Initial import of the host source code

.gitignore

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+# Microsoft Visual Studio Code
+.project
+.vscode/
+
+# Auto-generated
+shared/version.hpp

.gitmodules

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+[submodule "host/py_module/3rdparty/pybind11"]
+	path = host/py_module/3rdparty/pybind11
+	url = https://github.com/pybind/pybind11.git
+	branch = stable
+[submodule "host/core/3rdparty/loguru"]
+	path = host/core/3rdparty/loguru
+	url = https://github.com/emilk/loguru.git
+[submodule "shared/3rdparty/dldt"]
+	path = shared/3rdparty/dldt
+	url = https://github.com/opencv/dldt.git
+[submodule "shared/3rdparty/json"]
+	path = shared/3rdparty/json
+	url = https://github.com/nlohmann/json.git
+[submodule "shared/3rdparty/json-schema-validator"]
+	path = shared/3rdparty/json-schema-validator
+	url = https://github.com/pboettch/json-schema-validator.git

README.md

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+# depthai-api
+
+Host-side DepthAI source code
+
+## Content description
+
+- **host** - contains the code which runs on the host computer (Raspberry Pi or a PC that has a DepthAI device connected). This part has:
+
+  - **py_module** - python module (made only with C++ code with `pybind11`). Builds an `.so` libray that can be imported with python.  
+  - **app** - C++ app for easier debugging and development.  
+  - **core** - main functionality of the host, which is used in `py_module` and `app`.  
+
+- **shared** - code that is shared between host and DepthAI device. This code gets also into the firmware binary `depthai.cmd`  
+
+## Tested platforms
+
+- Ubuntu 16.04;
+- Ubuntu 18.04;
+- Raspbian 10;
+
+## Setup
+
+- Install development environement dependencies:
+
+      sudo apt-get install -y git python-pip cmake cmake-gui libusb-1.0-0-dev
+
+- After cloning the repo, update the third-party libraries used:
+
+      ./install_dependencies.sh
+
+
+## Build and run
+
+- **host/py_module**
+
+      cd host/py_module
+      mkdir -p build
+      cd build
+      cmake ..
+      make -j
+  Alternatively, when this repo is used as a submodule in https://github.com/luxonis/depthai-python-extras, the build process can be automated with the script below, that is also copying the generated `.so` back to `depthai-python-extras`:
+  - `./build_py_module.sh`  
+    first it does a full build, then at subsequent runs compiles only the modified source files.
+  - `./build_py_module.sh --clean`  
+    cleans up the build folder and does a full rebuild.
+
+
+- **host/app**  
+  (Note: this is currently outdated and doesn't run properly)  
+  `DEPTHAI_EXTRAS_PATH` in `main.cpp` may have to be adjusted first.
+
+      cd host/app
+      mkdir -p build
+      cd build
+      cmake ..
+      make -j
+      ./depthai_app
+
+

build_py_module.sh

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+#!/bin/bash
+
+INITIAL_DIR=`pwd`
+SOURCE_DIR=$(dirname "$0")
+BUILD_DIR=build
+NUM_CORES=`nproc`
+
+print_exec() {
+    REL_PATH="realpath --relative-to=$INITIAL_DIR `pwd`"
+    echo "[BUILD `$REL_PATH`] $@"
+    "$@"
+}
+
+cd "$SOURCE_DIR/host/py_module"
+
+if  [[ $1 = "--clean" ]]; then
+    print_exec rm -r $BUILD_DIR
+fi
+
+mkdir -p $BUILD_DIR
+cd $BUILD_DIR
+
+if [ ! -f Makefile ]; then
+    print_exec cmake ..
+fi
+
+print_exec make -j$NUM_CORES
+
+DEPTHAI_LIB=(*.so)
+print_exec cp ${DEPTHAI_LIB[0]} ../../../../
+

host/app/.gitignore

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+build/

host/app/CMakeLists.txt

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+set(APP_NAME depthai_app)
+
+set(dldt_dir ../../shared/3rdparty/dldt)
+
+cmake_minimum_required(VERSION 2.8.12)
+
+project(${APP_NAME})
+
+
+add_definitions(-D__PC__)
+add_definitions(-DUSE_USB_VSC) # for XLink communication
+# add_definitions(-DXLINK_USB_DATA_TIMEOUT=0)
+# add_definitions(-DXLINK_COMMON_TIMEOUT_MSEC=0)
+
+if(CMAKE_COMPILER_IS_GNUCXX)
+    set(CMAKE_CXX_FLAGS "-std=c++17 ${CMAKE_CXX_FLAGS}")
+    message(STATUS "optional:-std=c++17")   
+endif(CMAKE_COMPILER_IS_GNUCXX)
+
+
+# find_package(OpenCV REQUIRED )
+# find_package(PythonLibs 3 REQUIRED)
+
+include(${dldt_dir}/inference-engine/thirdparty/movidius/XLink/XLink.cmake)
+
+include_directories(
+    ./
+    ../core/
+    ../../shared/
+    ${XLINK_INCLUDE_DIRECTORIES}
+)
+
+
+
+# if(DEFINED BUILD_FOR_PYTHON)
+#     message("building for python")
+#     add_subdirectory(pybind11)
+#     pybind11_add_module(
+#         ${APP_NAME}        
+#         wrapper.cpp
+#         program_raw_options.cpp
+#         ../core/pipeline/host_pipeline.cpp
+#         ../../shared/xlink/xlink_wrapper.cpp
+#         ${XLINK_SOURCES}
+#     )
+# else(DEFINED BUILD_FOR_PYTHON)
+    message("building for direct")
+    add_executable( ${APP_NAME}
+        main.cpp
+        program_raw_options.cpp
+        ../../shared/logger/logs_writer.cpp
+        ../../host/core/3rdparty/loguru/loguru.cpp
+        ../../shared/general/data_writer.cpp
+        ../../shared/json_helper.cpp
+        host_logs_writer.cpp
+        ../core/pipeline/host_pipeline.cpp
+        ../core/pipeline/host_pipeline_config.cpp
+        ../core/pipeline/cnn_host_pipeline.cpp
+        ../../shared/stream/stream_info.cpp
+        ../../shared/xlink/xlink_wrapper.cpp
+        ../core/types.cpp
+        ../core/host_json_helper.cpp
+        ../core/host_data_reader.cpp
+        ../core/host_data_reader.cpp
+        ../core/disparity_stream_post_processor.cpp        
+        ../../shared/disparity_luts.cpp
+        ${XLINK_SOURCES}
+    )
+# endif(DEFINED BUILD_FOR_PYTHON)
+
+
+
+# nlohman JSON
+set(nlohmann_json_DIR ../../shared/3rdparty/json)
+
+include_directories(${nlohmann_json_DIR}/include/)
+set(JSON_BuildTests OFF CACHE INTERNAL "")
+add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/${nlohmann_json_DIR} ${CMAKE_CURRENT_BINARY_DIR}/json)
+
+
+# nlohman JSON validator
+set(BUILD_TESTS OFF CACHE INTERNAL "")
+set(BUILD_EXAMPLES OFF CACHE INTERNAL "")
+
+add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../../shared/3rdparty/json-schema-validator/ ${CMAKE_CURRENT_BINARY_DIR}/json-schema-validator)
+
+
+
+# for commit hash
+# TODO: maybe we shoud add it into another .cmake and than include here?
+find_package(Git)
+
+set(commit_version "unknown")
+
+if(GIT_FOUND)
+  execute_process(
+    COMMAND ${GIT_EXECUTABLE} rev-parse HEAD
+    WORKING_DIRECTORY "${local_dir}"
+    OUTPUT_VARIABLE commit_version
+    ERROR_QUIET
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+  )
+else()
+  message(STATUS "GIT module not found")
+endif()
+
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/../../shared/version.hpp.in ${CMAKE_CURRENT_SOURCE_DIR}/../../shared/version.hpp @ONLY)
+
+
+
+# link libraries
+target_link_libraries(
+   ${APP_NAME}
+   PRIVATE
+   -lusb-1.0
+   -lpthread
+   -ldl
+    nlohmann_json::nlohmann_json
+    nlohmann_json_schema_validator
+)

host/app/host_logs_writer.cpp

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+#include <assert.h>
+
+#include <iostream>
+#include <array>
+
+
+#include "../../host/core/3rdparty/loguru/loguru.hpp"
+#include <host_logs_writer.hpp>
+
+HostLogsWriter* HostLogsWriter::createInstanse()
+{
+	if(instance) { std::cout << "HostLogsWriter instannce has already been created" << std::endl; }
+	else { instance = new HostLogsWriter; };
+}
+
+bool HostLogsWriter::init
+(
+    LogType log_type,
+    bool logs_to_file,
+    bool logs_to_screen,
+    const std::string& file_path
+)
+{
+    loguru::g_preamble_uptime  = false;
+	loguru::g_preamble_thread = false;
+	loguru::g_preamble_file = false;
+
+
+    std::array<loguru::Verbosity, 4> loguru_log_level =
+    {
+        loguru::Verbosity_FATAL,
+        loguru::Verbosity_ERROR,
+        loguru::Verbosity_WARNING,
+        loguru::Verbosity_INFO
+    };
+
+    assert(log_type < loguru_log_level.size());
+    loguru::g_stderr_verbosity = loguru_log_level[log_type];
+
+    if (logs_to_file) { loguru::add_file(file_path.c_str(), loguru::Append, loguru_log_level[log_type]); };
+
+}
+
+void HostLogsWriter::log
+(
+    LogType log_type,
+    const std::string& msg
+)
+{
+    if (log_type == 0)      { LOG_F(FATAL, msg.c_str()); } 
+    else if (log_type == 1) { LOG_F(ERROR, msg.c_str()); }
+    else if (log_type == 2) { LOG_F(WARNING, msg.c_str()); }
+    else if (log_type == 3) { LOG_F(INFO, msg.c_str()); }
+}

host/app/host_logs_writer.hpp

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+#include <iostream>
+
+#include <../../shared/logger/logs_writer.hpp>
+
+class HostLogsWriter
+    : public LogsWriter
+{
+protected:
+    HostLogsWriter         () {}
+    virtual ~HostLogsWriter() {}
+public:    
+    bool                   init          (LogType log_type, bool logs_to_file, bool logs_to_screen, const std::string& file_path) override;
+    void                   log           (LogType log_type, const std::string& msg) override; 
+    static HostLogsWriter* createInstanse();
+};