fp6-img/aports/temp/libcamera/0012-libcamera-software_isp-af-Harden-the-lens-control-ha.patch

From 0e454d335ba23c306e7c8f011ef7d5234dd3aa9a Mon Sep 17 00:00:00 2001
From: Jorijn van der Graaf <jorijnvdgraaf@catcrafts.net>
Date: Mon, 17 Aug 2026 01:58:59 +0200
Subject: [PATCH] libcamera: software_isp: af: Harden the lens control handling

Three defects in the focus control patch that show up on a camera
without a focus lens, which on the FP6 is the ultra-wide:

- configure() dereferences the result of ControlInfoMap::find() for
  V4L2_CID_FOCUS_ABSOLUTE whenever the lens control map is non-empty,
  without checking that the control is actually there.

- processStats() unconditionally sets V4L2_CID_FOCUS_ABSOLUTE on a
  ControlList built from an empty ControlInfoMap, which logs a control
  validation error for every frame of every capture.

- the lens position is computed as a fraction of the travel but the
  minimum is never added back, so a lens whose range does not start at
  zero is driven past its near end.

Also demote the "found a lens" message to Info and fix its spelling.

Signed-off-by: Jorijn van der Graaf <jorijnvdgraaf@catcrafts.net>
---
 src/ipa/simple/algorithms/af.cpp |  8 +++++++-
 src/ipa/simple/ipa_context.h     |  1 +
 src/ipa/simple/soft_simple.cpp   | 24 +++++++++++++++---------
 3 files changed, 23 insertions(+), 10 deletions(-)

diff --git a/src/ipa/simple/algorithms/af.cpp b/src/ipa/simple/algorithms/af.cpp
index 19235a567..43d4a41c4 100644
--- a/src/ipa/simple/algorithms/af.cpp
+++ b/src/ipa/simple/algorithms/af.cpp
@@ -8,6 +8,7 @@
 #include "af.h"
 
 #include <algorithm>
+#include <cmath>
 #include <stdint.h>
 
 #include <libcamera/base/log.h>
@@ -80,7 +81,12 @@ void Af::queueRequest([[maybe_unused]] typename Module::Context &context,
 
 void Af::updateFocus([[maybe_unused]] IPAContext &context, [[maybe_unused]] IPAFrameContext &frameContext, [[maybe_unused]] double exposureMSV)
 {
-	frameContext.lens.focus_pos = context.activeState.knobs.focus_pos.value_or(50.0) / 100.0 * (context.configuration.focus.focus_max - context.configuration.focus.focus_min);
+	const auto &focus = context.configuration.focus;
+	const double pos = std::clamp(context.activeState.knobs.focus_pos.value_or(50.0),
+				      0.0, 100.0);
+
+	frameContext.lens.focus_pos = focus.focus_min +
+				      std::lround(pos / 100.0 * (focus.focus_max - focus.focus_min));
 }
 
 void Af::restart(IPAContext &context)
diff --git a/src/ipa/simple/ipa_context.h b/src/ipa/simple/ipa_context.h
index 4fc9c7cdf..ccc938ce9 100644
--- a/src/ipa/simple/ipa_context.h
+++ b/src/ipa/simple/ipa_context.h
@@ -34,6 +34,7 @@ struct IPASessionConfiguration {
 		std::optional<uint8_t> level;
 	} black;
 	struct {
+		bool available;
 		int32_t focus_min, focus_max;
 		double focus_max_pos;
 		uint64_t sharpness_max;
diff --git a/src/ipa/simple/soft_simple.cpp b/src/ipa/simple/soft_simple.cpp
index dcf746cb2..51a73d2dd 100644
--- a/src/ipa/simple/soft_simple.cpp
+++ b/src/ipa/simple/soft_simple.cpp
@@ -213,15 +213,20 @@ int IPASoftSimple::configure(const IPAConfigInfo &configInfo)
 	context_.activeState = {};
 	context_.frameContexts.clear();
 
-	if (lensInfoMap_.empty()) {
-		LOG(IPASoft, Warning) << "No camera leans found! Focus control disabled.";
+	const auto lensFocus = lensInfoMap_.find(V4L2_CID_FOCUS_ABSOLUTE);
+	if (lensFocus == lensInfoMap_.end()) {
+		LOG(IPASoft, Info) << "No focus lens, focus control disabled";
+		context_.configuration.focus.available = false;
 		context_.configuration.focus.focus_min = 0;
 		context_.configuration.focus.focus_max = 0;
 	} else {
-		const ControlInfo &lensInfo = lensInfoMap_.find(V4L2_CID_FOCUS_ABSOLUTE)->second;
-		context_.configuration.focus.focus_min = lensInfo.min().get<int32_t>();
-		context_.configuration.focus.focus_max = lensInfo.max().get<int32_t>();
-		LOG(IPASoft, Warning) << "Camera leans found! Focus: " << context_.configuration.focus.focus_min << "-" << context_.configuration.focus.focus_max;
+		context_.configuration.focus.available = true;
+		context_.configuration.focus.focus_min = lensFocus->second.min().get<int32_t>();
+		context_.configuration.focus.focus_max = lensFocus->second.max().get<int32_t>();
+		LOG(IPASoft, Info)
+			<< "Focus lens range "
+			<< context_.configuration.focus.focus_min << "-"
+			<< context_.configuration.focus.focus_max;
 	}
 
 	context_.configuration.agc.lineDuration =
@@ -338,10 +343,11 @@ void IPASoftSimple::processStats(const uint32_t frame,
 	ctrls.set(V4L2_CID_ANALOGUE_GAIN,
 		  static_cast<int32_t>(camHelper_ ? camHelper_->gainCode(againNew) : againNew));
 
-	ControlList lens_ctrls(lensInfoMap_);
-	lens_ctrls.set(V4L2_CID_FOCUS_ABSOLUTE, frameContext.lens.focus_pos);
+	ControlList lensCtrls(lensInfoMap_);
+	if (context_.configuration.focus.available)
+		lensCtrls.set(V4L2_CID_FOCUS_ABSOLUTE, frameContext.lens.focus_pos);
 
-	setSensorControls.emit(ctrls, lens_ctrls);
+	setSensorControls.emit(ctrls, lensCtrls);
 }
 
 std::string IPASoftSimple::logPrefix() const