unlimited_io_connection_test.cpp

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#include <catch2/catch_all.hpp>
 
// Include depthai library
#include <depthai/depthai.hpp>
 
// Number of IO to test
constexpr auto NUM_CONN = 16;
 
// Using
using namespace std;
using namespace dai;
using namespace std::chrono;
using namespace std::chrono_literals;
 
TEST_CASE("Test many IO connections after crossing Leon processors") {
    Pipeline pipeline;
    auto camRgb = pipeline.create<node::ColorCamera>();
    camRgb->setInterleaved(true);
 
    for(int i = 0; i < NUM_CONN; i++) {
        string out = "out" + to_string(i);
        auto xout = pipeline.create<node::XLinkOut>();
        xout->setStreamName(out);
        camRgb->preview.link(xout->input);
    }
 
    Device device(pipeline);
 
    this_thread::sleep_for(5s);
 
    // Set queues to non-blocking
    std::unordered_map<string, int> numFrames;
    for(int i = 0; i < NUM_CONN; i++) {
        string out = "out" + to_string(i);
        device.getOutputQueue(out, 9, false);
        numFrames[out] = 0;
    }
 
    // Retrieve at least 10 frames of each, without errors
    constexpr auto NUM_FRAMES_REQUIRED = 10;
 
    bool receivedEnoughFrames = true;
    auto t1 = steady_clock::now();
    do {
        receivedEnoughFrames = true;
        // Set queues to non-blocking
        for(int i = 0; i < NUM_CONN; i++) {
            string out = "out" + to_string(i);
 
            auto frame = device.getOutputQueue(out, 9, false)->tryGet();
            if(frame != nullptr) {
                numFrames[out]++;
            }
 
            // Check
            if(numFrames[out] < NUM_FRAMES_REQUIRED) {
                receivedEnoughFrames = false;
            }
        }
 
        if(receivedEnoughFrames) {
            break;
        }
    } while(steady_clock::now() - t1 < 5s);
 
    cout << "numFrames: ";
    for(int i = 0; i < NUM_CONN; i++) {
        string out = "out" + to_string(i);
        cout << numFrames[out] << ", ";
    }
    cout << "\n";
 
    REQUIRE(receivedEnoughFrames == true);
}
 
TEST_CASE("Test many IO connections before crossing Leon processors") {
    Pipeline pipeline;
    auto camRgb = pipeline.create<node::ColorCamera>();
    camRgb->setInterleaved(false);
 
    for(int i = 0; i < NUM_CONN; i++) {
        string out = "out" + to_string(i);
        auto manip = pipeline.create<node::ImageManip>();
        camRgb->preview.link(manip->inputImage);
        auto xout = pipeline.create<node::XLinkOut>();
        xout->setStreamName(out);
        manip->out.link(xout->input);
    }
 
    Device device(pipeline);
 
    // Set queues to non-blocking
    std::unordered_map<string, int> numFrames;
    for(int i = 0; i < NUM_CONN; i++) {
        string out = "out" + to_string(i);
        device.getOutputQueue(out, 9, false);
        numFrames[out] = 0;
    }
 
    // Retrieve at least 10 frames of each, without errors
    constexpr auto NUM_FRAMES_REQUIRED = 10;
 
    bool receivedEnoughFrames = false;
    auto t1 = steady_clock::now();
    do {
        receivedEnoughFrames = true;
        // Set queues to non-blocking
        for(int i = 0; i < NUM_CONN; i++) {
            string out = "out" + to_string(i);
            auto frame = device.getOutputQueue(out, 9, false)->tryGet();
            if(frame != nullptr) {
                numFrames[out]++;
            }
 
            // Check
            if(numFrames[out] < NUM_FRAMES_REQUIRED) {
                receivedEnoughFrames = false;
            }
        }
 
        if(receivedEnoughFrames) {
            break;
        }
 
    } while(steady_clock::now() - t1 < 5s);
 
    cout << "numFrames: ";
    for(int i = 0; i < NUM_CONN; i++) {
        string out = "out" + to_string(i);
        cout << numFrames[out] << ", ";
    }
    cout << "\n";
 
    REQUIRE(receivedEnoughFrames == true);
}