Merge branch 'callback_fix' into develop

luxonis · Apr 26, 2021 · 59ed8ab · 59ed8ab
2 parents 0f54d1f + d0af8ce
commit 59ed8ab
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Showing 5 changed files with 29 additions and 17 deletions.
diff --git a/cmake/Hunter/config.cmake b/cmake/Hunter/config.cmake
@@ -2,6 +2,6 @@
 hunter_config(
     pybind11
     VERSION "2.6.3dev1"
-    URL "https://github.com/bstaletic/pybind11/archive/a4932c114a3a43c9d0157805a23c0c726e461b96.tar.gz"
-    SHA1 "e65484c0aa7dc3220123a7e48a50ae7a8cecdd1c"
+    URL "https://github.com/pybind/pybind11/archive/54430436fee2afc4f8443691075a6208f9ea8eba.tar.gz"
+    SHA1 "c8550f7d77e92045c996d17f1d214223d1e2e620"
 )
diff --git a/depthai-core b/depthai-core
diff --git a/src/DataQueueBindings.cpp b/src/DataQueueBindings.cpp
@@ -11,28 +11,42 @@ void DataQueueBindings::bind(pybind11::module& m){
     using namespace dai;
     using namespace std::chrono;
 
-    // To prevent blocking whole python interpreter, blocking functions like 'get' and 'send' 
+    // To prevent blocking whole python interpreter, blocking functions like 'get' and 'send'
     // are pooled with a reasonable delay and check for python interrupt signal in between.
 
     // Bind DataOutputQueue
+    auto addCallbackLambda = [](DataOutputQueue& q, py::function cb) -> int {
+        pybind11::module inspect_module = pybind11::module::import("inspect");
+        pybind11::object result = inspect_module.attr("signature")(cb).attr("parameters");
+        auto numParams = pybind11::len(result);
+        if(numParams == 2){
+            return q.addCallback(cb.cast<std::function<void(std::string, std::shared_ptr<ADatatype>)>>());
+        } else if (numParams == 1){
+            return q.addCallback(cb.cast<std::function<void(std::shared_ptr<ADatatype>)>>());
+        } else if (numParams == 0){
+            return q.addCallback(cb.cast<std::function<void()>>());
+        } else {
+            throw py::value_error("Callback must take either zero, one or two arguments");
+        }
+    };
     py::class_<DataOutputQueue, std::shared_ptr<DataOutputQueue>>(m, "DataOutputQueue", DOC(dai, DataOutputQueue))
         .def("getName", &DataOutputQueue::getName, DOC(dai, DataOutputQueue, getName))
 
-        .def("addCallback", static_cast<int(DataOutputQueue::*)(std::function<void(std::string, std::shared_ptr<ADatatype>)>)>(&DataOutputQueue::addCallback), py::arg("callback"), DOC(dai, DataOutputQueue, addCallback))
-        .def("addCallback", static_cast<int(DataOutputQueue::*)(std::function<void(std::shared_ptr<ADatatype>)>)>(&DataOutputQueue::addCallback), py::arg("callback"), DOC(dai, DataOutputQueue, addCallback, 2))
-        .def("addCallback", static_cast<int(DataOutputQueue::*)(std::function<void()>)>(&DataOutputQueue::addCallback), py::arg("callback"), DOC(dai, DataOutputQueue, addCallback, 3))
+        .def("addCallback", addCallbackLambda, py::arg("callback"), DOC(dai, DataOutputQueue, addCallback))
+        .def("addCallback", addCallbackLambda, py::arg("callback"), DOC(dai, DataOutputQueue, addCallback, 2))
+        .def("addCallback", addCallbackLambda, py::arg("callback"), DOC(dai, DataOutputQueue, addCallback, 3))
         .def("removeCallback", &DataOutputQueue::removeCallback, py::arg("callbackId"), DOC(dai, DataOutputQueue, removeCallback))
 
         .def("setBlocking", &DataOutputQueue::setBlocking, py::arg("blocking"), DOC(dai, DataOutputQueue, setBlocking))
         .def("getBlocking", &DataOutputQueue::getBlocking, DOC(dai, DataOutputQueue, getBlocking))
         .def("setMaxSize", &DataOutputQueue::setMaxSize, py::arg("maxSize"), DOC(dai, DataOutputQueue, setMaxSize))
         .def("getMaxSize", &DataOutputQueue::getMaxSize, DOC(dai, DataOutputQueue, getMaxSize))
         .def("getAll", [](DataOutputQueue& obj){
-          
+
             std::vector<std::shared_ptr<ADatatype>> messages;
             bool timedout = true;
             do {
-                {          
+                {
                     // releases python GIL
                     py::gil_scoped_release release;
 
@@ -50,15 +64,15 @@ void DataQueueBindings::bind(pybind11::module& m){
             return messages;
         }, DOC(dai, DataOutputQueue, getAll, 2))
         .def("get", [](DataOutputQueue& obj){
-          
+
             std::shared_ptr<ADatatype> d = nullptr;
             bool timedout = true;
             do {
-                {          
+                {
                     // releases python GIL
                     py::gil_scoped_release release;
 
-                    // block for 100ms                    
+                    // block for 100ms
                     d = obj.get(milliseconds(100), timedout);
                 }
 
@@ -84,7 +98,7 @@ void DataQueueBindings::bind(pybind11::module& m){
         .def("setMaxSize", &DataInputQueue::setMaxSize, py::arg("maxSize"), DOC(dai, DataInputQueue, setMaxSize))
         .def("getMaxSize", &DataInputQueue::getMaxSize, DOC(dai, DataInputQueue, getMaxSize))
         .def("send", [](DataInputQueue& obj, std::shared_ptr<ADatatype> d){
-            
+
             bool sent = false;
             do {
 

diff --git a/src/DeviceBootloaderBindings.cpp b/src/DeviceBootloaderBindings.cpp
@@ -3,9 +3,6 @@
 // depthai
 #include "depthai/device/DeviceBootloader.hpp"
 
-// pybind for functions
-#include "pybind11/functional.h"
-
 void DeviceBootloaderBindings::bind(pybind11::module& m){
 
     using namespace dai;
@@ -34,7 +31,7 @@ void DeviceBootloaderBindings::bind(pybind11::module& m){
         .def_static("createDepthaiApplicationPackage", &DeviceBootloader::createDepthaiApplicationPackage, py::arg("pipeline"), py::arg("pathToCmd") = "", DOC(dai, DeviceBootloader, createDepthaiApplicationPackage))
         .def_static("getEmbeddedBootloaderVersion", &DeviceBootloader::getEmbeddedBootloaderVersion, DOC(dai, DeviceBootloader, getEmbeddedBootloaderVersion))
         .def_static("getEmbeddedBootloaderBinary", &DeviceBootloader::getEmbeddedBootloaderBinary, DOC(dai, DeviceBootloader, getEmbeddedBootloaderBinary))
-        
+
         .def(py::init<const DeviceInfo&>(), py::arg("deviceDesc"), DOC(dai, DeviceBootloader, DeviceBootloader))
         .def(py::init<const DeviceInfo&, std::string>(), py::arg("deviceDesc"), py::arg("pathToCmd"), DOC(dai, DeviceBootloader, DeviceBootloader, 2))
         .def("flash", &DeviceBootloader::flash, py::arg("progressCallback"), py::arg("pipeline"), DOC(dai, DeviceBootloader, flash))

diff --git a/src/pybind11_common.hpp b/src/pybind11_common.hpp
@@ -6,6 +6,7 @@
 
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
+#include <pybind11/functional.h>
 #include <pybind11/numpy.h>
 #include <cstdint>
+9 −1		src/device/DataQueue.cpp
+19 −0		src/utility/Resources.cpp