DeviceBindings.cpp

#include "DeviceBindings.hpp"

// depthai
#include "depthai/device/Device.hpp"
#include "depthai/pipeline/Pipeline.hpp"
#include "depthai/utility/Clock.hpp"
#include "depthai/xlink/XLinkConnection.hpp"

// std::chrono bindings
#include <pybind11/chrono.h>
// py::detail
#include <pybind11/detail/common.h>
// hedley
#include <hedley/hedley.h>
// STL Bind
#include <pybind11/stl_bind.h>

PYBIND11_MAKE_OPAQUE(std::unordered_map<std::int8_t, dai::BoardConfig::GPIO>);
PYBIND11_MAKE_OPAQUE(std::unordered_map<std::int8_t, dai::BoardConfig::UART>);

// Patch for bind_map naming
// Remove if it gets mainlined in pybind11
namespace pybind11 {

template <typename Map, typename holder_type = std::unique_ptr<Map>, typename... Args>
class_<Map, holder_type> bind_map_patched(handle scope, const std::string &name, Args &&...args) {
    using KeyType = typename Map::key_type;
    using MappedType = typename Map::mapped_type;
    using KeysView = detail::keys_view<Map>;
    using ValuesView = detail::values_view<Map>;
    using ItemsView = detail::items_view<Map>;
    using Class_ = class_<Map, holder_type>;

    // If either type is a non-module-local bound type then make the map binding non-local as well;
    // otherwise (e.g. both types are either module-local or converting) the map will be
    // module-local.
    auto *tinfo = detail::get_type_info(typeid(MappedType));
    bool local = !tinfo || tinfo->module_local;
    if (local) {
        tinfo = detail::get_type_info(typeid(KeyType));
        local = !tinfo || tinfo->module_local;
    }

    Class_ cl(scope, name.c_str(), pybind11::module_local(local), std::forward<Args>(args)...);
    class_<KeysView> keys_view(
        scope, ("KeysView_" + name).c_str(), pybind11::module_local(local));
    class_<ValuesView> values_view(
        scope, ("ValuesView_" + name).c_str(), pybind11::module_local(local));
    class_<ItemsView> items_view(
        scope, ("ItemsView_" + name).c_str(), pybind11::module_local(local));

    cl.def(init<>());

    // Register stream insertion operator (if possible)
    detail::map_if_insertion_operator<Map, Class_>(cl, name);

    cl.def(
        "__bool__",
        [](const Map &m) -> bool { return !m.empty(); },
        "Check whether the map is nonempty");

    cl.def(
        "__iter__",
        [](Map &m) { return make_key_iterator(m.begin(), m.end()); },
        keep_alive<0, 1>() /* Essential: keep map alive while iterator exists */
    );

    cl.def(
        "keys",
        [](Map &m) { return KeysView{m}; },
        keep_alive<0, 1>() /* Essential: keep map alive while view exists */
    );

    cl.def(
        "values",
        [](Map &m) { return ValuesView{m}; },
        keep_alive<0, 1>() /* Essential: keep map alive while view exists */
    );

    cl.def(
        "items",
        [](Map &m) { return ItemsView{m}; },
        keep_alive<0, 1>() /* Essential: keep map alive while view exists */
    );

    cl.def(
        "__getitem__",
        [](Map &m, const KeyType &k) -> MappedType & {
            auto it = m.find(k);
            if (it == m.end()) {
                throw key_error();
            }
            return it->second;
        },
        return_value_policy::reference_internal // ref + keepalive
    );

    cl.def("__contains__", [](Map &m, const KeyType &k) -> bool {
        auto it = m.find(k);
        if (it == m.end()) {
            return false;
        }
        return true;
    });
    // Fallback for when the object is not of the key type
    cl.def("__contains__", [](Map &, const object &) -> bool { return false; });

    // Assignment provided only if the type is copyable
    detail::map_assignment<Map, Class_>(cl);

    cl.def("__delitem__", [](Map &m, const KeyType &k) {
        auto it = m.find(k);
        if (it == m.end()) {
            throw key_error();
        }
        m.erase(it);
    });

    cl.def("__len__", &Map::size);

    keys_view.def("__len__", [](KeysView &view) { return view.map.size(); });
    keys_view.def(
        "__iter__",
        [](KeysView &view) { return make_key_iterator(view.map.begin(), view.map.end()); },
        keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
    );
    keys_view.def("__contains__", [](KeysView &view, const KeyType &k) -> bool {
        auto it = view.map.find(k);
        if (it == view.map.end()) {
            return false;
        }
        return true;
    });
    // Fallback for when the object is not of the key type
    keys_view.def("__contains__", [](KeysView &, const object &) -> bool { return false; });

    values_view.def("__len__", [](ValuesView &view) { return view.map.size(); });
    values_view.def(
        "__iter__",
        [](ValuesView &view) { return make_value_iterator(view.map.begin(), view.map.end()); },
        keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
    );

    items_view.def("__len__", [](ItemsView &view) { return view.map.size(); });
    items_view.def(
        "__iter__",
        [](ItemsView &view) { return make_iterator(view.map.begin(), view.map.end()); },
        keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
    );

    return cl;
}

} // namespace pybind11


// Searches for available devices (as Device constructor)
// but pooling, to check for python interrupts, and releases GIL in between

template<typename DEVICE, class... Args>
static auto deviceSearchHelper(Args&&... args){

    bool found;
    dai::DeviceInfo deviceInfo;
    // releases python GIL
    py::gil_scoped_release release;
    std::tie(found, deviceInfo) = DEVICE::getAnyAvailableDevice(DEVICE::getDefaultSearchTime(), [](){
        py::gil_scoped_acquire acquire;
        if (PyErr_CheckSignals() != 0) throw py::error_already_set();
    });

    // if no devices found, then throw
    if(!found) throw std::runtime_error("No available devices");

    return deviceInfo;
}


static std::vector<std::string> deviceGetQueueEventsHelper(dai::Device& d, const std::vector<std::string>& queueNames, std::size_t maxNumEvents, std::chrono::microseconds timeout){
    using namespace std::chrono;

    // if timeout < 0, unlimited timeout
    bool unlimitedTimeout = timeout < microseconds(0);
    auto startTime = steady_clock::now();
    do {
        {
            // releases python GIL
            py::gil_scoped_release release;
            // block for 100ms
            auto events = d.getQueueEvents(queueNames, maxNumEvents, std::chrono::milliseconds(100));
            if(!events.empty()) return events;
        }
        // reacquires python GIL for PyErr_CheckSignals call
        // check if interrupt triggered in between
        if (PyErr_CheckSignals() != 0) throw py::error_already_set();
    } while(unlimitedTimeout || steady_clock::now() - startTime < timeout);

    return std::vector<std::string>();
}


template<typename D, typename ARG>
static void bindConstructors(ARG& arg){
    using namespace dai;

    arg
    .def(py::init([](const Pipeline& pipeline){
        auto dev = deviceSearchHelper<D>();
        py::gil_scoped_release release;
        return std::make_unique<D>(pipeline, dev);
    }), py::arg("pipeline"), DOC(dai, DeviceBase, DeviceBase))
    .def(py::init([](const Pipeline& pipeline, bool usb2Mode){
        auto dev = deviceSearchHelper<D>();
        py::gil_scoped_release release;
        return std::make_unique<D>(pipeline, dev, usb2Mode);
    }), py::arg("pipeline"), py::arg("usb2Mode"), DOC(dai, DeviceBase, DeviceBase, 2))
    .def(py::init([](const Pipeline& pipeline, UsbSpeed maxUsbSpeed){
        auto dev = deviceSearchHelper<D>();
        py::gil_scoped_release release;
        return std::make_unique<D>(pipeline, dev, maxUsbSpeed);
    }), py::arg("pipeline"), py::arg("maxUsbSpeed"), DOC(dai, DeviceBase, DeviceBase, 3))
    .def(py::init([](const Pipeline& pipeline, const dai::Path& pathToCmd){
        auto dev = deviceSearchHelper<D>();
        py::gil_scoped_release release;
        return std::make_unique<D>(pipeline, dev, pathToCmd);
    }), py::arg("pipeline"), py::arg("pathToCmd"), DOC(dai, DeviceBase, DeviceBase, 4))
    .def(py::init([](const Pipeline& pipeline, const DeviceInfo& deviceInfo, bool usb2Mode){
        py::gil_scoped_release release;
        return std::make_unique<D>(pipeline, deviceInfo, usb2Mode);
    }), py::arg("pipeline"), py::arg("devInfo"), py::arg("usb2Mode") = false, DOC(dai, DeviceBase, DeviceBase, 6))
    .def(py::init([](const Pipeline& pipeline, const DeviceInfo& deviceInfo, UsbSpeed maxUsbSpeed){
        py::gil_scoped_release release;
        return std::make_unique<D>(pipeline, deviceInfo, maxUsbSpeed);
    }), py::arg("pipeline"), py::arg("deviceInfo"), py::arg("maxUsbSpeed"), DOC(dai, DeviceBase, DeviceBase, 7))
    .def(py::init([](const Pipeline& pipeline, const DeviceInfo& deviceInfo, dai::Path pathToCmd){
        py::gil_scoped_release release;
        return std::make_unique<D>(pipeline, deviceInfo, pathToCmd);
    }), py::arg("pipeline"), py::arg("devInfo"), py::arg("pathToCmd"), DOC(dai, DeviceBase, DeviceBase, 8))

    // DeviceBase constructor - OpenVINO version
    .def(py::init([](OpenVINO::Version version){
        auto dev = deviceSearchHelper<D>();
        py::gil_scoped_release release;
        return std::make_unique<D>(version, dev);
    }), py::arg("version") = OpenVINO::DEFAULT_VERSION, DOC(dai, DeviceBase, DeviceBase, 10))
    .def(py::init([](OpenVINO::Version version, bool usb2Mode){
        auto dev = deviceSearchHelper<D>();
        py::gil_scoped_release release;
        return std::make_unique<D>(version, dev, usb2Mode);
    }), py::arg("version"), py::arg("usb2Mode") = false, DOC(dai, DeviceBase, DeviceBase, 11))
    .def(py::init([](OpenVINO::Version version, UsbSpeed maxUsbSpeed){
        auto dev = deviceSearchHelper<D>();
        py::gil_scoped_release release;
        return std::make_unique<D>(version, dev, maxUsbSpeed);
    }), py::arg("version"), py::arg("maxUsbSpeed"), DOC(dai, DeviceBase, DeviceBase, 12))
    .def(py::init([](OpenVINO::Version version, const dai::Path& pathToCmd){
        auto dev = deviceSearchHelper<D>();
        py::gil_scoped_release release;
        return std::make_unique<D>(version, dev, pathToCmd);
    }), py::arg("version"), py::arg("pathToCmd"), DOC(dai, DeviceBase, DeviceBase, 13))
    .def(py::init([](OpenVINO::Version version, const DeviceInfo& deviceInfo, bool usb2Mode){
        py::gil_scoped_release release;
        return std::make_unique<D>(version, deviceInfo, usb2Mode);
    }), py::arg("version"), py::arg("deviceInfo"), py::arg("usb2Mode") = false, DOC(dai, DeviceBase, DeviceBase, 15))
    .def(py::init([](OpenVINO::Version version, const DeviceInfo& deviceInfo, UsbSpeed maxUsbSpeed){
        py::gil_scoped_release release;
        return std::make_unique<D>(version, deviceInfo, maxUsbSpeed);
    }), py::arg("version"), py::arg("deviceInfo"), py::arg("maxUsbSpeed"), DOC(dai, DeviceBase, DeviceBase, 16))
    .def(py::init([](OpenVINO::Version version, const DeviceInfo& deviceInfo, dai::Path pathToCmd){
        py::gil_scoped_release release;
        return std::make_unique<D>(version, deviceInfo, pathToCmd);
    }), py::arg("version"), py::arg("deviceDesc"), py::arg("pathToCmd"), DOC(dai, DeviceBase, DeviceBase, 17))
    .def(py::init([](typename D::Config config){
        auto dev = deviceSearchHelper<D>();
        py::gil_scoped_release release;
        return std::make_unique<D>(config, dev);
    }), py::arg("config"), DOC(dai, DeviceBase, DeviceBase, 18))
    .def(py::init([](typename D::Config config, const DeviceInfo& deviceInfo){
        py::gil_scoped_release release;
        return std::make_unique<D>(config, deviceInfo);
    }), py::arg("config"), py::arg("deviceInfo"), DOC(dai, DeviceBase, DeviceBase, 19))
    ;

}



void DeviceBindings::bind(pybind11::module& m, void* pCallstack){

    using namespace dai;

    // Type definitions
    py::class_<DeviceBase> deviceBase(m, "DeviceBase", DOC(dai, DeviceBase));
    py::class_<Device, DeviceBase> device(m, "Device", DOC(dai, Device));
    py::class_<Device::Config> deviceConfig(device, "Config", DOC(dai, DeviceBase, Config));
    py::class_<BoardConfig> boardConfig(m, "BoardConfig", DOC(dai, BoardConfig));
    py::class_<BoardConfig::USB> boardConfigUsb(boardConfig, "USB", DOC(dai, BoardConfig, USB));
    py::class_<BoardConfig::Network> boardConfigNetwork(boardConfig, "Network", DOC(dai, BoardConfig, Network));
    py::class_<BoardConfig::GPIO> boardConfigGpio(boardConfig, "GPIO", DOC(dai, BoardConfig, GPIO));
    py::enum_<BoardConfig::GPIO::Mode> boardConfigGpioMode(boardConfigGpio, "Mode", DOC(dai, BoardConfig, GPIO, Mode));
    py::enum_<BoardConfig::GPIO::Direction> boardConfigGpioDirection(boardConfigGpio, "Direction", DOC(dai, BoardConfig, GPIO, Direction));
    py::enum_<BoardConfig::GPIO::Level> boardConfigGpioLevel(boardConfigGpio, "Level", DOC(dai, BoardConfig, GPIO, Level));
    py::enum_<BoardConfig::GPIO::Pull> boardConfigGpioPull(boardConfigGpio, "Pull", DOC(dai, BoardConfig, GPIO, Pull));
    py::enum_<BoardConfig::GPIO::Drive> boardConfigGpioDrive(boardConfigGpio, "Drive", DOC(dai, BoardConfig, GPIO, Drive));
    py::class_<BoardConfig::UART> boardConfigUart(boardConfig, "UART", DOC(dai, BoardConfig, UART));
    struct PyClock{};
    py::class_<PyClock> clock(m, "Clock");


    py::bind_map_patched<std::unordered_map<std::int8_t, dai::BoardConfig::GPIO>>(boardConfig, "GPIOMap");
    py::bind_map_patched<std::unordered_map<std::int8_t, dai::BoardConfig::UART>>(boardConfig, "UARTMap");


    ///////////////////////////////////////////////////////////////////////
    ///////////////////////////////////////////////////////////////////////
    ///////////////////////////////////////////////////////////////////////
    // Call the rest of the type defines, then perform the actual bindings
    Callstack* callstack = (Callstack*) pCallstack;
    auto cb = callstack->top();
    callstack->pop();
    cb(m, pCallstack);
    ///////////////////////////////////////////////////////////////////////
    ///////////////////////////////////////////////////////////////////////
    ///////////////////////////////////////////////////////////////////////


    // Bind BoardConfig::USB
    boardConfigUsb
        .def(py::init<>())
        .def_readwrite("vid", &BoardConfig::USB::vid)
        .def_readwrite("pid", &BoardConfig::USB::pid)
        .def_readwrite("flashBootedVid", &BoardConfig::USB::flashBootedVid)
        .def_readwrite("flashBootedPid", &BoardConfig::USB::flashBootedPid)
        .def_readwrite("maxSpeed", &BoardConfig::USB::maxSpeed)
    ;

    // Bind BoardConfig::Network
    boardConfigNetwork
        .def(py::init<>())
        .def_readwrite("mtu", &BoardConfig::Network::mtu)
        .def_readwrite("xlinkTcpNoDelay", &BoardConfig::Network::xlinkTcpNoDelay)
    ;

    // GPIO Mode
    boardConfigGpioMode
        .value("ALT_MODE_0", BoardConfig::GPIO::ALT_MODE_0, DOC(dai, BoardConfig, GPIO, Mode, ALT_MODE_0))
        .value("ALT_MODE_1", BoardConfig::GPIO::ALT_MODE_1, DOC(dai, BoardConfig, GPIO, Mode, ALT_MODE_1))
        .value("ALT_MODE_2", BoardConfig::GPIO::ALT_MODE_2, DOC(dai, BoardConfig, GPIO, Mode, ALT_MODE_2))
        .value("ALT_MODE_3", BoardConfig::GPIO::ALT_MODE_3, DOC(dai, BoardConfig, GPIO, Mode, ALT_MODE_3))
        .value("ALT_MODE_4", BoardConfig::GPIO::ALT_MODE_4, DOC(dai, BoardConfig, GPIO, Mode, ALT_MODE_4))
        .value("ALT_MODE_5", BoardConfig::GPIO::ALT_MODE_5, DOC(dai, BoardConfig, GPIO, Mode, ALT_MODE_5))
        .value("ALT_MODE_6", BoardConfig::GPIO::ALT_MODE_6, DOC(dai, BoardConfig, GPIO, Mode, ALT_MODE_6))
        .value("DIRECT", BoardConfig::GPIO::DIRECT, DOC(dai, BoardConfig, GPIO, Mode, DIRECT))
        .export_values()
        ;

    // GPIO Direction
    boardConfigGpioDirection
        .value("INPUT", BoardConfig::GPIO::INPUT, DOC(dai, BoardConfig, GPIO, Direction, INPUT))
        .value("OUTPUT", BoardConfig::GPIO::OUTPUT, DOC(dai, BoardConfig, GPIO, Direction, OUTPUT))
        .export_values()
        ;

    // GPIO Level
    boardConfigGpioLevel
        .value("LOW", BoardConfig::GPIO::LOW, DOC(dai, BoardConfig, GPIO, Level, LOW))
        .value("HIGH", BoardConfig::GPIO::HIGH, DOC(dai, BoardConfig, GPIO, Level, HIGH))
        .export_values()
        ;

    // GPIO Pull
    boardConfigGpioPull
        .value("NO_PULL", BoardConfig::GPIO::NO_PULL, DOC(dai, BoardConfig, GPIO, Pull, NO_PULL))
        .value("PULL_UP", BoardConfig::GPIO::PULL_UP, DOC(dai, BoardConfig, GPIO, Pull, PULL_UP))
        .value("PULL_DOWN", BoardConfig::GPIO::PULL_DOWN, DOC(dai, BoardConfig, GPIO, Pull, PULL_DOWN))
        .value("BUS_KEEPER", BoardConfig::GPIO::BUS_KEEPER, DOC(dai, BoardConfig, GPIO, Pull, BUS_KEEPER))
        .export_values()
        ;

    // GPIO Drive
    boardConfigGpioDrive
        .value("MA_2", BoardConfig::GPIO::MA_2, DOC(dai, BoardConfig, GPIO, Drive, MA_2))
        .value("MA_4", BoardConfig::GPIO::MA_4, DOC(dai, BoardConfig, GPIO, Drive, MA_4))
        .value("MA_8", BoardConfig::GPIO::MA_8, DOC(dai, BoardConfig, GPIO, Drive, MA_8))
        .value("MA_12", BoardConfig::GPIO::MA_12, DOC(dai, BoardConfig, GPIO, Drive, MA_12))
        .export_values()
        ;

    // Bind BoardConfig::GPIO
    boardConfigGpio
        .def(py::init<>())
        .def(py::init<BoardConfig::GPIO::Direction>())
        .def(py::init<BoardConfig::GPIO::Direction, BoardConfig::GPIO::Level>())
        .def(py::init<BoardConfig::GPIO::Direction, BoardConfig::GPIO::Level, BoardConfig::GPIO::Pull>())
        .def(py::init<BoardConfig::GPIO::Direction, BoardConfig::GPIO::Mode>())
        .def(py::init<BoardConfig::GPIO::Direction, BoardConfig::GPIO::Mode, BoardConfig::GPIO::Pull>())
        .def_readwrite("mode", &BoardConfig::GPIO::mode)
        .def_readwrite("direction", &BoardConfig::GPIO::direction)
        .def_readwrite("level", &BoardConfig::GPIO::level)
        .def_readwrite("pull", &BoardConfig::GPIO::pull)
        .def_readwrite("drive", &BoardConfig::GPIO::drive)
        .def_readwrite("schmitt", &BoardConfig::GPIO::schmitt)
        .def_readwrite("slewFast", &BoardConfig::GPIO::slewFast)
    ;

    // Bind BoardConfig::UART
    boardConfigUart
        .def(py::init<>())
        .def_readwrite("tmp", &BoardConfig::UART::tmp)
    ;

    // Bind BoardConfig
    boardConfig
        .def(py::init<>())
        .def_readwrite("usb", &BoardConfig::usb)
        .def_readwrite("network", &BoardConfig::network)
        .def_readwrite("sysctl", &BoardConfig::sysctl)
        .def_readwrite("watchdogTimeoutMs", &BoardConfig::watchdogTimeoutMs)
        .def_readwrite("watchdogInitialDelayMs", &BoardConfig::watchdogInitialDelayMs)
        .def_readwrite("gpio", &BoardConfig::gpio)
        .def_readwrite("uart", &BoardConfig::uart)
        .def_readwrite("pcieInternalClock", &BoardConfig::pcieInternalClock)
        .def_readwrite("usb3PhyInternalClock", &BoardConfig::usb3PhyInternalClock)
        .def_readwrite("mipi4LaneRgb", &BoardConfig::mipi4LaneRgb)
        .def_readwrite("emmc", &BoardConfig::emmc)
        .def_readwrite("logPath", &BoardConfig::logPath)
        .def_readwrite("logSizeMax", &BoardConfig::logSizeMax)
        .def_readwrite("logVerbosity", &BoardConfig::logVerbosity)
    ;

    // Bind Device::Config
    deviceConfig
        .def(py::init<>())
        .def_readwrite("version", &Device::Config::version)
        .def_readwrite("board", &Device::Config::board)
    ;

    // Bind constructors
    bindConstructors<DeviceBase>(deviceBase);
    // Bind the rest
    deviceBase
        // Python only methods
        .def("__enter__", [](DeviceBase& d) -> DeviceBase& { return d; })
        .def("__exit__", [](DeviceBase& d, py::object type, py::object value, py::object traceback) {
            py::gil_scoped_release release;
            d.close();
        })
        .def("close", [](DeviceBase& d) { py::gil_scoped_release release; d.close(); }, "Closes the connection to device. Better alternative is the usage of context manager: `with depthai.Device(pipeline) as device:`")
        .def("isClosed", [](DeviceBase& d) { py::gil_scoped_release release; d.isClosed(); }, DOC(dai, DeviceBase, isClosed))

        //dai::Device methods
        //static
        .def_static("getAnyAvailableDevice", [](std::chrono::milliseconds ms){ return DeviceBase::getAnyAvailableDevice(ms); }, py::arg("timeout"), DOC(dai, DeviceBase, getAnyAvailableDevice))
        .def_static("getAnyAvailableDevice", [](){ return DeviceBase::getAnyAvailableDevice(); }, DOC(dai, DeviceBase, getAnyAvailableDevice, 2))
        .def_static("getFirstAvailableDevice", &DeviceBase::getFirstAvailableDevice, py::arg("skipInvalidDevices") = true, DOC(dai, DeviceBase, getFirstAvailableDevice))
        .def_static("getAllAvailableDevices", &DeviceBase::getAllAvailableDevices, DOC(dai, DeviceBase, getAllAvailableDevices))
        .def_static("getEmbeddedDeviceBinary", py::overload_cast<bool, OpenVINO::Version>(&DeviceBase::getEmbeddedDeviceBinary), py::arg("usb2Mode"), py::arg("version") = OpenVINO::DEFAULT_VERSION, DOC(dai, DeviceBase, getEmbeddedDeviceBinary))
        .def_static("getEmbeddedDeviceBinary", py::overload_cast<DeviceBase::Config>(&DeviceBase::getEmbeddedDeviceBinary), py::arg("config"), DOC(dai, DeviceBase, getEmbeddedDeviceBinary, 2))
        .def_static("getDeviceByMxId", &DeviceBase::getDeviceByMxId, py::arg("mxId"), DOC(dai, DeviceBase, getDeviceByMxId))

        // methods
        .def("isPipelineRunning", [](DeviceBase& d) { py::gil_scoped_release release; return d.isPipelineRunning(); }, DOC(dai, DeviceBase, isPipelineRunning))
        .def("startPipeline", [](DeviceBase& d){
            // Issue an deprecation warning
            PyErr_WarnEx(PyExc_DeprecationWarning, "Device(pipeline) starts the pipeline automatically. Use Device() and startPipeline(pipeline) otherwise", 1);
            HEDLEY_DIAGNOSTIC_PUSH
            HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
            py::gil_scoped_release release;
            d.startPipeline();
            HEDLEY_DIAGNOSTIC_POP
        }, DOC(dai, DeviceBase, startPipeline))
        .def("startPipeline", [](DeviceBase& d, const Pipeline& pipeline) { py::gil_scoped_release release; return d.startPipeline(pipeline); }, DOC(dai, DeviceBase, startPipeline, 2))

        // Doesn't require GIL release (eg, don't do RPC or long blocking things in background)
        .def("setLogOutputLevel", &DeviceBase::setLogOutputLevel, py::arg("level"), DOC(dai, DeviceBase, setLogOutputLevel))
        .def("getLogOutputLevel", &DeviceBase::getLogOutputLevel, DOC(dai, DeviceBase, getLogOutputLevel))

        // Requires GIL release
        .def("setLogLevel", [](DeviceBase& d, LogLevel l) { py::gil_scoped_release release; d.setLogLevel(l); }, py::arg("level"), DOC(dai, DeviceBase, setLogLevel))
        .def("getLogLevel", [](DeviceBase& d) { py::gil_scoped_release release; return d.getLogLevel(); }, DOC(dai, DeviceBase, getLogLevel))
        .def("setSystemInformationLoggingRate", [](DeviceBase& d, float hz) { py::gil_scoped_release release; d.setSystemInformationLoggingRate(hz); }, py::arg("rateHz"), DOC(dai, DeviceBase, setSystemInformationLoggingRate))
        .def("getSystemInformationLoggingRate", [](DeviceBase& d) { py::gil_scoped_release release; return d.getSystemInformationLoggingRate(); }, DOC(dai, DeviceBase, getSystemInformationLoggingRate))
        .def("getConnectedCameras", [](DeviceBase& d) { py::gil_scoped_release release; return d.getConnectedCameras(); }, DOC(dai, DeviceBase, getConnectedCameras))
        .def("getCameraSensorNames", [](DeviceBase& d) { py::gil_scoped_release release; return d.getCameraSensorNames(); }, DOC(dai, DeviceBase, getCameraSensorNames))
        .def("getDdrMemoryUsage", [](DeviceBase& d) { py::gil_scoped_release release; return d.getDdrMemoryUsage(); }, DOC(dai, DeviceBase, getDdrMemoryUsage))
        .def("getCmxMemoryUsage", [](DeviceBase& d) { py::gil_scoped_release release; return d.getCmxMemoryUsage(); }, DOC(dai, DeviceBase, getCmxMemoryUsage))
        .def("getLeonCssHeapUsage", [](DeviceBase& d) { py::gil_scoped_release release; return d.getLeonCssHeapUsage(); }, DOC(dai, DeviceBase, getLeonCssHeapUsage))
        .def("getLeonMssHeapUsage", [](DeviceBase& d) { py::gil_scoped_release release; return d.getLeonMssHeapUsage(); }, DOC(dai, DeviceBase, getLeonMssHeapUsage))
        .def("getChipTemperature", [](DeviceBase& d) { py::gil_scoped_release release; return d.getChipTemperature(); }, DOC(dai, DeviceBase, getChipTemperature))
        .def("getLeonCssCpuUsage", [](DeviceBase& d) { py::gil_scoped_release release; return d.getLeonCssCpuUsage(); }, DOC(dai, DeviceBase, getLeonCssCpuUsage))
        .def("getLeonMssCpuUsage", [](DeviceBase& d) { py::gil_scoped_release release; return d.getLeonMssCpuUsage(); }, DOC(dai, DeviceBase, getLeonMssCpuUsage))
        .def("addLogCallback", [](DeviceBase& d, std::function<void(LogMessage)> callback) { py::gil_scoped_release release; return d.addLogCallback(callback); }, py::arg("callback"), DOC(dai, DeviceBase, addLogCallback))
        .def("removeLogCallback", [](DeviceBase& d, int cbId) { py::gil_scoped_release release; return d.removeLogCallback(cbId); }, py::arg("callbackId"), DOC(dai, DeviceBase, removeLogCallback))
        .def("getUsbSpeed", [](DeviceBase& d) { py::gil_scoped_release release; return d.getUsbSpeed(); }, DOC(dai, DeviceBase, getUsbSpeed))
        .def("getDeviceInfo", [](DeviceBase& d) { py::gil_scoped_release release; return d.getDeviceInfo(); }, DOC(dai, DeviceBase, getDeviceInfo))
        .def("getMxId", [](DeviceBase& d) { py::gil_scoped_release release; return d.getMxId(); }, DOC(dai, DeviceBase, getMxId))
        .def("readCalibration", [](DeviceBase& d) { py::gil_scoped_release release; return d.readCalibration(); }, DOC(dai, DeviceBase, readCalibration))
        .def("flashCalibration", [](DeviceBase& d, CalibrationHandler calibrationDataHandler) { py::gil_scoped_release release; return d.flashCalibration(calibrationDataHandler); }, py::arg("calibrationDataHandler"), DOC(dai, DeviceBase, flashCalibration))
        .def("setXLinkChunkSize", [](DeviceBase& d, int s) { py::gil_scoped_release release; d.setXLinkChunkSize(s); }, py::arg("sizeBytes"), DOC(dai, DeviceBase, setXLinkChunkSize))
        .def("getXLinkChunkSize", [](DeviceBase& d) { py::gil_scoped_release release; return d.getXLinkChunkSize(); }, DOC(dai, DeviceBase, getXLinkChunkSize))
        .def("setIrLaserDotProjectorBrightness", [](DeviceBase& d, float m, int mask) { py::gil_scoped_release release; d.setIrLaserDotProjectorBrightness(m, mask); }, py::arg("mA"), py::arg("mask") = -1, DOC(dai, DeviceBase, setIrLaserDotProjectorBrightness))
        .def("setIrFloodLightBrightness", [](DeviceBase& d, float m, int mask) { py::gil_scoped_release release; d.setIrFloodLightBrightness(m, mask); }, py::arg("mA"), py::arg("mask") = -1, DOC(dai, DeviceBase, setIrFloodLightBrightness))
        .def("getIrDrivers", [](DeviceBase& d) { py::gil_scoped_release release; return d.getIrDrivers(); }, DOC(dai, DeviceBase, getIrDrivers))
        .def("isEepromAvailable", [](DeviceBase& d) { py::gil_scoped_release release; return d.isEepromAvailable(); }, DOC(dai, DeviceBase, isEepromAvailable))
        .def("flashCalibration2", [](DeviceBase& d, CalibrationHandler ch) { py::gil_scoped_release release; return d.flashCalibration2(ch); }, DOC(dai, DeviceBase, flashCalibration2))
        .def("readCalibration2", [](DeviceBase& d) { py::gil_scoped_release release; return d.readCalibration2(); }, DOC(dai, DeviceBase, readCalibration2))
        .def("readCalibrationOrDefault", [](DeviceBase& d) { py::gil_scoped_release release; return d.readCalibrationOrDefault(); }, DOC(dai, DeviceBase, readCalibrationOrDefault))
        .def("factoryResetCalibration", [](DeviceBase& d) { py::gil_scoped_release release; return d.factoryResetCalibration(); }, DOC(dai, DeviceBase, factoryResetCalibration))
        .def("flashFactoryCalibration", [](DeviceBase& d, CalibrationHandler ch) { py::gil_scoped_release release; return d.flashFactoryCalibration(ch); }, DOC(dai, DeviceBase, flashFactoryCalibration))
        .def("readFactoryCalibration", [](DeviceBase& d) { py::gil_scoped_release release; return d.readFactoryCalibration(); }, DOC(dai, DeviceBase, readFactoryCalibration))
        .def("readFactoryCalibrationOrDefault", [](DeviceBase& d) { py::gil_scoped_release release; return d.readFactoryCalibrationOrDefault(); }, DOC(dai, DeviceBase, readFactoryCalibrationOrDefault))
        .def("readCalibrationRaw", [](DeviceBase& d) { py::gil_scoped_release release; return d.readCalibrationRaw(); }, DOC(dai, DeviceBase, readCalibrationRaw))
        .def("readFactoryCalibrationRaw", [](DeviceBase& d) { py::gil_scoped_release release; return d.readFactoryCalibrationRaw(); }, DOC(dai, DeviceBase, readFactoryCalibrationRaw))
    ;


    // Bind constructors
    bindConstructors<Device>(device);
    // Bind the rest
    device
        .def("getOutputQueue", static_cast<std::shared_ptr<DataOutputQueue>(Device::*)(const std::string&)>(&Device::getOutputQueue), py::arg("name"), DOC(dai, Device, getOutputQueue))
        .def("getOutputQueue", static_cast<std::shared_ptr<DataOutputQueue>(Device::*)(const std::string&, unsigned int, bool)>(&Device::getOutputQueue), py::arg("name"), py::arg("maxSize"), py::arg("blocking") = true, DOC(dai, Device, getOutputQueue, 2))
        .def("getOutputQueueNames", &Device::getOutputQueueNames, DOC(dai, Device, getOutputQueueNames))

        .def("getInputQueue", static_cast<std::shared_ptr<DataInputQueue>(Device::*)(const std::string&)>(&Device::getInputQueue), py::arg("name"), DOC(dai, Device, getInputQueue))
        .def("getInputQueue", static_cast<std::shared_ptr<DataInputQueue>(Device::*)(const std::string&, unsigned int, bool)>(&Device::getInputQueue), py::arg("name"), py::arg("maxSize"), py::arg("blocking") = true, DOC(dai, Device, getInputQueue, 2))
        .def("getInputQueueNames", &Device::getInputQueueNames, DOC(dai, Device, getInputQueueNames))

        .def("getQueueEvents", [](Device& d, const std::vector<std::string>& queueNames, std::size_t maxNumEvents, std::chrono::microseconds timeout) {
            return deviceGetQueueEventsHelper(d, queueNames, maxNumEvents, timeout);
        }, py::arg("queueNames"), py::arg("maxNumEvents") = std::numeric_limits<std::size_t>::max(), py::arg("timeout") = std::chrono::microseconds(-1), DOC(dai, Device, getQueueEvents))
        .def("getQueueEvents", [](Device& d, std::string queueName, std::size_t maxNumEvents, std::chrono::microseconds timeout) {
            return deviceGetQueueEventsHelper(d, std::vector<std::string>{queueName}, maxNumEvents, timeout);
        }, py::arg("queueName"), py::arg("maxNumEvents") = std::numeric_limits<std::size_t>::max(), py::arg("timeout") = std::chrono::microseconds(-1), DOC(dai, Device, getQueueEvents, 3))
        .def("getQueueEvents", [](Device& d, std::size_t maxNumEvents, std::chrono::microseconds timeout) {
            return deviceGetQueueEventsHelper(d, d.getOutputQueueNames(), maxNumEvents, timeout);
        }, py::arg("maxNumEvents") = std::numeric_limits<std::size_t>::max(), py::arg("timeout") = std::chrono::microseconds(-1), DOC(dai, Device, getQueueEvents, 4))

        .def("getQueueEvent", [](Device& d, const std::vector<std::string>& queueNames, std::chrono::microseconds timeout) {
            auto events = deviceGetQueueEventsHelper(d, queueNames, std::numeric_limits<std::size_t>::max(), timeout);
            if(events.empty()) return std::string("");
            return events[0];
        }, py::arg("queueNames"), py::arg("timeout") = std::chrono::microseconds(-1), DOC(dai, Device, getQueueEvent))

        .def("getQueueEvent", [](Device& d, std::string queueName, std::chrono::microseconds timeout) {
            auto events = deviceGetQueueEventsHelper(d, std::vector<std::string>{queueName}, std::numeric_limits<std::size_t>::max(), timeout);
            if(events.empty()) return std::string("");
            return events[0];
        }, py::arg("queueName"), py::arg("timeout") = std::chrono::microseconds(-1), DOC(dai, Device, getQueueEvent, 3))

        .def("getQueueEvent", [](Device& d, std::chrono::microseconds timeout) {
            auto events = deviceGetQueueEventsHelper(d, d.getOutputQueueNames(), std::numeric_limits<std::size_t>::max(), timeout);
            if(events.empty()) return std::string("");
            return events[0];
        }, py::arg("timeout") = std::chrono::microseconds(-1), DOC(dai, Device, getQueueEvent, 4))

        //.def("setCallback", DeviceWrapper::wrap(&Device::setCallback), py::arg("name"), py::arg("callback"))

    ;

    clock.def("now", &Clock::now);

}