new class dai::Path for APIs that accept path/filenames (#384)

* initial dai::Path and test cases - fixes #352 * move codecvt from header -> cpp * add Path::string() and u8string() - to enable display/log of Path * fmt for dai::Path; NN::setBlobPath(dai::Path) * dia::path throws like std::fs::path * c++17, pub/pvt header, test cmake c++ std level - enable c++17 std::filesystem support and test cases - split header into public/private parts - cmake for test cases now supports optional c++ standard level param * verify c++ std compiler support for tests - add COMPILER_SUPPORTS_CXX{14,17,20,23} vars to Flags.cmake and can be used everywhere * add dai::Path::empty() * add dai::Path to Device, DeviceBase, Resources - simplify Device, DeviceBase constructors by delegating - add is_same<> template on constructors with bool param to prevent implicit convert of almost everything to bool - make two DeviceInfo constructors explicit to prevent their use in implicit conversion - relevant test cases - fix minor throw text bugs * fix Device usb2Mode sigs, add test case * add dai::Path to CalibrationHandler * minor refactor dai::Path * enable 2 Calibration+1 Bootloader example * add dai::Path to DeviceBootloader, XLinkConnection - plus test cases * add dai::Path to Pipeline, StereoDepth, AssetManager - plus test cases * add dai::Path to dai::Script + test cases * linux fixes for test cases, and c++14 type_traits * add doxygen to dai::Path * detect compiler c++ std level and update cmake * fix preprocessor flag for tests on MSVC - fixes luxonis/depthai-core/issues#408 * partial dai::Path support for c++20 utf-8 - unable to fully test due to bug #407 * add windows header define WIN32_LEAN_AND_MEAN * rename macro to DEPTHAI_NODISCARD - review feedback
luxonis · Apr 9, 2022 · 636cbb5 · 636cbb5
1 parent ec14f9a
commit 636cbb5
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Showing 34 changed files with 965 additions and 247 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -216,6 +216,7 @@ add_library(${TARGET_CORE_NAME}
     src/pipeline/datatype/FeatureTrackerConfig.cpp
     src/utility/Initialization.cpp
     src/utility/Resources.cpp
+    src/utility/Path.cpp
     src/utility/Platform.cpp
     src/utility/Environment.cpp
     src/xlink/XLinkConnection.cpp

diff --git a/cmake/Flags.cmake b/cmake/Flags.cmake
@@ -45,6 +45,9 @@ function(add_default_flags target)
 
     elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
         # using Visual Studio C++
+        add_flag(${target} -DNOMINMAX)
+        add_flag(${target} -DWIN32_LEAN_AND_MEAN)
+
         if(NOT ADF_LEAN)
             # TODO(warchant): add flags https://github.com/lefticus/cppbestpractices/blob/master/02-Use_the_Tools_Available.md#msvc
         endif()
@@ -78,4 +81,49 @@ function(add_default_flags target)
         endif()
     endif()
 
-endfunction()
+endfunction()
+
+# discover compiler C++ standard support
+if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
+    check_cxx_compiler_flag("-std:c++14" COMPILER_SUPPORTS_CXX14)
+    check_cxx_compiler_flag("-std:c++17" COMPILER_SUPPORTS_CXX17)
+    check_cxx_compiler_flag("-std:c++20" COMPILER_SUPPORTS_CXX20)
+    check_cxx_compiler_flag("-std:c++23" COMPILER_SUPPORTS_CXX23)
+    if(COMPILER_SUPPORTS_CXX14)
+        set(CMAKE_CXX14_STANDARD_COMPILE_OPTION "-std:c++14")
+        set(CMAKE_CXX14_EXTENSION_COMPILE_OPTION "-std:c++14")
+    endif()
+    if(COMPILER_SUPPORTS_CXX17)
+        set(CMAKE_CXX17_STANDARD_COMPILE_OPTION "-std:c++17")
+        set(CMAKE_CXX17_EXTENSION_COMPILE_OPTION "-std:c++17")
+    endif()
+    if(COMPILER_SUPPORTS_CXX20)
+        set(CMAKE_CXX20_STANDARD_COMPILE_OPTION "-std:c++20")
+        set(CMAKE_CXX20_EXTENSION_COMPILE_OPTION "-std:c++20")
+    endif()
+    if(COMPILER_SUPPORTS_CXX23)
+        set(CMAKE_CXX23_STANDARD_COMPILE_OPTION "-std:c++23")
+        set(CMAKE_CXX23_EXTENSION_COMPILE_OPTION "-std:c++23")
+    endif()
+elseif("${CMAKE_CXX_COMPILER_ID}" MATCHES "^(AppleClang|Clang|GNU)$")
+    check_cxx_compiler_flag("-std=c++14" COMPILER_SUPPORTS_CXX14)
+    check_cxx_compiler_flag("-std=c++17" COMPILER_SUPPORTS_CXX17)
+    check_cxx_compiler_flag("-std=c++20" COMPILER_SUPPORTS_CXX20)
+    check_cxx_compiler_flag("-std=c++23" COMPILER_SUPPORTS_CXX23)
+    if(COMPILER_SUPPORTS_CXX14)
+        set(CMAKE_CXX14_STANDARD_COMPILE_OPTION "-std=c++14")
+        set(CMAKE_CXX14_EXTENSION_COMPILE_OPTION "-std=gnu++14")
+    endif()
+    if(COMPILER_SUPPORTS_CXX17)
+        set(CMAKE_CXX17_STANDARD_COMPILE_OPTION "-std=c++17")
+        set(CMAKE_CXX17_EXTENSION_COMPILE_OPTION "-std=gnu++17")
+    endif()
+    if(COMPILER_SUPPORTS_CXX20)
+        set(CMAKE_CXX20_STANDARD_COMPILE_OPTION "-std=c++20")
+        set(CMAKE_CXX20_EXTENSION_COMPILE_OPTION "-std=gnu++20")
+    endif()
+    if(COMPILER_SUPPORTS_CXX23)
+        set(CMAKE_CXX23_STANDARD_COMPILE_OPTION "-std=c++23")
+        set(CMAKE_CXX23_EXTENSION_COMPILE_OPTION "-std=gnu++23")
+    endif()
+endif()
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -171,14 +171,14 @@ hunter_private_data(
 # bootloader
 dai_add_example(bootloader_version bootloader/bootloader_version.cpp ON)
 dai_add_example(flash_bootloader bootloader/flash_bootloader.cpp OFF)
-dai_add_example(bootloader_config bootloader/bootloader_config.cpp OFF)
+dai_add_example(bootloader_config bootloader/bootloader_config.cpp ON read)
 dai_add_example(poe_set_ip bootloader/poe_set_ip.cpp OFF)
 
 # calibration
 dai_add_example(calibration_flash calibration/calibration_flash.cpp OFF)
 dai_add_example(calibration_flash_version5 calibration/calibration_flash_v5.cpp OFF)
-dai_add_example(calibration_load calibration/calibration_load.cpp OFF)
-dai_add_example(calibration_reader calibration/calibration_reader.cpp OFF)
+dai_add_example(calibration_load calibration/calibration_load.cpp ON)
+dai_add_example(calibration_reader calibration/calibration_reader.cpp ON)
 
 target_compile_definitions(calibration_flash PRIVATE CALIB_PATH="${calib_v6}")
 target_compile_definitions(calibration_flash_version5 PRIVATE CALIB_PATH="${calib_v5}" BOARD_PATH="${device_config}")

diff --git a/examples/bootloader/bootloader_config.cpp b/examples/bootloader/bootloader_config.cpp
@@ -42,6 +42,15 @@ int main(int argc, char** argv) {
         if(read) {
             std::cout << "Current flashed configuration\n" << bl.readConfigData().dump(4) << std::endl;
         } else {
+            std::cout << "Warning! Flashing bootloader config can potentially soft brick your device and should be done with caution." << std::endl;
+            std::cout << "Do not unplug your device while the bootloader config is flashing." << std::endl;
+            std::cout << "Type 'y' and press enter to proceed, otherwise exits: ";
+            std::cin.ignore();
+            if(std::cin.get() != 'y') {
+                std::cout << "Prompt declined, exiting..." << std::endl;
+                return -1;
+            }
+
             bool success;
             std::string error;
             if(clear) {

diff --git a/include/depthai/device/CalibrationHandler.hpp b/include/depthai/device/CalibrationHandler.hpp
@@ -6,6 +6,7 @@
 #include "depthai-shared/common/EepromData.hpp"
 #include "depthai-shared/common/Point2f.hpp"
 #include "depthai-shared/common/Size2f.hpp"
+#include "depthai/utility/Path.hpp"
 
 namespace dai {
 /**
@@ -21,7 +22,7 @@ class CalibrationHandler {
      *
      * @param eepromDataPath takes the full path to the json file containing the calibration and device info.
      */
-    explicit CalibrationHandler(std::string eepromDataPath);
+    explicit CalibrationHandler(dai::Path eepromDataPath);
 
     /**
      * Construct a new Calibration Handler object using the board
@@ -30,7 +31,7 @@ class CalibrationHandler {
      * @param calibrationDataPath Full Path to the .calib binary file from the gen1 calibration. (Supports only Version 5)
      * @param boardConfigPath Full Path to the board config json file containing device information.
      */
-    CalibrationHandler(std::string calibrationDataPath, std::string boardConfigPath);
+    CalibrationHandler(dai::Path calibrationDataPath, dai::Path boardConfigPath);
 
     /**
      * Construct a new Calibration Handler object from EepromData object.
@@ -284,7 +285,7 @@ class CalibrationHandler {
      * @param destPath  Full path to the json file in which raw calibration data will be stored
      * @return True on success, false otherwise
      */
-    bool eepromToJsonFile(std::string destPath) const;
+    bool eepromToJsonFile(dai::Path destPath) const;
 
     /**
      * Set the Board Info object

diff --git a/include/depthai/device/Device.hpp b/include/depthai/device/Device.hpp
@@ -31,9 +31,10 @@ class Device : public DeviceBase {
     /**
      * Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
      * @param pipeline Pipeline to be executed on the device
-     * @param usb2Mode Boot device using USB2 mode firmware
+     * @param usb2Mode (bool) Boot device using USB2 mode firmware
      */
-    Device(const Pipeline& pipeline, bool usb2Mode);
+    template <typename T, std::enable_if_t<std::is_same<T, bool>::value, bool> = true>
+    Device(const Pipeline& pipeline, T usb2Mode) : DeviceBase(pipeline, usb2Mode ? UsbSpeed::HIGH : DeviceBase::DEFAULT_USB_SPEED) {}
 
     /**
      * Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
@@ -47,14 +48,7 @@ class Device : public DeviceBase {
      * @param pipeline Pipeline to be executed on the device
      * @param pathToCmd Path to custom device firmware
      */
-    Device(const Pipeline& pipeline, const char* pathToCmd);
-
-    /**
-     * Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
-     * @param pipeline Pipeline to be executed on the device
-     * @param pathToCmd Path to custom device firmware
-     */
-    Device(const Pipeline& pipeline, const std::string& pathToCmd);
+    Device(const Pipeline& pipeline, const dai::Path& pathToCmd);
 
     /**
      * Connects to device specified by devInfo.
@@ -67,9 +61,11 @@ class Device : public DeviceBase {
      * Connects to device specified by devInfo.
      * @param pipeline Pipeline to be executed on the device
      * @param devInfo DeviceInfo which specifies which device to connect to
-     * @param usb2Mode Boot device using USB2 mode firmware
+     * @param usb2Mode (bool) Boot device using USB2 mode firmware
      */
-    Device(const Pipeline& pipeline, const DeviceInfo& devInfo, bool usb2Mode);
+    template <typename T, std::enable_if_t<std::is_same<T, bool>::value, bool> = true>
+    Device(const Pipeline& pipeline, const DeviceInfo& devInfo, T usb2Mode)
+        : DeviceBase(pipeline, devInfo, usb2Mode ? UsbSpeed::HIGH : DeviceBase::DEFAULT_USB_SPEED) {}
 
     /**
      * Connects to device specified by devInfo.
@@ -85,15 +81,7 @@ class Device : public DeviceBase {
      * @param devInfo DeviceInfo which specifies which device to connect to
      * @param pathToCmd Path to custom device firmware
      */
-    Device(const Pipeline& pipeline, const DeviceInfo& devInfo, const char* pathToCmd);
-
-    /**
-     * Connects to device specified by devInfo.
-     * @param pipeline Pipeline to be executed on the device
-     * @param devInfo DeviceInfo which specifies which device to connect to
-     * @param pathToCmd Path to custom device firmware
-     */
-    Device(const Pipeline& pipeline, const DeviceInfo& devInfo, const std::string& pathToCmd);
+    Device(const Pipeline& pipeline, const DeviceInfo& devInfo, const dai::Path& pathToCmd);
 
     /**
      * Connects to any available device with a DEFAULT_SEARCH_TIME timeout.

diff --git a/include/depthai/device/DeviceBase.hpp b/include/depthai/device/DeviceBase.hpp
@@ -10,6 +10,7 @@
 #include <string>
 #include <thread>
 #include <tuple>
+#include <type_traits>
 #include <unordered_map>
 #include <vector>
 
@@ -129,7 +130,8 @@ class DeviceBase {
      * @param pipeline Pipeline to be executed on the device
      * @param usb2Mode Boot device using USB2 mode firmware
      */
-    DeviceBase(const Pipeline& pipeline, bool usb2Mode);
+    template <typename T, std::enable_if_t<std::is_same<T, bool>::value, bool> = true>
+    DeviceBase(const Pipeline& pipeline, T usb2Mode) : DeviceBase(pipeline, usb2Mode ? UsbSpeed::HIGH : DeviceBase::DEFAULT_USB_SPEED) {}
 
     /**
      * Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
@@ -143,14 +145,7 @@ class DeviceBase {
      * @param pipeline Pipeline to be executed on the device
      * @param pathToCmd Path to custom device firmware
      */
-    DeviceBase(const Pipeline& pipeline, const char* pathToCmd);
-
-    /**
-     * Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
-     * @param pipeline Pipeline to be executed on the device
-     * @param pathToCmd Path to custom device firmware
-     */
-    DeviceBase(const Pipeline& pipeline, const std::string& pathToCmd);
+    DeviceBase(const Pipeline& pipeline, const dai::Path& pathToCmd);
 
     /**
      * Connects to device specified by devInfo.
@@ -165,7 +160,9 @@ class DeviceBase {
      * @param devInfo DeviceInfo which specifies which device to connect to
      * @param usb2Mode Boot device using USB2 mode firmware
      */
-    DeviceBase(const Pipeline& pipeline, const DeviceInfo& devInfo, bool usb2Mode);
+    template <typename T, std::enable_if_t<std::is_same<T, bool>::value, bool> = true>
+    DeviceBase(const Pipeline& pipeline, const DeviceInfo& devInfo, T usb2Mode)
+        : DeviceBase(pipeline, devInfo, usb2Mode ? UsbSpeed::HIGH : DeviceBase::DEFAULT_USB_SPEED) {}
 
     /**
      * Connects to device specified by devInfo.
@@ -181,15 +178,7 @@ class DeviceBase {
      * @param devInfo DeviceInfo which specifies which device to connect to
      * @param pathToCmd Path to custom device firmware
      */
-    DeviceBase(const Pipeline& pipeline, const DeviceInfo& devInfo, const char* pathToCmd);
-
-    /**
-     * Connects to device specified by devInfo.
-     * @param pipeline Pipeline to be executed on the device
-     * @param devInfo DeviceInfo which specifies which device to connect to
-     * @param pathToCmd Path to custom device firmware
-     */
-    DeviceBase(const Pipeline& pipeline, const DeviceInfo& devInfo, const std::string& pathToCmd);
+    DeviceBase(const Pipeline& pipeline, const DeviceInfo& devInfo, const dai::Path& pathToCmd);
 
     /**
      * Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
@@ -208,12 +197,12 @@ class DeviceBase {
      * @param version OpenVINO version which the device will be booted with
      * @param usb2Mode Boot device using USB2 mode firmware
      */
-    DeviceBase(OpenVINO::Version version, bool usb2Mode);
+    template <typename T, std::enable_if_t<std::is_same<T, bool>::value, bool> = true>
+    DeviceBase(OpenVINO::Version version, T usb2Mode) : DeviceBase(version, usb2Mode ? UsbSpeed::HIGH : DeviceBase::DEFAULT_USB_SPEED) {}
 
     /**
      * Connects to device specified by devInfo.
      * @param version OpenVINO version which the device will be booted with
-     * @param devInfo DeviceInfo which specifies which device to connect to
      * @param maxUsbSpeed Maximum allowed USB speed
      */
     DeviceBase(OpenVINO::Version version, UsbSpeed maxUsbSpeed);
@@ -223,14 +212,7 @@ class DeviceBase {
      * @param version OpenVINO version which the device will be booted with
      * @param pathToCmd Path to custom device firmware
      */
-    DeviceBase(OpenVINO::Version version, const char* pathToCmd);
-
-    /**
-     * Connects to any available device with a DEFAULT_SEARCH_TIME timeout.
-     * @param version OpenVINO version which the device will be booted with
-     * @param pathToCmd Path to custom device firmware
-     */
-    DeviceBase(OpenVINO::Version version, const std::string& pathToCmd);
+    DeviceBase(OpenVINO::Version version, const dai::Path& pathToCmd);
 
     /**
      * Connects to device specified by devInfo.
@@ -245,7 +227,9 @@ class DeviceBase {
      * @param devInfo DeviceInfo which specifies which device to connect to
      * @param usb2Mode Boot device using USB2 mode firmware
      */
-    DeviceBase(OpenVINO::Version version, const DeviceInfo& devInfo, bool usb2Mode);
+    template <typename T, std::enable_if_t<std::is_same<T, bool>::value, bool> = true>
+    DeviceBase(OpenVINO::Version version, const DeviceInfo& devInfo, T usb2Mode)
+        : DeviceBase(version, devInfo, usb2Mode ? UsbSpeed::HIGH : DeviceBase::DEFAULT_USB_SPEED) {}
 
     /**
      * Connects to device specified by devInfo.
@@ -261,15 +245,7 @@ class DeviceBase {
      * @param devInfo DeviceInfo which specifies which device to connect to
      * @param pathToCmd Path to custom device firmware
      */
-    DeviceBase(OpenVINO::Version version, const DeviceInfo& devInfo, const char* pathToCmd);
-
-    /**
-     * Connects to device specified by devInfo.
-     * @param version OpenVINO version which the device will be booted with
-     * @param devInfo DeviceInfo which specifies which device to connect to
-     * @param usb2Mode Path to custom device firmware
-     */
-    DeviceBase(OpenVINO::Version version, const DeviceInfo& devInfo, const std::string& pathToCmd);
+    DeviceBase(OpenVINO::Version version, const DeviceInfo& devInfo, const dai::Path& pathToCmd);
 
     /**
      * Connects to any available device with custom config.
@@ -578,11 +554,12 @@ class DeviceBase {
 
    private:
     // private functions
-    void init(OpenVINO::Version version, bool usb2Mode, const std::string& pathToMvcmd);
-    void init(const Pipeline& pipeline, bool usb2Mode, const std::string& pathToMvcmd);
-    void init(OpenVINO::Version version, UsbSpeed maxUsbSpeed, const std::string& pathToMvcmd);
-    void init(const Pipeline& pipeline, UsbSpeed maxUsbSpeed, const std::string& pathToMvcmd);
-    void init2(Config cfg, const std::string& pathToMvcmd, tl::optional<const Pipeline&> pipeline);
+    void init(OpenVINO::Version version, bool usb2Mode, const dai::Path& pathToMvcmd);
+    void init(const Pipeline& pipeline, bool usb2Mode, const dai::Path& pathToMvcmd);
+    void init(OpenVINO::Version version, UsbSpeed maxUsbSpeed, const dai::Path& pathToMvcmd);
+    void init(const Pipeline& pipeline, UsbSpeed maxUsbSpeed, const dai::Path& pathToMvcmd);
+    void init2(Config cfg, const dai::Path& pathToMvcmd, tl::optional<const Pipeline&> pipeline);
+    void tryGetDevice();
 
     DeviceInfo deviceInfo = {};