Merge 'origin/develop' into camera_controls_misc

Author: alex-luxonis

.github/workflows/main.yml

@@ -49,7 +49,6 @@ jobs:
         run: |
           python -m pip install --upgrade pip
           sudo apt install libusb-1.0-0-dev
-          python -m pip install clang==14.0 --force-reinstall
           python -m pip install -r docs/requirements_mkdoc.txt
       - name: Configure project
         run: cmake -S . -B build -DDEPTHAI_PYTHON_FORCE_DOCSTRINGS=ON -DDEPTHAI_PYTHON_DOCSTRINGS_OUTPUT="$PWD/docstrings/depthai_python_docstring.hpp"
@@ -154,8 +153,13 @@ jobs:
         run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
       - name: Building wheel
         run: python3 -m pip wheel . -w ./wheelhouse/ --verbose
-      - name: Auditing wheel
-        run: for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat linux_armv7l -w wheelhouse/audited/; done
+      - name: Auditing wheels and adding armv6l tag (Running on RPi, binaries compiled as armv6l)
+        run: |
+          python3 -m pip install -U wheel auditwheel
+          for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat linux_armv7l -w wheelhouse/preaudited/; done
+          for whl in wheelhouse/preaudited/*.whl; do python3 -m wheel tags --platform-tag +linux_armv6l "$whl"; done
+          mkdir -p wheelhouse/audited/
+          for whl in wheelhouse/preaudited/*linux_armv6l*.whl; do cp "$whl" wheelhouse/audited/$(basename $whl); done
       - name: Archive wheel artifacts
         uses: actions/upload-artifact@v3
         with:
@@ -540,14 +544,33 @@ jobs:
           event-type: depthai-python-release
           client-payload: '{"ref": "${{ github.ref }}", "sha": "${{ github.sha }}"}'
 
-  notify_hil_workflow_linux_x86_64:
-    needs: [build-linux-x86_64]
+  # notify_hil_workflow_linux_x86_64:
+  #   needs: [build-linux-x86_64]
+  #   runs-on: ubuntu-latest
+  #   steps:
+  #     - name: Repository Dispatch
+  #       uses: peter-evans/repository-dispatch@v2
+  #       with:
+  #         token: ${{ secrets.HIL_CORE_DISPATCH_TOKEN }}
+  #         repository: luxonis/depthai-core-hil-tests
+  #         event-type: python-hil-event
+  #         client-payload: '{"ref": "${{ github.ref }}", "sha": "${{ github.sha }}"}'
+
+  notify_hil_workflow:
+    needs: [build-linux-armhf, build-linux-x86_64]
     runs-on: ubuntu-latest
     steps:
-      - name: Repository Dispatch
-        uses: peter-evans/repository-dispatch@v2
-        with:
-          token: ${{ secrets.HIL_CORE_DISPATCH_TOKEN }}
-          repository: luxonis/depthai-core-hil-tests
-          event-type: python-hil-event
-          client-payload: '{"ref": "${{ github.ref }}", "sha": "${{ github.sha }}"}'
+      - name: Dispatch an action and get the run ID
+        uses: codex-/return-dispatch@v1
+        id: return_dispatch
+        with:
+          token: ${{ secrets.HIL_CORE_DISPATCH_TOKEN }} # Note this is NOT GITHUB_TOKEN but a PAT
+          ref: main # or refs/heads/target_branch
+          repo: depthai-core-hil-tests
+          owner: luxonis
+          workflow: regression_test.yml
+          workflow_inputs: '{"commit": "${{ github.ref }}", "parent_url": "https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }}"}'
+          workflow_timeout_seconds: 300 # was 120  Default: 300
+
+      - name: Release
+        run: echo "https://github.com/luxonis/depthai-core-hil-tests/actions/runs/${{steps.return_dispatch.outputs.run_id}}" >> $GITHUB_STEP_SUMMARY

.readthedocs.yml

@@ -6,7 +6,9 @@
 version: 2
 
 build:
-  image: latest
+  os: ubuntu-20.04
+  tools:
+    python: "3.8"
 
 # Submodules
 submodules:
@@ -29,6 +31,5 @@ formats: []
 
 # Optionally set the version of Python and requirements required to build your docs
 python:
-  version: 3.8
   install:
     - requirements: docs/readthedocs/requirements.txt

CMakeLists.txt

@@ -127,6 +127,10 @@ pybind11_add_module(${TARGET_NAME}
     src/pipeline/node/AprilTagBindings.cpp
     src/pipeline/node/DetectionParserBindings.cpp
     src/pipeline/node/WarpBindings.cpp
+    src/pipeline/node/UVCBindings.cpp
+    src/pipeline/node/ToFBindings.cpp
+    src/pipeline/node/SyncBindings.cpp
+    src/pipeline/node/MessageDemuxBindings.cpp
 
     src/pipeline/datatype/ADatatypeBindings.cpp
     src/pipeline/datatype/AprilTagConfigBindings.cpp
@@ -135,10 +139,13 @@ pybind11_add_module(${TARGET_NAME}
     src/pipeline/datatype/CameraControlBindings.cpp
     src/pipeline/datatype/EdgeDetectorConfigBindings.cpp
     src/pipeline/datatype/FeatureTrackerConfigBindings.cpp
+    src/pipeline/datatype/ToFConfigBindings.cpp
     src/pipeline/datatype/ImageManipConfigBindings.cpp
     src/pipeline/datatype/ImgDetectionsBindings.cpp
     src/pipeline/datatype/ImgFrameBindings.cpp
+    src/pipeline/datatype/EncodedFrameBindings.cpp
     src/pipeline/datatype/IMUDataBindings.cpp
+    src/pipeline/datatype/MessageGroupBindings.cpp
     src/pipeline/datatype/NNDataBindings.cpp
     src/pipeline/datatype/SpatialImgDetectionsBindings.cpp
     src/pipeline/datatype/SpatialLocationCalculatorConfigBindings.cpp
@@ -159,8 +166,9 @@ if(WIN32)
         set(depthai_dll_libraries "$<TARGET_RUNTIME_DLLS:${TARGET_NAME}>")
     endif()
     add_custom_command(TARGET ${TARGET_NAME} POST_BUILD COMMAND
-        ${CMAKE_COMMAND} -E copy ${depthai_dll_libraries} $<TARGET_FILE_DIR:${TARGET_NAME}>
+        "$<$<BOOL:${depthai_dll_libraries}>:${CMAKE_COMMAND};-E;copy_if_different;${depthai_dll_libraries};$<TARGET_FILE_DIR:${TARGET_NAME}>>"
         COMMAND_EXPAND_LISTS
+        VERBATIM
     )
 
     # Disable "d" postfix, so python can import the library as is
@@ -169,8 +177,8 @@ endif()
 
 # Add stubs (pyi) generation step after building bindings
 execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c" "from mypy import api" RESULT_VARIABLE error OUTPUT_QUIET ERROR_QUIET)
-if(error)
-    message(WARNING "Mypy not available - stubs won't be generated or checked")
+if(error OR CMAKE_CROSSCOMPILING)
+    message(WARNING "Mypy not available or cross compiling - stubs won't be generated or checked")
 else()
     get_target_property(bindings_directory ${TARGET_NAME} LIBRARY_OUTPUT_DIRECTORY)
     if(NOT bindings_directory)

cmake/pybind11-mkdoc.cmake

@@ -28,7 +28,7 @@ function(pybind11_mkdoc_setup_internal target output_path mkdoc_headers enforce)
 
     # Execute module pybind11_mkdoc to check if present
     message(STATUS "Checking for pybind11_mkdoc")
-    execute_process(COMMAND ${PYTHON_EXECUTABLE} -m ${PYBIND11_MKDOC_MODULE_NAME} RESULT_VARIABLE error OUTPUT_QUIET ERROR_QUIET)
+    execute_process(COMMAND ${PYTHON_EXECUTABLE} -m ${PYBIND11_MKDOC_MODULE_NAME} --help RESULT_VARIABLE error OUTPUT_QUIET ERROR_QUIET)
     if(error)
         set(message "Checking for pybind11_mkdoc - not found, docstrings not available")
         if(NOT enforce)

depthai-core

@@ -8,6 +8,7 @@ ENV CC clang-10
 ENV CXX clang++-10
 WORKDIR /app
 ADD docs/requirements.txt docs/requirements.txt
+ADD docs/requirements_mkdoc.txt docs/requirements_mkdoc.txt
 RUN python3 -m pip install -r docs/requirements.txt
 ADD . .
 CMD docs/docker/docker_run.sh

docs/docker/dev.dockerfile

@@ -1 +1,2 @@
-git+https://github.com/luxonis/pybind11_mkdoc.git@59746f8d1645c9f00ebfb534186334d0154b5bd6
+git+https://github.com/luxonis/pybind11_mkdoc.git@da6c64251a0ebbc3ffc007477a0b9c9f20cac165
+libclang==16.0.6