Embedded and other improvements

CMakeLists.txt

@@ -157,6 +157,7 @@ target_link_libraries(${TARGET_NAME}
         pybind11::pybind11
         depthai::core # Use non-opencv target as we use opencv-python in bindings
         hedley
+        pybind11_json
 )
 
 # Find Git

docs/source/components/nodes/script.rst

@@ -91,15 +91,34 @@ Usage
 Interfacing with GPIOs
 ######################
 
-In the script node you can interface with GPIOs of the VPU. Currently supported functions are:
+In the script node you can interface with GPIOs of the VPU using module GPIO. Currently supported functions are:
 
 .. code-block:: python
 
-  import GPIO # module
-  GPIO.read(pin)
-  GPIO.write(pin, value)
-  GPIO.setPwm(pin, highCount, lowCount, repeat=0) # repeat == 0 means indefinite
-  GPIO.enablePwm(pin, enable)
+  # Module
+  import GPIO
+
+  # General
+  GPIO.setup(gpio, dir, pud, exclusive)
+  GPIO.release(gpio)
+  GPIO.write(gpio, value)
+  GPIO.read(gpio)
+
+  # Interrupts
+  GPIO.waitInterruptEvent(gpio = -1) # blocks until any interrupt or interrupt by specified gpio is fired. Interrupts with callbacks are ignored here
+  GPIO.hasInterruptEvent(gpio = -1) # returns whether interrupt happened on any or specfied gpio. Interrupts with callbacks are ignored here
+  GPIO.setInterrupt(gpio, edge, priority, callback = None) # adds interrupt to specified pin
+  GPIO.clearInterrupt(gpio) # clears interrupt of specified pin
+
+  # PWM
+  GPIO.setPwm(gpio, highCount, lowCount, repeat=0) # repeat == 0 means indefinite
+  GPIO.enablePwm(gpio, enable)
+
+  # Enumerations
+  GPIO.Direction: GPIO.IN, GPIO.OUT
+  GPIO.State: GPIO.LOW, GPIO.HIGH
+  GPIO.PullDownUp: GPIO.PULL_NONE, GPIO.PULL_DOWN, GPIO.PULL_UP
+  GPIO.Edge: GPIO.RISING, GPIO.FALLING, GPIO.LEVEL_HIGH, GPIO.LEVEL_LOW
 
 Using DepthAI :ref:`Messages <components_messages>`
 ###################################################

examples/bootloader_config.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+import sys
+
+usage = False
+read = True
+clear = False
+path = ''
+if len(sys.argv) >= 2:
+    op = sys.argv[1]
+    if op == 'read':
+        read = True
+    elif op == 'flash':
+        read = False
+        if len(sys.argv) >= 3:
+            path = sys.argv[2]
+    elif op == 'clear':
+        clear = True
+        read = False
+    else:
+        usage = True
+else:
+    usage = True
+
+if usage:
+    print(f'Usage: {sys.argv[0]} [read/flash/clear] [flash: path/to/config/json]')
+    exit(-1)
+
+(res, info) = dai.DeviceBootloader.getFirstAvailableDevice()
+
+if res:
+    print(f'Found device with name: {info.desc.name}');
+    with dai.DeviceBootloader(info) as bl:
+        if read:
+            print('Current flashed configuration')
+            print(f'{bl.readConfigData()}')
+        else:
+            success = None
+            error = None
+            if clear:
+                (success, error) = bl.flashConfigClear()
+            else:
+                if path == '':
+                    (success, error) = bl.flashConfig(dai.DeviceBootloader.Config())
+                else:
+                    (success, error) = bl.flashConfigFile(path)
+            if success:
+                print('Successfully flashed bootloader configuration')
+            else:
+                print(f'Error flashing bootloader configuration: {error}')
+else:
+    print('No devices found')

examples/flash_bootloader.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+
+import depthai as dai
+import sys
+import time
+
+blType = dai.DeviceBootloader.Type.AUTO
+if len(sys.argv) > 1:
+    if sys.argv[1] == 'usb':
+        blType = dai.DeviceBootloader.Type.USB
+    elif sys.argv[1] == 'network':
+        blType = dai.DeviceBootloader.Type.NETWORK
+    else:
+        print("Specify either 'usb' or 'network' bootloader type")
+        exit()
+
+print("Warning! Flashing bootloader can potentially soft brick your device and should be done with caution.")
+print("Do not unplug your device while the bootloader is flashing.")
+print("Type 'y' and press enter to proceed, otherwise exits: ")
+if input() != 'y':
+    print("Prompt declined, exiting...")
+    exit(-1)
+
+(found, info) = dai.DeviceBootloader.getFirstAvailableDevice()
+if not found:
+    print("No device found to flash. Exiting.")
+    exit(-1)
+
+# Open DeviceBootloader and allow flashing bootloader
+print(f"Booting latest bootloader first, will take a tad longer...")
+with dai.DeviceBootloader(info, allowFlashingBootloader=True) as bl:
+    currentBlType = bl.getType()
+
+    # Check if bootloader type is the same
+    if blType != dai.DeviceBootloader.Type.AUTO and currentBlType != blType:
+        print(f"Are you sure you want to flash '{blType.name}' bootloader over current '{currentBlType.name}' bootloader?")
+        print(f"Type 'y' and press enter to proceed, otherwise exits: ")
+        if input() != 'y':
+            print("Prompt declined, exiting...")
+            exit(-1);
+
+    # Create a progress callback lambda
+    progress = lambda p : print(f'Flashing progress: {p*100:.1f}%')
+
+    print(f"Flashing {currentBlType.name} bootloader...")
+    startTime = time.monotonic()
+    (res, message) = bl.flashBootloader(dai.DeviceBootloader.Memory.FLASH, currentBlType, progress)
+    if res:
+        print("Flashing successful. Took", time.monotonic() - startTime, "seconds")
+    else:
+        print("Flashing failed:", message)

examples/rgb_preview.py

@@ -20,9 +20,9 @@
 # Linking
 camRgb.preview.link(xoutRgb.input)
 
-# Connect to device and start pipeline
-with dai.Device(pipeline) as device:
-
+# Connect to the device
+with dai.Device(pipeline, dai.UsbSpeed.SUPER) as device:
+    # Print out available cameras
     print('Connected cameras: ', device.getConnectedCameras())
     # Print out usb speed
     print('Usb speed: ', device.getUsbSpeed().name)
@@ -31,7 +31,7 @@
     qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
 
     while True:
-        inRgb = qRgb.get()  # blocking call, will wait until a new data has arrived
+        inRgb = qRgb.get() # blocking call, will wait until a new data has arrived
 
         # Retrieve 'bgr' (opencv format) frame
         cv2.imshow("rgb", inRgb.getCvFrame())

external/CMakeLists.txt

@@ -1,2 +1,4 @@
 # Add 'hedley' library
-add_subdirectory(hedley)
+add_subdirectory(hedley)
+# Add 'pybind11_json' library
+add_subdirectory(pybind11_json)

external/pybind11_json/CMakeLists.txt

@@ -0,0 +1,3 @@
+# pybind11_json library
+add_library(pybind11_json INTERFACE)
+target_include_directories(pybind11_json INTERFACE "${CMAKE_CURRENT_LIST_DIR}/include")