TDA4 Issue about camera demo error on RTOS0801

vx_status app_create_graph(AppObj *obj)
{
    vx_status status = VX_SUCCESS;
    int32_t sensor_init_status = -1;
    obj->configuration = NULL;
    obj->raw = NULL;
    obj->y12 = NULL;
    obj->uv12_c1 = NULL;
    obj->y8_r8_c2 = NULL;
    obj->uv8_g8_c3 = NULL;
    obj->s8_b8_c4 = NULL;
    obj->histogram = NULL;
    obj->h3a_aew_af = NULL;
    obj->display_image = NULL;

    unsigned int image_width = obj->width_in;
    unsigned int image_height = obj->height_in;

    tivx_raw_image raw_image = 0;
    vx_user_data_object capture_config;
    vx_uint8 num_capture_frames = 1;
    tivx_capture_params_t local_capture_config;
    uint32_t buf_id;
    const vx_char capture_user_data_object_name[] = "tivx_capture_params_t";
    uint32_t sensor_features_enabled = 0;
    uint32_t sensor_features_supported = 0;
    uint32_t sensor_wdr_enabled = 0;
    uint32_t sensor_exp_control_enabled = 0;
    uint32_t sensor_gain_control_enabled = 0;

    vx_bool yuv_cam_input = vx_false_e;
    vx_image viss_out_image = NULL;
    vx_image ldc_in_image = NULL;
    vx_image capt_yuv_image = NULL;

    uint8_t channel_mask = (1<<obj->selectedCam);

    vx_uint32 params_list_depth = 1;
    if(obj->test_mode == 1)
    {
        params_list_depth = 2;
    }
    vx_graph_parameter_queue_params_t graph_parameters_queue_params_list[params_list_depth];

    status = appSetSensorCSIInstance(obj->sensor_csi_instance,SINGLE_APP);
    if(VX_SUCCESS != status)
    {
        printf("appSetSensorCSIInstance returned %d\n", status);
        return status;
    }
    printf("Querying %s \n", obj->sensor_name);
    memset(&sensorParams, 0, sizeof(sensorParams));
    status = appQueryImageSensor(obj->sensor_name, &sensorParams);
    if(VX_SUCCESS != status)
    {
        printf("appQueryImageSensor returned %d\n", status);
        return status;
    }

    if(sensorParams.sensorInfo.raw_params.format[0].pixel_container == VX_DF_IMAGE_UYVY)
    {
        yuv_cam_input = vx_true_e;
        printf("YUV Input selected. VISS and AEWB nodes will be bypassed. \n");
    }


    /*
    Check for supported sensor features.
    It is upto the application to decide which features should be enabled.
    This demo app enables WDR, DCC and 2A if the sensor supports it.
    */
    sensor_features_supported = sensorParams.sensorInfo.features;

    if(vx_false_e == yuv_cam_input)
    {
        if(ISS_SENSOR_FEATURE_COMB_COMP_WDR_MODE == (sensor_features_supported & ISS_SENSOR_FEATURE_COMB_COMP_WDR_MODE))
        {
            APP_PRINTF("WDR mode is supported \n");
            sensor_features_enabled |= ISS_SENSOR_FEATURE_COMB_COMP_WDR_MODE;
            sensor_wdr_enabled = 1;
            obj->sensor_wdr_mode = 1;
        }else
        {
            APP_PRINTF("WDR mode is not supported. Defaulting to linear \n");
            sensor_features_enabled |= ISS_SENSOR_FEATURE_LINEAR_MODE;
            sensor_wdr_enabled = 0;
            obj->sensor_wdr_mode = 0;
        }

        if(ISS_SENSOR_FEATURE_MANUAL_EXPOSURE == (sensor_features_supported & ISS_SENSOR_FEATURE_MANUAL_EXPOSURE))
        {
            APP_PRINTF("Expsoure control is supported \n");
            sensor_features_enabled |= ISS_SENSOR_FEATURE_MANUAL_EXPOSURE;
            sensor_exp_control_enabled = 1;
        }

        if(ISS_SENSOR_FEATURE_MANUAL_GAIN == (sensor_features_supported & ISS_SENSOR_FEATURE_MANUAL_GAIN))
        {
            APP_PRINTF("Gain control is supported \n");
            sensor_features_enabled |= ISS_SENSOR_FEATURE_MANUAL_GAIN;
            sensor_gain_control_enabled = 1;
        }

        if(ISS_SENSOR_FEATURE_CFG_UC1 == (sensor_features_supported & ISS_SENSOR_FEATURE_CFG_UC1))
        {
            APP_PRINTF("CMS Usecase is supported \n");
            sensor_features_enabled |= ISS_SENSOR_FEATURE_CFG_UC1;
        }

        switch(sensorParams.sensorInfo.aewbMode)
        {
            case ALGORITHMS_ISS_AEWB_MODE_NONE:
                obj->aewb_cfg.ae_mode = ALGORITHMS_ISS_AE_DISABLED;
                obj->aewb_cfg.awb_mode = ALGORITHMS_ISS_AWB_DISABLED;
                break;
            case ALGORITHMS_ISS_AEWB_MODE_AWB:
                obj->aewb_cfg.ae_mode = ALGORITHMS_ISS_AE_DISABLED;
                obj->aewb_cfg.awb_mode = ALGORITHMS_ISS_AWB_AUTO;
                break;
            case ALGORITHMS_ISS_AEWB_MODE_AE:
                obj->aewb_cfg.ae_mode = ALGORITHMS_ISS_AE_AUTO;
                obj->aewb_cfg.awb_mode = ALGORITHMS_ISS_AWB_DISABLED;
                break;
            case ALGORITHMS_ISS_AEWB_MODE_AEWB:
                obj->aewb_cfg.ae_mode = ALGORITHMS_ISS_AE_AUTO;
                obj->aewb_cfg.awb_mode = ALGORITHMS_ISS_AWB_AUTO;
                break;
        }
        if(obj->aewb_cfg.ae_mode == ALGORITHMS_ISS_AE_DISABLED)
        {
            if(sensor_exp_control_enabled || sensor_gain_control_enabled )
            {
                obj->aewb_cfg.ae_mode = ALGORITHMS_ISS_AE_MANUAL;
            }
        }

        APP_PRINTF("obj->aewb_cfg.ae_mode = %d\n", obj->aewb_cfg.ae_mode);
        APP_PRINTF("obj->aewb_cfg.awb_mode = %d\n", obj->aewb_cfg.awb_mode);

    }

    if(ISS_SENSOR_FEATURE_DCC_SUPPORTED == (sensor_features_supported & ISS_SENSOR_FEATURE_DCC_SUPPORTED))
    {
        sensor_features_enabled |= ISS_SENSOR_FEATURE_DCC_SUPPORTED;
        APP_PRINTF("Sensor DCC is enabled \n");
    }else
    {
        APP_PRINTF("Sensor DCC is NOT enabled \n");
    }

    APP_PRINTF("Sensor width = %d\n", sensorParams.sensorInfo.raw_params.width);
    APP_PRINTF("Sensor height = %d\n", sensorParams.sensorInfo.raw_params.height);
    APP_PRINTF("Sensor DCC ID = %d\n", sensorParams.dccId);
    APP_PRINTF("Sensor Supported Features = 0x%x\n", sensor_features_supported);
    APP_PRINTF("Sensor Enabled Features = 0x%x\n", sensor_features_enabled);
    sensor_init_status = appInitImageSensor(obj->sensor_name, sensor_features_enabled, channel_mask);/*Mask = 1 for camera # 0*/
    if(0 != sensor_init_status)
    {
        /* Not returning failure because application may be waiting for
            error/test frame */
        printf("Error initializing sensor %s \n", obj->sensor_name);
    }

    image_width     = sensorParams.sensorInfo.raw_params.width;
    image_height    = sensorParams.sensorInfo.raw_params.height;
    obj->cam_dcc_id = sensorParams.dccId;
    obj->width_in = image_width;
    obj->height_in = image_height;

/*
Assuming same dataformat for all exposures.
This may not be true for staggered HDR. WIll be handled later
    for(count = 0;count<raw_params.num_exposures;count++)
    {
        memcpy(&(raw_params.format[count]), &(sensorProperties.sensorInfo.dataFormat), sizeof(tivx_raw_image_format_t));
    }
*/

/*
Sensor driver does not support metadata yet.
*/

    APP_PRINTF("Creating graph \n");

    obj->graph = vxCreateGraph(obj->context);
    if(status == VX_SUCCESS)
    {
        status = vxGetStatus((vx_reference) obj->graph);
    }
    APP_ASSERT(vx_true_e == tivxIsTargetEnabled(TIVX_TARGET_VPAC_VISS1));

    APP_PRINTF("Initializing params for capture node \n");

    /* Setting to num buf of capture node */
    obj->num_cap_buf = NUM_BUFS;

    if(vx_false_e == yuv_cam_input)
    {
        raw_image = tivxCreateRawImage(obj->context, &sensorParams.sensorInfo.raw_params);

        /* allocate Input and Output refs, multiple refs created to allow pipelining of graph */
        for(buf_id=0; buf_id<obj->num_cap_buf; buf_id++)
        {
            if(status == VX_SUCCESS)
            {
                obj->cap_frames[buf_id] = vxCreateObjectArray(obj->context, (vx_reference)raw_image, num_capture_frames);
                status = vxGetStatus((vx_reference) obj->cap_frames[buf_id]);
            }
        }
    }
    else
    {
        capt_yuv_image = vxCreateImage(
                                obj->context,
                                sensorParams.sensorInfo.raw_params.width,
                                sensorParams.sensorInfo.raw_params.height,
                                VX_DF_IMAGE_UYVY
                         );

        /* allocate Input and Output refs, multiple refs created to allow pipelining of graph */
        for(buf_id=0; buf_id<obj->num_cap_buf; buf_id++)
        {
            if(status == VX_SUCCESS)
            {
                obj->cap_frames[buf_id] = vxCreateObjectArray(obj->context, (vx_reference)capt_yuv_image, num_capture_frames);
                status = vxGetStatus((vx_reference) obj->cap_frames[buf_id]);
            }
        }
    }

    /* Config initialization */
    tivx_capture_params_init(&local_capture_config);

    local_capture_config.timeout = 33;
    local_capture_config.timeoutInitial = 500;

    local_capture_config.numInst  = 1U;/* Configure both instances */
    local_capture_config.numCh = 1U;/* Single cam. Only 1 channel enabled */
    {
        vx_uint8 ch, id, lane, q;
        for(id = 0; id < local_capture_config.numInst; id++)
        {
            local_capture_config.instId[id]                       = obj->sensor_csi_instance;
            local_capture_config.instCfg[id].enableCsiv2p0Support = (uint32_t)vx_true_e;
            local_capture_config.instCfg[id].numDataLanes         = sensorParams.sensorInfo.numDataLanes;
            local_capture_config.instCfg[id].laneBandSpeed        = sensorParams.sensorInfo.csi_laneBandSpeed;

            for (lane = 0; lane < local_capture_config.instCfg[id].numDataLanes; lane++)
            {
                local_capture_config.instCfg[id].dataLanesMap[lane] = lane + 1;
            }
            for (q = 0; q < NUM_CAPT_CHANNELS; q++)
            {
                ch = (NUM_CAPT_CHANNELS-1)* id + q;
                local_capture_config.chVcNum[ch]   = q;
                local_capture_config.chInstMap[ch] = obj->sensor_csi_instance;
            }
        }
    }

    //local_capture_config.chInstMap[0] = obj->selectedCam/NUM_CAPT_CHANNELS;
    local_capture_config.chInstMap[0] = obj->sensor_csi_instance;
    local_capture_config.chVcNum[0]   = obj->selectedCam%NUM_CAPT_CHANNELS;
    printf("set sensor csi instance [%d] in single sensor app config!!\n",obj->sensor_csi_instance);
    
    capture_config = vxCreateUserDataObject(obj->context, capture_user_data_object_name, sizeof(tivx_capture_params_t), &local_capture_config);
    APP_PRINTF("capture_config = 0x%p \n", capture_config);

    APP_PRINTF("Creating capture node \n");
    obj->capture_node = tivxCaptureNode(obj->graph, capture_config, obj->cap_frames[0]);
    APP_PRINTF("obj->capture_node = 0x%p \n", obj->capture_node);

    if(status == VX_SUCCESS)
    {
        status = vxReleaseUserDataObject(&capture_config);
    }
    if(status == VX_SUCCESS)
    {
        status = vxSetNodeTarget(obj->capture_node, VX_TARGET_STRING, TIVX_TARGET_CAPTURE2);
    }

    if(vx_false_e == yuv_cam_input)
    {
        obj->raw = (tivx_raw_image)vxGetObjectArrayItem(obj->cap_frames[0], 0);
        if(status == VX_SUCCESS)
        {
            status = tivxReleaseRawImage(&raw_image);
        }
#ifdef _APP_DEBUG_


        obj->fs_test_raw_image = tivxCreateRawImage(obj->context, &(sensorParams.sensorInfo.raw_params));

        if (NULL != obj->fs_test_raw_image)
        {
            if(status == VX_SUCCESS)
            {
                status = read_test_image_raw(NULL, obj->fs_test_raw_image, obj->test_mode);
            }
            else
            {
                status = tivxReleaseRawImage(&obj->fs_test_raw_image);
                obj->fs_test_raw_image = NULL;
            }
        }
#endif //_APP_DEBUG_

        status = app_create_viss(obj, sensor_wdr_enabled);
        if(VX_SUCCESS == status)
        {
        vxSetNodeTarget(obj->node_viss, VX_TARGET_STRING, TIVX_TARGET_VPAC_VISS1);
        tivxSetNodeParameterNumBufByIndex(obj->node_viss, 6u, obj->num_cap_buf);
        }
        else
        {
            printf("app_create_viss failed \n");
            return -1;
        }

        status = app_create_aewb(obj, sensor_wdr_enabled);
        if(VX_SUCCESS != status)
        {
            printf("app_create_aewb failed \n");
            return -1;
        }
        viss_out_image = obj->y8_r8_c2;
        ldc_in_image = viss_out_image;
    }
    else
    {
        obj->capt_yuv_image = (vx_image)vxGetObjectArrayItem(obj->cap_frames[0], 0);
        ldc_in_image = obj->capt_yuv_image;
        vxReleaseImage(&capt_yuv_image);
    }

    if (obj->ldc_enable)
    {
        printf ("Enabling LDC \n");
        status = app_create_ldc(obj, ldc_in_image);

        if(status == VX_SUCCESS)
        {
            status = vxSetNodeTarget(obj->node_ldc, VX_TARGET_STRING, TIVX_TARGET_VPAC_LDC1);
        }
        else
        {
            printf("app_create_ldc returned error \n");
            return status;
        }
        if(status == VX_SUCCESS)
        {
            status = tivxSetNodeParameterNumBufByIndex(obj->node_ldc, 7u, obj->num_cap_buf);
        }

        /*Check if resizing is needed for display*/
        if((obj->table_width >= obj->display_params.outWidth) && (obj->table_height >= obj->display_params.outHeight))
        {
            vx_uint16 scaler_out_w, scaler_out_h;
            obj->scaler_enable = vx_true_e;
            appIssGetResizeParams(obj->table_width, obj->table_height, obj->display_params.outWidth, obj->display_params.outHeight, &scaler_out_w, &scaler_out_h);
            obj->scaler_out_img = vxCreateImage(obj->context, scaler_out_w, scaler_out_h, VX_DF_IMAGE_NV12);
            obj->scalerNode = tivxVpacMscScaleNode(obj->graph, obj->ldc_out, obj->scaler_out_img, NULL, NULL, NULL, NULL);
            if(status == VX_SUCCESS)
            {
                status = tivxSetNodeParameterNumBufByIndex(obj->scalerNode, 1u, obj->num_cap_buf);
            }
            obj->display_params.outHeight = scaler_out_h;
            obj->display_params.outWidth = scaler_out_w;
            obj->display_image = obj->scaler_out_img;
        }else /*No resize needed*/
        {
            obj->scaler_enable = vx_false_e;
            obj->display_image = obj->ldc_out;

            /* MSC can only downsize. If ldc resolution is lower,
               display resolution must be set accordingly
            */
            obj->display_params.outWidth = obj->table_width;
            obj->display_params.outHeight = obj->table_height;
        }
    }
    else /*ldc_enable*/
    {
        if(NULL != obj->capt_yuv_image)
        {
            /*MSC does not support YUV422 input*/
            obj->scaler_enable = vx_false_e;
        }
        else
        {
            if ((image_width >= obj->display_params.outWidth) && (image_height >= obj->display_params.outHeight))
            {
                obj->scaler_enable = vx_true_e;
            }
            else
            {
                obj->scaler_enable = vx_false_e;
                /* MSC can only downsize. If viss resolution is lower,
                   display resolution must be set accordingly
                */
                obj->display_params.outWidth = image_width;
                obj->display_params.outHeight = image_height;
            }
        }

        if(vx_true_e == obj->scaler_enable)
        {
            vx_uint16 scaler_out_w, scaler_out_h;
            appIssGetResizeParams(image_width, image_height, obj->display_params.outWidth, obj->display_params.outHeight, &scaler_out_w, &scaler_out_h);
            obj->scaler_out_img = vxCreateImage(obj->context, scaler_out_w, scaler_out_h, VX_DF_IMAGE_NV12);
            obj->scalerNode = tivxVpacMscScaleNode(obj->graph, ldc_in_image, obj->scaler_out_img, NULL, NULL, NULL, NULL);
            if(status == VX_SUCCESS)
            {
                status = tivxSetNodeParameterNumBufByIndex(obj->scalerNode, 1u, obj->num_cap_buf);
            }
            if(status == VX_SUCCESS)
            {
                status = vxSetNodeTarget(obj->scalerNode, VX_TARGET_STRING, TIVX_TARGET_VPAC_MSC1);
            }
            obj->display_params.outHeight = scaler_out_h;
            obj->display_params.outWidth = scaler_out_w;
            obj->display_image = obj->scaler_out_img;
        }
        else
        {
            obj->display_image = ldc_in_image;
        }
    }

    if(NULL == obj->display_image)
    {
        printf("Error : Display input is uninitialized \n");
        return VX_FAILURE;
    }
    else
    {
        obj->display_params.posX = (1920U - obj->display_params.outWidth)/2;
        obj->display_params.posY = (1080U - obj->display_params.outHeight)/2;
        obj->display_param_obj = vxCreateUserDataObject(obj->context, "tivx_display_params_t", sizeof(tivx_display_params_t), &obj->display_params);
        obj->displayNode = tivxDisplayNode(obj->graph, obj->display_param_obj, obj->display_image);
    }

    if(status == VX_SUCCESS)
    {
        status = vxSetNodeTarget(obj->displayNode, VX_TARGET_STRING, TIVX_TARGET_DISPLAY1);
        APP_PRINTF("Display Set Target done\n");
    }
    int graph_parameter_num = 0;

    /* input @ node index 1, becomes graph parameter 0 */
    add_graph_parameter_by_node_index(obj->graph, obj->capture_node, 1);

    /* set graph schedule config such that graph parameter @ index 0 is enqueuable */
    graph_parameters_queue_params_list[graph_parameter_num].graph_parameter_index = graph_parameter_num;
    graph_parameters_queue_params_list[graph_parameter_num].refs_list_size = obj->num_cap_buf;
    graph_parameters_queue_params_list[graph_parameter_num].refs_list = (vx_reference*)&(obj->cap_frames[0]);
    graph_parameter_num++;

    if(obj->test_mode == 1)
    {
        add_graph_parameter_by_node_index(obj->graph, obj->displayNode, 0);

        /* set graph schedule config such that graph parameter @ index 0 is enqueuable */
        graph_parameters_queue_params_list[graph_parameter_num].graph_parameter_index = graph_parameter_num;
        graph_parameters_queue_params_list[graph_parameter_num].refs_list_size = 1;
        graph_parameters_queue_params_list[graph_parameter_num].refs_list = (vx_reference*)&(obj->display_image);
        graph_parameter_num++;
    }

    if(status == VX_SUCCESS)
    {
        status = tivxSetGraphPipelineDepth(obj->graph, obj->num_cap_buf);
    }

    /* Schedule mode auto is used, here we dont need to call vxScheduleGraph
     * Graph gets scheduled automatically as refs are enqueued to it
     */
    if(status == VX_SUCCESS)
    {
        status = vxSetGraphScheduleConfig(obj->graph,
                        VX_GRAPH_SCHEDULE_MODE_QUEUE_AUTO,
                        params_list_depth,
                        graph_parameters_queue_params_list
                        );
    }
    APP_PRINTF("vxSetGraphScheduleConfig done\n");

    if(status == VX_SUCCESS)
    {
        status = vxVerifyGraph(obj->graph);
    }

    if(vx_true_e == obj->scaler_enable)
    {
        tivx_vpac_msc_coefficients_t sc_coeffs;
        vx_reference refs[1];

        printf("Scaler is enabled\n");

        tivx_vpac_msc_coefficients_params_init(&sc_coeffs, VX_INTERPOLATION_BILINEAR);

        obj->sc_coeff_obj = vxCreateUserDataObject(obj->context, "tivx_vpac_msc_coefficients_t", sizeof(tivx_vpac_msc_coefficients_t), NULL);
        if(status == VX_SUCCESS)
        {
            status = vxCopyUserDataObject(obj->sc_coeff_obj, 0, sizeof(tivx_vpac_msc_coefficients_t), &sc_coeffs, VX_WRITE_ONLY, VX_MEMORY_TYPE_HOST);
        }
        refs[0] = (vx_reference)obj->sc_coeff_obj;
        if(status == VX_SUCCESS)
        {
            status = tivxNodeSendCommand(obj->scalerNode, 0u, TIVX_VPAC_MSC_CMD_SET_COEFF, refs, 1u);
        }
    }
    else
    {
        printf("Scaler is disabled\n");
    }

    if(status == VX_SUCCESS)
    {
        status = tivxExportGraphToDot(obj->graph, ".", "single_cam_graph");
    }

#ifdef _APP_DEBUG_
    if(vx_false_e == yuv_cam_input)
    {
        if( (NULL != obj->fs_test_raw_image) && (NULL != obj->capture_node) && (status == VX_SUCCESS))
        {
            status = app_send_test_frame(obj->capture_node, obj->fs_test_raw_image);
        }
    }
#endif //_APP_DEBUG_

    APP_PRINTF("app_create_graph exiting\n");
    return status;
}