LCamDev: implement configureSessionModeCReq

We can, theoretically, now change the v4l camera's mode.

commonLibs/lcameraDev/tests/CMakeLists.txt

@@ -2,6 +2,9 @@ add_executable(lcameraDev_unit_tests
 	selectorParse_tests.cpp
 	selectorResolve_tests.cpp
 	cameraIdentity_tests.cpp
+	cameraModeRequest_tests.cpp
+	planarYuvFormatPolicy_tests.cpp
+	sessionModeConfigure_state_tests.cpp
 )
 
 target_include_directories(lcameraDev_unit_tests PRIVATE
@@ -9,18 +12,26 @@ target_include_directories(lcameraDev_unit_tests PRIVATE
 	${CMAKE_SOURCE_DIR}/commonLibs/lcameraDev
 	${CMAKE_SOURCE_DIR}/commonLibs/lcameraDev/tests
 	${CMAKE_SOURCE_DIR}/tests/fixtures
+	${CMAKE_SOURCE_DIR}/libspinscale/tests
 	${CMAKE_SOURCE_DIR}/include
 	${CMAKE_BINARY_DIR}/include
+	${LIBCAMERA_INCLUDE_DIRS}
 )
 
 target_link_libraries(lcameraDev_unit_tests
 	gtest_main
 	lcameraDev
 	spinscale
+	spinscale_test_support
 	${Boost_LIBRARIES}
+	${LIBCAMERA_LIBRARIES}
 )
 
-add_dependencies(lcameraDev_unit_tests gtest_main)
+target_link_directories(lcameraDev_unit_tests PRIVATE
+	${LIBCAMERA_LIBRARY_DIRS}
+)
+
+add_dependencies(lcameraDev_unit_tests gtest_main spinscale_test_support)
 
 add_test(NAME lcameraDev_unit_tests COMMAND lcameraDev_unit_tests)
 
@@ -50,3 +61,30 @@ add_dependencies(lcameraDev_hil_tests gtest_main spinscale_test_support)
 
 add_test(NAME lcameraDev_hil_tests COMMAND lcameraDev_hil_tests)
 set_tests_properties(lcameraDev_hil_tests PROPERTIES LABELS "HIL")
+
+add_executable(lcameraDev_configure_hil_tests
+	lcameraDev_configure_hil_tests.cpp
+)
+
+target_include_directories(lcameraDev_configure_hil_tests PRIVATE
+	${CMAKE_CURRENT_SOURCE_DIR}
+	${CMAKE_SOURCE_DIR}/commonLibs/lcameraDev
+	${CMAKE_SOURCE_DIR}/commonLibs/lcameraDev/tests
+	${CMAKE_SOURCE_DIR}/tests/fixtures
+	${CMAKE_SOURCE_DIR}/libspinscale/tests
+	${CMAKE_SOURCE_DIR}/include
+	${CMAKE_BINARY_DIR}/include
+)
+
+target_link_libraries(lcameraDev_configure_hil_tests
+	gtest_main
+	lcameraDev
+	spinscale
+	spinscale_test_support
+	${Boost_LIBRARIES}
+)
+
+add_dependencies(lcameraDev_configure_hil_tests gtest_main spinscale_test_support)
+
+add_test(NAME lcameraDev_configure_hil_tests COMMAND lcameraDev_configure_hil_tests)
+set_tests_properties(lcameraDev_configure_hil_tests PROPERTIES LABELS "HIL")

commonLibs/lcameraDev/tests/cameraModeRequest_tests.cpp

@@ -0,0 +1,90 @@
+#include <cameraModeRequest.h>
+#include <gtest/gtest.h>
+#include <support/exceptionAssertions.h>
+
+namespace lcamera_dev {
+namespace {
+
+TEST(CameraModeRequestTest, DefaultFullPlanarIsOptionalIsFalse)
+{
+	LcameraDevCameraModeRequest request;
+	EXPECT_FALSE(request.fullPlanarIsOptional);
+}
+
+TEST(CameraModeRequestTest, ZeroWidthThrows)
+{
+	LcameraDevCameraModeRequest request;
+	request.width = 0;
+	request.height = 480;
+
+	EXPECT_THROW(
+		validateCameraModeRequest(request),
+		std::runtime_error);
+}
+
+TEST(CameraModeRequestTest, ZeroHeightThrows)
+{
+	LcameraDevCameraModeRequest request;
+	request.width = 640;
+	request.height = 0;
+
+	EXPECT_THROW(
+		validateCameraModeRequest(request),
+		std::runtime_error);
+}
+
+TEST(CameraModeRequestTest, UnsupportedColourSpaceThrows)
+{
+	LcameraDevCameraModeRequest request;
+	request.width = 640;
+	request.height = 480;
+
+	static_assert(
+		static_cast<int>(LcameraDevColourSpace::Yuv) == 0,
+		"test assumes Yuv is first enumerator");
+
+	const LcameraDevColourSpace unsupportedColourSpace =
+		static_cast<LcameraDevColourSpace>(1);
+	request.colourSpace = unsupportedColourSpace;
+
+	EXPECT_THROW(
+		validateCameraModeRequest(request),
+		std::runtime_error);
+}
+
+TEST(CameraModeRequestTest, FullPlanarOptionalRejectedAtConfigureApi)
+{
+	LcameraDevCameraModeRequest request;
+	request.width = 640;
+	request.height = 480;
+	request.fullPlanarIsOptional = true;
+
+	try {
+		rejectFullPlanarOptionalAtConfigureApi(request);
+		FAIL() << "Expected runtime_error";
+	}
+	catch (const std::runtime_error& exception)
+	{
+		sscl::tests::expectExceptionMessageContains(
+			exception,
+			"not honored yet");
+	}
+}
+
+TEST(CameraModeRequestTest, CameraModeRequestsEqualComparesAllFields)
+{
+	LcameraDevCameraModeRequest left;
+	left.width = 640;
+	left.height = 480;
+	left.colourSpace = LcameraDevColourSpace::Yuv;
+	left.fullPlanarIsOptional = false;
+
+	LcameraDevCameraModeRequest right = left;
+	EXPECT_TRUE(cameraModeRequestsEqual(left, right));
+
+	right.height = 720;
+	EXPECT_FALSE(cameraModeRequestsEqual(left, right));
+}
+
+} // namespace
+} // namespace lcamera_dev

commonLibs/lcameraDev/tests/lcameraDev_configure_hil_tests.cpp

@@ -0,0 +1,541 @@
+#include <boostAsioLinkageFix.h>
+
+#include <catalogHelpers.h>
+#include <cameraSession.h>
+#include <lcameraDev.h>
+#include <gtest/gtest.h>
+#include <spinscale/co/nonViralTaskNursery.h>
+#include <support/bakedDeviceCatalog.h>
+#include <support/exceptionAssertions.h>
+#include <support/probeComponentThread.h>
+#include <cstdlib>
+#include <functional>
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace lcamera_dev {
+namespace {
+
+constexpr const char *hilEnvVar = "LCAMERADEV_HIL";
+constexpr const char *machineEnvVar = "LCAMERADEV_MACHINE";
+constexpr const char *configureWidthEnvVar = "LCAMERADEV_CONFIGURE_W";
+constexpr const char *configureHeightEnvVar = "LCAMERADEV_CONFIGURE_H";
+constexpr const char *defaultMachineTag = "dell-laptop";
+constexpr unsigned defaultConfigureWidth = 640;
+constexpr unsigned defaultConfigureHeight = 480;
+
+bool hilTestsEnabled()
+{
+	const char *value = std::getenv(hilEnvVar);
+	return value != nullptr && std::string(value) == "1";
+}
+
+std::string machineTagFromEnvironment()
+{
+	const char *value = std::getenv(machineEnvVar);
+	if (value != nullptr && std::string(value).size() > 0) {
+		return value;
+	}
+
+	return defaultMachineTag;
+}
+
+unsigned unsignedFromEnvironmentOrDefault(
+	const char *envVar,
+	unsigned defaultValue)
+{
+	const char *value = std::getenv(envVar);
+	if (value == nullptr || std::string(value).empty()) {
+		return defaultValue;
+	}
+
+	return static_cast<unsigned>(std::stoul(value));
+}
+
+LcameraDevCameraModeRequest configureRequestFromEnvironment()
+{
+	LcameraDevCameraModeRequest request;
+	request.width = unsignedFromEnvironmentOrDefault(
+		configureWidthEnvVar,
+		defaultConfigureWidth);
+	request.height = unsignedFromEnvironmentOrDefault(
+		configureHeightEnvVar,
+		defaultConfigureHeight);
+	request.colourSpace = LcameraDevColourSpace::Yuv;
+	request.fullPlanarIsOptional = false;
+	return request;
+}
+
+sscl::co::NonViralNonPostingInvoker getOrCreateCInd(
+	std::exception_ptr& exceptionStorage,
+	std::function<void()> callerLambda,
+	const char *deviceSelector,
+	lcamera_dev::LcameraDevGetOrCreateResult& createResult)
+{
+	(void)exceptionStorage;
+	(void)callerLambda;
+
+	createResult = co_await lcameraDev_getOrCreateDeviceCReq(deviceSelector);
+	co_return;
+}
+
+sscl::co::NonViralNonPostingInvoker configureCInd(
+	std::exception_ptr& exceptionStorage,
+	std::function<void()> callerLambda,
+	const std::shared_ptr<lcamera_dev::CameraSession>& deviceSession,
+	const LcameraDevCameraModeRequest& request,
+	LcameraDevConfiguredCameraMode& configuredMode)
+{
+	(void)callerLambda;
+
+	configuredMode =
+		co_await lcameraDev_configureSessionModeCReq(deviceSession, request);
+
+	if (exceptionStorage) {
+		std::rethrow_exception(exceptionStorage);
+	}
+
+	co_return;
+}
+
+sscl::co::NonViralNonPostingInvoker releaseCInd(
+	std::exception_ptr& exceptionStorage,
+	std::function<void()> callerLambda,
+	const std::shared_ptr<lcamera_dev::CameraSession>& deviceSession)
+{
+	(void)exceptionStorage;
+	(void)callerLambda;
+
+	co_await lcameraDev_releaseDeviceCReq(deviceSession);
+	co_return;
+}
+
+void runLcameraDevMainAndNurseryTask(
+	const std::function<void(
+		const std::shared_ptr<sscl::ComponentThread>&)>& work)
+{
+	sscl::tests::ProbeComponentThreadHarness harness("lcameraDev-configure-hil");
+	harness.runSync(
+		[&work](const std::shared_ptr<sscl::ComponentThread>& componentThread)
+		{
+			lcameraDev_main(componentThread);
+			work(componentThread);
+			lcameraDev_exit();
+		});
+}
+
+void runNonViralNurseryRethrowingOnComponentThread(
+	const std::shared_ptr<sscl::ComponentThread>& componentThread,
+	const std::function<sscl::co::NonViralNonPostingInvoker(
+		sscl::co::NonViralTaskNursery::Slot::Lease&)>& invokerFactory)
+{
+	std::exception_ptr slotException;
+
+	sscl::co::NonViralTaskNursery nursery;
+	nursery.openAdmission();
+	nursery.launch(
+		invokerFactory,
+		[&slotException](std::exception_ptr& exceptionPtr)
+		{
+			slotException = exceptionPtr;
+		});
+	nursery.closeAdmission();
+	nursery.syncAwaitAllSettlements(componentThread->getIoContext());
+
+	if (slotException) {
+		std::rethrow_exception(slotException);
+	}
+}
+
+bool configureSessionOrExpectPlanarFailure(
+	const std::shared_ptr<sscl::ComponentThread>& componentThread,
+	const std::shared_ptr<lcamera_dev::CameraSession>& deviceSession,
+	const LcameraDevCameraModeRequest& request,
+	LcameraDevConfiguredCameraMode& configuredMode,
+	const char *profileTag)
+{
+	try {
+		runNonViralNurseryRethrowingOnComponentThread(
+			componentThread,
+			[&deviceSession, &request, &configuredMode](
+				sscl::co::NonViralTaskNursery::Slot::Lease& lease)
+			{
+				return configureCInd(
+					lease.getExceptionStorage(),
+					lease.getCallerLambda(),
+					deviceSession,
+					request,
+					configuredMode);
+			});
+
+		EXPECT_TRUE(configuredMode.isFullyPlanar) << profileTag;
+		EXPECT_GE(configuredMode.width, 1u) << profileTag;
+		EXPECT_GE(configuredMode.height, 1u) << profileTag;
+		return true;
+	}
+	catch (const std::exception& exception)
+	{
+		sscl::tests::expectExceptionMessageContains(
+			exception,
+			"planar");
+		return false;
+	}
+}
+
+void configureProfileExpectingPlanarOrExplicitFailure(
+	const test_fixtures::BakedCameraProfile *profile,
+	const LcameraDevCameraModeRequest& request,
+	const std::shared_ptr<sscl::ComponentThread>& componentThread)
+{
+	lcamera_dev::LcameraDevGetOrCreateResult createResult;
+
+	sscl::tests::runNonViralNurseryOnComponentThread(
+		componentThread,
+		[profile, &createResult](
+			sscl::co::NonViralTaskNursery::Slot::Lease& lease)
+		{
+			return getOrCreateCInd(
+				lease.getExceptionStorage(),
+				lease.getCallerLambda(),
+				profile->exampleSelector,
+				createResult);
+		});
+
+	EXPECT_TRUE(createResult.deviceSession != nullptr)
+		<< profile->profileTag;
+
+	LcameraDevConfiguredCameraMode configuredMode;
+	configureSessionOrExpectPlanarFailure(
+		componentThread,
+		createResult.deviceSession,
+		request,
+		configuredMode,
+		profile->profileTag);
+
+	sscl::tests::runNonViralNurseryOnComponentThread(
+		componentThread,
+		[&createResult](sscl::co::NonViralTaskNursery::Slot::Lease& lease)
+		{
+			return releaseCInd(
+				lease.getExceptionStorage(),
+				lease.getCallerLambda(),
+				createResult.deviceSession);
+		});
+}
+
+class LcameraDevConfigureHilTest : public ::testing::Test
+{
+protected:
+	void SetUp() override
+	{
+		if (!hilTestsEnabled()) {
+			GTEST_SKIP() << "Set " << hilEnvVar << "=1 to run hardware tests";
+		}
+
+		machineTag = machineTagFromEnvironment();
+		requiredProfiles =
+			sscl::tests::requiredProfilesForMachine(machineTag.c_str());
+		configureRequest = configureRequestFromEnvironment();
+
+		if (requiredProfiles.empty()) {
+			GTEST_SKIP() << "No baked profiles for machine tag "
+				<< machineTag;
+		}
+	}
+
+	const test_fixtures::BakedCameraProfile *findProfile(
+		const char *profileTag) const
+	{
+		for (const test_fixtures::BakedCameraProfile *profile :
+			requiredProfiles)
+		{
+			if (std::string(profile->profileTag) == profileTag) {
+				return profile;
+			}
+		}
+
+		return nullptr;
+	}
+
+	std::string machineTag;
+	std::vector<const test_fixtures::BakedCameraProfile *> requiredProfiles;
+	LcameraDevCameraModeRequest configureRequest;
+};
+
+TEST_F(LcameraDevConfigureHilTest, ConfigureUsbHdmiYuvRequiresPlanar)
+{
+	const test_fixtures::BakedCameraProfile *profile =
+		findProfile("usb_hdmi_camera");
+	if (!profile) {
+		GTEST_SKIP() << "usb_hdmi_camera profile not available";
+	}
+
+	runLcameraDevMainAndNurseryTask(
+		[this, profile](
+			const std::shared_ptr<sscl::ComponentThread>& componentThread)
+		{
+			configureProfileExpectingPlanarOrExplicitFailure(
+				profile,
+				configureRequest,
+				componentThread);
+		});
+}
+
+TEST_F(LcameraDevConfigureHilTest, ConfigureIntegratedWebcamYuv)
+{
+	const test_fixtures::BakedCameraProfile *profile =
+		findProfile("integrated_webcam");
+	if (!profile) {
+		GTEST_SKIP() << "integrated_webcam profile not available";
+	}
+
+	runLcameraDevMainAndNurseryTask(
+		[this, profile](
+			const std::shared_ptr<sscl::ComponentThread>& componentThread)
+		{
+			configureProfileExpectingPlanarOrExplicitFailure(
+				profile,
+				configureRequest,
+				componentThread);
+		});
+}
+
+TEST_F(LcameraDevConfigureHilTest, ConfiguredModeMatchesRequestDimensions)
+{
+	const test_fixtures::BakedCameraProfile *profile =
+		findProfile("integrated_webcam");
+	if (!profile) {
+		GTEST_SKIP() << "integrated_webcam profile not available";
+	}
+
+	bool skipForMissingPlanarYuv = false;
+
+	runLcameraDevMainAndNurseryTask(
+		[this, profile, &skipForMissingPlanarYuv](
+			const std::shared_ptr<sscl::ComponentThread>& componentThread)
+		{
+			lcamera_dev::LcameraDevGetOrCreateResult createResult;
+
+			sscl::tests::runNonViralNurseryOnComponentThread(
+				componentThread,
+				[profile, &createResult](
+					sscl::co::NonViralTaskNursery::Slot::Lease& lease)
+				{
+					return getOrCreateCInd(
+						lease.getExceptionStorage(),
+						lease.getCallerLambda(),
+						profile->exampleSelector,
+						createResult);
+				});
+
+			LcameraDevConfiguredCameraMode configuredMode;
+			const bool configureSucceeded =
+				configureSessionOrExpectPlanarFailure(
+					componentThread,
+					createResult.deviceSession,
+					configureRequest,
+					configuredMode,
+					profile->profileTag);
+
+			if (!configureSucceeded) {
+				skipForMissingPlanarYuv = true;
+			}
+			else
+			{
+				EXPECT_GE(configuredMode.width, 1u);
+				EXPECT_GE(configuredMode.height, 1u);
+				EXPECT_LE(
+					configuredMode.width,
+					configureRequest.width);
+				EXPECT_LE(
+					configuredMode.height,
+					configureRequest.height);
+			}
+
+			sscl::tests::runNonViralNurseryOnComponentThread(
+				componentThread,
+				[&createResult](
+					sscl::co::NonViralTaskNursery::Slot::Lease& lease)
+				{
+					return releaseCInd(
+						lease.getExceptionStorage(),
+						lease.getCallerLambda(),
+						createResult.deviceSession);
+				});
+		});
+
+	if (skipForMissingPlanarYuv) {
+		GTEST_SKIP() << "Camera lacks fully planar YUV at requested resolution";
+	}
+}
+
+TEST_F(LcameraDevConfigureHilTest, IdenticalReconfigureIsNoOp)
+{
+	const test_fixtures::BakedCameraProfile *profile =
+		findProfile("integrated_webcam");
+	if (!profile) {
+		GTEST_SKIP() << "integrated_webcam profile not available";
+	}
+
+	bool skipForMissingPlanarYuv = false;
+
+	runLcameraDevMainAndNurseryTask(
+		[this, profile, &skipForMissingPlanarYuv](
+			const std::shared_ptr<sscl::ComponentThread>& componentThread)
+		{
+			lcamera_dev::LcameraDevGetOrCreateResult createResult;
+
+			sscl::tests::runNonViralNurseryOnComponentThread(
+				componentThread,
+				[profile, &createResult](
+					sscl::co::NonViralTaskNursery::Slot::Lease& lease)
+				{
+					return getOrCreateCInd(
+						lease.getExceptionStorage(),
+						lease.getCallerLambda(),
+						profile->exampleSelector,
+						createResult);
+				});
+
+			LcameraDevConfiguredCameraMode firstMode;
+			LcameraDevConfiguredCameraMode secondMode;
+
+			const bool firstConfigureSucceeded =
+				configureSessionOrExpectPlanarFailure(
+					componentThread,
+					createResult.deviceSession,
+					configureRequest,
+					firstMode,
+					profile->profileTag);
+
+			if (!firstConfigureSucceeded) {
+				skipForMissingPlanarYuv = true;
+			}
+			else
+			{
+				const int configureCallCountAfterFirst =
+					createResult.deviceSession
+						->getLibcameraConfigureCallCount();
+
+				runNonViralNurseryRethrowingOnComponentThread(
+					componentThread,
+					[&createResult, &secondMode, this](
+						sscl::co::NonViralTaskNursery::Slot::Lease& lease)
+					{
+						return configureCInd(
+							lease.getExceptionStorage(),
+							lease.getCallerLambda(),
+							createResult.deviceSession,
+							configureRequest,
+							secondMode);
+					});
+
+				EXPECT_EQ(
+					createResult.deviceSession
+						->getLibcameraConfigureCallCount(),
+					configureCallCountAfterFirst);
+				EXPECT_EQ(secondMode.pixelFormatName, firstMode.pixelFormatName);
+				EXPECT_EQ(secondMode.width, firstMode.width);
+				EXPECT_EQ(secondMode.height, firstMode.height);
+			}
+
+			sscl::tests::runNonViralNurseryOnComponentThread(
+				componentThread,
+				[&createResult](
+					sscl::co::NonViralTaskNursery::Slot::Lease& lease)
+				{
+					return releaseCInd(
+						lease.getExceptionStorage(),
+						lease.getCallerLambda(),
+						createResult.deviceSession);
+				});
+		});
+
+	if (skipForMissingPlanarYuv) {
+		GTEST_SKIP() << "Camera lacks fully planar YUV at requested resolution";
+	}
+}
+
+TEST_F(LcameraDevConfigureHilTest, ConflictingReconfigureThrows)
+{
+	const test_fixtures::BakedCameraProfile *profile =
+		findProfile("integrated_webcam");
+	if (!profile) {
+		GTEST_SKIP() << "integrated_webcam profile not available";
+	}
+
+	bool skipForMissingPlanarYuv = false;
+
+	runLcameraDevMainAndNurseryTask(
+		[this, profile, &skipForMissingPlanarYuv](
+			const std::shared_ptr<sscl::ComponentThread>& componentThread)
+		{
+			lcamera_dev::LcameraDevGetOrCreateResult createResult;
+
+			sscl::tests::runNonViralNurseryOnComponentThread(
+				componentThread,
+				[profile, &createResult](
+					sscl::co::NonViralTaskNursery::Slot::Lease& lease)
+				{
+					return getOrCreateCInd(
+						lease.getExceptionStorage(),
+						lease.getCallerLambda(),
+						profile->exampleSelector,
+						createResult);
+				});
+
+			LcameraDevConfiguredCameraMode configuredMode;
+			const bool configureSucceeded =
+				configureSessionOrExpectPlanarFailure(
+					componentThread,
+					createResult.deviceSession,
+					configureRequest,
+					configuredMode,
+					profile->profileTag);
+
+			if (!configureSucceeded) {
+				skipForMissingPlanarYuv = true;
+			}
+			else
+			{
+				LcameraDevCameraModeRequest conflictingRequest =
+					configureRequest;
+				conflictingRequest.width = configureRequest.width + 64;
+
+				EXPECT_THROW(
+					runNonViralNurseryRethrowingOnComponentThread(
+						componentThread,
+						[&createResult, &conflictingRequest](
+							sscl::co::NonViralTaskNursery::Slot::Lease& lease)
+						{
+							LcameraDevConfiguredCameraMode ignoredMode;
+							return configureCInd(
+								lease.getExceptionStorage(),
+								lease.getCallerLambda(),
+								createResult.deviceSession,
+								conflictingRequest,
+								ignoredMode);
+						}),
+					std::runtime_error);
+			}
+
+			sscl::tests::runNonViralNurseryOnComponentThread(
+				componentThread,
+				[&createResult](
+					sscl::co::NonViralTaskNursery::Slot::Lease& lease)
+				{
+					return releaseCInd(
+						lease.getExceptionStorage(),
+						lease.getCallerLambda(),
+						createResult.deviceSession);
+				});
+		});
+
+	if (skipForMissingPlanarYuv) {
+		GTEST_SKIP() << "Camera lacks fully planar YUV at requested resolution";
+	}
+}
+
+} // namespace
+} // namespace lcamera_dev

commonLibs/lcameraDev/tests/planarYuvFormatPolicy_tests.cpp

@@ -0,0 +1,71 @@
+#include <planarYuvFormatPolicy.h>
+#include <gtest/gtest.h>
+#include <libcamera/formats.h>
+#include <support/exceptionAssertions.h>
+#include <vector>
+
+namespace lcamera_dev {
+namespace {
+
+using libcamera::formats::NV12;
+using libcamera::formats::YUYV;
+using libcamera::formats::YUV420;
+
+TEST(PlanarYuvFormatPolicyTest, FullyPlanarRequiredPicksYuv420OverNv12)
+{
+	const std::vector<libcamera::PixelFormat> candidates = {YUV420, NV12};
+
+	const std::optional<libcamera::PixelFormat> selected =
+		selectYuvCaptureFormat(candidates, false);
+
+	EXPECT_TRUE(selected.has_value());
+	EXPECT_EQ(*selected, YUV420);
+	EXPECT_TRUE(isFullyPlanarYuv(*selected));
+}
+
+TEST(PlanarYuvFormatPolicyTest, FullyPlanarRequiredThrowsWhenOnlyNonPlanar)
+{
+	const std::vector<libcamera::PixelFormat> candidates = {NV12, YUYV};
+
+	try {
+		selectYuvCaptureFormat(candidates, false);
+		FAIL() << "Expected runtime_error";
+	}
+	catch (const std::runtime_error& exception)
+	{
+		sscl::tests::expectExceptionMessageContains(
+			exception,
+			"planar");
+	}
+}
+
+TEST(PlanarYuvFormatPolicyTest, FullyPlanarOptionalPicksNv12)
+{
+	const std::vector<libcamera::PixelFormat> candidates = {NV12};
+
+	const std::optional<libcamera::PixelFormat> selected =
+		selectYuvCaptureFormat(candidates, true);
+
+	EXPECT_TRUE(selected.has_value());
+	EXPECT_EQ(*selected, NV12);
+	EXPECT_FALSE(isFullyPlanarYuv(*selected));
+	EXPECT_EQ(yuvCapturePlaneCount(*selected), 2u);
+}
+
+TEST(PlanarYuvFormatPolicyTest, EmptyCandidateListThrows)
+{
+	const std::vector<libcamera::PixelFormat> candidates;
+
+	EXPECT_THROW(
+		selectYuvCaptureFormat(candidates, false),
+		std::runtime_error);
+}
+
+TEST(PlanarYuvFormatPolicyTest, IsFullyPlanarYuvRecognizesYuv420)
+{
+	EXPECT_TRUE(isFullyPlanarYuv(YUV420));
+	EXPECT_FALSE(isFullyPlanarYuv(NV12));
+}
+
+} // namespace
+} // namespace lcamera_dev

commonLibs/lcameraDev/tests/sessionModeConfigure_state_tests.cpp

@@ -0,0 +1,138 @@
+#include <cameraModeRequest.h>
+#include <cameraSession.h>
+#include <gtest/gtest.h>
+#include <sessionModeConfigure.h>
+#include <memory>
+
+namespace lcamera_dev {
+namespace {
+
+LcameraDevConfiguredCameraMode syntheticResolvedMode(
+	unsigned width,
+	unsigned height,
+	const char *pixelFormatName)
+{
+	LcameraDevConfiguredCameraMode mode;
+	mode.width = width;
+	mode.height = height;
+	mode.colourSpace = LcameraDevColourSpace::Yuv;
+	mode.pixelFormatName = pixelFormatName;
+	mode.isFullyPlanar = true;
+	mode.planeCount = 3;
+	return mode;
+}
+
+LcameraDevCameraModeRequest makeRequest(unsigned width, unsigned height)
+{
+	LcameraDevCameraModeRequest request;
+	request.width = width;
+	request.height = height;
+	request.colourSpace = LcameraDevColourSpace::Yuv;
+	request.fullPlanarIsOptional = false;
+	return request;
+}
+
+TEST(SessionModeConfigureStateTest, FirstConfigureMarksSessionConfigured)
+{
+	CameraSessionResources resources(
+		CameraIdentityRecord{},
+		std::shared_ptr<libcamera::Camera>());
+
+	const LcameraDevCameraModeRequest request = makeRequest(640, 480);
+	const LcameraDevConfiguredCameraMode resolvedMode =
+		syntheticResolvedMode(640, 480, "YU12");
+
+	const ConfigureSessionModeStatus status =
+		applyModeRequestToSessionState(
+			resources,
+			request,
+			resolvedMode,
+			nullptr);
+
+	EXPECT_EQ(status, ConfigureSessionModeStatus::Configured);
+	EXPECT_TRUE(resources.configuredMode.has_value());
+	EXPECT_EQ(resources.configuredMode->width, 640u);
+	EXPECT_EQ(resources.configuredMode->pixelFormatName, "YU12");
+	EXPECT_EQ(resources.libcameraConfigureCallCount, 1);
+}
+
+TEST(SessionModeConfigureStateTest, IdenticalReconfigureIsNoOp)
+{
+	CameraSessionResources resources(
+		CameraIdentityRecord{},
+		std::shared_ptr<libcamera::Camera>());
+
+	const LcameraDevCameraModeRequest request = makeRequest(640, 480);
+	const LcameraDevConfiguredCameraMode resolvedMode =
+		syntheticResolvedMode(640, 480, "YU12");
+
+	applyModeRequestToSessionState(
+		resources,
+		request,
+		resolvedMode,
+		nullptr);
+
+	const ConfigureSessionModeStatus status =
+		applyModeRequestToSessionState(
+			resources,
+			request,
+			resolvedMode,
+			nullptr);
+
+	EXPECT_EQ(status, ConfigureSessionModeStatus::NoOpAlreadyConfigured);
+	EXPECT_EQ(resources.libcameraConfigureCallCount, 1);
+	EXPECT_EQ(resources.configuredMode->pixelFormatName, "YU12");
+}
+
+TEST(SessionModeConfigureStateTest, ConflictingReconfigureThrows)
+{
+	CameraSessionResources resources(
+		CameraIdentityRecord{},
+		std::shared_ptr<libcamera::Camera>());
+
+	const LcameraDevCameraModeRequest firstRequest = makeRequest(640, 480);
+	const LcameraDevConfiguredCameraMode firstMode =
+		syntheticResolvedMode(640, 480, "YU12");
+
+	applyModeRequestToSessionState(
+		resources,
+		firstRequest,
+		firstMode,
+		nullptr);
+
+	const LcameraDevCameraModeRequest conflictingRequest = makeRequest(1280, 720);
+
+	EXPECT_THROW(
+		applyModeRequestToSessionState(
+			resources,
+			conflictingRequest,
+			syntheticResolvedMode(1280, 720, "YU12"),
+			nullptr),
+		std::runtime_error);
+}
+
+TEST(SessionModeConfigureStateTest, GetConfiguredModeReturnsStoredValues)
+{
+	CameraSessionResources resources(
+		CameraIdentityRecord{},
+		std::shared_ptr<libcamera::Camera>());
+
+	const LcameraDevCameraModeRequest request = makeRequest(800, 600);
+	const LcameraDevConfiguredCameraMode resolvedMode =
+		syntheticResolvedMode(800, 600, "YU12");
+
+	applyModeRequestToSessionState(
+		resources,
+		request,
+		resolvedMode,
+		nullptr);
+
+	EXPECT_EQ(resources.configuredMode->width, 800u);
+	EXPECT_EQ(resources.configuredMode->height, 600u);
+	EXPECT_EQ(resources.configuredMode->colourSpace, LcameraDevColourSpace::Yuv);
+	EXPECT_TRUE(resources.configuredMode->isFullyPlanar);
+	EXPECT_EQ(resources.configuredMode->planeCount, 3u);
+}
+
+} // namespace
+} // namespace lcamera_dev