Fix some FW asan+ubsan issues

Author: Jakob Socan

CMakeLists.txt

@@ -889,6 +889,10 @@ if(DEPTHAI_USB2_PATCH_ONLY_MODE)
     target_compile_definitions(${TARGET_CORE_NAME} PRIVATE DEPTHAI_PATCH_ONLY_MODE)
 endif()
 
+if(DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4)
+    target_compile_definitions(${TARGET_CORE_NAME} PRIVATE DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4)
+endif()
+
 # Helper function
 macro(add_runtime_dependencies depending_target dependency)
     if(TARGET ${dependency})

cmake/depthaiOptions.cmake

@@ -121,3 +121,6 @@ option(DEPTHAI_SANITIZE "Enable Address and Undefined sanitizers for library, ex
 # Local override paths
 set(DEPTHAI_XLINK_LOCAL "" CACHE STRING "Path to local XLink source to use instead of Hunter")
 set(DEPTHAI_BOOTLOADER_SHARED_LOCAL "" CACHE STRING "Path to local depthai-bootloader-shared source to use instead of submodule")
+
+# Options for internal use
+option(DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4 "This build is part of the rvc4 firmware build" OFF)

cmake/ports/libnop/portfile.cmake

@@ -1,8 +1,8 @@
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
-    REPO luxonis/libnop
-    REF ab842f51dc2eb13916dc98417c2186b78320ed10
-    SHA512 6353765ac8c489e66e0c91dc1da899e5a89200eb3834c95a1697b5e22e4d7186d920c24a67272ff92fdf22a0fac5b6b838345ad077e67693f35815c1cc9dbf17
+    REPO jakgra/libnop
+    REF 00938ba06ad513e4e0a12f9f2ec41cecad7e40d1
+    SHA512 1377cc955148b9106e173d5877623df4f18400234ad2a3c0e6ab12970c53886478520f7bc591f4e8d89ae1a325c4cd030063043795e34f99ec6efe77457c6664
     HEAD_REF develop
 )
 vcpkg_cmake_configure(

include/depthai/pipeline/node/SpatialDetectionNetwork.hpp

@@ -24,10 +24,16 @@ namespace node {
 class SpatialDetectionNetwork : public DeviceNodeCRTP<DeviceNode, SpatialDetectionNetwork, SpatialDetectionNetworkProperties> {
    public:
     explicit SpatialDetectionNetwork(const std::shared_ptr<Device>& device)
-        : DeviceNodeCRTP<DeviceNode, SpatialDetectionNetwork, SpatialDetectionNetworkProperties>(device),
+        : DeviceNodeCRTP<DeviceNode, SpatialDetectionNetwork, SpatialDetectionNetworkProperties>(device)
+#ifndef DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4
+          ,
           input{neuralNetwork->input},
           outNetwork{neuralNetwork->out},
-          passthrough{neuralNetwork->passthrough} {
+          passthrough {
+        neuralNetwork->passthrough
+    }
+#endif
+    {
         if(device) {
             auto platform = device->getPlatform();
             if(platform == Platform::RVC4) {
@@ -36,7 +42,16 @@ class SpatialDetectionNetwork : public DeviceNodeCRTP<DeviceNode, SpatialDetecti
         }
     };
     SpatialDetectionNetwork(std::unique_ptr<Properties> props)
-        : DeviceNodeCRTP(std::move(props)), input{neuralNetwork->input}, outNetwork{neuralNetwork->out}, passthrough{neuralNetwork->passthrough} {
+        : DeviceNodeCRTP(std::move(props))
+#ifndef DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4
+          ,
+          input{neuralNetwork->input},
+          outNetwork{neuralNetwork->out},
+          passthrough {
+        neuralNetwork->passthrough
+    }
+#endif
+    {
         auto device = getDevice();
         if(device) {
             auto platform = device->getPlatform();
@@ -46,7 +61,16 @@ class SpatialDetectionNetwork : public DeviceNodeCRTP<DeviceNode, SpatialDetecti
         }
     };
     SpatialDetectionNetwork(std::unique_ptr<Properties> props, bool confMode)
-        : DeviceNodeCRTP(std::move(props), confMode), input{neuralNetwork->input}, outNetwork{neuralNetwork->out}, passthrough{neuralNetwork->passthrough} {
+        : DeviceNodeCRTP(std::move(props), confMode)
+#ifndef DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4
+          ,
+          input{neuralNetwork->input},
+          outNetwork{neuralNetwork->out},
+          passthrough {
+        neuralNetwork->passthrough
+    }
+#endif
+    {
         auto device = getDevice();
         if(device) {
             auto platform = device->getPlatform();
@@ -56,10 +80,17 @@ class SpatialDetectionNetwork : public DeviceNodeCRTP<DeviceNode, SpatialDetecti
         }
     };
     SpatialDetectionNetwork(const std::shared_ptr<Device>& device, std::unique_ptr<Properties> props, bool confMode)
-        : DeviceNodeCRTP(device, std::move(props), confMode),
+        : DeviceNodeCRTP(device, std::move(props), confMode)
+#ifndef DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4
+          ,
+
           input{neuralNetwork->input},
           outNetwork{neuralNetwork->out},
-          passthrough{neuralNetwork->passthrough} {
+          passthrough {
+        neuralNetwork->passthrough
+    }
+#endif
+    {
         if(device) {
             auto platform = device->getPlatform();
             if(platform == Platform::RVC4) {
@@ -83,6 +114,7 @@ class SpatialDetectionNetwork : public DeviceNodeCRTP<DeviceNode, SpatialDetecti
     Subnode<DetectionParser> detectionParser{*this, "detectionParser"};
     std::unique_ptr<Subnode<ImageAlign>> depthAlign;
 
+#ifndef DEPTHAI_INTERNAL_DEVICE_BUILD_RVC4
     /**
      * Input message with data to be inferred upon
      * Default queue is blocking with size 5
@@ -100,6 +132,7 @@ class SpatialDetectionNetwork : public DeviceNodeCRTP<DeviceNode, SpatialDetecti
      * Suitable for when input queue is set to non-blocking behavior.
      */
     Output& passthrough;
+#endif
 
     /**
      * Input message with depth data used to retrieve spatial information about detected object