Mac tests

.github/workflows/test.workflow.yml

@@ -92,3 +92,12 @@ jobs:
       CONTAINER_REGISTRY: ${{ secrets.CONTAINER_REGISTRY }}
       HIL_PAT_TOKEN: ${{ secrets.HIL_PAT_TOKEN }}
 
+  run_vanilla_mac_tests:
+    needs: [precheck]
+    if: needs.precheck.outputs.should_run == 'true'
+    uses: ./.github/workflows/test_child_mac.yml
+    with:
+      flavor: "asan-ubsan"
+      luxonis_os_versions_to_test: "['1.23.1']"
+    secrets:
+      HIL_PAT_TOKEN: ${{ secrets.HIL_PAT_TOKEN }}

.github/workflows/test_child_mac.yml

@@ -0,0 +1,52 @@
+name: Run hil tests for mac os
+on:
+  workflow_call:
+    inputs:
+      flavor:
+        required: true
+        type: string
+        default: "vanilla"
+      luxonis_os_versions_to_test:
+        required: true
+        type: string
+    secrets:
+      HIL_PAT_TOKEN:
+        required: true
+
+jobs:
+#  mac_rvc2_test:
+#     needs: [build_docker_container]
+#     runs-on: ['self-hosted', 'testbed-runner']
+#     steps:
+#     - uses: actions/checkout@v3
+
+#     - name: Run RVC2 tests
+#       run: |
+#         source scripts/hil/prepare_hil_framework.sh ${{ secrets.HIL_PAT_TOKEN }}
+#         export RESERVATION_NAME="https://github.com/$GITHUB_REPOSITORY/actions/runs/$GITHUB_RUN_ID#rvc2-${{ inputs.flavor }}"
+#         exec hil_runner --capabilities depthai-core-hil --platforms 'rvc2 and rvc2' --reservation-name $RESERVATION_NAME --wait --docker-image ${{ secrets.CONTAINER_REGISTRY }}/depthai-core-hil:${{ needs.build_docker_container.outputs.tag }} --commands "./tests/run_tests_entrypoint.sh rvc2"
+
+  # Testing
+ mac_rvc4_test:
+      strategy:
+        matrix:
+          rvc4os: ${{ fromJson(inputs.luxonis_os_versions_to_test) }}
+        fail-fast: false
+      runs-on: ['self-hosted', 'testbed-runner']
+      steps:
+      - uses: actions/checkout@v4
+        with:
+            submodules: recursive
+            fetch-depth: 0
+
+      - name: Run RVC4 tests
+        run: |
+            BRANCH_NAME="${{ github.ref_name }}"
+            PULL_REQUEST="false"
+            if [[ -n "${{ github.head_ref }}" ]]; then
+                BRANCH_NAME="${{ github.ref }}"
+                PULL_REQUEST="true"
+            fi
+            source scripts/hil/prepare_hil_framework.sh ${{ secrets.HIL_PAT_TOKEN }}
+            export RESERVATION_NAME="https://github.com/$GITHUB_REPOSITORY/actions/runs/$GITHUB_RUN_ID#rvc4-mac-${{ matrix.rvc4os }}-${{ inputs.flavor }}"
+            exec hil_runner --models "oak4_pro or oak4_d" -os mac --sync-workspace --rsync-args="--exclude=venv" --reservation-name $RESERVATION_NAME --wait --rvc4-os-version ${{ matrix.rvc4os }} --commands "cd /tmp/depthai-core && ./scripts/hil/run_hil_tests_mac.sh $PULL_REQUEST ${{ inputs.flavor }} --rvc4"

.github/workflows/test_child_windows.yml

@@ -114,7 +114,7 @@ jobs:
         pip install --upgrade pip
         pip install numpy pytest pytest-html
         $buildDir = 'C:/depthai-core/build'
-        $overlay  = 'C:/depthai-core/cmake/triplets/release'  # make it absolute
+        $overlay  = 'C:/depthai-core/cmake/triplets/release'
         $isPR = "${{ github.head_ref }}" -ne ""
         $extraFlags = ""
 

examples/cpp/HostNodes/display.cpp

@@ -9,7 +9,7 @@
 class HostDisplay : public dai::node::CustomNode<HostDisplay> {
    public:
     HostDisplay() {
-        sendProcessingToPipeline(false);
+        sendProcessingToPipeline(true);
     }
 
     std::shared_ptr<dai::Buffer> processGroup(std::shared_ptr<dai::MessageGroup> message) override {
@@ -45,11 +45,7 @@ int main() {
     output->link(display->inputs["frame"]);
 
     // Start pipeline
-    pipeline.start();
-    std::cout << "Display window opened. Press 'q' to quit." << std::endl;
-
-    // Wait for pipeline to finish
-    pipeline.wait();
+    pipeline.run();
 
     return 0;
 }

examples/cpp/HostNodes/host_node.cpp

@@ -8,6 +8,7 @@ class Display : public dai::NodeCRTP<dai::node::HostNode, Display> {
 
     std::shared_ptr<Display> build(Output& out) {
         out.link(input);
+        sendProcessingToPipeline(true);
         return std::static_pointer_cast<Display>(this->shared_from_this());
     }
     std::shared_ptr<dai::Buffer> processGroup(std::shared_ptr<dai::MessageGroup> in) override {
@@ -68,7 +69,6 @@ int main() {
         pipeline.create<StreamMerger>()->build(*camRgb->requestOutput(std::make_pair(640, 480)), *camMono->requestOutput(std::make_pair(640, 480)));
     auto display = pipeline.create<Display>()->build(streamMerger->out);
 
-    pipeline.start();
-    pipeline.wait();
+    pipeline.run();
     return 0;
 }

examples/cpp/HostNodes/host_pipeline_synced_node.cpp

@@ -48,10 +48,10 @@ int main() {
     auto camMono = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_B);
 
     auto syncedDisplay = pipeline.create<SyncedDisplay>();
+    syncedDisplay->sendProcessingToPipeline(true);
     camRgb->requestOutput(std::make_pair(640, 480))->link(syncedDisplay->inputRgb);
     camMono->requestOutput(std::make_pair(640, 480))->link(syncedDisplay->inputMono);
 
-    pipeline.start();
-    pipeline.wait();
+    pipeline.run();
     return 0;
 }

examples/cpp/HostNodes/image_manip_host.cpp

@@ -18,7 +18,6 @@ int main(int argc, char** argv) {
     dai::Pipeline pipeline(false);
 
     auto replay = pipeline.create<dai::node::ReplayVideo>();
-    auto display = pipeline.create<dai::node::Display>();
     auto manip = pipeline.create<dai::node::ImageManip>();
     manip->setRunOnHost();
     // After doing the rest of the operations, resize the frame to 1270x710 and keep the aspect ratio by cropping from the center
@@ -36,9 +35,16 @@ int main(int argc, char** argv) {
     replay->setSize(1280, 720);
 
     replay->out.link(manip->inputImage);
-    manip->out.link(display->input);
+    auto outputQueue = manip->out.createOutputQueue();
 
-    pipeline.start();
 
-    pipeline.wait();
+    pipeline.start();
+    while(pipeline.isRunning()) {
+        auto imgFrame = outputQueue->get<dai::ImgFrame>();
+        cv::imshow("Manipulated Frame", imgFrame->getCvFrame());
+        int key = cv::waitKey(1);
+        if(key == 'q') {
+            break;
+        }
+    }
 }

examples/cpp/ImageManip/image_manip_multi_ops.cpp

@@ -14,7 +14,6 @@ int main(int argc, char** argv) {
     dai::Pipeline pipeline(device);
 
     auto camRgb = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_A);
-    auto display = pipeline.create<dai::node::Display>();
     auto manip = pipeline.create<dai::node::ImageManip>();
 
     manip->setMaxOutputFrameSize(4000000);
@@ -27,8 +26,14 @@ int main(int argc, char** argv) {
 
     auto* rgbOut = camRgb->requestOutput({1920, 1080});
     rgbOut->link(manip->inputImage);
-    manip->out.link(display->input);
-
+    auto outputQueue = manip->out.createOutputQueue();
     pipeline.start();
-    pipeline.wait();
-}
+    while(pipeline.isRunning()) {
+        auto imgFrame = outputQueue->get<dai::ImgFrame>();
+        cv::imshow("Manipulated Frame", imgFrame->getCvFrame());
+        int key = cv::waitKey(1);
+        if(key == 'q') {
+            break;
+        }
+    }
+}

examples/cpp/ImageManip/image_manip_resize.cpp

@@ -1,11 +1,7 @@
-#include <iostream>
-
-#include "depthai/common/CameraBoardSocket.hpp"
 #include "depthai/depthai.hpp"
 #include "depthai/pipeline/datatype/ImgFrame.hpp"
 #include "depthai/pipeline/node/Camera.hpp"
 #include "depthai/pipeline/node/ImageManip.hpp"
-#include "depthai/pipeline/node/host/Display.hpp"
 
 int main(int argc, char** argv) {
     std::shared_ptr<dai::Device> device = nullptr;
@@ -17,7 +13,6 @@ int main(int argc, char** argv) {
     dai::Pipeline pipeline(device);
 
     auto camRgb = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_A);
-    auto display = pipeline.create<dai::node::Display>();
     auto manip = pipeline.create<dai::node::ImageManip>();
 
     // Resize to 400x400 and avoid stretching by cropping from the center
@@ -26,7 +21,15 @@ int main(int argc, char** argv) {
     manip->initialConfig->setFrameType(dai::ImgFrame::Type::RGB888i);
 
     camRgb->requestOutput((std::make_pair(1920, 1080)))->link(manip->inputImage);
-    manip->out.link(display->input);
+    auto outputQueue = manip->out.createOutputQueue();
 
-    pipeline.run();
+    pipeline.start();
+    while(pipeline.isRunning()) {
+        auto imgFrame = outputQueue->get<dai::ImgFrame>();
+        cv::imshow("Resized Frame", imgFrame->getCvFrame());
+        int key = cv::waitKey(1);
+        if(key == 'q') {
+            break;
+        }
+    }
 }

examples/cpp/SpatialDetectionNetwork/spatial_detection.cpp

@@ -22,6 +22,7 @@ class SpatialVisualizer : public dai::NodeCRTP<dai::node::HostNode, SpatialVisua
         depth.link(depthInput);
         detections.link(detectionsInput);
         rgb.link(rgbInput);
+        sendProcessingToPipeline(true);
         return std::static_pointer_cast<SpatialVisualizer>(this->shared_from_this());
     }
 
@@ -229,8 +230,7 @@ int main(int argc, char** argv) {
         std::cout << "Pipeline starting with depth source: " << depthSourceArg << '\n';
 
         // Start pipeline
-        pipeline.start();
-        pipeline.wait();
+        pipeline.run();
 
     } catch(const std::exception& e) {
         std::cerr << "Error: " << e.what() << '\n';

examples/python/install_requirements.py

@@ -64,7 +64,10 @@ def hasWhitespace(string):
 if args.install_rerun:
     DEPENDENCIES.append('rerun-sdk')
 if args.install_open3d_cpu:
-    DEPENDENCIES.append('open3d-cpu')
+    if platform.system() == "Darwin":
+        DEPENDENCIES.append("open3d")
+    else:
+        DEPENDENCIES.append("open3d-cpu")
 # Constants
 ARTIFACTORY_URL = 'https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local'
 

scripts/hil/run_hil_tests_mac.sh

@@ -0,0 +1,61 @@
+#!/bin/bash
+
+# Check if the argument is provided
+if [ $# -lt 1 ]; then
+  echo "Usage: $0 <pull_request> <test_type> [--rvc2 | --rvc4]"
+  echo "  pull_request   Specify are we doing short tests (pull request) or long tests (dispatch/merge)"
+  echo "  test_type   Specify test flavor: vanilla, asan-ubsan, or tsan."
+  echo "  --rvc2      Optional: Run tests with RVC2 configuration."
+  echo "  --rvc4      Optional: Run tests with RVC4 configuration."
+  exit 1
+fi
+# Get the test type from the argument
+PULL_REQUEST=$1
+TEST_FLAVOR=$2
+TEST_ARGS=$3
+
+# Set up a Python virtual environment
+rm -rf venv
+python3.12 -m venv venv
+source venv/bin/activate
+export LC_ALL=en_US.UTF-8
+locale
+
+if [ "$TEST_FLAVOR" == "vanilla" ]; then
+    echo $CMAKE_TOOLCHAIN_PATH
+else
+    export CMAKE_TOOLCHAIN_PATH=$PWD/cmake/toolchain/${TEST_FLAVOR}.cmake
+fi
+
+pip install numpy pytest pytest-html  > /dev/null 2>&1
+export VCPKG_BINARY_SOURCES="files,/tmp/vcpkg_binaries,readwrite"
+rm -rf build
+CMAKE_ARGS=(
+  -S . -B build
+  -D CMAKE_BUILD_TYPE=Release
+  -D DEPTHAI_VCPKG_INTERNAL_ONLY=OFF
+  -D VCPKG_OVERLAY_TRIPLETS="$PWD/cmake/triplets/release"
+  -D DEPTHAI_BUILD_TESTS=ON
+  -D CMAKE_SHARED_LINKER_FLAGS="-Wl,-w"
+)
+
+if [ "$PULL_REQUEST" = "false" ]; then
+  CMAKE_ARGS+=(
+    -D DEPTHAI_BUILD_EXAMPLES=ON
+    -D DEPTHAI_TEST_EXAMPLES=ON
+    -D DEPTHAI_BUILD_PYTHON=ON
+    -D DEPTHAI_PYTHON_TEST_EXAMPLES=ON
+    -D DEPTHAI_PYTHON_ENABLE_EXAMPLES=ON
+  )
+fi
+
+echo "Running:"
+printf 'cmake'; printf ' %q' "${CMAKE_ARGS[@]}"; echo
+
+cmake "${CMAKE_ARGS[@]}"
+
+cmake --build build --parallel 3 --config Release \
+  || { echo "Build failed"; exit 3; }
+
+cd tests
+python3 run_tests.py $TEST_ARGS

vcpkg.json

@@ -32,6 +32,12 @@
           "host": true
         }
     ],
+    "overrides": [
+    {
+        "name": "vcpkg-tool-meson",
+        "version": "1.9.0"
+    }
+    ],
     "features": {
         "opencv-support": {
             "description": "Enable OpenCV support",