luxonis · TheMutta · Jul 1, 2025 · Jul 1, 2025 · Jul 10, 2025 · Jul 10, 2025
diff --git a/cmake/depthaiDependencies.cmake b/cmake/depthaiDependencies.cmake
@@ -177,7 +177,7 @@ else()
     FetchContent_Declare(
         XLink
         GIT_REPOSITORY https://github.com/luxonis/XLink.git
-        GIT_TAG        13790284ce12969c169940f88aad755bd91146db
+        GIT_TAG        cc65c5ee9da6a5a9904a3c58cbeccede26fccfca
     )
 
     FetchContent_MakeAvailable(

diff --git a/examples/cpp/Camera/camera_max_resolution.cpp b/examples/cpp/Camera/camera_max_resolution.cpp
@@ -31,4 +31,4 @@ int main() {
     }
 
     return 0;
-}
+}
diff --git a/examples/cpp/Camera/camera_output.cpp b/examples/cpp/Camera/camera_output.cpp
@@ -30,4 +30,4 @@ int main() {
     }
 
     return 0;
-}
+}
diff --git a/include/depthai/device/DeviceGate.hpp b/include/depthai/device/DeviceGate.hpp
@@ -14,6 +14,7 @@
 #include "depthai/device/Version.hpp"
 #include "depthai/utility/Pimpl.hpp"
 #include "depthai/xlink/XLinkConnection.hpp"
+#include "depthai/xlink/XLinkStream.hpp"
 namespace dai {
 
 /**
@@ -55,6 +56,59 @@ class DeviceGate {
 
    private:
     // private
+    class GateImpl {
+       public:
+        virtual ~GateImpl() = default;
+        virtual bool isOkay() = 0;
+        virtual bool createSession(std::string version, bool exclusive, XLinkPlatform_t platform, std::string& sessionId, std::atomic_bool& sessionCreated) = 0;
+        virtual bool startSession(std::string sessionId) = 0;
+        virtual bool stopSession(std::string sessionId) = 0;
+        virtual bool deleteSession(std::string sessionId) = 0;
+        virtual bool destroySession(std::string sessionId) = 0;
+        virtual SessionState getState(std::string sessionId) = 0;
+        virtual Version getVersion() = 0;
+        virtual VersionInfo getAllVersion() = 0;
+        virtual std::optional<std::vector<uint8_t>> getFile(const std::string& fileUrl, std::string& filename) = 0;
+    };
+
+    class USBImpl : public GateImpl {
+       public:
+        ~USBImpl() = default;
+        bool isOkay() override;
+        bool createSession(std::string version, bool exclusive, XLinkPlatform_t platform, std::string& sessionId, std::atomic_bool& sessionCreated) override;
+        bool startSession(std::string sessionId) override;
+        bool stopSession(std::string sessionId) override;
+        bool deleteSession(std::string sessionId) override;
+        bool destroySession(std::string sessionId) override;
+        SessionState getState(std::string sessionId) override;
+        Version getVersion() override;
+        VersionInfo getAllVersion() override;
+        std::optional<std::vector<uint8_t>> getFile(const std::string& fileUrl, std::string& filename) override;
+    };
+
+    class HTTPImpl : public GateImpl {
+       public:
+        HTTPImpl(DeviceInfo deviceInfo);
+        ~HTTPImpl() = default;
+        bool isOkay() override;
+        bool createSession(std::string version, bool exclusive, XLinkPlatform_t platform, std::string& sessionId, std::atomic_bool& sessionCreated) override;
+        bool startSession(std::string sessionId) override;
+        bool stopSession(std::string sessionId) override;
+        bool deleteSession(std::string sessionId) override;
+        bool destroySession(std::string sessionId) override;
+        SessionState getState(std::string sessionId) override;
+        Version getVersion() override;
+        VersionInfo getAllVersion() override;
+        std::optional<std::vector<uint8_t>> getFile(const std::string& fileUrl, std::string& filename) override;
+
+       private:
+        // pimpl
+        class Impl;
+        Pimpl<Impl> pimpl;
+    };
+
+    std::shared_ptr<GateImpl> impl;
+
     DeviceInfo deviceInfo;
 
     std::thread stateMonitoringThread;
@@ -65,10 +119,9 @@ class DeviceGate {
     std::atomic_bool sessionCreated{false};
 
     XLinkPlatform_t platform;
+    std::shared_ptr<XLinkConnection> gateConnection;
+    std::shared_ptr<XLinkStream> gateStream;
     std::string version;
-    // pimpl
-    class Impl;
-    Pimpl<Impl> pimpl;
 
     std::string sessionId;
 };

diff --git a/include/depthai/pipeline/MessageQueue.hpp b/include/depthai/pipeline/MessageQueue.hpp
@@ -44,13 +44,13 @@ class MessageQueue : public std::enable_shared_from_this<MessageQueue> {
     explicit MessageQueue(std::string name, unsigned int maxSize = 16, bool blocking = true);
 
     MessageQueue(const MessageQueue& c)
-        : enable_shared_from_this(c), queue(c.queue), name(c.name), callbacks(c.callbacks), uniqueCallbackId(c.uniqueCallbackId){};
+        : enable_shared_from_this(c), queue(c.queue), name(c.name), callbacks(c.callbacks), uniqueCallbackId(c.uniqueCallbackId) {};
     MessageQueue(MessageQueue&& m) noexcept
         : enable_shared_from_this(m),
           queue(std::move(m.queue)),
           name(std::move(m.name)),
           callbacks(std::move(m.callbacks)),
-          uniqueCallbackId(m.uniqueCallbackId){};
+          uniqueCallbackId(m.uniqueCallbackId) {};
 
     MessageQueue& operator=(const MessageQueue& c) {
         queue = c.queue;

diff --git a/include/depthai/pipeline/Node.hpp b/include/depthai/pipeline/Node.hpp
@@ -65,7 +65,9 @@ class Node : public std::enable_shared_from_this<Node> {
     static constexpr auto DEFAULT_NAME = "";
 #define DEFAULT_TYPES                  \
     {                                  \
-        { DatatypeEnum::Buffer, true } \
+        {                              \
+            DatatypeEnum::Buffer, true \
+        }                              \
     }
     static constexpr auto DEFAULT_BLOCKING = true;
     static constexpr auto DEFAULT_QUEUE_SIZE = 3;

diff --git a/include/depthai/utility/ImageManipImpl.hpp b/include/depthai/utility/ImageManipImpl.hpp
@@ -457,8 +457,7 @@ class ColorChange {
 
 template <template <typename T> typename ImageManipBuffer,
           typename ImageManipData,
-          template <template <typename T> typename Buf, typename Dat>
-          typename WarpBackend>
+          template <template <typename T> typename Buf, typename Dat> typename WarpBackend>
 class ImageManipOperations {
     static_assert(std::is_base_of<Warp<ImageManipBuffer, ImageManipData>, WarpBackend<ImageManipBuffer, ImageManipData>>::value,
                   "WarpBackend must be derived from Warp");
@@ -2697,8 +2696,7 @@ inline dai::ImgFrame::Type getValidType(dai::ImgFrame::Type type) {
 
 template <template <typename T> typename ImageManipBuffer,
           typename ImageManipData,
-          template <template <typename T> typename Buf, typename Dat>
-          typename WarpBackend>
+          template <template <typename T> typename Buf, typename Dat> typename WarpBackend>
 ImageManipOperations<ImageManipBuffer, ImageManipData, WarpBackend>& ImageManipOperations<ImageManipBuffer, ImageManipData, WarpBackend>::build(
     const ImageManipOpsBase<Container>& newBase, ImgFrame::Type outType, FrameSpecs srcFrameSpecs, ImgFrame::Type inFrameType) {
     const auto newCfgStr = newBase.str();
@@ -2826,8 +2824,7 @@ size_t getFrameSize(const ImgFrame::Type type, const FrameSpecs& specs);
 
 template <template <typename T> typename ImageManipBuffer,
           typename ImageManipData,
-          template <template <typename T> typename Buf, typename Dat>
-          typename WarpBackend>
+          template <template <typename T> typename Buf, typename Dat> typename WarpBackend>
 bool ImageManipOperations<ImageManipBuffer, ImageManipData, WarpBackend>::apply(const std::shared_ptr<ImageManipData> src,
                                                                                 std::shared_ptr<ImageManipData> dst) {
     size_t requiredSize = getFrameSize(inType, srcSpecs);
@@ -2879,24 +2876,21 @@ bool ImageManipOperations<ImageManipBuffer, ImageManipData, WarpBackend>::apply(
 
 template <template <typename T> typename ImageManipBuffer,
           typename ImageManipData,
-          template <template <typename T> typename Buf, typename Dat>
-          typename WarpBackend>
+          template <template <typename T> typename Buf, typename Dat> typename WarpBackend>
 size_t ImageManipOperations<ImageManipBuffer, ImageManipData, WarpBackend>::getOutputWidth() const {
     return base.outputWidth;
 }
 
 template <template <typename T> typename ImageManipBuffer,
           typename ImageManipData,
-          template <template <typename T> typename Buf, typename Dat>
-          typename WarpBackend>
+          template <template <typename T> typename Buf, typename Dat> typename WarpBackend>
 size_t ImageManipOperations<ImageManipBuffer, ImageManipData, WarpBackend>::getOutputHeight() const {
     return base.outputHeight;
 }
 
 template <template <typename T> typename ImageManipBuffer,
           typename ImageManipData,
-          template <template <typename T> typename Buf, typename Dat>
-          typename WarpBackend>
+          template <template <typename T> typename Buf, typename Dat> typename WarpBackend>
 size_t ImageManipOperations<ImageManipBuffer, ImageManipData, WarpBackend>::getOutputStride(uint8_t plane) const {
     if(mode == 0) return plane == 0 ? srcSpecs.p1Stride : (plane == 1 ? srcSpecs.p2Stride : (plane == 2 ? srcSpecs.p3Stride : 0));
     auto specs = getOutputFrameSpecs(outputFrameType);
@@ -2912,8 +2906,7 @@ size_t ImageManipOperations<ImageManipBuffer, ImageManipData, WarpBackend>::getO
 
 template <template <typename T> typename ImageManipBuffer,
           typename ImageManipData,
-          template <template <typename T> typename Buf, typename Dat>
-          typename WarpBackend>
+          template <template <typename T> typename Buf, typename Dat> typename WarpBackend>
 size_t ImageManipOperations<ImageManipBuffer, ImageManipData, WarpBackend>::getOutputPlaneSize(uint8_t plane) const {
     if(mode == 0) return 0;
     size_t size = 0;
@@ -2978,8 +2971,7 @@ size_t ImageManipOperations<ImageManipBuffer, ImageManipData, WarpBackend>::getO
 
 template <template <typename T> typename ImageManipBuffer,
           typename ImageManipData,
-          template <template <typename T> typename Buf, typename Dat>
-          typename WarpBackend>
+          template <template <typename T> typename Buf, typename Dat> typename WarpBackend>
 size_t ImageManipOperations<ImageManipBuffer, ImageManipData, WarpBackend>::getOutputSize() const {
     if(mode == 0) return 0;
     size_t size = 0;
@@ -3034,8 +3026,7 @@ size_t ImageManipOperations<ImageManipBuffer, ImageManipData, WarpBackend>::getO
 
 template <template <typename T> typename ImageManipBuffer,
           typename ImageManipData,
-          template <template <typename T> typename Buf, typename Dat>
-          typename WarpBackend>
+          template <template <typename T> typename Buf, typename Dat> typename WarpBackend>
 FrameSpecs ImageManipOperations<ImageManipBuffer, ImageManipData, WarpBackend>::getOutputFrameSpecs(ImgFrame::Type type) const {
     if(mode == 0)
         return srcSpecs;
@@ -3045,8 +3036,7 @@ FrameSpecs ImageManipOperations<ImageManipBuffer, ImageManipData, WarpBackend>::
 
 template <template <typename T> typename ImageManipBuffer,
           typename ImageManipData,
-          template <template <typename T> typename Buf, typename Dat>
-          typename WarpBackend>
+          template <template <typename T> typename Buf, typename Dat> typename WarpBackend>
 std::vector<RotatedRect> ImageManipOperations<ImageManipBuffer, ImageManipData, WarpBackend>::getSrcCrops() const {
     std::vector<RotatedRect> crops;
     for(const auto& corners : srcCorners) {
@@ -3058,16 +3048,14 @@ std::vector<RotatedRect> ImageManipOperations<ImageManipBuffer, ImageManipData,
 
 template <template <typename T> typename ImageManipBuffer,
           typename ImageManipData,
-          template <template <typename T> typename Buf, typename Dat>
-          typename WarpBackend>
+          template <template <typename T> typename Buf, typename Dat> typename WarpBackend>
 std::array<std::array<float, 3>, 3> ImageManipOperations<ImageManipBuffer, ImageManipData, WarpBackend>::getMatrix() const {
     return matrix;
 }
 
 template <template <typename T> typename ImageManipBuffer,
           typename ImageManipData,
-          template <template <typename T> typename Buf, typename Dat>
-          typename WarpBackend>
+          template <template <typename T> typename Buf, typename Dat> typename WarpBackend>
 std::string ImageManipOperations<ImageManipBuffer, ImageManipData, WarpBackend>::toString() const {
     std::stringstream cStr;
     cStr << getConfigString(base);

diff --git a/include/depthai/utility/LockingQueue.hpp b/include/depthai/utility/LockingQueue.hpp
@@ -26,8 +26,8 @@ class LockingQueue {
         this->maxSize = maxSize;
         this->blocking = blocking;
     }
-    LockingQueue(const LockingQueue& obj) : maxSize(obj.maxSize), blocking(obj.blocking), queue(obj.queue), destructed(obj.destructed){};
-    LockingQueue(LockingQueue&& obj) noexcept : maxSize(obj.maxSize), blocking(obj.blocking), queue(std::move(obj.queue)), destructed(obj.destructed){};
+    LockingQueue(const LockingQueue& obj) : maxSize(obj.maxSize), blocking(obj.blocking), queue(obj.queue), destructed(obj.destructed) {};
+    LockingQueue(LockingQueue&& obj) noexcept : maxSize(obj.maxSize), blocking(obj.blocking), queue(std::move(obj.queue)), destructed(obj.destructed) {};
     LockingQueue& operator=(const LockingQueue& obj) {
         maxSize = obj.maxSize;
         blocking = obj.blocking;

diff --git a/include/depthai/utility/Memory.hpp b/include/depthai/utility/Memory.hpp
@@ -110,7 +110,7 @@ holder(std::move(holder)) {}
 // memory as interface
 class Memory {
    public:
-    virtual ~Memory(){};
+    virtual ~Memory() {};
     virtual span<std::uint8_t> getData() = 0;
     virtual span<const std::uint8_t> getData() const = 0;
     virtual std::size_t getMaxSize() const = 0;

diff --git a/include/depthai/utility/MemoryWrappers.hpp b/include/depthai/utility/MemoryWrappers.hpp
@@ -2,7 +2,7 @@
 
 // memfd_create wrapper for glibc < 2.27
 #if defined(__unix__) && !defined(__APPLE__)
-    #if(__GLIBC__ <= 2) && (__GLIBC_MINOR__ < 27)
+    #if (__GLIBC__ <= 2) && (__GLIBC_MINOR__ < 27)
 
 int memfd_create(const char* name, unsigned int flags);
 

diff --git a/include/depthai/utility/NlohmannJsonCompat.hpp b/include/depthai/utility/NlohmannJsonCompat.hpp
@@ -3,8 +3,8 @@
 #include <nlohmann/json.hpp>
 
 // Check version of nlohmann json
-#if(defined(NLOHMANN_JSON_VERSION_MAJOR) && defined(NLOHMANN_JSON_VERSION_MINOR))
-    #if((NLOHMANN_JSON_VERSION_MAJOR < 3) || ((NLOHMANN_JSON_VERSION_MAJOR == 3) && (NLOHMANN_JSON_VERSION_MINOR < 6)))
+#if (defined(NLOHMANN_JSON_VERSION_MAJOR) && defined(NLOHMANN_JSON_VERSION_MINOR))
+    #if ((NLOHMANN_JSON_VERSION_MAJOR < 3) || ((NLOHMANN_JSON_VERSION_MAJOR == 3) && (NLOHMANN_JSON_VERSION_MINOR < 6)))
 static_assert(0, "DepthAI requires nlohmann library version 3.6.0 or higher");
     #else
         // Set up compat macros for nlohmann json (independent of version)
-Original file line number
+Diff line change
@@ Expand Up / @@ -31,4 +31,4 @@ int main() { @@
         }
         return 0;
-    }
+    }