Testing request via USB.

Author: Filippo Mutta

cmake/depthaiDependencies.cmake

@@ -176,7 +176,7 @@ else()
     FetchContent_Declare(
         XLink
         GIT_REPOSITORY https://github.com/luxonis/XLink.git
-        GIT_TAG        4126554f5854b8215ef5833af9ca85fd39816d0c
+        GIT_TAG        d46c049e30d2a56f7bbec2e25e7e2fa5c09ec6d0
     )
 
     FetchContent_MakeAvailable(

include/depthai/xlink/XLinkStream.hpp

@@ -92,14 +92,12 @@ class XLinkStream {
     void write(long fd);
     void write(long fd, span<const uint8_t> data);
     void write(const void* data, std::size_t size);
-    void writeGate(span<const uint8_t> data);
     std::vector<std::uint8_t> read();
     std::vector<std::uint8_t> read(XLinkTimespec& timestampReceived);
     void read(std::vector<std::uint8_t>& data);
     void read(std::vector<std::uint8_t>& data, long& fd);
     void read(std::vector<std::uint8_t>& data, XLinkTimespec& timestampReceived);
     void read(std::vector<std::uint8_t>& data, long& fd, XLinkTimespec& timestampReceived);
-    void readGate(std::vector<std::uint8_t>& data);
     // split write helper
     void writeSplit(const void* data, std::size_t size, std::size_t split);
     void writeSplit(const std::vector<uint8_t>& data, std::size_t split);

src/device/DeviceGate.cpp

@@ -1,6 +1,7 @@
 #include "device/DeviceGate.hpp"
 
 #include <XLink/XLinkPublicDefines.h>
+#include <XLink/XLinkPlatform.h>
 
 // std
 #include <fstream>
@@ -56,10 +57,6 @@ DeviceGate::DeviceGate(const DeviceInfo& deviceInfo) : deviceInfo(deviceInfo) {
     pimpl->cli = std::make_unique<httplib::Client>(deviceInfo.name, DEFAULT_PORT);
     pimpl->cli->set_read_timeout(60);  // 60 seconds timeout to allow for compressing the crash dumps without async
     // pimpl->cli->set_connection_timeout(2);
-        
-    gateConnection = std::make_shared<XLinkConnection>(deviceInfo, X_LINK_GATE);
-    gateStream = std::make_shared<XLinkStream>(gateConnection, "XLink Gate Stream", 32 * 1024 * 1024);
-    spdlog::debug("Connected to gate stream");
 
 }
 
@@ -68,16 +65,6 @@ bool DeviceGate::isOkay() {
         return nlohmann::json::parse(res->body)["status"].get<bool>();
     }
 
-    struct request_t {
-	uint16_t RequestNum;
-    }__attribute__((packed));
-    request_t request;
-    request.RequestNum = 1;
-
-    span<const uint8_t> data;
-    memcpy((char*)data.data(), &request, sizeof(request));
-    gateStream->writeGate(data);
-
     return false;
 }
 
@@ -166,6 +153,19 @@ bool DeviceGate::createSession(bool exclusive) {
 }
 
 bool DeviceGate::startSession() {
+    struct request_t {
+        uint16_t RequestNum;
+	uint32_t RequestSize;
+    }__attribute__((packed));
+    request_t request;
+    request.RequestNum = 1;
+    request.RequestSize = 0;
+
+    XLinkPlatformGateWrite(&request, sizeof(request));
+    XLinkPlatformGateRead(&request, sizeof(request));
+    int requestNum = request.RequestNum;
+    spdlog::warn("Request num: {}", requestNum);
+
     std::string url = fmt::format("{}/{}/start", sessionsEndpoint, sessionId);
     if(auto res = pimpl->cli->Post(url.c_str())) {
         if(res->status != 200) {

src/xlink/XLinkStream.cpp

@@ -113,14 +113,6 @@ void XLinkStream::write(long fd, span<const uint8_t> data) {
     }
 }
 
-void XLinkStream::writeGate(span<const uint8_t> data) {
-    auto status = XLinkGateWriteData(streamId, data.data(), static_cast<int>(data.size()));
-    if(status != X_LINK_SUCCESS) {
-        throw XLinkWriteError(status, streamName);
-    }
-}
-
-
 void XLinkStream::read(std::vector<std::uint8_t>& data) {
     XLinkTimespec timestampReceived;
     read(data, timestampReceived);
@@ -166,15 +158,6 @@ std::vector<std::uint8_t> XLinkStream::read(XLinkTimespec& timestampReceived) {
     return data;
 }
 
-void XLinkStream::readGate(std::vector<std::uint8_t>& data) {
-    StreamPacketDesc packet;
-    const auto status = XLinkReadMoveData(streamId, &packet);
-    if(status != X_LINK_SUCCESS) {
-        throw XLinkReadError(status, streamName);
-    }
-    data = std::vector<std::uint8_t>(packet.data, packet.data + packet.length);
-}
-
 StreamPacketDesc XLinkStream::readMove() {
     StreamPacketDesc packet;
     const auto status = XLinkReadMoveData(streamId, &packet);