Merge pull request #1323 from luxonis/lnotspotl/internal_xlink

Move XLink nodes nad XLink properties to a new dai::internal namespace

Author: lnotspotl

CMakeLists.txt

@@ -242,8 +242,8 @@ set(TARGET_CORE_SOURCES
     src/pipeline/ThreadedNode.cpp
     src/pipeline/DeviceNode.cpp
     src/pipeline/DeviceNodeGroup.cpp
-    src/pipeline/node/XLinkIn.cpp
-    src/pipeline/node/XLinkOut.cpp
+    src/pipeline/node/internal/XLinkIn.cpp
+    src/pipeline/node/internal/XLinkOut.cpp
     src/pipeline/node/ColorCamera.cpp
     src/pipeline/node/Camera.cpp
     src/pipeline/node/Thermal.cpp
@@ -277,8 +277,8 @@ set(TARGET_CORE_SOURCES
     src/pipeline/node/test/MyProducer.cpp
     src/pipeline/node/test/MyConsumer.cpp
     src/pipeline/node/UVC.cpp
-    src/pipeline/node/host/XLinkInHost.cpp
-    src/pipeline/node/host/XLinkOutHost.cpp
+    src/pipeline/node/internal/XLinkInHost.cpp
+    src/pipeline/node/internal/XLinkOutHost.cpp
     src/pipeline/node/host/HostNode.cpp
     src/pipeline/node/host/RGBD.cpp
     src/pipeline/datatype/DatatypeEnum.cpp

bindings/python/CMakeLists.txt

@@ -71,8 +71,6 @@ set(SOURCE_LIST
 
     src/pipeline/node/NodeBindings.cpp
 
-    src/pipeline/node/XLinkInBindings.cpp
-    src/pipeline/node/XLinkOutBindings.cpp
     src/pipeline/node/ColorCameraBindings.cpp
     src/pipeline/node/CameraBindings.cpp
     src/pipeline/node/MonoCameraBindings.cpp

bindings/python/src/pipeline/PipelineBindings.cpp

@@ -36,8 +36,8 @@
 #include "depthai/pipeline/node/UVC.hpp"
 #include "depthai/pipeline/node/VideoEncoder.hpp"
 #include "depthai/pipeline/node/Warp.hpp"
-#include "depthai/pipeline/node/XLinkIn.hpp"
-#include "depthai/pipeline/node/XLinkOut.hpp"
+#include "depthai/pipeline/node/internal/XLinkIn.hpp"
+#include "depthai/pipeline/node/internal/XLinkOut.hpp"
 
 // depthai/
 #include <memory>

bindings/python/src/pipeline/node/Common.hpp

@@ -15,6 +15,7 @@
 // Map of python node classes and call to pipeline to create it
 extern std::vector<std::pair<py::handle, std::function<std::shared_ptr<dai::Node>(dai::Pipeline&, py::object class_)>>> pyNodeCreateMap;
 extern py::handle daiNodeModule;
+extern py::handle daiNodeInternalModule;
 
 template <typename T, typename DERIVED = dai::DeviceNode>
 py::class_<T, DERIVED, std::shared_ptr<T>> addNode(const char* name, const char* docstring = nullptr) {
@@ -23,6 +24,13 @@ py::class_<T, DERIVED, std::shared_ptr<T>> addNode(const char* name, const char*
     return node;
 }
 
+template <typename T, typename DERIVED = dai::DeviceNode>
+py::class_<T, DERIVED, std::shared_ptr<T>> addNodeInternal(const char* name, const char* docstring = nullptr) {
+    auto node = py::class_<T, DERIVED, std::shared_ptr<T>>(daiNodeInternalModule, name, docstring);
+    pyNodeCreateMap.push_back(std::make_pair(node, [](dai::Pipeline& p, py::object class_) { return p.create<T>(); }));
+    return node;
+}
+
 template <typename T, typename DERIVED = dai::DeviceNode>
 py::class_<T, DERIVED, std::shared_ptr<T>> addNodeAbstract(const char* name, const char* docstring = nullptr) {
     auto node = py::class_<T, DERIVED, std::shared_ptr<T>>(daiNodeModule, name, docstring);
@@ -36,7 +44,8 @@ py::class_<T, DERIVED, std::shared_ptr<T>> addNodeAbstract(const char* name, con
 // Macro helpers
 #define ADD_NODE(NodeName) addNode<NodeName>(#NodeName, DOC(dai, node, NodeName))
 #define ADD_NODE_DERIVED(NodeName, Derived) addNode<NodeName, Derived>(#NodeName, DOC(dai, node, NodeName))
+#define ADD_NODE_INTERNAL(NodeName) addNodeInternal<NodeName>(#NodeName, DOC(dai, node, internal, NodeName))
 #define ADD_NODE_ABSTRACT(NodeName) addNodeAbstract<NodeName>(#NodeName, DOC(dai, node, NodeName))
 #define ADD_NODE_DERIVED_ABSTRACT(NodeName, Derived) addNodeAbstract<NodeName, Derived>(#NodeName, DOC(dai, node, NodeName))
 #define ADD_NODE_DOC(NodeName, docstring) addNode<NodeName>(#NodeName, docstring)
-#define ADD_NODE_DERIVED_DOC(NodeName, Derived, docstring) addNode<NodeName, Derived>(#NodeName, docstring)
+#define ADD_NODE_DERIVED_DOC(NodeName, Derived, docstring) addNode<NodeName, Derived>(#NodeName, docstring)

bindings/python/src/pipeline/node/NodeBindings.cpp

@@ -42,6 +42,7 @@ void delImplicitPipeline() {
 // Map of python node classes and call to pipeline to create it
 std::vector<std::pair<py::handle, std::function<std::shared_ptr<dai::Node>(dai::Pipeline&, py::object class_)>>> pyNodeCreateMap;
 py::handle daiNodeModule;
+py::handle daiNodeInternalModule;
 
 std::vector<std::pair<py::handle, std::function<std::shared_ptr<dai::Node>(dai::Pipeline&, py::object class_)>>> NodeBindings::getNodeCreateMap() {
     return pyNodeCreateMap;
@@ -126,8 +127,6 @@ py::class_<Map, holder_type> bindNodeMap(py::handle scope, const std::string& na
     return cl;
 }
 
-void bind_xlinkin(pybind11::module& m, void* pCallstack);
-void bind_xlinkout(pybind11::module& m, void* pCallstack);
 void bind_benchmark(pybind11::module& m, void* pCallstack);
 void bind_colorcamera(pybind11::module& m, void* pCallstack);
 void bind_camera(pybind11::module& m, void* pCallstack);
@@ -174,8 +173,6 @@ void NodeBindings::addToCallstack(std::deque<StackFunction>& callstack) {
     callstack.push_front(NodeBindings::bind);
 
     // Bind all other nodes
-    callstack.push_front(bind_xlinkin);
-    callstack.push_front(bind_xlinkout);
     callstack.push_front(bind_benchmark);
     callstack.push_front(bind_colorcamera);
     callstack.push_front(bind_camera);
@@ -226,6 +223,7 @@ void NodeBindings::bind(pybind11::module& m, void* pCallstack) {
     //// Bindings for actual nodes
     // Move properties into nodes and nodes under 'node' submodule
     daiNodeModule = m.def_submodule("node");
+    daiNodeInternalModule = m.def_submodule("node").def_submodule("internal");
 
     // Properties
     py::class_<Node, std::shared_ptr<Node>> pyNode(m, "Node", DOC(dai, Node));

bindings/python/src/pipeline/node/XLinkInBindings.cpp

@@ -4,4 +4,4 @@ set(DEPTHAI_DEVICE_RVC4_MATURITY "snapshot")
 
 # "version if applicable"
 # set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+93f7b75a885aa32f44c5e9f53b74470c49d2b1af")
-set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+de316010b7d2fdffb639e349886068a955ad4d72")
+set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+8cef4c0d8e3434775e4cd1d537acf671858eaab6")

bindings/python/src/pipeline/node/XLinkOutBindings.cpp

@@ -2,7 +2,7 @@
 set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")
 
 # "full commit hash of device side binary"
-set(DEPTHAI_DEVICE_SIDE_COMMIT "2d460d1aa7b59037fa0c76d02a1d269d2c3d6571")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "c5fce2452ec689a72d5eb22181a967c7e66a02bd")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

cmake/Depthai/DepthaiDeviceRVC4Config.cmake

@@ -3,7 +3,7 @@
 #include <depthai/pipeline/ThreadedNode.hpp>
 
 // shared
-#include <depthai/properties/XLinkOutProperties.hpp>
+#include <depthai/properties/internal/XLinkOutProperties.hpp>
 
 // project
 #include <depthai/pipeline/datatype/Buffer.hpp>
@@ -18,6 +18,8 @@
 namespace dai {
 namespace node {
 
+using XLinkOutProperties = ::dai::internal::XLinkOutProperties;
+
 /**
  * @brief RecordVideo node, used to record a video source stream to a file
  */