Multi device support

host/py_module/py_bindings.cpp

@@ -72,7 +72,8 @@ std::vector<std::unique_ptr<TestDataSubject>> g_test_data_subjects;
 
 
 bool init_device(
-    const std::string &device_cmd_file
+    const std::string &device_cmd_file,
+    const std::string &usb_device
 )
 {
     bool result = false;
@@ -94,6 +95,7 @@ bool init_device(
                 &g_xlink_global_handler,
                 &g_xlink_device_handler,
                 device_cmd_file,
+                usb_device,
                 true)
             )
         {
@@ -604,11 +606,13 @@ PYBIND11_MODULE(depthai, m)
 
     // init device
     std::string device_cmd_file = "./depthai.cmd";
+    std::string usb_device = "";
     m.def(
         "init_device",
         &init_device,
         "Function that establishes the connection with device and gets configurations from it.",
-        py::arg("cmd_file") = device_cmd_file
+        py::arg("cmd_file") = device_cmd_file,
+        py::arg("usb_device") = usb_device
         );
 
     // reboot

shared/xlink/xlink_wrapper.cpp

@@ -49,6 +49,7 @@ bool XLinkWrapper::initFromHostSide(
     XLinkGlobalHandler_t* global_handler,
     XLinkHandler_t* device_handler,
     const std::string &device_cmd_file,
+    const std::string &usb_device,
     bool reboot_device_on_destructor
 )
 {
@@ -80,17 +81,40 @@ bool XLinkWrapper::initFromHostSide(
             break;
         }
 
+        if (usb_device == "list") {
+            const int MAX_DEVICES = 32;
+            unsigned int numdev = 0;
+            deviceDesc_t deviceDescAll[MAX_DEVICES] = {};
+            rc = XLinkFindAllSuitableDevices(X_LINK_ANY_STATE, in_deviceDesc,
+                    deviceDescAll, MAX_DEVICES, &numdev);
+            printf("Detected %d device(s):\n", numdev);
+            for (int i = 0; i < numdev; i++) {
+                char *port = strdup(deviceDescAll[i].name);
+                strtok(port, "-");
+                printf("  %-12s on USB port: %s\n", deviceDescAll[i].name, port);
+                free(port);
+            }
+            exit(0);
+        }
+
+        if (!usb_device.empty())
+            snprintf(in_deviceDesc.name, sizeof in_deviceDesc.name,
+                    "%s-ma2480", usb_device.c_str());
+
         // boot device
         if (!device_cmd_file.empty()) {
             // Find un-booted device
-            static bool print_found = false;
+            bool print_found = false;
             tstart = std::chrono::steady_clock::now();
             do {
                 rc = XLinkFindFirstSuitableDevice(X_LINK_UNBOOTED, in_deviceDesc, &deviceDesc);
                 tdiff = std::chrono::steady_clock::now() - tstart;
                 if (rc != X_LINK_SUCCESS) {
                     print_found = true;
-                    printf("\rNo USB device [03e7:2485], still looking... %.3fs ", tdiff.count());
+                    printf("\rNo USB device [03e7:2485], still looking");
+                    if (!usb_device.empty())
+                        printf(" on port %s", usb_device.c_str());
+                    printf("... %.3fs ", tdiff.count());
                     fflush(stdout);
                 } else {
                     if (print_found)
@@ -115,6 +139,10 @@ bool XLinkWrapper::initFromHostSide(
             printf("Device boot is skipped. (\"cmd_file\" NOT SPECIFIED !)\n");
         }
 
+        if (!usb_device.empty())
+            snprintf(in_deviceDesc.name, sizeof in_deviceDesc.name,
+                    "%s-", usb_device.c_str());
+
         // Search for booted device
         tstart = std::chrono::steady_clock::now();
         do {

shared/xlink/xlink_wrapper.hpp

@@ -49,6 +49,7 @@ class XLinkWrapper
         XLinkGlobalHandler_t* global_handler,
         XLinkHandler_t* device_handler,
         const std::string &path_to_mvcmd = "",
+        const std::string &usb_device = "",
         bool reboot_device_on_destructor = true
         );
 #endif // __PC__