file_identifier) { + FLATBUFFERS_ASSERT(strlen(file_identifier) == kFileIdentifierLength); + PushBytes(reinterpret_cast(file_identifier), + kFileIdentifierLength); + } + PushElement(ReferTo(root)); // Location of root. + if (size_prefix) { PushElement(GetSize()); } + finished = true; + } + + struct FieldLoc { + uoffset_t off; + voffset_t id; + }; + + vector_downward buf_; + + // Accumulating offsets of table members while it is being built. + // We store these in the scratch pad of buf_, after the vtable offsets. + uoffset_t num_field_loc; + // Track how much of the vtable is in use, so we can output the most compact + // possible vtable. + voffset_t max_voffset_; + + // Ensure objects are not nested. + bool nested; + + // Ensure the buffer is finished before it is being accessed. + bool finished; + + size_t minalign_; + + bool force_defaults_; // Serialize values equal to their defaults anyway. + + bool dedup_vtables_; + + struct StringOffsetCompare { + StringOffsetCompare(const vector_downward &buf) : buf_(&buf) {} + bool operator()(const Offset &a, const Offset &b) const { + auto stra = reinterpret_cast(buf_->data_at(a.o)); + auto strb = reinterpret_cast(buf_->data_at(b.o)); + return StringLessThan(stra->data(), stra->size(), + strb->data(), strb->size()); + } + const vector_downward *buf_; + }; + + // For use with CreateSharedString. Instantiated on first use only. + typedef std::set, StringOffsetCompare> StringOffsetMap; + StringOffsetMap *string_pool; + + private: + // Allocates space for a vector of structures. + // Must be completed with EndVectorOfStructs(). + template T *StartVectorOfStructs(size_t vector_size) { + StartVector(vector_size * sizeof(T) / AlignOf(), AlignOf()); + return reinterpret_cast(buf_.make_space(vector_size * sizeof(T))); + } + + // End the vector of structues in the flatbuffers. + // Vector should have previously be started with StartVectorOfStructs(). + template + Offset> EndVectorOfStructs(size_t vector_size) { + return Offset>(EndVector(vector_size)); + } +}; +/// @} + +/// @cond FLATBUFFERS_INTERNAL +// Helpers to get a typed pointer to the root object contained in the buffer. +template T *GetMutableRoot(void *buf) { + EndianCheck(); + return reinterpret_cast( + reinterpret_cast(buf) + + EndianScalar(*reinterpret_cast(buf))); +} + +template const T *GetRoot(const void *buf) { + return GetMutableRoot(const_cast(buf)); +} + +template const T *GetSizePrefixedRoot(const void *buf) { + return GetRoot(reinterpret_cast(buf) + sizeof(uoffset_t)); +} + +/// Helpers to get a typed pointer to objects that are currently being built. +/// @warning Creating new objects will lead to reallocations and invalidates +/// the pointer! +template +T *GetMutableTemporaryPointer(FlatBufferBuilder &fbb, Offset offset) { + return reinterpret_cast(fbb.GetCurrentBufferPointer() + fbb.GetSize() - + offset.o); +} + +template +const T *GetTemporaryPointer(FlatBufferBuilder &fbb, Offset offset) { + return GetMutableTemporaryPointer(fbb, offset); +} + +/// @brief Get a pointer to the the file_identifier section of the buffer. +/// @return Returns a const char pointer to the start of the file_identifier +/// characters in the buffer. The returned char * has length +/// 'flatbuffers::FlatBufferBuilder::kFileIdentifierLength'. +/// This function is UNDEFINED for FlatBuffers whose schema does not include +/// a file_identifier (likely points at padding or the start of a the root +/// vtable). +inline const char *GetBufferIdentifier(const void *buf, bool size_prefixed = false) { + return reinterpret_cast(buf) + + ((size_prefixed) ? 2 * sizeof(uoffset_t) : sizeof(uoffset_t)); +} + +// Helper to see if the identifier in a buffer has the expected value. +inline bool BufferHasIdentifier(const void *buf, const char *identifier, bool size_prefixed = false) { + return strncmp(GetBufferIdentifier(buf, size_prefixed), identifier, + FlatBufferBuilder::kFileIdentifierLength) == 0; +} + +// Helper class to verify the integrity of a FlatBuffer +class Verifier FLATBUFFERS_FINAL_CLASS { + public: + Verifier(const uint8_t *buf, size_t buf_len, uoffset_t _max_depth = 64, + uoffset_t _max_tables = 1000000, bool _check_alignment = true) + : buf_(buf), + size_(buf_len), + depth_(0), + max_depth_(_max_depth), + num_tables_(0), + max_tables_(_max_tables), + upper_bound_(0), + check_alignment_(_check_alignment) + { + FLATBUFFERS_ASSERT(size_ < FLATBUFFERS_MAX_BUFFER_SIZE); + } + + // Central location where any verification failures register. + bool Check(bool ok) const { + // clang-format off + #ifdef FLATBUFFERS_DEBUG_VERIFICATION_FAILURE + FLATBUFFERS_ASSERT(ok); + #endif + #ifdef FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE + if (!ok) + upper_bound_ = 0; + #endif + // clang-format on + return ok; + } + + // Verify any range within the buffer. + bool Verify(size_t elem, size_t elem_len) const { + // clang-format off + #ifdef FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE + auto upper_bound = elem + elem_len; + if (upper_bound_ < upper_bound) + upper_bound_ = upper_bound; + #endif + // clang-format on + return Check(elem_len < size_ && elem <= size_ - elem_len); + } + + template bool VerifyAlignment(size_t elem) const { + return (elem & (sizeof(T) - 1)) == 0 || !check_alignment_; + } + + // Verify a range indicated by sizeof(T). + template bool Verify(size_t elem) const { + return VerifyAlignment(elem) && Verify(elem, sizeof(T)); + } + + // Verify relative to a known-good base pointer. + bool Verify(const uint8_t *base, voffset_t elem_off, size_t elem_len) const { + return Verify(static_cast(base - buf_) + elem_off, elem_len); + } + + template bool Verify(const uint8_t *base, voffset_t elem_off) + const { + return Verify(static_cast(base - buf_) + elem_off, sizeof(T)); + } + + // Verify a pointer (may be NULL) of a table type. + template bool VerifyTable(const T *table) { + return !table || table->Verify(*this); + } + + // Verify a pointer (may be NULL) of any vector type. + template bool VerifyVector(const Vector *vec) const { + return !vec || VerifyVectorOrString(reinterpret_cast(vec), + sizeof(T)); + } + + // Verify a pointer (may be NULL) of a vector to struct. + template bool VerifyVector(const Vector *vec) const { + return VerifyVector(reinterpret_cast *>(vec)); + } + + // Verify a pointer (may be NULL) to string. + bool VerifyString(const String *str) const { + size_t end; + return !str || + (VerifyVectorOrString(reinterpret_cast(str), + 1, &end) && + Verify(end, 1) && // Must have terminator + Check(buf_[end] == '\0')); // Terminating byte must be 0. + } + + // Common code between vectors and strings. + bool VerifyVectorOrString(const uint8_t *vec, size_t elem_size, + size_t *end = nullptr) const { + auto veco = static_cast(vec - buf_); + // Check we can read the size field. + if (!Verify(veco)) return false; + // Check the whole array. If this is a string, the byte past the array + // must be 0. + auto size = ReadScalar(vec); + auto max_elems = FLATBUFFERS_MAX_BUFFER_SIZE / elem_size; + if (!Check(size < max_elems)) + return false; // Protect against byte_size overflowing. + auto byte_size = sizeof(size) + elem_size * size; + if (end) *end = veco + byte_size; + return Verify(veco, byte_size); + } + + // Special case for string contents, after the above has been called. + bool VerifyVectorOfStrings(const Vector> *vec) const { + if (vec) { + for (uoffset_t i = 0; i < vec->size(); i++) { + if (!VerifyString(vec->Get(i))) return false; + } + } + return true; + } + + // Special case for table contents, after the above has been called. + template bool VerifyVectorOfTables(const Vector> *vec) { + if (vec) { + for (uoffset_t i = 0; i < vec->size(); i++) { + if (!vec->Get(i)->Verify(*this)) return false; + } + } + return true; + } + + bool VerifyTableStart(const uint8_t *table) { + // Check the vtable offset. + auto tableo = static_cast(table - buf_); + if (!Verify(tableo)) return false; + // This offset may be signed, but doing the substraction unsigned always + // gives the result we want. + auto vtableo = tableo - static_cast(ReadScalar(table)); + // Check the vtable size field, then check vtable fits in its entirety. + return VerifyComplexity() && Verify(vtableo) && + VerifyAlignment(ReadScalar(buf_ + vtableo)) && + Verify(vtableo, ReadScalar(buf_ + vtableo)); + } + + template + bool VerifyBufferFromStart(const char *identifier, size_t start) { + if (identifier && + (size_ < 2 * sizeof(flatbuffers::uoffset_t) || + !BufferHasIdentifier(buf_ + start, identifier))) { + return false; + } + + // Call T::Verify, which must be in the generated code for this type. + auto o = VerifyOffset(start); + return o && reinterpret_cast(buf_ + start + o)->Verify(*this) + // clang-format off + #ifdef FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE + && GetComputedSize() + #endif + ; + // clang-format on + } + + // Verify this whole buffer, starting with root type T. + template bool VerifyBuffer() { return VerifyBuffer(nullptr); } + + template bool VerifyBuffer(const char *identifier) { + return VerifyBufferFromStart(identifier, 0); + } + + template bool VerifySizePrefixedBuffer(const char *identifier) { + return Verify(0U) && + ReadScalar(buf_) == size_ - sizeof(uoffset_t) && + VerifyBufferFromStart(identifier, sizeof(uoffset_t)); + } + + uoffset_t VerifyOffset(size_t start) const { + if (!Verify(start)) return 0; + auto o = ReadScalar(buf_ + start); + // May not point to itself. + if (!Check(o != 0)) return 0; + // Can't wrap around / buffers are max 2GB. + if (!Check(static_cast(o) >= 0)) return 0; + // Must be inside the buffer to create a pointer from it (pointer outside + // buffer is UB). + if (!Verify(start + o, 1)) return 0; + return o; + } + + uoffset_t VerifyOffset(const uint8_t *base, voffset_t start) const { + return VerifyOffset(static_cast(base - buf_) + start); + } + + // Called at the start of a table to increase counters measuring data + // structure depth and amount, and possibly bails out with false if + // limits set by the constructor have been hit. Needs to be balanced + // with EndTable(). + bool VerifyComplexity() { + depth_++; + num_tables_++; + return Check(depth_ <= max_depth_ && num_tables_ <= max_tables_); + } + + // Called at the end of a table to pop the depth count. + bool EndTable() { + depth_--; + return true; + } + + // Returns the message size in bytes + size_t GetComputedSize() const { + // clang-format off + #ifdef FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE + uintptr_t size = upper_bound_; + // Align the size to uoffset_t + size = (size - 1 + sizeof(uoffset_t)) & ~(sizeof(uoffset_t) - 1); + return (size > size_) ? 0 : size; + #else + // Must turn on FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE for this to work. + (void)upper_bound_; + FLATBUFFERS_ASSERT(false); + return 0; + #endif + // clang-format on + } + + private: + const uint8_t *buf_; + size_t size_; + uoffset_t depth_; + uoffset_t max_depth_; + uoffset_t num_tables_; + uoffset_t max_tables_; + mutable size_t upper_bound_; + bool check_alignment_; +}; + +// Convenient way to bundle a buffer and its length, to pass it around +// typed by its root. +// A BufferRef does not own its buffer. +struct BufferRefBase {}; // for std::is_base_of +template struct BufferRef : BufferRefBase { + BufferRef() : buf(nullptr), len(0), must_free(false) {} + BufferRef(uint8_t *_buf, uoffset_t _len) + : buf(_buf), len(_len), must_free(false) {} + + ~BufferRef() { + if (must_free) free(buf); + } + + const T *GetRoot() const { return flatbuffers::GetRoot(buf); } + + bool Verify() { + Verifier verifier(buf, len); + return verifier.VerifyBuffer(nullptr); + } + + uint8_t *buf; + uoffset_t len; + bool must_free; +}; + +// "structs" are flat structures that do not have an offset table, thus +// always have all members present and do not support forwards/backwards +// compatible extensions. + +class Struct FLATBUFFERS_FINAL_CLASS { + public: + template T GetField(uoffset_t o) const { + return ReadScalar(&data_[o]); + } + + template T GetStruct(uoffset_t o) const { + return reinterpret_cast(&data_[o]); + } + + const uint8_t *GetAddressOf(uoffset_t o) const { return &data_[o]; } + uint8_t *GetAddressOf(uoffset_t o) { return &data_[o]; } + + private: + uint8_t data_[1]; +}; + +// "tables" use an offset table (possibly shared) that allows fields to be +// omitted and added at will, but uses an extra indirection to read. +class Table { + public: + const uint8_t *GetVTable() const { + return data_ - ReadScalar(data_); + } + + // This gets the field offset for any of the functions below it, or 0 + // if the field was not present. + voffset_t GetOptionalFieldOffset(voffset_t field) const { + // The vtable offset is always at the start. + auto vtable = GetVTable(); + // The first element is the size of the vtable (fields + type id + itself). + auto vtsize = ReadScalar(vtable); + // If the field we're accessing is outside the vtable, we're reading older + // data, so it's the same as if the offset was 0 (not present). + return field < vtsize ? ReadScalar(vtable + field) : 0; + } + + template T GetField(voffset_t field, T defaultval) const { + auto field_offset = GetOptionalFieldOffset(field); + return field_offset ? ReadScalar(data_ + field_offset) : defaultval; + } + + template P GetPointer(voffset_t field) { + auto field_offset = GetOptionalFieldOffset(field); + auto p = data_ + field_offset; + return field_offset ? reinterpret_cast

(p + ReadScalar(p)) + : nullptr; + } + template P GetPointer(voffset_t field) const { + return const_cast(this)->GetPointer

(field); + } + + template P GetStruct(voffset_t field) const { + auto field_offset = GetOptionalFieldOffset(field); + auto p = const_cast(data_ + field_offset); + return field_offset ? reinterpret_cast

(p) : nullptr; + } + + template bool SetField(voffset_t field, T val, T def) { + auto field_offset = GetOptionalFieldOffset(field); + if (!field_offset) return IsTheSameAs(val, def); + WriteScalar(data_ + field_offset, val); + return true; + } + + bool SetPointer(voffset_t field, const uint8_t *val) { + auto field_offset = GetOptionalFieldOffset(field); + if (!field_offset) return false; + WriteScalar(data_ + field_offset, + static_cast(val - (data_ + field_offset))); + return true; + } + + uint8_t *GetAddressOf(voffset_t field) { + auto field_offset = GetOptionalFieldOffset(field); + return field_offset ? data_ + field_offset : nullptr; + } + const uint8_t *GetAddressOf(voffset_t field) const { + return const_cast

(this)->GetAddressOf(field); + } + + bool CheckField(voffset_t field) const { + return GetOptionalFieldOffset(field) != 0; + } + + // Verify the vtable of this table. + // Call this once per table, followed by VerifyField once per field. + bool VerifyTableStart(Verifier &verifier) const { + return verifier.VerifyTableStart(data_); + } + + // Verify a particular field. + template + bool VerifyField(const Verifier &verifier, voffset_t field) const { + // Calling GetOptionalFieldOffset should be safe now thanks to + // VerifyTable(). + auto field_offset = GetOptionalFieldOffset(field); + // Check the actual field. + return !field_offset || verifier.Verify(data_, field_offset); + } + + // VerifyField for required fields. + template + bool VerifyFieldRequired(const Verifier &verifier, voffset_t field) const { + auto field_offset = GetOptionalFieldOffset(field); + return verifier.Check(field_offset != 0) && + verifier.Verify(data_, field_offset); + } + + // Versions for offsets. + bool VerifyOffset(const Verifier &verifier, voffset_t field) const { + auto field_offset = GetOptionalFieldOffset(field); + return !field_offset || verifier.VerifyOffset(data_, field_offset); + } + + bool VerifyOffsetRequired(const Verifier &verifier, voffset_t field) const { + auto field_offset = GetOptionalFieldOffset(field); + return verifier.Check(field_offset != 0) && + verifier.VerifyOffset(data_, field_offset); + } + + private: + // private constructor & copy constructor: you obtain instances of this + // class by pointing to existing data only + Table(); + Table(const Table &other); + + uint8_t data_[1]; +}; + +template void FlatBufferBuilder::Required(Offset table, + voffset_t field) { + auto table_ptr = reinterpret_cast(buf_.data_at(table.o)); + bool ok = table_ptr->GetOptionalFieldOffset(field) != 0; + // If this fails, the caller will show what field needs to be set. + FLATBUFFERS_ASSERT(ok); + (void)ok; +} + +/// @brief This can compute the start of a FlatBuffer from a root pointer, i.e. +/// it is the opposite transformation of GetRoot(). +/// This may be useful if you want to pass on a root and have the recipient +/// delete the buffer afterwards. +inline const uint8_t *GetBufferStartFromRootPointer(const void *root) { + auto table = reinterpret_cast(root); + auto vtable = table->GetVTable(); + // Either the vtable is before the root or after the root. + auto start = (std::min)(vtable, reinterpret_cast(root)); + // Align to at least sizeof(uoffset_t). + start = reinterpret_cast(reinterpret_cast(start) & + ~(sizeof(uoffset_t) - 1)); + // Additionally, there may be a file_identifier in the buffer, and the root + // offset. The buffer may have been aligned to any size between + // sizeof(uoffset_t) and FLATBUFFERS_MAX_ALIGNMENT (see "force_align"). + // Sadly, the exact alignment is only known when constructing the buffer, + // since it depends on the presence of values with said alignment properties. + // So instead, we simply look at the next uoffset_t values (root, + // file_identifier, and alignment padding) to see which points to the root. + // None of the other values can "impersonate" the root since they will either + // be 0 or four ASCII characters. + static_assert(FlatBufferBuilder::kFileIdentifierLength == sizeof(uoffset_t), + "file_identifier is assumed to be the same size as uoffset_t"); + for (auto possible_roots = FLATBUFFERS_MAX_ALIGNMENT / sizeof(uoffset_t) + 1; + possible_roots; possible_roots--) { + start -= sizeof(uoffset_t); + if (ReadScalar(start) + start == + reinterpret_cast(root)) + return start; + } + // We didn't find the root, either the "root" passed isn't really a root, + // or the buffer is corrupt. + // Assert, because calling this function with bad data may cause reads + // outside of buffer boundaries. + FLATBUFFERS_ASSERT(false); + return nullptr; +} + +/// @brief This return the prefixed size of a FlatBuffer. +inline uoffset_t GetPrefixedSize(const uint8_t* buf){ return ReadScalar(buf); } + +// Base class for native objects (FlatBuffer data de-serialized into native +// C++ data structures). +// Contains no functionality, purely documentative. +struct NativeTable {}; + +/// @brief Function types to be used with resolving hashes into objects and +/// back again. The resolver gets a pointer to a field inside an object API +/// object that is of the type specified in the schema using the attribute +/// `cpp_type` (it is thus important whatever you write to this address +/// matches that type). The value of this field is initially null, so you +/// may choose to implement a delayed binding lookup using this function +/// if you wish. The resolver does the opposite lookup, for when the object +/// is being serialized again. +typedef uint64_t hash_value_t; +// clang-format off +#ifdef FLATBUFFERS_CPP98_STL + typedef void (*resolver_function_t)(void **pointer_adr, hash_value_t hash); + typedef hash_value_t (*rehasher_function_t)(void *pointer); +#else + typedef std::function + resolver_function_t; + typedef std::function rehasher_function_t; +#endif +// clang-format on + +// Helper function to test if a field is present, using any of the field +// enums in the generated code. +// `table` must be a generated table type. Since this is a template parameter, +// this is not typechecked to be a subclass of Table, so beware! +// Note: this function will return false for fields equal to the default +// value, since they're not stored in the buffer (unless force_defaults was +// used). +template +bool IsFieldPresent(const T *table, typename T::FlatBuffersVTableOffset field) { + // Cast, since Table is a private baseclass of any table types. + return reinterpret_cast(table)->CheckField( + static_cast(field)); +} + +// Utility function for reverse lookups on the EnumNames*() functions +// (in the generated C++ code) +// names must be NULL terminated. +inline int LookupEnum(const char **names, const char *name) { + for (const char **p = names; *p; p++) + if (!strcmp(*p, name)) return static_cast(p - names); + return -1; +} + +// These macros allow us to layout a struct with a guarantee that they'll end +// up looking the same on different compilers and platforms. +// It does this by disallowing the compiler to do any padding, and then +// does padding itself by inserting extra padding fields that make every +// element aligned to its own size. +// Additionally, it manually sets the alignment of the struct as a whole, +// which is typically its largest element, or a custom size set in the schema +// by the force_align attribute. +// These are used in the generated code only. + +// clang-format off +#if defined(_MSC_VER) + #define FLATBUFFERS_MANUALLY_ALIGNED_STRUCT(alignment) \ + __pragma(pack(1)) \ + struct __declspec(align(alignment)) + #define FLATBUFFERS_STRUCT_END(name, size) \ + __pragma(pack()) \ + static_assert(sizeof(name) == size, "compiler breaks packing rules") +#elif defined(__GNUC__) || defined(__clang__) + #define FLATBUFFERS_MANUALLY_ALIGNED_STRUCT(alignment) \ + _Pragma("pack(1)") \ + struct __attribute__((aligned(alignment))) + #define FLATBUFFERS_STRUCT_END(name, size) \ + _Pragma("pack()") \ + static_assert(sizeof(name) == size, "compiler breaks packing rules") +#else + #error Unknown compiler, please define structure alignment macros +#endif +// clang-format on + +// Minimal reflection via code generation. +// Besides full-fat reflection (see reflection.h) and parsing/printing by +// loading schemas (see idl.h), we can also have code generation for mimimal +// reflection data which allows pretty-printing and other uses without needing +// a schema or a parser. +// Generate code with --reflect-types (types only) or --reflect-names (names +// also) to enable. +// See minireflect.h for utilities using this functionality. + +// These types are organized slightly differently as the ones in idl.h. +enum SequenceType { ST_TABLE, ST_STRUCT, ST_UNION, ST_ENUM }; + +// Scalars have the same order as in idl.h +// clang-format off +#define FLATBUFFERS_GEN_ELEMENTARY_TYPES(ET) \ + ET(ET_UTYPE) \ + ET(ET_BOOL) \ + ET(ET_CHAR) \ + ET(ET_UCHAR) \ + ET(ET_SHORT) \ + ET(ET_USHORT) \ + ET(ET_INT) \ + ET(ET_UINT) \ + ET(ET_LONG) \ + ET(ET_ULONG) \ + ET(ET_FLOAT) \ + ET(ET_DOUBLE) \ + ET(ET_STRING) \ + ET(ET_SEQUENCE) // See SequenceType. + +enum ElementaryType { + #define FLATBUFFERS_ET(E) E, + FLATBUFFERS_GEN_ELEMENTARY_TYPES(FLATBUFFERS_ET) + #undef FLATBUFFERS_ET +}; + +inline const char * const *ElementaryTypeNames() { + static const char * const names[] = { + #define FLATBUFFERS_ET(E) #E, + FLATBUFFERS_GEN_ELEMENTARY_TYPES(FLATBUFFERS_ET) + #undef FLATBUFFERS_ET + }; + return names; +} +// clang-format on + +// Basic type info cost just 16bits per field! +struct TypeCode { + uint16_t base_type : 4; // ElementaryType + uint16_t is_vector : 1; + int16_t sequence_ref : 11; // Index into type_refs below, or -1 for none. +}; + +static_assert(sizeof(TypeCode) == 2, "TypeCode"); + +struct TypeTable; + +// Signature of the static method present in each type. +typedef const TypeTable *(*TypeFunction)(); + +struct TypeTable { + SequenceType st; + size_t num_elems; // of type_codes, values, names (but not type_refs). + const TypeCode *type_codes; // num_elems count + const TypeFunction *type_refs; // less than num_elems entries (see TypeCode). + const int64_t *values; // Only set for non-consecutive enum/union or structs. + const char * const *names; // Only set if compiled with --reflect-names. +}; + +// String which identifies the current version of FlatBuffers. +// flatbuffer_version_string is used by Google developers to identify which +// applications uploaded to Google Play are using this library. This allows +// the development team at Google to determine the popularity of the library. +// How it works: Applications that are uploaded to the Google Play Store are +// scanned for this version string. We track which applications are using it +// to measure popularity. You are free to remove it (of course) but we would +// appreciate if you left it in. + +// Weak linkage is culled by VS & doesn't work on cygwin. +// clang-format off +#if !defined(_WIN32) && !defined(__CYGWIN__) + +extern volatile __attribute__((weak)) const char *flatbuffer_version_string; +volatile __attribute__((weak)) const char *flatbuffer_version_string = + "FlatBuffers " + FLATBUFFERS_STRING(FLATBUFFERS_VERSION_MAJOR) "." + FLATBUFFERS_STRING(FLATBUFFERS_VERSION_MINOR) "." + FLATBUFFERS_STRING(FLATBUFFERS_VERSION_REVISION); + +#endif // !defined(_WIN32) && !defined(__CYGWIN__) + +#define FLATBUFFERS_DEFINE_BITMASK_OPERATORS(E, T)\ + inline E operator | (E lhs, E rhs){\ + return E(T(lhs) | T(rhs));\ + }\ + inline E operator & (E lhs, E rhs){\ + return E(T(lhs) & T(rhs));\ + }\ + inline E operator ^ (E lhs, E rhs){\ + return E(T(lhs) ^ T(rhs));\ + }\ + inline E operator ~ (E lhs){\ + return E(~T(lhs));\ + }\ + inline E operator |= (E &lhs, E rhs){\ + lhs = lhs | rhs;\ + return lhs;\ + }\ + inline E operator &= (E &lhs, E rhs){\ + lhs = lhs & rhs;\ + return lhs;\ + }\ + inline E operator ^= (E &lhs, E rhs){\ + lhs = lhs ^ rhs;\ + return lhs;\ + }\ + inline bool operator !(E rhs) \ + {\ + return !bool(T(rhs)); \ + } +/// @endcond +} // namespace flatbuffers + +// clang-format on + +#endif // FLATBUFFERS_H_ diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/flatc.h b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/flatc.h new file mode 100644 index 000000000..f2765d239 --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/flatc.h @@ -0,0 +1,96 @@ +/* + * Copyright 2017 Google Inc. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include +#include +#include +#include "flatbuffers/flatbuffers.h" +#include "flatbuffers/idl.h" +#include "flatbuffers/util.h" + +#ifndef FLATC_H_ +# define FLATC_H_ + +namespace flatbuffers { + +class FlatCompiler { + public: + // Output generator for the various programming languages and formats we + // support. + struct Generator { + typedef bool (*GenerateFn)(const flatbuffers::Parser &parser, + const std::string &path, + const std::string &file_name); + typedef std::string (*MakeRuleFn)(const flatbuffers::Parser &parser, + const std::string &path, + const std::string &file_name); + + GenerateFn generate; + const char *generator_opt_short; + const char *generator_opt_long; + const char *lang_name; + bool schema_only; + GenerateFn generateGRPC; + flatbuffers::IDLOptions::Language lang; + const char *generator_help; + MakeRuleFn make_rule; + }; + + typedef void (*WarnFn)(const FlatCompiler *flatc, const std::string &warn, + bool show_exe_name); + + typedef void (*ErrorFn)(const FlatCompiler *flatc, const std::string &err, + bool usage, bool show_exe_name); + + // Parameters required to initialize the FlatCompiler. + struct InitParams { + InitParams() + : generators(nullptr), + num_generators(0), + warn_fn(nullptr), + error_fn(nullptr) {} + + const Generator *generators; + size_t num_generators; + WarnFn warn_fn; + ErrorFn error_fn; + }; + + explicit FlatCompiler(const InitParams ¶ms) : params_(params) {} + + int Compile(int argc, const char **argv); + + std::string GetUsageString(const char *program_name) const; + + private: + void ParseFile(flatbuffers::Parser &parser, const std::string &filename, + const std::string &contents, + std::vector &include_directories) const; + + void LoadBinarySchema(Parser &parser, const std::string &filename, + const std::string &contents); + + void Warn(const std::string &warn, bool show_exe_name = true) const; + + void Error(const std::string &err, bool usage = true, + bool show_exe_name = true) const; + + InitParams params_; +}; + +} // namespace flatbuffers + +#endif // FLATC_H_ diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/flexbuffers.h b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/flexbuffers.h new file mode 100644 index 000000000..7cba5b75b --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/flexbuffers.h @@ -0,0 +1,1538 @@ +/* + * Copyright 2017 Google Inc. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef FLATBUFFERS_FLEXBUFFERS_H_ +#define FLATBUFFERS_FLEXBUFFERS_H_ + +#include +// Used to select STL variant. +#include "flatbuffers/base.h" +// We use the basic binary writing functions from the regular FlatBuffers. +#include "flatbuffers/util.h" + +#ifdef _MSC_VER +# include +#endif + +#if defined(_MSC_VER) +# pragma warning(push) +# pragma warning(disable : 4127) // C4127: conditional expression is constant +#endif + +namespace flexbuffers { + +class Reference; +class Map; + +// These are used in the lower 2 bits of a type field to determine the size of +// the elements (and or size field) of the item pointed to (e.g. vector). +enum BitWidth { + BIT_WIDTH_8 = 0, + BIT_WIDTH_16 = 1, + BIT_WIDTH_32 = 2, + BIT_WIDTH_64 = 3, +}; + +// These are used as the upper 6 bits of a type field to indicate the actual +// type. +enum Type { + FBT_NULL = 0, + FBT_INT = 1, + FBT_UINT = 2, + FBT_FLOAT = 3, + // Types above stored inline, types below store an offset. + FBT_KEY = 4, + FBT_STRING = 5, + FBT_INDIRECT_INT = 6, + FBT_INDIRECT_UINT = 7, + FBT_INDIRECT_FLOAT = 8, + FBT_MAP = 9, + FBT_VECTOR = 10, // Untyped. + FBT_VECTOR_INT = 11, // Typed any size (stores no type table). + FBT_VECTOR_UINT = 12, + FBT_VECTOR_FLOAT = 13, + FBT_VECTOR_KEY = 14, + FBT_VECTOR_STRING = 15, + FBT_VECTOR_INT2 = 16, // Typed tuple (no type table, no size field). + FBT_VECTOR_UINT2 = 17, + FBT_VECTOR_FLOAT2 = 18, + FBT_VECTOR_INT3 = 19, // Typed triple (no type table, no size field). + FBT_VECTOR_UINT3 = 20, + FBT_VECTOR_FLOAT3 = 21, + FBT_VECTOR_INT4 = 22, // Typed quad (no type table, no size field). + FBT_VECTOR_UINT4 = 23, + FBT_VECTOR_FLOAT4 = 24, + FBT_BLOB = 25, + FBT_BOOL = 26, + FBT_VECTOR_BOOL = + 36, // To Allow the same type of conversion of type to vector type +}; + +inline bool IsInline(Type t) { return t <= FBT_FLOAT || t == FBT_BOOL; } + +inline bool IsTypedVectorElementType(Type t) { + return (t >= FBT_INT && t <= FBT_STRING) || t == FBT_BOOL; +} + +inline bool IsTypedVector(Type t) { + return (t >= FBT_VECTOR_INT && t <= FBT_VECTOR_STRING) || + t == FBT_VECTOR_BOOL; +} + +inline bool IsFixedTypedVector(Type t) { + return t >= FBT_VECTOR_INT2 && t <= FBT_VECTOR_FLOAT4; +} + +inline Type ToTypedVector(Type t, size_t fixed_len = 0) { + FLATBUFFERS_ASSERT(IsTypedVectorElementType(t)); + switch (fixed_len) { + case 0: return static_cast(t - FBT_INT + FBT_VECTOR_INT); + case 2: return static_cast(t - FBT_INT + FBT_VECTOR_INT2); + case 3: return static_cast(t - FBT_INT + FBT_VECTOR_INT3); + case 4: return static_cast(t - FBT_INT + FBT_VECTOR_INT4); + default: FLATBUFFERS_ASSERT(0); return FBT_NULL; + } +} + +inline Type ToTypedVectorElementType(Type t) { + FLATBUFFERS_ASSERT(IsTypedVector(t)); + return static_cast(t - FBT_VECTOR_INT + FBT_INT); +} + +inline Type ToFixedTypedVectorElementType(Type t, uint8_t *len) { + FLATBUFFERS_ASSERT(IsFixedTypedVector(t)); + auto fixed_type = t - FBT_VECTOR_INT2; + *len = static_cast(fixed_type / 3 + + 2); // 3 types each, starting from length 2. + return static_cast(fixed_type % 3 + FBT_INT); +} + +// TODO: implement proper support for 8/16bit floats, or decide not to +// support them. +typedef int16_t half; +typedef int8_t quarter; + +// TODO: can we do this without conditionals using intrinsics or inline asm +// on some platforms? Given branch prediction the method below should be +// decently quick, but it is the most frequently executed function. +// We could do an (unaligned) 64-bit read if we ifdef out the platforms for +// which that doesn't work (or where we'd read into un-owned memory). +template +R ReadSizedScalar(const uint8_t *data, uint8_t byte_width) { + return byte_width < 4 + ? (byte_width < 2 + ? static_cast(flatbuffers::ReadScalar(data)) + : static_cast(flatbuffers::ReadScalar(data))) + : (byte_width < 8 + ? static_cast(flatbuffers::ReadScalar(data)) + : static_cast(flatbuffers::ReadScalar(data))); +} + +inline int64_t ReadInt64(const uint8_t *data, uint8_t byte_width) { + return ReadSizedScalar( + data, byte_width); +} + +inline uint64_t ReadUInt64(const uint8_t *data, uint8_t byte_width) { + // This is the "hottest" function (all offset lookups use this), so worth + // optimizing if possible. + // TODO: GCC apparently replaces memcpy by a rep movsb, but only if count is a + // constant, which here it isn't. Test if memcpy is still faster than + // the conditionals in ReadSizedScalar. Can also use inline asm. + // clang-format off + #if defined(_MSC_VER) && (defined(_M_X64) || defined _M_IX86) + uint64_t u = 0; + __movsb(reinterpret_cast(&u), + reinterpret_cast(data), byte_width); + return flatbuffers::EndianScalar(u); + #else + return ReadSizedScalar( + data, byte_width); + #endif + // clang-format on +} + +inline double ReadDouble(const uint8_t *data, uint8_t byte_width) { + return ReadSizedScalar(data, + byte_width); +} + +inline const uint8_t *Indirect(const uint8_t *offset, uint8_t byte_width) { + return offset - ReadUInt64(offset, byte_width); +} + +template const uint8_t *Indirect(const uint8_t *offset) { + return offset - flatbuffers::ReadScalar(offset); +} + +inline BitWidth WidthU(uint64_t u) { +#define FLATBUFFERS_GET_FIELD_BIT_WIDTH(value, width) \ + { \ + if (!((u) & ~((1ULL << (width)) - 1ULL))) return BIT_WIDTH_##width; \ + } + FLATBUFFERS_GET_FIELD_BIT_WIDTH(u, 8); + FLATBUFFERS_GET_FIELD_BIT_WIDTH(u, 16); + FLATBUFFERS_GET_FIELD_BIT_WIDTH(u, 32); +#undef FLATBUFFERS_GET_FIELD_BIT_WIDTH + return BIT_WIDTH_64; +} + +inline BitWidth WidthI(int64_t i) { + auto u = static_cast(i) << 1; + return WidthU(i >= 0 ? u : ~u); +} + +inline BitWidth WidthF(double f) { + return static_cast(static_cast(f)) == f ? BIT_WIDTH_32 + : BIT_WIDTH_64; +} + +// Base class of all types below. +// Points into the data buffer and allows access to one type. +class Object { + public: + Object(const uint8_t *data, uint8_t byte_width) + : data_(data), byte_width_(byte_width) {} + + protected: + const uint8_t *data_; + uint8_t byte_width_; +}; + +// Stores size in `byte_width_` bytes before data_ pointer. +class Sized : public Object { + public: + Sized(const uint8_t *data, uint8_t byte_width) : Object(data, byte_width) {} + size_t size() const { + return static_cast(ReadUInt64(data_ - byte_width_, byte_width_)); + } +}; + +class String : public Sized { + public: + String(const uint8_t *data, uint8_t byte_width) : Sized(data, byte_width) {} + + size_t length() const { return size(); } + const char *c_str() const { return reinterpret_cast(data_); } + std::string str() const { return std::string(c_str(), length()); } + + static String EmptyString() { + static const uint8_t empty_string[] = { 0 /*len*/, 0 /*terminator*/ }; + return String(empty_string + 1, 1); + } + bool IsTheEmptyString() const { return data_ == EmptyString().data_; } +}; + +class Blob : public Sized { + public: + Blob(const uint8_t *data_buf, uint8_t byte_width) + : Sized(data_buf, byte_width) {} + + static Blob EmptyBlob() { + static const uint8_t empty_blob[] = { 0 /*len*/ }; + return Blob(empty_blob + 1, 1); + } + bool IsTheEmptyBlob() const { return data_ == EmptyBlob().data_; } + const uint8_t *data() const { return data_; } +}; + +class Vector : public Sized { + public: + Vector(const uint8_t *data, uint8_t byte_width) : Sized(data, byte_width) {} + + Reference operator[](size_t i) const; + + static Vector EmptyVector() { + static const uint8_t empty_vector[] = { 0 /*len*/ }; + return Vector(empty_vector + 1, 1); + } + bool IsTheEmptyVector() const { return data_ == EmptyVector().data_; } +}; + +class TypedVector : public Sized { + public: + TypedVector(const uint8_t *data, uint8_t byte_width, Type element_type) + : Sized(data, byte_width), type_(element_type) {} + + Reference operator[](size_t i) const; + + static TypedVector EmptyTypedVector() { + static const uint8_t empty_typed_vector[] = { 0 /*len*/ }; + return TypedVector(empty_typed_vector + 1, 1, FBT_INT); + } + bool IsTheEmptyVector() const { + return data_ == TypedVector::EmptyTypedVector().data_; + } + + Type ElementType() { return type_; } + + private: + Type type_; + + friend Map; +}; + +class FixedTypedVector : public Object { + public: + FixedTypedVector(const uint8_t *data, uint8_t byte_width, Type element_type, + uint8_t len) + : Object(data, byte_width), type_(element_type), len_(len) {} + + Reference operator[](size_t i) const; + + static FixedTypedVector EmptyFixedTypedVector() { + static const uint8_t fixed_empty_vector[] = { 0 /* unused */ }; + return FixedTypedVector(fixed_empty_vector, 1, FBT_INT, 0); + } + bool IsTheEmptyFixedTypedVector() const { + return data_ == FixedTypedVector::EmptyFixedTypedVector().data_; + } + + Type ElementType() { return type_; } + uint8_t size() { return len_; } + + private: + Type type_; + uint8_t len_; +}; + +class Map : public Vector { + public: + Map(const uint8_t *data, uint8_t byte_width) : Vector(data, byte_width) {} + + Reference operator[](const char *key) const; + Reference operator[](const std::string &key) const; + + Vector Values() const { return Vector(data_, byte_width_); } + + TypedVector Keys() const { + const size_t num_prefixed_fields = 3; + auto keys_offset = data_ - byte_width_ * num_prefixed_fields; + return TypedVector(Indirect(keys_offset, byte_width_), + static_cast( + ReadUInt64(keys_offset + byte_width_, byte_width_)), + FBT_KEY); + } + + static Map EmptyMap() { + static const uint8_t empty_map[] = { + 0 /*keys_len*/, 0 /*keys_offset*/, 1 /*keys_width*/, 0 /*len*/ + }; + return Map(empty_map + 4, 1); + } + + bool IsTheEmptyMap() const { return data_ == EmptyMap().data_; } +}; + +template +void AppendToString(std::string &s, T &&v, bool keys_quoted) { + s += "[ "; + for (size_t i = 0; i < v.size(); i++) { + if (i) s += ", "; + v[i].ToString(true, keys_quoted, s); + } + s += " ]"; +} + +class Reference { + public: + Reference(const uint8_t *data, uint8_t parent_width, uint8_t byte_width, + Type type) + : data_(data), + parent_width_(parent_width), + byte_width_(byte_width), + type_(type) {} + + Reference(const uint8_t *data, uint8_t parent_width, uint8_t packed_type) + : data_(data), parent_width_(parent_width) { + byte_width_ = 1U << static_cast(packed_type & 3); + type_ = static_cast(packed_type >> 2); + } + + Type GetType() const { return type_; } + + bool IsNull() const { return type_ == FBT_NULL; } + bool IsBool() const { return type_ == FBT_BOOL; } + bool IsInt() const { return type_ == FBT_INT || type_ == FBT_INDIRECT_INT; } + bool IsUInt() const { + return type_ == FBT_UINT || type_ == FBT_INDIRECT_UINT; + } + bool IsIntOrUint() const { return IsInt() || IsUInt(); } + bool IsFloat() const { + return type_ == FBT_FLOAT || type_ == FBT_INDIRECT_FLOAT; + } + bool IsNumeric() const { return IsIntOrUint() || IsFloat(); } + bool IsString() const { return type_ == FBT_STRING; } + bool IsKey() const { return type_ == FBT_KEY; } + bool IsVector() const { return type_ == FBT_VECTOR || type_ == FBT_MAP; } + bool IsTypedVector() const { return flexbuffers::IsTypedVector(type_); } + bool IsFixedTypedVector() const { return flexbuffers::IsFixedTypedVector(type_); } + bool IsAnyVector() const { return (IsTypedVector() || IsFixedTypedVector() || IsVector());} + bool IsMap() const { return type_ == FBT_MAP; } + bool IsBlob() const { return type_ == FBT_BLOB; } + + bool AsBool() const { + return (type_ == FBT_BOOL ? ReadUInt64(data_, parent_width_) + : AsUInt64()) != 0; + } + + // Reads any type as a int64_t. Never fails, does most sensible conversion. + // Truncates floats, strings are attempted to be parsed for a number, + // vectors/maps return their size. Returns 0 if all else fails. + int64_t AsInt64() const { + if (type_ == FBT_INT) { + // A fast path for the common case. + return ReadInt64(data_, parent_width_); + } else + switch (type_) { + case FBT_INDIRECT_INT: return ReadInt64(Indirect(), byte_width_); + case FBT_UINT: return ReadUInt64(data_, parent_width_); + case FBT_INDIRECT_UINT: return ReadUInt64(Indirect(), byte_width_); + case FBT_FLOAT: + return static_cast(ReadDouble(data_, parent_width_)); + case FBT_INDIRECT_FLOAT: + return static_cast(ReadDouble(Indirect(), byte_width_)); + case FBT_NULL: return 0; + case FBT_STRING: return flatbuffers::StringToInt(AsString().c_str()); + case FBT_VECTOR: return static_cast(AsVector().size()); + case FBT_BOOL: return ReadInt64(data_, parent_width_); + default: + // Convert other things to int. + return 0; + } + } + + // TODO: could specialize these to not use AsInt64() if that saves + // extension ops in generated code, and use a faster op than ReadInt64. + int32_t AsInt32() const { return static_cast(AsInt64()); } + int16_t AsInt16() const { return static_cast(AsInt64()); } + int8_t AsInt8() const { return static_cast(AsInt64()); } + + uint64_t AsUInt64() const { + if (type_ == FBT_UINT) { + // A fast path for the common case. + return ReadUInt64(data_, parent_width_); + } else + switch (type_) { + case FBT_INDIRECT_UINT: return ReadUInt64(Indirect(), byte_width_); + case FBT_INT: return ReadInt64(data_, parent_width_); + case FBT_INDIRECT_INT: return ReadInt64(Indirect(), byte_width_); + case FBT_FLOAT: + return static_cast(ReadDouble(data_, parent_width_)); + case FBT_INDIRECT_FLOAT: + return static_cast(ReadDouble(Indirect(), byte_width_)); + case FBT_NULL: return 0; + case FBT_STRING: return flatbuffers::StringToUInt(AsString().c_str()); + case FBT_VECTOR: return static_cast(AsVector().size()); + case FBT_BOOL: return ReadUInt64(data_, parent_width_); + default: + // Convert other things to uint. + return 0; + } + } + + uint32_t AsUInt32() const { return static_cast(AsUInt64()); } + uint16_t AsUInt16() const { return static_cast(AsUInt64()); } + uint8_t AsUInt8() const { return static_cast(AsUInt64()); } + + double AsDouble() const { + if (type_ == FBT_FLOAT) { + // A fast path for the common case. + return ReadDouble(data_, parent_width_); + } else + switch (type_) { + case FBT_INDIRECT_FLOAT: return ReadDouble(Indirect(), byte_width_); + case FBT_INT: + return static_cast(ReadInt64(data_, parent_width_)); + case FBT_UINT: + return static_cast(ReadUInt64(data_, parent_width_)); + case FBT_INDIRECT_INT: + return static_cast(ReadInt64(Indirect(), byte_width_)); + case FBT_INDIRECT_UINT: + return static_cast(ReadUInt64(Indirect(), byte_width_)); + case FBT_NULL: return 0.0; + case FBT_STRING: return strtod(AsString().c_str(), nullptr); + case FBT_VECTOR: return static_cast(AsVector().size()); + case FBT_BOOL: + return static_cast(ReadUInt64(data_, parent_width_)); + default: + // Convert strings and other things to float. + return 0; + } + } + + float AsFloat() const { return static_cast(AsDouble()); } + + const char *AsKey() const { + if (type_ == FBT_KEY) { + return reinterpret_cast(Indirect()); + } else { + return ""; + } + } + + // This function returns the empty string if you try to read a not-string. + String AsString() const { + if (type_ == FBT_STRING) { + return String(Indirect(), byte_width_); + } else { + return String::EmptyString(); + } + } + + // Unlike AsString(), this will convert any type to a std::string. + std::string ToString() const { + std::string s; + ToString(false, false, s); + return s; + } + + // Convert any type to a JSON-like string. strings_quoted determines if + // string values at the top level receive "" quotes (inside other values + // they always do). keys_quoted determines if keys are quoted, at any level. + // TODO(wvo): add further options to have indentation/newlines. + void ToString(bool strings_quoted, bool keys_quoted, std::string &s) const { + if (type_ == FBT_STRING) { + String str(Indirect(), byte_width_); + if (strings_quoted) { + flatbuffers::EscapeString(str.c_str(), str.length(), &s, true, false); + } else { + s.append(str.c_str(), str.length()); + } + } else if (IsKey()) { + auto str = AsKey(); + if (keys_quoted) { + flatbuffers::EscapeString(str, strlen(str), &s, true, false); + } else { + s += str; + } + } else if (IsInt()) { + s += flatbuffers::NumToString(AsInt64()); + } else if (IsUInt()) { + s += flatbuffers::NumToString(AsUInt64()); + } else if (IsFloat()) { + s += flatbuffers::NumToString(AsDouble()); + } else if (IsNull()) { + s += "null"; + } else if (IsBool()) { + s += AsBool() ? "true" : "false"; + } else if (IsMap()) { + s += "{ "; + auto m = AsMap(); + auto keys = m.Keys(); + auto vals = m.Values(); + for (size_t i = 0; i < keys.size(); i++) { + keys[i].ToString(true, keys_quoted, s); + s += ": "; + vals[i].ToString(true, keys_quoted, s); + if (i < keys.size() - 1) s += ", "; + } + s += " }"; + } else if (IsVector()) { + AppendToString(s, AsVector(), keys_quoted); + } else if (IsTypedVector()) { + AppendToString(s, AsTypedVector(), keys_quoted); + } else if (IsFixedTypedVector()) { + AppendToString(s, AsFixedTypedVector(), keys_quoted); + } else if (IsBlob()) { + auto blob = AsBlob(); + flatbuffers::EscapeString(reinterpret_cast(blob.data()), blob.size(), &s, true, false); + } else { + s += "(?)"; + } + } + + // This function returns the empty blob if you try to read a not-blob. + // Strings can be viewed as blobs too. + Blob AsBlob() const { + if (type_ == FBT_BLOB || type_ == FBT_STRING) { + return Blob(Indirect(), byte_width_); + } else { + return Blob::EmptyBlob(); + } + } + + // This function returns the empty vector if you try to read a not-vector. + // Maps can be viewed as vectors too. + Vector AsVector() const { + if (type_ == FBT_VECTOR || type_ == FBT_MAP) { + return Vector(Indirect(), byte_width_); + } else { + return Vector::EmptyVector(); + } + } + + TypedVector AsTypedVector() const { + if (IsTypedVector()) { + return TypedVector(Indirect(), byte_width_, + ToTypedVectorElementType(type_)); + } else { + return TypedVector::EmptyTypedVector(); + } + } + + FixedTypedVector AsFixedTypedVector() const { + if (IsFixedTypedVector()) { + uint8_t len = 0; + auto vtype = ToFixedTypedVectorElementType(type_, &len); + return FixedTypedVector(Indirect(), byte_width_, vtype, len); + } else { + return FixedTypedVector::EmptyFixedTypedVector(); + } + } + + Map AsMap() const { + if (type_ == FBT_MAP) { + return Map(Indirect(), byte_width_); + } else { + return Map::EmptyMap(); + } + } + + template T As() const; + + // Experimental: Mutation functions. + // These allow scalars in an already created buffer to be updated in-place. + // Since by default scalars are stored in the smallest possible space, + // the new value may not fit, in which case these functions return false. + // To avoid this, you can construct the values you intend to mutate using + // Builder::ForceMinimumBitWidth. + bool MutateInt(int64_t i) { + if (type_ == FBT_INT) { + return Mutate(data_, i, parent_width_, WidthI(i)); + } else if (type_ == FBT_INDIRECT_INT) { + return Mutate(Indirect(), i, byte_width_, WidthI(i)); + } else if (type_ == FBT_UINT) { + auto u = static_cast(i); + return Mutate(data_, u, parent_width_, WidthU(u)); + } else if (type_ == FBT_INDIRECT_UINT) { + auto u = static_cast(i); + return Mutate(Indirect(), u, byte_width_, WidthU(u)); + } else { + return false; + } + } + + bool MutateBool(bool b) { + return type_ == FBT_BOOL && Mutate(data_, b, parent_width_, BIT_WIDTH_8); + } + + bool MutateUInt(uint64_t u) { + if (type_ == FBT_UINT) { + return Mutate(data_, u, parent_width_, WidthU(u)); + } else if (type_ == FBT_INDIRECT_UINT) { + return Mutate(Indirect(), u, byte_width_, WidthU(u)); + } else if (type_ == FBT_INT) { + auto i = static_cast(u); + return Mutate(data_, i, parent_width_, WidthI(i)); + } else if (type_ == FBT_INDIRECT_INT) { + auto i = static_cast(u); + return Mutate(Indirect(), i, byte_width_, WidthI(i)); + } else { + return false; + } + } + + bool MutateFloat(float f) { + if (type_ == FBT_FLOAT) { + return MutateF(data_, f, parent_width_, BIT_WIDTH_32); + } else if (type_ == FBT_INDIRECT_FLOAT) { + return MutateF(Indirect(), f, byte_width_, BIT_WIDTH_32); + } else { + return false; + } + } + + bool MutateFloat(double d) { + if (type_ == FBT_FLOAT) { + return MutateF(data_, d, parent_width_, WidthF(d)); + } else if (type_ == FBT_INDIRECT_FLOAT) { + return MutateF(Indirect(), d, byte_width_, WidthF(d)); + } else { + return false; + } + } + + bool MutateString(const char *str, size_t len) { + auto s = AsString(); + if (s.IsTheEmptyString()) return false; + // This is very strict, could allow shorter strings, but that creates + // garbage. + if (s.length() != len) return false; + memcpy(const_cast(s.c_str()), str, len); + return true; + } + bool MutateString(const char *str) { return MutateString(str, strlen(str)); } + bool MutateString(const std::string &str) { + return MutateString(str.data(), str.length()); + } + + private: + const uint8_t *Indirect() const { + return flexbuffers::Indirect(data_, parent_width_); + } + + template + bool Mutate(const uint8_t *dest, T t, size_t byte_width, + BitWidth value_width) { + auto fits = static_cast(static_cast(1U) << value_width) <= + byte_width; + if (fits) { + t = flatbuffers::EndianScalar(t); + memcpy(const_cast(dest), &t, byte_width); + } + return fits; + } + + template + bool MutateF(const uint8_t *dest, T t, size_t byte_width, + BitWidth value_width) { + if (byte_width == sizeof(double)) + return Mutate(dest, static_cast(t), byte_width, value_width); + if (byte_width == sizeof(float)) + return Mutate(dest, static_cast(t), byte_width, value_width); + FLATBUFFERS_ASSERT(false); + return false; + } + + const uint8_t *data_; + uint8_t parent_width_; + uint8_t byte_width_; + Type type_; +}; + +// Template specialization for As(). +template<> inline bool Reference::As() const { return AsBool(); } + +template<> inline int8_t Reference::As() const { return AsInt8(); } +template<> inline int16_t Reference::As() const { return AsInt16(); } +template<> inline int32_t Reference::As() const { return AsInt32(); } +template<> inline int64_t Reference::As() const { return AsInt64(); } + +template<> inline uint8_t Reference::As() const { return AsUInt8(); } +template<> inline uint16_t Reference::As() const { return AsUInt16(); } +template<> inline uint32_t Reference::As() const { return AsUInt32(); } +template<> inline uint64_t Reference::As() const { return AsUInt64(); } + +template<> inline double Reference::As() const { return AsDouble(); } +template<> inline float Reference::As() const { return AsFloat(); } + +template<> inline String Reference::As() const { return AsString(); } +template<> inline std::string Reference::As() const { + return AsString().str(); +} + +template<> inline Blob Reference::As() const { return AsBlob(); } +template<> inline Vector Reference::As() const { return AsVector(); } +template<> inline TypedVector Reference::As() const { + return AsTypedVector(); +} +template<> inline FixedTypedVector Reference::As() const { + return AsFixedTypedVector(); +} +template<> inline Map Reference::As() const { return AsMap(); } + +inline uint8_t PackedType(BitWidth bit_width, Type type) { + return static_cast(bit_width | (type << 2)); +} + +inline uint8_t NullPackedType() { return PackedType(BIT_WIDTH_8, FBT_NULL); } + +// Vector accessors. +// Note: if you try to access outside of bounds, you get a Null value back +// instead. Normally this would be an assert, but since this is "dynamically +// typed" data, you may not want that (someone sends you a 2d vector and you +// wanted 3d). +// The Null converts seamlessly into a default value for any other type. +// TODO(wvo): Could introduce an #ifdef that makes this into an assert? +inline Reference Vector::operator[](size_t i) const { + auto len = size(); + if (i >= len) return Reference(nullptr, 1, NullPackedType()); + auto packed_type = (data_ + len * byte_width_)[i]; + auto elem = data_ + i * byte_width_; + return Reference(elem, byte_width_, packed_type); +} + +inline Reference TypedVector::operator[](size_t i) const { + auto len = size(); + if (i >= len) return Reference(nullptr, 1, NullPackedType()); + auto elem = data_ + i * byte_width_; + return Reference(elem, byte_width_, 1, type_); +} + +inline Reference FixedTypedVector::operator[](size_t i) const { + if (i >= len_) return Reference(nullptr, 1, NullPackedType()); + auto elem = data_ + i * byte_width_; + return Reference(elem, byte_width_, 1, type_); +} + +template int KeyCompare(const void *key, const void *elem) { + auto str_elem = reinterpret_cast( + Indirect(reinterpret_cast(elem))); + auto skey = reinterpret_cast(key); + return strcmp(skey, str_elem); +} + +inline Reference Map::operator[](const char *key) const { + auto keys = Keys(); + // We can't pass keys.byte_width_ to the comparison function, so we have + // to pick the right one ahead of time. + int (*comp)(const void *, const void *) = nullptr; + switch (keys.byte_width_) { + case 1: comp = KeyCompare; break; + case 2: comp = KeyCompare; break; + case 4: comp = KeyCompare; break; + case 8: comp = KeyCompare; break; + } + auto res = std::bsearch(key, keys.data_, keys.size(), keys.byte_width_, comp); + if (!res) return Reference(nullptr, 1, NullPackedType()); + auto i = (reinterpret_cast(res) - keys.data_) / keys.byte_width_; + return (*static_cast(this))[i]; +} + +inline Reference Map::operator[](const std::string &key) const { + return (*this)[key.c_str()]; +} + +inline Reference GetRoot(const uint8_t *buffer, size_t size) { + // See Finish() below for the serialization counterpart of this. + // The root starts at the end of the buffer, so we parse backwards from there. + auto end = buffer + size; + auto byte_width = *--end; + auto packed_type = *--end; + end -= byte_width; // The root data item. + return Reference(end, byte_width, packed_type); +} + +inline Reference GetRoot(const std::vector &buffer) { + return GetRoot(flatbuffers::vector_data(buffer), buffer.size()); +} + +// Flags that configure how the Builder behaves. +// The "Share" flags determine if the Builder automatically tries to pool +// this type. Pooling can reduce the size of serialized data if there are +// multiple maps of the same kind, at the expense of slightly slower +// serialization (the cost of lookups) and more memory use (std::set). +// By default this is on for keys, but off for strings. +// Turn keys off if you have e.g. only one map. +// Turn strings on if you expect many non-unique string values. +// Additionally, sharing key vectors can save space if you have maps with +// identical field populations. +enum BuilderFlag { + BUILDER_FLAG_NONE = 0, + BUILDER_FLAG_SHARE_KEYS = 1, + BUILDER_FLAG_SHARE_STRINGS = 2, + BUILDER_FLAG_SHARE_KEYS_AND_STRINGS = 3, + BUILDER_FLAG_SHARE_KEY_VECTORS = 4, + BUILDER_FLAG_SHARE_ALL = 7, +}; + +class Builder FLATBUFFERS_FINAL_CLASS { + public: + Builder(size_t initial_size = 256, + BuilderFlag flags = BUILDER_FLAG_SHARE_KEYS) + : buf_(initial_size), + finished_(false), + flags_(flags), + force_min_bit_width_(BIT_WIDTH_8), + key_pool(KeyOffsetCompare(buf_)), + string_pool(StringOffsetCompare(buf_)) { + buf_.clear(); + } + + /// @brief Get the serialized buffer (after you call `Finish()`). + /// @return Returns a vector owned by this class. + const std::vector &GetBuffer() const { + Finished(); + return buf_; + } + + // Size of the buffer. Does not include unfinished values. + size_t GetSize() const { return buf_.size(); } + + // Reset all state so we can re-use the buffer. + void Clear() { + buf_.clear(); + stack_.clear(); + finished_ = false; + // flags_ remains as-is; + force_min_bit_width_ = BIT_WIDTH_8; + key_pool.clear(); + string_pool.clear(); + } + + // All value constructing functions below have two versions: one that + // takes a key (for placement inside a map) and one that doesn't (for inside + // vectors and elsewhere). + + void Null() { stack_.push_back(Value()); } + void Null(const char *key) { + Key(key); + Null(); + } + + void Int(int64_t i) { stack_.push_back(Value(i, FBT_INT, WidthI(i))); } + void Int(const char *key, int64_t i) { + Key(key); + Int(i); + } + + void UInt(uint64_t u) { stack_.push_back(Value(u, FBT_UINT, WidthU(u))); } + void UInt(const char *key, uint64_t u) { + Key(key); + UInt(u); + } + + void Float(float f) { stack_.push_back(Value(f)); } + void Float(const char *key, float f) { + Key(key); + Float(f); + } + + void Double(double f) { stack_.push_back(Value(f)); } + void Double(const char *key, double d) { + Key(key); + Double(d); + } + + void Bool(bool b) { stack_.push_back(Value(b)); } + void Bool(const char *key, bool b) { + Key(key); + Bool(b); + } + + void IndirectInt(int64_t i) { PushIndirect(i, FBT_INDIRECT_INT, WidthI(i)); } + void IndirectInt(const char *key, int64_t i) { + Key(key); + IndirectInt(i); + } + + void IndirectUInt(uint64_t u) { + PushIndirect(u, FBT_INDIRECT_UINT, WidthU(u)); + } + void IndirectUInt(const char *key, uint64_t u) { + Key(key); + IndirectUInt(u); + } + + void IndirectFloat(float f) { + PushIndirect(f, FBT_INDIRECT_FLOAT, BIT_WIDTH_32); + } + void IndirectFloat(const char *key, float f) { + Key(key); + IndirectFloat(f); + } + + void IndirectDouble(double f) { + PushIndirect(f, FBT_INDIRECT_FLOAT, WidthF(f)); + } + void IndirectDouble(const char *key, double d) { + Key(key); + IndirectDouble(d); + } + + size_t Key(const char *str, size_t len) { + auto sloc = buf_.size(); + WriteBytes(str, len + 1); + if (flags_ & BUILDER_FLAG_SHARE_KEYS) { + auto it = key_pool.find(sloc); + if (it != key_pool.end()) { + // Already in the buffer. Remove key we just serialized, and use + // existing offset instead. + buf_.resize(sloc); + sloc = *it; + } else { + key_pool.insert(sloc); + } + } + stack_.push_back(Value(static_cast(sloc), FBT_KEY, BIT_WIDTH_8)); + return sloc; + } + + size_t Key(const char *str) { return Key(str, strlen(str)); } + size_t Key(const std::string &str) { return Key(str.c_str(), str.size()); } + + size_t String(const char *str, size_t len) { + auto reset_to = buf_.size(); + auto sloc = CreateBlob(str, len, 1, FBT_STRING); + if (flags_ & BUILDER_FLAG_SHARE_STRINGS) { + StringOffset so(sloc, len); + auto it = string_pool.find(so); + if (it != string_pool.end()) { + // Already in the buffer. Remove string we just serialized, and use + // existing offset instead. + buf_.resize(reset_to); + sloc = it->first; + stack_.back().u_ = sloc; + } else { + string_pool.insert(so); + } + } + return sloc; + } + size_t String(const char *str) { return String(str, strlen(str)); } + size_t String(const std::string &str) { + return String(str.c_str(), str.size()); + } + void String(const flexbuffers::String &str) { + String(str.c_str(), str.length()); + } + + void String(const char *key, const char *str) { + Key(key); + String(str); + } + void String(const char *key, const std::string &str) { + Key(key); + String(str); + } + void String(const char *key, const flexbuffers::String &str) { + Key(key); + String(str); + } + + size_t Blob(const void *data, size_t len) { + return CreateBlob(data, len, 0, FBT_BLOB); + } + size_t Blob(const std::vector &v) { + return CreateBlob(flatbuffers::vector_data(v), v.size(), 0, FBT_BLOB); + } + + // TODO(wvo): support all the FlexBuffer types (like flexbuffers::String), + // e.g. Vector etc. Also in overloaded versions. + // Also some FlatBuffers types? + + size_t StartVector() { return stack_.size(); } + size_t StartVector(const char *key) { + Key(key); + return stack_.size(); + } + size_t StartMap() { return stack_.size(); } + size_t StartMap(const char *key) { + Key(key); + return stack_.size(); + } + + // TODO(wvo): allow this to specify an aligment greater than the natural + // alignment. + size_t EndVector(size_t start, bool typed, bool fixed) { + auto vec = CreateVector(start, stack_.size() - start, 1, typed, fixed); + // Remove temp elements and return vector. + stack_.resize(start); + stack_.push_back(vec); + return static_cast(vec.u_); + } + + size_t EndMap(size_t start) { + // We should have interleaved keys and values on the stack. + // Make sure it is an even number: + auto len = stack_.size() - start; + FLATBUFFERS_ASSERT(!(len & 1)); + len /= 2; + // Make sure keys are all strings: + for (auto key = start; key < stack_.size(); key += 2) { + FLATBUFFERS_ASSERT(stack_[key].type_ == FBT_KEY); + } + // Now sort values, so later we can do a binary seach lookup. + // We want to sort 2 array elements at a time. + struct TwoValue { + Value key; + Value val; + }; + // TODO(wvo): strict aliasing? + // TODO(wvo): allow the caller to indicate the data is already sorted + // for maximum efficiency? With an assert to check sortedness to make sure + // we're not breaking binary search. + // Or, we can track if the map is sorted as keys are added which would be + // be quite cheap (cheaper than checking it here), so we can skip this + // step automatically when appliccable, and encourage people to write in + // sorted fashion. + // std::sort is typically already a lot faster on sorted data though. + auto dict = + reinterpret_cast(flatbuffers::vector_data(stack_) + start); + std::sort(dict, dict + len, + [&](const TwoValue &a, const TwoValue &b) -> bool { + auto as = reinterpret_cast( + flatbuffers::vector_data(buf_) + a.key.u_); + auto bs = reinterpret_cast( + flatbuffers::vector_data(buf_) + b.key.u_); + auto comp = strcmp(as, bs); + // If this assertion hits, you've added two keys with the same + // value to this map. + // TODO: Have to check for pointer equality, as some sort + // implementation apparently call this function with the same + // element?? Why? + FLATBUFFERS_ASSERT(comp || &a == &b); + return comp < 0; + }); + // First create a vector out of all keys. + // TODO(wvo): if kBuilderFlagShareKeyVectors is true, see if we can share + // the first vector. + auto keys = CreateVector(start, len, 2, true, false); + auto vec = CreateVector(start + 1, len, 2, false, false, &keys); + // Remove temp elements and return map. + stack_.resize(start); + stack_.push_back(vec); + return static_cast(vec.u_); + } + + template size_t Vector(F f) { + auto start = StartVector(); + f(); + return EndVector(start, false, false); + } + template size_t Vector(F f, T &state) { + auto start = StartVector(); + f(state); + return EndVector(start, false, false); + } + template size_t Vector(const char *key, F f) { + auto start = StartVector(key); + f(); + return EndVector(start, false, false); + } + template + size_t Vector(const char *key, F f, T &state) { + auto start = StartVector(key); + f(state); + return EndVector(start, false, false); + } + + template void Vector(const T *elems, size_t len) { + if (flatbuffers::is_scalar::value) { + // This path should be a lot quicker and use less space. + ScalarVector(elems, len, false); + } else { + auto start = StartVector(); + for (size_t i = 0; i < len; i++) Add(elems[i]); + EndVector(start, false, false); + } + } + template + void Vector(const char *key, const T *elems, size_t len) { + Key(key); + Vector(elems, len); + } + template void Vector(const std::vector &vec) { + Vector(flatbuffers::vector_data(vec), vec.size()); + } + + template size_t TypedVector(F f) { + auto start = StartVector(); + f(); + return EndVector(start, true, false); + } + template size_t TypedVector(F f, T &state) { + auto start = StartVector(); + f(state); + return EndVector(start, true, false); + } + template size_t TypedVector(const char *key, F f) { + auto start = StartVector(key); + f(); + return EndVector(start, true, false); + } + template + size_t TypedVector(const char *key, F f, T &state) { + auto start = StartVector(key); + f(state); + return EndVector(start, true, false); + } + + template size_t FixedTypedVector(const T *elems, size_t len) { + // We only support a few fixed vector lengths. Anything bigger use a + // regular typed vector. + FLATBUFFERS_ASSERT(len >= 2 && len <= 4); + // And only scalar values. + static_assert(flatbuffers::is_scalar::value, "Unrelated types"); + return ScalarVector(elems, len, true); + } + + template + size_t FixedTypedVector(const char *key, const T *elems, size_t len) { + Key(key); + return FixedTypedVector(elems, len); + } + + template size_t Map(F f) { + auto start = StartMap(); + f(); + return EndMap(start); + } + template size_t Map(F f, T &state) { + auto start = StartMap(); + f(state); + return EndMap(start); + } + template size_t Map(const char *key, F f) { + auto start = StartMap(key); + f(); + return EndMap(start); + } + template size_t Map(const char *key, F f, T &state) { + auto start = StartMap(key); + f(state); + return EndMap(start); + } + template void Map(const std::map &map) { + auto start = StartMap(); + for (auto it = map.begin(); it != map.end(); ++it) + Add(it->first.c_str(), it->second); + EndMap(start); + } + + // Overloaded Add that tries to call the correct function above. + void Add(int8_t i) { Int(i); } + void Add(int16_t i) { Int(i); } + void Add(int32_t i) { Int(i); } + void Add(int64_t i) { Int(i); } + void Add(uint8_t u) { UInt(u); } + void Add(uint16_t u) { UInt(u); } + void Add(uint32_t u) { UInt(u); } + void Add(uint64_t u) { UInt(u); } + void Add(float f) { Float(f); } + void Add(double d) { Double(d); } + void Add(bool b) { Bool(b); } + void Add(const char *str) { String(str); } + void Add(const std::string &str) { String(str); } + void Add(const flexbuffers::String &str) { String(str); } + + template void Add(const std::vector &vec) { Vector(vec); } + + template void Add(const char *key, const T &t) { + Key(key); + Add(t); + } + + template void Add(const std::map &map) { + Map(map); + } + + template void operator+=(const T &t) { Add(t); } + + // This function is useful in combination with the Mutate* functions above. + // It forces elements of vectors and maps to have a minimum size, such that + // they can later be updated without failing. + // Call with no arguments to reset. + void ForceMinimumBitWidth(BitWidth bw = BIT_WIDTH_8) { + force_min_bit_width_ = bw; + } + + void Finish() { + // If you hit this assert, you likely have objects that were never included + // in a parent. You need to have exactly one root to finish a buffer. + // Check your Start/End calls are matched, and all objects are inside + // some other object. + FLATBUFFERS_ASSERT(stack_.size() == 1); + + // Write root value. + auto byte_width = Align(stack_[0].ElemWidth(buf_.size(), 0)); + WriteAny(stack_[0], byte_width); + // Write root type. + Write(stack_[0].StoredPackedType(), 1); + // Write root size. Normally determined by parent, but root has no parent :) + Write(byte_width, 1); + + finished_ = true; + } + + private: + void Finished() const { + // If you get this assert, you're attempting to get access a buffer + // which hasn't been finished yet. Be sure to call + // Builder::Finish with your root object. + FLATBUFFERS_ASSERT(finished_); + } + + // Align to prepare for writing a scalar with a certain size. + uint8_t Align(BitWidth alignment) { + auto byte_width = 1U << alignment; + buf_.insert(buf_.end(), flatbuffers::PaddingBytes(buf_.size(), byte_width), + 0); + return static_cast(byte_width); + } + + void WriteBytes(const void *val, size_t size) { + buf_.insert(buf_.end(), reinterpret_cast(val), + reinterpret_cast(val) + size); + } + + template void Write(T val, size_t byte_width) { + FLATBUFFERS_ASSERT(sizeof(T) >= byte_width); + val = flatbuffers::EndianScalar(val); + WriteBytes(&val, byte_width); + } + + void WriteDouble(double f, uint8_t byte_width) { + switch (byte_width) { + case 8: Write(f, byte_width); break; + case 4: Write(static_cast(f), byte_width); break; + // case 2: Write(static_cast(f), byte_width); break; + // case 1: Write(static_cast(f), byte_width); break; + default: FLATBUFFERS_ASSERT(0); + } + } + + void WriteOffset(uint64_t o, uint8_t byte_width) { + auto reloff = buf_.size() - o; + FLATBUFFERS_ASSERT(byte_width == 8 || reloff < 1ULL << (byte_width * 8)); + Write(reloff, byte_width); + } + + template void PushIndirect(T val, Type type, BitWidth bit_width) { + auto byte_width = Align(bit_width); + auto iloc = buf_.size(); + Write(val, byte_width); + stack_.push_back(Value(static_cast(iloc), type, bit_width)); + } + + static BitWidth WidthB(size_t byte_width) { + switch (byte_width) { + case 1: return BIT_WIDTH_8; + case 2: return BIT_WIDTH_16; + case 4: return BIT_WIDTH_32; + case 8: return BIT_WIDTH_64; + default: FLATBUFFERS_ASSERT(false); return BIT_WIDTH_64; + } + } + + template static Type GetScalarType() { + static_assert(flatbuffers::is_scalar::value, "Unrelated types"); + return flatbuffers::is_floating_point::value + ? FBT_FLOAT + : flatbuffers::is_same::value + ? FBT_BOOL + : (flatbuffers::is_unsigned::value ? FBT_UINT + : FBT_INT); + } + + struct Value { + union { + int64_t i_; + uint64_t u_; + double f_; + }; + + Type type_; + + // For scalars: of itself, for vector: of its elements, for string: length. + BitWidth min_bit_width_; + + Value() : i_(0), type_(FBT_NULL), min_bit_width_(BIT_WIDTH_8) {} + + Value(bool b) + : u_(static_cast(b)), + type_(FBT_BOOL), + min_bit_width_(BIT_WIDTH_8) {} + + Value(int64_t i, Type t, BitWidth bw) + : i_(i), type_(t), min_bit_width_(bw) {} + Value(uint64_t u, Type t, BitWidth bw) + : u_(u), type_(t), min_bit_width_(bw) {} + + Value(float f) : f_(f), type_(FBT_FLOAT), min_bit_width_(BIT_WIDTH_32) {} + Value(double f) : f_(f), type_(FBT_FLOAT), min_bit_width_(WidthF(f)) {} + + uint8_t StoredPackedType(BitWidth parent_bit_width_ = BIT_WIDTH_8) const { + return PackedType(StoredWidth(parent_bit_width_), type_); + } + + BitWidth ElemWidth(size_t buf_size, size_t elem_index) const { + if (IsInline(type_)) { + return min_bit_width_; + } else { + // We have an absolute offset, but want to store a relative offset + // elem_index elements beyond the current buffer end. Since whether + // the relative offset fits in a certain byte_width depends on + // the size of the elements before it (and their alignment), we have + // to test for each size in turn. + for (size_t byte_width = 1; + byte_width <= sizeof(flatbuffers::largest_scalar_t); + byte_width *= 2) { + // Where are we going to write this offset? + auto offset_loc = buf_size + + flatbuffers::PaddingBytes(buf_size, byte_width) + + elem_index * byte_width; + // Compute relative offset. + auto offset = offset_loc - u_; + // Does it fit? + auto bit_width = WidthU(offset); + if (static_cast(static_cast(1U) << bit_width) == + byte_width) + return bit_width; + } + FLATBUFFERS_ASSERT(false); // Must match one of the sizes above. + return BIT_WIDTH_64; + } + } + + BitWidth StoredWidth(BitWidth parent_bit_width_ = BIT_WIDTH_8) const { + if (IsInline(type_)) { + return (std::max)(min_bit_width_, parent_bit_width_); + } else { + return min_bit_width_; + } + } + }; + + void WriteAny(const Value &val, uint8_t byte_width) { + switch (val.type_) { + case FBT_NULL: + case FBT_INT: Write(val.i_, byte_width); break; + case FBT_BOOL: + case FBT_UINT: Write(val.u_, byte_width); break; + case FBT_FLOAT: WriteDouble(val.f_, byte_width); break; + default: WriteOffset(val.u_, byte_width); break; + } + } + + size_t CreateBlob(const void *data, size_t len, size_t trailing, Type type) { + auto bit_width = WidthU(len); + auto byte_width = Align(bit_width); + Write(len, byte_width); + auto sloc = buf_.size(); + WriteBytes(data, len + trailing); + stack_.push_back(Value(static_cast(sloc), type, bit_width)); + return sloc; + } + + template + size_t ScalarVector(const T *elems, size_t len, bool fixed) { + auto vector_type = GetScalarType(); + auto byte_width = sizeof(T); + auto bit_width = WidthB(byte_width); + // If you get this assert, you're trying to write a vector with a size + // field that is bigger than the scalars you're trying to write (e.g. a + // byte vector > 255 elements). For such types, write a "blob" instead. + // TODO: instead of asserting, could write vector with larger elements + // instead, though that would be wasteful. + FLATBUFFERS_ASSERT(WidthU(len) <= bit_width); + if (!fixed) Write(len, byte_width); + auto vloc = buf_.size(); + for (size_t i = 0; i < len; i++) Write(elems[i], byte_width); + stack_.push_back(Value(static_cast(vloc), + ToTypedVector(vector_type, fixed ? len : 0), + bit_width)); + return vloc; + } + + Value CreateVector(size_t start, size_t vec_len, size_t step, bool typed, + bool fixed, const Value *keys = nullptr) { + FLATBUFFERS_ASSERT(!fixed || typed); // typed=false, fixed=true combination is not supported. + // Figure out smallest bit width we can store this vector with. + auto bit_width = (std::max)(force_min_bit_width_, WidthU(vec_len)); + auto prefix_elems = 1; + if (keys) { + // If this vector is part of a map, we will pre-fix an offset to the keys + // to this vector. + bit_width = (std::max)(bit_width, keys->ElemWidth(buf_.size(), 0)); + prefix_elems += 2; + } + Type vector_type = FBT_KEY; + // Check bit widths and types for all elements. + for (size_t i = start; i < stack_.size(); i += step) { + auto elem_width = stack_[i].ElemWidth(buf_.size(), i + prefix_elems); + bit_width = (std::max)(bit_width, elem_width); + if (typed) { + if (i == start) { + vector_type = stack_[i].type_; + } else { + // If you get this assert, you are writing a typed vector with + // elements that are not all the same type. + FLATBUFFERS_ASSERT(vector_type == stack_[i].type_); + } + } + } + // If you get this assert, your fixed types are not one of: + // Int / UInt / Float / Key. + FLATBUFFERS_ASSERT(!fixed || IsTypedVectorElementType(vector_type)); + auto byte_width = Align(bit_width); + // Write vector. First the keys width/offset if available, and size. + if (keys) { + WriteOffset(keys->u_, byte_width); + Write(1ULL << keys->min_bit_width_, byte_width); + } + if (!fixed) Write(vec_len, byte_width); + // Then the actual data. + auto vloc = buf_.size(); + for (size_t i = start; i < stack_.size(); i += step) { + WriteAny(stack_[i], byte_width); + } + // Then the types. + if (!typed) { + for (size_t i = start; i < stack_.size(); i += step) { + buf_.push_back(stack_[i].StoredPackedType(bit_width)); + } + } + return Value(static_cast(vloc), + keys ? FBT_MAP + : (typed ? ToTypedVector(vector_type, fixed ? vec_len : 0) + : FBT_VECTOR), + bit_width); + } + + // You shouldn't really be copying instances of this class. + Builder(const Builder &); + Builder &operator=(const Builder &); + + std::vector buf_; + std::vector stack_; + + bool finished_; + + BuilderFlag flags_; + + BitWidth force_min_bit_width_; + + struct KeyOffsetCompare { + explicit KeyOffsetCompare(const std::vector &buf) : buf_(&buf) {} + bool operator()(size_t a, size_t b) const { + auto stra = + reinterpret_cast(flatbuffers::vector_data(*buf_) + a); + auto strb = + reinterpret_cast(flatbuffers::vector_data(*buf_) + b); + return strcmp(stra, strb) < 0; + } + const std::vector *buf_; + }; + + typedef std::pair StringOffset; + struct StringOffsetCompare { + explicit StringOffsetCompare(const std::vector &buf) : buf_(&buf) {} + bool operator()(const StringOffset &a, const StringOffset &b) const { + auto stra = reinterpret_cast( + flatbuffers::vector_data(*buf_) + a.first); + auto strb = reinterpret_cast( + flatbuffers::vector_data(*buf_) + b.first); + return strncmp(stra, strb, (std::min)(a.second, b.second) + 1) < 0; + } + const std::vector *buf_; + }; + + typedef std::set KeyOffsetMap; + typedef std::set StringOffsetMap; + + KeyOffsetMap key_pool; + StringOffsetMap string_pool; +}; + +} // namespace flexbuffers + +# if defined(_MSC_VER) +# pragma warning(pop) +# endif + +#endif // FLATBUFFERS_FLEXBUFFERS_H_ diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/grpc.h b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/grpc.h new file mode 100644 index 000000000..a75b67c77 --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/grpc.h @@ -0,0 +1,328 @@ +/* + * Copyright 2014 Google Inc. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef FLATBUFFERS_GRPC_H_ +#define FLATBUFFERS_GRPC_H_ + +// Helper functionality to glue FlatBuffers and GRPC. + +#include "flatbuffers/flatbuffers.h" +#include "grpc++/support/byte_buffer.h" +#include "grpc/byte_buffer_reader.h" + +namespace flatbuffers { +namespace grpc { + +// Message is a typed wrapper around a buffer that manages the underlying +// `grpc_slice` and also provides flatbuffers-specific helpers such as `Verify` +// and `GetRoot`. Since it is backed by a `grpc_slice`, the underlying buffer +// is refcounted and ownership is be managed automatically. +template class Message { + public: + Message() : slice_(grpc_empty_slice()) {} + + Message(grpc_slice slice, bool add_ref) + : slice_(add_ref ? grpc_slice_ref(slice) : slice) {} + + Message &operator=(const Message &other) = delete; + + Message(Message &&other) : slice_(other.slice_) { + other.slice_ = grpc_empty_slice(); + } + + Message(const Message &other) = delete; + + Message &operator=(Message &&other) { + grpc_slice_unref(slice_); + slice_ = other.slice_; + other.slice_ = grpc_empty_slice(); + return *this; + } + + ~Message() { grpc_slice_unref(slice_); } + + const uint8_t *mutable_data() const { return GRPC_SLICE_START_PTR(slice_); } + + const uint8_t *data() const { return GRPC_SLICE_START_PTR(slice_); } + + size_t size() const { return GRPC_SLICE_LENGTH(slice_); } + + bool Verify() const { + Verifier verifier(data(), size()); + return verifier.VerifyBuffer(nullptr); + } + + T *GetMutableRoot() { return flatbuffers::GetMutableRoot(mutable_data()); } + + const T *GetRoot() const { return flatbuffers::GetRoot(data()); } + + // This is only intended for serializer use, or if you know what you're doing + const grpc_slice &BorrowSlice() const { return slice_; } + + private: + grpc_slice slice_; +}; + +class MessageBuilder; + +// SliceAllocator is a gRPC-specific allocator that uses the `grpc_slice` +// refcounted slices to manage memory ownership. This makes it easy and +// efficient to transfer buffers to gRPC. +class SliceAllocator : public Allocator { + public: + SliceAllocator() : slice_(grpc_empty_slice()) {} + + SliceAllocator(const SliceAllocator &other) = delete; + SliceAllocator &operator=(const SliceAllocator &other) = delete; + + SliceAllocator(SliceAllocator &&other) + : slice_(grpc_empty_slice()) { + // default-construct and swap idiom + swap(other); + } + + SliceAllocator &operator=(SliceAllocator &&other) { + // move-construct and swap idiom + SliceAllocator temp(std::move(other)); + swap(temp); + return *this; + } + + void swap(SliceAllocator &other) { + using std::swap; + swap(slice_, other.slice_); + } + + virtual ~SliceAllocator() { grpc_slice_unref(slice_); } + + virtual uint8_t *allocate(size_t size) override { + FLATBUFFERS_ASSERT(GRPC_SLICE_IS_EMPTY(slice_)); + slice_ = grpc_slice_malloc(size); + return GRPC_SLICE_START_PTR(slice_); + } + + virtual void deallocate(uint8_t *p, size_t size) override { + FLATBUFFERS_ASSERT(p == GRPC_SLICE_START_PTR(slice_)); + FLATBUFFERS_ASSERT(size == GRPC_SLICE_LENGTH(slice_)); + grpc_slice_unref(slice_); + slice_ = grpc_empty_slice(); + } + + virtual uint8_t *reallocate_downward(uint8_t *old_p, size_t old_size, + size_t new_size, size_t in_use_back, + size_t in_use_front) override { + FLATBUFFERS_ASSERT(old_p == GRPC_SLICE_START_PTR(slice_)); + FLATBUFFERS_ASSERT(old_size == GRPC_SLICE_LENGTH(slice_)); + FLATBUFFERS_ASSERT(new_size > old_size); + grpc_slice old_slice = slice_; + grpc_slice new_slice = grpc_slice_malloc(new_size); + uint8_t *new_p = GRPC_SLICE_START_PTR(new_slice); + memcpy_downward(old_p, old_size, new_p, new_size, in_use_back, + in_use_front); + slice_ = new_slice; + grpc_slice_unref(old_slice); + return new_p; + } + + private: + grpc_slice &get_slice(uint8_t *p, size_t size) { + FLATBUFFERS_ASSERT(p == GRPC_SLICE_START_PTR(slice_)); + FLATBUFFERS_ASSERT(size == GRPC_SLICE_LENGTH(slice_)); + return slice_; + } + + grpc_slice slice_; + + friend class MessageBuilder; +}; + +// SliceAllocatorMember is a hack to ensure that the MessageBuilder's +// slice_allocator_ member is constructed before the FlatBufferBuilder, since +// the allocator is used in the FlatBufferBuilder ctor. +namespace detail { +struct SliceAllocatorMember { + SliceAllocator slice_allocator_; +}; +} // namespace detail + +// MessageBuilder is a gRPC-specific FlatBufferBuilder that uses SliceAllocator +// to allocate gRPC buffers. +class MessageBuilder : private detail::SliceAllocatorMember, + public FlatBufferBuilder { + public: + explicit MessageBuilder(uoffset_t initial_size = 1024) + : FlatBufferBuilder(initial_size, &slice_allocator_, false) {} + + MessageBuilder(const MessageBuilder &other) = delete; + MessageBuilder &operator=(const MessageBuilder &other) = delete; + + MessageBuilder(MessageBuilder &&other) + : FlatBufferBuilder(1024, &slice_allocator_, false) { + // Default construct and swap idiom. + Swap(other); + } + + /// Create a MessageBuilder from a FlatBufferBuilder. + explicit MessageBuilder(FlatBufferBuilder &&src, void (*dealloc)(void*, size_t) = &DefaultAllocator::dealloc) + : FlatBufferBuilder(1024, &slice_allocator_, false) { + src.Swap(*this); + src.SwapBufAllocator(*this); + if (buf_.capacity()) { + uint8_t *buf = buf_.scratch_data(); // pointer to memory + size_t capacity = buf_.capacity(); // size of memory + slice_allocator_.slice_ = grpc_slice_new_with_len(buf, capacity, dealloc); + } + else { + slice_allocator_.slice_ = grpc_empty_slice(); + } + } + + /// Move-assign a FlatBufferBuilder to a MessageBuilder. + /// Only FlatBufferBuilder with default allocator (basically, nullptr) is supported. + MessageBuilder &operator=(FlatBufferBuilder &&src) { + // Move construct a temporary and swap + MessageBuilder temp(std::move(src)); + Swap(temp); + return *this; + } + + MessageBuilder &operator=(MessageBuilder &&other) { + // Move construct a temporary and swap + MessageBuilder temp(std::move(other)); + Swap(temp); + return *this; + } + + void Swap(MessageBuilder &other) { + slice_allocator_.swap(other.slice_allocator_); + FlatBufferBuilder::Swap(other); + // After swapping the FlatBufferBuilder, we swap back the allocator, which restores + // the original allocator back in place. This is necessary because MessageBuilder's + // allocator is its own member (SliceAllocatorMember). The allocator passed to + // FlatBufferBuilder::vector_downward must point to this member. + buf_.swap_allocator(other.buf_); + } + + // Releases the ownership of the buffer pointer. + // Returns the size, offset, and the original grpc_slice that + // allocated the buffer. Also see grpc_slice_unref(). + uint8_t *ReleaseRaw(size_t &size, size_t &offset, grpc_slice &slice) { + uint8_t *buf = FlatBufferBuilder::ReleaseRaw(size, offset); + slice = slice_allocator_.slice_; + slice_allocator_.slice_ = grpc_empty_slice(); + return buf; + } + + ~MessageBuilder() {} + + // GetMessage extracts the subslice of the buffer corresponding to the + // flatbuffers-encoded region and wraps it in a `Message` to handle buffer + // ownership. + template Message GetMessage() { + auto buf_data = buf_.scratch_data(); // pointer to memory + auto buf_size = buf_.capacity(); // size of memory + auto msg_data = buf_.data(); // pointer to msg + auto msg_size = buf_.size(); // size of msg + // Do some sanity checks on data/size + FLATBUFFERS_ASSERT(msg_data); + FLATBUFFERS_ASSERT(msg_size); + FLATBUFFERS_ASSERT(msg_data >= buf_data); + FLATBUFFERS_ASSERT(msg_data + msg_size <= buf_data + buf_size); + // Calculate offsets from the buffer start + auto begin = msg_data - buf_data; + auto end = begin + msg_size; + // Get the slice we are working with (no refcount change) + grpc_slice slice = slice_allocator_.get_slice(buf_data, buf_size); + // Extract a subslice of the existing slice (increment refcount) + grpc_slice subslice = grpc_slice_sub(slice, begin, end); + // Wrap the subslice in a `Message`, but don't increment refcount + Message msg(subslice, false); + return msg; + } + + template Message ReleaseMessage() { + Message msg = GetMessage(); + Reset(); + return msg; + } + + private: + // SliceAllocator slice_allocator_; // part of SliceAllocatorMember +}; + +} // namespace grpc +} // namespace flatbuffers + +namespace grpc { + +template class SerializationTraits> { + public: + static grpc::Status Serialize(const flatbuffers::grpc::Message &msg, + grpc_byte_buffer **buffer, bool *own_buffer) { + // We are passed in a `Message`, which is a wrapper around a + // `grpc_slice`. We extract it here using `BorrowSlice()`. The const cast + // is necesary because the `grpc_raw_byte_buffer_create` func expects + // non-const slices in order to increment their refcounts. + grpc_slice *slice = const_cast(&msg.BorrowSlice()); + // Now use `grpc_raw_byte_buffer_create` to package the single slice into a + // `grpc_byte_buffer`, incrementing the refcount in the process. + *buffer = grpc_raw_byte_buffer_create(slice, 1); + *own_buffer = true; + return grpc::Status::OK; + } + + // Deserialize by pulling the + static grpc::Status Deserialize(grpc_byte_buffer *buffer, + flatbuffers::grpc::Message *msg) { + if (!buffer) { + return ::grpc::Status(::grpc::StatusCode::INTERNAL, "No payload"); + } + // Check if this is a single uncompressed slice. + if ((buffer->type == GRPC_BB_RAW) && + (buffer->data.raw.compression == GRPC_COMPRESS_NONE) && + (buffer->data.raw.slice_buffer.count == 1)) { + // If it is, then we can reference the `grpc_slice` directly. + grpc_slice slice = buffer->data.raw.slice_buffer.slices[0]; + // We wrap a `Message` around the slice, incrementing the refcount. + *msg = flatbuffers::grpc::Message(slice, true); + } else { + // Otherwise, we need to use `grpc_byte_buffer_reader_readall` to read + // `buffer` into a single contiguous `grpc_slice`. The gRPC reader gives + // us back a new slice with the refcount already incremented. + grpc_byte_buffer_reader reader; + grpc_byte_buffer_reader_init(&reader, buffer); + grpc_slice slice = grpc_byte_buffer_reader_readall(&reader); + grpc_byte_buffer_reader_destroy(&reader); + // We wrap a `Message` around the slice, but dont increment refcount + *msg = flatbuffers::grpc::Message(slice, false); + } + grpc_byte_buffer_destroy(buffer); +#if FLATBUFFERS_GRPC_DISABLE_AUTO_VERIFICATION + return ::grpc::Status::OK; +#else + if (msg->Verify()) { + return ::grpc::Status::OK; + } else { + return ::grpc::Status(::grpc::StatusCode::INTERNAL, + "Message verification failed"); + } +#endif + } +}; + +} // namespace grpc + +#endif // FLATBUFFERS_GRPC_H_ diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/hash.h b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/hash.h new file mode 100644 index 000000000..16536cb49 --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/hash.h @@ -0,0 +1,127 @@ +/* + * Copyright 2015 Google Inc. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef FLATBUFFERS_HASH_H_ +#define FLATBUFFERS_HASH_H_ + +#include +#include + +#include "flatbuffers/flatbuffers.h" + +namespace flatbuffers { + +template struct FnvTraits { + static const T kFnvPrime; + static const T kOffsetBasis; +}; + +template<> struct FnvTraits { + static const uint32_t kFnvPrime = 0x01000193; + static const uint32_t kOffsetBasis = 0x811C9DC5; +}; + +template<> struct FnvTraits { + static const uint64_t kFnvPrime = 0x00000100000001b3ULL; + static const uint64_t kOffsetBasis = 0xcbf29ce484222645ULL; +}; + +template T HashFnv1(const char *input) { + T hash = FnvTraits::kOffsetBasis; + for (const char *c = input; *c; ++c) { + hash *= FnvTraits::kFnvPrime; + hash ^= static_cast(*c); + } + return hash; +} + +template T HashFnv1a(const char *input) { + T hash = FnvTraits::kOffsetBasis; + for (const char *c = input; *c; ++c) { + hash ^= static_cast(*c); + hash *= FnvTraits::kFnvPrime; + } + return hash; +} + +template <> inline uint16_t HashFnv1(const char *input) { + uint32_t hash = HashFnv1(input); + return (hash >> 16) ^ (hash & 0xffff); +} + +template <> inline uint16_t HashFnv1a(const char *input) { + uint32_t hash = HashFnv1a(input); + return (hash >> 16) ^ (hash & 0xffff); +} + +template struct NamedHashFunction { + const char *name; + + typedef T (*HashFunction)(const char *); + HashFunction function; +}; + +const NamedHashFunction kHashFunctions16[] = { + { "fnv1_16", HashFnv1 }, + { "fnv1a_16", HashFnv1a }, +}; + +const NamedHashFunction kHashFunctions32[] = { + { "fnv1_32", HashFnv1 }, + { "fnv1a_32", HashFnv1a }, +}; + +const NamedHashFunction kHashFunctions64[] = { + { "fnv1_64", HashFnv1 }, + { "fnv1a_64", HashFnv1a }, +}; + +inline NamedHashFunction::HashFunction FindHashFunction16( + const char *name) { + std::size_t size = sizeof(kHashFunctions16) / sizeof(kHashFunctions16[0]); + for (std::size_t i = 0; i < size; ++i) { + if (std::strcmp(name, kHashFunctions16[i].name) == 0) { + return kHashFunctions16[i].function; + } + } + return nullptr; +} + +inline NamedHashFunction::HashFunction FindHashFunction32( + const char *name) { + std::size_t size = sizeof(kHashFunctions32) / sizeof(kHashFunctions32[0]); + for (std::size_t i = 0; i < size; ++i) { + if (std::strcmp(name, kHashFunctions32[i].name) == 0) { + return kHashFunctions32[i].function; + } + } + return nullptr; +} + +inline NamedHashFunction::HashFunction FindHashFunction64( + const char *name) { + std::size_t size = sizeof(kHashFunctions64) / sizeof(kHashFunctions64[0]); + for (std::size_t i = 0; i < size; ++i) { + if (std::strcmp(name, kHashFunctions64[i].name) == 0) { + return kHashFunctions64[i].function; + } + } + return nullptr; +} + +} // namespace flatbuffers + +#endif // FLATBUFFERS_HASH_H_ diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/idl.h b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/idl.h new file mode 100644 index 000000000..8299fe0cf --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/idl.h @@ -0,0 +1,995 @@ +/* + * Copyright 2014 Google Inc. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef FLATBUFFERS_IDL_H_ +#define FLATBUFFERS_IDL_H_ + +#include +#include +#include + +#include "flatbuffers/base.h" +#include "flatbuffers/flatbuffers.h" +#include "flatbuffers/flexbuffers.h" +#include "flatbuffers/hash.h" +#include "flatbuffers/reflection.h" + +#if !defined(FLATBUFFERS_CPP98_STL) +# include +#endif // !defined(FLATBUFFERS_CPP98_STL) + +// This file defines the data types representing a parsed IDL (Interface +// Definition Language) / schema file. + +// Limits maximum depth of nested objects. +// Prevents stack overflow while parse flatbuffers or json. +#if !defined(FLATBUFFERS_MAX_PARSING_DEPTH) +# define FLATBUFFERS_MAX_PARSING_DEPTH 64 +#endif + +namespace flatbuffers { + +// The order of these matters for Is*() functions below. +// Additionally, Parser::ParseType assumes bool..string is a contiguous range +// of type tokens. +// clang-format off +#define FLATBUFFERS_GEN_TYPES_SCALAR(TD) \ + TD(NONE, "", uint8_t, byte, byte, byte, uint8, u8) \ + TD(UTYPE, "", uint8_t, byte, byte, byte, uint8, u8) /* begin scalar/int */ \ + TD(BOOL, "bool", uint8_t, boolean,bool, bool, bool, bool) \ + TD(CHAR, "byte", int8_t, byte, int8, sbyte, int8, i8) \ + TD(UCHAR, "ubyte", uint8_t, byte, byte, byte, uint8, u8) \ + TD(SHORT, "short", int16_t, short, int16, short, int16, i16) \ + TD(USHORT, "ushort", uint16_t, short, uint16, ushort, uint16, u16) \ + TD(INT, "int", int32_t, int, int32, int, int32, i32) \ + TD(UINT, "uint", uint32_t, int, uint32, uint, uint32, u32) \ + TD(LONG, "long", int64_t, long, int64, long, int64, i64) \ + TD(ULONG, "ulong", uint64_t, long, uint64, ulong, uint64, u64) /* end int */ \ + TD(FLOAT, "float", float, float, float32, float, float32, f32) /* begin float */ \ + TD(DOUBLE, "double", double, double, float64, double, float64, f64) /* end float/scalar */ +#define FLATBUFFERS_GEN_TYPES_POINTER(TD) \ + TD(STRING, "string", Offset, int, int, StringOffset, int, unused) \ + TD(VECTOR, "", Offset, int, int, VectorOffset, int, unused) \ + TD(STRUCT, "", Offset, int, int, int, int, unused) \ + TD(UNION, "", Offset, int, int, int, int, unused) + +// The fields are: +// - enum +// - FlatBuffers schema type. +// - C++ type. +// - Java type. +// - Go type. +// - C# / .Net type. +// - Python type. +// - Rust type. + +// using these macros, we can now write code dealing with types just once, e.g. + +/* +switch (type) { + #define FLATBUFFERS_TD(ENUM, IDLTYPE, CTYPE, JTYPE, GTYPE, NTYPE, PTYPE, \ + RTYPE) \ + case BASE_TYPE_ ## ENUM: \ + // do something specific to CTYPE here + FLATBUFFERS_GEN_TYPES(FLATBUFFERS_TD) + #undef FLATBUFFERS_TD +} +*/ + +#define FLATBUFFERS_GEN_TYPES(TD) \ + FLATBUFFERS_GEN_TYPES_SCALAR(TD) \ + FLATBUFFERS_GEN_TYPES_POINTER(TD) + +// Create an enum for all the types above. +#ifdef __GNUC__ +__extension__ // Stop GCC complaining about trailing comma with -Wpendantic. +#endif +enum BaseType { + #define FLATBUFFERS_TD(ENUM, IDLTYPE, CTYPE, JTYPE, GTYPE, NTYPE, PTYPE, \ + RTYPE) \ + BASE_TYPE_ ## ENUM, + FLATBUFFERS_GEN_TYPES(FLATBUFFERS_TD) + #undef FLATBUFFERS_TD +}; + +#define FLATBUFFERS_TD(ENUM, IDLTYPE, CTYPE, JTYPE, GTYPE, NTYPE, PTYPE, \ + RTYPE) \ + static_assert(sizeof(CTYPE) <= sizeof(largest_scalar_t), \ + "define largest_scalar_t as " #CTYPE); + FLATBUFFERS_GEN_TYPES(FLATBUFFERS_TD) +#undef FLATBUFFERS_TD + +inline bool IsScalar (BaseType t) { return t >= BASE_TYPE_UTYPE && + t <= BASE_TYPE_DOUBLE; } +inline bool IsInteger(BaseType t) { return t >= BASE_TYPE_UTYPE && + t <= BASE_TYPE_ULONG; } +inline bool IsFloat (BaseType t) { return t == BASE_TYPE_FLOAT || + t == BASE_TYPE_DOUBLE; } +inline bool IsLong (BaseType t) { return t == BASE_TYPE_LONG || + t == BASE_TYPE_ULONG; } +inline bool IsBool (BaseType t) { return t == BASE_TYPE_BOOL; } +inline bool IsOneByte(BaseType t) { return t >= BASE_TYPE_UTYPE && + t <= BASE_TYPE_UCHAR; } +// clang-format on + +extern const char *const kTypeNames[]; +extern const char kTypeSizes[]; + +inline size_t SizeOf(BaseType t) { return kTypeSizes[t]; } + +struct StructDef; +struct EnumDef; +class Parser; + +// Represents any type in the IDL, which is a combination of the BaseType +// and additional information for vectors/structs_. +struct Type { + explicit Type(BaseType _base_type = BASE_TYPE_NONE, StructDef *_sd = nullptr, + EnumDef *_ed = nullptr) + : base_type(_base_type), + element(BASE_TYPE_NONE), + struct_def(_sd), + enum_def(_ed) {} + + bool operator==(const Type &o) { + return base_type == o.base_type && element == o.element && + struct_def == o.struct_def && enum_def == o.enum_def; + } + + Type VectorType() const { return Type(element, struct_def, enum_def); } + + Offset Serialize(FlatBufferBuilder *builder) const; + + bool Deserialize(const Parser &parser, const reflection::Type *type); + + BaseType base_type; + BaseType element; // only set if t == BASE_TYPE_VECTOR + StructDef *struct_def; // only set if t or element == BASE_TYPE_STRUCT + EnumDef *enum_def; // set if t == BASE_TYPE_UNION / BASE_TYPE_UTYPE, + // or for an integral type derived from an enum. +}; + +// Represents a parsed scalar value, it's type, and field offset. +struct Value { + Value() + : constant("0"), + offset(static_cast(~(static_cast(0U)))) {} + Type type; + std::string constant; + voffset_t offset; +}; + +// Helper class that retains the original order of a set of identifiers and +// also provides quick lookup. +template class SymbolTable { + public: + ~SymbolTable() { + for (auto it = vec.begin(); it != vec.end(); ++it) { delete *it; } + } + + bool Add(const std::string &name, T *e) { + vector_emplace_back(&vec, e); + auto it = dict.find(name); + if (it != dict.end()) return true; + dict[name] = e; + return false; + } + + void Move(const std::string &oldname, const std::string &newname) { + auto it = dict.find(oldname); + if (it != dict.end()) { + auto obj = it->second; + dict.erase(it); + dict[newname] = obj; + } else { + FLATBUFFERS_ASSERT(false); + } + } + + T *Lookup(const std::string &name) const { + auto it = dict.find(name); + return it == dict.end() ? nullptr : it->second; + } + + public: + std::map dict; // quick lookup + std::vector vec; // Used to iterate in order of insertion +}; + +// A name space, as set in the schema. +struct Namespace { + Namespace() : from_table(0) {} + + // Given a (potentally unqualified) name, return the "fully qualified" name + // which has a full namespaced descriptor. + // With max_components you can request less than the number of components + // the current namespace has. + std::string GetFullyQualifiedName(const std::string &name, + size_t max_components = 1000) const; + + std::vector components; + size_t from_table; // Part of the namespace corresponds to a message/table. +}; + +// Base class for all definition types (fields, structs_, enums_). +struct Definition { + Definition() + : generated(false), + defined_namespace(nullptr), + serialized_location(0), + index(-1), + refcount(1) {} + + flatbuffers::Offset< + flatbuffers::Vector>> + SerializeAttributes(FlatBufferBuilder *builder, const Parser &parser) const; + + bool DeserializeAttributes(Parser &parser, + const Vector> *attrs); + + std::string name; + std::string file; + std::vector doc_comment; + SymbolTable attributes; + bool generated; // did we already output code for this definition? + Namespace *defined_namespace; // Where it was defined. + + // For use with Serialize() + uoffset_t serialized_location; + int index; // Inside the vector it is stored. + int refcount; +}; + +struct FieldDef : public Definition { + FieldDef() + : deprecated(false), + required(false), + key(false), + shared(false), + native_inline(false), + flexbuffer(false), + nested_flatbuffer(NULL), + padding(0) {} + + Offset Serialize(FlatBufferBuilder *builder, uint16_t id, + const Parser &parser) const; + + bool Deserialize(Parser &parser, const reflection::Field *field); + + Value value; + bool deprecated; // Field is allowed to be present in old data, but can't be. + // written in new data nor accessed in new code. + bool required; // Field must always be present. + bool key; // Field functions as a key for creating sorted vectors. + bool shared; // Field will be using string pooling (i.e. CreateSharedString) + // as default serialization behavior if field is a string. + bool native_inline; // Field will be defined inline (instead of as a pointer) + // for native tables if field is a struct. + bool flexbuffer; // This field contains FlexBuffer data. + StructDef *nested_flatbuffer; // This field contains nested FlatBuffer data. + size_t padding; // Bytes to always pad after this field. +}; + +struct StructDef : public Definition { + StructDef() + : fixed(false), + predecl(true), + sortbysize(true), + has_key(false), + minalign(1), + bytesize(0) {} + + void PadLastField(size_t min_align) { + auto padding = PaddingBytes(bytesize, min_align); + bytesize += padding; + if (fields.vec.size()) fields.vec.back()->padding = padding; + } + + Offset Serialize(FlatBufferBuilder *builder, + const Parser &parser) const; + + bool Deserialize(Parser &parser, const reflection::Object *object); + + SymbolTable fields; + + bool fixed; // If it's struct, not a table. + bool predecl; // If it's used before it was defined. + bool sortbysize; // Whether fields come in the declaration or size order. + bool has_key; // It has a key field. + size_t minalign; // What the whole object needs to be aligned to. + size_t bytesize; // Size if fixed. + + flatbuffers::unique_ptr original_location; +}; + +inline bool IsStruct(const Type &type) { + return type.base_type == BASE_TYPE_STRUCT && type.struct_def->fixed; +} + +inline size_t InlineSize(const Type &type) { + return IsStruct(type) ? type.struct_def->bytesize : SizeOf(type.base_type); +} + +inline size_t InlineAlignment(const Type &type) { + return IsStruct(type) ? type.struct_def->minalign : SizeOf(type.base_type); +} + +struct EnumVal { + EnumVal(const std::string &_name, int64_t _val) : name(_name), value(_val) {} + EnumVal() : value(0) {} + + Offset Serialize(FlatBufferBuilder *builder, const Parser &parser) const; + + bool Deserialize(const Parser &parser, const reflection::EnumVal *val); + bool IsZero() const { return 0 == value; } + bool IsNonZero() const { return !IsZero(); } + + std::string name; + std::vector doc_comment; + int64_t value; + Type union_type; +}; + +struct EnumDef : public Definition { + EnumDef() : is_union(false), uses_multiple_type_instances(false) {} + + EnumVal *ReverseLookup(int64_t enum_idx, bool skip_union_default = true) { + for (auto it = Vals().begin() + + static_cast(is_union && skip_union_default); + it != Vals().end(); ++it) { + if ((*it)->value == enum_idx) { return *it; } + } + return nullptr; + } + + Offset Serialize(FlatBufferBuilder *builder, const Parser &parser) const; + + bool Deserialize(Parser &parser, const reflection::Enum *values); + + size_t size() const { return vals.vec.size(); } + + const std::vector &Vals() const { + return vals.vec; + } + + SymbolTable vals; + bool is_union; + // Type is a union which uses type aliases where at least one type is + // available under two different names. + bool uses_multiple_type_instances; + Type underlying_type; +}; + +inline bool EqualByName(const Type &a, const Type &b) { + return a.base_type == b.base_type && a.element == b.element && + (a.struct_def == b.struct_def || + a.struct_def->name == b.struct_def->name) && + (a.enum_def == b.enum_def || a.enum_def->name == b.enum_def->name); +} + +struct RPCCall : public Definition { + Offset Serialize(FlatBufferBuilder *builder, const Parser &parser) const; + + bool Deserialize(Parser &parser, const reflection::RPCCall *call); + + StructDef *request, *response; +}; + +struct ServiceDef : public Definition { + Offset Serialize(FlatBufferBuilder *builder, const Parser &parser) const; + bool Deserialize(Parser &parser, const reflection::Service *service); + + SymbolTable calls; +}; + +// Container of options that may apply to any of the source/text generators. +struct IDLOptions { + bool strict_json; + bool skip_js_exports; + bool use_goog_js_export_format; + bool use_ES6_js_export_format; + bool output_default_scalars_in_json; + int indent_step; + bool output_enum_identifiers; + bool prefixed_enums; + bool scoped_enums; + bool include_dependence_headers; + bool mutable_buffer; + bool one_file; + bool proto_mode; + bool proto_oneof_union; + bool generate_all; + bool skip_unexpected_fields_in_json; + bool generate_name_strings; + bool generate_object_based_api; + bool gen_compare; + std::string cpp_object_api_pointer_type; + std::string cpp_object_api_string_type; + bool cpp_object_api_string_flexible_constructor; + bool gen_nullable; + bool gen_generated; + std::string object_prefix; + std::string object_suffix; + bool union_value_namespacing; + bool allow_non_utf8; + bool natural_utf8; + std::string include_prefix; + bool keep_include_path; + bool binary_schema_comments; + bool binary_schema_builtins; + bool skip_flatbuffers_import; + std::string go_import; + std::string go_namespace; + bool reexport_ts_modules; + bool js_ts_short_names; + bool protobuf_ascii_alike; + bool size_prefixed; + std::string root_type; + bool force_defaults; + + // Possible options for the more general generator below. + enum Language { + kJava = 1 << 0, + kCSharp = 1 << 1, + kGo = 1 << 2, + kCpp = 1 << 3, + kJs = 1 << 4, + kPython = 1 << 5, + kPhp = 1 << 6, + kJson = 1 << 7, + kBinary = 1 << 8, + kTs = 1 << 9, + kJsonSchema = 1 << 10, + kDart = 1 << 11, + kLua = 1 << 12, + kLobster = 1 << 13, + kRust = 1 << 14, + kMAX + }; + + Language lang; + + enum MiniReflect { kNone, kTypes, kTypesAndNames }; + + MiniReflect mini_reflect; + + // The corresponding language bit will be set if a language is included + // for code generation. + unsigned long lang_to_generate; + + // If set (default behavior), empty string and vector fields will be set to + // nullptr to make the flatbuffer more compact. + bool set_empty_to_null; + + IDLOptions() + : strict_json(false), + skip_js_exports(false), + use_goog_js_export_format(false), + use_ES6_js_export_format(false), + output_default_scalars_in_json(false), + indent_step(2), + output_enum_identifiers(true), + prefixed_enums(true), + scoped_enums(false), + include_dependence_headers(true), + mutable_buffer(false), + one_file(false), + proto_mode(false), + proto_oneof_union(false), + generate_all(false), + skip_unexpected_fields_in_json(false), + generate_name_strings(false), + generate_object_based_api(false), + gen_compare(false), + cpp_object_api_pointer_type("std::unique_ptr"), + cpp_object_api_string_flexible_constructor(false), + gen_nullable(false), + gen_generated(false), + object_suffix("T"), + union_value_namespacing(true), + allow_non_utf8(false), + natural_utf8(false), + keep_include_path(false), + binary_schema_comments(false), + binary_schema_builtins(false), + skip_flatbuffers_import(false), + reexport_ts_modules(true), + js_ts_short_names(false), + protobuf_ascii_alike(false), + size_prefixed(false), + force_defaults(false), + lang(IDLOptions::kJava), + mini_reflect(IDLOptions::kNone), + lang_to_generate(0), + set_empty_to_null(true) {} +}; + +// This encapsulates where the parser is in the current source file. +struct ParserState { + ParserState() + : cursor_(nullptr), + line_start_(nullptr), + line_(0), + token_(-1), + attr_is_trivial_ascii_string_(true) {} + + protected: + void ResetState(const char *source) { + cursor_ = source; + line_ = 0; + MarkNewLine(); + } + + void MarkNewLine() { + line_start_ = cursor_; + line_ += 1; + } + + int64_t CursorPosition() const { + FLATBUFFERS_ASSERT(cursor_ && line_start_ && cursor_ >= line_start_); + return static_cast(cursor_ - line_start_); + } + + const char *cursor_; + const char *line_start_; + int line_; // the current line being parsed + int token_; + + // Flag: text in attribute_ is true ASCII string without escape + // sequences. Only printable ASCII (without [\t\r\n]). + // Used for number-in-string (and base64 string in future). + bool attr_is_trivial_ascii_string_; + std::string attribute_; + std::vector doc_comment_; +}; + +// A way to make error propagation less error prone by requiring values to be +// checked. +// Once you create a value of this type you must either: +// - Call Check() on it. +// - Copy or assign it to another value. +// Failure to do so leads to an assert. +// This guarantees that this as return value cannot be ignored. +class CheckedError { + public: + explicit CheckedError(bool error) + : is_error_(error), has_been_checked_(false) {} + + CheckedError &operator=(const CheckedError &other) { + is_error_ = other.is_error_; + has_been_checked_ = false; + other.has_been_checked_ = true; + return *this; + } + + CheckedError(const CheckedError &other) { + *this = other; // Use assignment operator. + } + + ~CheckedError() { FLATBUFFERS_ASSERT(has_been_checked_); } + + bool Check() { + has_been_checked_ = true; + return is_error_; + } + + private: + bool is_error_; + mutable bool has_been_checked_; +}; + +// Additionally, in GCC we can get these errors statically, for additional +// assurance: +// clang-format off +#ifdef __GNUC__ +#define FLATBUFFERS_CHECKED_ERROR CheckedError \ + __attribute__((warn_unused_result)) +#else +#define FLATBUFFERS_CHECKED_ERROR CheckedError +#endif +// clang-format on + +class Parser : public ParserState { + public: + explicit Parser(const IDLOptions &options = IDLOptions()) + : current_namespace_(nullptr), + empty_namespace_(nullptr), + root_struct_def_(nullptr), + opts(options), + uses_flexbuffers_(false), + source_(nullptr), + anonymous_counter(0), + recurse_protection_counter(0) { + if (opts.force_defaults) { + builder_.ForceDefaults(true); + } + // Start out with the empty namespace being current. + empty_namespace_ = new Namespace(); + namespaces_.push_back(empty_namespace_); + current_namespace_ = empty_namespace_; + known_attributes_["deprecated"] = true; + known_attributes_["required"] = true; + known_attributes_["key"] = true; + known_attributes_["shared"] = true; + known_attributes_["hash"] = true; + known_attributes_["id"] = true; + known_attributes_["force_align"] = true; + known_attributes_["bit_flags"] = true; + known_attributes_["original_order"] = true; + known_attributes_["nested_flatbuffer"] = true; + known_attributes_["csharp_partial"] = true; + known_attributes_["streaming"] = true; + known_attributes_["idempotent"] = true; + known_attributes_["cpp_type"] = true; + known_attributes_["cpp_ptr_type"] = true; + known_attributes_["cpp_ptr_type_get"] = true; + known_attributes_["cpp_str_type"] = true; + known_attributes_["cpp_str_flex_ctor"] = true; + known_attributes_["native_inline"] = true; + known_attributes_["native_custom_alloc"] = true; + known_attributes_["native_type"] = true; + known_attributes_["native_default"] = true; + known_attributes_["flexbuffer"] = true; + known_attributes_["private"] = true; + } + + ~Parser() { + for (auto it = namespaces_.begin(); it != namespaces_.end(); ++it) { + delete *it; + } + } + + // Parse the string containing either schema or JSON data, which will + // populate the SymbolTable's or the FlatBufferBuilder above. + // include_paths is used to resolve any include statements, and typically + // should at least include the project path (where you loaded source_ from). + // include_paths must be nullptr terminated if specified. + // If include_paths is nullptr, it will attempt to load from the current + // directory. + // If the source was loaded from a file and isn't an include file, + // supply its name in source_filename. + // All paths specified in this call must be in posix format, if you accept + // paths from user input, please call PosixPath on them first. + bool Parse(const char *_source, const char **include_paths = nullptr, + const char *source_filename = nullptr); + + // Set the root type. May override the one set in the schema. + bool SetRootType(const char *name); + + // Mark all definitions as already having code generated. + void MarkGenerated(); + + // Get the files recursively included by the given file. The returned + // container will have at least the given file. + std::set GetIncludedFilesRecursive( + const std::string &file_name) const; + + // Fills builder_ with a binary version of the schema parsed. + // See reflection/reflection.fbs + void Serialize(); + + // Deserialize a schema buffer + bool Deserialize(const uint8_t *buf, const size_t size); + + // Fills internal structure as if the schema passed had been loaded by parsing + // with Parse except that included filenames will not be populated. + bool Deserialize(const reflection::Schema* schema); + + Type* DeserializeType(const reflection::Type* type); + + // Checks that the schema represented by this parser is a safe evolution + // of the schema provided. Returns non-empty error on any problems. + std::string ConformTo(const Parser &base); + + // Similar to Parse(), but now only accepts JSON to be parsed into a + // FlexBuffer. + bool ParseFlexBuffer(const char *source, const char *source_filename, + flexbuffers::Builder *builder); + + StructDef *LookupStruct(const std::string &id) const; + + std::string UnqualifiedName(std::string fullQualifiedName); + + FLATBUFFERS_CHECKED_ERROR Error(const std::string &msg); + + private: + void Message(const std::string &msg); + void Warning(const std::string &msg); + FLATBUFFERS_CHECKED_ERROR ParseHexNum(int nibbles, uint64_t *val); + FLATBUFFERS_CHECKED_ERROR Next(); + FLATBUFFERS_CHECKED_ERROR SkipByteOrderMark(); + bool Is(int t) const; + bool IsIdent(const char *id) const; + FLATBUFFERS_CHECKED_ERROR Expect(int t); + std::string TokenToStringId(int t) const; + EnumDef *LookupEnum(const std::string &id); + FLATBUFFERS_CHECKED_ERROR ParseNamespacing(std::string *id, + std::string *last); + FLATBUFFERS_CHECKED_ERROR ParseTypeIdent(Type &type); + FLATBUFFERS_CHECKED_ERROR ParseType(Type &type); + FLATBUFFERS_CHECKED_ERROR AddField(StructDef &struct_def, + const std::string &name, const Type &type, + FieldDef **dest); + FLATBUFFERS_CHECKED_ERROR ParseField(StructDef &struct_def); + FLATBUFFERS_CHECKED_ERROR ParseString(Value &val); + FLATBUFFERS_CHECKED_ERROR ParseComma(); + FLATBUFFERS_CHECKED_ERROR ParseAnyValue(Value &val, FieldDef *field, + size_t parent_fieldn, + const StructDef *parent_struct_def, + uoffset_t count, + bool inside_vector = false); + template + FLATBUFFERS_CHECKED_ERROR ParseTableDelimiters(size_t &fieldn, + const StructDef *struct_def, + F body); + FLATBUFFERS_CHECKED_ERROR ParseTable(const StructDef &struct_def, + std::string *value, uoffset_t *ovalue); + void SerializeStruct(const StructDef &struct_def, const Value &val); + template + FLATBUFFERS_CHECKED_ERROR ParseVectorDelimiters(uoffset_t &count, F body); + FLATBUFFERS_CHECKED_ERROR ParseVector(const Type &type, uoffset_t *ovalue, + FieldDef *field, size_t fieldn); + FLATBUFFERS_CHECKED_ERROR ParseNestedFlatbuffer(Value &val, FieldDef *field, + size_t fieldn, + const StructDef *parent_struct_def); + FLATBUFFERS_CHECKED_ERROR ParseMetaData(SymbolTable *attributes); + FLATBUFFERS_CHECKED_ERROR TryTypedValue(const std::string *name, int dtoken, bool check, Value &e, + BaseType req, bool *destmatch); + FLATBUFFERS_CHECKED_ERROR ParseHash(Value &e, FieldDef* field); + FLATBUFFERS_CHECKED_ERROR TokenError(); + FLATBUFFERS_CHECKED_ERROR ParseSingleValue(const std::string *name, Value &e, bool check_now); + FLATBUFFERS_CHECKED_ERROR ParseEnumFromString(const Type &type, std::string *result); + StructDef *LookupCreateStruct(const std::string &name, + bool create_if_new = true, + bool definition = false); + FLATBUFFERS_CHECKED_ERROR ParseEnum(bool is_union, EnumDef **dest); + FLATBUFFERS_CHECKED_ERROR ParseNamespace(); + FLATBUFFERS_CHECKED_ERROR StartStruct(const std::string &name, + StructDef **dest); + FLATBUFFERS_CHECKED_ERROR StartEnum(const std::string &name, + bool is_union, + EnumDef **dest); + FLATBUFFERS_CHECKED_ERROR ParseDecl(); + FLATBUFFERS_CHECKED_ERROR ParseService(); + FLATBUFFERS_CHECKED_ERROR ParseProtoFields(StructDef *struct_def, + bool isextend, bool inside_oneof); + FLATBUFFERS_CHECKED_ERROR ParseProtoOption(); + FLATBUFFERS_CHECKED_ERROR ParseProtoKey(); + FLATBUFFERS_CHECKED_ERROR ParseProtoDecl(); + FLATBUFFERS_CHECKED_ERROR ParseProtoCurliesOrIdent(); + FLATBUFFERS_CHECKED_ERROR ParseTypeFromProtoType(Type *type); + FLATBUFFERS_CHECKED_ERROR SkipAnyJsonValue(); + FLATBUFFERS_CHECKED_ERROR ParseFlexBufferValue(flexbuffers::Builder *builder); + FLATBUFFERS_CHECKED_ERROR StartParseFile(const char *source, + const char *source_filename); + FLATBUFFERS_CHECKED_ERROR ParseRoot(const char *_source, + const char **include_paths, + const char *source_filename); + FLATBUFFERS_CHECKED_ERROR DoParse(const char *_source, + const char **include_paths, + const char *source_filename, + const char *include_filename); + FLATBUFFERS_CHECKED_ERROR CheckClash(std::vector &fields, + StructDef *struct_def, + const char *suffix, + BaseType baseType); + + bool SupportsAdvancedUnionFeatures() const; + Namespace *UniqueNamespace(Namespace *ns); + + FLATBUFFERS_CHECKED_ERROR RecurseError(); + template CheckedError Recurse(F f); + + public: + SymbolTable types_; + SymbolTable structs_; + SymbolTable enums_; + SymbolTable services_; + std::vector namespaces_; + Namespace *current_namespace_; + Namespace *empty_namespace_; + std::string error_; // User readable error_ if Parse() == false + + FlatBufferBuilder builder_; // any data contained in the file + StructDef *root_struct_def_; + std::string file_identifier_; + std::string file_extension_; + + std::map included_files_; + std::map> files_included_per_file_; + std::vector native_included_files_; + + std::map known_attributes_; + + IDLOptions opts; + bool uses_flexbuffers_; + + private: + const char *source_; + + std::string file_being_parsed_; + + std::vector> field_stack_; + + int anonymous_counter; + int recurse_protection_counter; +}; + +// Utility functions for multiple generators: + +extern std::string MakeCamel(const std::string &in, bool first = true); + +// Generate text (JSON) from a given FlatBuffer, and a given Parser +// object that has been populated with the corresponding schema. +// If ident_step is 0, no indentation will be generated. Additionally, +// if it is less than 0, no linefeeds will be generated either. +// See idl_gen_text.cpp. +// strict_json adds "quotes" around field names if true. +// If the flatbuffer cannot be encoded in JSON (e.g., it contains non-UTF-8 +// byte arrays in String values), returns false. +extern bool GenerateTextFromTable(const Parser &parser, + const void *table, + const std::string &tablename, + std::string *text); +extern bool GenerateText(const Parser &parser, + const void *flatbuffer, + std::string *text); +extern bool GenerateTextFile(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate binary files from a given FlatBuffer, and a given Parser +// object that has been populated with the corresponding schema. +// See idl_gen_general.cpp. +extern bool GenerateBinary(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate a C++ header from the definitions in the Parser object. +// See idl_gen_cpp. +extern bool GenerateCPP(const Parser &parser, + const std::string &path, + const std::string &file_name); + +extern bool GenerateDart(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate JavaScript or TypeScript code from the definitions in the Parser object. +// See idl_gen_js. +extern bool GenerateJSTS(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate Go files from the definitions in the Parser object. +// See idl_gen_go.cpp. +extern bool GenerateGo(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate Php code from the definitions in the Parser object. +// See idl_gen_php. +extern bool GeneratePhp(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate Python files from the definitions in the Parser object. +// See idl_gen_python.cpp. +extern bool GeneratePython(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate Lobster files from the definitions in the Parser object. +// See idl_gen_lobster.cpp. +extern bool GenerateLobster(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate Lua files from the definitions in the Parser object. +// See idl_gen_lua.cpp. +extern bool GenerateLua(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate Rust files from the definitions in the Parser object. +// See idl_gen_rust.cpp. +extern bool GenerateRust(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate Json schema file +// See idl_gen_json_schema.cpp. +extern bool GenerateJsonSchema(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate Java/C#/.. files from the definitions in the Parser object. +// See idl_gen_general.cpp. +extern bool GenerateGeneral(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate a schema file from the internal representation, useful after +// parsing a .proto schema. +extern std::string GenerateFBS(const Parser &parser, + const std::string &file_name); +extern bool GenerateFBS(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate a make rule for the generated JavaScript or TypeScript code. +// See idl_gen_js.cpp. +extern std::string JSTSMakeRule(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate a make rule for the generated C++ header. +// See idl_gen_cpp.cpp. +extern std::string CPPMakeRule(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate a make rule for the generated Dart code +// see idl_gen_dart.cpp +extern std::string DartMakeRule(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate a make rule for the generated Rust code. +// See idl_gen_rust.cpp. +extern std::string RustMakeRule(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate a make rule for the generated Java/C#/... files. +// See idl_gen_general.cpp. +extern std::string GeneralMakeRule(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate a make rule for the generated text (JSON) files. +// See idl_gen_text.cpp. +extern std::string TextMakeRule(const Parser &parser, + const std::string &path, + const std::string &file_names); + +// Generate a make rule for the generated binary files. +// See idl_gen_general.cpp. +extern std::string BinaryMakeRule(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate GRPC Cpp interfaces. +// See idl_gen_grpc.cpp. +bool GenerateCppGRPC(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate GRPC Go interfaces. +// See idl_gen_grpc.cpp. +bool GenerateGoGRPC(const Parser &parser, + const std::string &path, + const std::string &file_name); + +// Generate GRPC Java classes. +// See idl_gen_grpc.cpp +bool GenerateJavaGRPC(const Parser &parser, + const std::string &path, + const std::string &file_name); + +} // namespace flatbuffers + +#endif // FLATBUFFERS_IDL_H_ diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/minireflect.h b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/minireflect.h new file mode 100644 index 000000000..9d648ec08 --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/minireflect.h @@ -0,0 +1,407 @@ +/* + * Copyright 2017 Google Inc. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef FLATBUFFERS_MINIREFLECT_H_ +#define FLATBUFFERS_MINIREFLECT_H_ + +#include "flatbuffers/flatbuffers.h" +#include "flatbuffers/util.h" + +namespace flatbuffers { + +// Utilities that can be used with the "mini reflection" tables present +// in generated code with --reflect-types (only types) or --reflect-names +// (also names). +// This allows basic reflection functionality such as pretty-printing +// that does not require the use of the schema parser or loading of binary +// schema files at runtime (reflection.h). + +// For any of the functions below that take `const TypeTable *`, you pass +// `FooTypeTable()` if the type of the root is `Foo`. + +// First, a generic iterator that can be used by multiple algorithms. + +struct IterationVisitor { + // These mark the scope of a table or struct. + virtual void StartSequence() {} + virtual void EndSequence() {} + // Called for each field regardless of wether it is present or not. + // If not present, val == nullptr. set_idx is the index of all set fields. + virtual void Field(size_t /*field_idx*/, size_t /*set_idx*/, + ElementaryType /*type*/, bool /*is_vector*/, + const TypeTable * /*type_table*/, const char * /*name*/, + const uint8_t * /*val*/) {} + // Called for a value that is actually present, after a field, or as part + // of a vector. + virtual void UType(uint8_t, const char *) {} + virtual void Bool(bool) {} + virtual void Char(int8_t, const char *) {} + virtual void UChar(uint8_t, const char *) {} + virtual void Short(int16_t, const char *) {} + virtual void UShort(uint16_t, const char *) {} + virtual void Int(int32_t, const char *) {} + virtual void UInt(uint32_t, const char *) {} + virtual void Long(int64_t) {} + virtual void ULong(uint64_t) {} + virtual void Float(float) {} + virtual void Double(double) {} + virtual void String(const String *) {} + virtual void Unknown(const uint8_t *) {} // From a future version. + // These mark the scope of a vector. + virtual void StartVector() {} + virtual void EndVector() {} + virtual void Element(size_t /*i*/, ElementaryType /*type*/, + const TypeTable * /*type_table*/, + const uint8_t * /*val*/) {} + virtual ~IterationVisitor() {} +}; + +inline size_t InlineSize(ElementaryType type, const TypeTable *type_table) { + switch (type) { + case ET_UTYPE: + case ET_BOOL: + case ET_CHAR: + case ET_UCHAR: return 1; + case ET_SHORT: + case ET_USHORT: return 2; + case ET_INT: + case ET_UINT: + case ET_FLOAT: + case ET_STRING: return 4; + case ET_LONG: + case ET_ULONG: + case ET_DOUBLE: return 8; + case ET_SEQUENCE: + switch (type_table->st) { + case ST_TABLE: + case ST_UNION: return 4; + case ST_STRUCT: return static_cast(type_table->values[type_table->num_elems]); + default: FLATBUFFERS_ASSERT(false); return 1; + } + default: FLATBUFFERS_ASSERT(false); return 1; + } +} + +inline int64_t LookupEnum(int64_t enum_val, const int64_t *values, + size_t num_values) { + if (!values) return enum_val; + for (size_t i = 0; i < num_values; i++) { + if (enum_val == values[i]) return static_cast(i); + } + return -1; // Unknown enum value. +} + +template const char *EnumName(T tval, const TypeTable *type_table) { + if (!type_table || !type_table->names) return nullptr; + auto i = LookupEnum(static_cast(tval), type_table->values, + type_table->num_elems); + if (i >= 0 && i < static_cast(type_table->num_elems)) { + return type_table->names[i]; + } + return nullptr; +} + +void IterateObject(const uint8_t *obj, const TypeTable *type_table, + IterationVisitor *visitor); + +inline void IterateValue(ElementaryType type, const uint8_t *val, + const TypeTable *type_table, const uint8_t *prev_val, + soffset_t vector_index, IterationVisitor *visitor) { + switch (type) { + case ET_UTYPE: { + auto tval = ReadScalar(val); + visitor->UType(tval, EnumName(tval, type_table)); + break; + } + case ET_BOOL: { + visitor->Bool(ReadScalar(val) != 0); + break; + } + case ET_CHAR: { + auto tval = ReadScalar(val); + visitor->Char(tval, EnumName(tval, type_table)); + break; + } + case ET_UCHAR: { + auto tval = ReadScalar(val); + visitor->UChar(tval, EnumName(tval, type_table)); + break; + } + case ET_SHORT: { + auto tval = ReadScalar(val); + visitor->Short(tval, EnumName(tval, type_table)); + break; + } + case ET_USHORT: { + auto tval = ReadScalar(val); + visitor->UShort(tval, EnumName(tval, type_table)); + break; + } + case ET_INT: { + auto tval = ReadScalar(val); + visitor->Int(tval, EnumName(tval, type_table)); + break; + } + case ET_UINT: { + auto tval = ReadScalar(val); + visitor->UInt(tval, EnumName(tval, type_table)); + break; + } + case ET_LONG: { + visitor->Long(ReadScalar(val)); + break; + } + case ET_ULONG: { + visitor->ULong(ReadScalar(val)); + break; + } + case ET_FLOAT: { + visitor->Float(ReadScalar(val)); + break; + } + case ET_DOUBLE: { + visitor->Double(ReadScalar(val)); + break; + } + case ET_STRING: { + val += ReadScalar(val); + visitor->String(reinterpret_cast(val)); + break; + } + case ET_SEQUENCE: { + switch (type_table->st) { + case ST_TABLE: + val += ReadScalar(val); + IterateObject(val, type_table, visitor); + break; + case ST_STRUCT: IterateObject(val, type_table, visitor); break; + case ST_UNION: { + val += ReadScalar(val); + FLATBUFFERS_ASSERT(prev_val); + auto union_type = *prev_val; // Always a uint8_t. + if (vector_index >= 0) { + auto type_vec = reinterpret_cast *>(prev_val); + union_type = type_vec->Get(static_cast(vector_index)); + } + auto type_code_idx = + LookupEnum(union_type, type_table->values, type_table->num_elems); + if (type_code_idx >= 0 && + type_code_idx < static_cast(type_table->num_elems)) { + auto type_code = type_table->type_codes[type_code_idx]; + switch (type_code.base_type) { + case ET_SEQUENCE: { + auto ref = type_table->type_refs[type_code.sequence_ref](); + IterateObject(val, ref, visitor); + break; + } + case ET_STRING: + visitor->String(reinterpret_cast(val)); + break; + default: visitor->Unknown(val); + } + } else { + visitor->Unknown(val); + } + break; + } + case ST_ENUM: FLATBUFFERS_ASSERT(false); break; + } + break; + } + default: { + visitor->Unknown(val); + break; + } + } +} + +inline void IterateObject(const uint8_t *obj, const TypeTable *type_table, + IterationVisitor *visitor) { + visitor->StartSequence(); + const uint8_t *prev_val = nullptr; + size_t set_idx = 0; + for (size_t i = 0; i < type_table->num_elems; i++) { + auto type_code = type_table->type_codes[i]; + auto type = static_cast(type_code.base_type); + auto is_vector = type_code.is_vector != 0; + auto ref_idx = type_code.sequence_ref; + const TypeTable *ref = nullptr; + if (ref_idx >= 0) { ref = type_table->type_refs[ref_idx](); } + auto name = type_table->names ? type_table->names[i] : nullptr; + const uint8_t *val = nullptr; + if (type_table->st == ST_TABLE) { + val = reinterpret_cast(obj)->GetAddressOf( + FieldIndexToOffset(static_cast(i))); + } else { + val = obj + type_table->values[i]; + } + visitor->Field(i, set_idx, type, is_vector, ref, name, val); + if (val) { + set_idx++; + if (is_vector) { + val += ReadScalar(val); + auto vec = reinterpret_cast *>(val); + visitor->StartVector(); + auto elem_ptr = vec->Data(); + for (size_t j = 0; j < vec->size(); j++) { + visitor->Element(j, type, ref, elem_ptr); + IterateValue(type, elem_ptr, ref, prev_val, static_cast(j), + visitor); + elem_ptr += InlineSize(type, ref); + } + visitor->EndVector(); + } else { + IterateValue(type, val, ref, prev_val, -1, visitor); + } + } + prev_val = val; + } + visitor->EndSequence(); +} + +inline void IterateFlatBuffer(const uint8_t *buffer, + const TypeTable *type_table, + IterationVisitor *callback) { + IterateObject(GetRoot(buffer), type_table, callback); +} + +// Outputting a Flatbuffer to a string. Tries to conform as close to JSON / +// the output generated by idl_gen_text.cpp. + +struct ToStringVisitor : public IterationVisitor { + std::string s; + std::string d; + bool q; + std::string in; + size_t indent_level; + bool vector_delimited; + ToStringVisitor(std::string delimiter, bool quotes, std::string indent, + bool vdelimited = true) + : d(delimiter), + q(quotes), + in(indent), + indent_level(0), + vector_delimited(vdelimited) {} + ToStringVisitor(std::string delimiter) + : d(delimiter), + q(false), + in(""), + indent_level(0), + vector_delimited(true) {} + + void append_indent() { + for (size_t i = 0; i < indent_level; i++) { s += in; } + } + + void StartSequence() { + s += "{"; + s += d; + indent_level++; + } + void EndSequence() { + s += d; + indent_level--; + append_indent(); + s += "}"; + } + void Field(size_t /*field_idx*/, size_t set_idx, ElementaryType /*type*/, + bool /*is_vector*/, const TypeTable * /*type_table*/, + const char *name, const uint8_t *val) { + if (!val) return; + if (set_idx) { + s += ","; + s += d; + } + append_indent(); + if (name) { + if (q) s += "\""; + s += name; + if (q) s += "\""; + s += ": "; + } + } + template void Named(T x, const char *name) { + if (name) { + if (q) s += "\""; + s += name; + if (q) s += "\""; + } else { + s += NumToString(x); + } + } + void UType(uint8_t x, const char *name) { Named(x, name); } + void Bool(bool x) { s += x ? "true" : "false"; } + void Char(int8_t x, const char *name) { Named(x, name); } + void UChar(uint8_t x, const char *name) { Named(x, name); } + void Short(int16_t x, const char *name) { Named(x, name); } + void UShort(uint16_t x, const char *name) { Named(x, name); } + void Int(int32_t x, const char *name) { Named(x, name); } + void UInt(uint32_t x, const char *name) { Named(x, name); } + void Long(int64_t x) { s += NumToString(x); } + void ULong(uint64_t x) { s += NumToString(x); } + void Float(float x) { s += NumToString(x); } + void Double(double x) { s += NumToString(x); } + void String(const struct String *str) { + EscapeString(str->c_str(), str->size(), &s, true, false); + } + void Unknown(const uint8_t *) { s += "(?)"; } + void StartVector() { + s += "["; + if (vector_delimited) { + s += d; + indent_level++; + append_indent(); + } else { + s += " "; + } + } + void EndVector() { + if (vector_delimited) { + s += d; + indent_level--; + append_indent(); + } else { + s += " "; + } + s += "]"; + } + void Element(size_t i, ElementaryType /*type*/, + const TypeTable * /*type_table*/, const uint8_t * /*val*/) { + if (i) { + s += ","; + if (vector_delimited) { + s += d; + append_indent(); + } else { + s += " "; + } + } + } +}; + +inline std::string FlatBufferToString(const uint8_t *buffer, + const TypeTable *type_table, + bool multi_line = false, + bool vector_delimited = true) { + ToStringVisitor tostring_visitor(multi_line ? "\n" : " ", false, "", + vector_delimited); + IterateFlatBuffer(buffer, type_table, &tostring_visitor); + return tostring_visitor.s; +} + +} // namespace flatbuffers + +#endif // FLATBUFFERS_MINIREFLECT_H_ diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/reflection.h b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/reflection.h new file mode 100644 index 000000000..580ae624b --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/reflection.h @@ -0,0 +1,477 @@ +/* + * Copyright 2015 Google Inc. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef FLATBUFFERS_REFLECTION_H_ +#define FLATBUFFERS_REFLECTION_H_ + +// This is somewhat of a circular dependency because flatc (and thus this +// file) is needed to generate this header in the first place. +// Should normally not be a problem since it can be generated by the +// previous version of flatc whenever this code needs to change. +// See reflection/generate_code.sh +#include "flatbuffers/reflection_generated.h" + +// Helper functionality for reflection. + +namespace flatbuffers { + +// ------------------------- GETTERS ------------------------- + +inline bool IsScalar(reflection::BaseType t) { + return t >= reflection::UType && t <= reflection::Double; +} +inline bool IsInteger(reflection::BaseType t) { + return t >= reflection::UType && t <= reflection::ULong; +} +inline bool IsFloat(reflection::BaseType t) { + return t == reflection::Float || t == reflection::Double; +} +inline bool IsLong(reflection::BaseType t) { + return t == reflection::Long || t == reflection::ULong; +} + +// Size of a basic type, don't use with structs. +inline size_t GetTypeSize(reflection::BaseType base_type) { + // This needs to correspond to the BaseType enum. + static size_t sizes[] = { 0, 1, 1, 1, 1, 2, 2, 4, 4, 8, 8, 4, 8, 4, 4, 4, 4 }; + return sizes[base_type]; +} + +// Same as above, but now correctly returns the size of a struct if +// the field (or vector element) is a struct. +inline size_t GetTypeSizeInline(reflection::BaseType base_type, int type_index, + const reflection::Schema &schema) { + if (base_type == reflection::Obj && + schema.objects()->Get(type_index)->is_struct()) { + return schema.objects()->Get(type_index)->bytesize(); + } else { + return GetTypeSize(base_type); + } +} + +// Get the root, regardless of what type it is. +inline Table *GetAnyRoot(uint8_t *flatbuf) { + return GetMutableRoot
(flatbuf); +} +inline const Table *GetAnyRoot(const uint8_t *flatbuf) { + return GetRoot
(flatbuf); +} + +// Get a field's default, if you know it's an integer, and its exact type. +template T GetFieldDefaultI(const reflection::Field &field) { + FLATBUFFERS_ASSERT(sizeof(T) == GetTypeSize(field.type()->base_type())); + return static_cast(field.default_integer()); +} + +// Get a field's default, if you know it's floating point and its exact type. +template T GetFieldDefaultF(const reflection::Field &field) { + FLATBUFFERS_ASSERT(sizeof(T) == GetTypeSize(field.type()->base_type())); + return static_cast(field.default_real()); +} + +// Get a field, if you know it's an integer, and its exact type. +template +T GetFieldI(const Table &table, const reflection::Field &field) { + FLATBUFFERS_ASSERT(sizeof(T) == GetTypeSize(field.type()->base_type())); + return table.GetField(field.offset(), + static_cast(field.default_integer())); +} + +// Get a field, if you know it's floating point and its exact type. +template +T GetFieldF(const Table &table, const reflection::Field &field) { + FLATBUFFERS_ASSERT(sizeof(T) == GetTypeSize(field.type()->base_type())); + return table.GetField(field.offset(), + static_cast(field.default_real())); +} + +// Get a field, if you know it's a string. +inline const String *GetFieldS(const Table &table, + const reflection::Field &field) { + FLATBUFFERS_ASSERT(field.type()->base_type() == reflection::String); + return table.GetPointer(field.offset()); +} + +// Get a field, if you know it's a vector. +template +Vector *GetFieldV(const Table &table, const reflection::Field &field) { + FLATBUFFERS_ASSERT(field.type()->base_type() == reflection::Vector && + sizeof(T) == GetTypeSize(field.type()->element())); + return table.GetPointer *>(field.offset()); +} + +// Get a field, if you know it's a vector, generically. +// To actually access elements, use the return value together with +// field.type()->element() in any of GetAnyVectorElemI below etc. +inline VectorOfAny *GetFieldAnyV(const Table &table, + const reflection::Field &field) { + return table.GetPointer(field.offset()); +} + +// Get a field, if you know it's a table. +inline Table *GetFieldT(const Table &table, const reflection::Field &field) { + FLATBUFFERS_ASSERT(field.type()->base_type() == reflection::Obj || + field.type()->base_type() == reflection::Union); + return table.GetPointer
(field.offset()); +} + +// Get a field, if you know it's a struct. +inline const Struct *GetFieldStruct(const Table &table, + const reflection::Field &field) { + // TODO: This does NOT check if the field is a table or struct, but we'd need + // access to the schema to check the is_struct flag. + FLATBUFFERS_ASSERT(field.type()->base_type() == reflection::Obj); + return table.GetStruct(field.offset()); +} + +// Get a structure's field, if you know it's a struct. +inline const Struct *GetFieldStruct(const Struct &structure, + const reflection::Field &field) { + FLATBUFFERS_ASSERT(field.type()->base_type() == reflection::Obj); + return structure.GetStruct(field.offset()); +} + +// Raw helper functions used below: get any value in memory as a 64bit int, a +// double or a string. +// All scalars get static_cast to an int64_t, strings use strtoull, every other +// data type returns 0. +int64_t GetAnyValueI(reflection::BaseType type, const uint8_t *data); +// All scalars static cast to double, strings use strtod, every other data +// type is 0.0. +double GetAnyValueF(reflection::BaseType type, const uint8_t *data); +// All scalars converted using stringstream, strings as-is, and all other +// data types provide some level of debug-pretty-printing. +std::string GetAnyValueS(reflection::BaseType type, const uint8_t *data, + const reflection::Schema *schema, int type_index); + +// Get any table field as a 64bit int, regardless of what type it is. +inline int64_t GetAnyFieldI(const Table &table, + const reflection::Field &field) { + auto field_ptr = table.GetAddressOf(field.offset()); + return field_ptr ? GetAnyValueI(field.type()->base_type(), field_ptr) + : field.default_integer(); +} + +// Get any table field as a double, regardless of what type it is. +inline double GetAnyFieldF(const Table &table, const reflection::Field &field) { + auto field_ptr = table.GetAddressOf(field.offset()); + return field_ptr ? GetAnyValueF(field.type()->base_type(), field_ptr) + : field.default_real(); +} + +// Get any table field as a string, regardless of what type it is. +// You may pass nullptr for the schema if you don't care to have fields that +// are of table type pretty-printed. +inline std::string GetAnyFieldS(const Table &table, + const reflection::Field &field, + const reflection::Schema *schema) { + auto field_ptr = table.GetAddressOf(field.offset()); + return field_ptr ? GetAnyValueS(field.type()->base_type(), field_ptr, schema, + field.type()->index()) + : ""; +} + +// Get any struct field as a 64bit int, regardless of what type it is. +inline int64_t GetAnyFieldI(const Struct &st, const reflection::Field &field) { + return GetAnyValueI(field.type()->base_type(), + st.GetAddressOf(field.offset())); +} + +// Get any struct field as a double, regardless of what type it is. +inline double GetAnyFieldF(const Struct &st, const reflection::Field &field) { + return GetAnyValueF(field.type()->base_type(), + st.GetAddressOf(field.offset())); +} + +// Get any struct field as a string, regardless of what type it is. +inline std::string GetAnyFieldS(const Struct &st, + const reflection::Field &field) { + return GetAnyValueS(field.type()->base_type(), + st.GetAddressOf(field.offset()), nullptr, -1); +} + +// Get any vector element as a 64bit int, regardless of what type it is. +inline int64_t GetAnyVectorElemI(const VectorOfAny *vec, + reflection::BaseType elem_type, size_t i) { + return GetAnyValueI(elem_type, vec->Data() + GetTypeSize(elem_type) * i); +} + +// Get any vector element as a double, regardless of what type it is. +inline double GetAnyVectorElemF(const VectorOfAny *vec, + reflection::BaseType elem_type, size_t i) { + return GetAnyValueF(elem_type, vec->Data() + GetTypeSize(elem_type) * i); +} + +// Get any vector element as a string, regardless of what type it is. +inline std::string GetAnyVectorElemS(const VectorOfAny *vec, + reflection::BaseType elem_type, size_t i) { + return GetAnyValueS(elem_type, vec->Data() + GetTypeSize(elem_type) * i, + nullptr, -1); +} + +// Get a vector element that's a table/string/vector from a generic vector. +// Pass Table/String/VectorOfAny as template parameter. +// Warning: does no typechecking. +template +T *GetAnyVectorElemPointer(const VectorOfAny *vec, size_t i) { + auto elem_ptr = vec->Data() + sizeof(uoffset_t) * i; + return reinterpret_cast(elem_ptr + ReadScalar(elem_ptr)); +} + +// Get the inline-address of a vector element. Useful for Structs (pass Struct +// as template arg), or being able to address a range of scalars in-line. +// Get elem_size from GetTypeSizeInline(). +// Note: little-endian data on all platforms, use EndianScalar() instead of +// raw pointer access with scalars). +template +T *GetAnyVectorElemAddressOf(const VectorOfAny *vec, size_t i, + size_t elem_size) { + return reinterpret_cast(vec->Data() + elem_size * i); +} + +// Similarly, for elements of tables. +template +T *GetAnyFieldAddressOf(const Table &table, const reflection::Field &field) { + return reinterpret_cast(table.GetAddressOf(field.offset())); +} + +// Similarly, for elements of structs. +template +T *GetAnyFieldAddressOf(const Struct &st, const reflection::Field &field) { + return reinterpret_cast(st.GetAddressOf(field.offset())); +} + +// ------------------------- SETTERS ------------------------- + +// Set any scalar field, if you know its exact type. +template +bool SetField(Table *table, const reflection::Field &field, T val) { + reflection::BaseType type = field.type()->base_type(); + if (!IsScalar(type)) { return false; } + FLATBUFFERS_ASSERT(sizeof(T) == GetTypeSize(type)); + T def; + if (IsInteger(type)) { + def = GetFieldDefaultI(field); + } else { + FLATBUFFERS_ASSERT(IsFloat(type)); + def = GetFieldDefaultF(field); + } + return table->SetField(field.offset(), val, def); +} + +// Raw helper functions used below: set any value in memory as a 64bit int, a +// double or a string. +// These work for all scalar values, but do nothing for other data types. +// To set a string, see SetString below. +void SetAnyValueI(reflection::BaseType type, uint8_t *data, int64_t val); +void SetAnyValueF(reflection::BaseType type, uint8_t *data, double val); +void SetAnyValueS(reflection::BaseType type, uint8_t *data, const char *val); + +// Set any table field as a 64bit int, regardless of type what it is. +inline bool SetAnyFieldI(Table *table, const reflection::Field &field, + int64_t val) { + auto field_ptr = table->GetAddressOf(field.offset()); + if (!field_ptr) return val == GetFieldDefaultI(field); + SetAnyValueI(field.type()->base_type(), field_ptr, val); + return true; +} + +// Set any table field as a double, regardless of what type it is. +inline bool SetAnyFieldF(Table *table, const reflection::Field &field, + double val) { + auto field_ptr = table->GetAddressOf(field.offset()); + if (!field_ptr) return val == GetFieldDefaultF(field); + SetAnyValueF(field.type()->base_type(), field_ptr, val); + return true; +} + +// Set any table field as a string, regardless of what type it is. +inline bool SetAnyFieldS(Table *table, const reflection::Field &field, + const char *val) { + auto field_ptr = table->GetAddressOf(field.offset()); + if (!field_ptr) return false; + SetAnyValueS(field.type()->base_type(), field_ptr, val); + return true; +} + +// Set any struct field as a 64bit int, regardless of type what it is. +inline void SetAnyFieldI(Struct *st, const reflection::Field &field, + int64_t val) { + SetAnyValueI(field.type()->base_type(), st->GetAddressOf(field.offset()), + val); +} + +// Set any struct field as a double, regardless of type what it is. +inline void SetAnyFieldF(Struct *st, const reflection::Field &field, + double val) { + SetAnyValueF(field.type()->base_type(), st->GetAddressOf(field.offset()), + val); +} + +// Set any struct field as a string, regardless of type what it is. +inline void SetAnyFieldS(Struct *st, const reflection::Field &field, + const char *val) { + SetAnyValueS(field.type()->base_type(), st->GetAddressOf(field.offset()), + val); +} + +// Set any vector element as a 64bit int, regardless of type what it is. +inline void SetAnyVectorElemI(VectorOfAny *vec, reflection::BaseType elem_type, + size_t i, int64_t val) { + SetAnyValueI(elem_type, vec->Data() + GetTypeSize(elem_type) * i, val); +} + +// Set any vector element as a double, regardless of type what it is. +inline void SetAnyVectorElemF(VectorOfAny *vec, reflection::BaseType elem_type, + size_t i, double val) { + SetAnyValueF(elem_type, vec->Data() + GetTypeSize(elem_type) * i, val); +} + +// Set any vector element as a string, regardless of type what it is. +inline void SetAnyVectorElemS(VectorOfAny *vec, reflection::BaseType elem_type, + size_t i, const char *val) { + SetAnyValueS(elem_type, vec->Data() + GetTypeSize(elem_type) * i, val); +} + +// ------------------------- RESIZING SETTERS ------------------------- + +// "smart" pointer for use with resizing vectors: turns a pointer inside +// a vector into a relative offset, such that it is not affected by resizes. +template class pointer_inside_vector { + public: + pointer_inside_vector(T *ptr, std::vector &vec) + : offset_(reinterpret_cast(ptr) - + reinterpret_cast(flatbuffers::vector_data(vec))), + vec_(vec) {} + + T *operator*() const { + return reinterpret_cast( + reinterpret_cast(flatbuffers::vector_data(vec_)) + offset_); + } + T *operator->() const { return operator*(); } + void operator=(const pointer_inside_vector &piv); + + private: + size_t offset_; + std::vector &vec_; +}; + +// Helper to create the above easily without specifying template args. +template +pointer_inside_vector piv(T *ptr, std::vector &vec) { + return pointer_inside_vector(ptr, vec); +} + +inline const char *UnionTypeFieldSuffix() { return "_type"; } + +// Helper to figure out the actual table type a union refers to. +inline const reflection::Object &GetUnionType( + const reflection::Schema &schema, const reflection::Object &parent, + const reflection::Field &unionfield, const Table &table) { + auto enumdef = schema.enums()->Get(unionfield.type()->index()); + // TODO: this is clumsy and slow, but no other way to find it? + auto type_field = parent.fields()->LookupByKey( + (unionfield.name()->str() + UnionTypeFieldSuffix()).c_str()); + FLATBUFFERS_ASSERT(type_field); + auto union_type = GetFieldI(table, *type_field); + auto enumval = enumdef->values()->LookupByKey(union_type); + return *enumval->object(); +} + +// Changes the contents of a string inside a FlatBuffer. FlatBuffer must +// live inside a std::vector so we can resize the buffer if needed. +// "str" must live inside "flatbuf" and may be invalidated after this call. +// If your FlatBuffer's root table is not the schema's root table, you should +// pass in your root_table type as well. +void SetString(const reflection::Schema &schema, const std::string &val, + const String *str, std::vector *flatbuf, + const reflection::Object *root_table = nullptr); + +// Resizes a flatbuffers::Vector inside a FlatBuffer. FlatBuffer must +// live inside a std::vector so we can resize the buffer if needed. +// "vec" must live inside "flatbuf" and may be invalidated after this call. +// If your FlatBuffer's root table is not the schema's root table, you should +// pass in your root_table type as well. +uint8_t *ResizeAnyVector(const reflection::Schema &schema, uoffset_t newsize, + const VectorOfAny *vec, uoffset_t num_elems, + uoffset_t elem_size, std::vector *flatbuf, + const reflection::Object *root_table = nullptr); + +template +void ResizeVector(const reflection::Schema &schema, uoffset_t newsize, T val, + const Vector *vec, std::vector *flatbuf, + const reflection::Object *root_table = nullptr) { + auto delta_elem = static_cast(newsize) - static_cast(vec->size()); + auto newelems = ResizeAnyVector( + schema, newsize, reinterpret_cast(vec), vec->size(), + static_cast(sizeof(T)), flatbuf, root_table); + // Set new elements to "val". + for (int i = 0; i < delta_elem; i++) { + auto loc = newelems + i * sizeof(T); + auto is_scalar = flatbuffers::is_scalar::value; + if (is_scalar) { + WriteScalar(loc, val); + } else { // struct + *reinterpret_cast(loc) = val; + } + } +} + +// Adds any new data (in the form of a new FlatBuffer) to an existing +// FlatBuffer. This can be used when any of the above methods are not +// sufficient, in particular for adding new tables and new fields. +// This is potentially slightly less efficient than a FlatBuffer constructed +// in one piece, since the new FlatBuffer doesn't share any vtables with the +// existing one. +// The return value can now be set using Vector::MutateOffset or SetFieldT +// below. +const uint8_t *AddFlatBuffer(std::vector &flatbuf, + const uint8_t *newbuf, size_t newlen); + +inline bool SetFieldT(Table *table, const reflection::Field &field, + const uint8_t *val) { + FLATBUFFERS_ASSERT(sizeof(uoffset_t) == + GetTypeSize(field.type()->base_type())); + return table->SetPointer(field.offset(), val); +} + +// ------------------------- COPYING ------------------------- + +// Generic copying of tables from a FlatBuffer into a FlatBuffer builder. +// Can be used to do any kind of merging/selecting you may want to do out +// of existing buffers. Also useful to reconstruct a whole buffer if the +// above resizing functionality has introduced garbage in a buffer you want +// to remove. +// Note: this does not deal with DAGs correctly. If the table passed forms a +// DAG, the copy will be a tree instead (with duplicates). Strings can be +// shared however, by passing true for use_string_pooling. + +Offset CopyTable(FlatBufferBuilder &fbb, + const reflection::Schema &schema, + const reflection::Object &objectdef, + const Table &table, + bool use_string_pooling = false); + +// Verifies the provided flatbuffer using reflection. +// root should point to the root type for this flatbuffer. +// buf should point to the start of flatbuffer data. +// length specifies the size of the flatbuffer data. +bool Verify(const reflection::Schema &schema, const reflection::Object &root, + const uint8_t *buf, size_t length); + +} // namespace flatbuffers + +#endif // FLATBUFFERS_REFLECTION_H_ diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/reflection_generated.h b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/reflection_generated.h new file mode 100644 index 000000000..869a9f3f2 --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/reflection_generated.h @@ -0,0 +1,1182 @@ +// automatically generated by the FlatBuffers compiler, do not modify + + +#ifndef FLATBUFFERS_GENERATED_REFLECTION_REFLECTION_H_ +#define FLATBUFFERS_GENERATED_REFLECTION_REFLECTION_H_ + +#include "flatbuffers/flatbuffers.h" + +namespace reflection { + +struct Type; + +struct KeyValue; + +struct EnumVal; + +struct Enum; + +struct Field; + +struct Object; + +struct RPCCall; + +struct Service; + +struct Schema; + +enum BaseType { + None = 0, + UType = 1, + Bool = 2, + Byte = 3, + UByte = 4, + Short = 5, + UShort = 6, + Int = 7, + UInt = 8, + Long = 9, + ULong = 10, + Float = 11, + Double = 12, + String = 13, + Vector = 14, + Obj = 15, + Union = 16 +}; + +inline const BaseType (&EnumValuesBaseType())[17] { + static const BaseType values[] = { + None, + UType, + Bool, + Byte, + UByte, + Short, + UShort, + Int, + UInt, + Long, + ULong, + Float, + Double, + String, + Vector, + Obj, + Union + }; + return values; +} + +inline const char * const *EnumNamesBaseType() { + static const char * const names[] = { + "None", + "UType", + "Bool", + "Byte", + "UByte", + "Short", + "UShort", + "Int", + "UInt", + "Long", + "ULong", + "Float", + "Double", + "String", + "Vector", + "Obj", + "Union", + nullptr + }; + return names; +} + +inline const char *EnumNameBaseType(BaseType e) { + if (e < None || e > Union) return ""; + const size_t index = static_cast(e); + return EnumNamesBaseType()[index]; +} + +struct Type FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table { + enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE { + VT_BASE_TYPE = 4, + VT_ELEMENT = 6, + VT_INDEX = 8 + }; + BaseType base_type() const { + return static_cast(GetField(VT_BASE_TYPE, 0)); + } + BaseType element() const { + return static_cast(GetField(VT_ELEMENT, 0)); + } + int32_t index() const { + return GetField(VT_INDEX, -1); + } + bool Verify(flatbuffers::Verifier &verifier) const { + return VerifyTableStart(verifier) && + VerifyField(verifier, VT_BASE_TYPE) && + VerifyField(verifier, VT_ELEMENT) && + VerifyField(verifier, VT_INDEX) && + verifier.EndTable(); + } +}; + +struct TypeBuilder { + flatbuffers::FlatBufferBuilder &fbb_; + flatbuffers::uoffset_t start_; + void add_base_type(BaseType base_type) { + fbb_.AddElement(Type::VT_BASE_TYPE, static_cast(base_type), 0); + } + void add_element(BaseType element) { + fbb_.AddElement(Type::VT_ELEMENT, static_cast(element), 0); + } + void add_index(int32_t index) { + fbb_.AddElement(Type::VT_INDEX, index, -1); + } + explicit TypeBuilder(flatbuffers::FlatBufferBuilder &_fbb) + : fbb_(_fbb) { + start_ = fbb_.StartTable(); + } + TypeBuilder &operator=(const TypeBuilder &); + flatbuffers::Offset Finish() { + const auto end = fbb_.EndTable(start_); + auto o = flatbuffers::Offset(end); + return o; + } +}; + +inline flatbuffers::Offset CreateType( + flatbuffers::FlatBufferBuilder &_fbb, + BaseType base_type = None, + BaseType element = None, + int32_t index = -1) { + TypeBuilder builder_(_fbb); + builder_.add_index(index); + builder_.add_element(element); + builder_.add_base_type(base_type); + return builder_.Finish(); +} + +struct KeyValue FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table { + enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE { + VT_KEY = 4, + VT_VALUE = 6 + }; + const flatbuffers::String *key() const { + return GetPointer(VT_KEY); + } + bool KeyCompareLessThan(const KeyValue *o) const { + return *key() < *o->key(); + } + int KeyCompareWithValue(const char *val) const { + return strcmp(key()->c_str(), val); + } + const flatbuffers::String *value() const { + return GetPointer(VT_VALUE); + } + bool Verify(flatbuffers::Verifier &verifier) const { + return VerifyTableStart(verifier) && + VerifyOffsetRequired(verifier, VT_KEY) && + verifier.VerifyString(key()) && + VerifyOffset(verifier, VT_VALUE) && + verifier.VerifyString(value()) && + verifier.EndTable(); + } +}; + +struct KeyValueBuilder { + flatbuffers::FlatBufferBuilder &fbb_; + flatbuffers::uoffset_t start_; + void add_key(flatbuffers::Offset key) { + fbb_.AddOffset(KeyValue::VT_KEY, key); + } + void add_value(flatbuffers::Offset value) { + fbb_.AddOffset(KeyValue::VT_VALUE, value); + } + explicit KeyValueBuilder(flatbuffers::FlatBufferBuilder &_fbb) + : fbb_(_fbb) { + start_ = fbb_.StartTable(); + } + KeyValueBuilder &operator=(const KeyValueBuilder &); + flatbuffers::Offset Finish() { + const auto end = fbb_.EndTable(start_); + auto o = flatbuffers::Offset(end); + fbb_.Required(o, KeyValue::VT_KEY); + return o; + } +}; + +inline flatbuffers::Offset CreateKeyValue( + flatbuffers::FlatBufferBuilder &_fbb, + flatbuffers::Offset key = 0, + flatbuffers::Offset value = 0) { + KeyValueBuilder builder_(_fbb); + builder_.add_value(value); + builder_.add_key(key); + return builder_.Finish(); +} + +inline flatbuffers::Offset CreateKeyValueDirect( + flatbuffers::FlatBufferBuilder &_fbb, + const char *key = nullptr, + const char *value = nullptr) { + auto key__ = key ? _fbb.CreateString(key) : 0; + auto value__ = value ? _fbb.CreateString(value) : 0; + return reflection::CreateKeyValue( + _fbb, + key__, + value__); +} + +struct EnumVal FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table { + enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE { + VT_NAME = 4, + VT_VALUE = 6, + VT_OBJECT = 8, + VT_UNION_TYPE = 10, + VT_DOCUMENTATION = 12 + }; + const flatbuffers::String *name() const { + return GetPointer(VT_NAME); + } + int64_t value() const { + return GetField(VT_VALUE, 0); + } + bool KeyCompareLessThan(const EnumVal *o) const { + return value() < o->value(); + } + int KeyCompareWithValue(int64_t val) const { + return static_cast(value() > val) - static_cast(value() < val); + } + const Object *object() const { + return GetPointer(VT_OBJECT); + } + const Type *union_type() const { + return GetPointer(VT_UNION_TYPE); + } + const flatbuffers::Vector> *documentation() const { + return GetPointer> *>(VT_DOCUMENTATION); + } + bool Verify(flatbuffers::Verifier &verifier) const { + return VerifyTableStart(verifier) && + VerifyOffsetRequired(verifier, VT_NAME) && + verifier.VerifyString(name()) && + VerifyField(verifier, VT_VALUE) && + VerifyOffset(verifier, VT_OBJECT) && + verifier.VerifyTable(object()) && + VerifyOffset(verifier, VT_UNION_TYPE) && + verifier.VerifyTable(union_type()) && + VerifyOffset(verifier, VT_DOCUMENTATION) && + verifier.VerifyVector(documentation()) && + verifier.VerifyVectorOfStrings(documentation()) && + verifier.EndTable(); + } +}; + +struct EnumValBuilder { + flatbuffers::FlatBufferBuilder &fbb_; + flatbuffers::uoffset_t start_; + void add_name(flatbuffers::Offset name) { + fbb_.AddOffset(EnumVal::VT_NAME, name); + } + void add_value(int64_t value) { + fbb_.AddElement(EnumVal::VT_VALUE, value, 0); + } + void add_object(flatbuffers::Offset object) { + fbb_.AddOffset(EnumVal::VT_OBJECT, object); + } + void add_union_type(flatbuffers::Offset union_type) { + fbb_.AddOffset(EnumVal::VT_UNION_TYPE, union_type); + } + void add_documentation(flatbuffers::Offset>> documentation) { + fbb_.AddOffset(EnumVal::VT_DOCUMENTATION, documentation); + } + explicit EnumValBuilder(flatbuffers::FlatBufferBuilder &_fbb) + : fbb_(_fbb) { + start_ = fbb_.StartTable(); + } + EnumValBuilder &operator=(const EnumValBuilder &); + flatbuffers::Offset Finish() { + const auto end = fbb_.EndTable(start_); + auto o = flatbuffers::Offset(end); + fbb_.Required(o, EnumVal::VT_NAME); + return o; + } +}; + +inline flatbuffers::Offset CreateEnumVal( + flatbuffers::FlatBufferBuilder &_fbb, + flatbuffers::Offset name = 0, + int64_t value = 0, + flatbuffers::Offset object = 0, + flatbuffers::Offset union_type = 0, + flatbuffers::Offset>> documentation = 0) { + EnumValBuilder builder_(_fbb); + builder_.add_value(value); + builder_.add_documentation(documentation); + builder_.add_union_type(union_type); + builder_.add_object(object); + builder_.add_name(name); + return builder_.Finish(); +} + +inline flatbuffers::Offset CreateEnumValDirect( + flatbuffers::FlatBufferBuilder &_fbb, + const char *name = nullptr, + int64_t value = 0, + flatbuffers::Offset object = 0, + flatbuffers::Offset union_type = 0, + const std::vector> *documentation = nullptr) { + auto name__ = name ? _fbb.CreateString(name) : 0; + auto documentation__ = documentation ? _fbb.CreateVector>(*documentation) : 0; + return reflection::CreateEnumVal( + _fbb, + name__, + value, + object, + union_type, + documentation__); +} + +struct Enum FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table { + enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE { + VT_NAME = 4, + VT_VALUES = 6, + VT_IS_UNION = 8, + VT_UNDERLYING_TYPE = 10, + VT_ATTRIBUTES = 12, + VT_DOCUMENTATION = 14 + }; + const flatbuffers::String *name() const { + return GetPointer(VT_NAME); + } + bool KeyCompareLessThan(const Enum *o) const { + return *name() < *o->name(); + } + int KeyCompareWithValue(const char *val) const { + return strcmp(name()->c_str(), val); + } + const flatbuffers::Vector> *values() const { + return GetPointer> *>(VT_VALUES); + } + bool is_union() const { + return GetField(VT_IS_UNION, 0) != 0; + } + const Type *underlying_type() const { + return GetPointer(VT_UNDERLYING_TYPE); + } + const flatbuffers::Vector> *attributes() const { + return GetPointer> *>(VT_ATTRIBUTES); + } + const flatbuffers::Vector> *documentation() const { + return GetPointer> *>(VT_DOCUMENTATION); + } + bool Verify(flatbuffers::Verifier &verifier) const { + return VerifyTableStart(verifier) && + VerifyOffsetRequired(verifier, VT_NAME) && + verifier.VerifyString(name()) && + VerifyOffsetRequired(verifier, VT_VALUES) && + verifier.VerifyVector(values()) && + verifier.VerifyVectorOfTables(values()) && + VerifyField(verifier, VT_IS_UNION) && + VerifyOffsetRequired(verifier, VT_UNDERLYING_TYPE) && + verifier.VerifyTable(underlying_type()) && + VerifyOffset(verifier, VT_ATTRIBUTES) && + verifier.VerifyVector(attributes()) && + verifier.VerifyVectorOfTables(attributes()) && + VerifyOffset(verifier, VT_DOCUMENTATION) && + verifier.VerifyVector(documentation()) && + verifier.VerifyVectorOfStrings(documentation()) && + verifier.EndTable(); + } +}; + +struct EnumBuilder { + flatbuffers::FlatBufferBuilder &fbb_; + flatbuffers::uoffset_t start_; + void add_name(flatbuffers::Offset name) { + fbb_.AddOffset(Enum::VT_NAME, name); + } + void add_values(flatbuffers::Offset>> values) { + fbb_.AddOffset(Enum::VT_VALUES, values); + } + void add_is_union(bool is_union) { + fbb_.AddElement(Enum::VT_IS_UNION, static_cast(is_union), 0); + } + void add_underlying_type(flatbuffers::Offset underlying_type) { + fbb_.AddOffset(Enum::VT_UNDERLYING_TYPE, underlying_type); + } + void add_attributes(flatbuffers::Offset>> attributes) { + fbb_.AddOffset(Enum::VT_ATTRIBUTES, attributes); + } + void add_documentation(flatbuffers::Offset>> documentation) { + fbb_.AddOffset(Enum::VT_DOCUMENTATION, documentation); + } + explicit EnumBuilder(flatbuffers::FlatBufferBuilder &_fbb) + : fbb_(_fbb) { + start_ = fbb_.StartTable(); + } + EnumBuilder &operator=(const EnumBuilder &); + flatbuffers::Offset Finish() { + const auto end = fbb_.EndTable(start_); + auto o = flatbuffers::Offset(end); + fbb_.Required(o, Enum::VT_NAME); + fbb_.Required(o, Enum::VT_VALUES); + fbb_.Required(o, Enum::VT_UNDERLYING_TYPE); + return o; + } +}; + +inline flatbuffers::Offset CreateEnum( + flatbuffers::FlatBufferBuilder &_fbb, + flatbuffers::Offset name = 0, + flatbuffers::Offset>> values = 0, + bool is_union = false, + flatbuffers::Offset underlying_type = 0, + flatbuffers::Offset>> attributes = 0, + flatbuffers::Offset>> documentation = 0) { + EnumBuilder builder_(_fbb); + builder_.add_documentation(documentation); + builder_.add_attributes(attributes); + builder_.add_underlying_type(underlying_type); + builder_.add_values(values); + builder_.add_name(name); + builder_.add_is_union(is_union); + return builder_.Finish(); +} + +inline flatbuffers::Offset CreateEnumDirect( + flatbuffers::FlatBufferBuilder &_fbb, + const char *name = nullptr, + const std::vector> *values = nullptr, + bool is_union = false, + flatbuffers::Offset underlying_type = 0, + const std::vector> *attributes = nullptr, + const std::vector> *documentation = nullptr) { + auto name__ = name ? _fbb.CreateString(name) : 0; + auto values__ = values ? _fbb.CreateVector>(*values) : 0; + auto attributes__ = attributes ? _fbb.CreateVector>(*attributes) : 0; + auto documentation__ = documentation ? _fbb.CreateVector>(*documentation) : 0; + return reflection::CreateEnum( + _fbb, + name__, + values__, + is_union, + underlying_type, + attributes__, + documentation__); +} + +struct Field FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table { + enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE { + VT_NAME = 4, + VT_TYPE = 6, + VT_ID = 8, + VT_OFFSET = 10, + VT_DEFAULT_INTEGER = 12, + VT_DEFAULT_REAL = 14, + VT_DEPRECATED = 16, + VT_REQUIRED = 18, + VT_KEY = 20, + VT_ATTRIBUTES = 22, + VT_DOCUMENTATION = 24 + }; + const flatbuffers::String *name() const { + return GetPointer(VT_NAME); + } + bool KeyCompareLessThan(const Field *o) const { + return *name() < *o->name(); + } + int KeyCompareWithValue(const char *val) const { + return strcmp(name()->c_str(), val); + } + const Type *type() const { + return GetPointer(VT_TYPE); + } + uint16_t id() const { + return GetField(VT_ID, 0); + } + uint16_t offset() const { + return GetField(VT_OFFSET, 0); + } + int64_t default_integer() const { + return GetField(VT_DEFAULT_INTEGER, 0); + } + double default_real() const { + return GetField(VT_DEFAULT_REAL, 0.0); + } + bool deprecated() const { + return GetField(VT_DEPRECATED, 0) != 0; + } + bool required() const { + return GetField(VT_REQUIRED, 0) != 0; + } + bool key() const { + return GetField(VT_KEY, 0) != 0; + } + const flatbuffers::Vector> *attributes() const { + return GetPointer> *>(VT_ATTRIBUTES); + } + const flatbuffers::Vector> *documentation() const { + return GetPointer> *>(VT_DOCUMENTATION); + } + bool Verify(flatbuffers::Verifier &verifier) const { + return VerifyTableStart(verifier) && + VerifyOffsetRequired(verifier, VT_NAME) && + verifier.VerifyString(name()) && + VerifyOffsetRequired(verifier, VT_TYPE) && + verifier.VerifyTable(type()) && + VerifyField(verifier, VT_ID) && + VerifyField(verifier, VT_OFFSET) && + VerifyField(verifier, VT_DEFAULT_INTEGER) && + VerifyField(verifier, VT_DEFAULT_REAL) && + VerifyField(verifier, VT_DEPRECATED) && + VerifyField(verifier, VT_REQUIRED) && + VerifyField(verifier, VT_KEY) && + VerifyOffset(verifier, VT_ATTRIBUTES) && + verifier.VerifyVector(attributes()) && + verifier.VerifyVectorOfTables(attributes()) && + VerifyOffset(verifier, VT_DOCUMENTATION) && + verifier.VerifyVector(documentation()) && + verifier.VerifyVectorOfStrings(documentation()) && + verifier.EndTable(); + } +}; + +struct FieldBuilder { + flatbuffers::FlatBufferBuilder &fbb_; + flatbuffers::uoffset_t start_; + void add_name(flatbuffers::Offset name) { + fbb_.AddOffset(Field::VT_NAME, name); + } + void add_type(flatbuffers::Offset type) { + fbb_.AddOffset(Field::VT_TYPE, type); + } + void add_id(uint16_t id) { + fbb_.AddElement(Field::VT_ID, id, 0); + } + void add_offset(uint16_t offset) { + fbb_.AddElement(Field::VT_OFFSET, offset, 0); + } + void add_default_integer(int64_t default_integer) { + fbb_.AddElement(Field::VT_DEFAULT_INTEGER, default_integer, 0); + } + void add_default_real(double default_real) { + fbb_.AddElement(Field::VT_DEFAULT_REAL, default_real, 0.0); + } + void add_deprecated(bool deprecated) { + fbb_.AddElement(Field::VT_DEPRECATED, static_cast(deprecated), 0); + } + void add_required(bool required) { + fbb_.AddElement(Field::VT_REQUIRED, static_cast(required), 0); + } + void add_key(bool key) { + fbb_.AddElement(Field::VT_KEY, static_cast(key), 0); + } + void add_attributes(flatbuffers::Offset>> attributes) { + fbb_.AddOffset(Field::VT_ATTRIBUTES, attributes); + } + void add_documentation(flatbuffers::Offset>> documentation) { + fbb_.AddOffset(Field::VT_DOCUMENTATION, documentation); + } + explicit FieldBuilder(flatbuffers::FlatBufferBuilder &_fbb) + : fbb_(_fbb) { + start_ = fbb_.StartTable(); + } + FieldBuilder &operator=(const FieldBuilder &); + flatbuffers::Offset Finish() { + const auto end = fbb_.EndTable(start_); + auto o = flatbuffers::Offset(end); + fbb_.Required(o, Field::VT_NAME); + fbb_.Required(o, Field::VT_TYPE); + return o; + } +}; + +inline flatbuffers::Offset CreateField( + flatbuffers::FlatBufferBuilder &_fbb, + flatbuffers::Offset name = 0, + flatbuffers::Offset type = 0, + uint16_t id = 0, + uint16_t offset = 0, + int64_t default_integer = 0, + double default_real = 0.0, + bool deprecated = false, + bool required = false, + bool key = false, + flatbuffers::Offset>> attributes = 0, + flatbuffers::Offset>> documentation = 0) { + FieldBuilder builder_(_fbb); + builder_.add_default_real(default_real); + builder_.add_default_integer(default_integer); + builder_.add_documentation(documentation); + builder_.add_attributes(attributes); + builder_.add_type(type); + builder_.add_name(name); + builder_.add_offset(offset); + builder_.add_id(id); + builder_.add_key(key); + builder_.add_required(required); + builder_.add_deprecated(deprecated); + return builder_.Finish(); +} + +inline flatbuffers::Offset CreateFieldDirect( + flatbuffers::FlatBufferBuilder &_fbb, + const char *name = nullptr, + flatbuffers::Offset type = 0, + uint16_t id = 0, + uint16_t offset = 0, + int64_t default_integer = 0, + double default_real = 0.0, + bool deprecated = false, + bool required = false, + bool key = false, + const std::vector> *attributes = nullptr, + const std::vector> *documentation = nullptr) { + auto name__ = name ? _fbb.CreateString(name) : 0; + auto attributes__ = attributes ? _fbb.CreateVector>(*attributes) : 0; + auto documentation__ = documentation ? _fbb.CreateVector>(*documentation) : 0; + return reflection::CreateField( + _fbb, + name__, + type, + id, + offset, + default_integer, + default_real, + deprecated, + required, + key, + attributes__, + documentation__); +} + +struct Object FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table { + enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE { + VT_NAME = 4, + VT_FIELDS = 6, + VT_IS_STRUCT = 8, + VT_MINALIGN = 10, + VT_BYTESIZE = 12, + VT_ATTRIBUTES = 14, + VT_DOCUMENTATION = 16 + }; + const flatbuffers::String *name() const { + return GetPointer(VT_NAME); + } + bool KeyCompareLessThan(const Object *o) const { + return *name() < *o->name(); + } + int KeyCompareWithValue(const char *val) const { + return strcmp(name()->c_str(), val); + } + const flatbuffers::Vector> *fields() const { + return GetPointer> *>(VT_FIELDS); + } + bool is_struct() const { + return GetField(VT_IS_STRUCT, 0) != 0; + } + int32_t minalign() const { + return GetField(VT_MINALIGN, 0); + } + int32_t bytesize() const { + return GetField(VT_BYTESIZE, 0); + } + const flatbuffers::Vector> *attributes() const { + return GetPointer> *>(VT_ATTRIBUTES); + } + const flatbuffers::Vector> *documentation() const { + return GetPointer> *>(VT_DOCUMENTATION); + } + bool Verify(flatbuffers::Verifier &verifier) const { + return VerifyTableStart(verifier) && + VerifyOffsetRequired(verifier, VT_NAME) && + verifier.VerifyString(name()) && + VerifyOffsetRequired(verifier, VT_FIELDS) && + verifier.VerifyVector(fields()) && + verifier.VerifyVectorOfTables(fields()) && + VerifyField(verifier, VT_IS_STRUCT) && + VerifyField(verifier, VT_MINALIGN) && + VerifyField(verifier, VT_BYTESIZE) && + VerifyOffset(verifier, VT_ATTRIBUTES) && + verifier.VerifyVector(attributes()) && + verifier.VerifyVectorOfTables(attributes()) && + VerifyOffset(verifier, VT_DOCUMENTATION) && + verifier.VerifyVector(documentation()) && + verifier.VerifyVectorOfStrings(documentation()) && + verifier.EndTable(); + } +}; + +struct ObjectBuilder { + flatbuffers::FlatBufferBuilder &fbb_; + flatbuffers::uoffset_t start_; + void add_name(flatbuffers::Offset name) { + fbb_.AddOffset(Object::VT_NAME, name); + } + void add_fields(flatbuffers::Offset>> fields) { + fbb_.AddOffset(Object::VT_FIELDS, fields); + } + void add_is_struct(bool is_struct) { + fbb_.AddElement(Object::VT_IS_STRUCT, static_cast(is_struct), 0); + } + void add_minalign(int32_t minalign) { + fbb_.AddElement(Object::VT_MINALIGN, minalign, 0); + } + void add_bytesize(int32_t bytesize) { + fbb_.AddElement(Object::VT_BYTESIZE, bytesize, 0); + } + void add_attributes(flatbuffers::Offset>> attributes) { + fbb_.AddOffset(Object::VT_ATTRIBUTES, attributes); + } + void add_documentation(flatbuffers::Offset>> documentation) { + fbb_.AddOffset(Object::VT_DOCUMENTATION, documentation); + } + explicit ObjectBuilder(flatbuffers::FlatBufferBuilder &_fbb) + : fbb_(_fbb) { + start_ = fbb_.StartTable(); + } + ObjectBuilder &operator=(const ObjectBuilder &); + flatbuffers::Offset Finish() { + const auto end = fbb_.EndTable(start_); + auto o = flatbuffers::Offset(end); + fbb_.Required(o, Object::VT_NAME); + fbb_.Required(o, Object::VT_FIELDS); + return o; + } +}; + +inline flatbuffers::Offset CreateObject( + flatbuffers::FlatBufferBuilder &_fbb, + flatbuffers::Offset name = 0, + flatbuffers::Offset>> fields = 0, + bool is_struct = false, + int32_t minalign = 0, + int32_t bytesize = 0, + flatbuffers::Offset>> attributes = 0, + flatbuffers::Offset>> documentation = 0) { + ObjectBuilder builder_(_fbb); + builder_.add_documentation(documentation); + builder_.add_attributes(attributes); + builder_.add_bytesize(bytesize); + builder_.add_minalign(minalign); + builder_.add_fields(fields); + builder_.add_name(name); + builder_.add_is_struct(is_struct); + return builder_.Finish(); +} + +inline flatbuffers::Offset CreateObjectDirect( + flatbuffers::FlatBufferBuilder &_fbb, + const char *name = nullptr, + const std::vector> *fields = nullptr, + bool is_struct = false, + int32_t minalign = 0, + int32_t bytesize = 0, + const std::vector> *attributes = nullptr, + const std::vector> *documentation = nullptr) { + auto name__ = name ? _fbb.CreateString(name) : 0; + auto fields__ = fields ? _fbb.CreateVector>(*fields) : 0; + auto attributes__ = attributes ? _fbb.CreateVector>(*attributes) : 0; + auto documentation__ = documentation ? _fbb.CreateVector>(*documentation) : 0; + return reflection::CreateObject( + _fbb, + name__, + fields__, + is_struct, + minalign, + bytesize, + attributes__, + documentation__); +} + +struct RPCCall FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table { + enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE { + VT_NAME = 4, + VT_REQUEST = 6, + VT_RESPONSE = 8, + VT_ATTRIBUTES = 10, + VT_DOCUMENTATION = 12 + }; + const flatbuffers::String *name() const { + return GetPointer(VT_NAME); + } + bool KeyCompareLessThan(const RPCCall *o) const { + return *name() < *o->name(); + } + int KeyCompareWithValue(const char *val) const { + return strcmp(name()->c_str(), val); + } + const Object *request() const { + return GetPointer(VT_REQUEST); + } + const Object *response() const { + return GetPointer(VT_RESPONSE); + } + const flatbuffers::Vector> *attributes() const { + return GetPointer> *>(VT_ATTRIBUTES); + } + const flatbuffers::Vector> *documentation() const { + return GetPointer> *>(VT_DOCUMENTATION); + } + bool Verify(flatbuffers::Verifier &verifier) const { + return VerifyTableStart(verifier) && + VerifyOffsetRequired(verifier, VT_NAME) && + verifier.VerifyString(name()) && + VerifyOffsetRequired(verifier, VT_REQUEST) && + verifier.VerifyTable(request()) && + VerifyOffsetRequired(verifier, VT_RESPONSE) && + verifier.VerifyTable(response()) && + VerifyOffset(verifier, VT_ATTRIBUTES) && + verifier.VerifyVector(attributes()) && + verifier.VerifyVectorOfTables(attributes()) && + VerifyOffset(verifier, VT_DOCUMENTATION) && + verifier.VerifyVector(documentation()) && + verifier.VerifyVectorOfStrings(documentation()) && + verifier.EndTable(); + } +}; + +struct RPCCallBuilder { + flatbuffers::FlatBufferBuilder &fbb_; + flatbuffers::uoffset_t start_; + void add_name(flatbuffers::Offset name) { + fbb_.AddOffset(RPCCall::VT_NAME, name); + } + void add_request(flatbuffers::Offset request) { + fbb_.AddOffset(RPCCall::VT_REQUEST, request); + } + void add_response(flatbuffers::Offset response) { + fbb_.AddOffset(RPCCall::VT_RESPONSE, response); + } + void add_attributes(flatbuffers::Offset>> attributes) { + fbb_.AddOffset(RPCCall::VT_ATTRIBUTES, attributes); + } + void add_documentation(flatbuffers::Offset>> documentation) { + fbb_.AddOffset(RPCCall::VT_DOCUMENTATION, documentation); + } + explicit RPCCallBuilder(flatbuffers::FlatBufferBuilder &_fbb) + : fbb_(_fbb) { + start_ = fbb_.StartTable(); + } + RPCCallBuilder &operator=(const RPCCallBuilder &); + flatbuffers::Offset Finish() { + const auto end = fbb_.EndTable(start_); + auto o = flatbuffers::Offset(end); + fbb_.Required(o, RPCCall::VT_NAME); + fbb_.Required(o, RPCCall::VT_REQUEST); + fbb_.Required(o, RPCCall::VT_RESPONSE); + return o; + } +}; + +inline flatbuffers::Offset CreateRPCCall( + flatbuffers::FlatBufferBuilder &_fbb, + flatbuffers::Offset name = 0, + flatbuffers::Offset request = 0, + flatbuffers::Offset response = 0, + flatbuffers::Offset>> attributes = 0, + flatbuffers::Offset>> documentation = 0) { + RPCCallBuilder builder_(_fbb); + builder_.add_documentation(documentation); + builder_.add_attributes(attributes); + builder_.add_response(response); + builder_.add_request(request); + builder_.add_name(name); + return builder_.Finish(); +} + +inline flatbuffers::Offset CreateRPCCallDirect( + flatbuffers::FlatBufferBuilder &_fbb, + const char *name = nullptr, + flatbuffers::Offset request = 0, + flatbuffers::Offset response = 0, + const std::vector> *attributes = nullptr, + const std::vector> *documentation = nullptr) { + auto name__ = name ? _fbb.CreateString(name) : 0; + auto attributes__ = attributes ? _fbb.CreateVector>(*attributes) : 0; + auto documentation__ = documentation ? _fbb.CreateVector>(*documentation) : 0; + return reflection::CreateRPCCall( + _fbb, + name__, + request, + response, + attributes__, + documentation__); +} + +struct Service FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table { + enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE { + VT_NAME = 4, + VT_CALLS = 6, + VT_ATTRIBUTES = 8, + VT_DOCUMENTATION = 10 + }; + const flatbuffers::String *name() const { + return GetPointer(VT_NAME); + } + bool KeyCompareLessThan(const Service *o) const { + return *name() < *o->name(); + } + int KeyCompareWithValue(const char *val) const { + return strcmp(name()->c_str(), val); + } + const flatbuffers::Vector> *calls() const { + return GetPointer> *>(VT_CALLS); + } + const flatbuffers::Vector> *attributes() const { + return GetPointer> *>(VT_ATTRIBUTES); + } + const flatbuffers::Vector> *documentation() const { + return GetPointer> *>(VT_DOCUMENTATION); + } + bool Verify(flatbuffers::Verifier &verifier) const { + return VerifyTableStart(verifier) && + VerifyOffsetRequired(verifier, VT_NAME) && + verifier.VerifyString(name()) && + VerifyOffset(verifier, VT_CALLS) && + verifier.VerifyVector(calls()) && + verifier.VerifyVectorOfTables(calls()) && + VerifyOffset(verifier, VT_ATTRIBUTES) && + verifier.VerifyVector(attributes()) && + verifier.VerifyVectorOfTables(attributes()) && + VerifyOffset(verifier, VT_DOCUMENTATION) && + verifier.VerifyVector(documentation()) && + verifier.VerifyVectorOfStrings(documentation()) && + verifier.EndTable(); + } +}; + +struct ServiceBuilder { + flatbuffers::FlatBufferBuilder &fbb_; + flatbuffers::uoffset_t start_; + void add_name(flatbuffers::Offset name) { + fbb_.AddOffset(Service::VT_NAME, name); + } + void add_calls(flatbuffers::Offset>> calls) { + fbb_.AddOffset(Service::VT_CALLS, calls); + } + void add_attributes(flatbuffers::Offset>> attributes) { + fbb_.AddOffset(Service::VT_ATTRIBUTES, attributes); + } + void add_documentation(flatbuffers::Offset>> documentation) { + fbb_.AddOffset(Service::VT_DOCUMENTATION, documentation); + } + explicit ServiceBuilder(flatbuffers::FlatBufferBuilder &_fbb) + : fbb_(_fbb) { + start_ = fbb_.StartTable(); + } + ServiceBuilder &operator=(const ServiceBuilder &); + flatbuffers::Offset Finish() { + const auto end = fbb_.EndTable(start_); + auto o = flatbuffers::Offset(end); + fbb_.Required(o, Service::VT_NAME); + return o; + } +}; + +inline flatbuffers::Offset CreateService( + flatbuffers::FlatBufferBuilder &_fbb, + flatbuffers::Offset name = 0, + flatbuffers::Offset>> calls = 0, + flatbuffers::Offset>> attributes = 0, + flatbuffers::Offset>> documentation = 0) { + ServiceBuilder builder_(_fbb); + builder_.add_documentation(documentation); + builder_.add_attributes(attributes); + builder_.add_calls(calls); + builder_.add_name(name); + return builder_.Finish(); +} + +inline flatbuffers::Offset CreateServiceDirect( + flatbuffers::FlatBufferBuilder &_fbb, + const char *name = nullptr, + const std::vector> *calls = nullptr, + const std::vector> *attributes = nullptr, + const std::vector> *documentation = nullptr) { + auto name__ = name ? _fbb.CreateString(name) : 0; + auto calls__ = calls ? _fbb.CreateVector>(*calls) : 0; + auto attributes__ = attributes ? _fbb.CreateVector>(*attributes) : 0; + auto documentation__ = documentation ? _fbb.CreateVector>(*documentation) : 0; + return reflection::CreateService( + _fbb, + name__, + calls__, + attributes__, + documentation__); +} + +struct Schema FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table { + enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE { + VT_OBJECTS = 4, + VT_ENUMS = 6, + VT_FILE_IDENT = 8, + VT_FILE_EXT = 10, + VT_ROOT_TABLE = 12, + VT_SERVICES = 14 + }; + const flatbuffers::Vector> *objects() const { + return GetPointer> *>(VT_OBJECTS); + } + const flatbuffers::Vector> *enums() const { + return GetPointer> *>(VT_ENUMS); + } + const flatbuffers::String *file_ident() const { + return GetPointer(VT_FILE_IDENT); + } + const flatbuffers::String *file_ext() const { + return GetPointer(VT_FILE_EXT); + } + const Object *root_table() const { + return GetPointer(VT_ROOT_TABLE); + } + const flatbuffers::Vector> *services() const { + return GetPointer> *>(VT_SERVICES); + } + bool Verify(flatbuffers::Verifier &verifier) const { + return VerifyTableStart(verifier) && + VerifyOffsetRequired(verifier, VT_OBJECTS) && + verifier.VerifyVector(objects()) && + verifier.VerifyVectorOfTables(objects()) && + VerifyOffsetRequired(verifier, VT_ENUMS) && + verifier.VerifyVector(enums()) && + verifier.VerifyVectorOfTables(enums()) && + VerifyOffset(verifier, VT_FILE_IDENT) && + verifier.VerifyString(file_ident()) && + VerifyOffset(verifier, VT_FILE_EXT) && + verifier.VerifyString(file_ext()) && + VerifyOffset(verifier, VT_ROOT_TABLE) && + verifier.VerifyTable(root_table()) && + VerifyOffset(verifier, VT_SERVICES) && + verifier.VerifyVector(services()) && + verifier.VerifyVectorOfTables(services()) && + verifier.EndTable(); + } +}; + +struct SchemaBuilder { + flatbuffers::FlatBufferBuilder &fbb_; + flatbuffers::uoffset_t start_; + void add_objects(flatbuffers::Offset>> objects) { + fbb_.AddOffset(Schema::VT_OBJECTS, objects); + } + void add_enums(flatbuffers::Offset>> enums) { + fbb_.AddOffset(Schema::VT_ENUMS, enums); + } + void add_file_ident(flatbuffers::Offset file_ident) { + fbb_.AddOffset(Schema::VT_FILE_IDENT, file_ident); + } + void add_file_ext(flatbuffers::Offset file_ext) { + fbb_.AddOffset(Schema::VT_FILE_EXT, file_ext); + } + void add_root_table(flatbuffers::Offset root_table) { + fbb_.AddOffset(Schema::VT_ROOT_TABLE, root_table); + } + void add_services(flatbuffers::Offset>> services) { + fbb_.AddOffset(Schema::VT_SERVICES, services); + } + explicit SchemaBuilder(flatbuffers::FlatBufferBuilder &_fbb) + : fbb_(_fbb) { + start_ = fbb_.StartTable(); + } + SchemaBuilder &operator=(const SchemaBuilder &); + flatbuffers::Offset Finish() { + const auto end = fbb_.EndTable(start_); + auto o = flatbuffers::Offset(end); + fbb_.Required(o, Schema::VT_OBJECTS); + fbb_.Required(o, Schema::VT_ENUMS); + return o; + } +}; + +inline flatbuffers::Offset CreateSchema( + flatbuffers::FlatBufferBuilder &_fbb, + flatbuffers::Offset>> objects = 0, + flatbuffers::Offset>> enums = 0, + flatbuffers::Offset file_ident = 0, + flatbuffers::Offset file_ext = 0, + flatbuffers::Offset root_table = 0, + flatbuffers::Offset>> services = 0) { + SchemaBuilder builder_(_fbb); + builder_.add_services(services); + builder_.add_root_table(root_table); + builder_.add_file_ext(file_ext); + builder_.add_file_ident(file_ident); + builder_.add_enums(enums); + builder_.add_objects(objects); + return builder_.Finish(); +} + +inline flatbuffers::Offset CreateSchemaDirect( + flatbuffers::FlatBufferBuilder &_fbb, + const std::vector> *objects = nullptr, + const std::vector> *enums = nullptr, + const char *file_ident = nullptr, + const char *file_ext = nullptr, + flatbuffers::Offset root_table = 0, + const std::vector> *services = nullptr) { + auto objects__ = objects ? _fbb.CreateVector>(*objects) : 0; + auto enums__ = enums ? _fbb.CreateVector>(*enums) : 0; + auto file_ident__ = file_ident ? _fbb.CreateString(file_ident) : 0; + auto file_ext__ = file_ext ? _fbb.CreateString(file_ext) : 0; + auto services__ = services ? _fbb.CreateVector>(*services) : 0; + return reflection::CreateSchema( + _fbb, + objects__, + enums__, + file_ident__, + file_ext__, + root_table, + services__); +} + +inline const reflection::Schema *GetSchema(const void *buf) { + return flatbuffers::GetRoot(buf); +} + +inline const reflection::Schema *GetSizePrefixedSchema(const void *buf) { + return flatbuffers::GetSizePrefixedRoot(buf); +} + +inline const char *SchemaIdentifier() { + return "BFBS"; +} + +inline bool SchemaBufferHasIdentifier(const void *buf) { + return flatbuffers::BufferHasIdentifier( + buf, SchemaIdentifier()); +} + +inline bool VerifySchemaBuffer( + flatbuffers::Verifier &verifier) { + return verifier.VerifyBuffer(SchemaIdentifier()); +} + +inline bool VerifySizePrefixedSchemaBuffer( + flatbuffers::Verifier &verifier) { + return verifier.VerifySizePrefixedBuffer(SchemaIdentifier()); +} + +inline const char *SchemaExtension() { + return "bfbs"; +} + +inline void FinishSchemaBuffer( + flatbuffers::FlatBufferBuilder &fbb, + flatbuffers::Offset root) { + fbb.Finish(root, SchemaIdentifier()); +} + +inline void FinishSizePrefixedSchemaBuffer( + flatbuffers::FlatBufferBuilder &fbb, + flatbuffers::Offset root) { + fbb.FinishSizePrefixed(root, SchemaIdentifier()); +} + +} // namespace reflection + +#endif // FLATBUFFERS_GENERATED_REFLECTION_REFLECTION_H_ diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/registry.h b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/registry.h new file mode 100644 index 000000000..9ea425b39 --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/registry.h @@ -0,0 +1,127 @@ +/* + * Copyright 2017 Google Inc. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef FLATBUFFERS_REGISTRY_H_ +#define FLATBUFFERS_REGISTRY_H_ + +#include "flatbuffers/idl.h" + +namespace flatbuffers { + +// Convenience class to easily parse or generate text for arbitrary FlatBuffers. +// Simply pre-populate it with all schema filenames that may be in use, and +// This class will look them up using the file_identifier declared in the +// schema. +class Registry { + public: + // Call this for all schemas that may be in use. The identifier has + // a function in the generated code, e.g. MonsterIdentifier(). + void Register(const char *file_identifier, const char *schema_path) { + Schema schema; + schema.path_ = schema_path; + schemas_[file_identifier] = schema; + } + + // Generate text from an arbitrary FlatBuffer by looking up its + // file_identifier in the registry. + bool FlatBufferToText(const uint8_t *flatbuf, size_t len, std::string *dest) { + // Get the identifier out of the buffer. + // If the buffer is truncated, exit. + if (len < sizeof(uoffset_t) + FlatBufferBuilder::kFileIdentifierLength) { + lasterror_ = "buffer truncated"; + return false; + } + std::string ident( + reinterpret_cast(flatbuf) + sizeof(uoffset_t), + FlatBufferBuilder::kFileIdentifierLength); + // Load and parse the schema. + Parser parser; + if (!LoadSchema(ident, &parser)) return false; + // Now we're ready to generate text. + if (!GenerateText(parser, flatbuf, dest)) { + lasterror_ = "unable to generate text for FlatBuffer binary"; + return false; + } + return true; + } + + // Converts a binary buffer to text using one of the schemas in the registry, + // use the file_identifier to indicate which. + // If DetachedBuffer::data() is null then parsing failed. + DetachedBuffer TextToFlatBuffer(const char *text, + const char *file_identifier) { + // Load and parse the schema. + Parser parser; + if (!LoadSchema(file_identifier, &parser)) return DetachedBuffer(); + // Parse the text. + if (!parser.Parse(text)) { + lasterror_ = parser.error_; + return DetachedBuffer(); + } + // We have a valid FlatBuffer. Detach it from the builder and return. + return parser.builder_.Release(); + } + + // Modify any parsing / output options used by the other functions. + void SetOptions(const IDLOptions &opts) { opts_ = opts; } + + // If schemas used contain include statements, call this function for every + // directory the parser should search them for. + void AddIncludeDirectory(const char *path) { include_paths_.push_back(path); } + + // Returns a human readable error if any of the above functions fail. + const std::string &GetLastError() { return lasterror_; } + + private: + bool LoadSchema(const std::string &ident, Parser *parser) { + // Find the schema, if not, exit. + auto it = schemas_.find(ident); + if (it == schemas_.end()) { + // Don't attach the identifier, since it may not be human readable. + lasterror_ = "identifier for this buffer not in the registry"; + return false; + } + auto &schema = it->second; + // Load the schema from disk. If not, exit. + std::string schematext; + if (!LoadFile(schema.path_.c_str(), false, &schematext)) { + lasterror_ = "could not load schema: " + schema.path_; + return false; + } + // Parse schema. + parser->opts = opts_; + if (!parser->Parse(schematext.c_str(), vector_data(include_paths_), + schema.path_.c_str())) { + lasterror_ = parser->error_; + return false; + } + return true; + } + + struct Schema { + std::string path_; + // TODO(wvo) optionally cache schema file or parsed schema here. + }; + + std::string lasterror_; + IDLOptions opts_; + std::vector include_paths_; + std::map schemas_; +}; + +} // namespace flatbuffers + +#endif // FLATBUFFERS_REGISTRY_H_ diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/stl_emulation.h b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/stl_emulation.h new file mode 100644 index 000000000..6f6e76642 --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/stl_emulation.h @@ -0,0 +1,275 @@ +/* + * Copyright 2017 Google Inc. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef FLATBUFFERS_STL_EMULATION_H_ +#define FLATBUFFERS_STL_EMULATION_H_ + +// clang-format off + +#include +#include +#include +#include +#include + +#if defined(_STLPORT_VERSION) && !defined(FLATBUFFERS_CPP98_STL) + #define FLATBUFFERS_CPP98_STL +#endif // defined(_STLPORT_VERSION) && !defined(FLATBUFFERS_CPP98_STL) + +#if defined(FLATBUFFERS_CPP98_STL) + #include +#endif // defined(FLATBUFFERS_CPP98_STL) + +// Check if we can use template aliases +// Not possible if Microsoft Compiler before 2012 +// Possible is the language feature __cpp_alias_templates is defined well +// Or possible if the C++ std is C+11 or newer +#if (defined(_MSC_VER) && _MSC_VER > 1700 /* MSVC2012 */) \ + || (defined(__cpp_alias_templates) && __cpp_alias_templates >= 200704) \ + || (defined(__cplusplus) && __cplusplus >= 201103L) + #define FLATBUFFERS_TEMPLATES_ALIASES +#endif + +// This header provides backwards compatibility for C++98 STLs like stlport. +namespace flatbuffers { + +// Retrieve ::back() from a string in a way that is compatible with pre C++11 +// STLs (e.g stlport). +inline char& string_back(std::string &value) { + return value[value.length() - 1]; +} + +inline char string_back(const std::string &value) { + return value[value.length() - 1]; +} + +// Helper method that retrieves ::data() from a vector in a way that is +// compatible with pre C++11 STLs (e.g stlport). +template inline T *vector_data(std::vector &vector) { + // In some debug environments, operator[] does bounds checking, so &vector[0] + // can't be used. + return vector.empty() ? nullptr : &vector[0]; +} + +template inline const T *vector_data( + const std::vector &vector) { + return vector.empty() ? nullptr : &vector[0]; +} + +template +inline void vector_emplace_back(std::vector *vector, V &&data) { + #if defined(FLATBUFFERS_CPP98_STL) + vector->push_back(data); + #else + vector->emplace_back(std::forward(data)); + #endif // defined(FLATBUFFERS_CPP98_STL) +} + +#ifndef FLATBUFFERS_CPP98_STL + #if defined(FLATBUFFERS_TEMPLATES_ALIASES) + template + using numeric_limits = std::numeric_limits; + #else + template class numeric_limits : + public std::numeric_limits {}; + #endif // defined(FLATBUFFERS_TEMPLATES_ALIASES) +#else + template class numeric_limits : + public std::numeric_limits { + public: + // Android NDK fix. + static T lowest() { + return std::numeric_limits::min(); + } + }; + + template <> class numeric_limits : + public std::numeric_limits { + public: + static float lowest() { return -FLT_MAX; } + }; + + template <> class numeric_limits : + public std::numeric_limits { + public: + static double lowest() { return -DBL_MAX; } + }; + + template <> class numeric_limits { + public: + static unsigned long long min() { return 0ULL; } + static unsigned long long max() { return ~0ULL; } + static unsigned long long lowest() { + return numeric_limits::min(); + } + }; + + template <> class numeric_limits { + public: + static long long min() { + return static_cast(1ULL << ((sizeof(long long) << 3) - 1)); + } + static long long max() { + return static_cast( + (1ULL << ((sizeof(long long) << 3) - 1)) - 1); + } + static long long lowest() { + return numeric_limits::min(); + } + }; +#endif // FLATBUFFERS_CPP98_STL + +#if defined(FLATBUFFERS_TEMPLATES_ALIASES) + #ifndef FLATBUFFERS_CPP98_STL + template using is_scalar = std::is_scalar; + template using is_same = std::is_same; + template using is_floating_point = std::is_floating_point; + template using is_unsigned = std::is_unsigned; + template using make_unsigned = std::make_unsigned; + #else + // Map C++ TR1 templates defined by stlport. + template using is_scalar = std::tr1::is_scalar; + template using is_same = std::tr1::is_same; + template using is_floating_point = + std::tr1::is_floating_point; + template using is_unsigned = std::tr1::is_unsigned; + // Android NDK doesn't have std::make_unsigned or std::tr1::make_unsigned. + template struct make_unsigned { + static_assert(is_unsigned::value, "Specialization not implemented!"); + using type = T; + }; + template<> struct make_unsigned { using type = unsigned char; }; + template<> struct make_unsigned { using type = unsigned short; }; + template<> struct make_unsigned { using type = unsigned int; }; + template<> struct make_unsigned { using type = unsigned long; }; + template<> + struct make_unsigned { using type = unsigned long long; }; + #endif // !FLATBUFFERS_CPP98_STL +#else + // MSVC 2010 doesn't support C++11 aliases. + template struct is_scalar : public std::is_scalar {}; + template struct is_same : public std::is_same {}; + template struct is_floating_point : + public std::is_floating_point {}; + template struct is_unsigned : public std::is_unsigned {}; + template struct make_unsigned : public std::make_unsigned {}; +#endif // defined(FLATBUFFERS_TEMPLATES_ALIASES) + +#ifndef FLATBUFFERS_CPP98_STL + #if defined(FLATBUFFERS_TEMPLATES_ALIASES) + template using unique_ptr = std::unique_ptr; + #else + // MSVC 2010 doesn't support C++11 aliases. + // We're manually "aliasing" the class here as we want to bring unique_ptr + // into the flatbuffers namespace. We have unique_ptr in the flatbuffers + // namespace we have a completely independent implemenation (see below) + // for C++98 STL implementations. + template class unique_ptr : public std::unique_ptr { + public: + unique_ptr() {} + explicit unique_ptr(T* p) : std::unique_ptr(p) {} + unique_ptr(std::unique_ptr&& u) { *this = std::move(u); } + unique_ptr(unique_ptr&& u) { *this = std::move(u); } + unique_ptr& operator=(std::unique_ptr&& u) { + std::unique_ptr::reset(u.release()); + return *this; + } + unique_ptr& operator=(unique_ptr&& u) { + std::unique_ptr::reset(u.release()); + return *this; + } + unique_ptr& operator=(T* p) { + return std::unique_ptr::operator=(p); + } + }; + #endif // defined(FLATBUFFERS_TEMPLATES_ALIASES) +#else + // Very limited implementation of unique_ptr. + // This is provided simply to allow the C++ code generated from the default + // settings to function in C++98 environments with no modifications. + template class unique_ptr { + public: + typedef T element_type; + + unique_ptr() : ptr_(nullptr) {} + explicit unique_ptr(T* p) : ptr_(p) {} + unique_ptr(unique_ptr&& u) : ptr_(nullptr) { reset(u.release()); } + unique_ptr(const unique_ptr& u) : ptr_(nullptr) { + reset(const_cast(&u)->release()); + } + ~unique_ptr() { reset(); } + + unique_ptr& operator=(const unique_ptr& u) { + reset(const_cast(&u)->release()); + return *this; + } + + unique_ptr& operator=(unique_ptr&& u) { + reset(u.release()); + return *this; + } + + unique_ptr& operator=(T* p) { + reset(p); + return *this; + } + + const T& operator*() const { return *ptr_; } + T* operator->() const { return ptr_; } + T* get() const noexcept { return ptr_; } + explicit operator bool() const { return ptr_ != nullptr; } + + // modifiers + T* release() { + T* value = ptr_; + ptr_ = nullptr; + return value; + } + + void reset(T* p = nullptr) { + T* value = ptr_; + ptr_ = p; + if (value) delete value; + } + + void swap(unique_ptr& u) { + T* temp_ptr = ptr_; + ptr_ = u.ptr_; + u.ptr_ = temp_ptr; + } + + private: + T* ptr_; + }; + + template bool operator==(const unique_ptr& x, + const unique_ptr& y) { + return x.get() == y.get(); + } + + template bool operator==(const unique_ptr& x, + const D* y) { + return static_cast(x.get()) == y; + } + + template bool operator==(const unique_ptr& x, intptr_t y) { + return reinterpret_cast(x.get()) == y; + } +#endif // !FLATBUFFERS_CPP98_STL + +} // namespace flatbuffers + +#endif // FLATBUFFERS_STL_EMULATION_H_ diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/util.h b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/util.h new file mode 100644 index 000000000..4367bbecf --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/flatbuffers/util.h @@ -0,0 +1,654 @@ +/* + * Copyright 2014 Google Inc. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef FLATBUFFERS_UTIL_H_ +#define FLATBUFFERS_UTIL_H_ + +#include "flatbuffers/base.h" + +#include + +#ifndef FLATBUFFERS_PREFER_PRINTF +# include +#else // FLATBUFFERS_PREFER_PRINTF +# include +# include +#endif // FLATBUFFERS_PREFER_PRINTF + +#include +#include + +namespace flatbuffers { + +// @locale-independent functions for ASCII characters set. + +// Fast checking that character lies in closed range: [a <= x <= b] +// using one compare (conditional branch) operator. +inline bool check_ascii_range(char x, char a, char b) { + FLATBUFFERS_ASSERT(a <= b); + // (Hacker's Delight): `a <= x <= b` <=> `(x-a) <={u} (b-a)`. + // The x, a, b will be promoted to int and subtracted without overflow. + return static_cast(x - a) <= static_cast(b - a); +} + +// Case-insensitive isalpha +inline bool is_alpha(char c) { + // ASCII only: alpha to upper case => reset bit 0x20 (~0x20 = 0xDF). + return check_ascii_range(c & 0xDF, 'a' & 0xDF, 'z' & 0xDF); +} + +// Check (case-insensitive) that `c` is equal to alpha. +inline bool is_alpha_char(char c, char alpha) { + FLATBUFFERS_ASSERT(is_alpha(alpha)); + // ASCII only: alpha to upper case => reset bit 0x20 (~0x20 = 0xDF). + return ((c & 0xDF) == (alpha & 0xDF)); +} + +// https://en.cppreference.com/w/cpp/string/byte/isxdigit +// isdigit and isxdigit are the only standard narrow character classification +// functions that are not affected by the currently installed C locale. although +// some implementations (e.g. Microsoft in 1252 codepage) may classify +// additional single-byte characters as digits. +inline bool is_digit(char c) { return check_ascii_range(c, '0', '9'); } + +inline bool is_xdigit(char c) { + // Replace by look-up table. + return is_digit(c) || check_ascii_range(c & 0xDF, 'a' & 0xDF, 'f' & 0xDF); +} + +// Case-insensitive isalnum +inline bool is_alnum(char c) { return is_alpha(c) || is_digit(c); } + +// @end-locale-independent functions for ASCII character set + +#ifdef FLATBUFFERS_PREFER_PRINTF +template size_t IntToDigitCount(T t) { + size_t digit_count = 0; + // Count the sign for negative numbers + if (t < 0) digit_count++; + // Count a single 0 left of the dot for fractional numbers + if (-1 < t && t < 1) digit_count++; + // Count digits until fractional part + T eps = std::numeric_limits::epsilon(); + while (t <= (-1 + eps) || (1 - eps) <= t) { + t /= 10; + digit_count++; + } + return digit_count; +} + +template size_t NumToStringWidth(T t, int precision = 0) { + size_t string_width = IntToDigitCount(t); + // Count the dot for floating point numbers + if (precision) string_width += (precision + 1); + return string_width; +} + +template +std::string NumToStringImplWrapper(T t, const char *fmt, int precision = 0) { + size_t string_width = NumToStringWidth(t, precision); + std::string s(string_width, 0x00); + // Allow snprintf to use std::string trailing null to detect buffer overflow + snprintf(const_cast(s.data()), (s.size() + 1), fmt, precision, t); + return s; +} +#endif // FLATBUFFERS_PREFER_PRINTF + +// Convert an integer or floating point value to a string. +// In contrast to std::stringstream, "char" values are +// converted to a string of digits, and we don't use scientific notation. +template std::string NumToString(T t) { + // clang-format off + + #ifndef FLATBUFFERS_PREFER_PRINTF + std::stringstream ss; + ss << t; + return ss.str(); + #else // FLATBUFFERS_PREFER_PRINTF + auto v = static_cast(t); + return NumToStringImplWrapper(v, "%.*lld"); + #endif // FLATBUFFERS_PREFER_PRINTF + // clang-format on +} +// Avoid char types used as character data. +template<> inline std::string NumToString(signed char t) { + return NumToString(static_cast(t)); +} +template<> inline std::string NumToString(unsigned char t) { + return NumToString(static_cast(t)); +} +template<> inline std::string NumToString(char t) { + return NumToString(static_cast(t)); +} +#if defined(FLATBUFFERS_CPP98_STL) +template<> inline std::string NumToString(long long t) { + char buf[21]; // (log((1 << 63) - 1) / log(10)) + 2 + snprintf(buf, sizeof(buf), "%lld", t); + return std::string(buf); +} + +template<> +inline std::string NumToString(unsigned long long t) { + char buf[22]; // (log((1 << 63) - 1) / log(10)) + 1 + snprintf(buf, sizeof(buf), "%llu", t); + return std::string(buf); +} +#endif // defined(FLATBUFFERS_CPP98_STL) + +// Special versions for floats/doubles. +template std::string FloatToString(T t, int precision) { + // clang-format off + + #ifndef FLATBUFFERS_PREFER_PRINTF + // to_string() prints different numbers of digits for floats depending on + // platform and isn't available on Android, so we use stringstream + std::stringstream ss; + // Use std::fixed to suppress scientific notation. + ss << std::fixed; + // Default precision is 6, we want that to be higher for doubles. + ss << std::setprecision(precision); + ss << t; + auto s = ss.str(); + #else // FLATBUFFERS_PREFER_PRINTF + auto v = static_cast(t); + auto s = NumToStringImplWrapper(v, "%0.*f", precision); + #endif // FLATBUFFERS_PREFER_PRINTF + // clang-format on + // Sadly, std::fixed turns "1" into "1.00000", so here we undo that. + auto p = s.find_last_not_of('0'); + if (p != std::string::npos) { + // Strip trailing zeroes. If it is a whole number, keep one zero. + s.resize(p + (s[p] == '.' ? 2 : 1)); + } + return s; +} + +template<> inline std::string NumToString(double t) { + return FloatToString(t, 12); +} +template<> inline std::string NumToString(float t) { + return FloatToString(t, 6); +} + +// Convert an integer value to a hexadecimal string. +// The returned string length is always xdigits long, prefixed by 0 digits. +// For example, IntToStringHex(0x23, 8) returns the string "00000023". +inline std::string IntToStringHex(int i, int xdigits) { + FLATBUFFERS_ASSERT(i >= 0); + // clang-format off + + #ifndef FLATBUFFERS_PREFER_PRINTF + std::stringstream ss; + ss << std::setw(xdigits) << std::setfill('0') << std::hex << std::uppercase + << i; + return ss.str(); + #else // FLATBUFFERS_PREFER_PRINTF + return NumToStringImplWrapper(i, "%.*X", xdigits); + #endif // FLATBUFFERS_PREFER_PRINTF + // clang-format on +} + +// clang-format off +// Use locale independent functions {strtod_l, strtof_l, strtoll_l, strtoull_l}. +#if defined(FLATBUFFERS_LOCALE_INDEPENDENT) && (FLATBUFFERS_LOCALE_INDEPENDENT > 0) + class ClassicLocale { + #ifdef _MSC_VER + typedef _locale_t locale_type; + #else + typedef locale_t locale_type; // POSIX.1-2008 locale_t type + #endif + ClassicLocale(); + ~ClassicLocale(); + locale_type locale_; + static ClassicLocale instance_; + public: + static locale_type Get() { return instance_.locale_; } + }; + + #ifdef _MSC_VER + #define __strtoull_impl(s, pe, b) _strtoui64_l(s, pe, b, ClassicLocale::Get()) + #define __strtoll_impl(s, pe, b) _strtoi64_l(s, pe, b, ClassicLocale::Get()) + #define __strtod_impl(s, pe) _strtod_l(s, pe, ClassicLocale::Get()) + #define __strtof_impl(s, pe) _strtof_l(s, pe, ClassicLocale::Get()) + #else + #define __strtoull_impl(s, pe, b) strtoull_l(s, pe, b, ClassicLocale::Get()) + #define __strtoll_impl(s, pe, b) strtoll_l(s, pe, b, ClassicLocale::Get()) + #define __strtod_impl(s, pe) strtod_l(s, pe, ClassicLocale::Get()) + #define __strtof_impl(s, pe) strtof_l(s, pe, ClassicLocale::Get()) + #endif +#else + #define __strtod_impl(s, pe) strtod(s, pe) + #define __strtof_impl(s, pe) static_cast(strtod(s, pe)) + #ifdef _MSC_VER + #define __strtoull_impl(s, pe, b) _strtoui64(s, pe, b) + #define __strtoll_impl(s, pe, b) _strtoi64(s, pe, b) + #else + #define __strtoull_impl(s, pe, b) strtoull(s, pe, b) + #define __strtoll_impl(s, pe, b) strtoll(s, pe, b) + #endif +#endif + +inline void strtoval_impl(int64_t *val, const char *str, char **endptr, + int base) { + *val = __strtoll_impl(str, endptr, base); +} + +inline void strtoval_impl(uint64_t *val, const char *str, char **endptr, + int base) { + *val = __strtoull_impl(str, endptr, base); +} + +inline void strtoval_impl(double *val, const char *str, char **endptr) { + *val = __strtod_impl(str, endptr); +} + +// UBSAN: double to float is safe if numeric_limits::is_iec559 is true. +__supress_ubsan__("float-cast-overflow") +inline void strtoval_impl(float *val, const char *str, char **endptr) { + *val = __strtof_impl(str, endptr); +} +#undef __strtoull_impl +#undef __strtoll_impl +#undef __strtod_impl +#undef __strtof_impl +// clang-format on + +// Adaptor for strtoull()/strtoll(). +// Flatbuffers accepts numbers with any count of leading zeros (-009 is -9), +// while strtoll with base=0 interprets first leading zero as octal prefix. +// In future, it is possible to add prefixed 0b0101. +// 1) Checks errno code for overflow condition (out of range). +// 2) If base <= 0, function try to detect base of number by prefix. +// +// Return value (like strtoull and strtoll, but reject partial result): +// - If successful, an integer value corresponding to the str is returned. +// - If full string conversion can't be performed, 0 is returned. +// - If the converted value falls out of range of corresponding return type, a +// range error occurs. In this case value MAX(T)/MIN(T) is returned. +template +inline bool StringToIntegerImpl(T *val, const char *const str, + const int base = 0, + const bool check_errno = true) { + // T is int64_t or uint64_T + FLATBUFFERS_ASSERT(str); + if (base <= 0) { + auto s = str; + while (*s && !is_digit(*s)) s++; + if (s[0] == '0' && is_alpha_char(s[1], 'X')) + return StringToIntegerImpl(val, str, 16, check_errno); + // if a prefix not match, try base=10 + return StringToIntegerImpl(val, str, 10, check_errno); + } else { + if (check_errno) errno = 0; // clear thread-local errno + auto endptr = str; + strtoval_impl(val, str, const_cast(&endptr), base); + if ((*endptr != '\0') || (endptr == str)) { + *val = 0; // erase partial result + return false; // invalid string + } + // errno is out-of-range, return MAX/MIN + if (check_errno && errno) return false; + return true; + } +} + +template +inline bool StringToFloatImpl(T *val, const char *const str) { + // Type T must be either float or double. + FLATBUFFERS_ASSERT(str && val); + auto end = str; + strtoval_impl(val, str, const_cast(&end)); + auto done = (end != str) && (*end == '\0'); + if (!done) *val = 0; // erase partial result + return done; +} + +// Convert a string to an instance of T. +// Return value (matched with StringToInteger64Impl and strtod): +// - If successful, a numeric value corresponding to the str is returned. +// - If full string conversion can't be performed, 0 is returned. +// - If the converted value falls out of range of corresponding return type, a +// range error occurs. In this case value MAX(T)/MIN(T) is returned. +template inline bool StringToNumber(const char *s, T *val) { + FLATBUFFERS_ASSERT(s && val); + int64_t i64; + // The errno check isn't needed, will return MAX/MIN on overflow. + if (StringToIntegerImpl(&i64, s, 0, false)) { + const int64_t max = flatbuffers::numeric_limits::max(); + const int64_t min = flatbuffers::numeric_limits::lowest(); + if (i64 > max) { + *val = static_cast(max); + return false; + } + if (i64 < min) { + // For unsigned types return max to distinguish from + // "no conversion can be performed" when 0 is returned. + *val = static_cast(flatbuffers::is_unsigned::value ? max : min); + return false; + } + *val = static_cast(i64); + return true; + } + *val = 0; + return false; +} + +template<> inline bool StringToNumber(const char *str, int64_t *val) { + return StringToIntegerImpl(val, str); +} + +template<> +inline bool StringToNumber(const char *str, uint64_t *val) { + if (!StringToIntegerImpl(val, str)) return false; + // The strtoull accepts negative numbers: + // If the minus sign was part of the input sequence, the numeric value + // calculated from the sequence of digits is negated as if by unary minus + // in the result type, which applies unsigned integer wraparound rules. + // Fix this behaviour (except -0). + if (*val) { + auto s = str; + while (*s && !is_digit(*s)) s++; + s = (s > str) ? (s - 1) : s; // step back to one symbol + if (*s == '-') { + // For unsigned types return the max to distinguish from + // "no conversion can be performed". + *val = flatbuffers::numeric_limits::max(); + return false; + } + } + return true; +} + +template<> inline bool StringToNumber(const char *s, float *val) { + return StringToFloatImpl(val, s); +} + +template<> inline bool StringToNumber(const char *s, double *val) { + return StringToFloatImpl(val, s); +} + +inline int64_t StringToInt(const char *s, int base = 10) { + int64_t val; + return StringToIntegerImpl(&val, s, base) ? val : 0; +} + +inline uint64_t StringToUInt(const char *s, int base = 10) { + uint64_t val; + return StringToIntegerImpl(&val, s, base) ? val : 0; +} + +typedef bool (*LoadFileFunction)(const char *filename, bool binary, + std::string *dest); +typedef bool (*FileExistsFunction)(const char *filename); + +LoadFileFunction SetLoadFileFunction(LoadFileFunction load_file_function); + +FileExistsFunction SetFileExistsFunction( + FileExistsFunction file_exists_function); + +// Check if file "name" exists. +bool FileExists(const char *name); + +// Check if "name" exists and it is also a directory. +bool DirExists(const char *name); + +// Load file "name" into "buf" returning true if successful +// false otherwise. If "binary" is false data is read +// using ifstream's text mode, otherwise data is read with +// no transcoding. +bool LoadFile(const char *name, bool binary, std::string *buf); + +// Save data "buf" of length "len" bytes into a file +// "name" returning true if successful, false otherwise. +// If "binary" is false data is written using ifstream's +// text mode, otherwise data is written with no +// transcoding. +bool SaveFile(const char *name, const char *buf, size_t len, bool binary); + +// Save data "buf" into file "name" returning true if +// successful, false otherwise. If "binary" is false +// data is written using ifstream's text mode, otherwise +// data is written with no transcoding. +inline bool SaveFile(const char *name, const std::string &buf, bool binary) { + return SaveFile(name, buf.c_str(), buf.size(), binary); +} + +// Functionality for minimalistic portable path handling. + +// The functions below behave correctly regardless of whether posix ('/') or +// Windows ('/' or '\\') separators are used. + +// Any new separators inserted are always posix. +FLATBUFFERS_CONSTEXPR char kPathSeparator = '/'; + +// Returns the path with the extension, if any, removed. +std::string StripExtension(const std::string &filepath); + +// Returns the extension, if any. +std::string GetExtension(const std::string &filepath); + +// Return the last component of the path, after the last separator. +std::string StripPath(const std::string &filepath); + +// Strip the last component of the path + separator. +std::string StripFileName(const std::string &filepath); + +// Concatenates a path with a filename, regardless of wether the path +// ends in a separator or not. +std::string ConCatPathFileName(const std::string &path, + const std::string &filename); + +// Replaces any '\\' separators with '/' +std::string PosixPath(const char *path); + +// This function ensure a directory exists, by recursively +// creating dirs for any parts of the path that don't exist yet. +void EnsureDirExists(const std::string &filepath); + +// Obtains the absolute path from any other path. +// Returns the input path if the absolute path couldn't be resolved. +std::string AbsolutePath(const std::string &filepath); + +// To and from UTF-8 unicode conversion functions + +// Convert a unicode code point into a UTF-8 representation by appending it +// to a string. Returns the number of bytes generated. +inline int ToUTF8(uint32_t ucc, std::string *out) { + FLATBUFFERS_ASSERT(!(ucc & 0x80000000)); // Top bit can't be set. + // 6 possible encodings: http://en.wikipedia.org/wiki/UTF-8 + for (int i = 0; i < 6; i++) { + // Max bits this encoding can represent. + uint32_t max_bits = 6 + i * 5 + static_cast(!i); + if (ucc < (1u << max_bits)) { // does it fit? + // Remaining bits not encoded in the first byte, store 6 bits each + uint32_t remain_bits = i * 6; + // Store first byte: + (*out) += static_cast((0xFE << (max_bits - remain_bits)) | + (ucc >> remain_bits)); + // Store remaining bytes: + for (int j = i - 1; j >= 0; j--) { + (*out) += static_cast(((ucc >> (j * 6)) & 0x3F) | 0x80); + } + return i + 1; // Return the number of bytes added. + } + } + FLATBUFFERS_ASSERT(0); // Impossible to arrive here. + return -1; +} + +// Converts whatever prefix of the incoming string corresponds to a valid +// UTF-8 sequence into a unicode code. The incoming pointer will have been +// advanced past all bytes parsed. +// returns -1 upon corrupt UTF-8 encoding (ignore the incoming pointer in +// this case). +inline int FromUTF8(const char **in) { + int len = 0; + // Count leading 1 bits. + for (int mask = 0x80; mask >= 0x04; mask >>= 1) { + if (**in & mask) { + len++; + } else { + break; + } + } + if ((static_cast(**in) << len) & 0x80) + return -1; // Bit after leading 1's must be 0. + if (!len) return *(*in)++; + // UTF-8 encoded values with a length are between 2 and 4 bytes. + if (len < 2 || len > 4) { return -1; } + // Grab initial bits of the code. + int ucc = *(*in)++ & ((1 << (7 - len)) - 1); + for (int i = 0; i < len - 1; i++) { + if ((**in & 0xC0) != 0x80) return -1; // Upper bits must 1 0. + ucc <<= 6; + ucc |= *(*in)++ & 0x3F; // Grab 6 more bits of the code. + } + // UTF-8 cannot encode values between 0xD800 and 0xDFFF (reserved for + // UTF-16 surrogate pairs). + if (ucc >= 0xD800 && ucc <= 0xDFFF) { return -1; } + // UTF-8 must represent code points in their shortest possible encoding. + switch (len) { + case 2: + // Two bytes of UTF-8 can represent code points from U+0080 to U+07FF. + if (ucc < 0x0080 || ucc > 0x07FF) { return -1; } + break; + case 3: + // Three bytes of UTF-8 can represent code points from U+0800 to U+FFFF. + if (ucc < 0x0800 || ucc > 0xFFFF) { return -1; } + break; + case 4: + // Four bytes of UTF-8 can represent code points from U+10000 to U+10FFFF. + if (ucc < 0x10000 || ucc > 0x10FFFF) { return -1; } + break; + } + return ucc; +} + +#ifndef FLATBUFFERS_PREFER_PRINTF +// Wraps a string to a maximum length, inserting new lines where necessary. Any +// existing whitespace will be collapsed down to a single space. A prefix or +// suffix can be provided, which will be inserted before or after a wrapped +// line, respectively. +inline std::string WordWrap(const std::string in, size_t max_length, + const std::string wrapped_line_prefix, + const std::string wrapped_line_suffix) { + std::istringstream in_stream(in); + std::string wrapped, line, word; + + in_stream >> word; + line = word; + + while (in_stream >> word) { + if ((line.length() + 1 + word.length() + wrapped_line_suffix.length()) < + max_length) { + line += " " + word; + } else { + wrapped += line + wrapped_line_suffix + "\n"; + line = wrapped_line_prefix + word; + } + } + wrapped += line; + + return wrapped; +} +#endif // !FLATBUFFERS_PREFER_PRINTF + +inline bool EscapeString(const char *s, size_t length, std::string *_text, + bool allow_non_utf8, bool natural_utf8) { + std::string &text = *_text; + text += "\""; + for (uoffset_t i = 0; i < length; i++) { + char c = s[i]; + switch (c) { + case '\n': text += "\\n"; break; + case '\t': text += "\\t"; break; + case '\r': text += "\\r"; break; + case '\b': text += "\\b"; break; + case '\f': text += "\\f"; break; + case '\"': text += "\\\""; break; + case '\\': text += "\\\\"; break; + default: + if (c >= ' ' && c <= '~') { + text += c; + } else { + // Not printable ASCII data. Let's see if it's valid UTF-8 first: + const char *utf8 = s + i; + int ucc = FromUTF8(&utf8); + if (ucc < 0) { + if (allow_non_utf8) { + text += "\\x"; + text += IntToStringHex(static_cast(c), 2); + } else { + // There are two cases here: + // + // 1) We reached here by parsing an IDL file. In that case, + // we previously checked for non-UTF-8, so we shouldn't reach + // here. + // + // 2) We reached here by someone calling GenerateText() + // on a previously-serialized flatbuffer. The data might have + // non-UTF-8 Strings, or might be corrupt. + // + // In both cases, we have to give up and inform the caller + // they have no JSON. + return false; + } + } else { + if (natural_utf8) { + // utf8 points to past all utf-8 bytes parsed + text.append(s + i, static_cast(utf8 - s - i)); + } else if (ucc <= 0xFFFF) { + // Parses as Unicode within JSON's \uXXXX range, so use that. + text += "\\u"; + text += IntToStringHex(ucc, 4); + } else if (ucc <= 0x10FFFF) { + // Encode Unicode SMP values to a surrogate pair using two \u + // escapes. + uint32_t base = ucc - 0x10000; + auto high_surrogate = (base >> 10) + 0xD800; + auto low_surrogate = (base & 0x03FF) + 0xDC00; + text += "\\u"; + text += IntToStringHex(high_surrogate, 4); + text += "\\u"; + text += IntToStringHex(low_surrogate, 4); + } + // Skip past characters recognized. + i = static_cast(utf8 - s - 1); + } + } + break; + } + } + text += "\""; + return true; +} + +// Remove paired quotes in a string: "text"|'text' -> text. +std::string RemoveStringQuotes(const std::string &s); + +// Change th global C-locale to locale with name . +// Returns an actual locale name in <_value>, useful if locale_name is "" or +// null. +bool SetGlobalTestLocale(const char *locale_name, + std::string *_value = nullptr); + +// Read (or test) a value of environment variable. +bool ReadEnvironmentVariable(const char *var_name, + std::string *_value = nullptr); + +} // namespace flatbuffers + +#endif // FLATBUFFERS_UTIL_H_ diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/imx500_tensor_parser.cpp b/src/ipa/rpi/cam_helper/imx500_tensor_parser/imx500_tensor_parser.cpp new file mode 100644 index 000000000..cd72c2a0e --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/imx500_tensor_parser.cpp @@ -0,0 +1,753 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2024, Raspberry Pi Ltd + * + * imx500_tensor_parser.cpp - Parser for imx500 tensors + */ + +#include "imx500_tensor_parser.h" + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "apParams.flatbuffers_generated.h" + +using namespace libcamera; +using namespace RPiController; + +LOG_DEFINE_CATEGORY(IMX500) + +namespace { + +/* Setup in the IMX500 driver */ +constexpr unsigned int TensorStride = 2560; + +constexpr unsigned int DnnHeaderSize = 12; +constexpr unsigned int MipiPhSize = 0; +constexpr unsigned int InputSensorMaxWidth = 1280; +constexpr unsigned int InputSensorMaxHeight = 960; + +enum TensorDataType { + Signed = 0, + Unsigned +}; + +struct DnnHeader { + uint8_t frameValid; + uint8_t frameCount; + uint16_t maxLineLen; + uint16_t apParamSize; + uint16_t networkId; + uint8_t tensorType; +}; + +struct OutputTensorApParams { + uint8_t id; + std::string name; + std::string networkName; + uint16_t numDimensions; + uint8_t bitsPerElement; + std::vector vecDim; + uint16_t shift; + float scale; + uint8_t format; +}; + +struct InputTensorApParams { + uint8_t networkId; + std::string networkName; + uint16_t width; + uint16_t height; + uint16_t channel; + uint16_t widthStride; + uint16_t heightStride; + uint8_t format; +}; + +int parseHeader(DnnHeader &dnnHeader, std::vector &apParams, const uint8_t *src) +{ + dnnHeader = *reinterpret_cast(src); + + LOG(IMX500, Debug) + << "Header: valid " << static_cast(dnnHeader.frameValid) + << " count " << static_cast(dnnHeader.frameCount) + << " max len " << dnnHeader.maxLineLen + << " ap param size " << dnnHeader.apParamSize + << " network id " << dnnHeader.networkId + << " tensor type " << static_cast(dnnHeader.tensorType); + + if (!dnnHeader.frameValid) + return -1; + + apParams.resize(dnnHeader.apParamSize, 0); + + uint32_t i = DnnHeaderSize; + for (unsigned int j = 0; j < dnnHeader.apParamSize; j++) { + if (i >= TensorStride) { + i = 0; + src += TensorStride + MipiPhSize; + } + apParams[j] = src[i++]; + } + + return 0; +} + +int parseOutputApParams(std::vector &outputApParams, const std::vector &apParams, + const DnnHeader &dnnHeader) +{ + const apParams::fb::FBApParams *fbApParams; + const apParams::fb::FBNetwork *fbNetwork; + const apParams::fb::FBOutputTensor *fbOutputTensor; + + fbApParams = apParams::fb::GetFBApParams(apParams.data()); + LOG(IMX500, Debug) << "Networks size: " << fbApParams->networks()->size(); + + outputApParams.clear(); + + for (unsigned int i = 0; i < fbApParams->networks()->size(); i++) { + fbNetwork = (apParams::fb::FBNetwork *)(fbApParams->networks()->Get(i)); + if (fbNetwork->id() != dnnHeader.networkId) + continue; + + LOG(IMX500, Debug) + << "Network: " << fbNetwork->type()->c_str() + << ", i/p size: " << fbNetwork->inputTensors()->size() + << ", o/p size: " << fbNetwork->outputTensors()->size(); + + for (unsigned int j = 0; j < fbNetwork->outputTensors()->size(); j++) { + OutputTensorApParams outApParam; + + fbOutputTensor = (apParams::fb::FBOutputTensor *)fbNetwork->outputTensors()->Get(j); + + outApParam.id = fbOutputTensor->id(); + outApParam.name = fbOutputTensor->name()->str(); + outApParam.networkName = fbNetwork->type()->str(); + outApParam.numDimensions = fbOutputTensor->numOfDimensions(); + + for (unsigned int k = 0; k < fbOutputTensor->numOfDimensions(); k++) { + Dimensions dim; + dim.ordinal = fbOutputTensor->dimensions()->Get(k)->id(); + dim.size = fbOutputTensor->dimensions()->Get(k)->size(); + dim.serializationIndex = fbOutputTensor->dimensions()->Get(k)->serializationIndex(); + dim.padding = fbOutputTensor->dimensions()->Get(k)->padding(); + if (dim.padding != 0) { + LOG(IMX500, Error) + << "Error in AP Params, Non-Zero padding for Dimension " << k; + return -1; + } + + outApParam.vecDim.push_back(dim); + } + + outApParam.bitsPerElement = fbOutputTensor->bitsPerElement(); + outApParam.shift = fbOutputTensor->shift(); + outApParam.scale = fbOutputTensor->scale(); + outApParam.format = fbOutputTensor->format(); + + /* Add the element to vector */ + outputApParams.push_back(outApParam); + } + + break; + } + + return 0; +} + +int populateOutputTensorInfo(IMX500OutputTensorInfo &outputTensorInfo, + const std::vector &outputApParams) +{ + /* Calculate total output size. */ + unsigned int totalOutSize = 0; + for (auto const &ap : outputApParams) { + unsigned int totalDimensionSize = 1; + for (auto &dim : ap.vecDim) { + if (totalDimensionSize >= std::numeric_limits::max() / dim.size) { + LOG(IMX500, Error) << "Invalid totalDimensionSize"; + return -1; + } + + totalDimensionSize *= dim.size; + } + + if (totalOutSize >= std::numeric_limits::max() - totalDimensionSize) { + LOG(IMX500, Error) << "Invalid totalOutSize"; + return -1; + } + + totalOutSize += totalDimensionSize; + } + + if (totalOutSize == 0) { + LOG(IMX500, Error) << "Invalid output tensor info (totalOutSize is 0)"; + return -1; + } + + LOG(IMX500, Debug) << "Final output size: " << totalOutSize; + + if (totalOutSize >= std::numeric_limits::max() / sizeof(float)) { + LOG(IMX500, Error) << "Invalid output tensor info"; + return -1; + } + + outputTensorInfo.data = std::shared_ptr(new float[totalOutSize]); + unsigned int numOutputTensors = outputApParams.size(); + + if (!numOutputTensors) { + LOG(IMX500, Error) << "Invalid numOutputTensors (0)"; + return -1; + } + + if (numOutputTensors >= std::numeric_limits::max() / sizeof(uint32_t)) { + LOG(IMX500, Error) << "Invalid numOutputTensors"; + return -1; + } + + outputTensorInfo.totalSize = totalOutSize; + outputTensorInfo.numTensors = numOutputTensors; + outputTensorInfo.networkName = outputApParams[0].networkName; + outputTensorInfo.tensorDataNum.resize(numOutputTensors, 0); + for (auto const &p : outputApParams) { + outputTensorInfo.vecDim.push_back(p.vecDim); + outputTensorInfo.numDimensions.push_back(p.vecDim.size()); + } + + return 0; +} + +template +float getVal8(const uint8_t *src, const OutputTensorApParams ¶m) +{ + T temp = (T)*src; + float value = (temp - param.shift) * param.scale; + return value; +} + +template +float getVal16(const uint8_t *src, const OutputTensorApParams ¶m) +{ + T temp = (((T) * (src + 1)) & 0xff) << 8 | (*src & 0xff); + float value = (temp - param.shift) * param.scale; + return value; +} + +template +float getVal32(const uint8_t *src, const OutputTensorApParams ¶m) +{ + T temp = (((T) * (src + 3)) & 0xff) << 24 | (((T) * (src + 2)) & 0xff) << 16 | + (((T) * (src + 1)) & 0xff) << 8 | (*src & 0xff); + float value = (temp - param.shift) * param.scale; + return value; +} + +int parseOutputTensorBody(IMX500OutputTensorInfo &outputTensorInfo, const uint8_t *src, + const std::vector &outputApParams, + const DnnHeader &dnnHeader) +{ + float *dst = outputTensorInfo.data.get(); + int ret = 0; + + if (outputTensorInfo.totalSize > (std::numeric_limits::max() / sizeof(float))) { + LOG(IMX500, Error) << "totalSize is greater than maximum size"; + return -1; + } + + std::unique_ptr tmpDst = std::make_unique(outputTensorInfo.totalSize); + std::vector numLinesVec(outputApParams.size()); + std::vector outSizes(outputApParams.size()); + std::vector offsets(outputApParams.size()); + std::vector srcArr(outputApParams.size()); + std::vector> serializedDims; + std::vector> actualDims; + + const uint8_t *src1 = src; + uint32_t offset = 0; + std::vector serializedDimT; + std::vector actualDimT; + + for (unsigned int tensorIdx = 0; tensorIdx < outputApParams.size(); tensorIdx++) { + offsets[tensorIdx] = offset; + srcArr[tensorIdx] = src1; + uint32_t tensorDataNum = 0; + + const OutputTensorApParams ¶m = outputApParams.at(tensorIdx); + uint32_t outputTensorSize = 0; + uint32_t tensorOutSize = (param.bitsPerElement / 8); + + serializedDimT.resize(param.numDimensions); + actualDimT.resize(param.numDimensions); + + for (int idx = 0; idx < param.numDimensions; idx++) { + actualDimT[idx].size = param.vecDim.at(idx).size; + serializedDimT[param.vecDim.at(idx).serializationIndex].size = param.vecDim.at(idx).size; + + tensorOutSize *= param.vecDim.at(idx).size; + if (tensorOutSize >= std::numeric_limits::max() / param.bitsPerElement / 8) { + LOG(IMX500, Error) << "Invalid output tensor info"; + return -1; + } + + actualDimT[idx].serializationIndex = param.vecDim.at(idx).serializationIndex; + serializedDimT[param.vecDim.at(idx).serializationIndex].serializationIndex = + static_cast(idx); + } + + uint16_t numLines = std::ceil(tensorOutSize / static_cast(dnnHeader.maxLineLen)); + outputTensorSize = tensorOutSize; + numLinesVec[tensorIdx] = numLines; + outSizes[tensorIdx] = tensorOutSize; + + serializedDims.push_back(serializedDimT); + actualDims.push_back(actualDimT); + + src1 += numLines * TensorStride; + tensorDataNum = (outputTensorSize / (param.bitsPerElement / 8)); + offset += tensorDataNum; + outputTensorInfo.tensorDataNum[tensorIdx] = tensorDataNum; + if (offset > outputTensorInfo.totalSize) { + LOG(IMX500, Error) + << "Error in parsing output tensor offset " << offset << " > output_size"; + return -1; + } + } + + std::vector idxs(outputApParams.size()); + for (unsigned int i = 0; i < idxs.size(); i++) + idxs[i] = i; + + for (unsigned int i = 0; i < idxs.size(); i++) { + for (unsigned int j = 0; j < idxs.size(); j++) { + if (numLinesVec[idxs[i]] > numLinesVec[idxs[j]]) + std::swap(idxs[i], idxs[j]); + } + } + + std::vector> futures; + for (unsigned int ii = 0; ii < idxs.size(); ii++) { + uint32_t idx = idxs[ii]; + futures.emplace_back(std::async( + std::launch::async, + [&tmpDst, &outSizes, &numLinesVec, &actualDims, &serializedDims, + &outputApParams, &dnnHeader, dst](int tensorIdx, const uint8_t *tsrc, int toffset) -> int { + uint32_t outputTensorSize = outSizes[tensorIdx]; + uint16_t numLines = numLinesVec[tensorIdx]; + bool sortingRequired = false; + + const OutputTensorApParams ¶m = outputApParams[tensorIdx]; + const std::vector &serializedDim = serializedDims[tensorIdx]; + const std::vector &actualDim = actualDims[tensorIdx]; + + for (unsigned i = 0; i < param.numDimensions; i++) { + if (param.vecDim.at(i).serializationIndex != param.vecDim.at(i).ordinal) + sortingRequired = true; + } + + if (!outputTensorSize) { + LOG(IMX500, Error) << "Invalid output tensorsize (0)"; + return -1; + } + + /* Extract output tensor data */ + uint32_t elementIndex = 0; + if (param.bitsPerElement == 8) { + for (unsigned int i = 0; i < numLines; i++) { + int lineIndex = 0; + while (lineIndex < dnnHeader.maxLineLen) { + if (param.format == TensorDataType::Signed) + tmpDst[toffset + elementIndex] = + getVal8(tsrc + lineIndex, param); + else + tmpDst[toffset + elementIndex] = + getVal8(tsrc + lineIndex, param); + elementIndex++; + lineIndex++; + if (elementIndex == outputTensorSize) + break; + } + tsrc += TensorStride; + if (elementIndex == outputTensorSize) + break; + } + } else if (param.bitsPerElement == 16) { + for (unsigned int i = 0; i < numLines; i++) { + int lineIndex = 0; + while (lineIndex < dnnHeader.maxLineLen) { + if (param.format == TensorDataType::Signed) + tmpDst[toffset + elementIndex] = + getVal16(tsrc + lineIndex, param); + else + tmpDst[toffset + elementIndex] = + getVal16(tsrc + lineIndex, param); + elementIndex++; + lineIndex += 2; + if (elementIndex >= (outputTensorSize >> 1)) + break; + } + tsrc += TensorStride; + if (elementIndex >= (outputTensorSize >> 1)) + break; + } + } else if (param.bitsPerElement == 32) { + for (unsigned int i = 0; i < numLines; i++) { + int lineIndex = 0; + while (lineIndex < dnnHeader.maxLineLen) { + if (param.format == TensorDataType::Signed) + tmpDst[toffset + elementIndex] = + getVal32(tsrc + lineIndex, param); + else + tmpDst[toffset + elementIndex] = + getVal32(tsrc + lineIndex, param); + elementIndex++; + lineIndex += 4; + if (elementIndex >= (outputTensorSize >> 2)) + break; + } + tsrc += TensorStride; + if (elementIndex >= (outputTensorSize >> 2)) + break; + } + } + + /* + * Sorting in order according to AP Params. Not supported if larger than 3D + * Preparation: + */ + if (sortingRequired) { + constexpr unsigned int DimensionMax = 3; + + std::array loopCnt{ 1, 1, 1 }; + std::array coef{ 1, 1, 1 }; + for (unsigned int i = 0; i < param.numDimensions; i++) { + if (i >= DimensionMax) { + LOG(IMX500, Error) << "numDimensions value is 3 or higher"; + break; + } + + loopCnt[i] = serializedDim.at(i).size; + + for (unsigned int j = serializedDim.at(i).serializationIndex; j > 0; j--) + coef[i] *= actualDim.at(j - 1).size; + } + /* Sort execution */ + unsigned int srcIndex = 0; + unsigned int dstIndex; + for (unsigned int i = 0; i < loopCnt[DimensionMax - 1]; i++) { + for (unsigned int j = 0; j < loopCnt[DimensionMax - 2]; j++) { + for (unsigned int k = 0; k < loopCnt[DimensionMax - 3]; k++) { + dstIndex = (coef[DimensionMax - 1] * i) + + (coef[DimensionMax - 2] * j) + + (coef[DimensionMax - 3] * k); + dst[toffset + dstIndex] = tmpDst[toffset + srcIndex++]; + } + } + } + } else { + if (param.bitsPerElement == 8) + memcpy(dst + toffset, tmpDst.get() + toffset, + outputTensorSize * sizeof(float)); + else if (param.bitsPerElement == 16) + memcpy(dst + toffset, tmpDst.get() + toffset, + (outputTensorSize >> 1) * sizeof(float)); + else if (param.bitsPerElement == 32) + memcpy(dst + toffset, tmpDst.get() + toffset, + (outputTensorSize >> 2) * sizeof(float)); + else { + LOG(IMX500, Error) + << "Invalid bitsPerElement value =" << param.bitsPerElement; + return -1; + } + } + + return 0; + }, + idx, srcArr[idx], offsets[idx])); + } + + for (auto &f : futures) + ret += f.get(); + + return ret; +} + +int parseInputApParams(InputTensorApParams &inputApParams, const std::vector &apParams, + const DnnHeader &dnnHeader) +{ + const apParams::fb::FBApParams *fbApParams; + const apParams::fb::FBNetwork *fbNetwork; + const apParams::fb::FBInputTensor *fbInputTensor; + + fbApParams = apParams::fb::GetFBApParams(apParams.data()); + LOG(IMX500, Debug) << "Networks size: " << fbApParams->networks()->size(); + + for (unsigned int i = 0; i < fbApParams->networks()->size(); i++) { + fbNetwork = reinterpret_cast(fbApParams->networks()->Get(i)); + if (fbNetwork->id() != dnnHeader.networkId) + continue; + + LOG(IMX500, Debug) + << "Network: " << fbNetwork->type()->c_str() + << ", i/p size: " << fbNetwork->inputTensors()->size() + << ", o/p size: " << fbNetwork->outputTensors()->size(); + + inputApParams.networkName = fbNetwork->type()->str(); + fbInputTensor = + reinterpret_cast(fbNetwork->inputTensors()->Get(0)); + + LOG(IMX500, Debug) + << "Input Tensor shift: " << fbInputTensor->shift() + << ", Scale: scale: " << fbInputTensor->scale() + << ", Format: " << static_cast(fbInputTensor->format()); + + if (fbInputTensor->dimensions()->size() != 3) { + LOG(IMX500, Error) << "Invalid number of dimensions in InputTensor"; + return -1; + } + + for (unsigned int j = 0; j < fbInputTensor->dimensions()->size(); j++) { + switch (fbInputTensor->dimensions()->Get(j)->serializationIndex()) { + case 0: + inputApParams.width = fbInputTensor->dimensions()->Get(j)->size(); + inputApParams.widthStride = + inputApParams.width + fbInputTensor->dimensions()->Get(j)->padding(); + break; + case 1: + inputApParams.height = fbInputTensor->dimensions()->Get(j)->size(); + inputApParams.heightStride = + inputApParams.height + fbInputTensor->dimensions()->Get(j)->padding(); + break; + case 2: + inputApParams.channel = fbInputTensor->dimensions()->Get(j)->size(); + break; + default: + LOG(IMX500, Error) << "Invalid dimension in InputTensor " << j; + break; + } + } + } + + return 0; +} + +int parseInputTensorBody(IMX500InputTensorInfo &inputTensorInfo, const uint8_t *src, + const InputTensorApParams &inputApParams, const DnnHeader &dnnHeader) +{ + if ((inputApParams.width > InputSensorMaxWidth) || (inputApParams.height > InputSensorMaxHeight) || + ((inputApParams.channel != 1) && (inputApParams.channel != 3) && (inputApParams.channel != 4))) { + LOG(IMX500, Error) + << "Invalid input tensor size w: " << inputApParams.width + << " h: " << inputApParams.height + << " c: " << inputApParams.channel; + return -1; + } + + unsigned int outSize = inputApParams.width * inputApParams.height * inputApParams.channel; + unsigned int outSizePadded = inputApParams.widthStride * inputApParams.heightStride * inputApParams.channel; + unsigned int numLines = std::ceil(outSizePadded / static_cast(dnnHeader.maxLineLen)); + inputTensorInfo.data = std::shared_ptr(new uint8_t[outSize]); + + unsigned int diff = 0, outLineIndex = 0, pixelIndex = 0, heightIndex = 0, size = 0, left = 0; + unsigned int wPad = inputApParams.widthStride - inputApParams.width; + unsigned int hPad = inputApParams.heightStride - inputApParams.height; + + for (unsigned int line = 0; line < numLines; line++) { + for (unsigned int lineIndex = diff; lineIndex < dnnHeader.maxLineLen; lineIndex += size) { + if (outLineIndex == inputApParams.width) { /* Skip width padding pixels */ + outLineIndex = 0; + heightIndex++; + lineIndex += wPad; + if (lineIndex >= dnnHeader.maxLineLen) { + diff = lineIndex - dnnHeader.maxLineLen; + break; + } else + diff = 0; + } + + if (heightIndex == inputApParams.height) { /* Skip height padding pixels */ + lineIndex += hPad * inputApParams.widthStride; + heightIndex = 0; + if (lineIndex >= dnnHeader.maxLineLen) { + diff = lineIndex - dnnHeader.maxLineLen; + while (diff >= dnnHeader.maxLineLen) { + diff -= dnnHeader.maxLineLen; + src += TensorStride; + line++; + } + break; + } else + diff = 0; + } + + if (((pixelIndex == inputApParams.width * inputApParams.height) || + (pixelIndex == inputApParams.width * inputApParams.height * 2) || + (pixelIndex == inputApParams.width * inputApParams.height * 3))) { + if (pixelIndex == outSize) + break; + } + + if (left > 0) { + size = left; + left = 0; + } else if (pixelIndex + inputApParams.width >= outSize) { + size = outSize - pixelIndex; + } else if (lineIndex + inputApParams.width >= dnnHeader.maxLineLen) { + size = dnnHeader.maxLineLen - lineIndex; + left = inputApParams.width - size; + } else { + size = inputApParams.width; + } + + memcpy(&inputTensorInfo.data[pixelIndex], src + lineIndex, size); + pixelIndex += size; + outLineIndex += size; + } + + if (pixelIndex == outSize) + break; + + src += TensorStride; + } + + inputTensorInfo.size = outSize; + inputTensorInfo.width = inputApParams.width; + inputTensorInfo.height = inputApParams.height; + inputTensorInfo.channels = inputApParams.channel; + inputTensorInfo.widthStride = inputApParams.widthStride; + inputTensorInfo.heightStride = inputApParams.heightStride; + inputTensorInfo.networkName = inputApParams.networkName; + + return 0; +} + +} /* namespace */ + +int RPiController::imx500ParseInputTensor(IMX500InputTensorInfo &inputTensorInfo, + libcamera::Span inputTensor) +{ + DnnHeader dnnHeader; + std::vector apParams; + InputTensorApParams inputApParams{}; + + const uint8_t *src = inputTensor.data(); + int ret = parseHeader(dnnHeader, apParams, src); + if (ret) { + LOG(IMX500, Error) << "Header param parsing failed!"; + return ret; + } + + if (dnnHeader.tensorType != TensorType::InputTensor) { + LOG(IMX500, Error) << "Invalid input tensor type in AP params!"; + return -1; + } + + ret = parseInputApParams(inputApParams, apParams, dnnHeader); + if (ret) { + LOG(IMX500, Error) << "AP param parsing failed!"; + return ret; + } + + ret = parseInputTensorBody(inputTensorInfo, src + TensorStride, inputApParams, dnnHeader); + if (ret) { + LOG(IMX500, Error) << "Input tensor body parsing failed!"; + return ret; + } + + return 0; +} + +int RPiController::imx500ParseOutputTensor(IMX500OutputTensorInfo &outputTensorInfo, + Span outputTensor) +{ + DnnHeader dnnHeader; + std::vector apParams; + std::vector outputApParams; + + const uint8_t *src = outputTensor.data(); + int ret = parseHeader(dnnHeader, apParams, src); + if (ret) { + LOG(IMX500, Error) << "Header param parsing failed!"; + return ret; + } + + if (dnnHeader.tensorType != TensorType::OutputTensor) { + LOG(IMX500, Error) << "Invalid output tensor type in AP params!"; + return -1; + } + + ret = parseOutputApParams(outputApParams, apParams, dnnHeader); + if (ret) { + LOG(IMX500, Error) << "AP param parsing failed!"; + return ret; + } + + ret = populateOutputTensorInfo(outputTensorInfo, outputApParams); + if (ret) { + LOG(IMX500, Error) << "Failed to populate OutputTensorInfo!"; + return ret; + } + + ret = parseOutputTensorBody(outputTensorInfo, src + TensorStride, outputApParams, dnnHeader); + if (ret) { + LOG(IMX500, Error) << "Output tensor body parsing failed!"; + return ret; + } + + return 0; +} + +std::unordered_map RPiController::imx500SplitTensors(Span tensors) +{ + const DnnHeader *outputHeader; + DnnHeader inputHeader; + std::unordered_map offsets; + + /* + * Structure of the IMX500 DNN output: + * Line 0: KPI params + * Line [1, x): Input tensor + * Line [x, N-1): Output tensor + * Line N-1: PQ params + */ + offsets[TensorType::Kpi].offset = 0; + + const uint8_t *src = tensors.data() + TensorStride; + inputHeader = *reinterpret_cast(src); + if (inputHeader.tensorType != TensorType::InputTensor) { + LOG(IMX500, Debug) << "Input tensor is invalid, arborting."; + return {}; + } + + offsets[TensorType::InputTensor].offset = TensorStride; + offsets[TensorType::InputTensor].valid = inputHeader.frameValid; + LOG(IMX500, Debug) + << "Found input tensor at offset: " << offsets[TensorType::InputTensor].offset + << ", valid: " << static_cast(offsets[TensorType::InputTensor].valid); + + src += TensorStride; + + while (src < tensors.data() + tensors.size()) { + outputHeader = reinterpret_cast(src); + if (outputHeader->frameCount == inputHeader.frameCount && + outputHeader->apParamSize == inputHeader.apParamSize && + outputHeader->maxLineLen == inputHeader.maxLineLen && + outputHeader->tensorType == TensorType::OutputTensor) { + offsets[TensorType::OutputTensor].offset = src - tensors.data(); + offsets[TensorType::OutputTensor].valid = outputHeader->frameValid; + LOG(IMX500, Debug) + << "Found output tensor at offset: " << offsets[TensorType::OutputTensor].offset + << ", valid: " << static_cast(offsets[TensorType::OutputTensor].valid); + break; + } + src += TensorStride; + } + + return offsets; +} diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/imx500_tensor_parser.h b/src/ipa/rpi/cam_helper/imx500_tensor_parser/imx500_tensor_parser.h new file mode 100644 index 000000000..98b7b1d30 --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/imx500_tensor_parser.h @@ -0,0 +1,63 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2024, Raspberry Pi Ltd + * + * imx500_tensor_parser.h - Parser for imx500 tensors + */ + +#include +#include +#include +#include +#include + +#include + +namespace RPiController { + +enum TensorType { + InputTensor = 0, + OutputTensor, + Kpi, +}; + +struct Dimensions { + uint8_t ordinal; + uint16_t size; + uint8_t serializationIndex; + uint8_t padding; +}; + +struct IMX500OutputTensorInfo { + uint32_t totalSize; + uint32_t numTensors; + std::string networkName; + std::shared_ptr data; + std::vector tensorDataNum; + std::vector> vecDim; + std::vector numDimensions; +}; + +struct IMX500InputTensorInfo { + unsigned int width; + unsigned int height; + unsigned int widthStride; + unsigned int heightStride; + unsigned int channels; + unsigned int size; + std::string networkName; + std::shared_ptr data; +}; + +struct IMX500Tensors { + bool valid; + unsigned int offset; +}; + +int imx500ParseOutputTensor(IMX500OutputTensorInfo &outputTensorInfo, + libcamera::Span outputTensor); +int imx500ParseInputTensor(IMX500InputTensorInfo &inputTensorInfo, + libcamera::Span inputTensor); +std::unordered_map imx500SplitTensors(libcamera::Span tensors); + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/cam_helper/imx500_tensor_parser/meson.build b/src/ipa/rpi/cam_helper/imx500_tensor_parser/meson.build new file mode 100644 index 000000000..d23179092 --- /dev/null +++ b/src/ipa/rpi/cam_helper/imx500_tensor_parser/meson.build @@ -0,0 +1,5 @@ +# SPDX-License-Identifier: CC0-1.0 + +rpi_ipa_cam_helper_sources += files([ + 'imx500_tensor_parser.cpp', +]) diff --git a/src/ipa/rpi/cam_helper/meson.build b/src/ipa/rpi/cam_helper/meson.build index 1e43f1da2..694ec59b0 100644 --- a/src/ipa/rpi/cam_helper/meson.build +++ b/src/ipa/rpi/cam_helper/meson.build @@ -8,6 +8,7 @@ rpi_ipa_cam_helper_sources = files([ 'cam_helper_imx290.cpp', 'cam_helper_imx296.cpp', 'cam_helper_imx477.cpp', + 'cam_helper_imx500.cpp', 'cam_helper_imx519.cpp', 'cam_helper_imx708.cpp', 'cam_helper_ov64a40.cpp', @@ -19,6 +20,8 @@ rpi_ipa_cam_helper_includes = [ include_directories('..'), ] +subdir('imx500_tensor_parser') + rpi_ipa_cam_helper_deps = [ libcamera_private, ] diff --git a/src/ipa/rpi/common/ipa_base.cpp b/src/ipa/rpi/common/ipa_base.cpp index ee3848b54..dfde1c8ac 100644 --- a/src/ipa/rpi/common/ipa_base.cpp +++ b/src/ipa/rpi/common/ipa_base.cpp @@ -28,6 +28,8 @@ #include "controller/lux_status.h" #include "controller/sharpen_algorithm.h" #include "controller/statistics.h" +#include "controller/sync_algorithm.h" +#include "controller/sync_status.h" namespace libcamera { @@ -71,9 +73,12 @@ const ControlInfoMap::Map ipaControls{ { &controls::HdrMode, ControlInfo(controls::HdrModeValues) }, { &controls::Sharpness, ControlInfo(0.0f, 16.0f, 1.0f) }, { &controls::ScalerCrop, ControlInfo(Rectangle{}, Rectangle(65535, 65535, 65535, 65535), Rectangle{}) }, + { &controls::rpi::ScalerCrops, ControlInfo(Rectangle{}, Rectangle(65535, 65535, 65535, 65535), Rectangle{}) }, { &controls::FrameDurationLimits, ControlInfo(INT64_C(33333), INT64_C(120000)) }, { &controls::draft::NoiseReductionMode, ControlInfo(controls::draft::NoiseReductionModeValues) }, { &controls::rpi::StatsOutputEnable, ControlInfo(false, true, false) }, + { &controls::rpi::CnnEnableInputTensor, ControlInfo(false, true, false) }, + { &controls::rpi::SyncMode, ControlInfo(controls::rpi::SyncModeValues) }, }; /* IPA controls handled conditionally, if the sensor is not mono */ @@ -105,7 +110,7 @@ namespace ipa::RPi { IpaBase::IpaBase() : controller_(), frameLengths_(FrameLengthsQueueSize, 0s), statsMetadataOutput_(false), stitchSwapBuffers_(false), frameCount_(0), mistrustCount_(0), lastRunTimestamp_(0), - firstStart_(true), flickerState_({ 0, 0s }) + firstStart_(true), flickerState_({ 0, 0s }), cnnEnableInputTensor_(false) { } @@ -153,6 +158,7 @@ int32_t IpaBase::init(const IPASettings &settings, const InitParams ¶ms, Ini lensPresent_ = params.lensPresent; controller_.initialise(); + helper_->setHwConfig(controller_.getHardwareConfig()); /* Return the controls handled by the IPA */ ControlInfoMap::Map ctrlMap = ipaControls; @@ -387,6 +393,7 @@ void IpaBase::prepareIsp(const PrepareParams ¶ms) rpiMetadata.clear(); fillDeviceStatus(params.sensorControls, ipaContext); + fillSyncParams(params, ipaContext); if (params.buffers.embedded) { /* @@ -485,10 +492,23 @@ void IpaBase::processStats(const ProcessParams ¶ms) helper_->process(statistics, rpiMetadata); controller_.process(statistics, &rpiMetadata); + /* Send any sync algorithm outputs back to the pipeline handler */ + Duration offset(0s); + struct SyncStatus syncStatus; + if (rpiMetadata.get("sync.status", syncStatus) == 0) { + if (minFrameDuration_ != maxFrameDuration_) + LOG(IPARPI, Error) << "Sync algorithm enabled with variable framerate. " << minFrameDuration_ << " " << maxFrameDuration_; + offset = syncStatus.frameDurationOffset; + + libcameraMetadata_.set(controls::rpi::SyncWait, !syncStatus.ready); + if (syncStatus.lagKnown) + libcameraMetadata_.set(controls::rpi::SyncLag, syncStatus.lag); + } + struct AgcStatus agcStatus; if (rpiMetadata.get("agc.status", agcStatus) == 0) { ControlList ctrls(sensorCtrls_); - applyAGC(&agcStatus, ctrls); + applyAGC(&agcStatus, ctrls, offset); setDelayedControls.emit(ctrls, ipaContext); setCameraTimeoutValue(); } @@ -721,6 +741,7 @@ void IpaBase::applyControls(const ControlList &controls) using RPiController::ContrastAlgorithm; using RPiController::DenoiseAlgorithm; using RPiController::HdrAlgorithm; + using RPiController::SyncAlgorithm; /* Clear the return metadata buffer. */ libcameraMetadata_.clear(); @@ -1070,6 +1091,7 @@ void IpaBase::applyControls(const ControlList &controls) break; } + case controls::rpi::SCALER_CROPS: case controls::SCALER_CROP: { /* We do nothing with this, but should avoid the warning below. */ break; @@ -1247,6 +1269,28 @@ void IpaBase::applyControls(const ControlList &controls) statsMetadataOutput_ = ctrl.second.get(); break; + case controls::rpi::CNN_ENABLE_INPUT_TENSOR: + cnnEnableInputTensor_ = ctrl.second.get(); + break; + + case controls::rpi::SYNC_MODE: { + SyncAlgorithm *sync = dynamic_cast(controller_.getAlgorithm("sync")); + + if (sync) { + int mode = ctrl.second.get(); + SyncAlgorithm::Mode m = SyncAlgorithm::Mode::Off; + if (mode == controls::rpi::SyncModeServer) { + m = SyncAlgorithm::Mode::Server; + LOG(IPARPI, Info) << "Sync mode set to server"; + } else if (mode == controls::rpi::SyncModeClient) { + m = SyncAlgorithm::Mode::Client; + LOG(IPARPI, Info) << "Sync mode set to client"; + } + sync->setMode(m); + } + break; + } + default: LOG(IPARPI, Warning) << "Ctrl " << controls::controls.at(ctrl.first)->name() @@ -1283,6 +1327,19 @@ void IpaBase::fillDeviceStatus(const ControlList &sensorControls, unsigned int i rpiMetadata_[ipaContext].set("device.status", deviceStatus); } +void IpaBase::fillSyncParams(const PrepareParams ¶ms, unsigned int ipaContext) +{ + RPiController::SyncAlgorithm *sync = dynamic_cast( + controller_.getAlgorithm("sync")); + if (!sync) + return; + + SyncParams syncParams; + syncParams.wallClock = *params.sensorControls.get(controls::rpi::FrameWallClock); + syncParams.sensorTimestamp = *params.sensorControls.get(controls::SensorTimestamp); + rpiMetadata_[ipaContext].set("sync.params", syncParams); +} + void IpaBase::reportMetadata(unsigned int ipaContext) { RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext]; @@ -1423,6 +1480,51 @@ void IpaBase::reportMetadata(unsigned int ipaContext) libcameraMetadata_.set(controls::HdrChannel, controls::HdrChannelNone); } + const std::shared_ptr *inputTensor = + rpiMetadata.getLocked>("cnn.input_tensor"); + if (cnnEnableInputTensor_ && inputTensor) { + unsigned int size = *rpiMetadata.getLocked("cnn.input_tensor_size"); + Span tensor{ inputTensor->get(), size }; + libcameraMetadata_.set(controls::rpi::CnnInputTensor, tensor); + /* No need to keep these big buffers any more. */ + rpiMetadata.eraseLocked("cnn.input_tensor"); + } + + const RPiController::CnnInputTensorInfo *inputTensorInfo = + rpiMetadata.getLocked("cnn.input_tensor_info"); + if (inputTensorInfo) { + Span tensorInfo{ reinterpret_cast(inputTensorInfo), + sizeof(*inputTensorInfo) }; + libcameraMetadata_.set(controls::rpi::CnnInputTensorInfo, tensorInfo); + } + + const std::shared_ptr *outputTensor = + rpiMetadata.getLocked>("cnn.output_tensor"); + if (outputTensor) { + unsigned int size = *rpiMetadata.getLocked("cnn.output_tensor_size"); + Span tensor{ reinterpret_cast(outputTensor->get()), + size }; + libcameraMetadata_.set(controls::rpi::CnnOutputTensor, tensor); + /* No need to keep these big buffers any more. */ + rpiMetadata.eraseLocked("cnn.output_tensor"); + } + + const RPiController::CnnOutputTensorInfo *outputTensorInfo = + rpiMetadata.getLocked("cnn.output_tensor_info"); + if (outputTensorInfo) { + Span tensorInfo{ reinterpret_cast(outputTensorInfo), + sizeof(*outputTensorInfo) }; + libcameraMetadata_.set(controls::rpi::CnnOutputTensorInfo, tensorInfo); + } + + const RPiController::CnnKpiInfo *kpiInfo = + rpiMetadata.getLocked("cnn.kpi_info"); + if (kpiInfo) { + libcameraMetadata_.set(controls::rpi::CnnKpiInfo, + { static_cast(kpiInfo->dnnRuntime), + static_cast(kpiInfo->dspRuntime) }); + } + metadataReady.emit(libcameraMetadata_); } @@ -1451,14 +1553,22 @@ void IpaBase::applyFrameDurations(Duration minFrameDuration, Duration maxFrameDu * value possible. */ Duration maxShutter = Duration::max(); - helper_->getBlanking(maxShutter, minFrameDuration_, maxFrameDuration_); + auto [vblank, hblank] = helper_->getBlanking(maxShutter, minFrameDuration_, maxFrameDuration_); RPiController::AgcAlgorithm *agc = dynamic_cast( controller_.getAlgorithm("agc")); agc->setMaxShutter(maxShutter); + + RPiController::SyncAlgorithm *sync = dynamic_cast( + controller_.getAlgorithm("sync")); + if (sync) { + Duration duration = (mode_.height + vblank) * ((mode_.width + hblank) * 1.0s / mode_.pixelRate); + LOG(IPARPI, Debug) << "setting sync frame duration to " << duration; + sync->setFrameDuration(duration); + } } -void IpaBase::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls) +void IpaBase::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls, Duration frameDurationOffset) { const int32_t minGainCode = helper_->gainCode(mode_.minAnalogueGain); const int32_t maxGainCode = helper_->gainCode(mode_.maxAnalogueGain); @@ -1473,7 +1583,8 @@ void IpaBase::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls) /* getBlanking might clip exposure time to the fps limits. */ Duration exposure = agcStatus->shutterTime; - auto [vblank, hblank] = helper_->getBlanking(exposure, minFrameDuration_, maxFrameDuration_); + auto [vblank, hblank] = helper_->getBlanking(exposure, minFrameDuration_ - frameDurationOffset, + maxFrameDuration_ - frameDurationOffset); int32_t exposureLines = helper_->exposureLines(exposure, helper_->hblankToLineLength(hblank)); diff --git a/src/ipa/rpi/common/ipa_base.h b/src/ipa/rpi/common/ipa_base.h index 1a811beb3..ed378f454 100644 --- a/src/ipa/rpi/common/ipa_base.h +++ b/src/ipa/rpi/common/ipa_base.h @@ -95,9 +95,11 @@ class IpaBase : public IPARPiInterface void applyControls(const ControlList &controls); virtual void handleControls(const ControlList &controls) = 0; void fillDeviceStatus(const ControlList &sensorControls, unsigned int ipaContext); + void fillSyncParams(const PrepareParams ¶ms, unsigned int ipaContext); void reportMetadata(unsigned int ipaContext); void applyFrameDurations(utils::Duration minFrameDuration, utils::Duration maxFrameDuration); - void applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls); + void applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls, + utils::Duration frameDurationOffset = utils::Duration(0)); std::map buffers_; @@ -136,6 +138,8 @@ class IpaBase : public IPARPiInterface int32_t mode; utils::Duration manualPeriod; } flickerState_; + + bool cnnEnableInputTensor_; }; } /* namespace ipa::RPi */ diff --git a/src/ipa/rpi/controller/controller.cpp b/src/ipa/rpi/controller/controller.cpp index e0131018e..3bce88b92 100644 --- a/src/ipa/rpi/controller/controller.cpp +++ b/src/ipa/rpi/controller/controller.cpp @@ -39,6 +39,7 @@ static const std::map HardwareConfigMap .pipelineWidth = 13, .statsInline = false, .minPixelProcessingTime = 0s, + .cfeDataBufferStrided = true, } }, { @@ -71,6 +72,7 @@ static const std::map HardwareConfigMap * frames wider than ~16,000 pixels. */ .minPixelProcessingTime = 1.0us / 380, + .cfeDataBufferStrided = false, } }, }; diff --git a/src/ipa/rpi/controller/controller.h b/src/ipa/rpi/controller/controller.h index eff520bd6..b0b1ce335 100644 --- a/src/ipa/rpi/controller/controller.h +++ b/src/ipa/rpi/controller/controller.h @@ -25,6 +25,39 @@ namespace RPiController { +/* + * The following structures are used to export the CNN input/output tensor information + * through the rpi::CnnOutputTensorInfo and rpi::CnnInputTensorInfo controls. + * Applications must cast the span to these structures exactly. + */ +static constexpr unsigned int NetworkNameLen = 64; +static constexpr unsigned int MaxNumTensors = 8; +static constexpr unsigned int MaxNumDimensions = 8; + +struct OutputTensorInfo { + uint32_t tensorDataNum; + uint32_t numDimensions; + uint16_t size[MaxNumDimensions]; +}; + +struct CnnOutputTensorInfo { + char networkName[NetworkNameLen]; + uint32_t numTensors; + OutputTensorInfo info[MaxNumTensors]; +}; + +struct CnnInputTensorInfo { + char networkName[NetworkNameLen]; + uint32_t width; + uint32_t height; + uint32_t numChannels; +}; + +struct CnnKpiInfo { + uint32_t dnnRuntime; + uint32_t dspRuntime; +}; + class Algorithm; typedef std::unique_ptr AlgorithmPtr; @@ -49,6 +82,7 @@ class Controller unsigned int pipelineWidth; bool statsInline; libcamera::utils::Duration minPixelProcessingTime; + bool cfeDataBufferStrided; }; Controller(); diff --git a/src/ipa/rpi/controller/meson.build b/src/ipa/rpi/controller/meson.build index 74b74888b..8df38a0c5 100644 --- a/src/ipa/rpi/controller/meson.build +++ b/src/ipa/rpi/controller/meson.build @@ -13,6 +13,7 @@ rpi_ipa_controller_sources = files([ 'rpi/black_level.cpp', 'rpi/cac.cpp', 'rpi/ccm.cpp', + 'rpi/clock_recovery.cpp', 'rpi/contrast.cpp', 'rpi/denoise.cpp', 'rpi/dpc.cpp', @@ -23,6 +24,7 @@ rpi_ipa_controller_sources = files([ 'rpi/saturation.cpp', 'rpi/sdn.cpp', 'rpi/sharpen.cpp', + 'rpi/sync.cpp', 'rpi/tonemap.cpp', ]) diff --git a/src/ipa/rpi/controller/metadata.h b/src/ipa/rpi/controller/metadata.h index b4650d251..62e54051f 100644 --- a/src/ipa/rpi/controller/metadata.h +++ b/src/ipa/rpi/controller/metadata.h @@ -36,10 +36,10 @@ class LIBCAMERA_TSA_CAPABILITY("mutex") Metadata } template - void set(std::string const &tag, T const &value) + void set(std::string const &tag, T &&value) { std::scoped_lock lock(mutex_); - data_[tag] = value; + data_[tag] = std::forward(value); } template @@ -90,6 +90,12 @@ class LIBCAMERA_TSA_CAPABILITY("mutex") Metadata data_.insert(other.data_.begin(), other.data_.end()); } + void erase(std::string const &tag) + { + std::scoped_lock lock(mutex_); + eraseLocked(tag); + } + template T *getLocked(std::string const &tag) { @@ -104,10 +110,18 @@ class LIBCAMERA_TSA_CAPABILITY("mutex") Metadata } template - void setLocked(std::string const &tag, T const &value) + void setLocked(std::string const &tag, T &&value) { /* Use this only if you're holding the lock yourself. */ - data_[tag] = value; + data_[tag] = std::forward(value); + } + + void eraseLocked(std::string const &tag) + { + auto it = data_.find(tag); + if (it == data_.end()) + return; + data_.erase(it); } /* diff --git a/src/ipa/rpi/controller/rpi/clock_recovery.cpp b/src/ipa/rpi/controller/rpi/clock_recovery.cpp new file mode 100644 index 000000000..1ccbf9e90 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/clock_recovery.cpp @@ -0,0 +1,87 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2024, Raspberry Pi Ltd + * + * Camera sync control algorithm + */ +#include "clock_recovery.h" + +#include + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiClockRec) + +ClockRecovery::ClockRecovery() +{ + initialise(); +} + +void ClockRecovery::initialise(unsigned int numPts, unsigned int maxJitter, unsigned int minPts) +{ + numPts_ = numPts; + maxJitter_ = maxJitter; + minPts_ = minPts; + reset(); +} + +void ClockRecovery::reset() +{ + xAve_ = 0; + yAve_ = 0; + x2Ave_ = 0; + xyAve_ = 0; + count_ = 0; + slope_ = 0.0; + offset_ = 0.0; +} + +void ClockRecovery::addSample(uint64_t input, uint64_t output) +{ + if (count_ == 0) { + inputBase_ = input; + outputBase_ = output; + } + + /* + * Never let the new output value be more than maxJitter_ away from what we would have expected. + * This is just to filter out any rare but really crazy values. + */ + uint64_t expectedOutput = getOutput(input); + output = std::clamp(output, expectedOutput - maxJitter_, expectedOutput + maxJitter_); + double x = input - inputBase_; + double y = output - outputBase_ - x; + + /* + * We use x, y, x^2 and x*y sums to calculate the best fit line. Here we update them by + * pretending we have count_ samples at the previous fit, and now one new one. Gradually + * the effect of the older values gets lost. This is a very simple way of updating the + * fit (there are much more complicated ones!), but it works well enough. Using averages + * instead of sums makes the relative effect of old values and the new sample clearer. + */ + unsigned int count1 = count_ + 1; + xAve_ = (count_ * xAve_ + x) / count1; + yAve_ = (count_ * yAve_ + y) / count1; + x2Ave_ = (count_ * x2Ave_ + x * x) / count1; + xyAve_ = (count_ * xyAve_ + x * y) / count1; + + /* Don't update slope and offset until we've seen "enough" sample points. */ + if (count_ > minPts_) { + /* These are the standard equations for least squares linear regressions. */ + slope_ = (count1 * count1 * xyAve_ - count1 * xAve_ * count1 * yAve_) / + (count1 * count1 * x2Ave_ - count1 * xAve_ * count1 * xAve_); + offset_ = yAve_ - slope_ * xAve_; + } + + /* Don't increase count_ above numPts_, as this controls the long-term amount of the residual fit. */ + if (count1 < numPts_) + count_++; +} + +uint64_t ClockRecovery::getOutput(uint64_t input) +{ + double x = input - inputBase_; + double y = slope_ * x + offset_; + return y + x + outputBase_; +} diff --git a/src/ipa/rpi/controller/rpi/clock_recovery.h b/src/ipa/rpi/controller/rpi/clock_recovery.h new file mode 100644 index 000000000..dd05dd970 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/clock_recovery.h @@ -0,0 +1,55 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2024, Raspberry Pi Ltd + * + * Camera sync control algorithm + */ +#pragma once + +#include + +namespace RPiController { + +class ClockRecovery +{ +public: + ClockRecovery(); + + /* Initialise with configuration parameters and restart the fitting process. */ + void initialise(unsigned int numPts = 100, unsigned int maxJitter = 100000, unsigned int minPts = 10); + /* Erase all history and restart the fitting process. */ + void reset(); + + // Add a new input clock / output clock sample. */ + void addSample(uint64_t input, uint64_t output); + /* Calculate the output clock value for this input. */ + uint64_t getOutput(uint64_t input); + +private: + unsigned int numPts_; /* how many samples contribute to the history */ + unsigned int maxJitter_; /* smooth out any jitter larger than this immediately */ + unsigned int minPts_; /* number of samples below which we treat clocks as 1:1 */ + unsigned int count_; /* how many samples seen (up to numPts_) */ + uint64_t inputBase_; /* subtract this from all input values, just to make the numbers easier */ + uint64_t outputBase_; /* as above, for the output */ + + /* + * We do a linear regression of y against x, where: + * x is the value input - inputBase_, and + * y is the value output - outputBase_ - x. + * We additionally subtract x from y so that y "should" be zero, again making the numnbers easier. + */ + double xAve_; /* average x value seen so far */ + double yAve_; /* average y value seen so far */ + double x2Ave_; /* average x^2 value seen so far */ + double xyAve_; /* average x*y value seen so far */ + + /* + * Once we've seen more than minPts_ samples, we recalculate the slope and offset according + * to the linear regression normal equations. + */ + double slope_; /* latest slope value */ + double offset_; /* latest offset value */ +}; + +} //namespace RPiController diff --git a/src/ipa/rpi/controller/rpi/sync.cpp b/src/ipa/rpi/controller/rpi/sync.cpp new file mode 100644 index 000000000..9e76d8791 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/sync.cpp @@ -0,0 +1,384 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2024, Raspberry Pi Ltd + * + * sync.cpp - sync algorithm + */ +#include "sync.h" + +#include +#include +#include +#include +#include + +#include + +#include + +#include "sync_status.h" + +using namespace std; +using namespace std::chrono_literals; +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiSync) + +#define NAME "rpi.sync" + +const char *kDefaultGroup = "239.255.255.250"; +constexpr unsigned int kDefaultPort = 10000; +constexpr unsigned int kDefaultSyncPeriod = 30; +constexpr unsigned int kDefaultReadyFrame = 1000; +constexpr unsigned int kDefaultMinAdjustment = 50; +constexpr unsigned int kDefaultFitNumPts = 100; +constexpr unsigned int kDefaultFitMaxJitter = 100000; +constexpr unsigned int kDefaultFitMinPts = 10; + +/* Returns IP address of the device we are on. */ +static std::string local_address_IP() +{ + const char *google_dns_server = "8.8.8.8"; + int dns_port = 53; + + struct sockaddr_in serv; + int sock = socket(AF_INET, SOCK_DGRAM, 0); + + if (sock < 0) + LOG(RPiSync, Error) << "Socket error"; + + memset(&serv, 0, sizeof(serv)); + serv.sin_family = AF_INET; + serv.sin_addr.s_addr = inet_addr(google_dns_server); + serv.sin_port = htons(dns_port); + + int err = connect(sock, (const struct sockaddr *)&serv, sizeof(serv)); + if (err < 0) + LOG(RPiSync, Error) << "Socket connect error"; + + struct sockaddr_in name; + socklen_t namelen = sizeof(name); + err = getsockname(sock, (struct sockaddr *)&name, &namelen); + + char buffer[80]; + (void)inet_ntop(AF_INET, &name.sin_addr, buffer, 80); + close(sock); + return buffer; +} + +Sync::Sync(Controller *controller) + : SyncAlgorithm(controller), mode_(Mode::Off), socket_(-1), frameDuration_(0s), frameCount_(0) +{ +} + +Sync::~Sync() +{ + if (socket_ >= 0) + close(socket_); +} + +char const *Sync::name() const +{ + return NAME; +} + +/* This reads from json file and intitiaises server and client */ +int Sync::read(const libcamera::YamlObject ¶ms) +{ + /* Socket on which to communicate. */ + group_ = params["group"].get(kDefaultGroup); + port_ = params["port"].get(kDefaultPort); + /* Send a sync message every this many frames. */ + syncPeriod_ = params["sync_period"].get(kDefaultSyncPeriod); + /* Application will be told we're ready after this many frames. */ + readyFrame_ = params["ready_frame"].get(kDefaultReadyFrame); + /* Don't change client frame length unless the change exceeds this amount (microseconds). */ + minAdjustment_ = params["min_adjustment"].get(kDefaultMinAdjustment); + + /* Parameters controlling the clock fitting. */ + uint32_t fitNumPts = params["fit_num_pts"].get(kDefaultFitNumPts); + uint32_t fitMaxJitter = params["fit_max_jitter"].get(kDefaultFitMaxJitter); + uint32_t fitMinPts = params["fit_min_pts"].get(kDefaultFitMinPts); + systemToWallClock_.initialise(fitNumPts, fitMaxJitter, fitMinPts); + + return 0; +} + +void Sync::initialiseSocket() +{ + socket_ = socket(AF_INET, SOCK_DGRAM, 0); + if (socket_ < 0) { + LOG(RPiSync, Error) << "Unable to create socket"; + return; + } + + memset(&addr_, 0, sizeof(addr_)); + addr_.sin_family = AF_INET; + addr_.sin_addr.s_addr = mode_ == Mode::Client ? htonl(INADDR_ANY) : inet_addr(group_.c_str()); + addr_.sin_port = htons(port_); + + if (mode_ == Mode::Client) { + /* Set to non-blocking. */ + int flags = fcntl(socket_, F_GETFL, 0); + fcntl(socket_, F_SETFL, flags | O_NONBLOCK); + + unsigned int en = 1; + if (setsockopt(socket_, SOL_SOCKET, SO_REUSEADDR, &en, sizeof(en)) < 0) { + LOG(RPiSync, Error) << "Unable to set socket options"; + goto err; + } + + struct ip_mreq mreq { + }; + mreq.imr_multiaddr.s_addr = inet_addr(group_.c_str()); + mreq.imr_interface.s_addr = htonl(INADDR_ANY); + if (setsockopt(socket_, IPPROTO_IP, IP_ADD_MEMBERSHIP, &mreq, sizeof(mreq)) < 0) { + LOG(RPiSync, Error) << "Unable to set socket options"; + goto err; + } + + if (bind(socket_, (struct sockaddr *)&addr_, sizeof(addr_)) < 0) { + LOG(RPiSync, Error) << "Unable to bind client socket"; + goto err; + } + } + + return; + +err: + close(socket_); + socket_ = -1; +} + +void Sync::switchMode([[maybe_unused]] CameraMode const &cameraMode, [[maybe_unused]] Metadata *metadata) +{ + syncReady_ = false; + frameCount_ = 0; + firstFrame_ = true; + lag_ = 0; + serverFrameCountPeriod_ = 0; + clientServerReadyTime_ = 0; + clientSeenPacket_ = false; +} + +/* + * Camera sync algorithm. + * Server - there is a single server that sends framerate timing information over the network to any + * clients that are listening. It also signals when it will send a "everything is synchronised, now go" + * message back to the algorithm. + * Client - there may be many clients, either on the same Pi or different ones. They match their + * framerates to the server, and indicate when to "go" at the same instant as the server. + */ +void Sync::process([[maybe_unused]] StatisticsPtr &stats, Metadata *imageMetadata) +{ + SyncPayload payload; + SyncParams local{}; + SyncStatus status{}; + bool lagKnown = true; + + imageMetadata->get("sync.params", local); + + if (!frameDuration_) { + LOG(RPiSync, Error) << "Sync frame duration not set!"; + return; + } + + if (mode_ == Mode::Off) + return; + + if (socket_ < 0) + initialiseSocket(); + + /* The local wallclock for the very first frame can be a bit off, so ignore it. */ + if (firstFrame_) { + firstFrame_ = false; + + /* + * For the client, flush anything in the socket. It might be stale from a previous sync run, + * or we might get another packet in a frame to two before the adjustment caused by this (old) + * packet, although correct, had taken effect. So this keeps things simpler. + */ + if (mode_ == Mode::Client) { + socklen_t addrlen = sizeof(addr_); + int ret = 0; + while (ret >= 0) + ret = recvfrom(socket_, &payload, sizeof(payload), 0, (struct sockaddr *)&addr_, &addrlen); + } + + return; + } + + /* + * It might be possible for a frame not to have a valid wallclock, in which case don't let it + * get into the clock recovery as it would totally throw it off. + */ + if (local.wallClock == 0) { + LOG(RPiSync, Debug) << "Zero-valued wallclock - ignoring"; + return; + } + + /* Derive a de-jittered version of wall clock. sensorTimestamp needs converting from ns to us. */ + uint64_t systemFrameTimestamp = local.sensorTimestamp / 1000; + systemToWallClock_.addSample(systemFrameTimestamp, local.wallClock); + uint64_t wallClockFrameTimestamp = systemToWallClock_.getOutput(systemFrameTimestamp); + + /* + * This is the headline frame duration in microseconds as programmed into the sensor. Strictly, + * the sensor might not quite match the system clock, but this shouldn't matter for the calculations + * we'll do with it, unless it's a very very long way out! + */ + uint32_t frameDuration = frameDuration_.get(); + + /* Timestamps tell us if we've dropped any frames, but we still want to count them. */ + int droppedFrames = 0; + if (frameCount_) { + /* + * Round down here, because frameCount_ gets incremented at the end of the function. Also + * ensure droppedFrames can't go negative. It shouldn't, but things would go badly wrong + * if it did. + */ + wallClockFrameTimestamp = std::max(wallClockFrameTimestamp, lastWallClockFrameTimestamp_ + frameDuration / 2); + droppedFrames = (wallClockFrameTimestamp - lastWallClockFrameTimestamp_ - frameDuration / 2) / frameDuration; + frameCount_ += droppedFrames; + } + + if (mode_ == Mode::Server) { + /* + * Server sends a packet every syncPeriod_ frames, or as soon after as possible (if any + * frames were dropped). + */ + serverFrameCountPeriod_ += droppedFrames; + + /* + * The client may want a better idea of the true frame duration. Any error would feed straight + * into the correction term because of how it uses it to get the "nearest" frame. + */ + if (frameCount_ == 0) + frameDurationEstimated_ = frameDuration; + else { + double diff = (systemFrameTimestamp - lastSystemFrameTimestamp_) / (1 + droppedFrames); + int N = std::min(frameCount_, 99U); + frameDurationEstimated_ = frameCount_ == 1 ? diff : (N * frameDurationEstimated_ + diff) / (N + 1); + } + + /* Calculate frames remaining, and therefore "time left until ready". */ + int framesRemaining = readyFrame_ - frameCount_; + uint64_t systemReadyTime = systemFrameTimestamp + (int64_t)framesRemaining * frameDurationEstimated_; + uint64_t wallClockReadyTime = systemToWallClock_.getOutput(systemReadyTime); + + if (serverFrameCountPeriod_ >= syncPeriod_) { + serverFrameCountPeriod_ = 0; + + payload.frameDuration = frameDurationEstimated_ + .5; /* round to nearest */ + payload.systemFrameTimestamp = systemFrameTimestamp; + payload.wallClockFrameTimestamp = wallClockFrameTimestamp; + payload.systemReadyTime = systemReadyTime; + payload.wallClockReadyTime = wallClockReadyTime; + + LOG(RPiSync, Debug) << "Send packet (frameNumber " << frameCount_ << "):"; + LOG(RPiSync, Debug) << " frameDuration " << payload.frameDuration; + LOG(RPiSync, Debug) << " systemFrameTimestamp " << systemFrameTimestamp + << " (" << systemFrameTimestamp - lastSystemFrameTimestamp_ << ")"; + LOG(RPiSync, Debug) << " wallClockFrameTimestamp " << wallClockFrameTimestamp + << " (" << wallClockFrameTimestamp - lastWallClockFrameTimestamp_ << ")"; + LOG(RPiSync, Debug) << " systemReadyTime " << systemReadyTime; + LOG(RPiSync, Debug) << " wallClockReadyTime " << wallClockReadyTime; + + if (sendto(socket_, &payload, sizeof(payload), 0, (const sockaddr *)&addr_, sizeof(addr_)) < 0) + LOG(RPiSync, Error) << "Send error! " << strerror(errno); + } + + lag_ = (int64_t)wallClockFrameTimestamp - (int64_t)wallClockReadyTime; + if (!syncReady_ && wallClockFrameTimestamp + frameDurationEstimated_ / 2 > wallClockReadyTime) { + syncReady_ = true; + LOG(RPiSync, Info) << "*** Sync achieved! Lag " << lag_; + } + + serverFrameCountPeriod_ += 1; + + } else if (mode_ == Mode::Client) { + uint64_t serverFrameTimestamp = 0; + + bool packetReceived = false; + while (true) { + socklen_t addrlen = sizeof(addr_); + int ret = recvfrom(socket_, &payload, sizeof(payload), 0, (struct sockaddr *)&addr_, &addrlen); + + if (ret < 0) + break; + packetReceived = (ret > 0); + clientSeenPacket_ = true; + + if (!IPCheck_) { + IPCheck_ = true; + char srcIP[INET_ADDRSTRLEN]; + inet_ntop(AF_INET, &(addr_.sin_addr), srcIP, INET_ADDRSTRLEN); + clientSamePi_ = (local_address_IP() == srcIP); + LOG(RPiSync, Debug) << "Server is " << (clientSamePi_ ? "same" : "different"); + } + + frameDurationEstimated_ = payload.frameDuration; + if (clientSamePi_) { + serverFrameTimestamp = payload.systemFrameTimestamp; + clientServerReadyTime_ = payload.systemReadyTime; + } else { + serverFrameTimestamp = payload.wallClockFrameTimestamp; + clientServerReadyTime_ = payload.wallClockReadyTime; + } + } + + if (packetReceived) { + uint64_t clientFrameTimestamp = clientSamePi_ ? systemFrameTimestamp : wallClockFrameTimestamp; + int64_t clientServerDelta = clientFrameTimestamp - serverFrameTimestamp; + /* "A few frames ago" may have better matched the server's frame. Calculate when it was. */ + int framePeriodErrors = (clientServerDelta + frameDurationEstimated_ / 2) / frameDurationEstimated_; + int64_t clientFrameTimestampNearest = clientFrameTimestamp - framePeriodErrors * frameDurationEstimated_; + /* We must shorten a single client frame by this amount if it exceeds the minimum: */ + int32_t correction = clientFrameTimestampNearest - serverFrameTimestamp; + if (std::abs(correction) < minAdjustment_) + correction = 0; + + LOG(RPiSync, Debug) << "Received packet (frameNumber " << frameCount_ << "):"; + LOG(RPiSync, Debug) << " serverFrameTimestamp " << serverFrameTimestamp; + LOG(RPiSync, Debug) << " serverReadyTime " << clientServerReadyTime_; + LOG(RPiSync, Debug) << " clientFrameTimestamp " << clientFrameTimestamp; + LOG(RPiSync, Debug) << " clientFrameTimestampNearest " << clientFrameTimestampNearest + << " (" << framePeriodErrors << ")"; + LOG(RPiSync, Debug) << " systemFrameTimestamp " << systemFrameTimestamp + << " (" << systemFrameTimestamp - lastSystemFrameTimestamp_ << ")"; + LOG(RPiSync, Debug) << " correction " << correction; + + status.frameDurationOffset = correction * 1us; + } + + uint64_t clientFrameTimestamp = clientSamePi_ ? systemFrameTimestamp : wallClockFrameTimestamp; + lag_ = (int64_t)clientFrameTimestamp - (int64_t)clientServerReadyTime_; + lagKnown = clientSeenPacket_; /* client must receive a packet before the lag is correct */ + if (clientSeenPacket_ && !syncReady_ && clientFrameTimestamp + frameDurationEstimated_ / 2 > clientServerReadyTime_) { + syncReady_ = true; + LOG(RPiSync, Info) << "*** Sync achieved! Lag " << lag_; + } + } + + lastSystemFrameTimestamp_ = systemFrameTimestamp; + lastWallClockFrameTimestamp_ = wallClockFrameTimestamp; + + status.ready = syncReady_; + status.lag = lag_; + status.lagKnown = lagKnown; + imageMetadata->set("sync.status", status); + frameCount_++; +} + +void Sync::setFrameDuration(libcamera::utils::Duration frameDuration) +{ + frameDuration_ = frameDuration; +}; + +/* Register algorithm with the system. */ +static Algorithm *create(Controller *controller) +{ + return (Algorithm *)new Sync(controller); +} +static RegisterAlgorithm reg(NAME, &create); diff --git a/src/ipa/rpi/controller/rpi/sync.h b/src/ipa/rpi/controller/rpi/sync.h new file mode 100644 index 000000000..15427adb4 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/sync.h @@ -0,0 +1,71 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2024, Raspberry Pi Ltd + * + * sync.h - sync algorithm + */ +#pragma once + +#include + +#include "../sync_algorithm.h" +#include "clock_recovery.h" + +namespace RPiController { + +struct SyncPayload { + /* Frame duration in microseconds. */ + uint32_t frameDuration; + /* Server system (kernel) frame timestamp. */ + uint64_t systemFrameTimestamp; + /* Server wall clock version of the frame timestamp. */ + uint64_t wallClockFrameTimestamp; + /* Server system (kernel) sync time (the time at which frames are marked ready). */ + uint64_t systemReadyTime; + /* Server wall clock version of the sync time. */ + uint64_t wallClockReadyTime; +}; + +class Sync : public SyncAlgorithm +{ +public: + Sync(Controller *controller); + ~Sync(); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void setMode(Mode mode) override { mode_ = mode; } + void initialiseSocket(); + void switchMode(CameraMode const &cameraMode, Metadata *metadata) override; + void process(StatisticsPtr &stats, Metadata *imageMetadata) override; + void setFrameDuration(libcamera::utils::Duration frameDuration) override; + +private: + Mode mode_; /* server or client */ + std::string group_; /* IP group address for sync messages */ + uint16_t port_; /* port number for messages */ + uint32_t syncPeriod_; /* send a sync message every this many frames */ + uint32_t readyFrame_; /* tell the application we're ready after this many frames */ + uint32_t minAdjustment_; /* don't adjust the client frame length by less than this */ + + struct sockaddr_in addr_; + int socket_ = -1; + libcamera::utils::Duration frameDuration_; + unsigned int frameCount_; + bool syncReady_; + int64_t lag_ = 0; + bool IPCheck_ = false; + bool firstFrame_ = true; + + double frameDurationEstimated_ = 0; /* estimate the true frame duration of the sensor */ + ClockRecovery systemToWallClock_; /* for deriving a de-jittered wall clock time */ + uint64_t lastSystemFrameTimestamp_; /* system timestamp of previous frame */ + uint64_t lastWallClockFrameTimestamp_; /* wall clock timestamp of previous frame */ + + uint32_t serverFrameCountPeriod_ = 0; /* send the next packet when this reaches syncPeriod_ */ + + bool clientSeenPacket_ = false; /* whether the client has received a packet yet */ + bool clientSamePi_ = false; /* whether server running on the same Pi as client */ + uint64_t clientServerReadyTime_ = 0; /* the client's latest value for when the server will be "ready" */ +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/sync_algorithm.h b/src/ipa/rpi/controller/sync_algorithm.h new file mode 100644 index 000000000..298b59517 --- /dev/null +++ b/src/ipa/rpi/controller/sync_algorithm.h @@ -0,0 +1,30 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2024, Raspberry Pi Ltd + * + * sync_algorithm.h - Camera sync algorithm interface + */ +#pragma once + +#include + +#include "algorithm.h" + +namespace RPiController { + +class SyncAlgorithm : public Algorithm +{ +public: + enum class Mode { + Off, + Server, + Client, + }; + + SyncAlgorithm(Controller *controller) + : Algorithm(controller) {} + virtual void setFrameDuration(libcamera::utils::Duration frameDuration) = 0; + virtual void setMode(Mode mode) = 0; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/sync_status.h b/src/ipa/rpi/controller/sync_status.h new file mode 100644 index 000000000..289f0182c --- /dev/null +++ b/src/ipa/rpi/controller/sync_status.h @@ -0,0 +1,27 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2024, Raspberry Pi Ltd + * + * sync_status.h - Sync algorithm params and status structures + */ +#pragma once + +#include + +struct SyncParams { + /* Wall clock time for this frame */ + uint64_t wallClock; + /* Kernel timestamp for this frame */ + uint64_t sensorTimestamp; +}; + +struct SyncStatus { + /* Frame length correction to apply */ + libcamera::utils::Duration frameDurationOffset; + /* Whether the "ready time" has been reached */ + bool ready; + /* Lag between camera frame and the "ready time" */ + int64_t lag; + /* Whether lag is known (client has to wait for a server message) */ + bool lagKnown; +}; diff --git a/src/ipa/rpi/pisp/data/imx219.json b/src/ipa/rpi/pisp/data/imx219.json new file mode 100644 index 000000000..0eb164a95 --- /dev/null +++ b/src/ipa/rpi/pisp/data/imx219.json @@ -0,0 +1,1196 @@ +{ + "version": 2.0, + "target": "pisp", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 21965, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 800, + "reference_Y": 11460 + } + }, + { + "rpi.dpc": + { + "strength": 1 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 3.661 + } + }, + { + "rpi.geq": + { + "offset": 239, + "slope": 0.00766 + } + }, + { + "rpi.denoise": + { + "normal": + { + "sdn": + { + "deviation": 1.6, + "strength": 0.5, + "deviation2": 3.2, + "deviation_no_tdn": 3.2, + "strength_no_tdn": 0.75 + }, + "cdn": + { + "deviation": 200, + 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"rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } + ] +} \ No newline at end of file diff --git a/src/ipa/rpi/pisp/data/meson.build b/src/ipa/rpi/pisp/data/meson.build new file mode 100644 index 000000000..a559f01d3 --- /dev/null +++ b/src/ipa/rpi/pisp/data/meson.build @@ -0,0 +1,27 @@ +# SPDX-License-Identifier: CC0-1.0 + +conf_files = files([ + 'imx219.json', + 'imx219_noir.json', + 'imx296.json', + 'imx296_mono.json', + 'imx378.json', + 'imx477.json', + 'imx477_noir.json', + 'imx477_scientific.json', + 'imx500.json', + 'imx519.json', + 'imx708.json', + 'imx708_noir.json', + 'imx708_wide.json', + 'imx708_wide_noir.json', + 'ov5647.json', + 'ov5647_noir.json', + 'ov64a40.json', + 'ov9281_mono.json', + 'se327m12.json', + 'uncalibrated.json', +]) + +install_data(conf_files, + install_dir : ipa_data_dir / 'rpi' / 'pisp') diff --git a/src/ipa/rpi/pisp/data/ov5647.json b/src/ipa/rpi/pisp/data/ov5647.json new file mode 100644 index 000000000..235042fd2 --- /dev/null +++ b/src/ipa/rpi/pisp/data/ov5647.json @@ -0,0 +1,1195 @@ +{ + "version": 2.0, + "target": "pisp", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 1024 + } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 29381, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 870, + "reference_Y": 12388 + } + }, + { + "rpi.dpc": + { + "strength": 1 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 4.371 + } + }, + { + "rpi.geq": + { + "offset": 280, + "slope": 0.02153 + } + }, + { + "rpi.denoise": + { + "normal": + { + "sdn": + { + "deviation": 1.6, + "strength": 0.5, + "deviation2": 3.2, + "deviation_no_tdn": 3.2, + "strength_no_tdn": 0.75 + }, + "cdn": + { + "deviation": 200, + "strength": 0.3 + }, + "tdn": + { + "deviation": 0.8, + "threshold": 0.05 + } + }, + "hdr": + { + "sdn": + { + "deviation": 1.6, + "strength": 0.5, + "deviation2": 3.2, + "deviation_no_tdn": 3.2, + 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"sigma": 0.00218, + "sigma_Cb": 0.00194 + } + }, + { + "rpi.contrast": + { + "ce_enable": 1, + "gamma_curve": + [ + 0, 0, + 1024, 5040, + 2048, 9338, + 3072, 12356, + 4096, 15312, + 5120, 18051, + 6144, 20790, + 7168, 23193, + 8192, 25744, + 9216, 27942, + 10240, 30035, + 11264, 32005, + 12288, 33975, + 13312, 35815, + 14336, 37600, + 15360, 39168, + 16384, 40642, + 18432, 43379, + 20480, 45749, + 22528, 47753, + 24576, 49621, + 26624, 51253, + 28672, 52698, + 30720, 53796, + 32768, 54876, + 36864, 57012, + 40960, 58656, + 45056, 59954, + 49152, 61183, + 53248, 62355, + 57344, 63419, + 61440, 64476, + 65535, 65535 + ] + } + }, + { + "rpi.ccm": + { + "ccms": [ + { + "ct": 2900, + "ccm": + [ + 1.44924, -0.12935, -0.31989, + -0.65839, 1.95441, -0.29602, + 0.18344, -1.22282, 2.03938 + ] + }, + { + "ct": 3000, + "ccm": + [ + 1.38736, 0.07714, -0.46451, + -0.59691, 1.84335, -0.24644, + 0.10092, -1.30441, 2.20349 + ] + }, + { + "ct": 3600, + "ccm": + [ + 1.51261, -0.27921, -0.23339, + -0.55129, 1.83241, -0.28111, + 0.11649, -0.93195, 1.81546 + ] + }, + { + "ct": 4600, + "ccm": + [ + 1.47082, -0.18523, -0.28559, + -0.48923, 1.95126, -0.46203, + 0.07951, -0.83987, 1.76036 + ] + }, + { + "ct": 5800, + "ccm": + [ + 1.57294, -0.36229, -0.21065, + -0.42272, 1.80305, -0.38032, + 0.03671, -0.66862, 1.63191 + ] + }, + { + "ct": 8100, + "ccm": + [ + 1.58803, -0.09912, -0.48891, + -0.42594, 2.22303, -0.79709, + -0.00621, -0.90516, 1.91137 + ] + } + ] + } + }, + { + "rpi.sharpen": + { + "threshold": 2.0, + "strength": 0.5, + "limit": 0.5 + } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } + ] +} \ No newline at end of file diff --git a/src/ipa/rpi/pisp/data/uncalibrated.json b/src/ipa/rpi/pisp/data/uncalibrated.json new file mode 100644 index 000000000..ff1e316ee --- /dev/null +++ b/src/ipa/rpi/pisp/data/uncalibrated.json @@ -0,0 +1,135 @@ +{ + "version": 2.0, + "target": "pisp", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.awb": + { + "use_derivatives": 0, + "bayes": 0 + } + }, + { + "rpi.agc": + { + "metering_modes": + { + "centre-weighted": + { + "weights": + [ + 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, + 0, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 0, + 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, + 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 2, 3, 3, 3, 3, 3, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 3, 3, 3, 4, 3, 3, 3, 2, 2, 1, 1, + 1, 1, 2, 2, 3, 3, 4, 4, 4, 3, 3, 2, 2, 1, 1, + 1, 1, 2, 2, 3, 3, 3, 4, 3, 3, 3, 2, 2, 1, 1, + 1, 1, 2, 2, 2, 3, 3, 3, 3, 3, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, + 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, + 0, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 0, + 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0 + ] + } + }, + "exposure_modes": + { + "normal": + { + "shutter": [ 100, 15000, 30000, 60000, 120000 ], + "gain": [ 1.0, 2.0, 3.0, 4.0, 6.0 ] + } + }, + "constraint_modes": + { + "normal": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.4, + 1000, 0.4 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } + }, + { + "rpi.ccm": + { + "ccms": [ + { + "ct": 4000, + "ccm": + [ + 2.0, -1.0, 0.0, + -0.5, 2.0, -0.5, + 0, -1.0, 2.0 + ] + } + ] + } + }, + { + "rpi.contrast": + { + "ce_enable": 0, + "gamma_curve": + [ + 0, 0, + 1024, 5040, + 2048, 9338, + 3072, 12356, + 4096, 15312, + 5120, 18051, + 6144, 20790, + 7168, 23193, + 8192, 25744, + 9216, 27942, + 10240, 30035, + 11264, 32005, + 12288, 33975, + 13312, 35815, + 14336, 37600, + 15360, 39168, + 16384, 40642, + 18432, 43379, + 20480, 45749, + 22528, 47753, + 24576, 49621, + 26624, 51253, + 28672, 52698, + 30720, 53796, + 32768, 54876, + 36864, 57012, + 40960, 58656, + 45056, 59954, + 49152, 61183, + 53248, 62355, + 57344, 63419, + 61440, 64476, + 65535, 65535 + ] + } + } + ] +} \ No newline at end of file diff --git a/src/ipa/rpi/pisp/meson.build b/src/ipa/rpi/pisp/meson.build new file mode 100644 index 000000000..878e3492e --- /dev/null +++ b/src/ipa/rpi/pisp/meson.build @@ -0,0 +1,49 @@ +# SPDX-License-Identifier: CC0-1.0 + +ipa_name = 'ipa_rpi_pisp' + +pisp_ipa_deps = [ + libcamera_private, + libatomic, + libpisp_dep, +] + +pisp_ipa_libs = [ + rpi_ipa_cam_helper_lib, + rpi_ipa_common_lib, + rpi_ipa_controller_lib +] + +pisp_ipa_includes = [ + ipa_includes, + libipa_includes, +] + +pisp_ipa_sources = files([ + 'pisp.cpp', +]) + +pisp_ipa_includes += include_directories('..') + +mod = shared_module(ipa_name, pisp_ipa_sources, + name_prefix : '', + include_directories : pisp_ipa_includes, + dependencies : pisp_ipa_deps, + link_with : libipa, + link_whole : pisp_ipa_libs, + install : true, + cpp_args : '-Wno-address-of-packed-member', + install_dir : ipa_install_dir) + +if ipa_sign_module + custom_target(ipa_name + '.so.sign', + input : mod, + output : ipa_name + '.so.sign', + command : [ipa_sign, ipa_priv_key, '@INPUT@', '@OUTPUT@'], + install : false, + build_by_default : true) +endif + +subdir('data') + +ipa_names += ipa_name diff --git a/src/ipa/rpi/pisp/pisp.cpp b/src/ipa/rpi/pisp/pisp.cpp new file mode 100644 index 000000000..6221f93a1 --- /dev/null +++ b/src/ipa/rpi/pisp/pisp.cpp @@ -0,0 +1,1068 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * pisp.cpp - Raspberry Pi PiSP IPA + */ +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include "libpisp/backend/backend.hpp" +#include "libpisp/frontend/frontend.hpp" + +#include "common/ipa_base.h" +#include "controller/af_status.h" +#include "controller/agc_algorithm.h" +#include "controller/alsc_status.h" +#include "controller/awb_algorithm.h" +#include "controller/awb_status.h" +#include "controller/black_level_algorithm.h" +#include "controller/black_level_status.h" +#include "controller/cac_status.h" +#include "controller/ccm_status.h" +#include "controller/contrast_status.h" +#include "controller/denoise_algorithm.h" +#include "controller/denoise_status.h" +#include "controller/dpc_status.h" +#include "controller/geq_status.h" +#include "controller/hdr_status.h" +#include "controller/lux_status.h" +#include "controller/noise_status.h" +#include "controller/saturation_status.h" +#include "controller/sharpen_status.h" +#include "controller/stitch_status.h" +#include "controller/tonemap_status.h" + +using namespace std::literals::chrono_literals; + +namespace libcamera { + +LOG_DECLARE_CATEGORY(IPARPI) + +namespace { + +constexpr unsigned int NumLscCells = PISP_BE_LSC_GRID_SIZE; +constexpr unsigned int NumLscVertexes = NumLscCells + 1; + +inline int32_t clampField(double value, std::size_t fieldBits, std::size_t fracBits = 0, + bool isSigned = false, const char *desc = nullptr) +{ + ASSERT(fracBits <= fieldBits && fieldBits <= 32); + + int min = -(isSigned << (fieldBits - 1)); + int max = (1 << (fieldBits - isSigned)) - 1; + int32_t val = + std::clamp(std::round(value * (1 << fracBits)), min, max); + + if (desc && val / (1 << fracBits) != value) + LOG(IPARPI, Warning) + << desc << " rounded/clamped to " << val / (1 << fracBits); + + return val; +} + +int generateLut(const ipa::Pwl &pwl, uint32_t *lut, std::size_t lutSize, + unsigned int SlopeBits = 14, unsigned int PosBits = 16) +{ + if (pwl.empty()) + return -EINVAL; + + int lastY = 0; + for (unsigned int i = 0; i < lutSize; i++) { + int x, y; + if (i < 32) + x = i * 512; + else if (i < 48) + x = (i - 32) * 1024 + 16384; + else + x = std::min(65535u, (i - 48) * 2048 + 32768); + + y = pwl.eval(x); + if (y < 0 || (i && y < lastY)) { + LOG(IPARPI, Error) + << "Malformed PWL for Gamma, disabling!"; + return -1; + } + + if (i) { + unsigned int slope = y - lastY; + if (slope >= (1u << SlopeBits)) { + slope = (1u << SlopeBits) - 1; + LOG(IPARPI, Info) + << ("Maximum Gamma slope exceeded, adjusting!"); + y = lastY + slope; + } + lut[i - 1] |= slope << PosBits; + } + + lut[i] = y; + lastY = y; + } + + return 0; +} + +void packLscLut(uint32_t packed[NumLscVertexes][NumLscVertexes], + double const rgb[3][NumLscVertexes][NumLscVertexes]) +{ + for (unsigned int y = 0; y < NumLscVertexes; ++y) { + for (unsigned int x = 0; x < NumLscVertexes; ++x) { + /* Jointly encode RGB gains in one of 4 ranges: [0.5:1.5), [0:2), [0:4), [0:8) */ + double lo = std::min({ rgb[0][y][x], rgb[1][y][x], rgb[2][y][x] }); + double hi = std::max({ rgb[0][y][x], rgb[1][y][x], rgb[2][y][x] }); + uint32_t range; + double scale, offset; + if (lo >= 0.5 && hi < 1.5) { + range = 0; + scale = 1024.0; + offset = -511.5; + } else if (hi < 2.0) { + range = 1; + scale = 512.0; + offset = 0.5; + } else if (hi < 4.0) { + range = 2; + scale = 256.0; + offset = 0.5; + } else { + range = 3; + scale = 128.0; + offset = 0.5; + } + int r = clampField(offset + scale * rgb[0][y][x], 10); + int g = clampField(offset + scale * rgb[1][y][x], 10); + int b = clampField(offset + scale * rgb[2][y][x], 10); + packed[y][x] = (range << 30) | (b << 20) | (g << 10) | r; + } + } +} + +/* + * Resamples a srcW x srcH table with central sampling to destW x destH with + * corner sampling. + */ +void resampleTable(double *dest, int destW, int destH, double const *src, + int srcW, int srcH) +{ + /* + * Precalculate and cache the x sampling locations and phases to + * save recomputing them on every row. + */ + ASSERT(destW > 1 && destH > 1 && destW <= 64); + int xLo[64], xHi[64]; + double xf[64]; + double x = -0.5, xInc = srcW / (destW - 1); + for (int i = 0; i < destW; i++, x += xInc) { + xLo[i] = floor(x); + xf[i] = x - xLo[i]; + xHi[i] = xLo[i] < (srcW - 1) ? (xLo[i] + 1) : (srcW - 1); + xLo[i] = xLo[i] > 0 ? xLo[i] : 0; + } + + /* Now march over the output table generating the new values. */ + double y = -0.5, yInc = srcH / (destH - 1); + for (int j = 0; j < destH; j++, y += yInc) { + int yLo = floor(y); + double yf = y - yLo; + int yHi = yLo < (srcH - 1) ? (yLo + 1) : (srcH - 1); + yLo = yLo > 0 ? yLo : 0; + double const *rowAbove = src + yLo * srcW; + double const *rowBelow = src + yHi * srcW; + for (int i = 0; i < destW; i++) { + double above = rowAbove[xLo[i]] * (1 - xf[i]) + + rowAbove[xHi[i]] * xf[i]; + double below = rowBelow[xLo[i]] * (1 - xf[i]) + + rowBelow[xHi[i]] * xf[i]; + *(dest++) = above * (1 - yf) + below * yf; + } + } +} + +} /* namespace */ + +using ::libpisp::BackEnd; +using ::libpisp::FrontEnd; + +namespace ipa::RPi { + +class IpaPiSP final : public IpaBase +{ +public: + IpaPiSP() + : IpaBase(), fe_(nullptr), be_(nullptr) + { + } + + ~IpaPiSP() + { + if (fe_) + munmap(fe_, sizeof(FrontEnd)); + if (be_) + munmap(be_, sizeof(BackEnd)); + } + +private: + int32_t platformInit(const InitParams ¶ms, InitResult *result) override; + int32_t platformStart(const ControlList &controls, StartResult *result) override; + int32_t platformConfigure(const ConfigParams ¶ms, ConfigResult *result) override; + + void platformPrepareIsp(const PrepareParams ¶ms, + RPiController::Metadata &rpiMetadata) override; + RPiController::StatisticsPtr platformProcessStats(Span mem) override; + + void handleControls(const ControlList &controls) override; + + void applyWBG(const AwbStatus *awbStatus, const AgcPrepareStatus *agcStatus, + pisp_be_global_config &global); + void applyDgOnly(const AgcPrepareStatus *agcPrepareStatus, pisp_be_global_config &global); + void applyCAC(const CacStatus *cacStatus, pisp_be_global_config &global); + void applyContrast(const ContrastStatus *contrastStatus, + pisp_be_global_config &global); + void applyCCM(const CcmStatus *ccmStatus, pisp_be_global_config &global); + void applyBlackLevel(const BlackLevelStatus *blackLevelStatus, + pisp_be_global_config &global); + void applyLensShading(const AlscStatus *alscStatus, + pisp_be_global_config &global); + void applyDPC(const DpcStatus *dpcStatus, pisp_be_global_config &global); + void applySdn(const SdnStatus *sdnStatus, pisp_be_global_config &global); + void applyTdn(const TdnStatus *tdnStatus, const DeviceStatus *deviceStatus, + pisp_be_global_config &global); + void applyCdn(const CdnStatus *cdnStatus, pisp_be_global_config &global); + void applyGeq(const GeqStatus *geqStatus, pisp_be_global_config &global); + void applySaturation(const SaturationStatus *geqStatus, + pisp_be_global_config &global); + void applySharpen(const SharpenStatus *sharpenStatus, + pisp_be_global_config &global); + bool applyStitch(const StitchStatus *stitchStatus, const DeviceStatus *deviceStatus, + const AgcStatus *agcStatus, pisp_be_global_config &global); + void applyTonemap(const TonemapStatus *tonemapStatus, + pisp_be_global_config &global); + void applyFocusStats(const NoiseStatus *noiseStatus); + void applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls); + + void setDefaultConfig(); + void setStatsAndDebin(); + void setHistogramWeights(); + + /* Frontend/Backend objects passed in from the pipeline handler. */ + SharedFD feFD_; + SharedFD beFD_; + FrontEnd *fe_; + BackEnd *be_; + + /* TDN/HDR runtime need the following state. */ + bool tdnReset_; + utils::Duration lastExposure_; + std::map lastStitchExposures_; + HdrStatus lastStitchHdrStatus_; +}; + +int32_t IpaPiSP::platformInit(const InitParams ¶ms, + [[maybe_unused]] InitResult *result) +{ + const std::string &target = controller_.getTarget(); + if (target != "pisp") { + LOG(IPARPI, Error) + << "Tuning data file target returned \"" << target << "\"" + << ", expected \"pisp\""; + return -EINVAL; + } + + /* Acquire the Frontend and Backend objects. */ + feFD_ = std::move(params.fe); + beFD_ = std::move(params.be); + + if (!feFD_.isValid() || !beFD_.isValid()) { + LOG(IPARPI, Error) << "Invalid FE/BE handles!"; + return -ENODEV; + } + + fe_ = static_cast(mmap(nullptr, sizeof(FrontEnd), + PROT_READ | PROT_WRITE, MAP_SHARED, + feFD_.get(), 0)); + be_ = static_cast(mmap(nullptr, sizeof(BackEnd), + PROT_READ | PROT_WRITE, MAP_SHARED, + beFD_.get(), 0)); + + if (!fe_ || !be_) { + LOG(IPARPI, Error) << "Unable to map FE/BE handles!"; + return -ENODEV; + } + + setDefaultConfig(); + + return 0; +} + +int32_t IpaPiSP::platformStart([[maybe_unused]] const ControlList &controls, + [[maybe_unused]] StartResult *result) +{ + tdnReset_ = true; + + /* Cause the stitch block to be reset correctly. */ + lastStitchHdrStatus_ = HdrStatus(); + + return 0; +} + +int32_t IpaPiSP::platformConfigure([[maybe_unused]] const ConfigParams ¶ms, + [[maybe_unused]] ConfigResult *result) +{ + setStatsAndDebin(); + return 0; +} + +void IpaPiSP::platformPrepareIsp([[maybe_unused]] const PrepareParams ¶ms, + RPiController::Metadata &rpiMetadata) +{ + std::scoped_lock l(rpiMetadata); + + pisp_be_global_config global; + be_->GetGlobal(global); + + global.bayer_enables &= ~(PISP_BE_BAYER_ENABLE_BLC + PISP_BE_BAYER_ENABLE_WBG + + PISP_BE_BAYER_ENABLE_GEQ + PISP_BE_BAYER_ENABLE_LSC + + PISP_BE_BAYER_ENABLE_SDN + PISP_BE_BAYER_ENABLE_CDN + + PISP_BE_BAYER_ENABLE_TDN_OUTPUT + PISP_BE_BAYER_ENABLE_TDN_INPUT + + PISP_BE_BAYER_ENABLE_STITCH_INPUT + PISP_BE_BAYER_ENABLE_STITCH_OUTPUT + + PISP_BE_BAYER_ENABLE_STITCH + PISP_BE_BAYER_ENABLE_TONEMAP); + /* We leave the YCbCr and inverse conversion enabled in case of false colour or sharpening. */ + global.rgb_enables &= ~(PISP_BE_RGB_ENABLE_GAMMA + PISP_BE_RGB_ENABLE_CCM + + PISP_BE_RGB_ENABLE_SHARPEN + PISP_BE_RGB_ENABLE_SAT_CONTROL); + + NoiseStatus *noiseStatus = rpiMetadata.getLocked("noise.status"); + AgcPrepareStatus *agcPrepareStatus = rpiMetadata.getLocked("agc.prepare_status"); + + { + /* All Frontend config goes first, we do not want to hold the FE lock for long! */ + std::scoped_lock lf(*fe_); + + if (noiseStatus) + applyFocusStats(noiseStatus); + + BlackLevelStatus *blackLevelStatus = + rpiMetadata.getLocked("black_level.status"); + if (blackLevelStatus) + applyBlackLevel(blackLevelStatus, global); + + AwbStatus *awbStatus = rpiMetadata.getLocked("awb.status"); + if (awbStatus && agcPrepareStatus) { + /* Applies digital gain as well. */ + applyWBG(awbStatus, agcPrepareStatus, global); + } else if (agcPrepareStatus) { + /* Mono sensor fallback for digital gain. */ + applyDgOnly(agcPrepareStatus, global); + } + } + + CacStatus *cacStatus = rpiMetadata.getLocked("cac.status"); + if (cacStatus) + applyCAC(cacStatus, global); + + ContrastStatus *contrastStatus = + rpiMetadata.getLocked("contrast.status"); + if (contrastStatus) + applyContrast(contrastStatus, global); + + CcmStatus *ccmStatus = rpiMetadata.getLocked("ccm.status"); + if (ccmStatus) + applyCCM(ccmStatus, global); + + AlscStatus *alscStatus = rpiMetadata.getLocked("alsc.status"); + if (alscStatus) + applyLensShading(alscStatus, global); + + DpcStatus *dpcStatus = rpiMetadata.getLocked("dpc.status"); + if (dpcStatus) + applyDPC(dpcStatus, global); + + SdnStatus *sdnStatus = rpiMetadata.getLocked("sdn.status"); + if (sdnStatus) + applySdn(sdnStatus, global); + + DeviceStatus *deviceStatus = rpiMetadata.getLocked("device.status"); + TdnStatus *tdnStatus = rpiMetadata.getLocked("tdn.status"); + if (tdnStatus && deviceStatus) + applyTdn(tdnStatus, deviceStatus, global); + + CdnStatus *cdnStatus = rpiMetadata.getLocked("cdn.status"); + if (cdnStatus) + applyCdn(cdnStatus, global); + + GeqStatus *geqStatus = rpiMetadata.getLocked("geq.status"); + if (geqStatus) + applyGeq(geqStatus, global); + + SaturationStatus *saturationStatus = + rpiMetadata.getLocked("saturation.status"); + if (saturationStatus) + applySaturation(saturationStatus, global); + + SharpenStatus *sharpenStatus = rpiMetadata.getLocked("sharpen.status"); + if (sharpenStatus) + applySharpen(sharpenStatus, global); + + StitchStatus *stitchStatus = rpiMetadata.getLocked("stitch.status"); + if (stitchStatus) { + /* + * Note that it's the *delayed* AGC status that contains the HDR mode/channel + * info that pertains to this frame! + */ + AgcStatus *agcStatus = rpiMetadata.getLocked("agc.delayed_status"); + /* prepareIsp() will fetch this value. Maybe pass it back differently? */ + stitchSwapBuffers_ = applyStitch(stitchStatus, deviceStatus, agcStatus, global); + } else + lastStitchHdrStatus_ = HdrStatus(); + + TonemapStatus *tonemapStatus = rpiMetadata.getLocked("tonemap.status"); + if (tonemapStatus) + applyTonemap(tonemapStatus, global); + + be_->SetGlobal(global); + + /* Save this for TDN and HDR on the next frame. */ + lastExposure_ = deviceStatus->shutterSpeed * deviceStatus->analogueGain; + + /* Lens control */ + const AfStatus *afStatus = rpiMetadata.getLocked("af.status"); + if (afStatus) { + ControlList lensctrls(lensCtrls_); + applyAF(afStatus, lensctrls); + if (!lensctrls.empty()) + setLensControls.emit(lensctrls); + } +} + +RPiController::StatisticsPtr IpaPiSP::platformProcessStats(Span mem) +{ + using namespace RPiController; + + const pisp_statistics *stats = reinterpret_cast(mem.data()); + + unsigned int i; + StatisticsPtr statistics = + std::make_unique(Statistics::AgcStatsPos::PostWb, + Statistics::ColourStatsPos::PreLsc); + + /* RGB histograms are not used, so do not populate them. */ + statistics->yHist = RPiController::Histogram(stats->agc.histogram, + PISP_AGC_STATS_NUM_BINS); + + statistics->awbRegions.init({ PISP_AWB_STATS_SIZE, PISP_AWB_STATS_SIZE }); + for (i = 0; i < statistics->awbRegions.numRegions(); i++) + statistics->awbRegions.set(i, { { stats->awb.zones[i].R_sum, + stats->awb.zones[i].G_sum, + stats->awb.zones[i].B_sum }, + stats->awb.zones[i].counted, 0 }); + + /* AGC region sums only get collected on floating zones. */ + statistics->agcRegions.init({ 0, 0 }, PISP_FLOATING_STATS_NUM_ZONES); + for (i = 0; i < statistics->agcRegions.numRegions(); i++) + statistics->agcRegions.setFloating(i, + { { 0, 0, 0, stats->agc.floating[i].Y_sum }, + stats->agc.floating[i].counted, 0 }); + + statistics->focusRegions.init({ PISP_CDAF_STATS_SIZE, PISP_CDAF_STATS_SIZE }); + for (i = 0; i < statistics->focusRegions.numRegions(); i++) + statistics->focusRegions.set(i, { stats->cdaf.foms[i] >> 20, 0, 0 }); + + if (statsMetadataOutput_) { + Span statsSpan(reinterpret_cast(stats), + sizeof(pisp_statistics)); + libcameraMetadata_.set(controls::rpi::PispStatsOutput, statsSpan); + } + + return statistics; +} + +void IpaPiSP::handleControls(const ControlList &controls) +{ + for (auto const &ctrl : controls) { + switch (ctrl.first) { + case controls::HDR_MODE: + case controls::AE_METERING_MODE: + setHistogramWeights(); + break; + + case controls::draft::NOISE_REDUCTION_MODE: { + RPiController::DenoiseAlgorithm *denoise = dynamic_cast( + controller_.getAlgorithm("denoise")); + + if (!denoise) { + LOG(IPARPI, Warning) + << "Could not set NOISE_REDUCTION_MODE - no Denoise algorithm"; + return; + } + + if (ctrl.second.get() == controls::draft::NoiseReductionModeOff) + denoise->setMode(RPiController::DenoiseMode::Off); + else + denoise->setMode(RPiController::DenoiseMode::ColourHighQuality); + + break; + } + } + } +} + +void IpaPiSP::applyWBG(const AwbStatus *awbStatus, const AgcPrepareStatus *agcPrepareStatus, + pisp_be_global_config &global) +{ + pisp_wbg_config wbg; + pisp_fe_rgby_config rgby = {}; + double dg = agcPrepareStatus ? agcPrepareStatus->digitalGain : 1.0; + + wbg.gain_r = clampField(dg * awbStatus->gainR, 14, 10); + wbg.gain_g = clampField(dg * awbStatus->gainG, 14, 10); + wbg.gain_b = clampField(dg * awbStatus->gainB, 14, 10); + + /* + * The YCbCr conversion block should contain the appropriate YCbCr + * matrix. We should not rely on the CSC0 block as that might be + * programmed for RGB outputs. + */ + pisp_be_ccm_config csc; + be_->GetYcbcr(csc); + + /* The CSC coefficients already have the << 10 scaling applied. */ + rgby.gain_r = clampField(csc.coeffs[0] * awbStatus->gainR, 14); + rgby.gain_g = clampField(csc.coeffs[1] * awbStatus->gainG, 14); + rgby.gain_b = clampField(csc.coeffs[2] * awbStatus->gainB, 14); + + LOG(IPARPI, Debug) << "Applying WB R: " << awbStatus->gainR << " B: " + << awbStatus->gainB; + + be_->SetWbg(wbg); + fe_->SetRGBY(rgby); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_WBG; +} + +void IpaPiSP::applyDgOnly(const AgcPrepareStatus *agcPrepareStatus, pisp_be_global_config &global) +{ + pisp_wbg_config wbg; + + wbg.gain_r = clampField(agcPrepareStatus->digitalGain, 14, 10); + wbg.gain_g = clampField(agcPrepareStatus->digitalGain, 14, 10); + wbg.gain_b = clampField(agcPrepareStatus->digitalGain, 14, 10); + + LOG(IPARPI, Debug) << "Applying DG (only) : " << agcPrepareStatus->digitalGain; + + be_->SetWbg(wbg); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_WBG; +} + +void IpaPiSP::applyContrast(const ContrastStatus *contrastStatus, + pisp_be_global_config &global) +{ + pisp_be_gamma_config gamma; + + if (!generateLut(contrastStatus->gammaCurve, gamma.lut, PISP_BE_GAMMA_LUT_SIZE)) { + be_->SetGamma(gamma); + global.rgb_enables |= PISP_BE_RGB_ENABLE_GAMMA; + } +} + +void IpaPiSP::applyCCM(const CcmStatus *ccmStatus, pisp_be_global_config &global) +{ + pisp_be_ccm_config ccm = {}; + + for (unsigned int i = 0; i < 9; i++) + ccm.coeffs[i] = clampField(ccmStatus->matrix[i], 14, 10, true); + + be_->SetCcm(ccm); + global.rgb_enables |= PISP_BE_RGB_ENABLE_CCM; +} + +void IpaPiSP::applyCAC(const CacStatus *cacStatus, pisp_be_global_config &global) +{ + pisp_be_cac_config cac = {}; + + for (int x = 0; x < PISP_BE_CAC_GRID_SIZE + 1; x++) { + for (int y = 0; y < PISP_BE_CAC_GRID_SIZE + 1; y++) { + cac.lut[y][x][0][0] = clampField(cacStatus->lutRx[y * (PISP_BE_CAC_GRID_SIZE + 1) + x], 7, 5, true); + cac.lut[y][x][0][1] = clampField(cacStatus->lutRy[y * (PISP_BE_CAC_GRID_SIZE + 1) + x], 7, 5, true); + cac.lut[y][x][1][0] = clampField(cacStatus->lutBx[y * (PISP_BE_CAC_GRID_SIZE + 1) + x], 7, 5, true); + cac.lut[y][x][1][1] = clampField(cacStatus->lutBy[y * (PISP_BE_CAC_GRID_SIZE + 1) + x], 7, 5, true); + } + } + + be_->SetCac(cac); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_CAC; +} + +void IpaPiSP::applyBlackLevel(const BlackLevelStatus *blackLevelStatus, pisp_be_global_config &global) +{ + uint16_t minBlackLevel = std::min({ blackLevelStatus->blackLevelR, blackLevelStatus->blackLevelG, + blackLevelStatus->blackLevelB }); + pisp_bla_config bla; + + /* + * Set the Frontend to adjust the black level to the smallest black level + * of all channels (in 16-bits). + */ + bla.black_level_r = blackLevelStatus->blackLevelR; + bla.black_level_gr = blackLevelStatus->blackLevelG; + bla.black_level_gb = blackLevelStatus->blackLevelG; + bla.black_level_b = blackLevelStatus->blackLevelB; + bla.output_black_level = minBlackLevel; + fe_->SetBla(bla); + + /* Frontend Stats and Backend black level correction. */ + bla.black_level_r = bla.black_level_gr = + bla.black_level_gb = bla.black_level_b = minBlackLevel; + bla.output_black_level = 0; + fe_->SetBlc(bla); + be_->SetBlc(bla); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_BLC; +} + +void IpaPiSP::applyLensShading(const AlscStatus *alscStatus, + pisp_be_global_config &global) +{ + pisp_be_lsc_extra lscExtra = {}; + pisp_be_lsc_config lsc = {}; + double rgb[3][NumLscVertexes][NumLscVertexes] = {}; + + resampleTable(&rgb[0][0][0], NumLscVertexes, NumLscVertexes, + alscStatus->r.data(), NumLscCells, NumLscCells); + resampleTable(&rgb[1][0][0], NumLscVertexes, NumLscVertexes, + alscStatus->g.data(), NumLscCells, NumLscCells); + resampleTable(&rgb[2][0][0], NumLscVertexes, NumLscVertexes, + alscStatus->b.data(), NumLscCells, NumLscCells); + packLscLut(lsc.lut_packed, rgb); + be_->SetLsc(lsc, lscExtra); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_LSC; +} + +void IpaPiSP::applyDPC(const DpcStatus *dpcStatus, pisp_be_global_config &global) +{ + pisp_be_dpc_config dpc = {}; + + switch (dpcStatus->strength) { + case 0: /* "off" */ + break; + case 1: /* "normal" */ + dpc.coeff_level = 1; + dpc.coeff_range = 8; + global.bayer_enables |= PISP_BE_BAYER_ENABLE_DPC; + break; + case 2: /* "strong" */ + dpc.coeff_level = 0; + dpc.coeff_range = 0; + global.bayer_enables |= PISP_BE_BAYER_ENABLE_DPC; + break; + default: + ASSERT(0); + } + + be_->SetDpc(dpc); +} + +void IpaPiSP::applySdn(const SdnStatus *sdnStatus, pisp_be_global_config &global) +{ + pisp_be_sdn_config sdn = {}; + pisp_bla_config blc; + + be_->GetBlc(blc); + /* All R/G/B black levels are the same value in the BE after FE alignment */ + sdn.black_level = blc.black_level_r; + /* leakage is "amount of the original pixel we let through", thus 1 - strength */ + sdn.leakage = clampField(1.0 - sdnStatus->strength, 8, 8); + sdn.noise_constant = clampField(sdnStatus->noiseConstant, 16); + sdn.noise_slope = clampField(sdnStatus->noiseSlope, 16, 8); + sdn.noise_constant2 = clampField(sdnStatus->noiseConstant2, 16); + sdn.noise_slope2 = clampField(sdnStatus->noiseSlope2, 16, 8); + be_->SetSdn(sdn); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_SDN; +} + +void IpaPiSP::applyTdn(const TdnStatus *tdnStatus, const DeviceStatus *deviceStatus, + pisp_be_global_config &global) +{ + utils::Duration exposure = deviceStatus->shutterSpeed * deviceStatus->analogueGain; + pisp_be_tdn_config tdn = {}; + + double ratio = tdnReset_ ? 1.0 : exposure / lastExposure_; + if (ratio >= 4.0) { + /* If the exposure ratio goes above 4x, we need to reset TDN. */ + ratio = 1; + tdnReset_ = true; + } + + LOG(IPARPI, Debug) << "TDN: exposure: " << exposure + << " last: " << lastExposure_ + << " ratio: " << ratio; + + pisp_bla_config blc; + be_->GetBlc(blc); + /* All R/G/B black levels are the same value in the BE after FE alignment */ + tdn.black_level = blc.black_level_r; + tdn.ratio = clampField(ratio, 16, 14); + tdn.noise_constant = clampField(tdnStatus->noiseConstant, 16); + tdn.noise_slope = clampField(tdnStatus->noiseSlope, 16, 8); + tdn.threshold = clampField(tdnStatus->threshold, 16, 16); + + global.bayer_enables |= PISP_BE_BAYER_ENABLE_TDN + PISP_BE_BAYER_ENABLE_TDN_OUTPUT; + + /* Only enable the TDN Input after a state reset. */ + if (!tdnReset_) { + global.bayer_enables |= PISP_BE_BAYER_ENABLE_TDN_INPUT; + tdn.reset = 0; + } else + tdn.reset = 1; + + be_->SetTdn(tdn); + tdnReset_ = false; +} + +void IpaPiSP::applyCdn(const CdnStatus *cdnStatus, pisp_be_global_config &global) +{ + pisp_be_cdn_config cdn = {}; + + cdn.thresh = clampField(cdnStatus->threshold, 16); + cdn.iir_strength = clampField(cdnStatus->strength, 8, 8); + cdn.g_adjust = clampField(0, 8, 8); + be_->SetCdn(cdn); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_CDN; +} + +void IpaPiSP::applyGeq(const GeqStatus *geqStatus, pisp_be_global_config &global) +{ + pisp_be_geq_config geq = {}; + + geq.min = 0; + geq.max = 0xffff; + geq.offset = clampField(geqStatus->offset, 16); + geq.slope_sharper = clampField(geqStatus->slope, 10, 10); + be_->SetGeq(geq); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_GEQ; +} + +void IpaPiSP::applySaturation(const SaturationStatus *saturationStatus, + pisp_be_global_config &global) +{ + pisp_be_sat_control_config saturation; + pisp_wbg_config wbg; + + saturation.shift_r = std::min(2, saturationStatus->shiftR); + saturation.shift_g = std::min(2, saturationStatus->shiftG); + saturation.shift_b = std::min(2, saturationStatus->shiftB); + be_->SetSatControl(saturation); + + be_->GetWbg(wbg); + wbg.gain_r >>= saturationStatus->shiftR; + wbg.gain_g >>= saturationStatus->shiftG; + wbg.gain_b >>= saturationStatus->shiftB; + be_->SetWbg(wbg); + + global.rgb_enables |= PISP_BE_RGB_ENABLE_SAT_CONTROL; +} + +void IpaPiSP::applySharpen(const SharpenStatus *sharpenStatus, + pisp_be_global_config &global) +{ + /* + * This threshold scaling is to normalise the VC4 and PiSP parameter + * scales in the tuning config. + */ + static constexpr double ThresholdScaling = 0.25; + const double scaling = sharpenStatus->threshold * ThresholdScaling; + + pisp_be_sh_fc_combine_config shfc; + pisp_be_sharpen_config sharpen; + + be_->InitialiseSharpen(sharpen, shfc); + sharpen.threshold_offset0 = clampField(sharpen.threshold_offset0 * scaling, 16); + sharpen.threshold_offset1 = clampField(sharpen.threshold_offset1 * scaling, 16); + sharpen.threshold_offset2 = clampField(sharpen.threshold_offset2 * scaling, 16); + sharpen.threshold_offset3 = clampField(sharpen.threshold_offset3 * scaling, 16); + sharpen.threshold_offset4 = clampField(sharpen.threshold_offset4 * scaling, 16); + sharpen.threshold_slope0 = clampField(sharpen.threshold_slope0 * scaling, 12); + sharpen.threshold_slope1 = clampField(sharpen.threshold_slope1 * scaling, 12); + sharpen.threshold_slope2 = clampField(sharpen.threshold_slope2 * scaling, 12); + sharpen.threshold_slope3 = clampField(sharpen.threshold_slope3 * scaling, 12); + sharpen.threshold_slope4 = clampField(sharpen.threshold_slope4 * scaling, 12); + sharpen.positive_strength = clampField(sharpen.positive_strength * sharpenStatus->strength, 12); + sharpen.negative_strength = clampField(sharpen.negative_strength * sharpenStatus->strength, 12); + sharpen.positive_pre_limit = clampField(sharpen.positive_pre_limit * sharpenStatus->limit, 16); + sharpen.positive_limit = clampField(sharpen.positive_limit * sharpenStatus->limit, 16); + sharpen.negative_pre_limit = clampField(sharpen.negative_pre_limit * sharpenStatus->limit, 16); + sharpen.negative_limit = clampField(sharpen.negative_limit * sharpenStatus->limit, 16); + + be_->SetSharpen(sharpen); + /* The conversion to YCbCr and back is always enabled. */ + global.rgb_enables |= PISP_BE_RGB_ENABLE_SHARPEN; +} + +bool IpaPiSP::applyStitch(const StitchStatus *stitchStatus, const DeviceStatus *deviceStatus, + const AgcStatus *agcStatus, pisp_be_global_config &global) +{ + /* + * Find out what HDR mode/channel this frame is. Normally this will be in the delayed + * HDR status (in the AGC status), though after a mode switch this will be absent and + * the information will have been stored in the hdrStatus_ field. + */ + const HdrStatus *hdrStatus = &hdrStatus_; + if (agcStatus) + hdrStatus = &agcStatus->hdr; + + bool modeChange = hdrStatus->mode != lastStitchHdrStatus_.mode; + bool channelChange = !modeChange && hdrStatus->channel != lastStitchHdrStatus_.channel; + lastStitchHdrStatus_ = *hdrStatus; + + /* Check for a change of HDR mode. That forces us to start over. */ + if (modeChange) + lastStitchExposures_.clear(); + + if (hdrStatus->channel != "short" && hdrStatus->channel != "long") { + /* The channel *must* be long or short, anything else does not make sense. */ + LOG(IPARPI, Warning) << "Stitch channel is not long or short"; + return false; + } + + /* Whatever happens, we're going to output this buffer now. */ + global.bayer_enables |= PISP_BE_BAYER_ENABLE_STITCH_OUTPUT; + + utils::Duration exposure = deviceStatus->shutterSpeed * deviceStatus->analogueGain; + lastStitchExposures_[hdrStatus->channel] = exposure; + + /* If the other channel hasn't been seen there's nothing more we can do. */ + std::string otherChannel = hdrStatus->channel == "short" ? "long" : "short"; + if (lastStitchExposures_.find(otherChannel) == lastStitchExposures_.end()) { + /* The first channel should be "short". */ + if (hdrStatus->channel != "short") + LOG(IPARPI, Warning) << "First frame is not short"; + return false; + } + + /* We have both channels, we need to enable stitching. */ + global.bayer_enables |= PISP_BE_BAYER_ENABLE_STITCH_INPUT + PISP_BE_BAYER_ENABLE_STITCH; + + utils::Duration otherExposure = lastStitchExposures_[otherChannel]; + bool phaseLong = hdrStatus->channel == "long"; + double ratio = phaseLong ? otherExposure / exposure : exposure / otherExposure; + + pisp_be_stitch_config stitch = {}; + stitch.exposure_ratio = clampField(ratio, 15, 15); + if (phaseLong) + stitch.exposure_ratio |= PISP_BE_STITCH_STREAMING_LONG; + /* These will be filled in correctly once we have implemented the HDR algorithm. */ + stitch.threshold_lo = stitchStatus->thresholdLo; + stitch.threshold_diff_power = stitchStatus->diffPower; + stitch.motion_threshold_256 = stitchStatus->motionThreshold; + be_->SetStitch(stitch); + + return channelChange; +} + +void IpaPiSP::applyTonemap(const TonemapStatus *tonemapStatus, pisp_be_global_config &global) +{ + pisp_be_tonemap_config tonemap = {}; + + tonemap.detail_constant = clampField(tonemapStatus->detailConstant, 16); + tonemap.detail_slope = clampField(tonemapStatus->detailSlope, 16, 8); + tonemap.iir_strength = clampField(tonemapStatus->iirStrength, 12, 4); + tonemap.strength = clampField(tonemapStatus->strength, 12, 8); + + if (!generateLut(tonemapStatus->tonemap, tonemap.lut, PISP_BE_TONEMAP_LUT_SIZE)) { + be_->SetTonemap(tonemap); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_TONEMAP; + } +} + +void IpaPiSP::applyFocusStats(const NoiseStatus *noiseStatus) +{ + pisp_fe_cdaf_stats_config cdaf; + fe_->GetCdafStats(cdaf); + + cdaf.noise_constant = noiseStatus->noiseConstant; + cdaf.noise_slope = noiseStatus->noiseSlope; + fe_->SetCdafStats(cdaf); +} + +void IpaPiSP::applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls) +{ + if (afStatus->lensSetting) { + ControlValue v(afStatus->lensSetting.value()); + lensCtrls.set(V4L2_CID_FOCUS_ABSOLUTE, v); + } +} + +void IpaPiSP::setDefaultConfig() +{ + std::scoped_lock l(*fe_); + + pisp_be_global_config beGlobal; + pisp_fe_global_config feGlobal; + + fe_->GetGlobal(feGlobal); + be_->GetGlobal(beGlobal); + /* + * Always go to YCbCr and back. We need them if the false colour block is enabled, + * and even for mono sensors if sharpening is enabled. So we're better off enabling + * them all the time. + */ + beGlobal.rgb_enables |= PISP_BE_RGB_ENABLE_YCBCR + PISP_BE_RGB_ENABLE_YCBCR_INVERSE; + + if (!monoSensor()) { + beGlobal.bayer_enables |= PISP_BE_BAYER_ENABLE_DEMOSAIC; + beGlobal.rgb_enables |= PISP_BE_RGB_ENABLE_FALSE_COLOUR; + } + + /* + * Ask the AWB algorithm for reasonable gain values so that we can program the + * front end stats sensibly. We must also factor in the conversion to luminance. + */ + pisp_fe_rgby_config rgby = {}; + double gainR = 1.5, gainB = 1.5; + RPiController::AwbAlgorithm *awb = dynamic_cast( + controller_.getAlgorithm("awb")); + if (awb) + awb->initialValues(gainR, gainB); + /* The BT.601 RGB -> Y coefficients will do. The precise values are not critical. */ + rgby.gain_r = clampField(gainR * 0.299, 14, 10); + rgby.gain_g = clampField(1.0 * .587, 14, 10); + rgby.gain_b = clampField(gainB * .114, 14, 10); + fe_->SetRGBY(rgby); + feGlobal.enables |= PISP_FE_ENABLE_RGBY; + + /* Also get sensible front end black level defaults, for the same reason. */ + RPiController::BlackLevelAlgorithm *blackLevel = dynamic_cast( + controller_.getAlgorithm("black_level")); + if (blackLevel) { + uint16_t blackLevelR, blackLevelG, blackLevelB; + BlackLevelStatus blackLevelStatus; + + blackLevel->initialValues(blackLevelR, blackLevelG, blackLevelB); + blackLevelStatus.blackLevelR = blackLevelR; + blackLevelStatus.blackLevelG = blackLevelG; + blackLevelStatus.blackLevelB = blackLevelB; + applyBlackLevel(&blackLevelStatus, beGlobal); + feGlobal.enables |= PISP_FE_ENABLE_BLA + PISP_FE_ENABLE_BLC; + } + + fe_->SetGlobal(feGlobal); + be_->SetGlobal(beGlobal); +} + +void IpaPiSP::setStatsAndDebin() +{ + pisp_fe_crop_config crop{ 0, 0, mode_.width, mode_.height }; + + pisp_fe_awb_stats_config awb = {}; + awb.r_lo = awb.g_lo = awb.b_lo = 0; + awb.r_hi = awb.g_hi = awb.b_hi = 65535 * 0.98; + + pisp_fe_cdaf_stats_config cdaf = {}; + cdaf.mode = (1 << 4) + (1 << 2) + 1; /* Gr / Gb count with weights of (1, 1) */ + + { + std::scoped_lock l(*fe_); + pisp_fe_global_config feGlobal; + fe_->GetGlobal(feGlobal); + feGlobal.enables |= PISP_FE_ENABLE_AWB_STATS + PISP_FE_ENABLE_AGC_STATS + + PISP_FE_ENABLE_CDAF_STATS; + + fe_->SetGlobal(feGlobal); + fe_->SetStatsCrop(crop); + fe_->SetAwbStats(awb); + fe_->SetCdafStats(cdaf); + } + + /* + * Apply the correct AGC region weights to the Frontend. Need to do this + * out of the Frontend scoped lock. + */ + setHistogramWeights(); + + pisp_be_global_config beGlobal; + be_->GetGlobal(beGlobal); + + if (mode_.binX > 1 || mode_.binY > 1) { + pisp_be_debin_config debin; + + be_->GetDebin(debin); + debin.h_enable = (mode_.binX > 1); + debin.v_enable = (mode_.binY > 1); + be_->SetDebin(debin); + beGlobal.bayer_enables |= PISP_BE_BAYER_ENABLE_DEBIN; + } else + beGlobal.bayer_enables &= ~PISP_BE_BAYER_ENABLE_DEBIN; + + be_->SetGlobal(beGlobal); +} + +void IpaPiSP::setHistogramWeights() +{ + RPiController::AgcAlgorithm *agc = dynamic_cast( + controller_.getAlgorithm("agc")); + if (!agc) + return; + + const std::vector &weights = agc->getWeights(); + + pisp_fe_agc_stats_config config; + memset(&config, 0, sizeof(config)); + + /* + * The AGC software gives us a 15x15 table of weights which we + * map onto 16x16 in the hardware, ensuring the rightmost column + * and bottom row all have zero weight. We align everything to + * the native 2x2 Bayer pixel blocks. + */ + const Size &size = controller_.getHardwareConfig().agcZoneWeights; + int width = (mode_.width / size.width) & ~1; + int height = (mode_.height / size.height) & ~1; + config.offset_x = ((mode_.width - size.width * width) / 2) & ~1; + config.offset_y = ((mode_.height - size.height * height) / 2) & ~1; + config.size_x = width; + config.size_y = height; + + unsigned int idx = 0; + for (unsigned int row = 0; row < size.height; row++) { + unsigned int col = 0; + for (; col < size.width / 2; col++) { + int wt0 = clampField(weights[idx++], 4, 0, false, "agc weights"); + int wt1 = clampField(weights[idx++], 4, 0, false, "agc weights"); + config.weights[row * 8 + col] = (wt1 << 4) | wt0; + } + if (size.width & 1) + config.weights[row * 8 + col] = + clampField(weights[idx++], 4, 0, false, "agc weights"); + } + + std::scoped_lock l(*fe_); + fe_->SetAgcStats(config); +} + +} /* namespace ipa::RPi */ + +/* + * External IPA module interface + */ +extern "C" { +const IPAModuleInfo ipaModuleInfo = { + IPA_MODULE_API_VERSION, + 1, + "rpi/pisp", + "rpi/pisp", +}; + +IPAInterface *ipaCreate() +{ + return new ipa::RPi::IpaPiSP(); +} + +} /* extern "C" */ + +} /* namespace libcamera */ diff --git a/src/ipa/rpi/vc4/data/imx219.json b/src/ipa/rpi/vc4/data/imx219.json index a020b12f5..808581f0d 100644 --- a/src/ipa/rpi/vc4/data/imx219.json +++ b/src/ipa/rpi/vc4/data/imx219.json @@ -690,6 +690,15 @@ } } } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } diff --git a/src/ipa/rpi/vc4/data/imx219_noir.json b/src/ipa/rpi/vc4/data/imx219_noir.json index d8bc96396..e9706eb77 100644 --- a/src/ipa/rpi/vc4/data/imx219_noir.json +++ b/src/ipa/rpi/vc4/data/imx219_noir.json @@ -624,6 +624,15 @@ } } } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } diff --git a/src/ipa/rpi/vc4/data/imx283.json b/src/ipa/rpi/vc4/data/imx283.json index bfacecc8e..6d7bec0b8 100644 --- a/src/ipa/rpi/vc4/data/imx283.json +++ b/src/ipa/rpi/vc4/data/imx283.json @@ -308,6 +308,15 @@ }, { "rpi.sharpen": { } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } diff --git a/src/ipa/rpi/vc4/data/imx290.json b/src/ipa/rpi/vc4/data/imx290.json index 8f41bf519..c63f7487d 100644 --- a/src/ipa/rpi/vc4/data/imx290.json +++ b/src/ipa/rpi/vc4/data/imx290.json @@ -209,6 +209,15 @@ } ] } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } \ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/imx296.json b/src/ipa/rpi/vc4/data/imx296.json index 8f24ce5b8..f66380036 100644 --- a/src/ipa/rpi/vc4/data/imx296.json +++ b/src/ipa/rpi/vc4/data/imx296.json @@ -438,6 +438,15 @@ "strength": 1.0, "limit": 0.18 } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } \ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/imx296_mono.json b/src/ipa/rpi/vc4/data/imx296_mono.json index fe3315699..f05698eff 100644 --- a/src/ipa/rpi/vc4/data/imx296_mono.json +++ b/src/ipa/rpi/vc4/data/imx296_mono.json @@ -235,6 +235,15 @@ "strength": 1.0, "limit": 0.18 } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } \ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/imx378.json b/src/ipa/rpi/vc4/data/imx378.json index 363b47e19..9cc76c979 100644 --- a/src/ipa/rpi/vc4/data/imx378.json +++ b/src/ipa/rpi/vc4/data/imx378.json @@ -422,6 +422,15 @@ }, { "rpi.sharpen": { } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } \ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/imx477.json b/src/ipa/rpi/vc4/data/imx477.json index fa25ee860..750c087fc 100644 --- a/src/ipa/rpi/vc4/data/imx477.json +++ b/src/ipa/rpi/vc4/data/imx477.json @@ -695,6 +695,15 @@ } } } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } \ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/imx477_noir.json b/src/ipa/rpi/vc4/data/imx477_noir.json index 472f33fe1..97f4e2a58 100644 --- a/src/ipa/rpi/vc4/data/imx477_noir.json +++ b/src/ipa/rpi/vc4/data/imx477_noir.json @@ -651,6 +651,15 @@ } } } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } diff --git a/src/ipa/rpi/vc4/data/imx477_scientific.json b/src/ipa/rpi/vc4/data/imx477_scientific.json index 9dc32eb15..b3d7a4fff 100644 --- a/src/ipa/rpi/vc4/data/imx477_scientific.json +++ b/src/ipa/rpi/vc4/data/imx477_scientific.json @@ -483,6 +483,15 @@ }, { "rpi.sharpen": { } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } \ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/imx500.json b/src/ipa/rpi/vc4/data/imx500.json new file mode 100644 index 000000000..77b406f8e --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx500.json @@ -0,0 +1,472 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 10369, + "reference_gain": 2.0, + "reference_aperture": 1.0, + "reference_lux": 950, + "reference_Y": 12457 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 2.747 + } + }, + { + "rpi.geq": + { + "offset": 223, + "slope": 0.00933 + } + }, + { + "rpi.sdn": { } + }, + { + "rpi.awb": + { + "priors": [ + { + "lux": 0, + "prior": + [ + 2000, 1.0, + 3000, 0.0, + 13000, 0.0 + ] + }, + { + "lux": 800, + "prior": + [ + 2000, 0.0, + 6000, 2.0, + 13000, 2.0 + ] + }, + { + "lux": 1500, + "prior": + [ + 2000, 0.0, + 4000, 1.0, + 6000, 6.0, + 6500, 7.0, + 7000, 1.0, + 13000, 1.0 + ] + } + ], + "modes": + { + "auto": + { + "lo": 2800, + "hi": 8000 + }, + "incandescent": + { + "lo": 2800, + "hi": 3000 + }, + "tungsten": + { + "lo": 3000, + "hi": 3500 + }, + "fluorescent": + { + "lo": 4000, + "hi": 4700 + }, + "indoor": + { + "lo": 3000, + "hi": 5000 + }, + "daylight": + { + "lo": 5500, + "hi": 6500 + }, + "cloudy": + { + "lo": 7000, + "hi": 7600 + } + }, + "bayes": 1, + "ct_curve": + [ + 2800.0, 0.7126, 0.3567, + 2860.0, 0.6681, 0.4042, + 2880.0, 0.6651, 0.4074, + 3580.0, 0.5674, 0.5091, + 3650.0, 0.5629, 0.5137, + 4500.0, 0.4792, 0.5982, + 4570.0, 0.4752, 0.6022, + 5648.0, 0.4137, 0.6628, + 5717.0, 0.4116, 0.6648, + 7600.0, 0.3609, 0.7138 + ], + "sensitivity_r": 1.0, + "sensitivity_b": 1.0, + "transverse_pos": 0.02798, + "transverse_neg": 0.02626 + } + }, + { + "rpi.agc": + { + "metering_modes": + { + "centre-weighted": + { + "weights": + [ + 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 + ] + }, + "spot": + { + "weights": + [ + 2, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 + ] + }, + "matrix": + { + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] + } + }, + "exposure_modes": + { + "normal": + { + "shutter": [ 100, 10000, 30000, 60000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ] + } + }, + "constraint_modes": + { + "normal": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.5, + 1000, 0.5 + ] + } + ], + "highlight": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.5, + 1000, 0.5 + ] + }, + { + "bound": "UPPER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.8, + 1000, 0.8 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } + }, + { + "rpi.alsc": + { + "omega": 1.3, + "n_iter": 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1.904, 1.884, 1.858, 1.858, 1.891, 1.906, 1.947, 1.998, 2.044, 2.066, 2.068, + 2.051, 2.048, 2.025, 1.981, 1.929, 1.886, 1.858, 1.855, 1.857, 1.861, 1.892, 1.939, 1.992, 2.041, 2.068, 2.068, + 2.052, 2.048, 2.025, 1.981, 1.929, 1.886, 1.863, 1.855, 1.858, 1.864, 1.892, 1.939, 1.992, 2.041, 2.068, 2.069, + 2.053, 2.052, 2.033, 1.992, 1.944, 1.911, 1.886, 1.864, 1.864, 1.892, 1.912, 1.953, 2.003, 2.048, 2.069, 2.069, + 2.053, 2.053, 2.046, 2.013, 1.978, 1.944, 1.911, 1.901, 1.901, 1.912, 1.953, 1.985, 2.023, 2.059, 2.069, 2.069, + 2.053, 2.055, 2.058, 2.044, 2.013, 1.978, 1.959, 1.951, 1.951, 1.961, 1.985, 2.023, 2.054, 2.071, 2.071, 2.068, + 2.052, 2.058, 2.059, 2.061, 2.044, 2.025, 2.011, 2.005, 2.005, 2.014, 2.031, 2.054, 2.071, 2.075, 2.072, 2.068, + 2.051, 2.056, 2.064, 2.064, 2.061, 2.055, 2.052, 2.052, 2.052, 2.054, 2.058, 2.071, 2.077, 2.077, 2.072, 2.067 + ] + } + ], + "calibrations_Cb": [ + { + "ct": 2800, + "table": + [ + 2.878, 2.876, 2.864, 2.851, 2.847, 2.847, 2.849, 2.854, 2.854, 2.854, 2.854, 2.854, 2.861, 2.873, 2.885, 2.887, + 2.876, 2.871, 2.859, 2.852, 2.849, 2.849, 2.854, 2.855, 2.855, 2.855, 2.854, 2.852, 2.854, 2.861, 2.875, 2.885, + 2.872, 2.869, 2.859, 2.856, 2.854, 2.856, 2.859, 2.863, 2.863, 2.861, 2.855, 2.852, 2.853, 2.855, 2.867, 2.875, + 2.872, 2.871, 2.865, 2.859, 2.858, 2.863, 2.869, 2.877, 2.877, 2.872, 2.861, 2.856, 2.854, 2.857, 2.863, 2.873, + 2.872, 2.871, 2.868, 2.865, 2.866, 2.872, 2.886, 2.899, 2.899, 2.879, 2.872, 2.861, 2.857, 2.859, 2.862, 2.871, + 2.872, 2.871, 2.869, 2.869, 2.872, 2.886, 2.901, 2.909, 2.903, 2.899, 2.879, 2.865, 2.859, 2.859, 2.861, 2.869, + 2.872, 2.871, 2.871, 2.871, 2.873, 2.886, 2.906, 2.909, 2.908, 2.902, 2.879, 2.865, 2.859, 2.859, 2.861, 2.868, + 2.872, 2.871, 2.871, 2.869, 2.873, 2.884, 2.892, 2.907, 2.903, 2.889, 2.875, 2.864, 2.859, 2.859, 2.861, 2.868, + 2.875, 2.872, 2.868, 2.867, 2.869, 2.874, 2.884, 2.889, 2.889, 2.877, 2.866, 2.859, 2.859, 2.861, 2.864, 2.872, + 2.877, 2.875, 2.867, 2.864, 2.865, 2.869, 2.874, 2.877, 2.877, 2.868, 2.861, 2.859, 2.859, 2.863, 2.872, 2.881, + 2.882, 2.877, 2.868, 2.863, 2.863, 2.863, 2.868, 2.869, 2.868, 2.865, 2.863, 2.861, 2.863, 2.871, 2.881, 2.883, + 2.885, 2.882, 2.872, 2.864, 2.861, 2.861, 2.865, 2.865, 2.865, 2.864, 2.863, 2.863, 2.866, 2.872, 2.882, 2.891 + ] + }, + { + "ct": 4000, + "table": + [ + 1.919, 1.919, 1.913, 1.909, 1.909, 1.909, 1.911, 1.912, 1.912, 1.911, 1.909, 1.909, 1.911, 1.914, 1.919, 1.921, + 1.919, 1.916, 1.913, 1.911, 1.909, 1.912, 1.914, 1.915, 1.914, 1.913, 1.911, 1.909, 1.909, 1.911, 1.915, 1.919, + 1.916, 1.915, 1.915, 1.914, 1.914, 1.918, 1.921, 1.921, 1.921, 1.919, 1.915, 1.911, 1.909, 1.911, 1.913, 1.916, + 1.916, 1.916, 1.916, 1.916, 1.919, 1.924, 1.928, 1.932, 1.932, 1.928, 1.919, 1.915, 1.911, 1.911, 1.912, 1.914, + 1.916, 1.917, 1.918, 1.919, 1.924, 1.928, 1.937, 1.945, 1.945, 1.932, 1.928, 1.919, 1.915, 1.912, 1.912, 1.913, + 1.916, 1.918, 1.919, 1.923, 1.928, 1.937, 1.946, 1.949, 1.946, 1.945, 1.931, 1.922, 1.916, 1.912, 1.912, 1.913, + 1.916, 1.918, 1.919, 1.923, 1.928, 1.937, 1.948, 1.949, 1.948, 1.945, 1.931, 1.922, 1.916, 1.912, 1.912, 1.912, + 1.915, 1.917, 1.918, 1.922, 1.927, 1.933, 1.938, 1.946, 1.945, 1.935, 1.928, 1.919, 1.915, 1.912, 1.912, 1.912, + 1.916, 1.916, 1.917, 1.918, 1.922, 1.927, 1.933, 1.935, 1.935, 1.928, 1.921, 1.915, 1.913, 1.912, 1.912, 1.914, + 1.917, 1.916, 1.916, 1.915, 1.917, 1.921, 1.925, 1.926, 1.926, 1.921, 1.918, 1.913, 1.913, 1.913, 1.916, 1.919, + 1.918, 1.917, 1.915, 1.913, 1.913, 1.916, 1.919, 1.921, 1.921, 1.918, 1.914, 1.913, 1.913, 1.915, 1.918, 1.921, + 1.919, 1.919, 1.914, 1.912, 1.912, 1.913, 1.914, 1.915, 1.915, 1.915, 1.913, 1.913, 1.913, 1.915, 1.919, 1.922 + ] + } + ], + "luminance_lut": + [ + 3.029, 2.888, 2.497, 2.201, 1.954, 1.761, 1.711, 1.711, 1.711, 1.713, 1.778, 1.975, 2.225, 2.526, 2.925, 3.069, + 2.888, 2.562, 2.203, 1.999, 1.762, 1.602, 1.495, 1.447, 1.447, 1.503, 1.616, 1.785, 2.019, 2.229, 2.594, 2.925, + 2.577, 2.319, 2.004, 1.762, 1.602, 1.391, 1.284, 1.241, 1.241, 1.294, 1.409, 1.616, 1.785, 2.031, 2.349, 2.607, + 2.451, 2.155, 1.861, 1.607, 1.391, 1.284, 1.137, 1.095, 1.095, 1.154, 1.294, 1.409, 1.631, 1.891, 2.185, 2.483, + 2.393, 2.056, 1.765, 1.501, 1.288, 1.137, 1.091, 1.004, 1.011, 1.095, 1.154, 1.309, 1.527, 1.796, 2.088, 2.425, + 2.393, 2.015, 1.722, 1.455, 1.245, 1.097, 1.004, 1.001, 1.001, 1.016, 1.115, 1.266, 1.482, 1.752, 2.046, 2.425, + 2.393, 2.015, 1.722, 1.455, 1.245, 1.097, 1.014, 1.001, 1.011, 1.017, 1.115, 1.266, 1.482, 1.752, 2.046, 2.425, + 2.399, 2.071, 1.777, 1.515, 1.301, 1.158, 1.097, 1.017, 1.017, 1.114, 1.169, 1.323, 1.543, 1.809, 2.102, 2.429, + 2.471, 2.178, 1.881, 1.628, 1.419, 1.301, 1.158, 1.117, 1.117, 1.169, 1.323, 1.439, 1.657, 1.915, 2.213, 2.501, + 2.622, 2.358, 2.034, 1.799, 1.628, 1.419, 1.315, 1.271, 1.271, 1.327, 1.439, 1.657, 1.824, 2.067, 2.394, 2.662, + 2.959, 2.622, 2.255, 2.034, 1.799, 1.644, 1.536, 1.489, 1.489, 1.548, 1.664, 1.824, 2.066, 2.284, 2.662, 3.018, + 3.099, 2.959, 2.559, 2.249, 1.994, 1.803, 1.756, 1.756, 1.756, 1.759, 1.824, 2.022, 2.281, 2.601, 3.018, 3.155 + ], + "sigma": 0.00096, + "sigma_Cb": 0.00125 + } + }, + { + "rpi.contrast": + { + "ce_enable": 1, + "gamma_curve": + [ + 0, 0, + 1024, 5040, + 2048, 9338, + 3072, 12356, + 4096, 15312, + 5120, 18051, + 6144, 20790, + 7168, 23193, + 8192, 25744, + 9216, 27942, + 10240, 30035, + 11264, 32005, + 12288, 33975, + 13312, 35815, + 14336, 37600, + 15360, 39168, + 16384, 40642, + 18432, 43379, + 20480, 45749, + 22528, 47753, + 24576, 49621, + 26624, 51253, + 28672, 52698, + 30720, 53796, + 32768, 54876, + 36864, 57012, + 40960, 58656, + 45056, 59954, + 49152, 61183, + 53248, 62355, + 57344, 63419, + 61440, 64476, + 65535, 65535 + ] + } + }, + { + "rpi.ccm": + { + "ccms": [ + { + "ct": 2800, + "ccm": + [ + 1.61505, -0.29143, -0.32361, + -0.36502, 1.73067, -0.36565, + 0.05048, -1.11795, 2.06747 + ] + }, + { + "ct": 2860, + "ccm": + [ + 1.61304, -0.35407, -0.25897, + -0.49934, 1.98721, -0.48786, + -0.03138, -0.70205, 1.73343 + ] + }, + { + "ct": 2880, + "ccm": + [ + 1.61025, -0.33823, -0.27202, + -0.49191, 1.99155, -0.49964, + -0.02357, -0.74144, 1.76501 + ] + }, + { + "ct": 3580, + "ccm": + [ + 1.67102, -0.45799, -0.21303, + -0.43726, 1.89058, -0.45332, + -0.04778, -0.57899, 1.62678 + ] + }, + { + "ct": 3650, + "ccm": + [ + 1.66289, -0.44966, -0.21324, + -0.42687, 1.86716, -0.44029, + -0.04423, -0.55781, 1.60204 + ] + }, + { + "ct": 4500, + "ccm": + [ + 1.59699, -0.35409, -0.24291, + -0.38812, 1.97453, -0.58641, + -0.05398, -0.50715, 1.56113 + ] + }, + { + "ct": 4570, + "ccm": + [ + 1.62669, -0.38858, -0.23811, + -0.38608, 1.97311, -0.58703, + -0.05461, -0.52526, 1.57986 + ] + }, + { + "ct": 5648, + "ccm": + [ + 1.77461, -0.60797, -0.16664, + -0.33734, 1.82254, -0.48521, + -0.06916, -0.43139, 1.50056 + ] + }, + { + "ct": 5717, + "ccm": + [ + 1.76115, -0.59353, -0.16763, + -0.33521, 1.82009, -0.48488, + -0.07309, -0.42667, 1.49976 + ] + }, + { + "ct": 7600, + "ccm": + [ + 1.71087, -0.34863, -0.36223, + -0.31392, 2.24605, -0.93213, + -0.08447, -0.72208, 1.80655 + ] + } + ] + } + }, + { + "rpi.sharpen": { } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } + ] +} \ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/imx519.json b/src/ipa/rpi/vc4/data/imx519.json index ce1942568..54bdc7968 100644 --- a/src/ipa/rpi/vc4/data/imx519.json +++ b/src/ipa/rpi/vc4/data/imx519.json @@ -422,6 +422,15 @@ }, { "rpi.sharpen": { } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } \ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/imx708.json b/src/ipa/rpi/vc4/data/imx708.json index 4de6f0796..56b7af8ac 100644 --- a/src/ipa/rpi/vc4/data/imx708.json +++ b/src/ipa/rpi/vc4/data/imx708.json @@ -666,6 +666,15 @@ } } } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } \ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/imx708_noir.json b/src/ipa/rpi/vc4/data/imx708_noir.json index 7b7ee874f..7d123a64a 100644 --- a/src/ipa/rpi/vc4/data/imx708_noir.json +++ b/src/ipa/rpi/vc4/data/imx708_noir.json @@ -765,6 +765,15 @@ } } } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } \ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/imx708_wide.json b/src/ipa/rpi/vc4/data/imx708_wide.json index 6f45aafc0..0435706b3 100644 --- a/src/ipa/rpi/vc4/data/imx708_wide.json +++ b/src/ipa/rpi/vc4/data/imx708_wide.json @@ -677,6 +677,15 @@ } } } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } \ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/imx708_wide_noir.json b/src/ipa/rpi/vc4/data/imx708_wide_noir.json index b9a5227e1..a8c3f15be 100644 --- a/src/ipa/rpi/vc4/data/imx708_wide_noir.json +++ b/src/ipa/rpi/vc4/data/imx708_wide_noir.json @@ -668,6 +668,15 @@ } } } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } \ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/meson.build b/src/ipa/rpi/vc4/data/meson.build index 60477c112..38ae2bd53 100644 --- a/src/ipa/rpi/vc4/data/meson.build +++ b/src/ipa/rpi/vc4/data/meson.build @@ -11,6 +11,7 @@ conf_files = files([ 'imx477.json', 'imx477_noir.json', 'imx477_scientific.json', + 'imx500.json', 'imx519.json', 'imx708.json', 'imx708_noir.json', diff --git a/src/ipa/rpi/vc4/data/ov5647.json b/src/ipa/rpi/vc4/data/ov5647.json index 40c6059c8..c65173d5d 100644 --- a/src/ipa/rpi/vc4/data/ov5647.json +++ b/src/ipa/rpi/vc4/data/ov5647.json @@ -691,6 +691,15 @@ } } } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } diff --git a/src/ipa/rpi/vc4/data/ov5647_noir.json b/src/ipa/rpi/vc4/data/ov5647_noir.json index 488b7119b..3b7510e15 100644 --- a/src/ipa/rpi/vc4/data/ov5647_noir.json +++ b/src/ipa/rpi/vc4/data/ov5647_noir.json @@ -407,6 +407,15 @@ }, { "rpi.sharpen": { } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } \ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/se327m12.json b/src/ipa/rpi/vc4/data/se327m12.json index 948169db2..d3bedb95e 100644 --- a/src/ipa/rpi/vc4/data/se327m12.json +++ b/src/ipa/rpi/vc4/data/se327m12.json @@ -427,6 +427,15 @@ "strength": 0.5, "limit": 0.5 } - } + }, + { + "rpi.sync": + { + "group": "224.0.0.1", + "port": 12345, + "sync_period": 30, + "ready_frame": 1000 + } + } ] } \ No newline at end of file diff --git a/src/libcamera/control_ids_rpi.yaml b/src/libcamera/control_ids_rpi.yaml index 42c4bf5d4..1f6e2131f 100644 --- a/src/libcamera/control_ids_rpi.yaml +++ b/src/libcamera/control_ids_rpi.yaml @@ -30,4 +30,215 @@ controls: \sa StatsOutputEnable + - ScalerCrops: + type: Rectangle + size: [n] + description: | + An array of rectangles, where each singular value has identical functionality + to the ScalerCrop control. This control allows the Raspberry Pi pipeline + handler to control individual scaler crops per output stream. + + The order of rectangles passed into the control must match the order of + streams configured by the application. + + Note that using different crop rectangles for each output stream is only + applicable on the Pi5/PiSP platform. + + \sa ScalerCrop + + - PispStatsOutput: + type: uint8_t + size: [n] + description: | + Span of the PiSP Frontend ISP generated statistics for the current + frame. This is sent in the Request metadata if the StatsOutputEnable is + set to true. The statistics struct definition can be found in + https://github.com/raspberrypi/libpisp/blob/main/src/libpisp/frontend/pisp_statistics.h + + \sa StatsOutputEnable + + - CnnOutputTensor: + type: float + size: [n] + description: | + This control returns a span of floating point values that represent the + output tensors from a Convolutional Neural Network (CNN). The size and + format of this array of values is entirely dependent on the neural + network used, and further post-processing may need to be performed at + the application level to generate the final desired output. This control + is agnostic of the hardware or software used to generate the output + tensors. + + The structure of the span is described by the CnnOutputTensorInfo + control. + + \sa CnnOutputTensorInfo + + - CnnOutputTensorInfo: + type: uint8_t + size: [n] + description: | + This control returns the structure of the CnnOutputTensor. This structure + takes the following form: + + constexpr unsigned int NetworkNameLen = 64; + constexpr unsigned int MaxNumTensors = 8; + constexpr unsigned int MaxNumDimensions = 8; + + struct CnnOutputTensorInfo { + char networkName[NetworkNameLen]; + uint32_t numTensors; + OutputTensorInfo info[MaxNumTensors]; + }; + + with + + struct OutputTensorInfo { + uint32_t tensorDataNum; + uint32_t numDimensions; + uint16_t size[MaxNumDimensions]; + }; + + networkName is the name of the CNN used, + numTensors is the number of output tensors returned, + tensorDataNum gives the number of elements in each output tensor, + numDimensions gives the dimensionality of each output tensor, + size gives the size of each dimension in each output tensor. + + \sa CnnOutputTensor + + - CnnEnableInputTensor: + type: bool + description: | + Boolean to control if the IPA returns the input tensor used by the CNN + to generate the output tensors via the CnnInputTensor control. Because + the input tensor may be relatively large, for efficiency reason avoid + enabling input tensor output unless required for debugging purposes. + + \sa CnnInputTensor + + - CnnInputTensor: + type: uint8_t + size: [n] + description: | + This control returns a span of uint8_t pixel values that represent the + input tensor for a Convolutional Neural Network (CNN). The size and + format of this array of values is entirely dependent on the neural + network used, and further post-processing (e.g. pixel normalisations) may + need to be performed at the application level to generate the final input + image. + + The structure of the span is described by the CnnInputTensorInfo + control. + + \sa CnnInputTensorInfo + + - CnnInputTensorInfo: + type: uint8_t + size: [n] + description: | + This control returns the structure of the CnnInputTensor. This structure + takes the following form: + + constexpr unsigned int NetworkNameLen = 64; + + struct CnnInputTensorInfo { + char networkName[NetworkNameLen]; + uint32_t width; + uint32_t height; + uint32_t numChannels; + }; + + where + + networkName is the name of the CNN used, + width and height are the input tensor image width and height in pixels, + numChannels is the number of channels in the input tensor image. + + \sa CnnInputTensor + + - CnnKpiInfo: + type: int32_t + size: [2] + description: | + This control returns performance metrics for the CNN processing stage. + Two values are returned in this span, the runtime of the CNN/DNN stage + and the DSP stage in milliseconds. + + - FrameWallClock: + type: int64_t + description: | + Control that returns the wall clock timestamp of a frame. This + is the "time since epoch" value obtained from the system, in + microseconds. This value is likely to be subject to + significantly more jitter than the recorded SensorTimestamp. + + - SyncMode: + type: int32_t + description: | + Puts the camera system into sync mode, so that frames can be + temporally synchronised with another camera, either on the same + device, or on a different one. + enum: + - name: SyncModeOff + value: 0 + description: Sync not in use. + - name: SyncModeServer + value: 1 + description: | + Sync on, act as server. The server broadcasts timing + messages to any clients that are listening, so that the + clients can synchronise their camera frames with the + server's. + - name: SyncModeClient + value: 2 + description: | + Sync on, act as client. A client listens for any server + messages, and arranges for its camera frames to synchronise + as closely as possible with the server's. Many clients + can listen out for the same server. + + - SyncWait: + type: bool + description: | + When using the camera syncrhonisation algorithm, the server + broadcasts timing information to the client. This also includes + the time (some number of frames in the future) at which it will + tell the application running on the server when to start using + the image frames (the "ready time"). + + The client receives the "ready time" from the server, and will + tell the application on its end to start using the frames at + this same moment. + + While this control value is true, applications (on both client + and server) should continue to wait. + + Once this value is false, it means that this is the frame where + client and server have agreed that it is the first synchronised + frame that should be used by the application. + + - SyncLag: + type: int64_t + description: | + The lag is the amount of time since the "ready time", at which + the server and client will signal their controlling applications + that the frames are now synchronised and should be used. + + Normally, therefore, the value will start negative (the "ready + time" is in the future), and increase towards zero, before + becoming positive (the "ready time" has elapsed). + + Servers always report this value; clients will omit this control + until they have received a message from the server that enables + them to calculate it. + + Normally there will be just one frame where the lag value is, or + is very close to, zero - the one for which SyncWait becomes + false. But note that if frames are being dropped, then the "near + zero" value, or indeed any other, could be skipped. In these + cases the lag value allows an application to work out exactly + what has happened. + + \sa SyncWait ... diff --git a/src/libcamera/pipeline/rpi/common/pipeline_base.cpp b/src/libcamera/pipeline/rpi/common/pipeline_base.cpp index 3041fd1ed..50265a329 100644 --- a/src/libcamera/pipeline/rpi/common/pipeline_base.cpp +++ b/src/libcamera/pipeline/rpi/common/pipeline_base.cpp @@ -182,11 +182,12 @@ CameraConfiguration::Status RPiCameraConfiguration::validate() rawStreams_.clear(); outStreams_.clear(); - for (const auto &[index, cfg] : utils::enumerate(config_)) { + unsigned int rawIndex = 0, outIndex = 0; + for (auto &cfg : config_) { if (PipelineHandlerBase::isRaw(cfg.pixelFormat)) - rawStreams_.emplace_back(index, &cfg); + rawStreams_.emplace_back(rawIndex++, &cfg); else - outStreams_.emplace_back(index, &cfg); + outStreams_.emplace_back(outIndex++, &cfg); } /* Sort the streams so the highest resolution is first. */ @@ -529,6 +530,13 @@ int PipelineHandlerBase::configure(Camera *camera, CameraConfiguration *config) if (ret) return ret; + /* We store the IPACameraSensorInfo for digital zoom calculations. */ + ret = data->sensor_->sensorInfo(&data->sensorInfo_); + if (ret) { + LOG(RPI, Error) << "Failed to retrieve camera sensor info"; + return ret; + } + /* * Platform specific internal stream configuration. This also assigns * external streams which get configured below. @@ -544,12 +552,6 @@ int PipelineHandlerBase::configure(Camera *camera, CameraConfiguration *config) return ret; } - /* - * Set the scaler crop to the value we are using (scaled to native sensor - * coordinates). - */ - data->scalerCrop_ = data->scaleIspCrop(data->ispCrop_); - /* * Update the ScalerCropMaximum to the correct value for this camera mode. * For us, it's the same as the "analogue crop". @@ -567,9 +569,29 @@ int PipelineHandlerBase::configure(Camera *camera, CameraConfiguration *config) for (auto const &c : result.controlInfo) ctrlMap.emplace(c.first, c.second); - /* Add the ScalerCrop control limits based on the current mode. */ - Rectangle ispMinCrop = data->scaleIspCrop(Rectangle(data->ispMinCropSize_)); - ctrlMap[&controls::ScalerCrop] = ControlInfo(ispMinCrop, data->sensorInfo_.analogCrop, data->scalerCrop_); + if (data->cropParams_.size()) { + /* + * Add the ScalerCrop control limits based on the current mode and + * the first configured stream. + */ + Rectangle ispMinCrop = data->scaleIspCrop(Rectangle(data->cropParams_[0].ispMinCropSize)); + ctrlMap[&controls::ScalerCrop] = ControlInfo(ispMinCrop, data->sensorInfo_.analogCrop, + data->scaleIspCrop(data->cropParams_[0].ispCrop)); + if (data->cropParams_.size() == 2) { + /* + * The control map for rpi::ScalerCrops has the min value + * as the default crop for stream 0, max value as the default + * value for stream 1. + */ + ctrlMap[&controls::rpi::ScalerCrops] = + ControlInfo(data->scaleIspCrop(data->cropParams_[0].ispCrop), + data->scaleIspCrop(data->cropParams_[1].ispCrop), + ctrlMap[&controls::ScalerCrop].def()); + } else { + /* Match the same ControlInfo for rpi::ScalerCrops. */ + ctrlMap[&controls::rpi::ScalerCrops] = ctrlMap[&controls::ScalerCrop]; + } + } data->controlInfo_ = ControlInfoMap(std::move(ctrlMap), result.controlInfo.idmap()); @@ -676,6 +698,7 @@ int PipelineHandlerBase::start(Camera *camera, const ControlList *controls) */ data->delayedCtrls_->reset(0); data->state_ = CameraData::State::Idle; + data->frameWallClock_ = {}; /* Enable SOF event generation. */ data->frontendDevice()->setFrameStartEnabled(true); @@ -1187,13 +1210,6 @@ int CameraData::configureIPA(const CameraConfiguration *config, ipa::RPi::Config if (ret) return ret; - /* We store the IPACameraSensorInfo for digital zoom calculations. */ - ret = sensor_->sensorInfo(&sensorInfo_); - if (ret) { - LOG(RPI, Error) << "Failed to retrieve camera sensor info"; - return ret; - } - /* Always send the user transform to the IPA. */ Transform transform = config->orientation / Orientation::Rotate0; params.transform = static_cast(transform); @@ -1295,9 +1311,29 @@ Rectangle CameraData::scaleIspCrop(const Rectangle &ispCrop) const void CameraData::applyScalerCrop(const ControlList &controls) { - const auto &scalerCrop = controls.get(controls::ScalerCrop); - if (scalerCrop) { - Rectangle nativeCrop = *scalerCrop; + const auto &scalerCropRPi = controls.get>(controls::rpi::ScalerCrops); + const auto &scalerCropCore = controls.get(controls::ScalerCrop); + std::vector scalerCrops; + + /* + * First thing to do is create a vector of crops to apply to each ISP output + * based on either controls::ScalerCrop or controls::rpi::ScalerCrops if + * present. + * + * If controls::ScalerCrop is present, apply the same crop to all ISP output + * streams. Otherwise if controls::rpi::ScalerCrops, apply the given crops + * to the ISP output streams, indexed by the same order in which they had + * been configured. This is not the same as the ISP output index. + */ + for (unsigned int i = 0; i < cropParams_.size(); i++) { + if (scalerCropRPi && i < scalerCropRPi->size()) + scalerCrops.push_back(scalerCropRPi->data()[i]); + else if (scalerCropCore) + scalerCrops.push_back(*scalerCropCore); + } + + for (auto const &[i, scalerCrop] : utils::enumerate(scalerCrops)) { + Rectangle nativeCrop = scalerCrop; if (!nativeCrop.width || !nativeCrop.height) nativeCrop = { 0, 0, 1, 1 }; @@ -1313,20 +1349,13 @@ void CameraData::applyScalerCrop(const ControlList &controls) * 2. With the same mid-point, if possible. * 3. But it can't go outside the sensor area. */ - Size minSize = ispMinCropSize_.expandedToAspectRatio(nativeCrop.size()); + Size minSize = cropParams_[i].ispMinCropSize.expandedToAspectRatio(nativeCrop.size()); Size size = ispCrop.size().expandedTo(minSize); ispCrop = size.centeredTo(ispCrop.center()).enclosedIn(Rectangle(sensorInfo_.outputSize)); - if (ispCrop != ispCrop_) { - ispCrop_ = ispCrop; - platformSetIspCrop(); - - /* - * Also update the ScalerCrop in the metadata with what we actually - * used. But we must first rescale that from ISP (camera mode) pixels - * back into sensor native pixels. - */ - scalerCrop_ = scaleIspCrop(ispCrop_); + if (ispCrop != cropParams_[i].ispCrop) { + cropParams_[i].ispCrop = ispCrop; + platformSetIspCrop(cropParams_[i].ispIndex, ispCrop); } } } @@ -1353,6 +1382,11 @@ void CameraData::cameraTimeout() void CameraData::frameStarted(uint32_t sequence) { + /* Get frame wall clock. */ + auto now = std::chrono::system_clock::now(); + auto durNow = std::chrono::duration_cast(now.time_since_epoch()); + frameWallClock_.emplace(sequence, durNow); + LOG(RPI, Debug) << "Frame start " << sequence; /* Write any controls for the next frame as soon as we can. */ @@ -1483,7 +1517,20 @@ void CameraData::fillRequestMetadata(const ControlList &bufferControls, Request request->metadata().set(controls::SensorTimestamp, bufferControls.get(controls::SensorTimestamp).value_or(0)); - request->metadata().set(controls::ScalerCrop, scalerCrop_); + request->metadata().set(controls::rpi::FrameWallClock, + bufferControls.get(controls::rpi::FrameWallClock).value_or(0)); + + if (cropParams_.size()) { + std::vector crops; + + ASSERT(cropParams_.size() <= 2); + for (auto const &[k, v] : cropParams_) + crops.push_back(scaleIspCrop(v.ispCrop)); + + request->metadata().set(controls::ScalerCrop, crops[0]); + request->metadata().set(controls::rpi::ScalerCrops, + Span(crops.data(), crops.size())); + } } } /* namespace libcamera */ diff --git a/src/libcamera/pipeline/rpi/common/pipeline_base.h b/src/libcamera/pipeline/rpi/common/pipeline_base.h index f9cecf70f..714469004 100644 --- a/src/libcamera/pipeline/rpi/common/pipeline_base.h +++ b/src/libcamera/pipeline/rpi/common/pipeline_base.h @@ -83,7 +83,7 @@ class CameraData : public Camera::Private Rectangle scaleIspCrop(const Rectangle &ispCrop) const; void applyScalerCrop(const ControlList &controls); - virtual void platformSetIspCrop() = 0; + virtual void platformSetIspCrop(unsigned int index, const Rectangle &ispCrop) = 0; void cameraTimeout(); void frameStarted(uint32_t sequence); @@ -133,9 +133,27 @@ class CameraData : public Camera::Private /* For handling digital zoom. */ IPACameraSensorInfo sensorInfo_; - Rectangle ispCrop_; /* crop in ISP (camera mode) pixels */ - Rectangle scalerCrop_; /* crop in sensor native pixels */ - Size ispMinCropSize_; + + struct CropParams { + CropParams(Rectangle ispCrop_, Size ispMinCropSize_, unsigned int ispIndex_) + : ispCrop(ispCrop_), ispMinCropSize(ispMinCropSize_), ispIndex(ispIndex_) + { + } + + CropParams() + { + } + + /* Crop in ISP (camera mode) pixels */ + Rectangle ispCrop; + /* Minimum crop size in ISP output pixels */ + Size ispMinCropSize; + /* Index of the ISP output channel for this crop */ + unsigned int ispIndex; + }; + + /* Mapping of CropParams keyed by the output stream order in CameraConfiguration */ + std::map cropParams_; unsigned int dropFrameCount_; @@ -163,6 +181,8 @@ class CameraData : public Camera::Private Config config_; + std::queue> frameWallClock_; + protected: void fillRequestMetadata(const ControlList &bufferControls, Request *request); diff --git a/src/libcamera/pipeline/rpi/common/rpi_stream.h b/src/libcamera/pipeline/rpi/common/rpi_stream.h index a13d5dc0d..a559a2f4e 100644 --- a/src/libcamera/pipeline/rpi/common/rpi_stream.h +++ b/src/libcamera/pipeline/rpi/common/rpi_stream.h @@ -82,6 +82,11 @@ class Stream : public libcamera::Stream * to be applied after ISP processing. */ Needs32bitConv = (1 << 4), + /* + * Indicates that the input stream needs a software 16-bit endian + * conversion to be applied before ISP processing. + */ + Needs16bitEndianSwap = (1 << 5), }; using StreamFlags = Flags; diff --git a/src/libcamera/pipeline/rpi/pisp/data/example.yaml b/src/libcamera/pipeline/rpi/pisp/data/example.yaml new file mode 100644 index 000000000..7b8e51f7a --- /dev/null +++ b/src/libcamera/pipeline/rpi/pisp/data/example.yaml @@ -0,0 +1,45 @@ +{ + "version": 1.0, + "target": "pisp", + + "pipeline_handler": + { + # Number of CFE config and stats buffers to allocate and use. A + # larger number minimises the possibility of dropping frames, + # but increases the latency for updating the HW configuration. + # + # "num_cfe_config_stats_buffers": 12, + + # Number of jobs to queue ahead to the CFE on startup. A larger + # number will increase latency for 3A changes, but may reduce + # avoidable frame drops. + # + # "num_cfe_config_queue": 2, + + # Override any request from the IPA to drop a number of startup + # frames. + # + # "disable_startup_frame_drops": false, + + # Custom timeout value (in ms) for camera to use. This overrides + # the value computed by the pipeline handler based on frame + # durations. + # + # Set this value to 0 to use the pipeline handler computed + # timeout value. + # + # "camera_timeout_value_ms": 0, + + # Disables temporal denoise functionality in the ISP pipeline. + # Disabling temporal denoise avoids allocating 2 additional + # Bayer framebuffers required for its operation. + # + # "disable_tdn": false, + + # Disables multiframe HDR functionality in the ISP pipeline. + # Disabling multiframe HDR avoids allocating 2 additional Bayer + # framebuffers required for its operation. + # + # "disable_hdr": false, + } +} diff --git a/src/libcamera/pipeline/rpi/pisp/data/meson.build b/src/libcamera/pipeline/rpi/pisp/data/meson.build new file mode 100644 index 000000000..17dfc435b --- /dev/null +++ b/src/libcamera/pipeline/rpi/pisp/data/meson.build @@ -0,0 +1,8 @@ +# SPDX-License-Identifier: CC0-1.0 + +conf_files = files([ + 'example.yaml', +]) + +install_data(conf_files, + install_dir : pipeline_data_dir / 'rpi' / 'pisp') diff --git a/src/libcamera/pipeline/rpi/pisp/meson.build b/src/libcamera/pipeline/rpi/pisp/meson.build new file mode 100644 index 000000000..178df94c2 --- /dev/null +++ b/src/libcamera/pipeline/rpi/pisp/meson.build @@ -0,0 +1,12 @@ +# SPDX-License-Identifier: CC0-1.0 + +libcamera_internal_sources += files([ + 'pisp.cpp', +]) + +librt = cc.find_library('rt', required : true) +libpisp_dep = dependency('libpisp', fallback : ['libpisp', 'libpisp_dep']) + +libcamera_deps += [libpisp_dep, librt] + +subdir('data') diff --git a/src/libcamera/pipeline/rpi/pisp/pisp.cpp b/src/libcamera/pipeline/rpi/pisp/pisp.cpp new file mode 100644 index 000000000..157bc9531 --- /dev/null +++ b/src/libcamera/pipeline/rpi/pisp/pisp.cpp @@ -0,0 +1,2316 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * pisp.cpp - Pipeline handler for PiSP based Raspberry Pi devices + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +#include "libcamera/internal/device_enumerator.h" +#include "libcamera/internal/shared_mem_object.h" + +#include "libpisp/backend/backend.hpp" +#include "libpisp/common/logging.hpp" +#include "libpisp/common/utils.hpp" +#include "libpisp/common/version.hpp" +#include "libpisp/frontend/frontend.hpp" +#include "libpisp/variants/variant.hpp" + +#include "../common/pipeline_base.h" +#include "../common/rpi_stream.h" + +namespace libcamera { + +LOG_DECLARE_CATEGORY(RPI) + +using StreamFlag = RPi::Stream::StreamFlag; +using StreamParams = RPi::RPiCameraConfiguration::StreamParams; + +namespace { + +enum class Cfe : unsigned int { Output0, Embedded, Stats, Config }; +enum class Isp : unsigned int { Input, Output0, Output1, TdnInput, TdnOutput, + StitchInput, StitchOutput, Config }; + +/* Offset for all compressed buffers; mode for TDN and Stitch. */ +constexpr unsigned int DefaultCompressionOffset = 2048; +constexpr unsigned int DefaultCompressionMode = 1; + +const std::vector> BayerToMbusCodeMap{ + { { BayerFormat::BGGR, 8, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SBGGR8_1X8, }, + { { BayerFormat::GBRG, 8, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGBRG8_1X8, }, + { { BayerFormat::GRBG, 8, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGRBG8_1X8, }, + { { BayerFormat::RGGB, 8, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SRGGB8_1X8, }, + { { BayerFormat::BGGR, 10, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SBGGR10_1X10, }, + { { BayerFormat::GBRG, 10, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGBRG10_1X10, }, + { { BayerFormat::GRBG, 10, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGRBG10_1X10, }, + { { BayerFormat::RGGB, 10, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SRGGB10_1X10, }, + { { BayerFormat::BGGR, 12, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SBGGR12_1X12, }, + { { BayerFormat::GBRG, 12, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGBRG12_1X12, }, + { { BayerFormat::GRBG, 12, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGRBG12_1X12, }, + { { BayerFormat::RGGB, 12, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SRGGB12_1X12, }, + { { BayerFormat::BGGR, 14, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SBGGR14_1X14, }, + { { BayerFormat::GBRG, 14, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGBRG14_1X14, }, + { { BayerFormat::GRBG, 14, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGRBG14_1X14, }, + { { BayerFormat::RGGB, 14, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SRGGB14_1X14, }, + { { BayerFormat::BGGR, 16, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SBGGR16_1X16, }, + { { BayerFormat::GBRG, 16, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGBRG16_1X16, }, + { { BayerFormat::GRBG, 16, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGRBG16_1X16, }, + { { BayerFormat::RGGB, 16, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SRGGB16_1X16, }, + { { BayerFormat::BGGR, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_SBGGR16_1X16, }, + { { BayerFormat::GBRG, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_SGBRG16_1X16, }, + { { BayerFormat::GRBG, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_SGRBG16_1X16, }, + { { BayerFormat::RGGB, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_SRGGB16_1X16, }, + { { BayerFormat::RGGB, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_SRGGB16_1X16, }, + { { BayerFormat::MONO, 16, BayerFormat::Packing::None }, MEDIA_BUS_FMT_Y16_1X16, }, + { { BayerFormat::MONO, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_Y16_1X16, }, +}; + +unsigned int bayerToMbusCode(const BayerFormat &bayer) +{ + const auto it = std::find_if(BayerToMbusCodeMap.begin(), BayerToMbusCodeMap.end(), + [bayer](const std::pair &match) { + return bayer == match.first; + }); + + if (it != BayerToMbusCodeMap.end()) + return it->second; + + return 0; +} + +uint32_t mbusCodeUnpacked16(unsigned int code) +{ + BayerFormat bayer = BayerFormat::fromMbusCode(code); + BayerFormat bayer16(bayer.order, 16, BayerFormat::Packing::None); + + return bayerToMbusCode(bayer16); +} + +uint8_t toPiSPBayerOrder(V4L2PixelFormat format) +{ + BayerFormat bayer = BayerFormat::fromV4L2PixelFormat(format); + + switch (bayer.order) { + case BayerFormat::Order::BGGR: + return PISP_BAYER_ORDER_BGGR; + case BayerFormat::Order::GBRG: + return PISP_BAYER_ORDER_GBRG; + case BayerFormat::Order::GRBG: + return PISP_BAYER_ORDER_GRBG; + case BayerFormat::Order::RGGB: + return PISP_BAYER_ORDER_RGGB; + case BayerFormat::Order::MONO: + return PISP_BAYER_ORDER_GREYSCALE; + default: + ASSERT(0); + return -1; + } +} + +pisp_image_format_config toPiSPImageFormat(V4L2DeviceFormat &format) +{ + pisp_image_format_config image = {}; + + image.width = format.size.width; + image.height = format.size.height; + image.stride = format.planes[0].bpl; + + PixelFormat pix = format.fourcc.toPixelFormat(); + + if (RPi::PipelineHandlerBase::isRaw(pix)) { + BayerFormat bayer = BayerFormat::fromPixelFormat(pix); + switch (bayer.packing) { + case BayerFormat::Packing::None: + image.format = PISP_IMAGE_FORMAT_BPS_16 + + PISP_IMAGE_FORMAT_UNCOMPRESSED; + break; + case BayerFormat::Packing::PISP1: + image.format = PISP_IMAGE_FORMAT_COMPRESSION_MODE_1; + break; + case BayerFormat::Packing::PISP2: + image.format = PISP_IMAGE_FORMAT_COMPRESSION_MODE_2; + break; + default: + ASSERT(0); + } + return image; + } + + switch (pix) { + case formats::YUV420: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_420 + + PISP_IMAGE_FORMAT_PLANARITY_PLANAR; + image.stride2 = image.stride / 2; + break; + case formats::NV12: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_420 + + PISP_IMAGE_FORMAT_PLANARITY_SEMI_PLANAR; + image.stride2 = image.stride; + break; + case formats::NV21: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_420 + + PISP_IMAGE_FORMAT_PLANARITY_SEMI_PLANAR + + PISP_IMAGE_FORMAT_ORDER_SWAPPED; + image.stride2 = image.stride; + break; + case formats::YUYV: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_422 + + PISP_IMAGE_FORMAT_PLANARITY_INTERLEAVED; + break; + case formats::UYVY: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_422 + + PISP_IMAGE_FORMAT_PLANARITY_INTERLEAVED + + PISP_IMAGE_FORMAT_ORDER_SWAPPED; + break; + case formats::NV16: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_422 + + PISP_IMAGE_FORMAT_PLANARITY_SEMI_PLANAR; + image.stride2 = image.stride; + break; + case formats::NV61: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_422 + + PISP_IMAGE_FORMAT_PLANARITY_SEMI_PLANAR + + PISP_IMAGE_FORMAT_ORDER_SWAPPED; + image.stride2 = image.stride; + break; + case formats::RGB888: + case formats::BGR888: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL; + break; + case formats::XRGB8888: + case formats::XBGR8888: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + PISP_IMAGE_FORMAT_BPP_32; + break; + case formats::RGBX8888: + case formats::BGRX8888: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + PISP_IMAGE_FORMAT_BPP_32 + + PISP_IMAGE_FORMAT_ORDER_SWAPPED; + break; + case formats::RGB161616: + case formats::BGR161616: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + PISP_IMAGE_FORMAT_BPS_16; + break; + default: + LOG(RPI, Error) << "Pixel format " << pix << " unsupported"; + ASSERT(0); + } + + return image; +} + +void computeOptimalStride(V4L2DeviceFormat &format) +{ + pisp_image_format_config fmt = toPiSPImageFormat(format); + + libpisp::compute_optimal_stride(fmt); + + uint32_t fourcc = format.fourcc.fourcc(); + + /* + * For YUV420/422 non-multiplanar formats, double the U/V stride for the + * Y-plane to ensure we get the optimal alignment on all three planes. + */ + if (fourcc == V4L2_PIX_FMT_YUV420 || fourcc == V4L2_PIX_FMT_YUV422P || + fourcc == V4L2_PIX_FMT_YVU420) + fmt.stride = fmt.stride2 * 2; + + format.planes[0].bpl = fmt.stride; + format.planes[1].bpl = fmt.stride2; + format.planes[2].bpl = fmt.stride2; + + /* + * Need to set planesCount correctly so that V4L2VideoDevice::trySetFormatMultiplane() + * copies the bpl fields correctly. + */ + const PixelFormat &pixFormat = format.fourcc.toPixelFormat(); + const PixelFormatInfo &info = PixelFormatInfo::info(pixFormat); + format.planesCount = info.numPlanes(); +} + +void setupOutputClipping(const V4L2DeviceFormat &v4l2Format, + pisp_be_output_format_config &outputFormat) +{ + const PixelFormat &pixFormat = v4l2Format.fourcc.toPixelFormat(); + const PixelFormatInfo &info = PixelFormatInfo::info(pixFormat); + + if (info.colourEncoding != PixelFormatInfo::ColourEncodingYUV) + return; + + if (v4l2Format.colorSpace == ColorSpace::Sycc) { + outputFormat.lo = 0; + outputFormat.hi = 65535; + outputFormat.lo2 = 0; + outputFormat.hi2 = 65535; + } else if (v4l2Format.colorSpace == ColorSpace::Smpte170m || + v4l2Format.colorSpace == ColorSpace::Rec709) { + outputFormat.lo = 16 << 8; + outputFormat.hi = 235 << 8; + outputFormat.lo2 = 16 << 8; + outputFormat.hi2 = 240 << 8; + } else { + LOG(RPI, Warning) + << "Unrecognised colour space " + << ColorSpace::toString(v4l2Format.colorSpace) + << ", using full range"; + outputFormat.lo = 0; + outputFormat.hi = 65535; + outputFormat.lo2 = 0; + outputFormat.hi2 = 65535; + } +} + +int dmabufSyncStart(const SharedFD &fd) +{ + struct dma_buf_sync dma_sync {}; + dma_sync.flags = DMA_BUF_SYNC_START | DMA_BUF_SYNC_RW; + + int ret = ::ioctl(fd.get(), DMA_BUF_IOCTL_SYNC, &dma_sync); + if (ret) + LOG(RPI, Error) << "failed to lock-sync-write dma buf"; + + return ret; +} + +int dmabufSyncEnd(const SharedFD &fd) +{ + struct dma_buf_sync dma_sync {}; + dma_sync.flags = DMA_BUF_SYNC_END | DMA_BUF_SYNC_RW; + + int ret = ::ioctl(fd.get(), DMA_BUF_IOCTL_SYNC, &dma_sync); + + if (ret) + LOG(RPI, Error) << "failed to unlock-sync-write dma buf"; + + return ret; +} + +void do32BitConversion(void *mem, unsigned int width, unsigned int height, + unsigned int stride) +{ + /* + * The arm64 version is actually not that much quicker because the + * vast bulk of the time is spent waiting for memory. + */ +#if __aarch64__ + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + uint64_t count = (width + 15) / 16; + uint8_t *dest = ptr + count * 64; + uint8_t *src = ptr + count * 48; + + /* Pre-decrement would have been nice. */ + asm volatile("movi v3.16b, #255 \n" + "1: \n" + "sub %[src], %[src], #48 \n" + "sub %[dest], %[dest], #64 \n" + "subs %[count], %[count], #1 \n" + "ld3 {v0.16b, v1.16b, v2.16b}, [%[src]] \n" + "st4 {v0.16b, v1.16b, v2.16b, v3.16b}, [%[dest]] \n" + "b.gt 1b \n" + : [count]"+r" (count) + : [src]"r" (src), [dest]"r" (dest) + : "cc", "v1", "v2", "v3", "v4", "memory" + ); + } +#else + std::vector incache(3 * width); + std::vector outcache(4 * width); + + memcpy(incache.data(), mem, 3 * width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *ptr3 = incache.data(); + uint8_t *ptr4 = outcache.data(); + for (unsigned int i = 0; i < width; i++) { + *(ptr4++) = *(ptr3++); + *(ptr4++) = *(ptr3++); + *(ptr4++) = *(ptr3++); + *(ptr4++) = 255; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 3 * width); + memcpy(ptr, outcache.data(), 4 * width); + } +#endif +} + +void do16BitEndianSwap([[maybe_unused]] void *mem, [[maybe_unused]] unsigned int width, + [[maybe_unused]] unsigned int height, [[maybe_unused]] unsigned int stride) +{ +#if __aarch64__ + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + uint64_t count = (width + 7) / 8; + + asm volatile("1: \n" + "ld1 {v1.16b}, [%[ptr]] \n" + "rev16 v1.16b, v1.16b \n" + "st1 {v1.16b}, [%[ptr]], #16 \n" + "subs %[count], %[count], #1 \n" + "b.gt 1b \n" + : [count]"+r" (count), [ptr]"+r" (ptr) + : + : "cc", "v1", "memory" + ); + } +#endif +} + +void downscaleInterleaved3(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride) +{ + std::vector incache(3 * src_width); + unsigned int dst_width = src_width / 2; + std::vector outcache(3 * dst_width); + + memcpy(incache.data(), mem, 3 * src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 6, dst += 3) { + dst[0] = ((int)src[0] + (int)src[3] + 1) >> 1; + dst[1] = ((int)src[1] + (int)src[4] + 1) >> 1; + dst[2] = ((int)src[2] + (int)src[5] + 1) >> 1; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 3 * src_width); + memcpy(ptr, outcache.data(), 3 * dst_width); + } +} + +void downscaleInterleaved4(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride) +{ + std::vector incache(4 * src_width); + unsigned int dst_width = src_width / 2; + std::vector outcache(4 * dst_width); + + memcpy(incache.data(), mem, 4 * src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 8, dst += 4) { + dst[0] = ((int)src[0] + (int)src[4] + 1) >> 1; + dst[1] = ((int)src[1] + (int)src[5] + 1) >> 1; + dst[2] = ((int)src[2] + (int)src[6] + 1) >> 1; + dst[3] = ((int)src[3] + (int)src[7] + 1) >> 1; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 4 * src_width); + memcpy(ptr, outcache.data(), 4 * dst_width); + } +} + +void downscalePlaneInternal(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride, std::vector &incache, + std::vector &outcache) +{ + unsigned int dst_width = src_width / 2; + memcpy(incache.data(), mem, src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 2, dst++) + *dst = ((int)src[0] + (int)src[1] + 1) >> 1; + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, src_width); + memcpy(ptr, outcache.data(), dst_width); + } +} + +void downscalePlanar420(void *memY, void *memU, void *memV, unsigned int height, + unsigned int src_width, unsigned int stride) +{ + std::vector incache(src_width); + std::vector outcache(src_width / 2); + + downscalePlaneInternal(memY, height, src_width, stride, incache, outcache); + downscalePlaneInternal(memU, height / 2, src_width / 2, stride / 2, incache, outcache); + downscalePlaneInternal(memV, height / 2, src_width / 2, stride / 2, incache, outcache); +} + +void downscalePlanar422(void *memY, void *memU, void *memV, + unsigned int height, unsigned int src_width, unsigned int stride) +{ + std::vector incache(src_width); + std::vector outcache(src_width / 2); + + downscalePlaneInternal(memY, height, src_width, stride, incache, outcache); + downscalePlaneInternal(memU, height, src_width / 2, stride / 2, incache, outcache); + downscalePlaneInternal(memV, height, src_width / 2, stride / 2, incache, outcache); +} + +void downscaleInterleavedYuyv(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride) +{ + std::vector incache(2 * src_width); + unsigned int dst_width = src_width / 2; + std::vector outcache(2 * dst_width); + + memcpy(incache.data(), mem, 2 * src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 8, dst += 4) { + dst[0] = ((int)src[0] + (int)src[2] + 1) >> 1; + dst[1] = ((int)src[1] + (int)src[5] + 1) >> 1; + dst[2] = ((int)src[4] + (int)src[6] + 1) >> 1; + dst[3] = ((int)src[3] + (int)src[7] + 1) >> 1; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 4 * src_width); + memcpy(ptr, outcache.data(), 2 * dst_width); + } +} + +void downscaleInterleavedUyvy(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride) +{ + std::vector incache(2 * src_width); + unsigned int dst_width = src_width / 2; + std::vector outcache(2 * dst_width); + + memcpy(incache.data(), mem, 2 * src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 8, dst += 4) { + dst[0] = ((int)src[0] + (int)src[4] + 1) >> 1; + dst[1] = ((int)src[1] + (int)src[3] + 1) >> 1; + dst[2] = ((int)src[2] + (int)src[6] + 1) >> 1; + dst[3] = ((int)src[5] + (int)src[7] + 1) >> 1; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 4 * src_width); + memcpy(ptr, outcache.data(), 2 * dst_width); + } +} + +void downscaleInterleaved2Internal(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride, std::vector &incache, + std::vector &outcache) +{ + unsigned int dst_width = src_width / 2; + memcpy(incache.data(), mem, 2 * src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 4, dst += 2) { + dst[0] = ((int)src[0] + (int)src[2] + 1) >> 1; + dst[1] = ((int)src[1] + (int)src[3] + 1) >> 1; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 2 * src_width); + memcpy(ptr, outcache.data(), 2 * dst_width); + } +} + +void downscaleSemiPlanar420(void *memY, void *memUV, unsigned int height, + unsigned int src_width, unsigned int stride) +{ + std::vector incache(src_width); + std::vector outcache(src_width / 2); + + downscalePlaneInternal(memY, height, src_width, stride, incache, outcache); + downscaleInterleaved2Internal(memUV, height / 2, src_width / 2, stride, + incache, outcache); +} + +void downscaleStreamBuffer(RPi::Stream *stream, int index) +{ + unsigned int downscale = stream->swDownscale(); + /* Must be a power of 2. */ + ASSERT((downscale & (downscale - 1)) == 0); + + unsigned int stride = stream->configuration().stride; + unsigned int dst_width = stream->configuration().size.width; + unsigned int height = stream->configuration().size.height; + const PixelFormat &pixFormat = stream->configuration().pixelFormat; + const RPi::BufferObject &b = stream->getBuffer(index); + void *mem = b.mapped->planes()[0].data(); + ASSERT(b.mapped); + + /* Do repeated downscale-by-2 in place until we're done. */ + for (; downscale > 1; downscale >>= 1) { + unsigned int src_width = downscale * dst_width; + + if (pixFormat == formats::RGB888 || pixFormat == formats::BGR888) { + downscaleInterleaved3(mem, height, src_width, stride); + } else if (pixFormat == formats::XRGB8888 || pixFormat == formats::XBGR8888) { + /* On some devices these may actually be 24bpp at this point. */ + if (stream->getFlags() & StreamFlag::Needs32bitConv) + downscaleInterleaved3(mem, height, src_width, stride); + else + downscaleInterleaved4(mem, height, src_width, stride); + } else if (pixFormat == formats::YUV420 || pixFormat == formats::YVU420) { + /* These may look like either single or multi-planar buffers. */ + void *mem1; + void *mem2; + if (b.mapped->planes().size() == 3) { + mem1 = b.mapped->planes()[1].data(); + mem2 = b.mapped->planes()[2].data(); + } else { + unsigned int ySize = height * stride; + mem1 = static_cast(mem) + ySize; + mem2 = static_cast(mem1) + ySize / 4; + } + downscalePlanar420(mem, mem1, mem2, height, src_width, stride); + } else if (pixFormat == formats::YUV422 || pixFormat == formats::YVU422) { + /* These may look like either single or multi-planar buffers. */ + void *mem1; + void *mem2; + if (b.mapped->planes().size() == 3) { + mem1 = b.mapped->planes()[1].data(); + mem2 = b.mapped->planes()[2].data(); + } else { + unsigned int ySize = height * stride; + mem1 = static_cast(mem) + ySize; + mem2 = static_cast(mem1) + ySize / 2; + } + downscalePlanar422(mem, mem1, mem2, height, src_width, stride); + } else if (pixFormat == formats::YUYV || pixFormat == formats::YVYU) { + downscaleInterleavedYuyv(mem, height, src_width, stride); + } else if (pixFormat == formats::UYVY || pixFormat == formats::VYUY) { + downscaleInterleavedUyvy(mem, height, src_width, stride); + } else if (pixFormat == formats::NV12 || pixFormat == formats::NV21) { + /* These may look like either single or multi-planar buffers. */ + void *mem1; + if (b.mapped->planes().size() == 2) + mem1 = b.mapped->planes()[1].data(); + else + mem1 = static_cast(mem) + height * stride; + downscaleSemiPlanar420(mem, mem1, height, src_width, stride); + } else { + LOG(RPI, Error) << "Sw downscale unsupported for " << pixFormat; + ASSERT(0); + } + } +} + +/* Return largest width of any of these streams (or of the camera input). */ +unsigned int getLargestWidth(const V4L2SubdeviceFormat &sensorFormat, + const std::vector &outStreams) +{ + unsigned int largestWidth = sensorFormat.size.width; + + for (const auto &stream : outStreams) + largestWidth = std::max(largestWidth, stream.cfg->size.width); + + return largestWidth; +} + +/* Return the minimum number of pixels required to write out multiples of 16 bytes. */ +unsigned int getFormatAlignment(const V4L2PixelFormat &fourcc) +{ + const PixelFormatInfo &info = PixelFormatInfo::info(fourcc); + unsigned int formatAlignment = 0; + for (const auto &plane : info.planes) { + if (plane.bytesPerGroup) { + /* How many pixels we need in this plane for a multiple of 16 bytes (??). */ + unsigned int align = 16 * info.pixelsPerGroup / + std::gcd(16u, plane.bytesPerGroup); + formatAlignment = std::max(formatAlignment, align); + } + } + + return formatAlignment; +} + +/* Calculate the amount of software downscale required (which is a power of 2). */ +unsigned int calculateSwDownscale(const V4L2DeviceFormat &format, unsigned int largestWidth, + unsigned int platformMaxDownscale) +{ + unsigned int formatAlignment = getFormatAlignment(format.fourcc); + unsigned int maxDownscale = platformMaxDownscale * 16 / formatAlignment; + unsigned int limitWidth = largestWidth / maxDownscale; + + unsigned int hwWidth = format.size.width; + unsigned int swDownscale = 1; + for (; hwWidth < limitWidth; hwWidth *= 2, swDownscale *= 2); + + return swDownscale; +} + +} /* namespace */ + +using ::libpisp::BackEnd; +using ::libpisp::FrontEnd; + +class PiSPCameraData final : public RPi::CameraData +{ +public: + PiSPCameraData(PipelineHandler *pipe, const libpisp::PiSPVariant &variant) + : RPi::CameraData(pipe), pispVariant_(variant) + { + /* Initialise internal libpisp logging. */ + ::libpisp::logging_init(); + LOG(RPI, Info) << "libpisp version " << ::libpisp::version(); + } + + ~PiSPCameraData() + { + freeBuffers(); + } + + V4L2VideoDevice::Formats ispFormats() const override + { + return isp_[Isp::Output0].dev()->formats(); + } + + V4L2VideoDevice::Formats rawFormats() const override + { + return cfe_[Cfe::Output0].dev()->formats(); + } + + V4L2VideoDevice *frontendDevice() override + { + return cfe_[Cfe::Output0].dev(); + } + + CameraConfiguration::Status + platformValidate(RPi::RPiCameraConfiguration *rpiConfig) const override; + + int platformPipelineConfigure(const std::unique_ptr &root) override; + + void platformStart() override; + void platformStop() override; + void platformFreeBuffers() override; + + void cfeBufferDequeue(FrameBuffer *buffer); + void beInputDequeue(FrameBuffer *buffer); + void beOutputDequeue(FrameBuffer *buffer); + + void processStatsComplete(const ipa::RPi::BufferIds &buffers); + void prepareIspComplete(const ipa::RPi::BufferIds &buffers, bool stitchSwapBuffers); + void setCameraTimeout(uint32_t maxFrameLengthMs); + + /* Array of CFE and ISP device streams and associated buffers/streams. */ + RPi::Device cfe_; + RPi::Device isp_; + + const libpisp::PiSPVariant &pispVariant_; + + /* Frontend/Backend objects shared with the IPA. */ + SharedMemObject fe_; + SharedMemObject be_; + bool beEnabled_; + + std::unique_ptr csi2Subdev_; + std::unique_ptr feSubdev_; + + std::vector tdnBuffers_; + std::vector stitchBuffers_; + unsigned int tdnInputIndex_; + unsigned int stitchInputIndex_; + + struct Config { + /* + * Number of CFE config and stats buffers to allocate and use. A + * larger number minimises the possibility of dropping frames, + * but increases the latency for updating the HW configuration. + */ + unsigned int numCfeConfigStatsBuffers; + /* + * Number of jobs to queue ahead to the CFE on startup. + * A larger number will increase latency for 3A changes. + */ + unsigned int numCfeConfigQueue; + /* Don't use BE temporal denoise and free some memory resources. */ + bool disableTdn; + /* Don't use BE HDR and free some memory resources. */ + bool disableHdr; + }; + + Config config_; + + bool adjustDeviceFormat(V4L2DeviceFormat &format) const; + +private: + int platformConfigure(const RPi::RPiCameraConfiguration *rpiConfig) override; + + int platformConfigureIpa([[maybe_unused]] ipa::RPi::ConfigParams ¶ms) override + { + return 0; + } + + int platformInitIpa(ipa::RPi::InitParams ¶ms) override; + + int configureEntities(V4L2SubdeviceFormat sensorFormat, + V4L2SubdeviceFormat &embeddedFormat); + int configureCfe(); + bool calculateCscConfiguration(const V4L2DeviceFormat &v4l2Format, pisp_be_ccm_config &csc); + int configureBe(const std::optional &yuvColorSpace); + + void platformSetIspCrop(unsigned int index, const Rectangle &ispCrop) override; + + void prepareCfe(); + void prepareBe(uint32_t bufferId, bool stitchSwapBuffers); + + void tryRunPipeline() override; + + struct CfeJob { + ControlList sensorControls; + unsigned int delayContext; + std::unordered_map buffers; + }; + + std::queue cfeJobQueue_; + + bool cfeJobComplete() const + { + if (cfeJobQueue_.empty()) + return false; + + const CfeJob &job = cfeJobQueue_.back(); + return job.buffers.count(&cfe_[Cfe::Output0]) && + job.buffers.count(&cfe_[Cfe::Stats]) && + (!sensorMetadata_ || + job.buffers.count(&cfe_[Cfe::Embedded])); + } + + std::string last_dump_file_; +}; + +class PipelineHandlerPiSP : public RPi::PipelineHandlerBase +{ +public: + PipelineHandlerPiSP(CameraManager *manager) + : RPi::PipelineHandlerBase(manager) + { + } + + ~PipelineHandlerPiSP() + { + } + + bool match(DeviceEnumerator *enumerator) override; + +private: + PiSPCameraData *cameraData(Camera *camera) + { + return static_cast(camera->_d()); + } + + int prepareBuffers(Camera *camera) override; + int platformRegister(std::unique_ptr &cameraData, + MediaDevice *cfe, MediaDevice *isp) override; +}; + +bool PipelineHandlerPiSP::match(DeviceEnumerator *enumerator) +{ + constexpr unsigned int numCfeDevices = 2; + + /* + * Loop over all CFE instances, but return out once a match is found. + * This is to ensure we correctly enumerate the camera when an instance + * of the CFE has registered with media controller, but has not registered + * device nodes due to a sensor subdevice failure. + */ + for (unsigned int i = 0; i < numCfeDevices; i++) { + DeviceMatch cfe("rp1-cfe"); + cfe.add("rp1-cfe-fe_image0"); + cfe.add("rp1-cfe-fe_stats"); + cfe.add("rp1-cfe-fe_config"); + MediaDevice *cfeDevice = acquireMediaDevice(enumerator, cfe); + + if (!cfeDevice) { + LOG(RPI, Debug) << "Unable to acquire a CFE instance"; + break; + } + + DeviceMatch isp("pispbe"); + isp.add("pispbe-input"); + isp.add("pispbe-config"); + isp.add("pispbe-output0"); + isp.add("pispbe-output1"); + isp.add("pispbe-tdn_output"); + isp.add("pispbe-tdn_input"); + isp.add("pispbe-stitch_output"); + isp.add("pispbe-stitch_input"); + MediaDevice *ispDevice = acquireMediaDevice(enumerator, isp); + + if (!ispDevice) { + LOG(RPI, Debug) << "Unable to acquire ISP instance"; + break; + } + + /* + * The loop below is used to register multiple cameras behind + * one or more video mux devices that are attached to a + * particular CFE instance. Obviously these cameras cannot be + * used simultaneously. + */ + unsigned int numCameras = 0; + for (MediaEntity *entity : cfeDevice->entities()) { + if (entity->function() != MEDIA_ENT_F_CAM_SENSOR) + continue; + + const libpisp::PiSPVariant &variant = + libpisp::get_variant(cfeDevice->hwRevision(), + ispDevice->hwRevision()); + if (!variant.NumFrontEnds() || !variant.NumBackEnds()) { + LOG(RPI, Error) << "Unsupported PiSP variant"; + break; + } + + std::unique_ptr cameraData = + std::make_unique(this, variant); + PiSPCameraData *pisp = + static_cast(cameraData.get()); + + pisp->fe_ = SharedMemObject + ("pisp_frontend", true, pisp->pispVariant_); + pisp->be_ = SharedMemObject + ("pisp_backend", BackEnd::Config({}), pisp->pispVariant_); + + if (!pisp->fe_.fd().isValid() || !pisp->be_.fd().isValid()) { + LOG(RPI, Error) << "Failed to create ISP shared objects"; + break; + } + + int ret = registerCamera(cameraData, cfeDevice, "csi2", + ispDevice, entity); + if (ret) + LOG(RPI, Error) << "Failed to register camera " + << entity->name() << ": " << ret; + else + numCameras++; + } + + if (numCameras) + return true; + } + + return false; +} + +int PipelineHandlerPiSP::prepareBuffers(Camera *camera) +{ + PiSPCameraData *data = cameraData(camera); + unsigned int numRawBuffers = 0; + int ret; + + for (Stream *s : camera->streams()) { + if (PipelineHandlerBase::isRaw(s->configuration().pixelFormat)) { + numRawBuffers = s->configuration().bufferCount; + break; + } + } + + /* Decide how many internal buffers to allocate. */ + for (auto const stream : data->streams_) { + unsigned int numBuffers; + /* + * For CFE, allocate a minimum of 4 buffers as we want + * to avoid any frame drops. + */ + constexpr unsigned int minBuffers = 4; + if (stream == &data->cfe_[Cfe::Output0]) { + /* + * If an application has configured a RAW stream, allocate + * additional buffers to make up the minimum, but ensure + * we have at least 2 sets of internal buffers to use to + * minimise frame drops. + */ + numBuffers = std::max(2, minBuffers - numRawBuffers); + } else if (stream == &data->isp_[Isp::Input]) { + /* + * ISP input buffers are imported from the CFE, so follow + * similar logic as above to count all the RAW buffers + * available. + */ + numBuffers = numRawBuffers + + std::max(2, minBuffers - numRawBuffers); + } else if (stream == &data->cfe_[Cfe::Embedded]) { + /* + * Embedded data buffers are (currently) for internal use, + * so allocate a reasonably large amount. + */ + numBuffers = 12; + } else if (stream == &data->cfe_[Cfe::Stats] || + stream == &data->cfe_[Cfe::Config]) { + numBuffers = data->config_.numCfeConfigStatsBuffers; + } else if (!data->beEnabled_) { + /* Backend not enabled, we don't need to allocate buffers. */ + numBuffers = 0; + } else if (stream == &data->isp_[Isp::TdnOutput] && data->config_.disableTdn) { + /* TDN is explicitly disabled. */ + continue; + } else if (stream == &data->isp_[Isp::StitchOutput] && data->config_.disableHdr) { + /* Stitch/HDR is explicitly disabled. */ + continue; + } else { + /* Allocate 2 sets of all other Backend buffers */ + numBuffers = 2; + } + + LOG(RPI, Debug) << "Preparing " << numBuffers + << " buffers for stream " << stream->name(); + + ret = stream->prepareBuffers(numBuffers); + if (ret < 0) + return ret; + } + + /* + * Store the Framebuffer pointers for convenience as we will ping-pong + * these buffers between the input and output nodes for TDN and Stitch. + * + * The buffer size needs to be setup here as well. Conveniently this is + * the same for both TDN and stitch. + */ + pisp_image_format_config tdn; + data->be_->GetTdnOutputFormat(tdn); + unsigned int size = tdn.stride * tdn.height; + for (auto const &buffer : data->isp_[Isp::TdnOutput].getBuffers()) { + FrameBuffer *b = buffer.second.buffer; + b->_d()->metadata().planes()[0].bytesused = size; + data->tdnBuffers_.push_back(b); + } + for (auto const &buffer : data->isp_[Isp::StitchOutput].getBuffers()) { + FrameBuffer *b = buffer.second.buffer; + b->_d()->metadata().planes()[0].bytesused = size; + data->stitchBuffers_.push_back(b); + } + + /* Size up the config buffers as well. */ + for (auto &b : data->isp_[Isp::Config].getBuffers()) { + FrameMetadata::Plane &plane = b.second.buffer->_d()->metadata().planes()[0]; + plane.bytesused = sizeof(pisp_be_tiles_config); + } + + /* + * Pass the stats and embedded data buffers to the IPA. No other + * buffers need to be passed. + */ + mapBuffers(camera, data->cfe_[Cfe::Stats].getBuffers(), RPi::MaskStats); + if (data->sensorMetadata_) + mapBuffers(camera, data->cfe_[Cfe::Embedded].getBuffers(), + RPi::MaskEmbeddedData); + + return 0; +} + +int PipelineHandlerPiSP::platformRegister(std::unique_ptr &cameraData, + MediaDevice *cfe, MediaDevice *isp) +{ + PiSPCameraData *data = static_cast(cameraData.get()); + int ret; + + MediaEntity *cfeImage = cfe->getEntityByName("rp1-cfe-fe_image0"); + MediaEntity *cfeEmbedded = cfe->getEntityByName("rp1-cfe-embedded"); + MediaEntity *cfeStats = cfe->getEntityByName("rp1-cfe-fe_stats"); + MediaEntity *cfeConfig = cfe->getEntityByName("rp1-cfe-fe_config"); + MediaEntity *ispInput = isp->getEntityByName("pispbe-input"); + MediaEntity *IpaPrepare = isp->getEntityByName("pispbe-config"); + MediaEntity *ispOutput0 = isp->getEntityByName("pispbe-output0"); + MediaEntity *ispOutput1 = isp->getEntityByName("pispbe-output1"); + MediaEntity *ispTdnOutput = isp->getEntityByName("pispbe-tdn_output"); + MediaEntity *ispTdnInput = isp->getEntityByName("pispbe-tdn_input"); + MediaEntity *ispStitchOutput = isp->getEntityByName("pispbe-stitch_output"); + MediaEntity *ispStitchInput = isp->getEntityByName("pispbe-stitch_input"); + + /* Locate and open the cfe video streams. */ + data->cfe_[Cfe::Output0] = RPi::Stream("CFE Image", cfeImage, StreamFlag::RequiresMmap); + data->cfe_[Cfe::Embedded] = RPi::Stream("CFE Embedded", cfeEmbedded); + data->cfe_[Cfe::Stats] = RPi::Stream("CFE Stats", cfeStats); + data->cfe_[Cfe::Config] = RPi::Stream("CFE Config", cfeConfig, + StreamFlag::Recurrent | StreamFlag::RequiresMmap); + + /* Tag the ISP input stream as an import stream. */ + data->isp_[Isp::Input] = + RPi::Stream("ISP Input", ispInput, StreamFlag::ImportOnly); + data->isp_[Isp::Config] = + RPi::Stream("ISP Config", IpaPrepare, StreamFlag::Recurrent | + StreamFlag::RequiresMmap); + data->isp_[Isp::Output0] = + RPi::Stream("ISP Output0", ispOutput0, StreamFlag::RequiresMmap); + data->isp_[Isp::Output1] = + RPi::Stream("ISP Output1", ispOutput1, StreamFlag::RequiresMmap); + data->isp_[Isp::TdnOutput] = + RPi::Stream("ISP TDN Output", ispTdnOutput, StreamFlag::Recurrent); + data->isp_[Isp::TdnInput] = + RPi::Stream("ISP TDN Input", ispTdnInput, StreamFlag::ImportOnly | + StreamFlag::Recurrent); + data->isp_[Isp::StitchOutput] = + RPi::Stream("ISP Stitch Output", ispStitchOutput, StreamFlag::Recurrent); + data->isp_[Isp::StitchInput] = + RPi::Stream("ISP Stitch Input", ispStitchInput, StreamFlag::ImportOnly | + StreamFlag::Recurrent); + + /* Wire up all the buffer connections. */ + data->cfe_[Cfe::Output0].dev()->bufferReady.connect(data, &PiSPCameraData::cfeBufferDequeue); + data->cfe_[Cfe::Stats].dev()->bufferReady.connect(data, &PiSPCameraData::cfeBufferDequeue); + data->cfe_[Cfe::Config].dev()->bufferReady.connect(data, &PiSPCameraData::cfeBufferDequeue); + data->isp_[Isp::Input].dev()->bufferReady.connect(data, &PiSPCameraData::beInputDequeue); + data->isp_[Isp::Config].dev()->bufferReady.connect(data, &PiSPCameraData::beOutputDequeue); + data->isp_[Isp::Output0].dev()->bufferReady.connect(data, &PiSPCameraData::beOutputDequeue); + data->isp_[Isp::Output1].dev()->bufferReady.connect(data, &PiSPCameraData::beOutputDequeue); + data->cfe_[Cfe::Embedded].dev()->bufferReady.connect(data, &PiSPCameraData::cfeBufferDequeue); + + data->csi2Subdev_ = std::make_unique(cfe->getEntityByName("csi2")); + data->feSubdev_ = std::make_unique(cfe->getEntityByName("pisp-fe")); + data->csi2Subdev_->open(); + data->feSubdev_->open(); + + /* + * Open all CFE and ISP streams. The exception is the embedded data + * stream, which only gets opened below if the IPA reports that the sensor + * supports embedded data. + * + * The below grouping is just for convenience so that we can easily + * iterate over all streams in one go. + */ + data->streams_.push_back(&data->cfe_[Cfe::Output0]); + data->streams_.push_back(&data->cfe_[Cfe::Config]); + data->streams_.push_back(&data->cfe_[Cfe::Stats]); + if (data->sensorMetadata_) + data->streams_.push_back(&data->cfe_[Cfe::Embedded]); + + data->streams_.push_back(&data->isp_[Isp::Input]); + data->streams_.push_back(&data->isp_[Isp::Output0]); + data->streams_.push_back(&data->isp_[Isp::Output1]); + data->streams_.push_back(&data->isp_[Isp::Config]); + data->streams_.push_back(&data->isp_[Isp::TdnInput]); + data->streams_.push_back(&data->isp_[Isp::TdnOutput]); + data->streams_.push_back(&data->isp_[Isp::StitchInput]); + data->streams_.push_back(&data->isp_[Isp::StitchOutput]); + + for (auto stream : data->streams_) { + ret = stream->dev()->open(); + if (ret) + return ret; + } + + /* Write up all the IPA connections. */ + data->ipa_->prepareIspComplete.connect(data, &PiSPCameraData::prepareIspComplete); + data->ipa_->processStatsComplete.connect(data, &PiSPCameraData::processStatsComplete); + data->ipa_->setCameraTimeout.connect(data, &PiSPCameraData::setCameraTimeout); + + /* + * List the available streams an application may request. At present, we + * do not advertise CFE Embedded and ISP Statistics streams, as there + * is no mechanism for the application to request non-image buffer formats. + */ + std::set streams; + streams.insert(&data->cfe_[Cfe::Output0]); + streams.insert(&data->isp_[Isp::Output0]); + streams.insert(&data->isp_[Isp::Output1]); + + /* Create and register the camera. */ + const std::string &id = data->sensor_->id(); + std::shared_ptr camera = + Camera::create(std::move(cameraData), id, streams); + PipelineHandler::registerCamera(std::move(camera)); + + LOG(RPI, Info) << "Registered camera " << id + << " to CFE device " << cfe->deviceNode() + << " and ISP device " << isp->deviceNode() + << " using PiSP variant " << data->pispVariant_.Name(); + + return 0; +} + +CameraConfiguration::Status +PiSPCameraData::platformValidate(RPi::RPiCameraConfiguration *rpiConfig) const +{ + std::vector &rawStreams = rpiConfig->rawStreams_; + std::vector &outStreams = rpiConfig->outStreams_; + + CameraConfiguration::Status status = CameraConfiguration::Status::Valid; + + /* Can only output 1 RAW stream and/or 2 YUV/RGB streams for now. */ + if (rawStreams.size() > 1 || outStreams.size() > 2) { + LOG(RPI, Error) << "Invalid number of streams requested"; + return CameraConfiguration::Status::Invalid; + } + + if (!rawStreams.empty()) { + rawStreams[0].dev = cfe_[Cfe::Output0].dev(); + + StreamConfiguration *rawStream = rawStreams[0].cfg; + BayerFormat bayer = BayerFormat::fromPixelFormat(rawStream->pixelFormat); + /* + * We cannot output CSI2 packed or non 16-bit output from the frontend, + * so signal the output as unpacked 16-bits in these cases. + */ + if (bayer.packing == BayerFormat::Packing::CSI2 || bayer.bitDepth != 16) { + bayer.packing = (bayer.packing == BayerFormat::Packing::CSI2) ? + BayerFormat::Packing::PISP1 : BayerFormat::Packing::None; + bayer.bitDepth = 16; + } + + /* The RAW stream size cannot exceed the sensor frame output - for now. */ + if (rawStream->size != rpiConfig->sensorFormat_.size || + rawStream->pixelFormat != bayer.toPixelFormat()) { + rawStream->size = rpiConfig->sensorFormat_.size; + rawStream->pixelFormat = bayer.toPixelFormat(); + status = CameraConfiguration::Adjusted; + } + + rawStreams[0].format = + RPi::PipelineHandlerBase::toV4L2DeviceFormat(cfe_[Cfe::Output0].dev(), rawStream); + + computeOptimalStride(rawStreams[0].format); + } + + /* + * For the two ISP outputs, the lower resolution must be routed from + * Output 1 + * + * Index 0 contains the largest requested resolution. + */ + unsigned int largestWidth = getLargestWidth(rpiConfig->sensorFormat_, + rpiConfig->outStreams_); + + for (unsigned int i = 0; i < outStreams.size(); i++) { + StreamConfiguration *cfg = outStreams[i].cfg; + + /* + * Output 1 must be for the smallest resolution. We will + * have that fixed up in the code above. + */ + auto ispOutput = i == 1 || outStreams.size() == 1 ? Isp::Output1 + : Isp::Output0; + outStreams[i].dev = isp_[ispOutput].dev(); + + /* + * Don't let The output streams downscale by more than 64x when + * a downscaler block is available, or 16x when there's only the + * resampler. + */ + Size rawSize = rpiConfig->sensorFormat_.size.boundedToAspectRatio(cfg->size); + unsigned int outputIndex = ispOutput == Isp::Output0 ? 0 : 1; + Size minSize; + if (pispVariant_.BackEndDownscalerAvailable(0, outputIndex)) { + /* + * Downscaler available. Allow up to 64x downscale. If not a multiple of + * 64, round up to the next integer, but also ensure the result is even. + */ + const unsigned int downscale = 64; + minSize.width = (rawSize.width + downscale - 1) / downscale; + minSize.width = (minSize.width + 1) & ~1; /* ensure even */ + minSize.height = (rawSize.height + downscale - 1) / downscale; + minSize.height = (minSize.height + 1) & ~1; /* ensure even */ + } else { + /* No downscale. Resampler requires: (output_dim - 1) * 16 <= input_dim - 1 */ + const unsigned int downscale = 16; + minSize.width = (rawSize.width - 1 + downscale - 1) / downscale + 1; + minSize.width = (minSize.width + 1) & ~1; /* ensure even */ + minSize.height = (rawSize.height - 1 + downscale - 1) / downscale + 1; + minSize.height = (minSize.height + 1) & ~1; /* ensure even */ + } + LOG(RPI, Debug) << "minSize: width " << minSize.width << " height " << minSize.height; + + /* Bound the output size to minSize, preserve aspect ratio, and ensure even numbers. */ + if (cfg->size.width < minSize.width) { + cfg->size.height = (cfg->size.height * minSize.width / cfg->size.width + 1) & ~1; + cfg->size.width = minSize.width; + status = CameraConfiguration::Status::Adjusted; + } + + if (cfg->size.height < minSize.height) { + cfg->size.width = (cfg->size.width * minSize.height / cfg->size.height + 1) & ~1; + cfg->size.height = minSize.height; + status = CameraConfiguration::Status::Adjusted; + } + + /* Make sure output1 is no larger than output 0. */ + Size size = cfg->size.boundedTo(outStreams[0].cfg->size); + + /* \todo Warn if upscaling: reduces image quality. */ + + if (cfg->size != size) { + cfg->size = size; + status = CameraConfiguration::Status::Adjusted; + } + + outStreams[i].format = + RPi::PipelineHandlerBase::toV4L2DeviceFormat(outStreams[i].dev, outStreams[i].cfg); + + /* Compute the optimal stride for the BE output buffers. */ + computeOptimalStride(outStreams[i].format); + + /* + * We need to check for software downscaling. This must happen + * after adjusting the device format so that we can choose the + * largest stride - which might have been the original + * unadjusted format, or the adjusted one (if software + * downscaling means it's larger). + */ + V4L2DeviceFormat adjustedFormat = outStreams[i].format; + adjustDeviceFormat(adjustedFormat); + + unsigned int swDownscale = + calculateSwDownscale(adjustedFormat, largestWidth, + be_->GetMaxDownscale()); + LOG(RPI, Debug) << "For stream " << adjustedFormat + << " swDownscale is " << swDownscale; + if (swDownscale > 1) { + adjustedFormat.size.width *= swDownscale; + computeOptimalStride(adjustedFormat); + for (unsigned int p = 0; p < outStreams[i].format.planesCount; p++) + outStreams[i].format.planes[p].bpl = + std::max(outStreams[i].format.planes[p].bpl, adjustedFormat.planes[p].bpl); + } + } + + return status; +} + +int PiSPCameraData::platformPipelineConfigure(const std::unique_ptr &root) +{ + config_ = { + .numCfeConfigStatsBuffers = 12, + .numCfeConfigQueue = 2, + .disableTdn = false, + .disableHdr = false, + }; + + if (!root) + return 0; + + std::optional ver = (*root)["version"].get(); + if (!ver || *ver != 1.0) { + LOG(RPI, Error) << "Unexpected configuration file version reported"; + return -EINVAL; + } + + std::optional target = (*root)["target"].get(); + if (!target || *target != "pisp") { + LOG(RPI, Error) << "Unexpected target reported: expected \"pisp\", got " + << *target; + return -EINVAL; + } + + const YamlObject &phConfig = (*root)["pipeline_handler"]; + config_.numCfeConfigStatsBuffers = + phConfig["num_cfe_config_stats_buffers"].get(config_.numCfeConfigStatsBuffers); + config_.numCfeConfigQueue = + phConfig["num_cfe_config_queue"].get(config_.numCfeConfigQueue); + config_.disableTdn = phConfig["disable_tdn"].get(config_.disableTdn); + config_.disableHdr = phConfig["disable_hdr"].get(config_.disableHdr); + + if (config_.disableTdn) { + LOG(RPI, Info) << "TDN disabled by user config"; + streams_.erase(std::remove_if(streams_.begin(), streams_.end(), + [this] (const RPi::Stream *s) { return s == &isp_[Isp::TdnInput] || + s == &isp_[Isp::TdnInput]; }), + streams_.end()); + } + + if (config_.disableHdr) { + LOG(RPI, Info) << "HDR disabled by user config"; + streams_.erase(std::remove_if(streams_.begin(), streams_.end(), + [this] (const RPi::Stream *s) { return s == &isp_[Isp::StitchInput] || + s == &isp_[Isp::StitchOutput]; }), + streams_.end()); + } + + if (config_.numCfeConfigStatsBuffers < 1) { + LOG(RPI, Error) + << "Invalid configuration: num_cfe_config_stats_buffers must be >= 1"; + return -EINVAL; + } + + if (config_.numCfeConfigQueue < 1) { + LOG(RPI, Error) + << "Invalid configuration: numCfeConfigQueue must be >= 1"; + return -EINVAL; + } + + return 0; +} + +std::unordered_map deviceAdjustTable = { + { V4L2_PIX_FMT_RGBX32, V4L2_PIX_FMT_RGB24 }, + { V4L2_PIX_FMT_XBGR32, V4L2_PIX_FMT_BGR24 } +}; + +bool PiSPCameraData::adjustDeviceFormat(V4L2DeviceFormat &format) const +{ + auto it = deviceAdjustTable.find(format.fourcc.fourcc()); + + if (pispVariant_.BackendRGB32Supported(0)) + return false; + + if (it != deviceAdjustTable.end()) { + LOG(RPI, Debug) << "Swapping 32-bit for 24-bit format"; + format.fourcc = V4L2PixelFormat(it->second); + return true; + } + + return false; +} + +int PiSPCameraData::platformConfigure(const RPi::RPiCameraConfiguration *rpiConfig) +{ + const std::vector &rawStreams = rpiConfig->rawStreams_; + const std::vector &outStreams = rpiConfig->outStreams_; + int ret; + + V4L2VideoDevice *cfe = cfe_[Cfe::Output0].dev(); + V4L2DeviceFormat cfeFormat; + + /* + * See which streams are requested, and route the user + * StreamConfiguration appropriately. + */ + if (rawStreams.empty()) { + /* + * The CFE Frontend output will always be 16-bits unpacked, so adjust the + * mbus code right at the start. + */ + V4L2SubdeviceFormat sensorFormatMod = rpiConfig->sensorFormat_; + sensorFormatMod.code = mbusCodeUnpacked16(sensorFormatMod.code); + cfeFormat = RPi::PipelineHandlerBase::toV4L2DeviceFormat(cfe, + sensorFormatMod, + BayerFormat::Packing::PISP1); + computeOptimalStride(cfeFormat); + } else { + rawStreams[0].cfg->setStream(&cfe_[Cfe::Output0]); + cfe_[Cfe::Output0].setFlags(StreamFlag::External); + cfeFormat = rawStreams[0].format; + } + + /* + * If the sensor output is 16-bits, we must endian swap the buffer + * contents to account for the HW missing this feature. + */ + cfe_[Cfe::Output0].clearFlags(StreamFlag::Needs16bitEndianSwap); + if (MediaBusFormatInfo::info(rpiConfig->sensorFormat_.code).bitsPerPixel == 16) { + cfe_[Cfe::Output0].setFlags(StreamFlag::Needs16bitEndianSwap); + LOG(RPI, Warning) + << "The sensor is configured for a 16-bit output, statistics" + << " will not be correct. You must use manual camera settings."; + } + + ret = cfe->setFormat(&cfeFormat); + if (ret) + return ret; + + /* Set the TDN and Stitch node formats in case they are turned on. */ + isp_[Isp::TdnOutput].dev()->setFormat(&cfeFormat); + isp_[Isp::TdnInput].dev()->setFormat(&cfeFormat); + isp_[Isp::StitchOutput].dev()->setFormat(&cfeFormat); + isp_[Isp::StitchInput].dev()->setFormat(&cfeFormat); + + ret = isp_[Isp::Input].dev()->setFormat(&cfeFormat); + if (ret) + return ret; + + LOG(RPI, Info) << "Sensor: " << sensor_->id() + << " - Selected sensor format: " << rpiConfig->sensorFormat_ + << " - Selected CFE format: " << cfeFormat; + + /* + * Find the largest width of any stream; we'll use it later to check for + * excessive downscaling. + */ + unsigned int largestWidth = getLargestWidth(rpiConfig->sensorFormat_, outStreams); + + unsigned int beEnables = 0; + V4L2DeviceFormat format; + + /* + * First thing is to remove Isp::Output0 and Isp::Output1 from streams_ + * as they may be unused depending on the configuration. Add them back + * only if needed. + */ + streams_.erase(std::remove_if(streams_.begin(), streams_.end(), + [this] (const RPi::Stream *s) { return s == &isp_[Isp::Output0] || + s == &isp_[Isp::Output1]; }), + streams_.end()); + + cropParams_.clear(); + for (unsigned int i = 0; i < outStreams.size(); i++) { + StreamConfiguration *cfg = outStreams[i].cfg; + unsigned int ispIndex; + + /* + * Output 1 must be for the smallest resolution. We will + * have that fixed up in the code above. + */ + RPi::Stream *stream; + if (i == 1 || outStreams.size() == 1) { + stream = &isp_[Isp::Output1]; + beEnables |= PISP_BE_RGB_ENABLE_OUTPUT1; + ispIndex = 1; + } else { + stream = &isp_[Isp::Output0]; + beEnables |= PISP_BE_RGB_ENABLE_OUTPUT0; + ispIndex = 0; + } + + format = outStreams[i].format; + bool needs32BitConversion = adjustDeviceFormat(format); + + /* + * This pixel format may not be the same as the configured + * pixel format if adjustDeviceFormat() above has reqused a change. + */ + PixelFormat pixFmt = format.fourcc.toPixelFormat(); + + /* If there's excessive downscaling we'll do some of it in software. */ + unsigned int swDownscale = calculateSwDownscale(format, largestWidth, + be_->GetMaxDownscale()); + unsigned int hwWidth = format.size.width * swDownscale; + format.size.width = hwWidth; + + LOG(RPI, Debug) << "Setting " << stream->name() << " to " + << format << " (sw downscale " << swDownscale << ")"; + + ret = stream->dev()->setFormat(&format); + if (ret) + return -EINVAL; + LOG(RPI, Debug) << "After setFormat, stride " << format.planes[0].bpl; + + if (format.size.height != cfg->size.height || + format.size.width != hwWidth || format.fourcc.toPixelFormat() != pixFmt) { + LOG(RPI, Error) + << "Failed to set requested format on " << stream->name() + << ", returned " << format; + return -EINVAL; + } + + LOG(RPI, Debug) + << "Stream " << stream->name() << " has color space " + << ColorSpace::toString(cfg->colorSpace); + + libcamera::RPi::Stream::StreamFlags flags = StreamFlag::External; + + stream->clearFlags(StreamFlag::Needs32bitConv); + if (needs32BitConversion) + flags |= StreamFlag::Needs32bitConv; + + /* Set smallest selection the ISP will allow. */ + Size minCrop{ 32, 32 }; + + /* Adjust aspect ratio by providing crops on the input image. */ + Size size = cfeFormat.size.boundedToAspectRatio(outStreams[i].cfg->size); + Rectangle ispCrop = size.centeredTo(Rectangle(cfeFormat.size).center()); + + /* + * Calculate the minimum crop. The rule is that (output_dim - 1) / (input_dim - 1) + * must be strictly < 16. We add 2 after dividing because +1 + * comes from the division that rounds down, and +1 because we + * had (input_dim - 1). + */ + Size scalingMinSize = outStreams[i].cfg->size.shrunkBy({ 1, 1 }) / 16; + scalingMinSize.growBy({ 2, 2 }); + minCrop.expandTo(scalingMinSize); + + platformSetIspCrop(ispIndex, ispCrop); + /* + * Set the scaler crop to the value we are using (scaled to native sensor + * coordinates). + */ + cropParams_.emplace(std::piecewise_construct, + std::forward_as_tuple(outStreams[i].index), + std::forward_as_tuple(ispCrop, minCrop, ispIndex)); + + cfg->setStream(stream); + stream->setFlags(flags); + stream->setSwDownscale(swDownscale); + streams_.push_back(stream); + } + + pisp_be_global_config global; + be_->GetGlobal(global); + global.rgb_enables &= ~(PISP_BE_RGB_ENABLE_OUTPUT0 + PISP_BE_RGB_ENABLE_OUTPUT1); + global.rgb_enables |= beEnables; + be_->SetGlobal(global); + + beEnabled_ = beEnables & (PISP_BE_RGB_ENABLE_OUTPUT0 | PISP_BE_RGB_ENABLE_OUTPUT1); + + /* CFE statistics output format. */ + format = {}; + format.fourcc = V4L2PixelFormat(V4L2_META_FMT_RPI_FE_STATS); + ret = cfe_[Cfe::Stats].dev()->setFormat(&format); + if (ret) { + LOG(RPI, Error) << "Failed to set format on CFE stats stream: " + << format.toString(); + return ret; + } + + /* CFE config format. */ + format = {}; + format.fourcc = V4L2PixelFormat(V4L2_META_FMT_RPI_FE_CFG); + ret = cfe_[Cfe::Config].dev()->setFormat(&format); + if (ret) { + LOG(RPI, Error) << "Failed to set format on CFE config stream: " + << format.toString(); + return ret; + } + + /* + * Configure the CFE embedded data output format only if the sensor + * supports it. + */ + V4L2SubdeviceFormat embeddedFormat; + if (sensorMetadata_) { + sensor_->device()->getFormat(1, &embeddedFormat); + format = {}; + format.fourcc = V4L2PixelFormat(V4L2_META_FMT_SENSOR_DATA); + format.planes[0].size = embeddedFormat.size.width * embeddedFormat.size.height; + + LOG(RPI, Debug) << "Setting embedded data format " << format.toString(); + ret = cfe_[Cfe::Embedded].dev()->setFormat(&format); + if (ret) { + LOG(RPI, Error) << "Failed to set format on CFE embedded: " + << format; + return ret; + } + } + + configureEntities(rpiConfig->sensorFormat_, embeddedFormat); + configureCfe(); + + if (beEnabled_) + configureBe(rpiConfig->yuvColorSpace_); + + return 0; +} + +void PiSPCameraData::platformStart() +{ + /* + * We don't need to worry about dequeue events for the TDN and Stitch + * nodes as the buffers are simply ping-ponged every frame. But we do + * want to track the currently used input index. + */ + tdnInputIndex_ = 0; + stitchInputIndex_ = 0; + + cfeJobQueue_ = {}; + + for (unsigned int i = 0; i < config_.numCfeConfigQueue; i++) + prepareCfe(); + + /* Clear the debug dump file history. */ + last_dump_file_.clear(); +} + +void PiSPCameraData::platformStop() +{ + cfeJobQueue_ = {}; +} + +void PiSPCameraData::platformFreeBuffers() +{ + tdnBuffers_.clear(); + stitchBuffers_.clear(); +} + +void PiSPCameraData::cfeBufferDequeue(FrameBuffer *buffer) +{ + RPi::Stream *stream = nullptr; + int index; + + if (!isRunning()) + return; + + for (RPi::Stream &s : cfe_) { + index = s.getBufferId(buffer); + if (index) { + stream = &s; + break; + } + } + + /* If the last CFE job has completed, we need a new job entry in the queue. */ + if (cfeJobQueue_.empty() || cfeJobComplete()) + cfeJobQueue_.push({}); + + CfeJob &job = cfeJobQueue_.back(); + + /* The buffer must belong to one of our streams. */ + ASSERT(stream); + + LOG(RPI, Debug) << "Stream " << stream->name() << " buffer dequeue" + << ", buffer id " << index + << ", timestamp: " << buffer->metadata().timestamp; + + job.buffers[stream] = buffer; + + if (stream == &cfe_[Cfe::Output0]) { + /* Do an endian swap if needed. */ + if (stream->getFlags() & StreamFlag::Needs16bitEndianSwap) { + const unsigned int stride = stream->configuration().stride; + const unsigned int width = stream->configuration().size.width; + const unsigned int height = stream->configuration().size.height; + const RPi::BufferObject &b = stream->getBuffer(index); + + ASSERT(b.mapped); + void *mem = b.mapped->planes()[0].data(); + + dmabufSyncStart(buffer->planes()[0].fd); + do16BitEndianSwap(mem, width, height, stride); + dmabufSyncEnd(buffer->planes()[0].fd); + } + + /* + * Lookup the sensor controls used for this frame sequence from + * DelayedControl and queue them along with the frame buffer. + */ + auto [ctrl, delayContext] = delayedCtrls_->get(buffer->metadata().sequence); + /* + * Add the frame timestamp to the ControlList for the IPA to use + * as it does not receive the FrameBuffer object. + */ + ctrl.set(controls::SensorTimestamp, buffer->metadata().timestamp); + + /* Also record a wall-clock timestamp that can be passed to IPAs. */ + while (!frameWallClock_.empty() && + frameWallClock_.front().first < buffer->metadata().sequence) + frameWallClock_.pop(); + + if (!frameWallClock_.empty() && + frameWallClock_.front().first == buffer->metadata().sequence) { + ctrl.set(controls::rpi::FrameWallClock, frameWallClock_.front().second.get()); + frameWallClock_.pop(); + } + + job.sensorControls = std::move(ctrl); + job.delayContext = delayContext; + } else if (stream == &cfe_[Cfe::Config]) { + /* The config buffer can be re-queued back straight away. */ + handleStreamBuffer(buffer, &cfe_[Cfe::Config]); + prepareCfe(); + } + + handleState(); +} + +void PiSPCameraData::beInputDequeue(FrameBuffer *buffer) +{ + if (!isRunning()) + return; + + LOG(RPI, Debug) << "Stream ISP Input buffer complete" + << ", buffer id " << cfe_[Cfe::Output0].getBufferId(buffer) + << ", timestamp: " << buffer->metadata().timestamp; + + /* The ISP input buffer gets re-queued into CFE. */ + handleStreamBuffer(buffer, &cfe_[Cfe::Output0]); + handleState(); +} + +void PiSPCameraData::beOutputDequeue(FrameBuffer *buffer) +{ + RPi::Stream *stream = nullptr; + int index; + + if (!isRunning()) + return; + + for (RPi::Stream &s : isp_) { + index = s.getBufferId(buffer); + if (index) { + stream = &s; + break; + } + } + + /* The buffer must belong to one of our ISP output streams. */ + ASSERT(stream); + + LOG(RPI, Debug) << "Stream " << stream->name() << " buffer complete" + << ", buffer id " << index + << ", timestamp: " << buffer->metadata().timestamp; + + bool downscale = stream->swDownscale() > 1; + bool needs32bitConv = !!(stream->getFlags() & StreamFlag::Needs32bitConv); + + if (downscale || needs32bitConv) + dmabufSyncStart(buffer->planes()[0].fd); + + if (downscale) { + /* Further software downscaling must be applied. */ + downscaleStreamBuffer(stream, index); + } + + /* Convert 24bpp outputs to 32bpp outputs where necessary. */ + if (needs32bitConv) { + unsigned int stride = stream->configuration().stride; + unsigned int width = stream->configuration().size.width; + unsigned int height = stream->configuration().size.height; + + const RPi::BufferObject &b = stream->getBuffer(index); + + ASSERT(b.mapped); + void *mem = b.mapped->planes()[0].data(); + do32BitConversion(mem, width, height, stride); + } + + if (downscale || needs32bitConv) + dmabufSyncEnd(buffer->planes()[0].fd); + + handleStreamBuffer(buffer, stream); + + /* + * Increment the number of ISP outputs generated. + * This is needed to track dropped frames. + */ + ispOutputCount_++; + handleState(); +} + +void PiSPCameraData::processStatsComplete(const ipa::RPi::BufferIds &buffers) +{ + if (!isRunning()) + return; + + handleStreamBuffer(cfe_[Cfe::Stats].getBuffers().at(buffers.stats & RPi::MaskID).buffer, + &cfe_[Cfe::Stats]); +} + +void PiSPCameraData::setCameraTimeout(uint32_t maxFrameLengthMs) +{ + /* + * Set the dequeue timeout to the larger of 5x the maximum reported + * frame length advertised by the IPA over a number of frames. Allow + * a minimum timeout value of 1s. + */ + utils::Duration timeout = + std::max(1s, 5 * maxFrameLengthMs * 1ms); + + LOG(RPI, Debug) << "Setting CFE timeout to " << timeout; + cfe_[Cfe::Output0].dev()->setDequeueTimeout(timeout); +} + +void PiSPCameraData::prepareIspComplete(const ipa::RPi::BufferIds &buffers, bool stitchSwapBuffers) +{ + unsigned int embeddedId = buffers.embedded & RPi::MaskID; + unsigned int bayerId = buffers.bayer & RPi::MaskID; + FrameBuffer *buffer; + + if (!isRunning()) + return; + + if (sensorMetadata_ && embeddedId) { + buffer = cfe_[Cfe::Embedded].getBuffers().at(embeddedId).buffer; + handleStreamBuffer(buffer, &cfe_[Cfe::Embedded]); + } + + if (!beEnabled_) { + /* + * If there is no need to run the Backend, just signal that the + * input buffer is completed and all Backend outputs are ready. + */ + ispOutputCount_ = ispOutputTotal_; + buffer = cfe_[Cfe::Output0].getBuffers().at(bayerId).buffer; + handleStreamBuffer(buffer, &cfe_[Cfe::Output0]); + } else + prepareBe(bayerId, stitchSwapBuffers); + + state_ = State::IpaComplete; + handleState(); +} + +int PiSPCameraData::configureCfe() +{ + V4L2DeviceFormat cfeFormat; + cfe_[Cfe::Output0].dev()->getFormat(&cfeFormat); + + std::scoped_lock l(*fe_); + + pisp_fe_global_config global; + fe_->GetGlobal(global); + global.enables &= ~PISP_FE_ENABLE_COMPRESS0; + + global.enables |= PISP_FE_ENABLE_OUTPUT0; + global.bayer_order = toPiSPBayerOrder(cfeFormat.fourcc); + + pisp_image_format_config image = toPiSPImageFormat(cfeFormat); + pisp_fe_input_config input = {}; + + input.streaming = 1; + input.format = image; + input.format.format = PISP_IMAGE_FORMAT_BPS_16; + + if (PISP_IMAGE_FORMAT_COMPRESSED(image.format)) { + pisp_compress_config compress; + compress.offset = DefaultCompressionOffset; + compress.mode = (image.format & PISP_IMAGE_FORMAT_COMPRESSION_MASK) / + PISP_IMAGE_FORMAT_COMPRESSION_MODE_1; + global.enables |= PISP_FE_ENABLE_COMPRESS0; + fe_->SetCompress(0, compress); + } + + if (input.format.width > pispVariant_.FrontEndDownscalerMaxWidth(0, 0)) + global.enables |= PISP_FE_ENABLE_DECIMATE; + + fe_->SetGlobal(global); + fe_->SetInput(input); + fe_->SetOutputFormat(0, image); + + return 0; +} + +bool PiSPCameraData::calculateCscConfiguration(const V4L2DeviceFormat &v4l2Format, pisp_be_ccm_config &csc) +{ + const PixelFormat &pixFormat = v4l2Format.fourcc.toPixelFormat(); + const PixelFormatInfo &info = PixelFormatInfo::info(pixFormat); + memset(&csc, 0, sizeof(csc)); + + if (info.colourEncoding == PixelFormatInfo::ColourEncodingYUV) { + /* Look up the correct YCbCr conversion matrix for this colour space. */ + if (v4l2Format.colorSpace == ColorSpace::Sycc) + be_->InitialiseYcbcr(csc, "jpeg"); + else if (v4l2Format.colorSpace == ColorSpace::Smpte170m) + be_->InitialiseYcbcr(csc, "smpte170m"); + else if (v4l2Format.colorSpace == ColorSpace::Rec709) + be_->InitialiseYcbcr(csc, "rec709"); + else { + LOG(RPI, Warning) + << "Unrecognised colour space " + << ColorSpace::toString(v4l2Format.colorSpace) + << ", defaulting to sYCC"; + be_->InitialiseYcbcr(csc, "jpeg"); + } + return true; + } + /* There will be more formats to check for in due course. */ + else if (pixFormat == formats::RGB888 || pixFormat == formats::RGBX8888 || + pixFormat == formats::XRGB8888 || pixFormat == formats::RGB161616) { + /* Identity matrix but with RB colour swap. */ + csc.coeffs[2] = csc.coeffs[4] = csc.coeffs[6] = 1 << 10; + return true; + } + + return false; +} + +int PiSPCameraData::configureBe(const std::optional &yuvColorSpace) +{ + pisp_image_format_config inputFormat; + V4L2DeviceFormat cfeFormat; + + isp_[Isp::Input].dev()->getFormat(&cfeFormat); + inputFormat = toPiSPImageFormat(cfeFormat); + + pisp_be_global_config global; + be_->GetGlobal(global); + global.bayer_enables &= ~(PISP_BE_BAYER_ENABLE_DECOMPRESS + + PISP_BE_BAYER_ENABLE_TDN_DECOMPRESS + + PISP_BE_BAYER_ENABLE_TDN_COMPRESS + + PISP_BE_BAYER_ENABLE_STITCH_DECOMPRESS + + PISP_BE_BAYER_ENABLE_STITCH_COMPRESS); + global.rgb_enables &= ~(PISP_BE_RGB_ENABLE_RESAMPLE0 + + PISP_BE_RGB_ENABLE_RESAMPLE1 + + PISP_BE_RGB_ENABLE_DOWNSCALE0 + + PISP_BE_RGB_ENABLE_DOWNSCALE1 + + PISP_BE_RGB_ENABLE_CSC0 + + PISP_BE_RGB_ENABLE_CSC1); + + global.bayer_enables |= PISP_BE_BAYER_ENABLE_INPUT; + global.bayer_order = toPiSPBayerOrder(cfeFormat.fourcc); + + ispOutputTotal_ = 1; /* Config buffer */ + if (PISP_IMAGE_FORMAT_COMPRESSED(inputFormat.format)) { + pisp_decompress_config decompress; + decompress.offset = DefaultCompressionOffset; + decompress.mode = (inputFormat.format & PISP_IMAGE_FORMAT_COMPRESSION_MASK) + / PISP_IMAGE_FORMAT_COMPRESSION_MODE_1; + global.bayer_enables |= PISP_BE_BAYER_ENABLE_DECOMPRESS; + be_->SetDecompress(decompress); + } + + if (global.rgb_enables & PISP_BE_RGB_ENABLE_OUTPUT0) { + pisp_be_output_format_config outputFormat0 = {}; + V4L2DeviceFormat ispFormat0 = {}; + + isp_[Isp::Output0].dev()->getFormat(&ispFormat0); + outputFormat0.image = toPiSPImageFormat(ispFormat0); + + pisp_be_ccm_config csc; + if (calculateCscConfiguration(ispFormat0, csc)) { + global.rgb_enables |= PISP_BE_RGB_ENABLE_CSC0; + be_->SetCsc(0, csc); + } + + BackEnd::SmartResize resize = {}; + resize.width = ispFormat0.size.width; + resize.height = ispFormat0.size.height; + be_->SetSmartResize(0, resize); + + setupOutputClipping(ispFormat0, outputFormat0); + + be_->SetOutputFormat(0, outputFormat0); + ispOutputTotal_++; + } + + if (global.rgb_enables & PISP_BE_RGB_ENABLE_OUTPUT1) { + pisp_be_output_format_config outputFormat1 = {}; + V4L2DeviceFormat ispFormat1 = {}; + + isp_[Isp::Output1].dev()->getFormat(&ispFormat1); + outputFormat1.image = toPiSPImageFormat(ispFormat1); + + pisp_be_ccm_config csc; + if (calculateCscConfiguration(ispFormat1, csc)) { + global.rgb_enables |= PISP_BE_RGB_ENABLE_CSC1; + be_->SetCsc(1, csc); + } + + BackEnd::SmartResize resize = {}; + resize.width = ispFormat1.size.width; + resize.height = ispFormat1.size.height; + be_->SetSmartResize(1, resize); + + setupOutputClipping(ispFormat1, outputFormat1); + + be_->SetOutputFormat(1, outputFormat1); + ispOutputTotal_++; + } + + /* Setup the TDN I/O blocks in case TDN gets turned on later. */ + V4L2DeviceFormat tdnV4L2Format; + isp_[Isp::TdnOutput].dev()->getFormat(&tdnV4L2Format); + pisp_image_format_config tdnFormat = toPiSPImageFormat(tdnV4L2Format); + be_->SetTdnOutputFormat(tdnFormat); + be_->SetTdnInputFormat(tdnFormat); + + if (PISP_IMAGE_FORMAT_COMPRESSED(tdnFormat.format)) { + pisp_decompress_config tdnDecompress; + pisp_compress_config tdnCompress; + + tdnDecompress.offset = tdnCompress.offset = DefaultCompressionOffset; + tdnDecompress.mode = tdnCompress.mode = DefaultCompressionMode; + be_->SetTdnDecompress(tdnDecompress); + be_->SetTdnCompress(tdnCompress); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_TDN_DECOMPRESS + + PISP_BE_BAYER_ENABLE_TDN_COMPRESS; + } + + /* Likewise for the Stitch block. */ + V4L2DeviceFormat stitchV4L2Format; + isp_[Isp::StitchOutput].dev()->getFormat(&stitchV4L2Format); + pisp_image_format_config stitchFormat = toPiSPImageFormat(stitchV4L2Format); + be_->SetStitchOutputFormat(stitchFormat); + be_->SetStitchInputFormat(stitchFormat); + + if (PISP_IMAGE_FORMAT_COMPRESSED(stitchFormat.format)) { + pisp_decompress_config stitchDecompress; + pisp_compress_config stitchCompress; + + /* Stitch block is after BLC, so compression offset should be 0. */ + stitchDecompress.offset = stitchCompress.offset = 0; + stitchDecompress.mode = stitchCompress.mode = DefaultCompressionMode; + be_->SetStitchDecompress(stitchDecompress); + be_->SetStitchCompress(stitchCompress); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_STITCH_DECOMPRESS + + PISP_BE_BAYER_ENABLE_STITCH_COMPRESS; + } + + /* + * For the bit of the pipeline where we go temporarily into YCbCr, we'll use the + * same flavour of YCbCr as dictated by the headline colour space. But there's + * no benefit from compressing and shifting the range, so we'll stick with the + * full range version of whatever that colour space is. + */ + if (yuvColorSpace) { + pisp_be_ccm_config ccm; + if (yuvColorSpace == ColorSpace::Sycc) { + be_->InitialiseYcbcr(ccm, "jpeg"); + be_->SetYcbcr(ccm); + be_->InitialiseYcbcrInverse(ccm, "jpeg"); + be_->SetYcbcrInverse(ccm); + } else if (yuvColorSpace == ColorSpace::Smpte170m) { + /* We want the full range version of smpte170m, aka. jpeg */ + be_->InitialiseYcbcr(ccm, "jpeg"); + be_->SetYcbcr(ccm); + be_->InitialiseYcbcrInverse(ccm, "jpeg"); + be_->SetYcbcrInverse(ccm); + } else if (yuvColorSpace == ColorSpace::Rec709) { + be_->InitialiseYcbcr(ccm, "rec709_full"); + be_->SetYcbcr(ccm); + be_->InitialiseYcbcrInverse(ccm, "rec709_full"); + be_->SetYcbcrInverse(ccm); + } else { + /* Validation should have ensured this can't happen. */ + LOG(RPI, Error) + << "Invalid colour space " + << ColorSpace::toString(yuvColorSpace); + ASSERT(0); + } + } else { + /* Again, validation should have prevented this. */ + LOG(RPI, Error) << "No YUV colour space"; + ASSERT(0); + } + + be_->SetGlobal(global); + be_->SetInputFormat(inputFormat); + + return 0; +} + +void PiSPCameraData::platformSetIspCrop(unsigned int index, const Rectangle &ispCrop) +{ + pisp_be_crop_config beCrop = { + static_cast(ispCrop.x), + static_cast(ispCrop.y), + static_cast(ispCrop.width), + static_cast(ispCrop.height) + }; + + LOG(RPI, Debug) << "Output " << index << " " << ispCrop.toString(); + be_->SetCrop(index, beCrop); +} + +int PiSPCameraData::platformInitIpa(ipa::RPi::InitParams ¶ms) +{ + params.fe = fe_.fd(); + params.be = be_.fd(); + return 0; +} + +int PiSPCameraData::configureEntities(V4L2SubdeviceFormat sensorFormat, + V4L2SubdeviceFormat &embeddedFormat) +{ + int ret = 0; + + constexpr unsigned int csiVideoSinkPad = 0; + constexpr unsigned int csiMetaSinkPad = 1; + constexpr unsigned int csiVideoSourcePad = 4; + constexpr unsigned int csiMetaSourcePad = 5; + + constexpr unsigned int feVideoSinkPad = 0; + constexpr unsigned int feConfigSinkPad = 1; + constexpr unsigned int feVideo0SourcePad = 2; + constexpr unsigned int feVideo1SourcePad = 3; + constexpr unsigned int feStatsSourcePad = 4; + + const MediaEntity *csi2 = csi2Subdev_->entity(); + const MediaEntity *fe = feSubdev_->entity(); + + for (MediaLink *link : csi2->pads()[csiVideoSourcePad]->links()) { + if (link->sink()->entity()->name() == "rp1-cfe-csi2_ch0") + link->setEnabled(false); + else if (link->sink()->entity()->name() == "pisp-fe") + link->setEnabled(true); + } + + csi2->pads()[csiMetaSourcePad]->links()[0]->setEnabled(sensorMetadata_); + + fe->pads()[feConfigSinkPad]->links()[0]->setEnabled(true); + fe->pads()[feVideo0SourcePad]->links()[0]->setEnabled(true); + fe->pads()[feVideo1SourcePad]->links()[0]->setEnabled(false); + fe->pads()[feStatsSourcePad]->links()[0]->setEnabled(true); + + ret = csi2Subdev_->setFormat(csiVideoSinkPad, &sensorFormat); + if (ret) + return ret; + + if (sensorMetadata_) { + ret = csi2Subdev_->setFormat(csiMetaSinkPad, &embeddedFormat); + if (ret) + return ret; + + ret = csi2Subdev_->setFormat(csiMetaSourcePad, &embeddedFormat); + if (ret) + return ret; + } + + V4L2SubdeviceFormat feFormat = sensorFormat; + feFormat.code = mbusCodeUnpacked16(sensorFormat.code); + ret = feSubdev_->setFormat(feVideoSinkPad, &feFormat); + if (ret) + return ret; + + ret = csi2Subdev_->setFormat(csiVideoSourcePad, &feFormat); + if (ret) + return ret; + + V4L2DeviceFormat feOutputFormat; + cfe_[Cfe::Output0].dev()->getFormat(&feOutputFormat); + BayerFormat feOutputBayer = BayerFormat::fromV4L2PixelFormat(feOutputFormat.fourcc); + + feFormat.code = bayerToMbusCode(feOutputBayer); + ret = feSubdev_->setFormat(feVideo0SourcePad, &feFormat); + + return ret; +} + +void PiSPCameraData::prepareCfe() +{ + /* Fetch an unused config buffer from the stream .*/ + const RPi::BufferObject &config = cfe_[Cfe::Config].acquireBuffer(); + ASSERT(config.mapped); + + { + std::scoped_lock l(*fe_); + Span configBuffer = config.mapped->planes()[0]; + fe_->Prepare(reinterpret_cast(configBuffer.data())); + } + + config.buffer->_d()->metadata().planes()[0].bytesused = sizeof(pisp_fe_config); + cfe_[Cfe::Config].queueBuffer(config.buffer); +} + +void PiSPCameraData::prepareBe(uint32_t bufferId, bool stitchSwapBuffers) +{ + ispOutputCount_ = 0; + + FrameBuffer *buffer = cfe_[Cfe::Output0].getBuffers().at(bufferId).buffer; + + LOG(RPI, Debug) << "Input re-queue to ISP, buffer id " << bufferId + << ", timestamp: " << buffer->metadata().timestamp; + + isp_[Isp::Input].queueBuffer(buffer); + + /* Ping-pong between input/output buffers for the TDN and Stitch nodes. */ + if (!config_.disableTdn) { + isp_[Isp::TdnInput].queueBuffer(tdnBuffers_[tdnInputIndex_]); + isp_[Isp::TdnOutput].queueBuffer(tdnBuffers_[tdnInputIndex_ ^ 1]); + tdnInputIndex_ ^= 1; + } + + if (!config_.disableHdr) { + if (stitchSwapBuffers) + stitchInputIndex_ ^= 1; + isp_[Isp::StitchInput].queueBuffer(stitchBuffers_[stitchInputIndex_]); + isp_[Isp::StitchOutput].queueBuffer(stitchBuffers_[stitchInputIndex_ ^ 1]); + } + + /* Fetch an unused config buffer from the stream .*/ + const RPi::BufferObject &config = isp_[Isp::Config].acquireBuffer(); + ASSERT(config.mapped); + + Span configBufferSpan = config.mapped->planes()[0]; + pisp_be_tiles_config *configBuffer = reinterpret_cast(configBufferSpan.data()); + be_->Prepare(configBuffer); + + /* + * If the LIBCAMERA_RPI_PISP_CONFIG_DUMP environment variable is set, + * dump the Backend config to the given file. This is a one-shot + * operation, so log the filename that was provided and allow the + * application to change the filename for multiple dumps in a single + * run. + * + * \todo Using an environment variable is only a temporary solution + * until we have support for vendor specific controls in libcamera. + */ + const char *config_dump = utils::secure_getenv("LIBCAMERA_RPI_PISP_CONFIG_DUMP"); + if (config_dump && last_dump_file_ != config_dump) { + std::ofstream of(config_dump); + if (of.is_open()) { + of << be_->GetJsonConfig(configBuffer); + last_dump_file_ = config_dump; + } + } + + isp_[Isp::Config].queueBuffer(config.buffer); +} + +void PiSPCameraData::tryRunPipeline() +{ + /* If any of our request or buffer queues are empty, we cannot proceed. */ + if (state_ != State::Idle || requestQueue_.empty() || !cfeJobComplete()) + return; + + CfeJob &job = cfeJobQueue_.front(); + + /* Take the first request from the queue and action the IPA. */ + Request *request = requestQueue_.front(); + + /* See if a new ScalerCrop value needs to be applied. */ + applyScalerCrop(request->controls()); + + /* + * Clear the request metadata and fill it with some initial non-IPA + * related controls. We clear it first because the request metadata + * may have been populated if we have dropped the previous frame. + */ + request->metadata().clear(); + fillRequestMetadata(job.sensorControls, request); + + /* Set our state to say the pipeline is active. */ + state_ = State::Busy; + + unsigned int bayerId = cfe_[Cfe::Output0].getBufferId(job.buffers[&cfe_[Cfe::Output0]]); + unsigned int statsId = cfe_[Cfe::Stats].getBufferId(job.buffers[&cfe_[Cfe::Stats]]); + ASSERT(bayerId && statsId); + + std::stringstream ss; + ss << "Signalling IPA processStats and prepareIsp:" + << " Bayer buffer id: " << bayerId + << " Stats buffer id: " << statsId; + + ipa::RPi::PrepareParams params; + params.buffers.bayer = RPi::MaskBayerData | bayerId; + params.buffers.stats = RPi::MaskStats | statsId; + params.buffers.embedded = 0; + params.ipaContext = requestQueue_.front()->sequence(); + params.delayContext = job.delayContext; + params.sensorControls = std::move(job.sensorControls); + params.requestControls = request->controls(); + + if (sensorMetadata_) { + unsigned int embeddedId = + cfe_[Cfe::Embedded].getBufferId(job.buffers[&cfe_[Cfe::Embedded]]); + + ASSERT(embeddedId); + params.buffers.embedded = RPi::MaskEmbeddedData | embeddedId; + ss << " Embedded buffer id: " << embeddedId; + } + + LOG(RPI, Debug) << ss.str(); + + cfeJobQueue_.pop(); + ipa_->prepareIsp(params); +} + +REGISTER_PIPELINE_HANDLER(PipelineHandlerPiSP, "rpi/pisp") + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/rpi/vc4/data/meson.build b/src/libcamera/pipeline/rpi/vc4/data/meson.build index 179feebc1..009ea5670 100644 --- a/src/libcamera/pipeline/rpi/vc4/data/meson.build +++ b/src/libcamera/pipeline/rpi/vc4/data/meson.build @@ -2,6 +2,7 @@ conf_files = files([ 'example.yaml', + 'rpi_apps.yaml', ]) install_data(conf_files, diff --git a/src/libcamera/pipeline/rpi/vc4/data/rpi_apps.yaml b/src/libcamera/pipeline/rpi/vc4/data/rpi_apps.yaml new file mode 100644 index 000000000..f2c849b7e --- /dev/null +++ b/src/libcamera/pipeline/rpi/vc4/data/rpi_apps.yaml @@ -0,0 +1,45 @@ +{ + "version": 1.0, + "target": "bcm2835", + + "pipeline_handler": + { + # The minimum number of internal buffers to be allocated for + # Unicam. This value must be greater than 0, but less than or + # equal to min_total_unicam_buffers. + # + # A larger number of internal buffers can reduce the occurrence + # of frame drops during high CPU loads, but might also cause + # additional latency in the system. + # + # Note that the pipeline handler might override this value and + # not allocate any internal buffers if it knows they will never + # be used. For example if the RAW stream is marked as mandatory + # and there are no dropped frames signalled for algorithm + # convergence. + # + "min_unicam_buffers": 2, + + # The minimum total (internal + external) buffer count used for + # Unicam. The number of internal buffers allocated for Unicam is + # given by: + # + # internal buffer count = max(min_unicam_buffers, + # min_total_unicam_buffers - external buffer count) + # + "min_total_unicam_buffers": 4, + + # Override any request from the IPA to drop a number of startup + # frames. + # + # "disable_startup_frame_drops": false, + + # The application will always provide a request buffer for the + # RAW stream, if it has been configured. + "raw_mandatory_stream": true, + + # The application will always provide a request buffer for the + # Output 0 stream, if it has been configured. + "output0_mandatory_stream": true, + } +} diff --git a/src/libcamera/pipeline/rpi/vc4/vc4.cpp b/src/libcamera/pipeline/rpi/vc4/vc4.cpp index e5b6ef2b3..a42e5495c 100644 --- a/src/libcamera/pipeline/rpi/vc4/vc4.cpp +++ b/src/libcamera/pipeline/rpi/vc4/vc4.cpp @@ -104,14 +104,25 @@ class Vc4CameraData final : public RPi::CameraData * minTotalUnicamBuffers >= minUnicamBuffers */ unsigned int minTotalUnicamBuffers; + /* + * The application will always provide a request buffer for the + * RAW stream, if it has been configured. + */ + bool rawMandatoryStream; + /* + * The application will always provide a request buffer for the + * Output 0 stream, if it has been configured. + */ + bool output0MandatoryStream; }; Config config_; private: - void platformSetIspCrop() override + void platformSetIspCrop([[maybe_unused]] unsigned int index, const Rectangle &ispCrop) override { - isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &ispCrop_); + Rectangle crop = ispCrop; + isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &crop); } int platformConfigure(const RPi::RPiCameraConfiguration *rpiConfig) override; @@ -218,16 +229,47 @@ bool PipelineHandlerVc4::match(DeviceEnumerator *enumerator) int PipelineHandlerVc4::prepareBuffers(Camera *camera) { Vc4CameraData *data = cameraData(camera); - unsigned int numRawBuffers = 0; + unsigned int minUnicamBuffers = data->config_.minUnicamBuffers; + unsigned int minTotalUnicamBuffers = data->config_.minTotalUnicamBuffers; + unsigned int numRawBuffers = 0, minIspBuffers = 1; int ret; - for (Stream *s : camera->streams()) { - if (BayerFormat::fromPixelFormat(s->configuration().pixelFormat).isValid()) { - numRawBuffers = s->configuration().bufferCount; - break; + if (data->unicam_[Unicam::Image].getFlags() & StreamFlag::External) { + numRawBuffers = data->unicam_[Unicam::Image].getBuffers().size(); + /* + * If the application provides a guarantees that Unicam + * image buffers will always be provided for the RAW stream + * in a Request, we need: + * - at least 1 internal Unicam buffer to handle startup frame drops, + * - no internal Unicam buffers if there are no startup frame drops. + */ + if (data->config_.rawMandatoryStream) { + if (data->dropFrameCount_) { + minUnicamBuffers = 2; + minTotalUnicamBuffers = 2; + } else { + minUnicamBuffers = 0; + minTotalUnicamBuffers = 0; + } } } + if (data->isp_[Isp::Output0].getFlags() & StreamFlag::External) { + /* + * Since the ISP runs synchronous with the IPA and requests, + * we only ever need a maximum of one internal buffer. Any + * buffers the application wants to hold onto will already + * be exported through PipelineHandlerRPi::exportFrameBuffers(). + * + * However, as above, if the application provides a guarantee + * that the buffer will always be provided for the ISP Output0 + * stream in a Request, we don't need any internal buffers + * allocated. + */ + if (!data->dropFrameCount_ && data->config_.output0MandatoryStream) + minIspBuffers = 0; + } + /* Decide how many internal buffers to allocate. */ for (auto const stream : data->streams_) { unsigned int numBuffers; @@ -235,7 +277,6 @@ int PipelineHandlerVc4::prepareBuffers(Camera *camera) * For Unicam, allocate a minimum number of buffers for internal * use as we want to avoid any frame drops. */ - const unsigned int minBuffers = data->config_.minTotalUnicamBuffers; if (stream == &data->unicam_[Unicam::Image]) { /* * If an application has configured a RAW stream, allocate @@ -243,8 +284,9 @@ int PipelineHandlerVc4::prepareBuffers(Camera *camera) * we have at least minUnicamBuffers of internal buffers * to use to minimise frame drops. */ - numBuffers = std::max(data->config_.minUnicamBuffers, - minBuffers - numRawBuffers); + numBuffers = std::max(minUnicamBuffers, + minTotalUnicamBuffers - numRawBuffers); + LOG(RPI, Debug) << "Unicam::Image numBuffers " << numBuffers; } else if (stream == &data->isp_[Isp::Input]) { /* * ISP input buffers are imported from Unicam, so follow @@ -252,8 +294,9 @@ int PipelineHandlerVc4::prepareBuffers(Camera *camera) * available. */ numBuffers = numRawBuffers + - std::max(data->config_.minUnicamBuffers, - minBuffers - numRawBuffers); + std::max(minUnicamBuffers, + minTotalUnicamBuffers - numRawBuffers); + LOG(RPI, Debug) << "Isp::Input numBuffers " << numBuffers; } else if (stream == &data->unicam_[Unicam::Embedded]) { /* @@ -272,14 +315,18 @@ int PipelineHandlerVc4::prepareBuffers(Camera *camera) * buffers, as these will be recycled quicker. */ numBuffers = 12; + } else if (stream == &data->isp_[Isp::Output0]) { + /* Buffer count for this is handled in the earlier loop above. */ + numBuffers = minIspBuffers; + LOG(RPI, Debug) << "Isp::Output0 numBuffers " << numBuffers; } else { /* - * Since the ISP runs synchronous with the IPA and requests, - * we only ever need one set of internal buffers. Any buffers - * the application wants to hold onto will already be exported - * through PipelineHandlerRPi::exportFrameBuffers(). + * Same reasoning as for ISP Output 0, we only ever need + * a maximum of one internal buffer for Output1 (required + * for colour denoise) and ISP statistics. */ numBuffers = 1; + LOG(RPI, Debug) << "Other numBuffers " << numBuffers; } LOG(RPI, Debug) << "Preparing " << numBuffers @@ -497,6 +544,8 @@ int Vc4CameraData::platformPipelineConfigure(const std::unique_ptr & config_ = { .minUnicamBuffers = 2, .minTotalUnicamBuffers = 4, + .rawMandatoryStream = false, + .output0MandatoryStream = false, }; if (!root) @@ -520,6 +569,10 @@ int Vc4CameraData::platformPipelineConfigure(const std::unique_ptr & phConfig["min_unicam_buffers"].get(config_.minUnicamBuffers); config_.minTotalUnicamBuffers = phConfig["min_total_unicam_buffers"].get(config_.minTotalUnicamBuffers); + config_.rawMandatoryStream = + phConfig["raw_mandatory_stream"].get(config_.rawMandatoryStream); + config_.output0MandatoryStream = + phConfig["output0_mandatory_stream"].get(config_.output0MandatoryStream); if (config_.minTotalUnicamBuffers < config_.minUnicamBuffers) { LOG(RPI, Error) << "Invalid configuration: min_total_unicam_buffers must be >= min_unicam_buffers"; @@ -701,13 +754,20 @@ int Vc4CameraData::platformConfigure(const RPi::RPiCameraConfiguration *rpiConfi /* Figure out the smallest selection the ISP will allow. */ Rectangle testCrop(0, 0, 1, 1); isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &testCrop); - ispMinCropSize_ = testCrop.size(); /* Adjust aspect ratio by providing crops on the input image. */ Size size = unicamFormat.size.boundedToAspectRatio(maxSize); - ispCrop_ = size.centeredTo(Rectangle(unicamFormat.size).center()); + Rectangle ispCrop = size.centeredTo(Rectangle(unicamFormat.size).center()); - platformSetIspCrop(); + platformSetIspCrop(0, ispCrop); + /* + * Set the scaler crop to the value we are using (scaled to native sensor + * coordinates). + */ + cropParams_.clear(); + cropParams_.emplace(std::piecewise_construct, + std::forward_as_tuple(0), + std::forward_as_tuple(ispCrop, testCrop.size(), 0)); return 0; } @@ -777,6 +837,18 @@ void Vc4CameraData::unicamBufferDequeue(FrameBuffer *buffer) * as it does not receive the FrameBuffer object. */ ctrl.set(controls::SensorTimestamp, buffer->metadata().timestamp); + + /* Also record a wall-clock timestamp that can be passed to IPAs. */ + while (!frameWallClock_.empty() && + frameWallClock_.front().first < buffer->metadata().sequence) + frameWallClock_.pop(); + + if (!frameWallClock_.empty() && + frameWallClock_.front().first == buffer->metadata().sequence) { + ctrl.set(controls::rpi::FrameWallClock, frameWallClock_.front().second.get()); + frameWallClock_.pop(); + } + bayerQueue_.push({ buffer, std::move(ctrl), delayContext }); } else { embeddedQueue_.push(buffer); diff --git a/src/libcamera/sensor/camera_sensor_properties.cpp b/src/libcamera/sensor/camera_sensor_properties.cpp index 6d4136d03..1c59eb064 100644 --- a/src/libcamera/sensor/camera_sensor_properties.cpp +++ b/src/libcamera/sensor/camera_sensor_properties.cpp @@ -168,6 +168,18 @@ const CameraSensorProperties *CameraSensorProperties::get(const std::string &sen { controls::draft::TestPatternModePn9, 4 }, }, } }, + { "imx708_noir", { + .unitCellSize = { 1400, 1400 }, + .testPatternModes = {}, + } }, + { "imx708_wide", { + .unitCellSize = { 1400, 1400 }, + .testPatternModes = {}, + } }, + { "imx708_wide_noir", { + .unitCellSize = { 1400, 1400 }, + .testPatternModes = {}, + } }, { "ov2685", { .unitCellSize = { 1750, 1750 }, .testPatternModes = { diff --git a/src/libcamera/v4l2_videodevice.cpp b/src/libcamera/v4l2_videodevice.cpp index 93cb16979..833527aa9 100644 --- a/src/libcamera/v4l2_videodevice.cpp +++ b/src/libcamera/v4l2_videodevice.cpp @@ -1570,7 +1570,7 @@ int V4L2VideoDevice::releaseBuffers() } /** - * \brief Queue a buffer to the video device + * \brief Queue a buffer to the video device if possible * \param[in] buffer The buffer to be queued * * For capture video devices the \a buffer will be filled with data by the @@ -1584,156 +1584,38 @@ int V4L2VideoDevice::releaseBuffers() * Note that queueBuffer() will fail if the device is in the process of being * stopped from a streaming state through streamOff(). * + * V4L2 only allows upto VIDEO_MAX_FRAME frames to be queued at a time, so if + * we reach this limit, store the framebuffers in a pending queue, and try to + * enqueue once a buffer has been dequeued. + * * \return 0 on success or a negative error code otherwise */ int V4L2VideoDevice::queueBuffer(FrameBuffer *buffer) { - struct v4l2_plane v4l2Planes[VIDEO_MAX_PLANES] = {}; - struct v4l2_buffer buf = {}; - int ret; - if (state_ == State::Stopping) { LOG(V4L2, Error) << "Device is in a stopping state."; return -ESHUTDOWN; } - /* - * Pipeline handlers should not requeue buffers after releasing the - * buffers on the device. Any occurence of this error should be fixed - * in the pipeline handler directly. - */ - if (!cache_) { - LOG(V4L2, Fatal) << "No BufferCache available to queue."; - return -ENOENT; - } - - ret = cache_->get(*buffer); - if (ret < 0) - return ret; - - buf.index = ret; - buf.type = bufferType_; - buf.memory = memoryType_; - buf.field = V4L2_FIELD_NONE; - - bool multiPlanar = V4L2_TYPE_IS_MULTIPLANAR(buf.type); - const std::vector &planes = buffer->planes(); - const unsigned int numV4l2Planes = format_.planesCount; - - /* - * Ensure that the frame buffer has enough planes, and that they're - * contiguous if the V4L2 format requires them to be. - */ - if (planes.size() < numV4l2Planes) { - LOG(V4L2, Error) << "Frame buffer has too few planes"; - return -EINVAL; - } - - if (planes.size() != numV4l2Planes && !buffer->_d()->isContiguous()) { - LOG(V4L2, Error) << "Device format requires contiguous buffer"; - return -EINVAL; - } - - if (buf.memory == V4L2_MEMORY_DMABUF) { - if (multiPlanar) { - for (unsigned int p = 0; p < numV4l2Planes; ++p) - v4l2Planes[p].m.fd = planes[p].fd.get(); - } else { - buf.m.fd = planes[0].fd.get(); - } - } - - if (multiPlanar) { - buf.length = numV4l2Planes; - buf.m.planes = v4l2Planes; - } - - if (V4L2_TYPE_IS_OUTPUT(buf.type)) { - const FrameMetadata &metadata = buffer->metadata(); - - for (const auto &plane : metadata.planes()) { - if (!plane.bytesused) - LOG(V4L2, Warning) << "byteused == 0 is deprecated"; - } - - if (numV4l2Planes != planes.size()) { - /* - * If we have a multi-planar buffer with a V4L2 - * single-planar format, coalesce all planes. The length - * and number of bytes used may only differ in the last - * plane as any other situation can't be represented. - */ - unsigned int bytesused = 0; - unsigned int length = 0; - - for (auto [i, plane] : utils::enumerate(planes)) { - bytesused += metadata.planes()[i].bytesused; - length += plane.length; - - if (i != planes.size() - 1 && bytesused != length) { - LOG(V4L2, Error) - << "Holes in multi-planar buffer not supported"; - return -EINVAL; - } - } - - if (multiPlanar) { - v4l2Planes[0].bytesused = bytesused; - v4l2Planes[0].length = length; - } else { - buf.bytesused = bytesused; - buf.length = length; - } - } else if (multiPlanar) { - /* - * If we use the multi-planar API, fill in the planes. - * The number of planes in the frame buffer and in the - * V4L2 buffer is guaranteed to be equal at this point. - */ - for (auto [i, plane] : utils::enumerate(planes)) { - v4l2Planes[i].bytesused = metadata.planes()[i].bytesused; - v4l2Planes[i].length = plane.length; - } - } else { - /* - * Single-planar API with a single plane in the buffer - * is trivial to handle. - */ - buf.bytesused = metadata.planes()[0].bytesused; - buf.length = planes[0].length; - } + if (queuedBuffers_.size() == VIDEO_MAX_FRAME) { + LOG(V4L2, Debug) << "V4L2 queue has " << VIDEO_MAX_FRAME + << " already queued, differing queueing."; - /* - * Timestamps are to be supplied if the device is a mem-to-mem - * device. The drivers will have V4L2_BUF_FLAG_TIMESTAMP_COPY - * set hence these timestamps will be copied from the output - * buffers to capture buffers. If the device is not mem-to-mem, - * there is no harm in setting the timestamps as they will be - * ignored (and over-written). - */ - buf.timestamp.tv_sec = metadata.timestamp / 1000000000; - buf.timestamp.tv_usec = (metadata.timestamp / 1000) % 1000000; + pendingBuffersToQueue_.push(buffer); + return 0; } - LOG(V4L2, Debug) << "Queueing buffer " << buf.index; + if (!pendingBuffersToQueue_.empty()) { + LOG(V4L2, Debug) << "Adding buffer " << buffer + << " to the pending queue and replacing with " + << pendingBuffersToQueue_.front(); - ret = ioctl(VIDIOC_QBUF, &buf); - if (ret < 0) { - LOG(V4L2, Error) - << "Failed to queue buffer " << buf.index << ": " - << strerror(-ret); - return ret; - } - - if (queuedBuffers_.empty()) { - fdBufferNotifier_->setEnabled(true); - if (watchdogDuration_) - watchdog_.start(std::chrono::duration_cast(watchdogDuration_)); + pendingBuffersToQueue_.push(buffer); + buffer = pendingBuffersToQueue_.front(); + pendingBuffersToQueue_.pop(); } - queuedBuffers_[buf.index] = buffer; - - return 0; + return queueToDevice(buffer); } /** @@ -1761,6 +1643,11 @@ void V4L2VideoDevice::bufferAvailable() * This function dequeues the next available buffer from the device. If no * buffer is available to be dequeued it will return nullptr immediately. * + * Once a buffer is dequeued from the device, this function may also enqueue + * a buffer that has been placed in the pending queue (due to reaching the V4L2 + * queue size limit. Note that if this enqueue fails, we log the error, but + * continue running this function to completion. + * * \return A pointer to the dequeued buffer on success, or nullptr otherwise */ FrameBuffer *V4L2VideoDevice::dequeueBuffer() @@ -1813,6 +1700,20 @@ FrameBuffer *V4L2VideoDevice::dequeueBuffer() FrameBuffer *buffer = it->second; queuedBuffers_.erase(it); + if (!pendingBuffersToQueue_.empty()) { + FrameBuffer *pending = pendingBuffersToQueue_.front(); + + pendingBuffersToQueue_.pop(); + /* + * If the pending buffer enqueue fails, we must continue this + * function to completion for the dequeue operation. + */ + if (queueToDevice(pending)) + LOG(V4L2, Error) + << "Failed to re-queue pending buffer " + << pending; + } + if (queuedBuffers_.empty()) { fdBufferNotifier_->setEnabled(false); watchdog_.stop(); @@ -1911,6 +1812,168 @@ FrameBuffer *V4L2VideoDevice::dequeueBuffer() return buffer; } +/** + * \brief Queue a buffer to the video device if possible + * \param[in] buffer The buffer to be queued + * + * For capture video devices the \a buffer will be filled with data by the + * device. For output video devices the \a buffer shall contain valid data and + * will be processed by the device. Once the device has finished processing the + * buffer, it will be available for dequeue. + * + * The best available V4L2 buffer is picked for \a buffer using the V4L2 buffer + * cache. + * + * Note that queueToDevice() will fail if the device is in the process of being + * stopped from a streaming state through streamOff(). + * + * \return 0 on success or a negative error code otherwise + */ +int V4L2VideoDevice::queueToDevice(FrameBuffer *buffer) +{ + struct v4l2_plane v4l2Planes[VIDEO_MAX_PLANES] = {}; + struct v4l2_buffer buf = {}; + int ret; + + /* + * Pipeline handlers should not requeue buffers after releasing the + * buffers on the device. Any occurence of this error should be fixed + * in the pipeline handler directly. + */ + if (!cache_) { + LOG(V4L2, Fatal) << "No BufferCache available to queue."; + return -ENOENT; + } + + ret = cache_->get(*buffer); + if (ret < 0) + return ret; + + buf.index = ret; + buf.type = bufferType_; + buf.memory = memoryType_; + buf.field = V4L2_FIELD_NONE; + + bool multiPlanar = V4L2_TYPE_IS_MULTIPLANAR(buf.type); + const std::vector &planes = buffer->planes(); + const unsigned int numV4l2Planes = format_.planesCount; + + /* + * Ensure that the frame buffer has enough planes, and that they're + * contiguous if the V4L2 format requires them to be. + */ + if (planes.size() < numV4l2Planes) { + LOG(V4L2, Error) << "Frame buffer has too few planes"; + return -EINVAL; + } + + if (planes.size() != numV4l2Planes && !buffer->_d()->isContiguous()) { + LOG(V4L2, Error) << "Device format requires contiguous buffer"; + return -EINVAL; + } + + if (buf.memory == V4L2_MEMORY_DMABUF) { + if (multiPlanar) { + for (unsigned int p = 0; p < numV4l2Planes; ++p) + v4l2Planes[p].m.fd = planes[p].fd.get(); + } else { + buf.m.fd = planes[0].fd.get(); + } + } + + if (multiPlanar) { + buf.length = numV4l2Planes; + buf.m.planes = v4l2Planes; + } + + if (V4L2_TYPE_IS_OUTPUT(buf.type)) { + const FrameMetadata &metadata = buffer->metadata(); + + for (const auto &plane : metadata.planes()) { + if (!plane.bytesused) + LOG(V4L2, Warning) << "byteused == 0 is deprecated"; + } + + if (numV4l2Planes != planes.size()) { + /* + * If we have a multi-planar buffer with a V4L2 + * single-planar format, coalesce all planes. The length + * and number of bytes used may only differ in the last + * plane as any other situation can't be represented. + */ + unsigned int bytesused = 0; + unsigned int length = 0; + + for (auto [i, plane] : utils::enumerate(planes)) { + bytesused += metadata.planes()[i].bytesused; + length += plane.length; + + if (i != planes.size() - 1 && bytesused != length) { + LOG(V4L2, Error) + << "Holes in multi-planar buffer not supported"; + return -EINVAL; + } + } + + if (multiPlanar) { + v4l2Planes[0].bytesused = bytesused; + v4l2Planes[0].length = length; + } else { + buf.bytesused = bytesused; + buf.length = length; + } + } else if (multiPlanar) { + /* + * If we use the multi-planar API, fill in the planes. + * The number of planes in the frame buffer and in the + * V4L2 buffer is guaranteed to be equal at this point. + */ + for (auto [i, plane] : utils::enumerate(planes)) { + v4l2Planes[i].bytesused = metadata.planes()[i].bytesused; + v4l2Planes[i].length = plane.length; + } + } else { + /* + * Single-planar API with a single plane in the buffer + * is trivial to handle. + */ + buf.bytesused = metadata.planes()[0].bytesused; + buf.length = planes[0].length; + } + + /* + * Timestamps are to be supplied if the device is a mem-to-mem + * device. The drivers will have V4L2_BUF_FLAG_TIMESTAMP_COPY + * set hence these timestamps will be copied from the output + * buffers to capture buffers. If the device is not mem-to-mem, + * there is no harm in setting the timestamps as they will be + * ignored (and over-written). + */ + buf.timestamp.tv_sec = metadata.timestamp / 1000000000; + buf.timestamp.tv_usec = (metadata.timestamp / 1000) % 1000000; + } + + LOG(V4L2, Debug) << "Queueing buffer " << buf.index; + + ret = ioctl(VIDIOC_QBUF, &buf); + if (ret < 0) { + LOG(V4L2, Error) + << "Failed to queue buffer " << buf.index << ": " + << strerror(-ret); + return ret; + } + + if (queuedBuffers_.empty()) { + fdBufferNotifier_->setEnabled(true); + if (watchdogDuration_) + watchdog_.start(std::chrono::duration_cast(watchdogDuration_)); + } + + queuedBuffers_[buf.index] = buffer; + + return 0; +} + /** * \var V4L2VideoDevice::bufferReady * \brief A Signal emitted when a framebuffer completes diff --git a/subprojects/.gitignore b/subprojects/.gitignore index 04b6271f2..b08d69907 100644 --- a/subprojects/.gitignore +++ b/subprojects/.gitignore @@ -1,6 +1,7 @@ # SPDX-License-Identifier: CC0-1.0 /googletest-release* +/libpisp /libyaml /libyuv /packagecache diff --git a/subprojects/libpisp.wrap b/subprojects/libpisp.wrap new file mode 100644 index 000000000..058e6cc79 --- /dev/null +++ b/subprojects/libpisp.wrap @@ -0,0 +1,6 @@ +# SPDX-License-Identifier: CC0-1.0 + +[wrap-git] +url = https://github.com/raspberrypi/libpisp.git +revision = v1.0.7 +depth = 1