Device configuration and improvements

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 "e88cdb4afa8be3cbbf8c739601f1aa1b2fd5395b")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "3f22c4cf67ca3ec8dcf5e01fffdf9137f49aefbf")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

examples/src/rgb_preview.cpp

@@ -25,11 +25,10 @@ int main() {
     camRgb->preview.link(xoutRgb->input);
 
     // Connect to device and start pipeline
-    dai::Device device(pipeline);
+    dai::Device device(pipeline, dai::UsbSpeed::SUPER);
 
     cout << "Connected cameras: ";
     for(const auto& cam : device.getConnectedCameras()) {
-        cout << static_cast<int>(cam) << " ";
         cout << cam << " ";
     }
     cout << endl;

include/depthai/device/Device.hpp

@@ -13,7 +13,7 @@
 #include "depthai/common/CameraBoardSocket.hpp"
 #include "depthai/common/UsbSpeed.hpp"
 #include "depthai/device/CalibrationHandler.hpp"
-#include "depthai/pipeline/Pipeline.hpp"
+#include "depthai/openvino/OpenVINO.hpp"
 #include "depthai/utility/Pimpl.hpp"
 #include "depthai/xlink/XLinkConnection.hpp"
 #include "depthai/xlink/XLinkStream.hpp"
@@ -22,12 +22,15 @@
 #include "depthai-shared/common/ChipTemperature.hpp"
 #include "depthai-shared/common/CpuUsage.hpp"
 #include "depthai-shared/common/MemoryInfo.hpp"
+#include "depthai-shared/device/PrebootConfig.hpp"
 #include "depthai-shared/log/LogLevel.hpp"
 #include "depthai-shared/log/LogMessage.hpp"
+#include "tl/optional.hpp"
 
 namespace dai {
 
-// Device (RAII), connects to device and maintains watchdog, timesync, ...
+// Forward declare Pipeline
+class Pipeline;
 
 /**
  * Represents the DepthAI device with the methods to interact with it.
@@ -42,6 +45,18 @@ class Device {
     static constexpr std::size_t EVENT_QUEUE_MAXIMUM_SIZE{2048};
     /// Default rate at which system information is logged
     static constexpr float DEFAULT_SYSTEM_INFORMATION_LOGGING_RATE_HZ{1.0f};
+    /// Default UsbSpeed for device connection
+    static constexpr UsbSpeed DEFAULT_USB_SPEED{UsbSpeed::SUPER};
+
+    // Structures
+
+    /**
+     * Device specific configuration
+     */
+    struct Config {
+        OpenVINO::Version version;
+        PrebootConfig preboot;
+    };
 
     // static API
 
@@ -86,7 +101,7 @@ class Device {
      * @param version Version of OpenVINO which firmware will support
      * @returns Firmware binary
      */
-    static std::vector<std::uint8_t> getEmbeddedDeviceBinary(bool usb2Mode, OpenVINO::Version version = Pipeline::DEFAULT_OPENVINO_VERSION);
+    static std::vector<std::uint8_t> getEmbeddedDeviceBinary(bool usb2Mode, OpenVINO::Version version = OpenVINO::DEFAULT_VERSION);
 
     /**
      * Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
@@ -104,15 +119,16 @@ class Device {
     /**
      * Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
      * @param pipeline Pipeline to be executed on the device
-     * @param pathToCmd Path to custom device firmware
+     * @param maxUsbSpeed Maximum allowed USB speed
      */
-    Device(const Pipeline& pipeline, const char* pathToCmd);
+    Device(const Pipeline& pipeline, UsbSpeed maxUsbSpeed);
 
     /**
      * Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
      * @param pipeline Pipeline to be executed on the device
      * @param pathToCmd Path to custom device firmware
      */
+    Device(const Pipeline& pipeline, const char* pathToCmd);
     Device(const Pipeline& pipeline, const std::string& pathToCmd);
 
     /**
@@ -127,23 +143,24 @@ class Device {
      * Connects to device specified by devInfo.
      * @param pipeline Pipeline to be executed on the device
      * @param devInfo DeviceInfo which specifies which device to connect to
-     * @param pathToCmd Path to custom device firmware
+     * @param maxUsbSpeed Maximum allowed USB speed
      */
-    Device(const Pipeline& pipeline, const DeviceInfo& devInfo, const char* pathToCmd);
+    Device(const Pipeline& pipeline, const DeviceInfo& devInfo, UsbSpeed maxUsbSpeed);
 
     /**
      * Connects to device specified by devInfo.
      * @param pipeline Pipeline to be executed on the device
      * @param devInfo DeviceInfo which specifies which device to connect to
-     * @param usb2Mode Path to custom device firmware
+     * @param pathToCmd Path to custom device firmware
      */
+    Device(const Pipeline& pipeline, const DeviceInfo& devInfo, const char* pathToCmd);
     Device(const Pipeline& pipeline, const DeviceInfo& devInfo, const std::string& pathToCmd);
 
     /**
      * Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
-     * @param version OpenVINO version which the device will be booted with. Default is Pipeline::DEFAULT_OPENVINO_VERSION
+     * @param version OpenVINO version which the device will be booted with. Default is OpenVINO::DEFAULT_VERSION
      */
-    explicit Device(OpenVINO::Version version = Pipeline::DEFAULT_OPENVINO_VERSION);
+    explicit Device(OpenVINO::Version version = OpenVINO::DEFAULT_VERSION);
 
     /**
      * Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
@@ -155,15 +172,16 @@ class Device {
     /**
      * Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
      * @param version OpenVINO version which the device will be booted with
-     * @param pathToCmd Path to custom device firmware
+     * @param maxUsbSpeed Maximum allowed USB speed
      */
-    Device(OpenVINO::Version version, const char* pathToCmd);
+    Device(OpenVINO::Version version, UsbSpeed maxUsbSpeed);
 
     /**
      * Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
      * @param version OpenVINO version which the device will be booted with
      * @param pathToCmd Path to custom device firmware
      */
+    Device(OpenVINO::Version version, const char* pathToCmd);
     Device(OpenVINO::Version version, const std::string& pathToCmd);
 
     /**
@@ -178,18 +196,32 @@ class Device {
      * Connects to device specified by devInfo.
      * @param version OpenVINO version which the device will be booted with
      * @param devInfo DeviceInfo which specifies which device to connect to
-     * @param pathToCmd Path to custom device firmware
+     * @param maxUsbSpeed Maximum USB speed
      */
-    Device(OpenVINO::Version version, const DeviceInfo& devInfo, const char* pathToCmd);
+    Device(OpenVINO::Version version, const DeviceInfo& devInfo, UsbSpeed maxUsbSpeed);
 
     /**
      * Connects to device specified by devInfo.
      * @param version OpenVINO version which the device will be booted with
      * @param devInfo DeviceInfo which specifies which device to connect to
-     * @param usb2Mode Path to custom device firmware
+     * @param pathToCmd Path to custom device firmware
      */
+    Device(OpenVINO::Version version, const DeviceInfo& devInfo, const char* pathToCmd);
     Device(OpenVINO::Version version, const DeviceInfo& devInfo, const std::string& pathToCmd);
 
+    /**
+     * Connects to any available device with custom config.
+     * @param config Device custom configuration to boot with
+     */
+    explicit Device(Config config);
+
+    /**
+     * Connects to device 'devInfo' with custom config.
+     * @param devInfo DeviceInfo which specifies which device to connect to
+     * @param config Device custom configuration to boot with
+     */
+    Device(const DeviceInfo& devInfo, Config config);
+
     /**
      * Device destructor. Closes the connection and data queues.
      */
@@ -499,10 +531,12 @@ class Device {
     bool isClosed() const;
 
    private:
-    // private static
-    void init(OpenVINO::Version version, bool embeddedMvcmd, bool usb2Mode, const std::string& pathToMvcmd);
-    void init(const Pipeline& pipeline, bool embeddedMvcmd, bool usb2Mode, const std::string& pathToMvcmd);
-    void init2(bool embeddedMvcmd, bool usb2Mode, const std::string& pathToMvcmd, tl::optional<const Pipeline&> pipeline);
+    // private
+    void init(OpenVINO::Version version, bool usb2Mode, const std::string& pathToMvcmd);
+    void init(const Pipeline& pipeline, bool usb2Mode, const std::string& pathToMvcmd);
+    void init(OpenVINO::Version version, UsbSpeed maxUsbSpeed, const std::string& pathToMvcmd);
+    void init(const Pipeline& pipeline, UsbSpeed maxUsbSpeed, const std::string& pathToMvcmd);
+    void init2(Config cfg, const std::string& pathToMvcmd, tl::optional<const Pipeline&> pipeline);
     void checkClosed() const;
 
     std::shared_ptr<XLinkConnection> connection;
@@ -544,8 +578,8 @@ class Device {
     class Impl;
     Pimpl<Impl> pimpl;
 
-    // OpenVINO version device was booted with
-    OpenVINO::Version openvinoVersion;
+    // Device config
+    Config config;
 };
 
 }  // namespace dai

include/depthai/openvino/OpenVINO.hpp

@@ -15,6 +15,9 @@ class OpenVINO {
     /// OpenVINO Version supported version information
     enum Version { VERSION_2020_3, VERSION_2020_4, VERSION_2021_1, VERSION_2021_2, VERSION_2021_3, VERSION_2021_4 };
 
+    /// Main OpenVINO version
+    constexpr static const Version DEFAULT_VERSION = VERSION_2021_4;
+
     /**
      * @returns Supported versions
      */

include/depthai/pipeline/Pipeline.hpp

@@ -10,9 +10,11 @@
 #include "AssetManager.hpp"
 #include "Node.hpp"
 #include "depthai/device/CalibrationHandler.hpp"
+#include "depthai/device/Device.hpp"
 #include "depthai/openvino/OpenVINO.hpp"
 
 // shared
+#include "depthai-shared/device/PrebootConfig.hpp"
 #include "depthai-shared/pipeline/PipelineSchema.hpp"
 #include "depthai-shared/properties/GlobalProperties.hpp"
 
@@ -34,7 +36,9 @@ class PipelineImpl {
     // Functions
     Node::Id getNextUniqueId();
     PipelineSchema getPipelineSchema() const;
-    OpenVINO::Version getPipelineOpenVINOVersion() const;
+    tl::optional<OpenVINO::Version> getPipelineOpenVINOVersion() const;
+    bool isOpenVINOVersionCompatible(OpenVINO::Version version) const;
+    Device::Config getDeviceConfig() const;
     void setCameraTuningBlobPath(const std::string& path);
 
     // Access to nodes
@@ -43,7 +47,7 @@ class PipelineImpl {
     std::shared_ptr<const Node> getNode(Node::Id id) const;
     std::shared_ptr<Node> getNode(Node::Id id);
 
-    void serialize(PipelineSchema& schema, Assets& assets, std::vector<std::uint8_t>& assetStorage, OpenVINO::Version& version) const;
+    void serialize(PipelineSchema& schema, Assets& assets, std::vector<std::uint8_t>& assetStorage) const;
     void remove(std::shared_ptr<Node> node);
 
     std::vector<Node::Connection> getConnections() const;
@@ -56,8 +60,6 @@ class PipelineImpl {
     Node::Id latestId = 0;
     // Pipeline asset manager
     AssetManager assetManager;
-    // Default version
-    constexpr static auto DEFAULT_OPENVINO_VERSION = OpenVINO::Version::VERSION_2021_4;
     // Optionally forced version
     tl::optional<OpenVINO::Version> forceRequiredOpenVINOVersion;
     // Global pipeline properties
@@ -106,9 +108,6 @@ class Pipeline {
     /// Clone the pipeline (Creates a copy)
     Pipeline clone() const;
 
-    /// Default Pipeline openvino version
-    constexpr static auto DEFAULT_OPENVINO_VERSION = PipelineImpl::DEFAULT_OPENVINO_VERSION;
-
     /**
      * @returns Global properties of current pipeline
      */
@@ -120,8 +119,8 @@ class Pipeline {
     PipelineSchema getPipelineSchema();
 
     // void loadAssets(AssetManager& assetManager);
-    void serialize(PipelineSchema& schema, Assets& assets, std::vector<std::uint8_t>& assetStorage, OpenVINO::Version& version) const {
-        impl()->serialize(schema, assets, assetStorage, version);
+    void serialize(PipelineSchema& schema, Assets& assets, std::vector<std::uint8_t>& assetStorage) const {
+        impl()->serialize(schema, assets, assetStorage);
     }
 
     /**
@@ -231,15 +230,30 @@ class Pipeline {
         return impl()->getCalibrationData();
     }
 
-    /// Get required OpenVINO version to run this pipeline
+    /// Get possible OpenVINO version to run this pipeline
     OpenVINO::Version getOpenVINOVersion() const {
+        return impl()->getPipelineOpenVINOVersion().value_or(OpenVINO::DEFAULT_VERSION);
+    }
+
+    /// Get required OpenVINO version to run this pipeline. Can be none
+    tl::optional<OpenVINO::Version> getRequiredOpenVINOVersion() const {
         return impl()->getPipelineOpenVINOVersion();
     }
 
     /// Set a camera IQ (Image Quality) tuning blob, used for all cameras
     void setCameraTuningBlobPath(const std::string& path) {
         impl()->setCameraTuningBlobPath(path);
     }
+
+    /// Checks whether a given OpenVINO version is compatible with the pipeline
+    bool isOpenVINOVersionCompatible(OpenVINO::Version version) const {
+        return impl()->isOpenVINOVersionCompatible(version);
+    }
+
+    /// Get device configuration needed for this pipeline
+    Device::Config getDeviceConfig() const {
+        return impl()->getDeviceConfig();
+    }
 };
 
 }  // namespace dai

shared/depthai-shared.cmake

@@ -4,6 +4,7 @@ set(DEPTHAI_SHARED_3RDPARTY_HEADERS_PATH "depthai-shared/3rdparty")
 
 set(DEPTHAI_SHARED_SOURCES
     ${DEPTHAI_SHARED_FOLDER}/src/datatype/DatatypeEnum.cpp
+    ${DEPTHAI_SHARED_FOLDER}/src/utility/Checksum.cpp
 )
 
 set(DEPTHAI_SHARED_PUBLIC_INCLUDE
@@ -21,7 +22,7 @@ set(DEPTHAI_SHARED_INCLUDE
 # Try retriving depthai-shared commit hash (if cloned and not sources only)
 find_package(Git)
 if(GIT_FOUND AND NOT DEPTHAI_DOWNLOADED_SOURCES)
-    
+
     # Check that submodule is initialized and updated
     execute_process(
         COMMAND ${GIT_EXECUTABLE} submodule status ${DEPTHAI_SHARED_FOLDER}
@@ -32,7 +33,7 @@ if(GIT_FOUND AND NOT DEPTHAI_DOWNLOADED_SOURCES)
     string(SUBSTRING ${statusCommit} 0 1 status)
     if(${status} STREQUAL "-")
         message(FATAL_ERROR "Submodule 'depthai-shared' not initialized/updated. Run 'git submodule update --init --recursive' first")
-    endif()   
+    endif()
 
     # Get depthai-shared current commit
     execute_process(

src/device/CallbackHandler.cpp

@@ -18,7 +18,7 @@ CallbackHandler::CallbackHandler(std::shared_ptr<XLinkConnection> conn,
     t = std::thread([this, streamName]() {
         try {
             // open stream with 1B write size (no writing will happen here)
-            XLinkStream stream(*connection, streamName, XLINK_USB_BUFFER_MAX_SIZE);
+            XLinkStream stream(*connection, streamName, device::XLINK_USB_BUFFER_MAX_SIZE);
 
             while(running) {
                 // read packet

src/device/DataQueue.cpp

@@ -171,7 +171,7 @@ bool DataOutputQueue::removeCallback(int callbackId) {
 DataInputQueue::DataInputQueue(const std::shared_ptr<XLinkConnection>& conn, const std::string& streamName, unsigned int maxSize, bool blocking)
     : queue(maxSize, blocking), name(streamName) {
     // open stream with default XLINK_USB_BUFFER_MAX_SIZE write size
-    XLinkStream stream(*conn, name, dai::XLINK_USB_BUFFER_MAX_SIZE);
+    XLinkStream stream(*conn, name, device::XLINK_USB_BUFFER_MAX_SIZE);
 
     writingThread = std::thread([this, stream = std::move(stream)]() mutable {
         std::uint64_t numPacketsSent = 0;