Merge branch 'v3_develop' of github.com:luxonis/depthai-core into v3_develop

Author: lnotspotl

CMakeLists.txt

@@ -17,7 +17,6 @@ option(DEPTHAI_NEW_FIND_PYTHON "Use new FindPython module" ON)
 if(NOT DEPTHAI_OPENCV_SUPPORT)
     set(DEPTHAI_MERGED_TARGET OFF CACHE BOOL "Enable merged target build" FORCE)
 endif()
-option(DEPTHAI_ENABLE_EVENTS_MANAGER "Enable Events Manager" ON)
 
 set(DEPTHAI_HAS_APRIL_TAG ${DEPTHAI_ENABLE_APRIL_TAG})
 if(WIN32)
@@ -108,18 +107,17 @@ endif()
 
 if(DEPTHAI_ENABLE_PROTOBUF)
     option(DEPTHAI_ENABLE_REMOTE_CONNECTION "Enable Remote Connection support" ON)
+    if(DEPTHAI_ENABLE_CURL)
+        option(DEPTHAI_ENABLE_EVENTS_MANAGER "Enable Events Manager" ON)
+    else()
+        message(STATUS "Events Manager disabled because Protobuf & curl support is disabled.")
+        option(DEPTHAI_ENABLE_EVENTS_MANAGER "Enable Events Manager" OFF)
+    endif()
 else()
     option(DEPTHAI_ENABLE_REMOTE_CONNECTION "Enable Remote Connection support" OFF)
     message(STATUS "Remote Connection support disabled because Protobuf support is disabled.")
 endif()
 
-if(DEPTHAI_ENABLE_EVENTS_MANAGER)
-    if(NOT DEPTHAI_ENABLE_PROTOBUF OR NOT DEPTHAI_CURL_SUPPORT)
-        message(STATUS "Events Manager disabled because Protobuf & curl support is disabled.")
-        set(DEPTHAI_ENABLE_EVENTS_MANAGER OFF)
-    endif()
-endif()
-
 if(DEPTHAI_BUILD_PYTHON)
     list(APPEND VCPKG_MANIFEST_FEATURES "python-bindings")
 endif()

examples/cpp/CMakeLists.txt

@@ -286,7 +286,7 @@ dai_add_example(model_zoo RVC2/ModelZoo/model_zoo.cpp OFF OFF)
 
 # Events Manager
 if(DEPTHAI_ENABLE_EVENTS_MANAGER)
-    dai_add_example(events HostNodes/events.cpp ON OFF)
+    dai_add_example(events Events/events.cpp ON OFF)
 endif()
 # Image Align
 dai_add_example(image_align RVC2/ImageAlign/image_align.cpp OFF OFF)

examples/cpp/HostNodes/events.cpp renamed to examples/cpp/Events/events.cpp

@@ -1,4 +1,3 @@
-
 #include <chrono>
 #include <iostream>
 #include <string>
@@ -27,20 +26,6 @@ int main(int argc, char* argv[]) {
     std::vector<std::shared_ptr<dai::utility::EventData>> data;
     data.emplace_back(fileData);
     eventsManager->sendEvent("testdata", nullptr, data, {"tag3", "tag4"}, {{"key8", "value8"}});
-    auto fileData2 = std::make_shared<dai::utility::EventData>("/test.txt");
-    std::vector<std::shared_ptr<dai::utility::EventData>> data2;
-    data2.push_back(fileData2);
-    // will fail, you sendEvent instead of sendSnap
-    eventsManager->sendSnap("testdata2", nullptr, data2, {"tag5", "tag6"}, {{"key8", "value8"}});
-    auto fileData3 = std::make_shared<dai::utility::EventData>("/test.jpg");
-    std::vector<std::shared_ptr<dai::utility::EventData>> data3;
-    data3.push_back(fileData3);
-    eventsManager->sendSnap("testdata3", nullptr, data3, {"tag7", "tag8"}, {{"key8", "value8"}});
-    std::vector<std::shared_ptr<dai::utility::EventData>> data4;
-    data4.push_back(fileData);
-    data4.push_back(fileData2);
-    eventsManager->sendEvent("testdata4", nullptr, data4, {"tag9", "tag10"}, {{"key8", "value8"}});
-    data4.push_back(fileData3);
     while(pipeline.isRunning()) {
         auto rgb = previewQ->get<dai::ImgFrame>();
 
@@ -49,10 +34,6 @@ int main(int argc, char* argv[]) {
 
         if(!sent) {
             eventsManager->sendSnap("rgb", rgb, {}, {"tag11", "tag12"}, {{"key", "value"}});
-            // will fail due to two images being sent, use sendEvent instead
-            eventsManager->sendSnap("test2", rgb, data3, {"tag13", "tag14"}, {{"key8", "value8"}});
-            // will fail, sendSnap requires only one image data to be present
-            eventsManager->sendSnap("test3", rgb, data4, {"tag13", "tag14"}, {{"key8", "value8"}});
             sent = true;
         }
         //

examples/python/HostNodes/events.py renamed to examples/python/Events/events.py

@@ -1,4 +1,3 @@
-
 #!/usr/bin/env python3
 
 import cv2
@@ -10,7 +9,7 @@
 # Create pipeline
 with dai.Pipeline() as pipeline:
     # Define sources and outputs
-    camRgb = pipeline.create(dai.node.Camera)
+    camRgb = pipeline.create(dai.node.Camera).build()
     # Properties
 
     qRgb = camRgb.requestOutput((256,256)).createOutputQueue()
@@ -22,10 +21,6 @@
     time.sleep(2)
     fileData = dai.EventData(b'Hello, world!', "hello.txt", "text/plain")
     eventMan.sendEvent("test2", None,  [fileData], ["tag1", "tag2"], {"key1": "value1"})
-    fileData2 = dai.EventData("/test.txt")
-    # will fail, sendSnap needs an image
-    eventMan.sendSnap("test3", None, [fileData2], ["tag1", "tag2"], {"key1": "value1"})
-    eventMan.sendEvent("test4", None, [fileData, fileData2], ["tag1", "tag2"], {"key1": "value1"})
     pipeline.start()
 
     frame = None
@@ -39,8 +34,6 @@
             frame = inRgb.getCvFrame()
             if not eventSent:
                 eventMan.sendSnap("rgb", inRgb, [], ["tag1", "tag2"], {"key1": "value1"})
-                # will fail, sendSnap requires only image and no extra data
-                eventMan.sendSnap("rgb2", inRgb, [fileData2], ["tag1", "tag2"], {"key1": "value1"})
                 eventSent = True
 
         if frame is not None:

include/depthai/modelzoo/NNModelDescription.hpp

@@ -54,7 +54,7 @@ struct NNModelDescription {
     /** SNPE version = OPTIONAL parameter */
     std::string snpeVersion;
 
-    /** modelPrecisionType */
+    /** modelPrecisionType = OPTIONAL parameter */
     std::string modelPrecisionType;
 };
 

include/depthai/modelzoo/Zoo.hpp

@@ -3,7 +3,7 @@
 #include "depthai/modelzoo/NNModelDescription.hpp"
 
 namespace dai {
-constexpr const char* MODEL_ZOO_URL = "https://api.cloud.luxonis.com/graphql";
+constexpr const char* MODEL_ZOO_URL = "https://easyml.cloud.luxonis.com/models/api/v1/models/download";
 constexpr const char* MODEL_ZOO_DEFAULT_CACHE_DIRECTORY = ".depthai_cached_models";
 
 /**

include/depthai/utility/EventsManager.hpp

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <condition_variable>
 #include <memory>
 #include <mutex>
 #include <string>
@@ -19,7 +20,6 @@ class Event;
 }  // namespace event
 }  // namespace proto
 namespace utility {
-#ifdef DEPTHAI_ENABLE_PROTOBUF
 enum class EventDataType { DATA, FILE_URL, IMG_FRAME, ENCODED_FRAME, NN_DATA };
 class EventData {
    public:
@@ -172,7 +172,9 @@ class EventsManager {
     std::string cacheDir;
     bool uploadCachedOnStart;
     bool cacheIfCannotSend;
+    std::atomic<bool> stopEventBuffer;
+    std::condition_variable eventBufferCondition;
+    std::mutex eventBufferConditionMutex;
 };
-#endif
 }  // namespace utility
 }  // namespace dai

src/modelzoo/Zoo.cpp

@@ -9,7 +9,9 @@
 #include "utility/Logging.hpp"
 
 #ifdef DEPTHAI_ENABLE_CURL
-    #include <cpr/cpr.h>
+    #include <cpr/api.h>
+    #include <cpr/parameters.h>
+    #include <cpr/status_codes.h>
 namespace dai {
 class ZooManager {
    public:
@@ -139,10 +141,10 @@ bool checkIsErrorHub(const cpr::Response& response) {
     // Check if response is an HTTP error
     if(response.status_code != cpr::status::HTTP_OK) return true;
 
-    // If there was no HTTP error, check response content for errors
+    // If there was no HTTP error, check presence of required fields
     nlohmann::json responseJson = nlohmann::json::parse(response.text);
-    if(responseJson.contains("errors")) return true;
-    if(responseJson["data"]["ml"]["modelDownloads"].is_null()) return true;
+    if(!responseJson.contains("hash")) return true;
+    if(!responseJson.contains("download_links")) return true;
 
     // All checks passed - no errors yay
     return false;
@@ -206,47 +208,53 @@ bool ZooManager::isModelCached() const {
 }
 
 void ZooManager::downloadModel() {
-    // graphql query to send to Hub - always the same
-    constexpr std::string_view MODEL_ZOO_QUERY = "query MlDownloads($input: MlModelDownloadsInput!) {ml { modelDownloads(input : $input) { data }}}";
-
-    // Setup request body
-    nlohmann::json requestBody;
-    requestBody["query"] = MODEL_ZOO_QUERY;
-
-    // Add REQUIRED parameters
-    requestBody["variables"]["input"]["platform"] = modelDescription.platform;
-    requestBody["variables"]["input"]["slug"] = modelDescription.model;
-
-    // Add OPTIONAL parameters
-    if(!modelDescription.optimizationLevel.empty()) {
-        requestBody["variables"]["input"]["optimizationLevel"] = modelDescription.optimizationLevel;
-    }
-    if(!modelDescription.compressionLevel.empty()) {
-        requestBody["variables"]["input"]["compressionLevel"] = modelDescription.compressionLevel;
-    }
-    if(!modelDescription.snpeVersion.empty()) {
-        requestBody["variables"]["input"]["snpeVersion"] = modelDescription.snpeVersion;
+    // Add request parameters
+    cpr::Parameters params;
+
+    // Required parameters
+    // clang-format off
+    std::vector<std::pair<std::string, std::string>> requiredParams = {
+        {"slug", modelDescription.model},
+        {"platform", modelDescription.platform}
+    };
+    // clang-format on
+    for(const auto& param : requiredParams) {
+        params.Add({param.first, param.second});
     }
-    if(!modelDescription.modelPrecisionType.empty()) {
-        requestBody["variables"]["input"]["modelPrecisionType"] = modelDescription.modelPrecisionType;
+
+    // Optional parameters
+    // clang-format off
+    std::vector<std::pair<std::string, std::string>> optionalParams = {
+        {"optimizationLevel", modelDescription.optimizationLevel},
+        {"compressionLevel", modelDescription.compressionLevel},
+        {"snpeVersion", modelDescription.snpeVersion},
+        {"modelPrecisionType", modelDescription.modelPrecisionType}
+    };
+    // clang-format on
+    for(const auto& param : optionalParams) {
+        if(!param.second.empty()) {
+            params.Add({param.first, param.second});
+        }
     }
+
     // Set the Authorization headers
     cpr::Header headers = {
         {"Content-Type", "application/json"},
     };
     if(!apiKey.empty()) {
         headers["Authorization"] = "Bearer " + apiKey;
     }
-    // Send HTTP request to Hub
-    cpr::Response response = cpr::Post(cpr::Url{MODEL_ZOO_URL}, headers, cpr::Body{requestBody.dump()});
+
+    // Send HTTP GET request to REST endpoint
+    cpr::Response response = cpr::Get(cpr::Url{MODEL_ZOO_URL}, headers, params);
     if(checkIsErrorHub(response)) {
         removeModelCacheFolder();
         throw std::runtime_error(generateErrorMessageHub(response));
     }
 
-    // Extract download link from response
+    // Extract download links from response
     nlohmann::json responseJson = nlohmann::json::parse(response.text);
-    auto downloadLinks = responseJson["data"]["ml"]["modelDownloads"]["data"].get<std::vector<std::string>>();
+    auto downloadLinks = responseJson["download_links"].get<std::vector<std::string>>();
 
     // Download all files and store them in cache folder
     for(const auto& downloadLink : downloadLinks) {

src/utility/EventsManager.cpp

@@ -10,6 +10,8 @@
 
 #include "Environment.hpp"
 #include "Logging.hpp"
+#include "cpr/cpr.h"
+#include "depthai/schemas/Event.pb.h"
 namespace dai {
 
 namespace utility {
@@ -101,18 +103,23 @@ EventsManager::EventsManager(std::string url, bool uploadCachedOnStart, float pu
       queueSize(10),
       publishInterval(publishInterval),
       logResponse(false),
-      verifySsl(false),
+      verifySsl(true),
       connected(false),
       cacheDir("/internal/private"),
       uploadCachedOnStart(uploadCachedOnStart),
-      cacheIfCannotSend(false) {
+      cacheIfCannotSend(false),
+      stopEventBuffer(false) {
     sourceAppId = utility::getEnv("AGENT_APP_ID");
     sourceAppIdentifier = utility::getEnv("AGENT_APP_IDENTIFIER");
     token = utility::getEnv("DEPTHAI_HUB_API_KEY");
+    if(token.empty()) {
+        throw std::runtime_error("Missing token, please set DEPTHAI_HUB_API_KEY environment variable or use setToken method");
+    }
     eventBufferThread = std::make_unique<std::thread>([this]() {
-        while(true) {
+        while(!stopEventBuffer) {
             sendEventBuffer();
-            std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(this->publishInterval * 1000)));
+            std::unique_lock<std::mutex> lock(eventBufferMutex);
+            eventBufferCondition.wait_for(lock, std::chrono::seconds(static_cast<int>(this->publishInterval)));
         }
     });
     checkConnection();
@@ -122,7 +129,14 @@ EventsManager::EventsManager(std::string url, bool uploadCachedOnStart, float pu
 }
 
 EventsManager::~EventsManager() {
-    eventBufferThread->join();
+    stopEventBuffer = true;
+    {
+    std::unique_lock<std::mutex> lock(eventBufferMutex);
+    eventBufferCondition.notify_one();
+    }
+    if(eventBufferThread->joinable()) {
+        eventBufferThread->join();
+    }
 }
 
 void EventsManager::sendEventBuffer() {
@@ -138,16 +152,26 @@ void EventsManager::sendEventBuffer() {
             }
             return;
         }
-        // Create request
-        cpr::Url url = static_cast<cpr::Url>(this->url + "/v1/events");
         for(auto& eventM : eventBuffer) {
             auto& event = eventM->event;
             batchEvent->add_events()->Swap(event.get());
         }
     }
     std::string serializedEvent;
     batchEvent->SerializeToString(&serializedEvent);
-    cpr::Response r = cpr::Post(cpr::Url{url}, cpr::Body{serializedEvent}, cpr::Header{{"Authorization", "Bearer " + token}}, cpr::VerifySsl(verifySsl));
+    cpr::Url reqUrl = static_cast<cpr::Url>(this->url + "/v1/events");
+    cpr::Response r = cpr::Post(
+        cpr::Url{reqUrl},
+        cpr::Body{serializedEvent},
+        cpr::Header{{"Authorization", "Bearer " + token}},
+        cpr::VerifySsl(verifySsl),
+        cpr::ProgressCallback(
+            [&](cpr::cpr_off_t downloadTotal, cpr::cpr_off_t downloadNow, cpr::cpr_off_t uploadTotal, cpr::cpr_off_t uploadNow, intptr_t userdata) -> bool {
+                if(stopEventBuffer) {
+                    return false;
+                }
+                return true;
+            }));
     if(r.status_code != cpr::status::HTTP_OK) {
         logger::error("Failed to send event: {} {}", r.text, r.status_code);
     } else {
@@ -272,7 +296,19 @@ void EventsManager::sendFile(const std::shared_ptr<EventData>& file, const std::
         }};
         header["File-Size"] = std::to_string(std::filesystem::file_size(file->data));
     }
-    cpr::Response r = cpr::Post(cpr::Url{url}, cpr::Multipart{fileM}, cpr::Header{header}, cpr::VerifySsl(verifySsl));
+    cpr::Response r = cpr::Post(
+        cpr::Url{url},
+        cpr::Multipart{fileM},
+        cpr::Header{header},
+        cpr::VerifySsl(verifySsl),
+
+        cpr::ProgressCallback(
+            [&](cpr::cpr_off_t downloadTotal, cpr::cpr_off_t downloadNow, cpr::cpr_off_t uploadTotal, cpr::cpr_off_t uploadNow, intptr_t userdata) -> bool {
+                if(stopEventBuffer) {
+                    return false;
+                }
+                return true;
+            }));
     if(r.status_code != cpr::status::HTTP_OK) {
         logger::error("Failed to upload file: {} error code {}", r.text, r.status_code);
     }