Modified DeviceBootloader::Config to retain previous values

themarpe · themarpe · commit e96b549c4c0e · 2022-09-16T20:55:58.000+02:00
diff --git a/include/depthai/device/DeviceBootloader.hpp b/include/depthai/device/DeviceBootloader.hpp
@@ -75,6 +75,15 @@ class DeviceBootloader {
         void setUsbMaxSpeed(UsbSpeed speed);
         /// Get maxUsbSpeed
         UsbSpeed getUsbMaxSpeed();
+
+        /// To JSON
+        nlohmann::json toJson() const;
+
+        /// from JSON
+        static Config fromJson(nlohmann::json);
+
+       private:
+        nlohmann::json data;
     };
 
     /// Bootloader version structure
diff --git a/src/device/DeviceBootloader.cpp b/src/device/DeviceBootloader.cpp
@@ -1134,13 +1134,11 @@ std::tuple<bool, std::string> DeviceBootloader::flashConfigFile(const dai::Path&
 
 DeviceBootloader::Config DeviceBootloader::readConfig(Memory memory, Type type) {
     auto json = readConfigData(memory, type);
-    // Implicit parse from json to Config
-    return json;
+    return Config::fromJson(json);
 }
 
 std::tuple<bool, std::string> DeviceBootloader::flashConfig(const Config& config, Memory memory, Type type) {
-    // Implicit parse from Config to json
-    return flashConfigData(config, memory, type);
+    return flashConfigData(config.toJson(), memory, type);
 }
 
 // Boot memory
@@ -1403,11 +1401,13 @@ UsbSpeed DeviceBootloader::Config::getUsbMaxSpeed() {
 }
 
 void DeviceBootloader::Config::setMacAddress(std::string mac) {
-    std::array<uint8_t, 6> a;
-    int last = -1;
-    int rc = std::sscanf(mac.c_str(), "%hhx:%hhx:%hhx:%hhx:%hhx:%hhx%n", &a[0], &a[1], &a[2], &a[3], &a[4], &a[5], &last);
-    if(rc != 6 || static_cast<long>(mac.size()) != last) {
-        throw std::invalid_argument("Invalid MAC address format " + mac);
+    std::array<uint8_t, 6> a = {0, 0, 0, 0, 0, 0};
+    if(mac != "") {
+        int last = -1;
+        int rc = std::sscanf(mac.c_str(), "%hhx:%hhx:%hhx:%hhx:%hhx:%hhx%n", &a[0], &a[1], &a[2], &a[3], &a[4], &a[5], &last);
+        if(rc != 6 || static_cast<long>(mac.size()) != last) {
+            throw std::invalid_argument("Invalid MAC address format " + mac);
+        }
     }
 
     // Set the parsed mac address
@@ -1429,4 +1429,20 @@ std::string DeviceBootloader::Config::getMacAddress() {
     return std::string(macStr.data());
 }
 
+nlohmann::json DeviceBootloader::Config::toJson() const {
+    // Get current config & add data (but don't override)
+    nlohmann::json configValues = *this;
+    auto dataCopy = data;
+    dataCopy.update(configValues);
+    return dataCopy;
+}
+
+DeviceBootloader::Config DeviceBootloader::Config::fromJson(nlohmann::json json) {
+    // Parse out json (implicitly) and
+    Config cfg = json;
+    // save json data as is (to retain unknown values)
+    cfg.data = json;
+    return cfg;
+}
+
 }  // namespace dai
diff --git a/tests/src/bootloader_config_test.cpp b/tests/src/bootloader_config_test.cpp
@@ -48,4 +48,54 @@ TEST_CASE("Bootloader Config") {
     // std::cout << "Orig mac address: " << mac << " len: " << mac.length() << std::endl;
     // std::cout << "Get  mac address: " << config.getMacAddress() << " len: " << config.getMacAddress().length() << std::endl;
     REQUIRE(config.getMacAddress() == mac);
-}
+}
+
+TEST_CASE("Bootloader Config retain") {
+    auto config = dai::DeviceBootloader::Config::fromJson({{"my_custom_value", "hi"}});
+
+    // By default IPv4 is 0.0.0.0 (invalid)
+    REQUIRE("0.0.0.0" == config.getIPv4());
+
+    std::string ipv4 = "192.168.1.150";
+    std::string ipv4Mask = "255.255.255.0";
+    std::string ipv4Gateway = "192.168.1.1";
+
+    config.setStaticIPv4(ipv4, ipv4Mask, ipv4Gateway);
+
+    std::array<uint8_t, 4> ipv4InMemory = {192, 168, 1, 150};
+    for(size_t i = 0; i < ipv4InMemory.size(); i++) {
+        REQUIRE(ipv4InMemory[i] == reinterpret_cast<uint8_t*>(&config.network.ipv4)[i]);
+    }
+
+    REQUIRE(ipv4 == config.getIPv4());
+    REQUIRE(ipv4Mask == config.getIPv4Mask());
+    REQUIRE(ipv4Gateway == config.getIPv4Gateway());
+    REQUIRE(config.isStaticIPV4() == true);
+
+    std::string dns = "1.1.1.1";
+    std::string dnsAlt = "8.8.8.8";
+
+    config.setDnsIPv4(dns);
+
+    REQUIRE(config.getDnsIPv4() == dns);
+    REQUIRE(config.network.ipv4DnsAlt == 0);
+
+    config.setDnsIPv4(dns, dnsAlt);
+
+    REQUIRE(config.getDnsIPv4() == dns);
+    REQUIRE(config.getDnsAltIPv4() == dnsAlt);
+
+    // MAC address
+    std::string mac = "FF:AA:BB:CC:00:11";
+    config.setMacAddress(mac);
+    // std::cout << "Orig mac address: " << mac << " len: " << mac.length() << std::endl;
+    // std::cout << "Get  mac address: " << config.getMacAddress() << " len: " << config.getMacAddress().length() << std::endl;
+    REQUIRE(config.getMacAddress() == mac);
+
+    // At the end check that value is retained
+    REQUIRE(config.toJson()["my_custom_value"].get<std::string>() == "hi");
+
+    // Check roundtrip
+    auto j1 = config.toJson();
+    REQUIRE(config.fromJson(j1).toJson() == j1);
+}
diff --git a/tests/src/stability_stress_test.cpp b/tests/src/stability_stress_test.cpp
@@ -1,16 +1,16 @@
 // std
+#include <chrono>
 #include <csignal>
 #include <iostream>
 #include <unordered_map>
-#include <chrono>
 
 // Includes common necessary includes for development using depthai library
 #include "depthai/depthai.hpp"
 
 // #define DEPTHAI_STABILITY_TEST_SCRIPT
 
 #ifdef DEPTHAI_STABILITY_TEST_DEBUG
-#include <opencv2/opencv.hpp>
+    #include <opencv2/opencv.hpp>
 #endif
 
 static const std::vector<std::string> labelMap = {
@@ -42,7 +42,7 @@ int main(int argc, char** argv) {
     //     nnPath = std::string(argv[1]);
     // }
 
-    seconds TEST_TIMEOUT{24*60*60};
+    seconds TEST_TIMEOUT{24 * 60 * 60};
     if(argc > 1) {
         TEST_TIMEOUT = seconds{stoi(argv[1])};
     }
@@ -62,13 +62,13 @@ int main(int argc, char** argv) {
     auto edgeDetectorLeft = pipeline.create<dai::node::EdgeDetector>();
     auto edgeDetectorRight = pipeline.create<dai::node::EdgeDetector>();
     auto edgeDetectorRgb = pipeline.create<dai::node::EdgeDetector>();
-    #ifdef DEPTHAI_STABILITY_TEST_SCRIPT
+#ifdef DEPTHAI_STABILITY_TEST_SCRIPT
     auto script1 = pipeline.create<dai::node::Script>();
     auto script2 = pipeline.create<dai::node::Script>();
     auto script3 = pipeline.create<dai::node::Script>();
     auto script4 = pipeline.create<dai::node::Script>();
     auto scriptBurn = pipeline.create<dai::node::Script>();
-    #endif
+#endif
 
     // TODO(themarpe) - enable specific parts separatelly, to control load
     // auto featureTrackerLeft = pipeline.create<dai::node::FeatureTracker>();
@@ -84,10 +84,10 @@ int main(int argc, char** argv) {
     auto xoutEdgeLeft = pipeline.create<dai::node::XLinkOut>();
     auto xoutEdgeRight = pipeline.create<dai::node::XLinkOut>();
     auto xoutEdgeRgb = pipeline.create<dai::node::XLinkOut>();
-    #ifdef DEPTHAI_STABILITY_TEST_SCRIPT
+#ifdef DEPTHAI_STABILITY_TEST_SCRIPT
     auto scriptOut = pipeline.create<dai::node::XLinkOut>();
     auto scriptOut2 = pipeline.create<dai::node::XLinkOut>();
-    #endif
+#endif
     // auto xoutTrackedFeaturesLeft = pipeline.create<dai::node::XLinkOut>();
     // auto xoutTrackedFeaturesRight = pipeline.create<dai::node::XLinkOut>();
 
@@ -105,14 +105,13 @@ int main(int argc, char** argv) {
     xoutEdgeLeft->setStreamName(edgeLeftStr);
     xoutEdgeRight->setStreamName(edgeRightStr);
     xoutEdgeRgb->setStreamName(edgeRgbStr);
-    #ifdef DEPTHAI_STABILITY_TEST_SCRIPT
+#ifdef DEPTHAI_STABILITY_TEST_SCRIPT
     scriptOut->setStreamName("script");
     scriptOut2->setStreamName("script2");
-    #endif
+#endif
     // xoutTrackedFeaturesLeft->setStreamName("trackedFeaturesLeft");
     // xoutTrackedFeaturesRight->setStreamName("trackedFeaturesRight");
 
-
     // Properties
     camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);
     camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_4_K);
@@ -152,7 +151,7 @@ int main(int argc, char** argv) {
 
     edgeDetectorRgb->setMaxOutputFrameSize(8294400);
 
-    #ifdef DEPTHAI_STABILITY_TEST_SCRIPT
+#ifdef DEPTHAI_STABILITY_TEST_SCRIPT
     std::string source1 = R"(
         import time
         import json
@@ -219,7 +218,7 @@ int main(int argc, char** argv) {
             time.sleep(0.001)
     )");
     scriptBurn->setProcessor(dai::ProcessorType::LEON_MSS);
-    #endif
+#endif
 
     // // By default the least mount of resources are allocated
     // // increasing it improves performance when optical flow is enabled
@@ -254,12 +253,12 @@ int main(int argc, char** argv) {
     edgeDetectorLeft->outputImage.link(xoutEdgeLeft->input);
     edgeDetectorRight->outputImage.link(xoutEdgeRight->input);
 
-    #ifdef DEPTHAI_STABILITY_TEST_SCRIPT
+#ifdef DEPTHAI_STABILITY_TEST_SCRIPT
     script1->outputs["out"].link(script2->inputs["in"]);
     script2->outputs["out"].link(scriptOut->input);
     script3->outputs["out"].link(script4->inputs["in"]);
     script4->outputs["out"].link(scriptOut2->input);
-    #endif
+#endif
 
     // monoLeft->out.link(featureTrackerLeft->inputImage);
     // featureTrackerLeft->outputFeatures.link(xoutTrackedFeaturesLeft->input);
@@ -284,10 +283,10 @@ int main(int argc, char** argv) {
     auto edgeRightQueue = device.getOutputQueue(edgeRightStr, 8, false);
     auto edgeRgbQueue = device.getOutputQueue(edgeRgbStr, 8, false);
 
-    #ifdef DEPTHAI_STABILITY_TEST_SCRIPT
+#ifdef DEPTHAI_STABILITY_TEST_SCRIPT
     auto scriptQueue = device.getOutputQueue("script", 8, false);
     auto script2Queue = device.getOutputQueue("script2", 8, false);
-    #endif
+#endif
 
     // auto outputFeaturesLeftQueue = device.getOutputQueue("trackedFeaturesLeft", 8, false);
     // auto outputFeaturesRightQueue = device.getOutputQueue("trackedFeaturesRight", 8, false);
@@ -299,11 +298,10 @@ int main(int argc, char** argv) {
     auto color = cv::Scalar(255, 255, 255);
 #endif
 
-
     mutex countersMtx;
     unordered_map<std::string, int> counters;
 
-    thread countingThread([&countersMtx, &counters, &device, TEST_TIMEOUT](){
+    thread countingThread([&countersMtx, &counters, &device, TEST_TIMEOUT]() {
         // Initial delay
         this_thread::sleep_for(5s);
 
@@ -314,9 +312,10 @@ int main(int argc, char** argv) {
                 unique_lock<mutex> l(countersMtx);
 
                 bool failed = counters.size() == 0;
-                cout << "[" << duration_cast<seconds>(steady_clock::now() - timeoutStopwatch).count() << "s] " << "FPS: ";
-                for(const auto& kv : counters){
-                    if(kv.second == 0){
+                cout << "[" << duration_cast<seconds>(steady_clock::now() - timeoutStopwatch).count() << "s] "
+                     << "FPS: ";
+                for(const auto& kv : counters) {
+                    if(kv.second == 0) {
                         failed = true;
                     }
 
@@ -333,7 +332,7 @@ int main(int argc, char** argv) {
                 fiveFpsCounter = steady_clock::now();
             }
 
-            if(steady_clock::now() - timeoutStopwatch > TEST_TIMEOUT){
+            if(steady_clock::now() - timeoutStopwatch > TEST_TIMEOUT) {
                 alive = false;
                 break;
             }
@@ -357,10 +356,10 @@ int main(int argc, char** argv) {
         auto edgeLefts = edgeLeftQueue->tryGetAll<dai::ImgFrame>();
         auto edgeRights = edgeRightQueue->tryGetAll<dai::ImgFrame>();
 
-        #ifdef DEPTHAI_STABILITY_TEST_SCRIPT
+#ifdef DEPTHAI_STABILITY_TEST_SCRIPT
         auto script = scriptQueue->tryGetAll<dai::Buffer>();
         auto script2 = script2Queue->tryGetAll<dai::Buffer>();
-        #endif
+#endif
 
         // auto edgeRgbs = edgeRgbQueue->getAll<dai::ImgFrame>();
 
@@ -378,15 +377,15 @@ int main(int argc, char** argv) {
             counters["edgeLefts"] += edgeLefts.size();
             counters["edgeRights"] += edgeRights.size();
 
-            #ifdef DEPTHAI_STABILITY_TEST_SCRIPT
+#ifdef DEPTHAI_STABILITY_TEST_SCRIPT
             counters["script"] += script.size();
             counters["script2"] += script2.size();
-            #endif
+#endif
             // counters["trackedLefts"] += trackedLefts.size();
             // counters["trackedRights"] += trackedRigths.size();
         }
 
-        #ifdef DEPTHAI_STABILITY_TEST_DEBUG
+#ifdef DEPTHAI_STABILITY_TEST_DEBUG
 
         /// DISPLAY & OPENCV Section
         for(const auto& edgeLeft : edgeLefts) {
@@ -402,7 +401,6 @@ int main(int argc, char** argv) {
         //     cv::imshow(edgeRgbStr, edgeRgbFrame);
         // }
 
-
         cv::Mat frame = imgFrame->getCvFrame();
         cv::Mat depthFrame = depth->getFrame();  // depthFrame values are in millimeters
 
@@ -475,27 +473,26 @@ int main(int argc, char** argv) {
         cv::imshow("depth", depthFrameColor);
         cv::imshow("rgb", frame);
 
-        #ifdef DEPTHAI_STABILITY_TEST_SCRIPT
+    #ifdef DEPTHAI_STABILITY_TEST_SCRIPT
         for(auto json : script) {
             if(json != nullptr) {
-                std::cout << "Script: " << std::string((const char*) json->getData().data(), json->getData().size()) << std::endl;
+                std::cout << "Script: " << std::string((const char*)json->getData().data(), json->getData().size()) << std::endl;
             }
         }
         for(auto json : script2) {
             if(json != nullptr) {
-                std::cout << "Script2: " << std::string((const char*) json->getData().data(), json->getData().size()) << std::endl;
+                std::cout << "Script2: " << std::string((const char*)json->getData().data(), json->getData().size()) << std::endl;
             }
         }
-        #endif
+    #endif
 
         int key = cv::waitKey(1);
         if(key == 'q' || key == 'Q') {
             alive = false;
             break;
         }
 
-        #endif
-
+#endif
     }
 
     // Clean up the counting thread
