Watchdog and segfault fix

host/py_module/py_bindings.cpp

@@ -42,7 +42,7 @@ std::shared_ptr<CNNHostPipeline> gl_result = nullptr;
 
 static volatile std::atomic<int> wdog_keep;
 
-bool deinit_device();
+bool soft_deinit_device();
 bool init_device(
  const std::string &device_cmd_file,
  const std::string &usb_device
@@ -55,14 +55,23 @@ static int wdog_thread_alive = 1;
 void wdog_thread(int& wd_timeout_ms)
 {
  std::cout << "watchdog started " << wd_timeout_ms << std::endl;
+ const int sleep_chunk = 100;
+ const int sleep_nr = wd_timeout_ms / sleep_chunk;
  while(wdog_thread_alive)
  {
  wdog_keep = 0;
- std::this_thread::sleep_for(std::chrono::milliseconds(wd_timeout_ms));
+ for(int i = 0; i < sleep_nr; i++)
+ {
+ std::this_thread::sleep_for(std::chrono::milliseconds(sleep_chunk));
+ if(wdog_thread_alive == 0)
+ {
+ break;
+ }
+ }
  if(wdog_keep == 0 && wdog_thread_alive == 1)
  {
  std::cout << "watchdog triggered " << std::endl;
-deinit_device();
+soft_deinit_device();
  bool init;
  for(int retry = 0; retry < 1; retry++)
  {
@@ -175,7 +184,7 @@ bool init_device(
  &g_xlink_device_handler,
  device_cmd_file,
  usb_device,
-false)
+true)
  )
  {
  std::cout << "depthai: Error initializing xlink\n";
@@ -278,12 +287,23 @@ bool init_device(
  return result;
 }
 
+bool soft_deinit_device()
+{
+ g_xlink = nullptr;
+ g_disparity_post_proc = nullptr;
+ g_device_support_listener = nullptr;
+	g_host_caputure_command = nullptr;
+ return true;
+}
+
 bool deinit_device()
 {
+ wdog_stop(); 
  g_xlink = nullptr;
  g_disparity_post_proc = nullptr;
  g_device_support_listener = nullptr;
  g_host_caputure_command = nullptr;
+	gl_result = nullptr;
  return true;
 }
 
@@ -859,17 +879,15 @@ PYBIND11_MODULE(depthai, m)
  .def("get_available_data_packets", &HostPipeline::getAvailableDataPackets, py::return_value_policy::copy)
  ;
 
- py::class_<CNNHostPipeline>(m, "CNNPipeline")
+ py::class_<CNNHostPipeline, std::shared_ptr<CNNHostPipeline>>(m, "CNNPipeline")
  .def("get_available_data_packets", &CNNHostPipeline::getAvailableDataPackets, py::return_value_policy::copy)
  .def("get_available_nnet_and_data_packets", &CNNHostPipeline::getAvailableNNetAndDataPackets, py::return_value_policy::copy)
  ;
 
 
  // module destructor
  auto cleanup_callback = []() {
- wdog_stop();
  deinit_device();
- gl_result = nullptr;
  };
 
  m.add_object("_cleanup", py::capsule(cleanup_callback));

shared/version.hpp

@@ -1,4 +1,4 @@
 #pragma once
 
-const char *c_depthai_dev_version = "c722ebde932d6627463321816a5654b5be6069e1";
+const char *c_depthai_dev_version = "30295b558351cd030408e12a220cdd55b5fb450e";
 const char *c_depthai_version = "0.0.10a";

shared/xlink/xlink_wrapper.cpp

@@ -25,9 +25,19 @@ XLinkWrapper::~XLinkWrapper()
 {
  if (_device_link_id != -1)
  {
- if (_be_verbose) { printf("Stopping threads: ...\n"); }
+ std::chrono::steady_clock::time_point tstart;
+ std::chrono::duration<double> tdiff;
+ if (_be_verbose) 
+ { 
+ printf("Stopping threads: ...\n"); 
+ tstart = std::chrono::steady_clock::now();
+ }
  stopThreads();
- if (_be_verbose) { printf("Stopping threads: DONE.\n"); }
+ if (_be_verbose) 
+ { 
+ tdiff = std::chrono::steady_clock::now() - tstart;
+ printf("Stopping threads: DONE %.3fs.\n",tdiff.count()); 
+ }
 
  if (_be_verbose) { printf("Closing all observer streams: ...\n"); }
  closeAllObserverStreams();
@@ -39,6 +49,7 @@ XLinkWrapper::~XLinkWrapper()
  XLinkWrapper::rebootDevice(_device_link_id);
  }
 #endif
+ _device_link_id = -1;
  }
 }
 
@@ -662,6 +673,7 @@ void XLinkWrapper::openAndReadDataThreadFunc(
  else
  {
  printf("Device get data failed: %x\n", status);
+ break;
  }
 
  std::this_thread::sleep_for(std::chrono::milliseconds(c_stream_read_thread_wait_ms));