Merge branch 'release_2.15.0' into main

luxonis · Feb 23, 2022 · 5cafb68 · 5cafb68
2 parents c2ccafd + ff7f462
commit 5cafb68
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diff --git a/.clang-tidy b/.clang-tidy
@@ -1,6 +1,8 @@
 ---
 Checks:          '-*,clang-analyzer-*,clang-diagnostic-*,readability-*,modernize-*,boost-*,bugprone-*,cppcoreguidelines-*,google-*,hicpp-*,performance-*,readability-*,-google-readability-namespace-comments,-readability-inconsistent-declaration-parameter-name,-readability-braces-around-statements,-hicpp-signed-bitwise,-google-runtime-references,-cppcoreguidelines-avoid-magic-numbers,-cppcoreguidelines-pro-bounds-array-to-pointer-decay,-readability-magic-numbers,-hicpp-explicit-conversions,-hicpp-uppercase-literal-suffix,-readability-uppercase-literal-suffix,-hicpp-no-array-decay,-hicpp-special-member-functions,-bugprone-narrowing-conversions,-modernize-use-nodiscard,-google-readability-braces-around-statements,-hicpp-braces-around-statements,-bugprone-suspicious-semicolon,-readability-named-parameter,-hicpp-named-parameter,-modernize-use-trailing-return-type,-cppcoreguidelines-non-private-member-variables-in-classes,-cppcoreguidelines-pro-bounds-constant-array-index'
+# TODO(themarpe) - Gradually bring back errors
 #WarningsAsErrors: 'modernize-*,cppcoreguidelines-*,boost-*,performance-*,google-build-using-namespace,readability-else-after-return,google-readability-todo'
+WarningsAsErrors: 'bugprone-throw-keyword-missing'
 HeaderFilterRegex: 'core/.*\.hpp'
 AnalyzeTemporaryDtors: false
 FormatStyle:     .clang-format

diff --git a/.github/workflows/main.workflow.yml b/.github/workflows/main.workflow.yml
@@ -68,7 +68,9 @@ jobs:
       matrix:
         os: [macos-latest, windows-latest, ubuntu-latest]
         cmake: ['3.10.x', ''] # Older version (Ubuntu 18.04) and newest
-
+        exclude:
+          - os: windows-latest
+            cmake: '3.10.x'
     steps:
     - name: Cache .hunter folder
       if: matrix.os != 'windows-latest'
@@ -118,6 +120,13 @@ jobs:
         cmake -H. -Bbuild -D'DEPTHAI_BUILD_EXAMPLES=ON' -D'DEPTHAI_BUILD_TESTS=ON' ${{ env.CMAKE_ARGS }}
         cmake --build build -- -j4
 
+    # CMake binaries unavailable
+    # - name: Build (old CMake, MSVC)
+    #   if: matrix.cmake == '3.10.x' && matrix.os == 'windows-latest'
+    #   run: |
+    #     cmake -H. -Bbuild -D'DEPTHAI_BUILD_EXAMPLES=ON' -D'DEPTHAI_BUILD_TESTS=ON'
+    #     cmake --build build
+
     - name: Build (newest CMake)
       if: matrix.cmake != '3.10.x'
       run: |

diff --git a/.github/workflows/test.workflow.yml b/.github/workflows/test.workflow.yml
@@ -0,0 +1,70 @@
+name: DepthAI Core HIL Testing
+
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - main
+      - develop
+    tags:
+      - 'v*'
+  pull_request:
+    branches:
+      - main
+      - develop
+
+# Only allow latest run on same branch to be tested
+concurrency:
+  group: ci-tests-${{ github.ref }}-1
+  cancel-in-progress: true
+
+jobs:
+
+  # Testing
+  test:
+    strategy:
+      matrix:
+        os: ['windows', 'macos', 'linux']
+        arch: ['x64']
+        flavor: ['vanilla', 'asan-ubsan', 'tsan']
+        exclude:
+          - os: 'windows'
+            arch: 'x64'
+            flavor: 'tsan'
+      fail-fast: false
+    runs-on: ['self-hosted', '${{ matrix.os }}', '${{ matrix.arch }}']
+
+    steps:
+    - name: Cache .hunter folder
+      uses: actions/cache@v2
+      with:
+        path: $HOME/.hun_${{ matrix.flavor }}
+        key: hunter-${{ matrix.os }}-${{ matrix.cmake }}
+    - uses: actions/checkout@v2
+      with:
+        submodules: 'recursive'
+
+    - name: Specify toolchain path
+      if: matrix.flavor == 'vanilla'
+      run: echo "CMAKE_TOOLCHAIN_PATH=" >> $GITHUB_ENV
+    - name: Specify toolchain path
+      if: matrix.flavor != 'vanilla'
+      run: echo "CMAKE_TOOLCHAIN_PATH=$PWD/cmake/toolchain/${{ matrix.flavor }}.cmake" >> $GITHUB_ENV
+
+    - name: Configure, Build and Test
+      if: matrix.os != 'linux'
+      run: |
+        cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_ROOT=$HOME/.hun_${{ matrix.flavor }} -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON -D DEPTHAI_TEST_EXAMPLES=ON
+        cmake --build build --parallel 8 --config Release
+        cd build
+        ctest -C Release --output-on-failure -L usb
+
+    - name: Configure, Build and Test
+      if: matrix.os == 'linux'
+      run: |
+        export DISPLAY=:99
+        xdpyinfo -display $DISPLAY >/dev/null 2>&1 || (Xvfb $DISPLAY &)
+        cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_ROOT=$HOME/.hun_${{ matrix.flavor }} -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON -D DEPTHAI_TEST_EXAMPLES=ON
+        cmake --build build --parallel 8 --config Release
+        cd build
+        ctest -C Release --output-on-failure -L usb
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -6,13 +6,18 @@ if(NOT WIN32)
     set(HUNTER_CONFIGURATION_TYPES "Release" CACHE STRING "Hunter dependencies list of build configurations")
 endif()
 
-# Read the BUILD_SHARED_LIBS option and select PIC toolchain
-if(BUILD_SHARED_LIBS)
-    if(NOT DEFINED CMAKE_TOOLCHAIN_FILE)
-        set(CMAKE_TOOLCHAIN_FILE "${CMAKE_CURRENT_LIST_DIR}/cmake/toolchain/pic.cmake" CACHE STRING "")
-    endif()
-    # Specify exporting all symbols on Windows
-    set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON CACHE BOOL "")
+# Create a custom toolchain to pass certain options to dependencies
+set(gen_toolchain "${CMAKE_CURRENT_BINARY_DIR}/generated/toolchain.cmake")
+configure_file(
+    "${CMAKE_CURRENT_LIST_DIR}/cmake/toolchain/custom.cmake.in"
+    "${gen_toolchain}"
+    @ONLY
+)
+set(CMAKE_TOOLCHAIN_FILE "${gen_toolchain}" CACHE STRING "" FORCE)
+if(DEFINED _INTERNAL_DEPTHAI_ORIGINAL_CMAKE_TOOLCHAIN_FILE)
+    message(STATUS "Using specified toolchain file: ${_INTERNAL_DEPTHAI_ORIGINAL_CMAKE_TOOLCHAIN_FILE} combined into: ${CMAKE_TOOLCHAIN_FILE}")
+else()
+    message(STATUS "Using toolchain file: ${CMAKE_TOOLCHAIN_FILE}")
 endif()
 
 include("cmake/HunterGate.cmake")
@@ -28,7 +33,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.14.1" LANGUAGES CXX C)
+project(depthai VERSION "2.15.0" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)
@@ -99,6 +104,11 @@ if(FORCE_COLORED_OUTPUT)
     endif()
 endif()
 
+# Specify exporting all symbols on Windows
+if(WIN32 AND BUILD_SHARED_LIBS)
+    set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON CACHE BOOL "")
+endif()
+
 ### Constants
 set(PROJECT_EXPORT_GROUP "${PROJECT_NAME}Targets")
 
@@ -179,6 +189,7 @@ add_library(${TARGET_CORE_NAME}
     src/pipeline/node/SpatialDetectionNetwork.cpp
     src/pipeline/node/SystemLogger.cpp
     src/pipeline/node/SpatialLocationCalculator.cpp
+    src/pipeline/node/AprilTag.cpp
     src/pipeline/node/ObjectTracker.cpp
     src/pipeline/node/IMU.cpp
     src/pipeline/node/EdgeDetector.cpp
@@ -195,6 +206,8 @@ add_library(${TARGET_CORE_NAME}
     src/pipeline/datatype/StreamMessageParser.cpp
     src/pipeline/datatype/SpatialLocationCalculatorData.cpp
     src/pipeline/datatype/SpatialLocationCalculatorConfig.cpp
+    src/pipeline/datatype/AprilTags.cpp
+    src/pipeline/datatype/AprilTagConfig.cpp
     src/pipeline/datatype/Tracklets.cpp
     src/pipeline/datatype/IMUData.cpp
     src/pipeline/datatype/StereoDepthConfig.cpp
@@ -204,6 +217,7 @@ add_library(${TARGET_CORE_NAME}
     src/utility/Initialization.cpp
     src/utility/Resources.cpp
     src/utility/Platform.cpp
+    src/utility/Environment.cpp
     src/xlink/XLinkConnection.cpp
     src/xlink/XLinkStream.cpp
     src/openvino/OpenVINO.cpp
@@ -403,15 +417,6 @@ target_compile_definitions(${TARGET_CORE_NAME}
         # Add depthai-bootloader version
         DEPTHAI_BOOTLOADER_VERSION="${DEPTHAI_BOOTLOADER_VERSION}"
 )
-# Check if MSVC and add a conforming preprocessor flag (libnop serialization macros)
-if (MSVC)
-    if(MSVC_VERSION LESS 1925)
-        target_compile_options(${TARGET_CORE_NAME} PUBLIC "/experimental:preprocessor")
-    else()
-        target_compile_options(${TARGET_CORE_NAME} PUBLIC "/Zc:preprocessor")
-    endif()
-endif()
-
 
 # Add Backward dependency if enabled (On by default)
 if(DEPTHAI_ENABLE_BACKWARD)
@@ -486,7 +491,13 @@ if(DEPTHAI_SANITIZE)
     set(SANITIZE_ADDRESS ON CACHE BOOL "Enable AddressSanitizer for sanitized targets." FORCE)
     set(SANITIZE_UNDEFINED ON CACHE BOOL "Enable UndefinedBehaviorSanitizer for sanitized targets." FORCE)
     find_package(Sanitizers)
-    add_sanitizers(${TARGET_CORE_NAME} ${TARGET_OPENCV_NAME})
+    add_sanitizers(${TARGET_CORE_NAME})
+    if(DEPTHAI_HAVE_OPENCV_SUPPORT)
+        add_sanitizers(${TARGET_OPENCV_NAME})
+    endif()
+    if(DEPTHAI_XLINK_LOCAL)
+        add_sanitizers(XLink)
+    endif()
 endif()
 
 ########################

diff --git a/README.md b/README.md
@@ -143,6 +143,23 @@ cmake --build build --target install
 If `CMAKE_INSTALL_PREFIX` isn't specified, the library is installed under build folder `install`.
 
 
+## Environment variables
+
+The following environment variables can be set to alter default behavior of the library without having to recompile
+
+| Environment variable  | Description   |
+|--------------|-----------|
+| DEPTHAI_INSTALL_SIGNAL_HANDLER | Set to 0 to disable installing Backward signal handler for stack trace printing |
+| DEPTHAI_WATCHDOG | Sets device watchdog timeout. Useful for debugging (`DEPTHAI_WATCHDOG=0`), to prevent device reset while the process is paused. |
+| DEPTHAI_WATCHDOG_INITIAL_DELAY | Specifies delay after which the device watchdog starts. |
+| DEPTHAI_SEARCH_TIMEOUT | Specifies timeout in milliseconds for device searching in blocking functions. |
+| DEPTHAI_CONNECT_TIMEOUT | Specifies timeout in milliseconds for establishing a connection to a given device. |
+| DEPTHAI_BOOTUP_TIMEOUT | Specifies timeout in milliseconds for waiting the device to boot after sending the binary. |
+| DEPTHAI_PROTOCOL | Restricts default search to the specified protocol. Options: any, usb, tcpip. |
+| DEPTHAI_DEVICE_BINARY | Overrides device Firmware binary. Mostly for internal debugging purposes. |
+| DEPTHAI_BOOTLOADER_BINARY_USB | Overrides device USB Bootloader binary. Mostly for internal debugging purposes. |
+| DEPTHAI_BOOTLOADER_BINARY_ETH | Overrides device Network Bootloader binary. Mostly for internal debugging purposes. |
+
 ## Running tests
 
 To run the tests build the library with the following options
@@ -151,10 +168,17 @@ cmake -S. -Bbuild -D'DEPTHAI_TEST_EXAMPLES=ON' -D'DEPTHAI_BUILD_TESTS=ON' -D'DEP
 cmake --build build
 ```
 
-Then navigate to `build` folder and run `ctest`
+Then navigate to `build` folder and run `ctest` with specified labels that denote device type to test on.
+Currently available labels:
+ - usb
+ - poe
+
 ```
 cd build
-ctest
+# Run tests on USB devices
+ctest -L usb
+# Run tests on PoE devices
+ctest -L poe
 ```
 
 ## Style check

diff --git a/cmake/ClangTidy.cmake b/cmake/ClangTidy.cmake
@@ -1,8 +1,12 @@
 function(target_clangtidy_setup target)
 
-    if(NOT CLANG_TIDY_BIN)
-        find_program(CLANG_TIDY_BIN clang-tidy)
-    endif()
+    set(CLANG_TIDY_NAMES clang-tidy clang-tidy-10 clang-tidy-11)
+    foreach(clangtidy ${CLANG_TIDY_NAMES})
+        if(CLANG_TIDY_BIN)
+            break()
+        endif()
+        find_program(CLANG_TIDY_BIN ${clangtidy})
+    endforeach()
 
     if(NOT CLANG_TIDY_BIN)
         message(FATAL_ERROR "clang-tidy is not installed. Aborting...")

diff --git a/cmake/Depthai/DepthaiBootloaderConfig.cmake b/cmake/Depthai/DepthaiBootloaderConfig.cmake
@@ -3,5 +3,5 @@ set(DEPTHAI_BOOTLOADER_MATURITY "release")
 #set(DEPTHAI_BOOTLOADER_MATURITY "snapshot")
 
 # "version if applicable"
-set(DEPTHAI_BOOTLOADER_VERSION "0.0.15")
+set(DEPTHAI_BOOTLOADER_VERSION "0.0.17")
 #set(DEPTHAI_BOOTLOADER_VERSION "870bec4ca0ef026ddb9c490a38dfe9d097614554")
diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/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 "f503b7adfd44b696187b7825a12a134ded0ca3f3")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "fbbd61aaa70e094d40800e8e6cbb23548ecc24af")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")
diff --git a/cmake/Flags.cmake b/cmake/Flags.cmake
@@ -1,6 +1,8 @@
 ## setup compilation flags
-# conditionally applies flag. If flag is supported by current compiler, it will be added to compile options.
+include(CMakeParseArguments)
 include(CheckCXXCompilerFlag)
+
+# conditionally applies flag. If flag is supported by current compiler, it will be added to compile options.
 function(add_flag target flag)
     check_cxx_compiler_flag(${flag} FLAG_${flag})
     if (FLAG_${flag} EQUAL 1)
@@ -9,38 +11,71 @@ function(add_flag target flag)
 endfunction()
 
 function(add_default_flags target)
+    cmake_parse_arguments(ADF "LEAN" "" "" ${ARGN})
     if ("${CMAKE_CXX_COMPILER_ID}" MATCHES "^(AppleClang|Clang|GNU)$")
-        # enable those flags
-        add_flag(${target} -Wall)
-        add_flag(${target} -Wextra)
-        add_flag(${target} -Woverloaded-virtual)     # warn if you overload (not override) a virtual function
-        add_flag(${target} -Wformat=2)               # warn on security issues around functions that format output (ie printf)
-        add_flag(${target} -Wmisleading-indentation) # (only in GCC >= 6.0) warn if indentation implies blocks where blocks do not exist
-        add_flag(${target} -Wduplicated-cond)        # (only in GCC >= 6.0) warn if if / else chain has duplicated conditions
-        add_flag(${target} -Wduplicated-branches)    # (only in GCC >= 7.0) warn if if / else branches have duplicated code
-        add_flag(${target} -Wnull-dereference)       # (only in GCC >= 6.0) warn if a null dereference is detected
-        add_flag(${target} -Wdouble-promotion)       # (GCC >= 4.6, Clang >= 3.8) warn if float is implicit promoted to double
-        add_flag(${target} -Wsign-compare)
-        add_flag(${target} -Wtype-limits)            # size_t - size_t >= 0 -> always true
+        if(NOT ADF_LEAN)
+            # enable those flags
+            add_flag(${target} -Wall)
+            add_flag(${target} -Wextra)
+            add_flag(${target} -Woverloaded-virtual)     # warn if you overload (not override) a virtual function
+            add_flag(${target} -Wformat=2)               # warn on security issues around functions that format output (ie printf)
+            add_flag(${target} -Wmisleading-indentation) # (only in GCC >= 6.0) warn if indentation implies blocks where blocks do not exist
+            add_flag(${target} -Wduplicated-cond)        # (only in GCC >= 6.0) warn if if / else chain has duplicated conditions
+            add_flag(${target} -Wduplicated-branches)    # (only in GCC >= 7.0) warn if if / else branches have duplicated code
+            add_flag(${target} -Wnull-dereference)       # (only in GCC >= 6.0) warn if a null dereference is detected
+            add_flag(${target} -Wdouble-promotion)       # (GCC >= 4.6, Clang >= 3.8) warn if float is implicit promoted to double
+            add_flag(${target} -Wsign-compare)
+            add_flag(${target} -Wtype-limits)            # size_t - size_t >= 0 -> always true
 
-        # disable those flags
-        # add_flag(${target} -Wno-unused-command-line-argument)    # clang: warning: argument unused during compilation: '--coverage' [-Wunused-command-line-argument]
-        # add_flag(${target} -Wno-unused-parameter)    # prints too many useless warnings
-        # add_flag(${target} -Wno-format-nonliteral)   # prints way too many warnings from spdlog
-        # add_flag(${target} -Wno-gnu-zero-variadic-macro-arguments)   # https://stackoverflow.com/questions/21266380/is-the-gnu-zero-variadic-macro-arguments-safe-to-ignore
+            # disable those flags
+            # add_flag(${target} -Wno-unused-command-line-argument)    # clang: warning: argument unused during compilation: '--coverage' [-Wunused-command-line-argument]
+            # add_flag(${target} -Wno-unused-parameter)    # prints too many useless warnings
+            # add_flag(${target} -Wno-format-nonliteral)   # prints way too many warnings from spdlog
+            # add_flag(${target} -Wno-gnu-zero-variadic-macro-arguments)   # https://stackoverflow.com/questions/21266380/is-the-gnu-zero-variadic-macro-arguments-safe-to-ignore
 
-        # promote to errors
-        add_flag(${target} -Werror=self-assign-field)  # error if self assign - bugprone
-        add_flag(${target} -Werror=unused-lambda-capture)  # error if lambda capture is unused
-        add_flag(${target} -Werror=return-type)      # warning: control reaches end of non-void function [-Wreturn-type]
-        add_flag(${target} -Werror=non-virtual-dtor) # warn the user if a class with virtual functions has a non-virtual destructor. This helps catch hard to track down memory errors
-        add_flag(${target} -Werror=sign-compare)     # warn the user if they compare a signed and unsigned numbers
-        add_flag(${target} -Werror=reorder)          # field '$1' will be initialized after field '$2'
-        add_flag(${target} -Werror=switch-enum)      # if switch case is missing - error
+            # promote to errors
+            add_flag(${target} -Werror=self-assign-field)  # error if self assign - bugprone
+            add_flag(${target} -Werror=unused-lambda-capture)  # error if lambda capture is unused
+            add_flag(${target} -Werror=return-type)      # warning: control reaches end of non-void function [-Wreturn-type]
+            add_flag(${target} -Werror=non-virtual-dtor) # warn the user if a class with virtual functions has a non-virtual destructor. This helps catch hard to track down memory errors
+            add_flag(${target} -Werror=sign-compare)     # warn the user if they compare a signed and unsigned numbers
+            add_flag(${target} -Werror=reorder)          # field '$1' will be initialized after field '$2'
+            add_flag(${target} -Werror=switch-enum)      # if switch case is missing - error
+        endif()
 
     elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
         # using Visual Studio C++
-        # TODO(warchant): add flags https://github.com/lefticus/cppbestpractices/blob/master/02-Use_the_Tools_Available.md#msvc
+        if(NOT ADF_LEAN)
+            # TODO(warchant): add flags https://github.com/lefticus/cppbestpractices/blob/master/02-Use_the_Tools_Available.md#msvc
+        endif()
+
+        # disable INTERPROCEDURAL_OPTIMIZATION and enable /LTCG for issue https://github.com/luxonis/depthai-core/issues/334
+        if(WIN32)
+            get_target_property(_EXPORT ${target} WINDOWS_EXPORT_ALL_SYMBOLS)
+            if(_EXPORT)
+                if(CMAKE_BUILD_TYPE)
+                    string(TOUPPER "_${CMAKE_BUILD_TYPE}" _BUILD_TYPE)
+                else()
+                    set(_BUILD_TYPE "")
+                endif()
+                set(_PROP_NAME INTERPROCEDURAL_OPTIMIZATION${_BUILD_TYPE})
+                get_property(_PROP_SET TARGET ${target} PROPERTY ${_PROP_NAME} SET)
+                if(NOT _PROP_SET)
+                    set(_PROP_NAME INTERPROCEDURAL_OPTIMIZATION)
+                endif()
+                get_target_property(_INTER_OPT ${target} ${_PROP_NAME})
+                if(_INTER_OPT)
+                    set_target_properties(${target} PROPERTIES ${_PROP_NAME} OFF)
+                    # check_linker_flag() only available in cmake 3.18+
+                    target_link_options(${target} PRIVATE /LTCG)
+                endif()
+                unset(_BUILD_TYPE)
+                unset(_INTER_OPT)
+                unset(_PROP_NAME)
+                unset(_PROP_SET)
+            endif()
+            unset(_EXPORT)
+        endif()
     endif()
 
 endfunction()