Video RTIO demo

drivers/video/Kconfig

@@ -8,6 +8,7 @@
 #
 menuconfig VIDEO
 	bool "Video drivers"
+	imply RTIO
 	help
 	  Enable support for the VIDEO.
 

drivers/video/video_common.c

@@ -9,10 +9,11 @@
 
 #include <zephyr/device.h>
 #include <zephyr/drivers/i2c.h>
-#include <zephyr/drivers/video.h>
 #include <zephyr/drivers/video-controls.h>
+#include <zephyr/drivers/video.h>
 #include <zephyr/kernel.h>
 #include <zephyr/logging/log.h>
+#include <zephyr/rtio/rtio.h>
 #include <zephyr/sys/byteorder.h>
 #include <zephyr/sys/util.h>
 
@@ -41,6 +42,28 @@ struct mem_block {
 
 static struct mem_block video_block[CONFIG_VIDEO_BUFFER_POOL_NUM_MAX];
 
+
+static void video_iodev_submit(struct rtio_iodev_sqe *iodev_sqe)
+{
+	const struct device *dev = iodev_sqe->sqe.iodev->data;
+	const struct video_driver_api *api;
+
+	__ASSERT_NO_MSG(dev != NULL);
+	__ASSERT_NO_MSG(dev->api != NULL);
+
+	api = dev->api;
+	if (api->iodev_submit == NULL) {
+		rtio_iodev_sqe_err(iodev_sqe, -ENODEV);
+		return;
+	}
+
+	api->iodev_submit(dev, iodev_sqe);
+}
+
+const struct rtio_iodev_api _video_iodev_api = {
+	.submit = video_iodev_submit,
+};
+
 struct video_buffer *video_buffer_aligned_alloc(size_t size, size_t align, k_timeout_t timeout)
 {
 	struct video_buffer *vbuf = NULL;

drivers/video/video_sw_generator.c

@@ -10,6 +10,7 @@
 #include <zephyr/drivers/video.h>
 #include <zephyr/kernel.h>
 #include <zephyr/logging/log.h>
+#include <zephyr/rtio/rtio.h>
 #include <zephyr/sys/byteorder.h>
 #include <zephyr/sys/util.h>
 
@@ -38,11 +39,9 @@ struct video_sw_generator_data {
 	const struct device *dev;
 	struct sw_ctrls ctrls;
 	struct video_format fmt;
-	struct k_fifo fifo_in;
-	struct k_fifo fifo_out;
+	struct mpsc io_q;
 	struct k_work_delayable work;
 	int pattern;
-	struct k_poll_signal *sig;
 	uint32_t frame_rate;
 };
 
@@ -291,73 +290,45 @@ static void video_sw_generator_worker(struct k_work *work)
 	struct k_work_delayable *dwork = k_work_delayable_from_work(work);
 	struct video_sw_generator_data *data;
 	struct video_buffer *vbuf;
+	struct mpsc_node *node;
+	struct rtio_iodev_sqe *iodev_sqe;
+	struct rtio_sqe *sqe;
 
 	data = CONTAINER_OF(dwork, struct video_sw_generator_data, work);
 
 	k_work_reschedule(&data->work, K_MSEC(1000 / data->frame_rate));
 
-	vbuf = k_fifo_get(&data->fifo_in, K_NO_WAIT);
-	if (vbuf == NULL) {
+	node = mpsc_pop(&data->io_q);
+	if (node == NULL) {
 		return;
 	}
 
+	iodev_sqe = CONTAINER_OF(node, struct rtio_iodev_sqe, q);
+	sqe = &iodev_sqe->sqe;
+	if (sqe->op != RTIO_OP_RX) {
+		LOG_ERR("Invalid operation %d of length %u for submission %p",
+			sqe->op, sqe->rx.buf_len, (void *)iodev_sqe);
+		rtio_iodev_sqe_err(iodev_sqe, -EINVAL);
+		return;
+	}
+
+	vbuf = sqe->userdata;
+
 	switch (data->pattern) {
 	case VIDEO_PATTERN_COLOR_BAR:
 		video_sw_generator_fill(data->dev, vbuf);
 		break;
 	}
 
-	k_fifo_put(&data->fifo_out, vbuf);
-
-	if (IS_ENABLED(CONFIG_POLL) && data->sig) {
-		k_poll_signal_raise(data->sig, VIDEO_BUF_DONE);
-	}
-
-	k_yield();
-}
-
-static int video_sw_generator_enqueue(const struct device *dev, struct video_buffer *vbuf)
-{
-	struct video_sw_generator_data *data = dev->data;
-
-	k_fifo_put(&data->fifo_in, vbuf);
-
-	return 0;
-}
-
-static int video_sw_generator_dequeue(const struct device *dev, struct video_buffer **vbuf,
-				      k_timeout_t timeout)
-{
-	struct video_sw_generator_data *data = dev->data;
-
-	*vbuf = k_fifo_get(&data->fifo_out, timeout);
-	if (*vbuf == NULL) {
-		return -EAGAIN;
-	}
-
-	return 0;
+	rtio_iodev_sqe_ok(iodev_sqe, 0);
 }
 
-static int video_sw_generator_flush(const struct device *dev, bool cancel)
+static void video_sw_generator_iodev_submit(const struct device *dev,
+					    struct rtio_iodev_sqe *iodev_sqe)
 {
 	struct video_sw_generator_data *data = dev->data;
-	struct video_buffer *vbuf;
-
-	if (!cancel) {
-		/* wait for all buffer to be processed */
-		do {
-			k_sleep(K_MSEC(1));
-		} while (!k_fifo_is_empty(&data->fifo_in));
-	} else {
-		while ((vbuf = k_fifo_get(&data->fifo_in, K_NO_WAIT))) {
-			k_fifo_put(&data->fifo_out, vbuf);
-			if (IS_ENABLED(CONFIG_POLL) && data->sig) {
-				k_poll_signal_raise(data->sig, VIDEO_BUF_ABORTED);
-			}
-		}
-	}
 
-	return 0;
+	mpsc_push(&data->io_q, &iodev_sqe->q);
 }
 
 static int video_sw_generator_get_caps(const struct device *dev, struct video_caps *caps)
@@ -371,21 +342,6 @@ static int video_sw_generator_get_caps(const struct device *dev, struct video_ca
 	return 0;
 }
 
-#ifdef CONFIG_POLL
-static int video_sw_generator_set_signal(const struct device *dev, struct k_poll_signal *sig)
-{
-	struct video_sw_generator_data *data = dev->data;
-
-	if (data->sig && sig != NULL) {
-		return -EALREADY;
-	}
-
-	data->sig = sig;
-
-	return 0;
-}
-#endif
-
 static int video_sw_generator_set_frmival(const struct device *dev, struct video_frmival *frmival)
 {
 	struct video_sw_generator_data *data = dev->data;
@@ -439,16 +395,11 @@ static DEVICE_API(video, video_sw_generator_driver_api) = {
 	.set_format = video_sw_generator_set_fmt,
 	.get_format = video_sw_generator_get_fmt,
 	.set_stream = video_sw_generator_set_stream,
-	.flush = video_sw_generator_flush,
-	.enqueue = video_sw_generator_enqueue,
-	.dequeue = video_sw_generator_dequeue,
 	.get_caps = video_sw_generator_get_caps,
 	.set_frmival = video_sw_generator_set_frmival,
 	.get_frmival = video_sw_generator_get_frmival,
 	.enum_frmival = video_sw_generator_enum_frmival,
-#ifdef CONFIG_POLL
-	.set_signal = video_sw_generator_set_signal,
-#endif
+	.iodev_submit = video_sw_generator_iodev_submit,
 };
 
 static int video_sw_generator_init_controls(const struct device *dev)
@@ -464,10 +415,10 @@ static int video_sw_generator_init(const struct device *dev)
 	struct video_sw_generator_data *data = dev->data;
 
 	data->dev = dev;
-	k_fifo_init(&data->fifo_in);
-	k_fifo_init(&data->fifo_out);
 	k_work_init_delayable(&data->work, video_sw_generator_worker);
 
+	mpsc_init(&data->io_q);
+
 	return video_sw_generator_init_controls(dev);
 }