Embedded and other improvements

CMakeLists.txt

@@ -20,6 +20,10 @@ HunterGate(
     LOCAL # Local config for dependencies
 )
 
+# TODO(themarpe) - might be more applicable to set as a target property
+# Additional function information for 'backward' stacktrace
+set(CMAKE_ENABLE_EXPORTS ON)
+
 # Move binary dir if windows, to shorten the path
 if(WIN32)
     set(HUNTER_BINARY_DIR "${HUNTER_GATE_ROOT}/_bin" CACHE STRING "Hunter binary directory")
@@ -181,6 +185,7 @@ add_library(${TARGET_CORE_NAME}
     src/pipeline/datatype/FeatureTrackerConfig.cpp
     src/utility/Initialization.cpp
     src/utility/Resources.cpp
+    src/utility/Platform.cpp
     src/xlink/XLinkConnection.cpp
     src/xlink/XLinkStream.cpp
     src/openvino/OpenVINO.cpp
@@ -366,6 +371,8 @@ target_link_libraries(${TARGET_CORE_NAME}
         FP16::fp16
         archive_static
         spdlog::spdlog
+        ZLIB::zlib
+        Backward::Backward
 )
 
 # Add compile definitions

cmake/Depthai/DepthaiBootloaderConfig.cmake

@@ -1,5 +1,7 @@
 # Maturity level "snapshot" / "release"
-set(DEPTHAI_BOOTLOADER_MATURITY "release")
+#set(DEPTHAI_BOOTLOADER_MATURITY "release")
+set(DEPTHAI_BOOTLOADER_MATURITY "snapshot")
 
 # "version if applicable"
-set(DEPTHAI_BOOTLOADER_VERSION "0.0.12")
+#set(DEPTHAI_BOOTLOADER_VERSION "0.0.12")
+set(DEPTHAI_BOOTLOADER_VERSION "870bec4ca0ef026ddb9c490a38dfe9d097614554")

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 "1928f3407397272cc9736aedcca667c6c7419057")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "6793bd877ae334ac468b884ad1c9db22667da5b8")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

cmake/Hunter/config.cmake

@@ -7,9 +7,9 @@ hunter_config(
 
 hunter_config(
     XLink
-    VERSION "luxonis-2021.3-master"
-    URL "https://github.com/luxonis/XLink/archive/2c6cdb857f3d21088b34ec172a0ea8df16528d00.tar.gz"
-    SHA1 "736da6528515d9c969008e2334f1387428f91a3b"
+    VERSION "luxonis-2021.3-develop"
+    URL "https://github.com/luxonis/XLink/archive/4c149080d22c35a17ce285f5bca99f2b2fe05e46.tar.gz"
+    SHA1 "64b0a8bfeb1a91f909df88ea8b1d0b17885b92ff"
 )
 
 hunter_config(
@@ -74,4 +74,14 @@ hunter_config(
     CMAKE_ARGS
         FP16_BUILD_BENCHMARKS=OFF
         FP16_BUILD_TESTS=OFF
+)
+
+# Backward - Stacktrace printer
+hunter_config(
+    Backward
+    VERSION "1.6"
+    URL "https://github.com/bombela/backward-cpp/archive/refs/tags/v1.6.tar.gz"
+    SHA1 "4ecb711eabfd15bc88ff9dd9342907fc5da46b62"
+    CMAKE_ARGS
+        BACKWARD_TESTS=OFF
 )

cmake/depthaiDependencies.cmake

@@ -12,11 +12,13 @@ else()
     hunter_add_package(FP16)
     hunter_add_package(libarchive-luxonis)
     hunter_add_package(spdlog)
+    hunter_add_package(ZLIB)
+    hunter_add_package(Backward)
 endif()
 
 # If library was build as static, find all dependencies
 if(NOT CONFIG_MODE OR (CONFIG_MODE AND NOT depthai_SHARED_LIBS))
-        
+
     # BZip2 (for bspatch)
     find_package(BZip2 ${_QUIET} CONFIG REQUIRED)
 
@@ -26,10 +28,15 @@ if(NOT CONFIG_MODE OR (CONFIG_MODE AND NOT depthai_SHARED_LIBS))
     # libarchive for firmware packages
     find_package(archive_static ${_QUIET} CONFIG REQUIRED)
     find_package(lzma ${_QUIET} CONFIG REQUIRED)
+    # ZLIB for compressing Apps
+    find_package(ZLIB CONFIG REQUIRED)
 
     # spdlog for library and device logging
     find_package(spdlog ${_QUIET} CONFIG REQUIRED)
-
+
+    # Backward
+    find_package(Backward ${_QUIET} CONFIG REQUIRED)
+
 endif()
 
 # Add threads (c++)

examples/CMakeLists.txt

@@ -268,7 +268,7 @@ target_compile_definitions(object_tracker_video PRIVATE BLOB_PATH="${person_dete
 dai_add_example(queue_add_callback src/queue_add_callback.cpp ON)
 
 dai_add_example(bootloader_version src/bootloader_version.cpp ON)
-#dai_add_example(flash_bootloader src/flash_bootloader.cpp OFF)
+dai_add_example(flash_bootloader src/flash_bootloader.cpp OFF)
 dai_add_example(edge_detector src/edge_detector.cpp ON)
 
 dai_add_example(feature_tracker src/feature_tracker.cpp ON)
@@ -289,4 +289,7 @@ dai_add_example(image_manip_tiling src/image_manip_tiling.cpp ON)
 
 target_compile_definitions(calibration_flash PRIVATE CALIB_PATH="${calib_v6}")
 target_compile_definitions(calibration_flash_version5 PRIVATE CALIB_PATH="${calib_v5}" BOARD_PATH="${device_config}")
-target_compile_definitions(calibration_load PRIVATE CALIB_PATH="${calib_v6}")
+target_compile_definitions(calibration_load PRIVATE CALIB_PATH="${calib_v6}")
+
+# Bootloader configuration example
+dai_add_example(bootloader_config src/bootloader_config.cpp OFF)

examples/src/bootloader_config.cpp

@@ -0,0 +1,68 @@
+#include "depthai/depthai.hpp"
+
+int main(int argc, char** argv) {
+    // Options
+    bool usage = false, read = true, clear = false;
+    std::string path = "";
+    if(argc >= 2) {
+        std::string op = argv[1];
+        if(op == "read") {
+            read = true;
+        } else if(op == "flash") {
+            read = false;
+            if(argc >= 3) {
+                path = argv[2];
+            }
+        } else if(op == "clear") {
+            clear = true;
+            read = false;
+        } else if(op == "clear") {
+            clear = true;
+            read = false;
+        } else {
+            usage = true;
+        }
+    } else {
+        usage = true;
+    }
+    if(usage) {
+        std::cout << "Usage: " << argv[0] << " [read/flash/clear] [flash: path/to/config/json]" << std::endl;
+        return -1;
+    }
+
+    // DeviceBootloader configuration
+    bool res = false;
+    dai::DeviceInfo info;
+    std::tie(res, info) = dai::DeviceBootloader::getFirstAvailableDevice();
+
+    if(res) {
+        std::cout << "Found device with name: " << info.desc.name << std::endl;
+        dai::DeviceBootloader bl(info);
+
+        if(read) {
+            std::cout << "Current flashed configuration\n" << bl.readConfigData().dump(4) << std::endl;
+        } else {
+            bool success;
+            std::string error;
+            if(clear) {
+                std::tie(success, error) = bl.flashConfigClear();
+            } else {
+                if(path.empty()) {
+                    std::tie(success, error) = bl.flashConfig(dai::DeviceBootloader::Config{});
+                } else {
+                    std::tie(success, error) = bl.flashConfigFile(path);
+                }
+            }
+            if(success) {
+                std::cout << "Successfully flashed bootloader configuration\n";
+            } else {
+                std::cout << "Error flashing bootloader configuration: " << error;
+            }
+        }
+
+    } else {
+        std::cout << "No devices found" << std::endl;
+    }
+
+    return 0;
+}

examples/src/flash_bootloader.cpp

@@ -0,0 +1,68 @@
+#include <chrono>
+#include <string>
+
+#include "depthai/depthai.hpp"
+
+int main(int argc, char** argv) {
+    using namespace std::chrono;
+
+    dai::DeviceBootloader::Type blType = dai::DeviceBootloader::Type::AUTO;
+    if(argc > 1) {
+        std::string blTypeStr(argv[1]);
+        if(blTypeStr == "usb") {
+            blType = dai::DeviceBootloader::Type::USB;
+        } else if(blTypeStr == "network") {
+            blType = dai::DeviceBootloader::Type::NETWORK;
+        } else {
+            std::cout << "Specify either 'usb' or 'network' bootloader type\n";
+            return 0;
+        }
+    }
+
+    std::cout << "Warning! Flashing bootloader can potentially soft brick your device and should be done with caution." << std::endl;
+    std::cout << "Do not unplug your device while the bootloader is flashing." << std::endl;
+    std::cout << "Type 'y' and press enter to proceed, otherwise exits: ";
+    if(std::cin.get() != 'y') {
+        std::cout << "Prompt declined, exiting..." << std::endl;
+        return -1;
+    }
+
+    bool found = false;
+    dai::DeviceInfo info;
+    std::tie(found, info) = dai::DeviceBootloader::getFirstAvailableDevice();
+    if(!found) {
+        std::cout << "No device found to flash. Exiting." << std::endl;
+        return -1;
+    }
+
+    // Open DeviceBootloader and allow flashing bootloader
+    std::cout << "Booting latest bootloader first, will take a tad longer..." << std::endl;
+    dai::DeviceBootloader bl(info, true);
+    auto currentBlType = bl.getType();
+
+    // Check if bootloader type is the same
+    if(blType != dai::DeviceBootloader::Type::AUTO && currentBlType != blType) {
+        std::cout << "Are you sure you want to flash '" << blType << "' bootloader over current '" << currentBlType << "' bootloader?" << std::endl;
+        std::cout << "Type 'y' and press enter to proceed, otherwise exits: ";
+        std::cin.ignore();
+        if(std::cin.get() != 'y') {
+            std::cout << "Prompt declined, exiting..." << std::endl;
+            return -1;
+        }
+    }
+
+    // Create a progress callback lambda
+    auto progress = [](float p) { std::cout << "Flashing Progress..." << p * 100 << "%" << std::endl; };
+
+    std::cout << "Flashing " << currentBlType << " bootloader..." << std::endl;
+    auto t1 = steady_clock::now();
+    bool success = false;
+    std::string message;
+    std::tie(success, message) = bl.flashBootloader(dai::DeviceBootloader::Memory::FLASH, currentBlType, progress);
+    if(success) {
+        std::cout << "Flashing successful. Took " << duration_cast<milliseconds>(steady_clock::now() - t1).count() << "ms" << std::endl;
+    } else {
+        std::cout << "Flashing failed: " << message << std::endl;
+    }
+    return 0;
+}

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;
@@ -48,7 +47,7 @@ int main() {
 
         int key = cv::waitKey(1);
         if(key == 'q' || key == 'Q') {
-            return 0;
+            break;
         }
     }
     return 0;

include/depthai/common/CameraBoardSocket.hpp

@@ -4,24 +4,21 @@
 
 #include "depthai-shared/common/CameraBoardSocket.hpp"
 
-namespace dai {
-
-inline std::ostream& operator<<(std::ostream& out, const CameraBoardSocket& socket) {
+// Global namespace
+inline std::ostream& operator<<(std::ostream& out, const dai::CameraBoardSocket& socket) {
     switch(socket) {
-        case CameraBoardSocket::AUTO:
+        case dai::CameraBoardSocket::AUTO:
             out << "AUTO";
             break;
-        case CameraBoardSocket::RGB:
+        case dai::CameraBoardSocket::RGB:
             out << "RGB";
             break;
-        case CameraBoardSocket::LEFT:
+        case dai::CameraBoardSocket::LEFT:
             out << "LEFT";
             break;
-        case CameraBoardSocket::RIGHT:
+        case dai::CameraBoardSocket::RIGHT:
             out << "RIGHT";
             break;
     }
     return out;
 }
-
-}  // namespace dai

include/depthai/common/UsbSpeed.hpp

@@ -4,30 +4,27 @@
 
 #include "depthai-shared/common/UsbSpeed.hpp"
 
-namespace dai {
-
-inline std::ostream& operator<<(std::ostream& out, const UsbSpeed& speed) {
+// Global namespace
+inline std::ostream& operator<<(std::ostream& out, const dai::UsbSpeed& speed) {
     switch(speed) {
-        case UsbSpeed::UNKNOWN:
+        case dai::UsbSpeed::UNKNOWN:
             out << "UNKNOWN";
             break;
-        case UsbSpeed::LOW:
+        case dai::UsbSpeed::LOW:
             out << "LOW";
             break;
-        case UsbSpeed::FULL:
+        case dai::UsbSpeed::FULL:
             out << "FULL";
             break;
-        case UsbSpeed::HIGH:
+        case dai::UsbSpeed::HIGH:
             out << "HIGH";
             break;
-        case UsbSpeed::SUPER:
+        case dai::UsbSpeed::SUPER:
             out << "SUPER";
             break;
-        case UsbSpeed::SUPER_PLUS:
+        case dai::UsbSpeed::SUPER_PLUS:
             out << "SUPER_PLUS";
             break;
     }
     return out;
 }
-
-}  // namespace dai