automotive/evs/1.1/default/EvsCamera.cpp

/*
 * Copyright (C) 2019 The Android Open Source Project
 *
 * 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 "EvsCamera.h"
#include "ConfigManager.h"
#include "EvsEnumerator.h"

#include <ui/GraphicBufferAllocator.h>
#include <ui/GraphicBufferMapper.h>
#include <utils/SystemClock.h>

namespace {

// Arbitrary limit on number of graphics buffers allowed to be allocated
// Safeguards against unreasonable resource consumption and provides a testable limit
constexpr unsigned kMaxBuffersInFlight = 100;

// Minimum number of buffers to run a video stream
constexpr int kMinimumBuffersInFlight = 1;

// Colors for the colorbar test pattern in ABGR format
constexpr uint32_t kColors[] = {
        0xFFFFFFFF,  // white
        0xFF00FFFF,  // yellow
        0xFFFFFF00,  // cyan
        0xFF00FF00,  // green
        0xFFFF00FF,  // fuchsia
        0xFF0000FF,  // red
        0xFFFF0000,  // blue
        0xFF000000,  // black
};
constexpr uint32_t kNumColors = sizeof(kColors) / sizeof(kColors[0]);

}  // namespace

namespace android::hardware::automotive::evs::V1_1::implementation {

using V1_0::EvsResult;

EvsCamera::EvsCamera(const char* id, std::unique_ptr<ConfigManager::CameraInfo>& camInfo)
    : mFramesAllowed(0), mFramesInUse(0), mStreamState(STOPPED), mCameraInfo(camInfo) {
    ALOGD("%s", __FUNCTION__);

    /* set a camera id */
    mDescription.v1.cameraId = id;

    /* set camera metadata */
    mDescription.metadata.setToExternal((uint8_t*)camInfo->characteristics,
                                        get_camera_metadata_size(camInfo->characteristics));
}

EvsCamera::~EvsCamera() {
    ALOGD("%s", __FUNCTION__);
    forceShutdown();
}

// This gets called if another caller "steals" ownership of the camera
void EvsCamera::forceShutdown() {
    ALOGD("%s", __FUNCTION__);

    // Make sure our output stream is cleaned up
    // (It really should be already)
    stopVideoStream();

    // Claim the lock while we work on internal state
    std::lock_guard<std::mutex> lock(mAccessLock);

    // Drop all the graphics buffers we've been using
    if (mBuffers.size() > 0) {
        GraphicBufferAllocator& alloc(GraphicBufferAllocator::get());
        for (auto&& rec : mBuffers) {
            if (rec.inUse) {
                ALOGE("Error - releasing buffer despite remote ownership");
            }
            alloc.free(rec.handle);
            rec.handle = nullptr;
        }
        mBuffers.clear();
    }

    // Put this object into an unrecoverable error state since somebody else
    // is going to own the underlying camera now
    mStreamState = DEAD;
}

// Methods from ::android::hardware::automotive::evs::V1_0::IEvsCamera follow.
Return<void> EvsCamera::getCameraInfo(getCameraInfo_cb _hidl_cb) {
    ALOGD("%s", __FUNCTION__);

    // Send back our self description
    _hidl_cb(mDescription.v1);
    return {};
}

Return<EvsResult> EvsCamera::setMaxFramesInFlight(uint32_t bufferCount) {
    ALOGD("%s, bufferCount = %u", __FUNCTION__, bufferCount);

    std::lock_guard<std::mutex> lock(mAccessLock);

    // If we've been displaced by another owner of the camera, then we can't do anything else
    if (mStreamState == DEAD) {
        ALOGE("ignoring setMaxFramesInFlight call when camera has been lost.");
        return EvsResult::OWNERSHIP_LOST;
    }

    // We cannot function without at least one video buffer to send data
    if (bufferCount < 1) {
        ALOGE("Ignoring setMaxFramesInFlight with less than one buffer requested");
        return EvsResult::INVALID_ARG;
    }

    // Update our internal state
    if (setAvailableFrames_Locked(bufferCount)) {
        return EvsResult::OK;
    } else {
        return EvsResult::BUFFER_NOT_AVAILABLE;
    }
}

Return<EvsResult> EvsCamera::startVideoStream(const ::android::sp<V1_0::IEvsCameraStream>& stream) {
    ALOGD("%s", __FUNCTION__);

    std::lock_guard<std::mutex> lock(mAccessLock);

    // If we've been displaced by another owner of the camera, then we can't do anything else
    if (mStreamState == DEAD) {
        ALOGE("ignoring startVideoStream call when camera has been lost.");
        return EvsResult::OWNERSHIP_LOST;
    }

    if (mStreamState != STOPPED) {
        ALOGE("ignoring startVideoStream call when a stream is already running.");
        return EvsResult::STREAM_ALREADY_RUNNING;
    }

    // If the client never indicated otherwise, configure ourselves for a single streaming buffer
    if (mFramesAllowed < kMinimumBuffersInFlight) {
        if (!setAvailableFrames_Locked(kMinimumBuffersInFlight)) {
            ALOGE("Failed to start stream because we couldn't get a graphics buffer");
            return EvsResult::BUFFER_NOT_AVAILABLE;
        }
    }

    // Record the user's callback for use when we have a frame ready
    mStream = IEvsCameraStream::castFrom(stream).withDefault(nullptr);
    if (!mStream) {
        ALOGE("Default implementation does not support v1.0 IEvsCameraStream");
        return EvsResult::INVALID_ARG;
    }

    // Start the frame generation thread
    mStreamState = RUNNING;
    mCaptureThread = std::thread([this]() { generateFrames(); });

    return EvsResult::OK;
}

Return<void> EvsCamera::doneWithFrame(const V1_0::BufferDesc& buffer) {
    std::lock_guard<std::mutex> lock(mAccessLock);
    returnBufferLocked(buffer.bufferId, buffer.memHandle);

    return {};
}

Return<void> EvsCamera::stopVideoStream() {
    ALOGD("%s", __FUNCTION__);

    std::unique_lock<std::mutex> lock(mAccessLock);

    if (mStreamState != RUNNING) {
        return {};
    }

    // Tell the GenerateFrames loop we want it to stop
    mStreamState = STOPPING;

    // Block outside the mutex until the "stop" flag has been acknowledged
    // We won't send any more frames, but the client might still get some already in flight
    ALOGD("Waiting for stream thread to end...");
    lock.unlock();
    if (mCaptureThread.joinable()) {
        mCaptureThread.join();
    }
    lock.lock();

    mStreamState = STOPPED;
    mStream = nullptr;
    ALOGD("Stream marked STOPPED.");

    return {};
}

Return<int32_t> EvsCamera::getExtendedInfo(uint32_t opaqueIdentifier) {
    ALOGD("%s", __FUNCTION__);

    std::lock_guard<std::mutex> lock(mAccessLock);
    const auto it = mExtInfo.find(opaqueIdentifier);
    if (it == mExtInfo.end()) {
        // Return zero by default as required by the spec
        return 0;
    } else {
        return it->second[0];
    }
}

Return<EvsResult> EvsCamera::setExtendedInfo([[maybe_unused]] uint32_t opaqueIdentifier,
                                             [[maybe_unused]] int32_t opaqueValue) {
    ALOGD("%s", __FUNCTION__);

    std::lock_guard<std::mutex> lock(mAccessLock);

    // If we've been displaced by another owner of the camera, then we can't do anything else
    if (mStreamState == DEAD) {
        ALOGE("ignoring setExtendedInfo call when camera has been lost.");
        return EvsResult::OWNERSHIP_LOST;
    }

    mExtInfo.insert_or_assign(opaqueIdentifier, opaqueValue);
    return EvsResult::OK;
}

// Methods from ::android::hardware::automotive::evs::V1_1::IEvsCamera follow.
Return<void> EvsCamera::getCameraInfo_1_1(getCameraInfo_1_1_cb _hidl_cb) {
    ALOGD("%s", __FUNCTION__);

    // Send back our self description
    _hidl_cb(mDescription);
    return {};
}

Return<void> EvsCamera::getPhysicalCameraInfo([[maybe_unused]] const hidl_string& id,
                                              getCameraInfo_1_1_cb _hidl_cb) {
    ALOGD("%s", __FUNCTION__);

    // This works exactly same as getCameraInfo_1_1() in default implementation.
    _hidl_cb(mDescription);
    return {};
}

Return<EvsResult> EvsCamera::doneWithFrame_1_1(const hidl_vec<BufferDesc>& buffers) {
    ALOGD("%s", __FUNCTION__);

    std::lock_guard<std::mutex> lock(mAccessLock);
    for (auto&& buffer : buffers) {
        returnBufferLocked(buffer.bufferId, buffer.buffer.nativeHandle);
    }
    return EvsResult::OK;
}

Return<EvsResult> EvsCamera::pauseVideoStream() {
    ALOGD("%s", __FUNCTION__);
    // Default implementation does not support this.
    return EvsResult::UNDERLYING_SERVICE_ERROR;
}

Return<EvsResult> EvsCamera::resumeVideoStream() {
    ALOGD("%s", __FUNCTION__);
    // Default implementation does not support this.
    return EvsResult::UNDERLYING_SERVICE_ERROR;
}

Return<EvsResult> EvsCamera::setMaster() {
    ALOGD("%s", __FUNCTION__);
    // Default implementation does not expect multiple subscribers and therefore
    // return a success code always.
    return EvsResult::OK;
}

Return<EvsResult> EvsCamera::forceMaster(const sp<V1_0::IEvsDisplay>&) {
    ALOGD("%s", __FUNCTION__);
    // Default implementation does not expect multiple subscribers and therefore
    // return a success code always.
    return EvsResult::OK;
}

Return<EvsResult> EvsCamera::unsetMaster() {
    ALOGD("%s", __FUNCTION__);
    // Default implementation does not expect multiple subscribers and therefore
    // return a success code always.
    return EvsResult::OK;
}

Return<void> EvsCamera::getParameterList(getParameterList_cb _hidl_cb) {
    ALOGD("%s", __FUNCTION__);
    hidl_vec<CameraParam> hidlCtrls;
    hidlCtrls.resize(mCameraInfo->controls.size());
    unsigned idx = 0;
    for (auto& [cid, cfg] : mCameraInfo->controls) {
        hidlCtrls[idx++] = cid;
    }

    _hidl_cb(hidlCtrls);
    return {};
}

Return<void> EvsCamera::getIntParameterRange(CameraParam id, getIntParameterRange_cb _hidl_cb) {
    ALOGD("%s", __FUNCTION__);
    auto it = mCameraInfo->controls.find(id);
    if (it == mCameraInfo->controls.end()) {
        _hidl_cb(0, 0, 0);
    } else {
        _hidl_cb(std::get<0>(it->second), std::get<1>(it->second), std::get<2>(it->second));
    }
    return {};
}

Return<void> EvsCamera::setIntParameter(CameraParam id, int32_t value,
                                        setIntParameter_cb _hidl_cb) {
    ALOGD("%s", __FUNCTION__);
    mParams.insert_or_assign(id, value);
    _hidl_cb(EvsResult::OK, {value});
    return {};
}

Return<void> EvsCamera::getIntParameter([[maybe_unused]] CameraParam id,
                                        getIntParameter_cb _hidl_cb) {
    ALOGD("%s", __FUNCTION__);
    auto it = mParams.find(id);
    std::vector<int32_t> values;
    if (it == mParams.end()) {
        _hidl_cb(EvsResult::INVALID_ARG, values);
    } else {
        values.push_back(it->second);
        _hidl_cb(EvsResult::OK, values);
    }
    return {};
}

Return<EvsResult> EvsCamera::setExtendedInfo_1_1(uint32_t opaqueIdentifier,
                                                 const hidl_vec<uint8_t>& opaqueValue) {
    ALOGD("%s", __FUNCTION__);
    mExtInfo.insert_or_assign(opaqueIdentifier, opaqueValue);
    return EvsResult::OK;
}

Return<void> EvsCamera::getExtendedInfo_1_1(uint32_t opaqueIdentifier,
                                            getExtendedInfo_1_1_cb _hidl_cb) {
    ALOGD("%s", __FUNCTION__);
    auto status = EvsResult::OK;
    hidl_vec<uint8_t> value;
    const auto it = mExtInfo.find(opaqueIdentifier);
    if (it == mExtInfo.end()) {
        status = EvsResult::INVALID_ARG;
    } else {
        value = it->second;
    }
    _hidl_cb(status, value);
    return {};
}

Return<void> EvsCamera::importExternalBuffers([[maybe_unused]] const hidl_vec<BufferDesc>& buffers,
                                              importExternalBuffers_cb _hidl_cb) {
    auto numBuffersToAdd = buffers.size();
    if (numBuffersToAdd < 1) {
        ALOGD("No buffers to add");
        _hidl_cb(EvsResult::OK, mFramesAllowed);
        return {};
    }

    {
        std::scoped_lock<std::mutex> lock(mAccessLock);

        if (numBuffersToAdd > (kMaxBuffersInFlight - mFramesAllowed)) {
            numBuffersToAdd -= (kMaxBuffersInFlight - mFramesAllowed);
            ALOGW("Exceed the limit on number of buffers. %" PRIu64 " buffers will be added only.",
                  static_cast<uint64_t>(numBuffersToAdd));
        }

        GraphicBufferMapper& mapper = GraphicBufferMapper::get();
        const auto before = mFramesAllowed;
        for (auto i = 0; i < numBuffersToAdd; ++i) {
            // TODO: reject if external buffer is configured differently.
            auto& b = buffers[i];
            const AHardwareBuffer_Desc* pDesc =
                    reinterpret_cast<const AHardwareBuffer_Desc*>(&b.buffer.description);

            // Import a buffer to add
            buffer_handle_t memHandle = nullptr;
            status_t result =
                    mapper.importBuffer(b.buffer.nativeHandle, pDesc->width, pDesc->height, 1,
                                        pDesc->format, pDesc->usage, pDesc->stride, &memHandle);
            if (result != android::NO_ERROR || !memHandle) {
                ALOGW("Failed to import a buffer %d", b.bufferId);
                continue;
            }

            auto stored = false;
            for (auto&& rec : mBuffers) {
                if (rec.handle == nullptr) {
                    // Use this existing entry
                    rec.handle = memHandle;
                    rec.inUse = false;

                    stored = true;
                    break;
                }
            }

            if (!stored) {
                // Add a BufferRecord wrapping this handle to our set of available buffers
                mBuffers.emplace_back(memHandle);
            }

            ++mFramesAllowed;
        }

        _hidl_cb(EvsResult::OK, mFramesAllowed - before);
        return {};
    }
}

bool EvsCamera::setAvailableFrames_Locked(unsigned bufferCount) {
    if (bufferCount < kMinimumBuffersInFlight) {
        ALOGE("Ignoring request to set buffer count below the minimum number of buffers to run a "
              "video stream");
        return false;
    }
    if (bufferCount > kMaxBuffersInFlight) {
        ALOGE("Rejecting buffer request in excess of internal limit");
        return false;
    }

    // Is an increase required?
    if (mFramesAllowed < bufferCount) {
        // An increase is required
        unsigned needed = bufferCount - mFramesAllowed;
        ALOGI("Allocating %d buffers for camera frames", needed);

        unsigned added = increaseAvailableFrames_Locked(needed);
        if (added != needed) {
            // If we didn't add all the frames we needed, then roll back to the previous state
            ALOGE("Rolling back to previous frame queue size");
            decreaseAvailableFrames_Locked(added);
            return false;
        }
    } else if (mFramesAllowed > bufferCount) {
        // A decrease is required
        unsigned framesToRelease = mFramesAllowed - bufferCount;
        ALOGI("Returning %d camera frame buffers", framesToRelease);

        unsigned released = decreaseAvailableFrames_Locked(framesToRelease);
        if (released != framesToRelease) {
            // This shouldn't happen with a properly behaving client because the client
            // should only make this call after returning sufficient outstanding buffers
            // to allow a clean resize.
            ALOGE("Buffer queue shrink failed -- too many buffers currently in use?");
        }
    }

    return true;
}

unsigned EvsCamera::increaseAvailableFrames_Locked(unsigned numToAdd) {
    // Acquire the graphics buffer allocator
    GraphicBufferAllocator& alloc(GraphicBufferAllocator::get());

    unsigned added = 0;

    while (added < numToAdd) {
        buffer_handle_t memHandle = nullptr;
        status_t result = alloc.allocate(mWidth, mHeight, mFormat, 1, mUsage, &memHandle, &mStride,
                                         0, "EvsCamera");
        if (result != NO_ERROR) {
            ALOGE("Error %d allocating %d x %d graphics buffer", result, mWidth, mHeight);
            break;
        }
        if (!memHandle) {
            ALOGE("We didn't get a buffer handle back from the allocator");
            break;
        }

        // Find a place to store the new buffer
        bool stored = false;
        for (auto&& rec : mBuffers) {
            if (rec.handle == nullptr) {
                // Use this existing entry
                rec.handle = memHandle;
                rec.inUse = false;
                stored = true;
                break;
            }
        }
        if (!stored) {
            // Add a BufferRecord wrapping this handle to our set of available buffers
            mBuffers.push_back(std::move(BufferRecord(memHandle)));
        }

        mFramesAllowed++;
        added++;
    }

    return added;
}

unsigned EvsCamera::decreaseAvailableFrames_Locked(unsigned numToRemove) {
    // Acquire the graphics buffer allocator
    GraphicBufferAllocator& alloc(GraphicBufferAllocator::get());

    unsigned removed = 0;

    for (auto&& rec : mBuffers) {
        // Is this record not in use, but holding a buffer that we can free?
        if ((rec.inUse == false) && (rec.handle != nullptr)) {
            // Release buffer and update the record so we can recognize it as "empty"
            alloc.free(rec.handle);
            rec.handle = nullptr;

            mFramesAllowed--;
            removed++;

            if (removed == numToRemove) {
                break;
            }
        }
    }

    return removed;
}

// This is the asynchronous frame generation thread that runs in parallel with the
// main serving thread.  There is one for each active camera instance.
void EvsCamera::generateFrames() {
    ALOGD("Frame generation loop started");

    unsigned idx;
    while (true) {
        bool timeForFrame = false;
        nsecs_t startTime = systemTime(SYSTEM_TIME_MONOTONIC);

        // Lock scope for updating shared state
        {
            std::lock_guard<std::mutex> lock(mAccessLock);

            if (mStreamState != RUNNING) {
                // Break out of our main thread loop
                break;
            }

            // Are we allowed to issue another buffer?
            if (mFramesInUse >= mFramesAllowed) {
                // Can't do anything right now -- skip this frame
                ALOGW("Skipped a frame because too many are in flight\n");
            } else {
                // Identify an available buffer to fill
                for (idx = 0; idx < mBuffers.size(); idx++) {
                    if (!mBuffers[idx].inUse) {
                        if (mBuffers[idx].handle != nullptr) {
                            // Found an available record, so stop looking
                            break;
                        }
                    }
                }
                if (idx >= mBuffers.size()) {
                    // This shouldn't happen since we already checked mFramesInUse vs mFramesAllowed
                    ALOGE("Failed to find an available buffer slot\n");
                } else {
                    // We're going to make the frame busy
                    mBuffers[idx].inUse = true;
                    mFramesInUse++;
                    timeForFrame = true;
                }
            }
        }

        if (timeForFrame) {
            // Assemble the buffer description we'll transmit below
            BufferDesc newBuffer = {};
            AHardwareBuffer_Desc* pDesc =
                    reinterpret_cast<AHardwareBuffer_Desc*>(&newBuffer.buffer.description);
            pDesc->width = mWidth;
            pDesc->height = mHeight;
            pDesc->layers = 1;
            pDesc->format = mFormat;
            pDesc->usage = mUsage;
            pDesc->stride = mStride;
            newBuffer.buffer.nativeHandle = mBuffers[idx].handle;
            newBuffer.pixelSize = sizeof(uint32_t);
            newBuffer.bufferId = idx;
            newBuffer.deviceId = mDescription.v1.cameraId;
            newBuffer.timestamp = elapsedRealtimeNano() * 1e+3;  // timestamps is in microseconds

            // Write test data into the image buffer
            fillTestFrame(newBuffer);

            // Issue the (asynchronous) callback to the client -- can't be holding the lock
            auto result = mStream->deliverFrame_1_1({newBuffer});
            if (result.isOk()) {
                ALOGD("Delivered %p as id %d", newBuffer.buffer.nativeHandle.getNativeHandle(),
                      newBuffer.bufferId);
            } else {
                // This can happen if the client dies and is likely unrecoverable.
                // To avoid consuming resources generating failing calls, we stop sending
                // frames.  Note, however, that the stream remains in the "STREAMING" state
                // until cleaned up on the main thread.
                ALOGE("Frame delivery call failed in the transport layer.");

                // Since we didn't actually deliver it, mark the frame as available
                std::lock_guard<std::mutex> lock(mAccessLock);
                mBuffers[idx].inUse = false;
                mFramesInUse--;

                break;
            }
        }

        // We arbitrarily choose to generate frames at 15 fps to ensure we pass the 10fps test
        // requirement
        static const int kTargetFrameRate = 15;
        static const nsecs_t kTargetFrameIntervalUs = 1000 * 1000 / kTargetFrameRate;
        const nsecs_t now = systemTime(SYSTEM_TIME_MONOTONIC);
        const nsecs_t elapsedTimeUs = (now - startTime) / 1000;
        const nsecs_t sleepDurationUs = kTargetFrameIntervalUs - elapsedTimeUs;
        if (sleepDurationUs > 0) {
            usleep(sleepDurationUs);
        }
    }

    // If we've been asked to stop, send an event to signal the actual end of stream
    EvsEventDesc event = {
            .aType = EvsEventType::STREAM_STOPPED,
    };
    if (!mStream->notify(event).isOk()) {
        ALOGE("Error delivering end of stream marker");
    }

    return;
}

void EvsCamera::fillTestFrame(const BufferDesc& buff) {
    // Lock our output buffer for writing
    uint32_t* pixels = nullptr;
    const AHardwareBuffer_Desc* pDesc =
            reinterpret_cast<const AHardwareBuffer_Desc*>(&buff.buffer.description);
    GraphicBufferMapper& mapper = GraphicBufferMapper::get();
    mapper.lock(buff.buffer.nativeHandle,
                GRALLOC_USAGE_SW_WRITE_OFTEN | GRALLOC_USAGE_SW_READ_NEVER,
                android::Rect(pDesc->width, pDesc->height), (void**)&pixels);

    // If we failed to lock the pixel buffer, we're about to crash, but log it first
    if (!pixels) {
        ALOGE("Camera failed to gain access to image buffer for writing");
        return;
    }

    // Fill in the test pixels; the colorbar in ABGR format
    for (unsigned row = 0; row < pDesc->height; row++) {
        for (unsigned col = 0; col < pDesc->width; col++) {
            const uint32_t index = col * kNumColors / pDesc->width;
            pixels[col] = kColors[index];
        }
        // Point to the next row
        // NOTE:  stride retrieved from gralloc is in units of pixels
        pixels = pixels + pDesc->stride;
    }

    // Release our output buffer
    mapper.unlock(buff.buffer.nativeHandle);
}

void EvsCamera::fillTestFrame(const V1_0::BufferDesc& buff) {
    BufferDesc newBuffer = {
            .buffer.nativeHandle = buff.memHandle,
            .pixelSize = buff.pixelSize,
            .bufferId = buff.bufferId,
    };
    AHardwareBuffer_Desc* pDesc =
            reinterpret_cast<AHardwareBuffer_Desc*>(&newBuffer.buffer.description);
    *pDesc = {
            buff.width,   // width
            buff.height,  // height
            1,            // layers, always 1 for EVS
            buff.format,  // One of AHardwareBuffer_Format
            buff.usage,   // Combination of AHardwareBuffer_UsageFlags
            buff.stride,  // Row stride in pixels
            0,            // Reserved
            0             // Reserved
    };
    return fillTestFrame(newBuffer);
}

void EvsCamera::returnBufferLocked(const uint32_t bufferId, const buffer_handle_t memHandle) {
    if (memHandle == nullptr) {
        ALOGE("ignoring doneWithFrame called with null handle");
    } else if (bufferId >= mBuffers.size()) {
        ALOGE("ignoring doneWithFrame called with invalid bufferId %d (max is %zu)", bufferId,
              mBuffers.size() - 1);
    } else if (!mBuffers[bufferId].inUse) {
        ALOGE("ignoring doneWithFrame called on frame %d which is already free", bufferId);
    } else {
        // Mark the frame as available
        mBuffers[bufferId].inUse = false;
        mFramesInUse--;

        // If this frame's index is high in the array, try to move it down
        // to improve locality after mFramesAllowed has been reduced.
        if (bufferId >= mFramesAllowed) {
            // Find an empty slot lower in the array (which should always exist in this case)
            for (auto&& rec : mBuffers) {
                if (rec.handle == nullptr) {
                    rec.handle = mBuffers[bufferId].handle;
                    mBuffers[bufferId].handle = nullptr;
                    break;
                }
            }
        }
    }
}

sp<EvsCamera> EvsCamera::Create(const char* deviceName) {
    std::unique_ptr<ConfigManager::CameraInfo> nullCamInfo = nullptr;

    return Create(deviceName, nullCamInfo);
}

sp<EvsCamera> EvsCamera::Create(const char* deviceName,
                                std::unique_ptr<ConfigManager::CameraInfo>& camInfo,
                                [[maybe_unused]] const Stream* streamCfg) {
    sp<EvsCamera> evsCamera = new EvsCamera(deviceName, camInfo);
    if (evsCamera == nullptr) {
        return nullptr;
    }

    // Use the first resolution from the list for the testing
    // TODO(b/214835237): Uses a given Stream configuration to choose the best
    // stream configuration.
    auto it = camInfo->streamConfigurations.begin();
    evsCamera->mWidth = it->second[1];
    evsCamera->mHeight = it->second[2];
    evsCamera->mDescription.v1.vendorFlags = 0xFFFFFFFF;  // Arbitrary test value

    evsCamera->mFormat = HAL_PIXEL_FORMAT_RGBA_8888;
    evsCamera->mUsage = GRALLOC_USAGE_HW_TEXTURE | GRALLOC_USAGE_HW_CAMERA_WRITE |
                        GRALLOC_USAGE_SW_READ_RARELY | GRALLOC_USAGE_SW_WRITE_RARELY;

    return evsCamera;
}

}  // namespace android::hardware::automotive::evs::V1_1::implementation