Merge pull request #1268 from luxonis/rvc4_discovery

RVC4 discovery

Author: moratom

cmake/Hunter/config.cmake

@@ -6,8 +6,8 @@ hunter_config(
 hunter_config(
     XLink
     VERSION "luxonis-2021.4.2-master"
-    URL "https://github.com/luxonis/XLink/archive/2b517e1cb1ca77bea17679f9fdeb739812431174.tar.gz"
-    SHA1 "fa7eeb46abeb97626dad923b7733899198284587"
+    URL "https://github.com/luxonis/XLink/archive/82839cb04f2102177fad926fb8f7fcf7b4093cb1.tar.gz"
+    SHA1 "c371bdefb2ea9f4c382b00d8629a466b3c79b35d"
     CMAKE_ARGS
         XLINK_ENABLE_LIBUSB=${DEPTHAI_ENABLE_LIBUSB}
 )

include/depthai/xlink/XLinkConnection.hpp

@@ -57,9 +57,12 @@ class XLinkConnection {
      *
      * @param state State which the devices should be in
      * @param skipInvalidDevices whether or not to skip over devices that cannot be successfully communicated with
+     * @param platform Which platforms to search for
      * @returns Vector of connected device information
      */
-    static std::vector<DeviceInfo> getAllConnectedDevices(XLinkDeviceState_t state = X_LINK_ANY_STATE, bool skipInvalidDevices = true);
+    static std::vector<DeviceInfo> getAllConnectedDevices(XLinkDeviceState_t state = X_LINK_ANY_STATE,
+                                                          bool skipInvalidDevices = true,
+                                                          XLinkPlatform_t platform = X_LINK_MYRIAD_X);
 
     /**
      * Returns information of first device with given state

src/device/DeviceBase.cpp

@@ -322,13 +322,17 @@ void DeviceBase::tryGetDevice() {
     bool found = false;
     std::tie(found, deviceInfo) = getAnyAvailableDevice();
 
-    // If no device found, throw
     if(!found) {
         auto numConnected = getAllAvailableDevices().size();
         if(numConnected > 0) {
-            throw std::runtime_error(fmt::format("No available devices ({} connected, but in use)", numConnected));
-        } else {
-            throw std::runtime_error("No available devices");
+            throw std::runtime_error("No available devices (" + std::to_string(numConnected) + " connected, but in use)");
+        }
+        auto numDevicesAnyPlatform = dai::XLinkConnection::getAllConnectedDevices(X_LINK_ANY_STATE, false, X_LINK_ANY_PLATFORM).size();
+        auto numDevicesRVC2 = dai::XLinkConnection::getAllConnectedDevices(X_LINK_ANY_STATE, false, X_LINK_MYRIAD_X).size();
+        auto nonRVC2Devices = numDevicesAnyPlatform - numDevicesRVC2;
+        if(nonRVC2Devices > 0) {
+            throw std::runtime_error("No available RVC2 devices found, but found " + std::to_string(nonRVC2Devices)
+                                     + " non RVC2 device[s]. To use RVC4 devices, please update DepthAI to version v3.x or newer.");
         }
     }
 }

src/xlink/XLinkConnection.cpp

@@ -110,7 +110,7 @@ constexpr std::chrono::milliseconds XLinkConnection::WAIT_FOR_BOOTUP_TIMEOUT;
 constexpr std::chrono::milliseconds XLinkConnection::WAIT_FOR_CONNECT_TIMEOUT;
 constexpr std::chrono::milliseconds XLinkConnection::POLLING_DELAY_TIME;
 
-std::vector<DeviceInfo> XLinkConnection::getAllConnectedDevices(XLinkDeviceState_t state, bool skipInvalidDevices) {
+std::vector<DeviceInfo> XLinkConnection::getAllConnectedDevices(XLinkDeviceState_t state, bool skipInvalidDevices, XLinkPlatform_t platform) {
     initialize();
 
     std::vector<DeviceInfo> devices;
@@ -119,7 +119,7 @@ std::vector<DeviceInfo> XLinkConnection::getAllConnectedDevices(XLinkDeviceState
     std::array<deviceDesc_t, 64> deviceDescAll = {};
     deviceDesc_t suitableDevice = {};
     suitableDevice.protocol = getDefaultProtocol();
-    suitableDevice.platform = X_LINK_ANY_PLATFORM;
+    suitableDevice.platform = platform;
     suitableDevice.state = state;
 
     auto allowedDeviceMxIds = utility::getEnv("DEPTHAI_DEVICE_MXID_LIST");
@@ -162,7 +162,7 @@ std::tuple<bool, DeviceInfo> XLinkConnection::getFirstDevice(XLinkDeviceState_t
 
     DeviceInfo devReq = {};
     devReq.protocol = X_LINK_ANY_PROTOCOL;
-    devReq.platform = X_LINK_ANY_PLATFORM;
+    devReq.platform = X_LINK_MYRIAD_X;
     devReq.name = "";
     devReq.mxid = "";
     devReq.state = state;
@@ -195,6 +195,7 @@ std::tuple<bool, DeviceInfo> XLinkConnection::getDeviceByMxId(std::string mxId,
     DeviceInfo dev;
     dev.mxid = mxId;
     dev.state = state;
+    dev.platform = X_LINK_MYRIAD_X;
 
     deviceDesc_t desc = {};
     auto res = XLinkFindFirstSuitableDevice(dev.getXLinkDeviceDesc(), &desc);