Release v2.7.2.0

src/DataQueueBindings.cpp

@@ -31,6 +31,8 @@ void DataQueueBindings::bind(pybind11::module& m){
     };
     py::class_<DataOutputQueue, std::shared_ptr<DataOutputQueue>>(m, "DataOutputQueue", DOC(dai, DataOutputQueue))
         .def("getName", &DataOutputQueue::getName, DOC(dai, DataOutputQueue, getName))
+        .def("isClosed", &DataOutputQueue::isClosed, DOC(dai, DataOutputQueue, isClosed))
+        .def("close", &DataOutputQueue::close, DOC(dai, DataOutputQueue, close))
 
         .def("addCallback", addCallbackLambda, py::arg("callback"), DOC(dai, DataOutputQueue, addCallback))
         .def("addCallback", addCallbackLambda, py::arg("callback"), DOC(dai, DataOutputQueue, addCallback, 2))
@@ -92,6 +94,8 @@ void DataQueueBindings::bind(pybind11::module& m){
 
     // Bind DataInputQueue
     py::class_<DataInputQueue, std::shared_ptr<DataInputQueue>>(m, "DataInputQueue", DOC(dai, DataInputQueue))
+        .def("isClosed", &DataInputQueue::isClosed, DOC(dai, DataInputQueue, isClosed))
+        .def("close", &DataInputQueue::close, DOC(dai, DataInputQueue, close))
         .def("getName", &DataInputQueue::getName, DOC(dai, DataInputQueue, getName))
         .def("setBlocking", &DataInputQueue::setBlocking, py::arg("blocking"), DOC(dai, DataInputQueue, setBlocking))
         .def("getBlocking", &DataInputQueue::getBlocking, DOC(dai, DataInputQueue, getBlocking))

src/pipeline/NodeBindings.cpp

@@ -1,6 +1,7 @@
 #include "NodeBindings.hpp"
 
 #include "depthai/pipeline/Node.hpp"
+#include "depthai/pipeline/Pipeline.hpp"
 #include "depthai/pipeline/node/XLinkIn.hpp"
 #include "depthai/pipeline/node/XLinkOut.hpp"
 #include "depthai/pipeline/node/ColorCamera.hpp"
@@ -29,23 +30,30 @@ void NodeBindings::bind(pybind11::module& m){
 
     // Base 'Node' class binding
     py::class_<Node, std::shared_ptr<Node>> pyNode(m, "Node", DOC(dai, Node));
-    pyNode
-        .def_readonly("id", &Node::id, DOC(dai, Node, id))
-        .def("getName", &Node::getName, DOC(dai, Node, getName))
-        .def("getOutputs", &Node::getOutputs, DOC(dai, Node, getOutputs))
-        .def("getInputs", &Node::getInputs, DOC(dai, Node, getInputs))
-        .def("getAssets", &Node::getAssets, DOC(dai, Node, getAssets))
-    ;
+
 
     // Node::Input bindings
-    py::class_<Node::Input>(pyNode, "Input", DOC(dai, Node, Input))
+    py::class_<Node::Input> pyInput(pyNode, "Input", DOC(dai, Node, Input));
+    py::enum_<Node::Input::Type>(pyInput, "Type")
+        .value("SReceiver", Node::Input::Type::SReceiver)
+        .value("MReceiver", Node::Input::Type::MReceiver)
+    ;
+    pyInput
+        .def_property_readonly("name", [](const Node::Input& input){ return input.name; })
+        .def_property_readonly("type", [](const Node::Input& input){ return input.type; })
         .def("setBlocking", &Node::Input::setBlocking, py::arg("blocking"), DOC(dai, Node, Input, setBlocking))
         .def("getBlocking", &Node::Input::getBlocking, DOC(dai, Node, Input, getBlocking))
         .def("setQueueSize", &Node::Input::setQueueSize, py::arg("size"), DOC(dai, Node, Input, setQueueSize))
         .def("getQueueSize", &Node::Input::getQueueSize, DOC(dai, Node, Input, getQueueSize))
     ;
+
     // Node::Output bindings
-    py::class_<Node::Output>(pyNode, "Output", DOC(dai, Node, Output))
+    py::class_<Node::Output> pyOutput(pyNode, "Output", DOC(dai, Node, Output));
+    py::enum_<Node::Output::Type>(pyOutput, "Type")
+        .value("MSender", Node::Output::Type::MSender)
+        .value("SSender", Node::Output::Type::SSender)
+    ;
+    pyOutput
         .def("canConnect", &Node::Output::canConnect, py::arg("in"), DOC(dai, Node, Output, canConnect))
         .def("link", &Node::Output::link, py::arg("in"), DOC(dai, Node, Output, link))
         .def("unlink", &Node::Output::unlink, py::arg("in"), DOC(dai, Node, Output, unlink))
@@ -61,6 +69,21 @@ void NodeBindings::bind(pybind11::module& m){
         .def_property("inputId", [](Node::Connection& conn) { return conn.inputId; }, [](Node::Connection& conn, Node::Id id) {conn.inputId = id; }, DOC(dai, Node, Connection, inputId))
         .def_property("inputName", [](Node::Connection& conn) { return conn.inputName; }, [](Node::Connection& conn, std::string name) {conn.inputName = name; }, DOC(dai, Node, Connection, inputName))
     ;
+
+    pyNode
+        .def_readonly("id", &Node::id, DOC(dai, Node, id))
+        .def("getName", &Node::getName, DOC(dai, Node, getName))
+        .def("getOutputs", &Node::getOutputs, DOC(dai, Node, getOutputs))
+        .def("getInputs", &Node::getInputs, DOC(dai, Node, getInputs))
+        .def("getAssets", &Node::getAssets, DOC(dai, Node, getAssets))
+        .def("getOutputRefs", static_cast<std::vector< Node::Output*> (Node::*)()>(&Node::getOutputRefs), DOC(dai, Node, getOutputRefs), py::return_value_policy::reference_internal)
+        .def("getInputRefs", static_cast<std::vector<Node::Input*> (Node::*)()>(&Node::getInputRefs), DOC(dai, Node, getInputRefs), py::return_value_policy::reference_internal)
+        .def("getOutputRefs", static_cast<std::vector<const Node::Output*> (Node::*)() const>(&Node::getOutputRefs), DOC(dai, Node, getOutputRefs), py::return_value_policy::reference_internal)
+        .def("getInputRefs", static_cast<std::vector<const Node::Input*> (Node::*)() const>(&Node::getInputRefs), DOC(dai, Node, getInputRefs), py::return_value_policy::reference_internal)
+        .def("getParentPipeline", py::overload_cast<>(&Node::getParentPipeline), DOC(dai, Node, getParentPipeline))
+        .def("getParentPipeline", py::overload_cast<>(&Node::getParentPipeline, py::const_), DOC(dai, Node, getParentPipeline))
+    ;
+
     // MSVC errors out with:
     // Error C2326 'void NodeBindings::bind(pybind11::module &)': function cannot access 'dai::Node::Connection::outputId'
     // ...