#include <DeviceBootloader.hpp>

Classes
struct	ApplicationInfo

struct	Config

struct	MemoryInfo

Public Types
using	Memory = dai::bootloader::Memory

using	NetworkConfig = dai::bootloader::NetworkConfig

using	Section = dai::bootloader::Section

using	Type = dai::bootloader::Type

using	UsbConfig = dai::bootloader::UsbConfig

using	Version = dai::Version

Public Member Functions
void	bootMemory (const std::vector< uint8_t > &fw)

void	bootUsbRomBootloader ()

void	close ()

	DeviceBootloader ()=delete

	DeviceBootloader (const DeviceInfo &devInfo)

template<>
	DeviceBootloader (const DeviceInfo &devInfo, bool allowFlashingBootloader)

	DeviceBootloader (const DeviceInfo &devInfo, const dai::Path &pathToBootloader, bool allowFlashingBootloader=false)

template<typename T , std::enable_if_t< std::is_same< T, bool >::value, bool > = true>
	DeviceBootloader (const DeviceInfo &devInfo, T allowFlashingBootloader)

	DeviceBootloader (const DeviceInfo &devInfo, Type type, bool allowFlashingBootloader=false)

	DeviceBootloader (std::string nameOrDeviceId, bool allowFlashingBootloader=false)

std::tuple< bool, std::string >	flash (const Pipeline &pipeline, bool compress=false, std::string applicationName="", Memory memory=Memory::AUTO, bool checkChecksum=false)

std::tuple< bool, std::string >	flash (std::function< void(float)> progressCallback, const Pipeline &pipeline, bool compress=false, std::string applicationName="", Memory memory=Memory::AUTO, bool checkChecksum=false)

std::tuple< bool, std::string >	flashBootHeader (Memory memory, int32_t frequency=-1, int64_t location=-1, int32_t dummyCycles=-1, int64_t offset=-1)

std::tuple< bool, std::string >	flashBootloader (Memory memory, Type type, std::function< void(float)> progressCallback, const dai::Path &path={})

std::tuple< bool, std::string >	flashBootloader (std::function< void(float)> progressCallback, const dai::Path &path={})

std::tuple< bool, std::string >	flashClear (Memory memory=Memory::AUTO)

std::tuple< bool, std::string >	flashConfig (const Config &config, Memory memory=Memory::AUTO, Type type=Type::AUTO)

std::tuple< bool, std::string >	flashConfigClear (Memory memory=Memory::AUTO, Type type=Type::AUTO)

std::tuple< bool, std::string >	flashConfigData (nlohmann::json configData, Memory memory=Memory::AUTO, Type type=Type::AUTO)

std::tuple< bool, std::string >	flashConfigFile (const dai::Path &configPath, Memory memory=Memory::AUTO, Type type=Type::AUTO)

std::tuple< bool, std::string >	flashCustom (Memory memory, size_t offset, const std::vector< uint8_t > &data, std::function< void(float)> progressCb=nullptr)

std::tuple< bool, std::string >	flashCustom (Memory memory, size_t offset, const uint8_t *data, size_t size, std::function< void(float)> progressCb=nullptr)

std::tuple< bool, std::string >	flashCustom (Memory memory, size_t offset, std::string filename, std::function< void(float)> progressCb=nullptr)

std::tuple< bool, std::string >	flashDepthaiApplicationPackage (std::function< void(float)> progressCallback, std::vector< uint8_t > package, Memory memory=Memory::AUTO)

std::tuple< bool, std::string >	flashDepthaiApplicationPackage (std::vector< uint8_t > package, Memory memory=Memory::AUTO)

std::tuple< bool, std::string >	flashFastBootHeader (Memory memory, int32_t frequency=-1, int64_t location=-1, int32_t dummyCycles=-1, int64_t offset=-1)

std::tuple< bool, std::string >	flashGpioModeBootHeader (Memory memory, int gpioMode)

std::tuple< bool, std::string >	flashUsbRecoveryBootHeader (Memory memory)

std::tuple< bool, std::string >	flashUserBootloader (std::function< void(float)> progressCallback, const dai::Path &path={})

tl::optional< Version >	getFlashedVersion () const

MemoryInfo	getMemoryInfo (Memory memory)

Type	getType () const

Version	getVersion () const

bool	isAllowedFlashingBootloader () const

bool	isClosed () const

bool	isEmbeddedVersion () const

bool	isUserBootloader ()

bool	isUserBootloaderSupported ()

ApplicationInfo	readApplicationInfo (Memory memory)

Config	readConfig (Memory memory=Memory::AUTO, Type type=Type::AUTO)

nlohmann::json	readConfigData (Memory memory=Memory::AUTO, Type type=Type::AUTO)

std::tuple< bool, std::string, std::vector< uint8_t > >	readCustom (Memory memory, size_t offset, size_t size, std::function< void(float)> progressCb=nullptr)

std::tuple< bool, std::string >	readCustom (Memory memory, size_t offset, size_t size, std::string filename, std::function< void(float)> progressCb=nullptr)

std::tuple< bool, std::string >	readCustom (Memory memory, size_t offset, size_t size, std::vector< uint8_t > &data, std::function< void(float)> progressCb=nullptr)

std::tuple< bool, std::string >	readCustom (Memory memory, size_t offset, size_t size, uint8_t *data, std::function< void(float)> progressCb=nullptr)

	~DeviceBootloader ()
	Destroy the Device Bootloader object. More...

Static Public Member Functions
static std::vector< uint8_t >	createDepthaiApplicationPackage (const Pipeline &pipeline, bool compress, std::string applicationName="", bool checkChecksum=false)

static std::vector< uint8_t >	createDepthaiApplicationPackage (const Pipeline &pipeline, const dai::Path &pathToCmd={}, bool compress=false, std::string applicationName="", bool checkChecksum=false)

static std::vector< DeviceInfo >	getAllAvailableDevices ()

static std::vector< std::uint8_t >	getEmbeddedBootloaderBinary (Type type=DEFAULT_TYPE)

static Version	getEmbeddedBootloaderVersion ()

static std::tuple< bool, DeviceInfo >	getFirstAvailableDevice ()

static void	saveDepthaiApplicationPackage (const dai::Path &path, const Pipeline &pipeline, bool compress, std::string applicationName="", bool checkChecksum=false)

static void	saveDepthaiApplicationPackage (const dai::Path &path, const Pipeline &pipeline, const dai::Path &pathToCmd={}, bool compress=false, std::string applicationName="", bool checkChecksum=false)

Static Public Attributes
static constexpr const Type	DEFAULT_TYPE {Type::USB}
	Default Bootloader type. More...

Private Member Functions
void	createWatchdog ()

void	destroyWatchdog ()

std::tuple< bool, std::string >	flashCustom (Memory memory, size_t offset, const uint8_t *data, size_t size, std::string filename, std::function< void(float)> progressCb)

void	init (bool embeddedMvcmd, const dai::Path &pathToMvcmd, tl::optional< bootloader::Type > type, bool allowBlFlash)

template<typename T >
bool	parseResponse (const std::vector< uint8_t > &data, T &response)

std::tuple< bool, std::string >	readCustom (Memory memory, size_t offset, size_t size, uint8_t *data, std::string filename, std::function< void(float)> progressCb)

template<typename T >
bool	receiveResponse (T &response)

bool	receiveResponseData (std::vector< uint8_t > &data)

template<typename T >
void	receiveResponseThrow (T &response)

Version	requestVersion ()

template<typename T >
bool	sendRequest (const T &request)

template<typename T >
void	sendRequestThrow (const T &request)

Private Attributes
bool	allowFlashingBootloader = false

Type	bootloaderType

std::atomic< bool >	closed {false}

std::shared_ptr< XLinkConnection >	connection

DeviceInfo	deviceInfo = {}

tl::optional< Version >	flashedVersion

bool	isEmbedded = false

std::chrono::steady_clock::time_point	lastWatchdogPingTime

std::mutex	lastWatchdogPingTimeMtx

std::thread	monitorThread

std::unique_ptr< XLinkStream >	stream

Version	version {0, 0, 2}

std::atomic< bool >	watchdogRunning {true}

std::thread	watchdogThread

Detailed Description

Represents the DepthAI bootloader with the methods to interact with it.

Definition at line 29 of file DeviceBootloader.hpp.

Member Typedef Documentation

◆ Memory

using dai::DeviceBootloader::Memory = dai::bootloader::Memory

Definition at line 33 of file DeviceBootloader.hpp.

◆ NetworkConfig

using dai::DeviceBootloader::NetworkConfig = dai::bootloader::NetworkConfig

Definition at line 36 of file DeviceBootloader.hpp.

◆ Section

using dai::DeviceBootloader::Section = dai::bootloader::Section

Definition at line 34 of file DeviceBootloader.hpp.

◆ Type

using dai::DeviceBootloader::Type = dai::bootloader::Type

Definition at line 32 of file DeviceBootloader.hpp.

◆ UsbConfig

using dai::DeviceBootloader::UsbConfig = dai::bootloader::UsbConfig

Definition at line 35 of file DeviceBootloader.hpp.

◆ Version

using dai::DeviceBootloader::Version = dai::Version

Definition at line 90 of file DeviceBootloader.hpp.

Constructor & Destructor Documentation

◆ DeviceBootloader() [1/7]

dai::DeviceBootloader::DeviceBootloader ( )

delete

◆ DeviceBootloader() [2/7]

dai::DeviceBootloader::DeviceBootloader ( const DeviceInfo & devInfo )

explicit

Connects to or boots device in bootloader mode depending on devInfo state; flashing not allowed

Parameters

devInfo DeviceInfo of which to boot or connect to

Definition at line 255 of file DeviceBootloader.cpp.

◆ DeviceBootloader() [3/7]

template<typename T , std::enable_if_t< std::is_same< T, bool >::value, bool > = true>

dai::DeviceBootloader::DeviceBootloader	(	const DeviceInfo &	devInfo,
		T	allowFlashingBootloader
	)

Connects to or boots device in bootloader mode depending on devInfo state.

Parameters

devInfo	DeviceInfo of which to boot or connect to
allowFlashingBootloader	(bool) Set to true to allow flashing the devices bootloader

◆ DeviceBootloader() [4/7]

dai::DeviceBootloader::DeviceBootloader	(	const DeviceInfo &	devInfo,
		Type	type,
		bool	allowFlashingBootloader = `false`
	)

Connects to device in bootloader of specified type. Throws if it wasn't possible. This constructor will automatically boot into specified bootloader type if not already running

Parameters

devInfo	DeviceInfo of which to boot or connect to
type	Type of bootloader to boot/connect to.
allowFlashingBootloader	Set to true to allow flashing the devices bootloader. Defaults to false

Definition at line 264 of file DeviceBootloader.cpp.

◆ DeviceBootloader() [5/7]

dai::DeviceBootloader::DeviceBootloader	(	const DeviceInfo &	devInfo,
		const dai::Path &	pathToBootloader,
		bool	allowFlashingBootloader = `false`
	)

Connects to or boots device in bootloader mode depending on devInfo state with a custom bootloader firmware.

Parameters

devInfo	DeviceInfo of which to boot or connect to
pathToBootloader	Custom bootloader firmware to boot
allowFlashingBootloader	Set to true to allow flashing the devices bootloader. Defaults to false

Definition at line 268 of file DeviceBootloader.cpp.

◆ DeviceBootloader() [6/7]

dai::DeviceBootloader::DeviceBootloader	(	std::string	nameOrDeviceId,
		bool	allowFlashingBootloader = `false`
	)

Connects to device with specified name/device id

Parameters

nameOrDeviceId	Creates DeviceInfo with nameOrDeviceId to connect to
allowFlashingBootloader	Set to true to allow flashing the devices bootloader. Defaults to false

Definition at line 272 of file DeviceBootloader.cpp.

◆ ~DeviceBootloader()

dai::DeviceBootloader::~DeviceBootloader ( )

Destroy the Device Bootloader object.

Definition at line 591 of file DeviceBootloader.cpp.

◆ DeviceBootloader() [7/7]

template<>

dai::DeviceBootloader::DeviceBootloader	(	const DeviceInfo &	devInfo,
		bool	allowFlashingBootloader
	)

Definition at line 260 of file DeviceBootloader.cpp.

Member Function Documentation

◆ bootMemory()

void dai::DeviceBootloader::bootMemory ( const std::vector< uint8_t > & fw )

Boots a custom FW in memory

Parameters

fw

Exceptions

A	runtime exception if there are any communication issues

Definition at line 1364 of file DeviceBootloader.cpp.

◆ bootUsbRomBootloader()

void dai::DeviceBootloader::bootUsbRomBootloader ( )

Boots into integrated ROM bootloader in USB mode

Exceptions

A	runtime exception if there are any communication issues

Definition at line 1384 of file DeviceBootloader.cpp.

◆ close()

void dai::DeviceBootloader::close ( )

Explicitly closes connection to device.

Note: This function does not need to be explicitly called as destructor closes the device automatically

Definition at line 558 of file DeviceBootloader.cpp.

◆ createDepthaiApplicationPackage() [1/2]

std::vector< uint8_t > dai::DeviceBootloader::createDepthaiApplicationPackage	(	const Pipeline &	pipeline,
		bool	compress,
		std::string	applicationName = `""`,
		bool	checkChecksum = `false`
	)

static

Creates application package which can be flashed to depthai device.

Parameters

pipeline	Pipeline from which to create the application package
compress	Specifies if contents should be compressed
applicationName	Name the application that is flashed

Returns: Depthai application package

Definition at line 234 of file DeviceBootloader.cpp.

◆ createDepthaiApplicationPackage() [2/2]

std::vector< uint8_t > dai::DeviceBootloader::createDepthaiApplicationPackage	(	const Pipeline &	pipeline,
		const dai::Path &	pathToCmd = `{}`,
		bool	compress = `false`,
		std::string	applicationName = `""`,
		bool	checkChecksum = `false`
	)

static

Creates application package which can be flashed to depthai device.

Parameters

pipeline	Pipeline from which to create the application package
pathToCmd	Optional path to custom device firmware
compress	Optional boolean which specifies if contents should be compressed
applicationName	Optional name the application that is flashed

Returns: Depthai application package

Definition at line 72 of file DeviceBootloader.cpp.

◆ createWatchdog()

void dai::DeviceBootloader::createWatchdog ( )

private

Definition at line 276 of file DeviceBootloader.cpp.

◆ destroyWatchdog()

void dai::DeviceBootloader::destroyWatchdog ( )

private

Definition at line 349 of file DeviceBootloader.cpp.

◆ flash() [1/2]

std::tuple< bool, std::string > dai::DeviceBootloader::flash	(	const Pipeline &	pipeline,
		bool	compress = `false`,
		std::string	applicationName = `""`,
		Memory	memory = `Memory::AUTO`,
		bool	checkChecksum = `false`
	)

Flashes a given pipeline to the device.

Parameters

pipeline	Pipeline to flash to the board
compress	Compresses application to reduce needed memory size
applicationName	Optional name the application that is flashed

Definition at line 651 of file DeviceBootloader.cpp.

◆ flash() [2/2]

std::tuple< bool, std::string > dai::DeviceBootloader::flash	(	std::function< void(float)>	progressCallback,
		const Pipeline &	pipeline,
		bool	compress = `false`,
		std::string	applicationName = `""`,
		Memory	memory = `Memory::AUTO`,
		bool	checkChecksum = `false`
	)

Flashes a given pipeline to the device.

Parameters

progressCallback	Callback that sends back a value between 0..1 which signifies current flashing progress
pipeline	Pipeline to flash to the board
compress	Compresses application to reduce needed memory size
applicationName	Name the application that is flashed

Definition at line 646 of file DeviceBootloader.cpp.

◆ flashBootHeader()

std::tuple< bool, std::string > dai::DeviceBootloader::flashBootHeader	(	Memory	memory,
		int32_t	frequency = `-1`,
		int64_t	location = `-1`,
		int32_t	dummyCycles = `-1`,
		int64_t	offset = `-1`
	)

Flash optimized boot header

Parameters

memory	Which memory to flasht the header to
frequency	SPI specific parameter, frequency in MHz
location	Target location the header should boot to. Default to location of bootloader
dummyCycles	SPI specific parameter
offset	Offset in memory to flash the header to. Defaults to offset of boot header

Returns: status as std::tuple<bool, std::string>

Definition at line 1072 of file DeviceBootloader.cpp.

◆ flashBootloader() [1/2]

std::tuple< bool, std::string > dai::DeviceBootloader::flashBootloader	(	Memory	memory,
		Type	type,
		std::function< void(float)>	progressCallback,
		const dai::Path &	path = `{}`
	)

Flash selected bootloader to the current board

Parameters

memory	Memory to flash
type	Bootloader type to flash
progressCallback	Callback that sends back a value between 0..1 which signifies current flashing progress
path	Optional parameter to custom bootloader to flash

Definition at line 858 of file DeviceBootloader.cpp.

◆ flashBootloader() [2/2]

std::tuple< bool, std::string > dai::DeviceBootloader::flashBootloader	(	std::function< void(float)>	progressCallback,
		const dai::Path &	path = `{}`
	)

Flashes bootloader to the current board

Parameters

progressCallback	Callback that sends back a value between 0..1 which signifies current flashing progress
path	Optional parameter to custom bootloader to flash

Definition at line 854 of file DeviceBootloader.cpp.

◆ flashClear()

std::tuple< bool, std::string > dai::DeviceBootloader::flashClear ( Memory memory = Memory::AUTO )

Clears flashed application on the device, by removing SBR boot structure Doesn't remove fast boot header capability to still boot the application

Definition at line 846 of file DeviceBootloader.cpp.

◆ flashConfig()

std::tuple< bool, std::string > dai::DeviceBootloader::flashConfig	(	const Config &	config,
		Memory	memory = `Memory::AUTO`,
		Type	type = `Type::AUTO`
	)

Flashes configuration to bootloader

Parameters

configData	Configuration structure
memory	Optional - to which memory flash configuration
type	Optional - for which type of bootloader to flash configuration

Definition at line 1359 of file DeviceBootloader.cpp.

◆ flashConfigClear()

std::tuple< bool, std::string > dai::DeviceBootloader::flashConfigClear	(	Memory	memory = `Memory::AUTO`,
		Type	type = `Type::AUTO`
	)

Clears configuration data

Parameters

memory	Optional - on which memory to clear configuration data
type	Optional - for which type of bootloader to clear configuration data

Definition at line 1290 of file DeviceBootloader.cpp.

◆ flashConfigData()

std::tuple< bool, std::string > dai::DeviceBootloader::flashConfigData	(	nlohmann::json	configData,
		Memory	memory = `Memory::AUTO`,
		Type	type = `Type::AUTO`
	)

Flashes configuration data to bootloader

Parameters

configData	Unstructured configuration data
memory	Optional - to which memory flash configuration
type	Optional - for which type of bootloader to flash configuration

Definition at line 1315 of file DeviceBootloader.cpp.

◆ flashConfigFile()

std::tuple< bool, std::string > dai::DeviceBootloader::flashConfigFile	(	const dai::Path &	configPath,
		Memory	memory = `Memory::AUTO`,
		Type	type = `Type::AUTO`
	)

Flashes configuration data to bootloader

Parameters

configPath	Unstructured configuration data
memory	Optional - to which memory flash configuration
type	Optional - for which type of bootloader to flash configuration

Definition at line 1345 of file DeviceBootloader.cpp.

◆ flashCustom() [1/4]

std::tuple< bool, std::string > dai::DeviceBootloader::flashCustom	(	Memory	memory,
		size_t	offset,
		const std::vector< uint8_t > &	data,
		std::function< void(float)>	progressCb = `nullptr`
	)

Flash arbitrary data at custom offset in specified memory

Parameters

memory	Memory to flash
offset	Offset at which to flash the given data in bytes
progressCallback	Callback that sends back a value between 0..1 which signifies current flashing progress
data	Data to flash

Definition at line 1112 of file DeviceBootloader.cpp.

◆ flashCustom() [2/4]

std::tuple< bool, std::string > dai::DeviceBootloader::flashCustom	(	Memory	memory,
		size_t	offset,
		const uint8_t *	data,
		size_t	size,
		std::function< void(float)>	progressCb = `nullptr`
	)

Definition at line 1121 of file DeviceBootloader.cpp.

◆ flashCustom() [3/4]

std::tuple< bool, std::string > dai::DeviceBootloader::flashCustom	(	Memory	memory,
		size_t	offset,
		const uint8_t *	data,
		size_t	size,
		std::string	filename,
		std::function< void(float)>	progressCb
	)

private

Definition at line 1131 of file DeviceBootloader.cpp.

◆ flashCustom() [4/4]

std::tuple< bool, std::string > dai::DeviceBootloader::flashCustom	(	Memory	memory,
		size_t	offset,
		std::string	filename,
		std::function< void(float)>	progressCb = `nullptr`
	)

Definition at line 1128 of file DeviceBootloader.cpp.

◆ flashDepthaiApplicationPackage() [1/2]

std::tuple< bool, std::string > dai::DeviceBootloader::flashDepthaiApplicationPackage	(	std::function< void(float)>	progressCallback,
		std::vector< uint8_t >	package,
		Memory	memory = `Memory::AUTO`
	)

Flashes a specific depthai application package that was generated using createDepthaiApplicationPackage or saveDepthaiApplicationPackage

Parameters

progressCallback	Callback that sends back a value between 0..1 which signifies current flashing progress
package	Depthai application package to flash to the board

Definition at line 746 of file DeviceBootloader.cpp.

◆ flashDepthaiApplicationPackage() [2/2]

std::tuple< bool, std::string > dai::DeviceBootloader::flashDepthaiApplicationPackage	(	std::vector< uint8_t >	package,
		Memory	memory = `Memory::AUTO`
	)

Flashes a specific depthai application package that was generated using createDepthaiApplicationPackage or saveDepthaiApplicationPackage

Parameters

package Depthai application package to flash to the board

Definition at line 842 of file DeviceBootloader.cpp.

◆ flashFastBootHeader()

std::tuple< bool, std::string > dai::DeviceBootloader::flashFastBootHeader	(	Memory	memory,
		int32_t	frequency = `-1`,
		int64_t	location = `-1`,
		int32_t	dummyCycles = `-1`,
		int64_t	offset = `-1`
	)

Flash fast boot header. Application must already be present in flash, or location must be specified manually. Note - Can soft brick your device if firmware location changes.

Parameters

memory	Which memory to flash the header to
frequency	SPI specific parameter, frequency in MHz
location	Target location the header should boot to. Default to location of bootloader
dummyCycles	SPI specific parameter
offset	Offset in memory to flash the header to. Defaults to offset of boot header

Returns: status as std::tuple<bool, std::string>

Definition at line 1092 of file DeviceBootloader.cpp.

◆ flashGpioModeBootHeader()

std::tuple< bool, std::string > dai::DeviceBootloader::flashGpioModeBootHeader	(	Memory	memory,
		int	gpioMode
	)

Flash boot header which boots same as equivalent GPIO mode would

Parameters

gpioMode GPIO mode equivalent

Definition at line 1043 of file DeviceBootloader.cpp.

◆ flashUsbRecoveryBootHeader()

std::tuple< bool, std::string > dai::DeviceBootloader::flashUsbRecoveryBootHeader ( Memory memory )

Flash USB recovery boot header. Switches to USB ROM Bootloader

Parameters

memory Which memory to flash the header to

Definition at line 1058 of file DeviceBootloader.cpp.

◆ flashUserBootloader()

std::tuple< bool, std::string > dai::DeviceBootloader::flashUserBootloader	(	std::function< void(float)>	progressCallback,
		const dai::Path &	path = `{}`
	)

Flashes user bootloader to the current board. Available for NETWORK bootloader type

Parameters

progressCallback	Callback that sends back a value between 0..1 which signifies current flashing progress
path	Optional parameter to custom bootloader to flash

Definition at line 940 of file DeviceBootloader.cpp.

◆ getAllAvailableDevices()

std::vector< DeviceInfo > dai::DeviceBootloader::getAllAvailableDevices ( )

static

Searches for connected devices in either UNBOOTED or BOOTLOADER states.

Returns: Vector of all found devices

Definition at line 63 of file DeviceBootloader.cpp.

◆ getEmbeddedBootloaderBinary()

std::vector< std::uint8_t > dai::DeviceBootloader::getEmbeddedBootloaderBinary ( Type type = DEFAULT_TYPE )

static

Returns: Embedded bootloader binary

Definition at line 1402 of file DeviceBootloader.cpp.

◆ getEmbeddedBootloaderVersion()

DeviceBootloader::Version dai::DeviceBootloader::getEmbeddedBootloaderVersion ( )

static

Returns: Embedded bootloader version

Definition at line 595 of file DeviceBootloader.cpp.

◆ getFirstAvailableDevice()

std::tuple< bool, DeviceInfo > dai::DeviceBootloader::getFirstAvailableDevice ( )

static

Searches for connected devices in either UNBOOTED or BOOTLOADER states and returns first available.

Returns: Tuple of boolean and DeviceInfo. If found boolean is true and DeviceInfo describes the device. Otherwise false

Definition at line 48 of file DeviceBootloader.cpp.

◆ getFlashedVersion()

tl::optional< DeviceBootloader::Version > dai::DeviceBootloader::getFlashedVersion ( ) const

Returns: Version of the bootloader that is flashed on the device. Nullopt when the version could not be retrieved because the device was in X_LINK_UNBOOTED state before booting the bootloader.

Definition at line 603 of file DeviceBootloader.cpp.

◆ getMemoryInfo()

DeviceBootloader::MemoryInfo dai::DeviceBootloader::getMemoryInfo ( Memory memory )

Retrieves information about specified memory

Parameters

memory Specifies which memory to query

Definition at line 688 of file DeviceBootloader.cpp.

◆ getType()

DeviceBootloader::Type dai::DeviceBootloader::getType ( ) const

Returns: Type of currently connected bootloader

Definition at line 638 of file DeviceBootloader.cpp.

◆ getVersion()

DeviceBootloader::Version dai::DeviceBootloader::getVersion ( ) const

Returns: Version of current running bootloader

Definition at line 599 of file DeviceBootloader.cpp.

◆ init()

void dai::DeviceBootloader::init	(	bool	embeddedMvcmd,
		const dai::Path &	pathToMvcmd,
		tl::optional< bootloader::Type >	type,
		bool	allowBlFlash
	)

private

Definition at line 357 of file DeviceBootloader.cpp.

◆ isAllowedFlashingBootloader()

bool dai::DeviceBootloader::isAllowedFlashingBootloader ( ) const

Returns: True if allowed to flash bootloader

Definition at line 642 of file DeviceBootloader.cpp.

◆ isClosed()

bool dai::DeviceBootloader::isClosed ( ) const

Is the device already closed (or disconnected)

Warning: This function is thread-unsafe and may return outdated incorrect values. It is only meant for use in simple single-threaded code. Well written code should handle exceptions when calling any DepthAI apis to handle hardware events and multithreaded use.

Definition at line 587 of file DeviceBootloader.cpp.

◆ isEmbeddedVersion()

bool dai::DeviceBootloader::isEmbeddedVersion ( ) const

Returns: True when bootloader was booted using latest bootloader integrated in the library. False when bootloader is already running on the device and just connected to.

Definition at line 1398 of file DeviceBootloader.cpp.

◆ isUserBootloader()

bool dai::DeviceBootloader::isUserBootloader ( )

Retrieves whether current bootloader is User Bootloader (B out of A/B configuration)

Definition at line 729 of file DeviceBootloader.cpp.

◆ isUserBootloaderSupported()

bool dai::DeviceBootloader::isUserBootloaderSupported ( )

Checks whether User Bootloader is supported with current bootloader

Returns: true of User Bootloader is supported, false otherwise

Definition at line 711 of file DeviceBootloader.cpp.

◆ parseResponse()

template<typename T >

bool dai::DeviceBootloader::parseResponse	(	const std::vector< uint8_t > &	data,
		T &	response
	)

private

Definition at line 1450 of file DeviceBootloader.cpp.

◆ readApplicationInfo()

DeviceBootloader::ApplicationInfo dai::DeviceBootloader::readApplicationInfo ( Memory memory )

Reads information about flashed application in specified memory from device

Parameters

memory Specifies which memory to query

Definition at line 655 of file DeviceBootloader.cpp.

◆ readConfig()

DeviceBootloader::Config dai::DeviceBootloader::readConfig	(	Memory	memory = `Memory::AUTO`,
		Type	type = `Type::AUTO`
	)

Reads configuration from bootloader

Parameters

memory	Optional - from which memory to read configuration
type	Optional - from which type of bootloader to read configuration

Returns: Configuration structure

Definition at line 1354 of file DeviceBootloader.cpp.

◆ readConfigData()

nlohmann::json dai::DeviceBootloader::readConfigData	(	Memory	memory = `Memory::AUTO`,
		Type	type = `Type::AUTO`
	)

Reads configuration data from bootloader

Returns: Unstructured configuration data

Parameters

memory	Optional - from which memory to read configuration data
type	Optional - from which type of bootloader to read configuration data

Definition at line 1260 of file DeviceBootloader.cpp.

◆ readCustom() [1/5]

std::tuple< bool, std::string, std::vector< uint8_t > > dai::DeviceBootloader::readCustom	(	Memory	memory,
		size_t	offset,
		size_t	size,
		std::function< void(float)>	progressCb = `nullptr`
	)

Definition at line 1205 of file DeviceBootloader.cpp.

◆ readCustom() [2/5]

std::tuple< bool, std::string > dai::DeviceBootloader::readCustom	(	Memory	memory,
		size_t	offset,
		size_t	size,
		std::string	filename,
		std::function< void(float)>	progressCb = `nullptr`
	)

Definition at line 1201 of file DeviceBootloader.cpp.

◆ readCustom() [3/5]

std::tuple< bool, std::string > dai::DeviceBootloader::readCustom	(	Memory	memory,
		size_t	offset,
		size_t	size,
		std::vector< uint8_t > &	data,
		std::function< void(float)>	progressCb = `nullptr`
	)

Reads arbitrary data at custom offset in specified memory

Parameters

memory	Memory to read
offset	Offset at which to read the specified bytes
size	Number of bytes to read
data	Data to read to. Must be at least 'size' number of bytes big
progressCallback	Callback that sends back a value between 0..1 which signifies current reading progress

Definition at line 1190 of file DeviceBootloader.cpp.

◆ readCustom() [4/5]

std::tuple< bool, std::string > dai::DeviceBootloader::readCustom	(	Memory	memory,
		size_t	offset,
		size_t	size,
		uint8_t *	data,
		std::function< void(float)>	progressCb = `nullptr`
	)

Definition at line 1198 of file DeviceBootloader.cpp.

◆ readCustom() [5/5]

std::tuple< bool, std::string > dai::DeviceBootloader::readCustom	(	Memory	memory,
		size_t	offset,
		size_t	size,
		uint8_t *	data,
		std::string	filename,
		std::function< void(float)>	progressCb
	)

private

Definition at line 1214 of file DeviceBootloader.cpp.

◆ receiveResponse()

template<typename T >

bool dai::DeviceBootloader::receiveResponse ( T & response )

private

Definition at line 1464 of file DeviceBootloader.cpp.

◆ receiveResponseData()

bool dai::DeviceBootloader::receiveResponseData ( std::vector< uint8_t > & data )

private

Definition at line 1442 of file DeviceBootloader.cpp.

◆ receiveResponseThrow()

template<typename T >

void dai::DeviceBootloader::receiveResponseThrow ( T & response )

private

Definition at line 1477 of file DeviceBootloader.cpp.

◆ requestVersion()

DeviceBootloader::Version dai::DeviceBootloader::requestVersion ( )

private

Definition at line 607 of file DeviceBootloader.cpp.

◆ saveDepthaiApplicationPackage() [1/2]

void dai::DeviceBootloader::saveDepthaiApplicationPackage	(	const dai::Path &	path,
		const Pipeline &	pipeline,
		bool	compress,
		std::string	applicationName = `""`,
		bool	checkChecksum = `false`
	)

static

Saves application package to a file which can be flashed to depthai device.

Parameters

path	Path where to save the application package
pipeline	Pipeline from which to create the application package
compress	Specifies if contents should be compressed
applicationName	Optional name the application that is flashed

Definition at line 248 of file DeviceBootloader.cpp.

◆ saveDepthaiApplicationPackage() [2/2]

void dai::DeviceBootloader::saveDepthaiApplicationPackage	(	const dai::Path &	path,
		const Pipeline &	pipeline,
		const dai::Path &	pathToCmd = `{}`,
		bool	compress = `false`,
		std::string	applicationName = `""`,
		bool	checkChecksum = `false`
	)

static

Saves application package to a file which can be flashed to depthai device.

Parameters

path	Path where to save the application package
pipeline	Pipeline from which to create the application package
pathToCmd	Optional path to custom device firmware
compress	Optional boolean which specifies if contents should be compressed
applicationName	Optional name the application that is flashed

Definition at line 241 of file DeviceBootloader.cpp.

◆ sendRequest()

template<typename T >

bool dai::DeviceBootloader::sendRequest ( const T & request )

private

Definition at line 1407 of file DeviceBootloader.cpp.

◆ sendRequestThrow()

template<typename T >

void dai::DeviceBootloader::sendRequestThrow ( const T & request )

private

Definition at line 1426 of file DeviceBootloader.cpp.

Member Data Documentation

◆ allowFlashingBootloader

bool dai::DeviceBootloader::allowFlashingBootloader = false

private

Definition at line 531 of file DeviceBootloader.hpp.

◆ bootloaderType

Type dai::DeviceBootloader::bootloaderType

private

Definition at line 512 of file DeviceBootloader.hpp.

◆ closed

std::atomic<bool> dai::DeviceBootloader::closed {false}

private

Definition at line 516 of file DeviceBootloader.hpp.

◆ connection

std::shared_ptr<XLinkConnection> dai::DeviceBootloader::connection

private

Definition at line 508 of file DeviceBootloader.hpp.

◆ DEFAULT_TYPE

constexpr const DeviceBootloader::Type dai::DeviceBootloader::DEFAULT_TYPE {Type::USB}

staticconstexpr

Default Bootloader type.

Definition at line 108 of file DeviceBootloader.hpp.

◆ deviceInfo

DeviceInfo dai::DeviceBootloader::deviceInfo = {}

private

Definition at line 509 of file DeviceBootloader.hpp.

◆ flashedVersion

tl::optional<Version> dai::DeviceBootloader::flashedVersion

private

Definition at line 513 of file DeviceBootloader.hpp.

◆ isEmbedded

bool dai::DeviceBootloader::isEmbedded = false

private

Definition at line 511 of file DeviceBootloader.hpp.

◆ lastWatchdogPingTime

std::chrono::steady_clock::time_point dai::DeviceBootloader::lastWatchdogPingTime

private

Definition at line 525 of file DeviceBootloader.hpp.

◆ lastWatchdogPingTimeMtx

std::mutex dai::DeviceBootloader::lastWatchdogPingTimeMtx

private

Definition at line 524 of file DeviceBootloader.hpp.

◆ monitorThread

std::thread dai::DeviceBootloader::monitorThread

private

Definition at line 523 of file DeviceBootloader.hpp.

◆ stream

std::unique_ptr<XLinkStream> dai::DeviceBootloader::stream

private

Definition at line 528 of file DeviceBootloader.hpp.

◆ version

Version dai::DeviceBootloader::version {0, 0, 2}

private

Definition at line 534 of file DeviceBootloader.hpp.

◆ watchdogRunning

std::atomic<bool> dai::DeviceBootloader::watchdogRunning {true}

private

Definition at line 520 of file DeviceBootloader.hpp.

◆ watchdogThread

std::thread dai::DeviceBootloader::watchdogThread

private

Definition at line 519 of file DeviceBootloader.hpp.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Memory

◆ NetworkConfig

◆ Section

◆ Type

◆ UsbConfig

◆ Version

Constructor & Destructor Documentation

◆ DeviceBootloader() [1/7]

◆ DeviceBootloader() [2/7]

◆ DeviceBootloader() [3/7]

◆ DeviceBootloader() [4/7]

◆ DeviceBootloader() [5/7]

◆ DeviceBootloader() [6/7]

◆ ~DeviceBootloader()

◆ DeviceBootloader() [7/7]

Member Function Documentation

◆ bootMemory()

◆ bootUsbRomBootloader()

◆ close()

◆ createDepthaiApplicationPackage() [1/2]

◆ createDepthaiApplicationPackage() [2/2]

◆ createWatchdog()

◆ destroyWatchdog()

◆ flash() [1/2]

◆ flash() [2/2]

◆ flashBootHeader()

◆ flashBootloader() [1/2]

◆ flashBootloader() [2/2]

◆ flashClear()

◆ flashConfig()

◆ flashConfigClear()

◆ flashConfigData()

◆ flashConfigFile()

◆ flashCustom() [1/4]

◆ flashCustom() [2/4]

◆ flashCustom() [3/4]

◆ flashCustom() [4/4]

◆ flashDepthaiApplicationPackage() [1/2]

◆ flashDepthaiApplicationPackage() [2/2]

◆ flashFastBootHeader()

◆ flashGpioModeBootHeader()

◆ flashUsbRecoveryBootHeader()

◆ flashUserBootloader()

◆ getAllAvailableDevices()

◆ getEmbeddedBootloaderBinary()

◆ getEmbeddedBootloaderVersion()

◆ getFirstAvailableDevice()

◆ getFlashedVersion()

◆ getMemoryInfo()

◆ getType()

◆ getVersion()

◆ init()

◆ isAllowedFlashingBootloader()

◆ isClosed()

◆ isEmbeddedVersion()

◆ isUserBootloader()

◆ isUserBootloaderSupported()

◆ parseResponse()

◆ readApplicationInfo()

◆ readConfig()

◆ readConfigData()

◆ readCustom() [1/5]

◆ readCustom() [2/5]

◆ readCustom() [3/5]

◆ readCustom() [4/5]

◆ readCustom() [5/5]

◆ receiveResponse()

◆ receiveResponseData()

◆ receiveResponseThrow()

◆ requestVersion()

◆ saveDepthaiApplicationPackage() [1/2]