Merge remote-tracking branch 'origin/main' into ros-release

Author: saching13

.github/workflows/stability.workflow.yml

@@ -0,0 +1,54 @@
+name: DepthAI Core HIL Stability
+
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - main
+      - develop
+    tags:
+      - 'v*'
+  pull_request:
+    branches:
+      - main
+      - develop
+
+# Only allow latest run on same branch to be tested
+concurrency:
+  group: ci-stability-${{ github.ref }}-1
+  cancel-in-progress: true
+
+jobs:
+
+  # Testing
+  test:
+    runs-on: ['self-hosted', 'hil-stability', 'linux']
+    timeout-minutes: 1450 # 24h & 10minutes
+    steps:
+    - name: Cache .hunter folder
+      uses: actions/cache@v2
+      with:
+        path: $HOME/.hun_vanilla
+        key: hunter-linux-stability-vanilla
+    - uses: actions/checkout@v2
+      with:
+        submodules: 'recursive'
+
+    # TODO also modify above hunter key to 'asan'
+    # - name: Specify ASAN toolchain path
+    #   run: echo "CMAKE_TOOLCHAIN_PATH=$PWD/cmake/toolchain/asan.cmake" >> $GITHUB_ENV
+
+    # - name: Configure, Build and Test
+    #   run: |
+    #     cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_ROOT=$HOME/.hun_vanilla -D DEPTHAI_BUILD_TESTS=ON
+    #     cmake --build build --parallel 8 --config Release --target stability_stress_test
+    #     cd build
+    #     ../ci/stability_stress_test_combined.sh
+
+    # Release build
+    - name: Configure, Build and Test
+      run: |
+        cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_ROOT=$HOME/.hun_vanilla -D DEPTHAI_BUILD_TESTS=ON
+        cmake --build build --parallel 8 --config Release --target stability_stress_test
+        cd build
+        ../ci/stability_stress_test_combined.sh 86400

CMakeLists.txt

@@ -43,7 +43,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.17.3" LANGUAGES CXX C)
+project(depthai VERSION "2.17.4" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)
@@ -435,13 +435,14 @@ target_link_libraries(${TARGET_CORE_NAME}
         ZLIB::zlib
 )
 
-# Add compile definitions
+# Add compile & CMake definitions
+set(DEPTHAI_DEVICE_VERSION "${DEPTHAI_DEVICE_SIDE_COMMIT}")
 target_compile_definitions(${TARGET_CORE_NAME}
     PRIVATE
         # XLink required define
         __PC__
         # Add depthai-device version
-        DEPTHAI_DEVICE_VERSION="${DEPTHAI_DEVICE_SIDE_COMMIT}"
+        DEPTHAI_DEVICE_VERSION="${DEPTHAI_DEVICE_VERSION}"
         # Add depthai-bootloader version
         DEPTHAI_BOOTLOADER_VERSION="${DEPTHAI_BOOTLOADER_VERSION}"
 )
@@ -458,7 +459,7 @@ if(DEPTHAI_USB2_PATCH_ONLY_MODE)
 endif()
 
 # Helper function
-function(add_runtime_dependencies depending_target dependency)
+macro(add_runtime_dependencies depending_target dependency)
     if(WIN32)
         if(TARGET ${dependency})
             get_property(imported_configs TARGET ${dependency} PROPERTY IMPORTED_CONFIGURATIONS)
@@ -469,13 +470,16 @@ function(add_runtime_dependencies depending_target dependency)
             endforeach()
         endif()
         file(GLOB depthai_dll_libraries "${HUNTER_INSTALL_PREFIX}/bin/*.dll")
+        # Create a list of required dll files
+        set(required_dll_files ${dlls} ${depthai_dll_libraries})
         # Copy the required dlls
         add_custom_command(TARGET ${depending_target} POST_BUILD COMMAND
-            ${CMAKE_COMMAND} -E copy_if_different ${dlls} ${depthai_dll_libraries} $<TARGET_FILE_DIR:${depending_target}>
+            ${CMAKE_COMMAND} -E copy_if_different ${required_dll_files} $<TARGET_FILE_DIR:${depending_target}>
             COMMAND_EXPAND_LISTS
         )
+        message(STATUS "Required dlls for core are: ${required_dll_files}")
     endif()
-endfunction()
+endmacro()
 # Add libusb dll in build time
 add_runtime_dependencies(${TARGET_CORE_NAME} usb-1.0)
 
@@ -657,6 +661,10 @@ if(DEPTHAI_INSTALL)
     if(NOT DEPTHAI_BINARIES_RESOURCE_COMPILE)
         install(DIRECTORY "${DEPTHAI_RESOURCES_OUTPUT_DIR}/" DESTINATION "${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}")
     endif()
+    # Install any required dll files
+    if(DEFINED required_dll_files)
+        install(FILES ${required_dll_files} DESTINATION "${CMAKE_INSTALL_BINDIR}")
+    endif()
 
     # Install export group (information about targets)
     install(EXPORT ${PROJECT_EXPORT_GROUP}

ci/stability_stress_test_combined.sh

@@ -0,0 +1,38 @@
+# Cleanup in case the script dies
+cleanup() {
+    # kill all processes whose parent is this process
+    pkill -P $$
+}
+
+for sig in INT QUIT HUP TERM; do
+  trap "
+    cleanup
+    trap - $sig EXIT
+    kill -s $sig "'"$$"' "$sig"
+done
+trap cleanup EXIT
+
+# Print timeout if set, otherwise use default
+echo "Timeout set to: $1"
+
+# Run USB & PoE stability stress test
+DEPTHAI_PROTOCOL=usb timeout $(($1+30)) ./tests/stability_stress_test $1 &
+jobUsb=$!
+DEPTHAI_PROTOCOL=tcpip timeout $(($1+30)) ./tests/stability_stress_test $1 &
+jobTcpip=$!
+
+# Wait for tests and save result code
+wait $jobUsb ; resultUsb=$?
+wait $jobTcpip ; resultTcpip=$?
+
+# Print results
+echo "Stability test USB: $resultUsb"
+echo "Stability test PoE: $resultTcpip"
+
+# If both tests concluded successfully, exit with code 0
+if [[ "$resultUsb" == "0"  ]] && [[ "$resultTcpip" == "0" ]]; then
+    echo "Success!"
+    exit 0
+fi
+echo "Failed!"
+exit 1

cmake/Depthai/DepthaiDeviceSideConfig.cmake

@@ -2,7 +2,7 @@
 set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")
 
 # "full commit hash of device side binary"
-set(DEPTHAI_DEVICE_SIDE_COMMIT "602822fe9eaca68a72c666497dc4979b29291b3e")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "1a59c80266cd7a30ba874aa8d4a8277e0bf161ec")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

cmake/Hunter/config.cmake

@@ -8,8 +8,8 @@ hunter_config(
 hunter_config(
     XLink
     VERSION "luxonis-2021.4.2-develop"
-    URL "https://github.com/luxonis/XLink/archive/b8a37de143d98cb0beb5393055fcdc9d621765bb.tar.gz"
-    SHA1 "f8f91f0056bc46bba825bfff868136734f8585be"
+    URL "https://github.com/luxonis/XLink/archive/4f8cd1f9b2ab1b44e36c448a4b7d5d80255f5872.tar.gz"
+    SHA1 "fe7aaa8a61ddd7e9030c6c2720978e35a1449fba"
 )
 
 hunter_config(

cmake/version.hpp.in

@@ -16,5 +16,8 @@ namespace build
     constexpr static const char* COMMIT = "${BUILD_COMMIT}";
     constexpr static const char* COMMIT_DATETIME = "${BUILD_COMMIT_DATETIME}";
     constexpr static const char* BUILD_DATETIME = "${BUILD_DATETIME}";
+
+    constexpr static const char* DEVICE_VERSION = "${DEPTHAI_DEVICE_VERSION}";
+    constexpr static const char* BOOTLOADER_VERSION = "${DEPTHAI_BOOTLOADER_VERSION}";
 } // namespace build
 } // namespace dai

examples/CMakeLists.txt

@@ -233,6 +233,7 @@ dai_add_example(feature_tracker FeatureTracker/feature_tracker.cpp ON)
 dai_add_example(device_queue_event host_side/device_queue_event.cpp ON)
 dai_add_example(opencv_support host_side/opencv_support.cpp ON)
 dai_add_example(queue_add_callback host_side/queue_add_callback.cpp ON)
+dai_add_example(device_information host_side/device_information.cpp ON)
 
 # ImageManip
 dai_add_example(image_manip ImageManip/image_manip_example.cpp ON)
@@ -307,13 +308,15 @@ dai_add_example(script_nndata_example Script/script_nndata_example.cpp ON)
 dai_add_example(script_json_communication Script/script_json_communication.cpp ON)
 dai_add_example(script_change_pipeline_flow Script/script_change_pipeline_flow.cpp OFF)
 target_compile_definitions(script_change_pipeline_flow PRIVATE BLOB_PATH="${mobilenet_5shaves_blob}")
+dai_add_example(script_get_device_info Script/script_get_device_info.cpp ON)
 
 # SpatialDetection
 dai_add_example(spatial_location_calculator SpatialDetection/spatial_location_calculator.cpp ON)
 dai_add_example(spatial_mobilenet_mono SpatialDetection/spatial_mobilenet_mono.cpp ON)
 dai_add_example(spatial_mobilenet SpatialDetection/spatial_mobilenet.cpp ON)
 dai_add_example(spatial_tiny_yolo_v3 SpatialDetection/spatial_tiny_yolo.cpp ON)
 dai_add_example(spatial_tiny_yolo_v4 SpatialDetection/spatial_tiny_yolo.cpp ON)
+dai_add_example(spatial_calculator_multi_roi SpatialDetection/spatial_calculator_multi_roi.cpp ON)
 
 target_compile_definitions(spatial_mobilenet_mono PRIVATE BLOB_PATH="${mobilenet_blob}")
 target_compile_definitions(spatial_mobilenet PRIVATE BLOB_PATH="${mobilenet_blob}")

examples/Script/script_get_device_info.cpp

@@ -0,0 +1,38 @@
+#include <iostream>
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+int main() {
+    using namespace std;
+
+    // Start defining a pipeline
+    dai::Pipeline pipeline;
+
+    // Script node
+    auto script = pipeline.create<dai::node::Script>();
+    script->setScript(R"(
+        import json
+        data = json.dumps({
+            'deviceId': __device_id__,
+            'fwVersion': __version__
+        }).encode('utf-8')
+
+        b = Buffer(len(data))
+        b.setData(data)
+        node.io['info'].send(b)
+    )");
+
+    // XLinkOut
+    auto xout = pipeline.create<dai::node::XLinkOut>();
+    xout->setStreamName("info");
+    script->outputs["info"].link(xout->input);
+
+    // Connect to device with pipeline
+    dai::Device device(pipeline);
+    auto msg = device.getOutputQueue("info")->get<dai::Buffer>();
+    auto data = nlohmann::json::parse(msg->getData());
+    std::cout << data.dump(4) << std::endl;
+
+    return 0;
+}

examples/Script/script_get_ip.cpp

@@ -27,7 +27,7 @@ int main() {
 
     ip = get_ip_address('re0')  # '192.168.0.110'
     node.warn(f'IP of the device: {ip}')
-    node.io['end'].send(Buffer())
+    node.io['end'].send(Buffer(32))
     )");
 
     // XLinkOut

examples/Script/script_http_client.cpp

@@ -24,7 +24,7 @@ int main() {
     data1 = r1.read()
     node.warn(f'Public IP: {data1}')
 
-    node.io['end'].send(Buffer())
+    node.io['end'].send(Buffer(32))
     )");
 
     // XLinkOut