/* Spa * * Copyright (C) 2020, Collabora Ltd. * Author: Raghavendra Rao Sidlagatta * Copyright (C) 2021 Wim Taymans * * libcamera-utils.cpp * * Permission is hereby granted, free of charge, to any person obtaining a * copy of this software and associated documentation files (the "Software"), * to deal in the Software without restriction, including without limitation * the rights to use, copy, modify, merge, publish, distribute, sublicense, * and/or sell copies of the Software, and to permit persons to whom the * Software is furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice (including the next * paragraph) shall be included in all copies or substantial portions of the * Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER * DEALINGS IN THE SOFTWARE. */ #include #include #include #include #include #include #include #include int spa_libcamera_open(struct impl *impl) { if (impl->acquired) return 0; impl->camera->acquire(); impl->acquired = true; return 0; } int spa_libcamera_close(struct impl *impl) { struct port *port = &impl->out_ports[0]; if (!impl->acquired) return 0; if (impl->active || port->have_format) return 0; impl->camera->release(); impl->acquired = false; return 0; } static void spa_libcamera_get_config(struct impl *impl) { if (impl->have_config) return; StreamRoles roles; roles.push_back(VideoRecording); impl->config = impl->camera->generateConfiguration(roles); impl->have_config = true; } static int spa_libcamera_buffer_recycle(struct impl *impl, uint32_t buffer_id) { struct port *port = &impl->out_ports[0]; struct buffer *b = &port->buffers[buffer_id]; if (!SPA_FLAG_IS_SET(b->flags, BUFFER_FLAG_OUTSTANDING)) return 0; SPA_FLAG_CLEAR(b->flags, BUFFER_FLAG_OUTSTANDING); return 0; } static int spa_libcamera_clear_buffers(struct impl *impl) { struct port *port = &impl->out_ports[0]; uint32_t i; if (port->n_buffers == 0) return 0; for (i = 0; i < port->n_buffers; i++) { struct buffer *b; struct spa_data *d; b = &port->buffers[i]; d = b->outbuf->datas; if (SPA_FLAG_IS_SET(b->flags, BUFFER_FLAG_OUTSTANDING)) { spa_log_debug(impl->log, "queueing outstanding buffer %p", b); spa_libcamera_buffer_recycle(impl, i); } if (SPA_FLAG_IS_SET(b->flags, BUFFER_FLAG_MAPPED)) { munmap(SPA_PTROFF(b->ptr, -d[0].mapoffset, void), d[0].maxsize - d[0].mapoffset); } if (SPA_FLAG_IS_SET(b->flags, BUFFER_FLAG_ALLOCATED)) { close(d[0].fd); } d[0].type = SPA_ID_INVALID; } port->n_buffers = 0; return 0; } struct format_info { PixelFormat pix; uint32_t format; uint32_t media_type; uint32_t media_subtype; }; #define MAKE_FMT(pix,fmt,mt,mst) { pix, SPA_VIDEO_FORMAT_ ##fmt, SPA_MEDIA_TYPE_ ##mt, SPA_MEDIA_SUBTYPE_ ##mst } static const struct format_info format_info[] = { /* RGB formats */ MAKE_FMT(formats::RGB565, RGB16, video, raw), MAKE_FMT(formats::RGB565_BE, RGB16, video, raw), MAKE_FMT(formats::RGB888, RGB, video, raw), MAKE_FMT(formats::BGR888, BGR, video, raw), MAKE_FMT(formats::XRGB8888, xRGB, video, raw), MAKE_FMT(formats::XBGR8888, xBGR, video, raw), MAKE_FMT(formats::RGBX8888, RGBx, video, raw), MAKE_FMT(formats::BGRX8888, BGRx, video, raw), MAKE_FMT(formats::ARGB8888, ARGB, video, raw), MAKE_FMT(formats::ABGR8888, ABGR, video, raw), MAKE_FMT(formats::RGBA8888, RGBA, video, raw), MAKE_FMT(formats::BGRA8888, BGRA, video, raw), MAKE_FMT(formats::YUYV, YUY2, video, raw), MAKE_FMT(formats::YVYU, YVYU, video, raw), MAKE_FMT(formats::UYVY, UYVY, video, raw), MAKE_FMT(formats::VYUY, VYUY, video, raw), MAKE_FMT(formats::NV12, NV12, video, raw), MAKE_FMT(formats::NV21, NV21, video, raw), MAKE_FMT(formats::NV16, NV16, video, raw), MAKE_FMT(formats::NV61, NV61, video, raw), MAKE_FMT(formats::NV24, NV24, video, raw), MAKE_FMT(formats::YUV420, I420, video, raw), MAKE_FMT(formats::YVU420, YV12, video, raw), MAKE_FMT(formats::YUV422, Y42B, video, raw), MAKE_FMT(formats::MJPEG, ENCODED, video, mjpg), #undef MAKE_FMT }; static const struct format_info *video_format_to_info(const PixelFormat &pix) { size_t i; for (i = 0; i < SPA_N_ELEMENTS(format_info); i++) { if (format_info[i].pix == pix) return &format_info[i]; } return NULL; } static const struct format_info *find_format_info_by_media_type(uint32_t type, uint32_t subtype, uint32_t format, int startidx) { size_t i; for (i = startidx; i < SPA_N_ELEMENTS(format_info); i++) { if ((format_info[i].media_type == type) && (format_info[i].media_subtype == subtype) && (format == 0 || format_info[i].format == format)) return &format_info[i]; } return NULL; } static int spa_libcamera_enum_format(struct impl *impl, int seq, uint32_t start, uint32_t num, const struct spa_pod *filter) { struct port *port = &impl->out_ports[0]; int res; const struct format_info *info; uint8_t buffer[1024]; struct spa_pod_builder b = { 0 }; struct spa_pod_frame f[2]; struct spa_result_node_params result; struct spa_pod *fmt; uint32_t count = 0; PixelFormat format; Size frameSize; SizeRange sizeRange = SizeRange(); spa_libcamera_get_config(impl); const StreamConfiguration& streamConfig = impl->config->at(0); const StreamFormats &formats = streamConfig.formats(); result.id = SPA_PARAM_EnumFormat; result.next = start; if (result.next == 0) { port->fmt_index = 0; port->size_index = 0; } next: result.index = result.next++; next_fmt: if (port->fmt_index >= formats.pixelformats().size()) goto enum_end; format = formats.pixelformats()[port->fmt_index]; spa_log_debug(impl->log, "format: %s", format.toString().c_str()); info = video_format_to_info(format); if (info == NULL) { spa_log_debug(impl->log, "unknown format"); port->fmt_index++; goto next_fmt; } if (port->size_index < formats.sizes(format).size()) { frameSize = formats.sizes(format)[port->size_index]; } else if (port->size_index < 1) { sizeRange = formats.range(format); if (sizeRange.hStep == 0 || sizeRange.vStep == 0) { port->size_index = 0; port->fmt_index++; goto next_fmt; } } else { port->size_index = 0; port->fmt_index++; goto next_fmt; } port->size_index++; spa_pod_builder_init(&b, buffer, sizeof(buffer)); spa_pod_builder_push_object(&b, &f[0], SPA_TYPE_OBJECT_Format, SPA_PARAM_EnumFormat); spa_pod_builder_add(&b, SPA_FORMAT_mediaType, SPA_POD_Id(info->media_type), SPA_FORMAT_mediaSubtype, SPA_POD_Id(info->media_subtype), 0); if (info->media_subtype == SPA_MEDIA_SUBTYPE_raw) { spa_pod_builder_prop(&b, SPA_FORMAT_VIDEO_format, 0); spa_pod_builder_id(&b, info->format); } if (info->pix.modifier()) { spa_pod_builder_prop(&b, SPA_FORMAT_VIDEO_modifier, 0); spa_pod_builder_long(&b, info->pix.modifier()); } spa_pod_builder_prop(&b, SPA_FORMAT_VIDEO_size, 0); if (sizeRange.hStep != 0 && sizeRange.vStep != 0) { spa_pod_builder_push_choice(&b, &f[1], SPA_CHOICE_Step, 0); spa_pod_builder_frame(&b, &f[1]); spa_pod_builder_rectangle(&b, sizeRange.min.width, sizeRange.min.height); spa_pod_builder_rectangle(&b, sizeRange.min.width, sizeRange.min.height); spa_pod_builder_rectangle(&b, sizeRange.max.width, sizeRange.max.height); spa_pod_builder_rectangle(&b, sizeRange.hStep, sizeRange.vStep); spa_pod_builder_pop(&b, &f[1]); } else { spa_pod_builder_rectangle(&b, frameSize.width, frameSize.height); } fmt = (struct spa_pod*) spa_pod_builder_pop(&b, &f[0]); if (spa_pod_filter(&b, &result.param, fmt, filter) < 0) goto next; spa_node_emit_result(&impl->hooks, seq, 0, SPA_RESULT_TYPE_NODE_PARAMS, &result); if (++count != num) goto next; enum_end: res = 0; return res; } static int spa_libcamera_set_format(struct impl *impl, struct spa_video_info *format, bool try_only) { struct port *port = &impl->out_ports[0]; const struct format_info *info = NULL; uint32_t video_format; struct spa_rectangle *size = NULL; struct spa_fraction *framerate = NULL; int res; switch (format->media_subtype) { case SPA_MEDIA_SUBTYPE_raw: video_format = format->info.raw.format; size = &format->info.raw.size; framerate = &format->info.raw.framerate; break; case SPA_MEDIA_SUBTYPE_mjpg: case SPA_MEDIA_SUBTYPE_jpeg: video_format = SPA_VIDEO_FORMAT_ENCODED; size = &format->info.mjpg.size; framerate = &format->info.mjpg.framerate; break; case SPA_MEDIA_SUBTYPE_h264: video_format = SPA_VIDEO_FORMAT_ENCODED; size = &format->info.h264.size; framerate = &format->info.h264.framerate; break; default: video_format = SPA_VIDEO_FORMAT_ENCODED; break; } info = find_format_info_by_media_type(format->media_type, format->media_subtype, video_format, 0); if (info == NULL || size == NULL || framerate == NULL) { spa_log_error(impl->log, "unknown media type %d %d %d", format->media_type, format->media_subtype, video_format); return -EINVAL; } StreamConfiguration& streamConfig = impl->config->at(0); streamConfig.pixelFormat = info->pix; streamConfig.size.width = size->width; streamConfig.size.height = size->height; if (impl->config->validate() == CameraConfiguration::Invalid) return -EINVAL; if ((res = spa_libcamera_open(impl)) < 0) return res; res = impl->camera->configure(impl->config.get()); if (res != 0) goto error; port->have_format = true; port->info.change_mask |= SPA_PORT_CHANGE_MASK_FLAGS | SPA_PORT_CHANGE_MASK_RATE; port->info.flags = SPA_PORT_FLAG_CAN_ALLOC_BUFFERS | SPA_PORT_FLAG_LIVE | SPA_PORT_FLAG_PHYSICAL | SPA_PORT_FLAG_TERMINAL; port->info.rate = SPA_FRACTION(port->rate.num, port->rate.denom); return 0; error: spa_libcamera_close(impl); return res; } static int spa_libcamera_enum_controls(struct impl *impl, int seq, uint32_t start, uint32_t num, const struct spa_pod *filter) { return -ENOTSUP; } static int mmap_read(struct impl *impl) { #if 0 struct port *port = &impl->out_ports[0]; struct buffer *b = NULL; struct spa_data *d = NULL; unsigned int sequence = 0; struct timeval timestamp; int64_t pts; struct OutBuf *pOut = NULL; struct CamData *pDatas = NULL; uint32_t bytesused = 0; timestamp.tv_sec = 0; timestamp.tv_usec = 0; if (impl->camera) { // pOut = (struct OutBuf *)libcamera_get_ring_buffer_data(dev->camera); if(!pOut) { spa_log_debug(impl->log, "Exiting %s as pOut is NULL", __FUNCTION__); return -1; } /* update the read index of the ring buffer */ // libcamera_ringbuffer_read_update(dev->camera); pDatas = pOut->datas; if(NULL == pDatas) { spa_log_debug(impl->log, "Exiting %s on NULL pointer", __FUNCTION__); goto end; } b = &port->buffers[pOut->bufIdx]; b->outbuf->n_datas = pOut->n_datas; if(NULL == b->outbuf->datas) { spa_log_debug(impl->log, "Exiting %s as b->outbuf->datas is NULL", __FUNCTION__); goto end; } for(unsigned int i = 0; i < pOut->n_datas; ++i) { struct CamData *pData = &pDatas[i]; if(NULL == pData) { spa_log_debug(impl->log, "Exiting %s on NULL pointer", __FUNCTION__); goto end; } b->outbuf->datas[i].flags = SPA_DATA_FLAG_READABLE; if(port->memtype == SPA_DATA_DmaBuf) { b->outbuf->datas[i].fd = pData->fd; } bytesused = b->outbuf->datas[i].chunk->size = pData->size; timestamp = pData->timestamp; sequence = pData->sequence; b->outbuf->datas[i].mapoffset = 0; b->outbuf->datas[i].chunk->offset = 0; b->outbuf->datas[i].chunk->flags = 0; //b->outbuf->datas[i].chunk->stride = pData->sstride; /* FIXME:: This needs to be appropriately filled */ b->outbuf->datas[i].maxsize = pData->maxsize; spa_log_trace(impl->log,"Spa libcamera Source::%s:: got bufIdx = %d and ndatas = %d", __FUNCTION__, pOut->bufIdx, pOut->n_datas); spa_log_trace(impl->log," data[%d] --> fd = %ld bytesused = %d sequence = %d", i, b->outbuf->datas[i].fd, bytesused, sequence); } } pts = SPA_TIMEVAL_TO_NSEC(×tamp); if (impl->clock) { impl->clock->nsec = pts; impl->clock->rate = port->rate; impl->clock->position = sequence; impl->clock->duration = 1; impl->clock->delay = 0; impl->clock->rate_diff = 1.0; impl->clock->next_nsec = pts + 1000000000LL / port->rate.denom; } if (b->h) { b->h->flags = 0; b->h->offset = 0; b->h->seq = sequence; b->h->pts = pts; b->h->dts_offset = 0; } d = b->outbuf->datas; d[0].chunk->offset = 0; d[0].chunk->size = bytesused; d[0].chunk->flags = 0; d[0].data = b->ptr; spa_log_trace(impl->log,"%s:: b->ptr = %p d[0].data = %p", __FUNCTION__, b->ptr, d[0].data); spa_list_append(&port->queue, &b->link); end: // libcamera_free_CamData(dev->camera, pDatas); // libcamera_free_OutBuf(dev->camera, pOut); #endif return 0; } static void libcamera_on_fd_events(struct spa_source *source) { struct impl *impl = (struct impl*) source->data; struct spa_io_buffers *io; struct port *port = &impl->out_ports[0]; struct buffer *b; uint64_t cnt; if (source->rmask & SPA_IO_ERR) { struct port *port = &impl->out_ports[0]; spa_log_error(impl->log, "libcamera %p: error %08x", impl, source->rmask); if (port->source.loop) spa_loop_remove_source(impl->data_loop, &port->source); return; } if (!(source->rmask & SPA_IO_IN)) { spa_log_warn(impl->log, "libcamera %p: spurious wakeup %d", impl, source->rmask); return; } if (spa_system_eventfd_read(impl->system, port->source.fd, &cnt) < 0) { spa_log_error(impl->log, "Failed to read on event fd"); return; } if (mmap_read(impl) < 0) { spa_log_debug(impl->log, "%s:: mmap_read failure", __FUNCTION__); return; } if (spa_list_is_empty(&port->queue)) { spa_log_debug(impl->log, "Exiting %s as spa list is empty", __FUNCTION__); return; } io = port->io; if (io != NULL && io->status != SPA_STATUS_HAVE_DATA) { if (io->buffer_id < port->n_buffers) spa_libcamera_buffer_recycle(impl, io->buffer_id); b = spa_list_first(&port->queue, struct buffer, link); spa_list_remove(&b->link); SPA_FLAG_SET(b->flags, BUFFER_FLAG_OUTSTANDING); io->buffer_id = b->id; io->status = SPA_STATUS_HAVE_DATA; spa_log_trace(impl->log, "libcamera %p: now queued %d", impl, b->id); } spa_node_call_ready(&impl->callbacks, SPA_STATUS_HAVE_DATA); } static int spa_libcamera_use_buffers(struct impl *impl, struct spa_buffer **buffers, uint32_t n_buffers) { #if 0 struct port *port = &impl->out_ports[0]; unsigned int i, j; struct spa_data *d; n_buffers = libcamera_get_nbuffers(port->dev.camera); if (n_buffers > 0) { d = buffers[0]->datas; if (d[0].type == SPA_DATA_MemFd || (d[0].type == SPA_DATA_MemPtr && d[0].data != NULL)) { port->memtype = SPA_DATA_MemPtr; } else if (d[0].type == SPA_DATA_DmaBuf) { port->memtype = SPA_DATA_DmaBuf; } else { spa_log_error(impl->log, "v4l2: can't use buffers of type %d", d[0].type); return -EINVAL; } } for (i = 0; i < n_buffers; i++) { struct buffer *b; b = &port->buffers[i]; b->id = i; b->outbuf = buffers[i]; b->flags = BUFFER_FLAG_OUTSTANDING; b->h = spa_buffer_find_meta_data(buffers[i], SPA_META_Header, sizeof(*b->h)); spa_log_debug(impl->log, "import buffer %p", buffers[i]); if (buffers[i]->n_datas < 1) { spa_log_error(impl->log, "invalid memory on buffer %p", buffers[i]); return -EINVAL; } d = buffers[i]->datas; for(j = 0; j < buffers[i]->n_datas; ++j) { d[j].mapoffset = 0; d[j].maxsize = libcamera_get_max_size(port->dev.camera); if (port->memtype == SPA_DATA_MemPtr) { if (d[j].data == NULL) { d[j].fd = -1; d[j].data = mmap(NULL, d[j].maxsize + d[j].mapoffset, PROT_READ, MAP_SHARED, libcamera_get_fd(port->dev.camera, i, j), 0); if (d[j].data == MAP_FAILED) { return -errno; } b->ptr = d[j].data; spa_log_debug(impl->log, "In spa_libcamera_use_buffers(). mmap ptr:%p for fd = %ld buffer: #%d", d[j].data, d[j].fd, i); SPA_FLAG_SET(b->flags, BUFFER_FLAG_MAPPED); } else { b->ptr = d[j].data; spa_log_debug(impl->log, "In spa_libcamera_use_buffers(). b->ptr = %p d[j].maxsize = %d for buffer: #%d", d[j].data, d[j].maxsize, i); } spa_log_debug(impl->log, "In spa_libcamera_use_buffers(). setting b->ptr = %p for buffer: #%d on libcamera", b->ptr, i); } else if (port->memtype == SPA_DATA_DmaBuf) { d[j].fd = libcamera_get_fd(port->dev.camera, i, j); spa_log_debug(impl->log, "Got fd = %ld for buffer: #%d", d[j].fd, i); } else { spa_log_error(impl->log, "Exiting spa_libcamera_use_buffers() with -EIO"); return -EIO; } } spa_libcamera_buffer_recycle(impl, i); } port->n_buffers = n_buffers; #endif return 0; } static int mmap_init(struct impl *impl, struct spa_buffer **buffers, uint32_t n_buffers) { #if 0 struct port *port = &impl->out_ports[0]; unsigned int i, j; struct spa_data *d; spa_log_info(impl->log, "In mmap_init()"); if (n_buffers > 0) { d = buffers[0]->datas; if (d[0].type != SPA_ID_INVALID && d[0].type & (1u << SPA_DATA_DmaBuf)) { port->memtype = SPA_DATA_DmaBuf; } else if (d[0].type != SPA_ID_INVALID && d[0].type & (1u << SPA_DATA_MemFd)) { port->memtype = SPA_DATA_MemFd; } else if (d[0].type & (1u << SPA_DATA_MemPtr)) { port->memtype = SPA_DATA_MemPtr; } else { spa_log_error(impl->log, "v4l2: can't use buffers of type %d", d[0].type); return -EINVAL; } } /* get n_buffers from libcamera */ uint32_t libcamera_nbuffers = libcamera_get_nbuffers(port->dev.camera); for (i = 0; i < libcamera_nbuffers; i++) { struct buffer *b; if (buffers[i]->n_datas < 1) { spa_log_error(impl->log, "invalid buffer data"); return -EINVAL; } b = &port->buffers[i]; b->id = i; b->outbuf = buffers[i]; b->flags = BUFFER_FLAG_OUTSTANDING; b->h = spa_buffer_find_meta_data(buffers[i], SPA_META_Header, sizeof(*b->h)); d = buffers[i]->datas; for(j = 0; j < buffers[i]->n_datas; ++j) { d[j].type = port->memtype; d[j].flags = SPA_DATA_FLAG_READABLE; d[j].mapoffset = 0; d[j].maxsize = libcamera_get_max_size(port->dev.camera); d[j].chunk->offset = 0; d[j].chunk->size = 0; d[j].chunk->stride = port->fmt.bytesperline; /* FIXME:: This needs to be appropriately filled */ d[j].chunk->flags = 0; if (port->memtype == SPA_DATA_DmaBuf || port->memtype == SPA_DATA_MemFd) { d[j].fd = libcamera_get_fd(port->dev.camera, i, j); spa_log_info(impl->log, "Got fd = %ld for buffer: #%d", d[j].fd, i); d[j].data = NULL; SPA_FLAG_SET(b->flags, BUFFER_FLAG_ALLOCATED); } else if(port->memtype == SPA_DATA_MemPtr) { d[j].fd = -1; d[j].data = mmap(NULL, d[j].maxsize + d[j].mapoffset, PROT_READ, MAP_SHARED, libcamera_get_fd(port->dev.camera, i, j), 0); if (d[j].data == MAP_FAILED) { spa_log_error(impl->log, "mmap: %m"); continue; } b->ptr = d[j].data; SPA_FLAG_SET(b->flags, BUFFER_FLAG_MAPPED); spa_log_info(impl->log, "mmap ptr:%p", d[j].data); } else { spa_log_error(impl->log, "invalid buffer type"); return -EIO; } } spa_libcamera_buffer_recycle(impl, i); } port->n_buffers = libcamera_nbuffers; #endif return 0; } static int spa_libcamera_alloc_buffers(struct impl *impl, struct spa_buffer **buffers, uint32_t n_buffers) { int res; struct port *port = &impl->out_ports[0]; if (port->n_buffers > 0) return -EIO; if ((res = mmap_init(impl, buffers, n_buffers)) < 0) { return -EIO; } return 0; } static int spa_libcamera_stream_on(struct impl *impl) { struct port *port = &impl->out_ports[0]; if (!port->have_format) { spa_log_error(impl->log, "Exting %s with -EIO", __FUNCTION__); return -EIO; } if (impl->active) return 0; spa_log_info(impl->log, "connecting camera"); // libcamera_connect(dev->camera); // libcamera_start_capture(dev->camera); port->source.func = libcamera_on_fd_events; port->source.data = impl; port->source.fd = spa_system_eventfd_create(impl->system, SPA_FD_CLOEXEC | SPA_FD_NONBLOCK); port->source.mask = SPA_IO_IN | SPA_IO_ERR; port->source.rmask = 0; if (port->source.fd < 0) { spa_log_error(impl->log, "Failed to create eventfd. Exting %s with -EIO", __FUNCTION__); } else { spa_loop_add_source(impl->data_loop, &port->source); impl->have_source = true; // libcamera_set_spa_system(dev->camera, impl->system); // libcamera_set_eventfd(dev->camera, port->source.fd); } impl->active = true; return 0; } static int do_remove_source(struct spa_loop *loop, bool async, uint32_t seq, const void *data, size_t size, void *user_data) { struct port *port = (struct port *)user_data; if (port->source.loop) spa_loop_remove_source(loop, &port->source); return 0; } static int spa_libcamera_stream_off(struct impl *impl) { struct port *port = &impl->out_ports[0]; if (!impl->active) return 0; spa_log_info(impl->log, "stopping camera"); // libcamera_stop_capture(dev->camera); spa_log_info(impl->log, "disconnecting camera"); // libcamera_disconnect(dev->camera); spa_loop_invoke(impl->data_loop, do_remove_source, 0, NULL, 0, true, port); spa_list_init(&port->queue); impl->active = false; return 0; }