Feature/packetized data by JakubFara · Pull Request #1580 · luxonis/depthai-core

JakubFara · 2025-12-09T13:33:02Z

Summary

This commit adds support for reading packetized data.
Currently, this functionality is available only for RVC2 devices.

New Structure

PacketizedData : Buffer — sent before the actual packetized data to provide context for subsequent packets.

New Functions

`XLinkInHost`

std::shared_ptr<ADatatype> readData(const XLinkStream& stream) const;
Reads incoming data from the specified stream.
std::shared_ptr<ADatatype> parsePacketizedData(const std::shared_ptr<PacketizedData>& packetizedData, const XLinkStream& stream) const;
Parses packetized data and reconstructs the original payload.
void parseMessageGroup(const std::shared_ptr<MessageGroup>& messageGroup, const XLinkStream& stream) const;
Handles message groups and their contained data packets.

New Parameters

`XLinkOutProperties`

int packetSize — defines the packet size.
int packetFrequency — defines how frequently packets are sent.

Tests

Tests are added to tests/src/ondevice_tests/xlink_test.cpp.
The tests verify the expected sending duration base on number of packets and packet frequency.
Deeper testing is not currently possible, as the public API does not expose low-level packetization details.

moratom · 2025-12-10T11:56:44Z

+    void setPacketSize(int packetSize);
+
+    void setPacketFrequency(int packetFrequency);
+


We should add comments here;

I assume packetSize is in bytes?

What does packetFrequency do? Is this the "max" frequency?

Yes bytes.

I have changed frequencyLimit to BytesPerSecondLimit

moratom

Thanks, looks good!

We should bump RVC4 and RVC2 FW so it compiles and at add a warning on RVC4 that these are not implement at least (or implement the functionality on RVC4)

moratom · 2025-12-10T11:57:35Z

We should make this be internal (ideally at least)

Done here: e8c24dd Make PacketizedData struct private

moratom · 2025-12-10T11:58:49Z

+    /**
+     * Maximal frequency beteen of packets (-1 = unlimited)
+     */
+    int packetFrequency = -1;  //


Worth considering a max bandiwidth setting instead may be better (easier to grasp and can also be applied in case the messages are not packatized).

Changed here: c359769 Change frequencyLimit to BytesPerSecondLimit

moratom · 2025-12-10T11:59:01Z

Copilot

Pull request overview

This PR adds support for packetized data transfer, currently available only for RVC2 devices. The implementation allows data to be split into smaller packets and sent incrementally over XLink connections, with configurable packet size and frequency.

Key Changes

Introduced PacketizedData datatype to provide context for subsequent packet transfers
Added packet size and frequency configuration parameters to XLinkOut
Implemented parsing logic to reconstruct original payloads from packetized data streams

Reviewed changes

Copilot reviewed 13 out of 13 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
`include/depthai/pipeline/datatype/PacketizedData.hpp`	New datatype for representing packetized frame metadata
`include/depthai/pipeline/datatype/DatatypeEnum.hpp`	Added `PacketizedData` enum value
`src/pipeline/datatype/DatatypeEnum.cpp`	Registered `PacketizedData` in datatype hierarchy
`src/pipeline/datatype/StreamMessageParser.cpp`	Added parsing logic for `PacketizedData` messages
`include/depthai/properties/internal/XLinkOutProperties.hpp`	Added `packetSize` and `packetFrequency` properties
`include/depthai/pipeline/node/internal/XLinkOut.hpp`	Added getter/setter declarations for packet configuration
`src/pipeline/node/internal/XLinkOut.cpp`	Implemented packet configuration getters/setters
`include/depthai/pipeline/node/internal/XLinkInHost.hpp`	Added private helper methods for reading and parsing packetized data
`src/pipeline/node/internal/XLinkInHost.cpp`	Refactored data reading to support packetized transfers
`include/depthai/xlink/XLinkStream.hpp`	Made stream read/write methods const
`src/xlink/XLinkStream.cpp`	Updated implementations to match const signatures
`bindings/python/src/pipeline/node/NodeBindings.cpp`	Exposed packet configuration methods to Python API
`tests/src/ondevice_tests/xlink_test.cpp`	Added tests verifying packet timing and data integrity

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aljazkonec1

Thanks! Left some comments but looks good otherwise.

There is also a compiler warning that needs to be handled:

/home/aljaz/work-luxonis/depthai-core/src/utility/ProtoSerialize.cpp:138:11: warning: enumeration value ‘PacketizedData’ not handled in switch [-Wswitch]
  138 |     switch(datatype) {
      |           ^
/home/aljaz/work-luxonis/depthai-core/src/pipeline/node/host/Replay.cpp: In function ‘std::shared_ptr<dai::Buffer> dai::node::getMessage(std::shared_ptr<google::protobuf::Message>, dai::DatatypeEnum)’:
/home/aljaz/work-luxonis/depthai-core/src/pipeline/node/host/Replay.cpp:45:11: warning: enumeration value ‘PacketizedData’ not handled in switch [-Wswitch]
   45 |     switch(datatype) {
      |           ^
/home/aljaz/work-luxonis/depthai-core/src/pipeline/node/host/Replay.cpp: In function ‘std::shared_ptr<google::protobuf::Message> dai::node::getProtoMessage(dai::utility::BytePlayer&, dai::DatatypeEnum)’:
/home/aljaz/work-luxonis/depthai-core/src/pipeline/node/host/Replay.cpp:107:11: warning: enumeration value ‘PacketizedData’ not handled in switch [-Wswitch]
  107 |     switch(datatype) {

JakubFara · 2025-12-16T13:55:20Z

#1580 (review)
Warnings fixed here: e9a8afe Fix warnings

moratom

Looks good to me, let's add the RVC4 implementation as well before merging (should be faster now than later) and we have to do it anyhow.

moratom · 2026-01-08T16:49:17Z

 dai_add_test(calibration_handler_test src/onhost_tests/calibration_handler_test.cpp)
 dai_set_test_labels(calibration_handler_test onhost ci)

+# XLInkInHost test 


XLinkInHost

I have added the RVC4 implementation here: https://gitlab.luxonis.com/luxonis/depthai/depthai-device-kb/-/merge_requests/246

moratom requested a review from aljazkonec1 December 10, 2025 11:51

moratom reviewed Dec 10, 2025

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aljazkonec1 requested a review from Copilot December 12, 2025 07:34

Copilot AI reviewed Dec 12, 2025

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aljazkonec1 requested changes Dec 12, 2025

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Comment thread src/pipeline/node/internal/XLinkInHost.cpp

Comment thread src/pipeline/node/internal/XLinkInHost.cpp

Comment thread src/xlink/XLinkStream.cpp

Comment thread src/pipeline/datatype/StreamMessageParser.cpp

Comment thread tests/src/ondevice_tests/xlink_test.cpp

JakubFara force-pushed the feature/packetizedData branch 2 times, most recently from c59ebad to bdd0bbe Compare December 16, 2025 13:13

JakubFara force-pushed the feature/packetizedData branch 2 times, most recently from 7222d40 to 1af49e9 Compare December 16, 2025 16:18

JakubFara force-pushed the feature/packetizedData branch from 1af49e9 to 53fb5c0 Compare January 8, 2026 15:43

moratom reviewed Jan 9, 2026

View reviewed changes

JakubFara force-pushed the feature/packetizedData branch from 53fb5c0 to e8e09bc Compare January 12, 2026 09:50

aljazkonec1 approved these changes Jan 15, 2026

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JakubFara force-pushed the feature/packetizedData branch 2 times, most recently from a95d001 to fa446a8 Compare January 23, 2026 09:29

moratom added the testable PR is ready to be tested label Jan 27, 2026

JakubFara force-pushed the feature/packetizedData branch 2 times, most recently from 003c917 to 3385417 Compare January 27, 2026 16:04

MaticTonin added testable PR is ready to be tested and removed testable PR is ready to be tested labels Jan 27, 2026

JakubFara force-pushed the feature/packetizedData branch 3 times, most recently from 5a4c53a to 60208a3 Compare January 29, 2026 10:35

JakubFara added 5 commits January 29, 2026 16:08

Add missing consts to XLinkStream

92327cd

Add option to send XLink data in packets

a0b4849

Fix warnings

7f59c04

Make PacketizedData struct private

1651239

Change frequencyLimit to BytesPerSecondLimit

47d23ce

JakubFara added 4 commits January 29, 2026 16:08

Remove inappropriate //

50c4738

Remove of inappropriate usage of std::move()

bec5967

Add tests for the XLinkInHost

abbccee

Update RVC4 fw

4812ef3

JakubFara force-pushed the feature/packetizedData branch 2 times, most recently from a40f868 to 0c4f317 Compare January 29, 2026 15:19

JakubFara and others added 2 commits January 29, 2026 16:20

Update RVC2 fw

e13192e

Bump RVC4 device side

722e32d

JakubFara force-pushed the feature/packetizedData branch from 0c4f317 to 722e32d Compare January 29, 2026 15:20

Bump FW to latest

8bd0f78

MaticTonin merged commit 794ebdf into develop Jan 29, 2026

MaticTonin deleted the feature/packetizedData branch January 29, 2026 22:09

		void setPacketSize(int packetSize);

		void setPacketFrequency(int packetFrequency);

Conversation

JakubFara commented Dec 9, 2025

Summary

New Structure

New Functions

XLinkInHost

New Parameters

XLinkOutProperties

Tests

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JakubFara Dec 16, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Pull request overview

Key Changes

Reviewed changes

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JakubFara commented Dec 16, 2025

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`XLinkInHost`

`XLinkOutProperties`

JakubFara Dec 16, 2025 •

edited

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