Class XLinkConnection

Class Documentation

class XLinkConnection

Represents connection between host and device over XLink protocol

Public Functions

XLinkConnection(const DeviceInfo &deviceDesc, std::vector<std::uint8_t> mvcmdBinary, XLinkDeviceState_t expectedState = X_LINK_BOOTED)
XLinkConnection(const DeviceInfo &deviceDesc, std::filesystem::path pathToMvcmd, XLinkDeviceState_t expectedState = X_LINK_BOOTED)
explicit XLinkConnection(const DeviceInfo &deviceDesc, XLinkDeviceState_t expectedState = X_LINK_BOOTED)
~XLinkConnection()
void setRebootOnDestruction(bool reboot)
bool getRebootOnDestruction() const
int getLinkId() const
void close()

Explicitly closes xlink connection.

Note

This function does not need to be explicitly called as destructor closes the connection automatically

bool isClosed() const

Is the connection 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This function is thread-unsafe and may return outdated incorrect values.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.

ProfilingData getProfilingData()

Get current accumulated profiling data

Returns:

ProfilingData from the specific connection

Public Static Functions

static std::vector<DeviceInfo> getAllConnectedDevices(XLinkDeviceState_t state = X_LINK_ANY_STATE, bool skipInvalidDevices = true, int timeoutMs = XLINK_DEVICE_DEFAULT_SEARCH_TIMEOUT_MS)

Returns information of all connected devices with given state

Parameters:

  • state – State which the devices should be in

  • skipInvalidDevices – whether or not to skip over devices that cannot be successfully communicated with

Returns:

Vector of connected device information

static std::tuple<bool, DeviceInfo> getFirstDevice(XLinkDeviceState_t state = X_LINK_ANY_STATE, bool skipInvalidDevices = true)

Returns information of first device with given state

Parameters:

state – State which the device should be in

Returns:

Device information

static std::tuple<bool, DeviceInfo> getDeviceById(std::string deviceId, XLinkDeviceState_t state = X_LINK_ANY_STATE, bool skipInvalidDevice = true)

Finds a device by Device ID. Example: 14442C10D13EABCE00

Parameters:

  • deviceId – Device ID which uniquely specifies a device

  • state – Which state should the device be in

  • skipInvalidDevices – Whether or not to skip devices that cannot be fully detected

Returns:

Tuple of bool and DeviceInfo. Bool specifies if device was found. DeviceInfo specifies the found device

static DeviceInfo bootBootloader(const DeviceInfo &devInfo)

Tries booting the given device into bootloader state

Parameters:

devInfo – Information of device which it should boot into bootloader state

Returns:

New device information if successful

static ProfilingData getGlobalProfilingData()

Get current accumulated profiling data

Returns:

ProfilingData from the specific connection