# Script Script node allows users to run custom Python scripts on the device. Due to the computational resource constraints, script node shouldn't be used for heavy computing (eg. image manipulation/CV), but for managing the flow of the pipeline (business logic). Example use cases would be controlling nodes like [ImageManip](https://docs.luxonis.com/software-v3/depthai/depthai-components/nodes/image_manip.md), [ColorCamera](https://docs.luxonis.com/software-v3/depthai/depthai-components/nodes/color_camera.md), [SpatialLocationCalculator](https://docs.luxonis.com/software-v3/depthai/depthai-components/nodes/spatial_location_calculator.md), decoding [NeuralNetwork](https://docs.luxonis.com/software-v3/depthai/depthai-components/nodes/neural_network.md) results, or interfacing with GPIOs. ## How to place it #### Python ```python pipeline = dai.Pipeline() script = pipeline.create(dai.node.Script) ``` #### C++ ```cpp dai::Pipeline pipeline; auto script = pipeline.create(); ``` ## Inputs and Outputs Users can define as many inputs and outputs as they need. Inputs and outputs can be any [components_messages](https://docs.luxonis.com/software-v3/depthai/depthai-components/messages/message_group.md) type. ## Usage #### Python ```python script = pipeline.create(dai.node.Script) script.setScript(""" import time import marshal num = 123 node.warn(f"Number {num}") # Print to host x = [1, "Hello", {"Foo": "Bar"}] x_serial = marshal.dumps(x) b = Buffer(len(x_serial)) while True: time.sleep(1) b.setData(x_serial) node.io['out'].send(b) """) script.outputs['out'].link(xout.input) # ... # After initializing the device, enable log levels device.setLogLevel(dai.LogLevel.WARN) device.setLogOutputLevel(dai.LogLevel.WARN) ``` #### C++ ```cpp auto script = pipeline.create(); script->setScript(R"( import time import marshal num = 123 node.warn(f"Number {num}") # Print to host x = [1, "Hello", {"Foo": "Bar"}] x_serial = marshal.dumps(x) b = Buffer(len(x_serial)) while True: time.sleep(1) b.setData(x_serial) node.io['out'].send(b) )"); script->outputs["out"].link(xout->input); // ... // After initializing the device, enable log levels device.setLogLevel(dai::LogLevel.WARN); device.setLogOutputLevel(dai::LogLevel.WARN); ``` ## Interfacing with GPIOs In the script node you can interface with GPIOs of the VPU using module GPIO. Currently supported functions are: ```python # Module import GPIO # General GPIO.setup(gpio, dir, pud, exclusive) GPIO.release(gpio) GPIO.write(gpio, value) GPIO.read(gpio) # Interrupts GPIO.waitInterruptEvent(gpio = -1) # blocks until any interrupt or interrupt by specified gpio is fired. Interrupts with callbacks are ignored here GPIO.hasInterruptEvent(gpio = -1) # returns whether interrupt happened on any or specified gpio. Interrupts with callbacks are ignored here GPIO.setInterrupt(gpio, edge, priority, callback = None) # adds interrupt to specified pin GPIO.clearInterrupt(gpio) # clears interrupt of specified pin # PWM GPIO.setPwm(gpio, highCount, lowCount, repeat=0) # repeat == 0 means indefinite GPIO.enablePwm(gpio, enable) # Enumerations GPIO.Direction: GPIO.IN, GPIO.OUT GPIO.State: GPIO.LOW, GPIO.HIGH GPIO.PullDownUp: GPIO.PULL_NONE, GPIO.PULL_DOWN, GPIO.PULL_UP GPIO.Edge: GPIO.RISING, GPIO.FALLING, GPIO.LEVEL_HIGH, GPIO.LEVEL_LOW ``` Here's an example of toggling GPIO pin 40 inside Script node from the host. On [OAK-SoM-Pro](https://shop.luxonis.com/products/oak-som-pro), GPIO 40 drives FSYNC signal for both 4-lane cameras, and we have used the code below for this exact reason. ```python import GPIO MX_PIN = 40 ret = GPIO.setup(MX_PIN, GPIO.OUT, GPIO.PULL_DOWN) toggleVal = True while True: data = node.io['in'].get() # Wait for a message from the host computer node.warn('GPIO toggle: ' + str(toggleVal)) toggleVal = not toggleVal ret = GPIO.write(MX_PIN, toggleVal) # Toggle the GPIO ``` ## Time synchronization Script node has access to both device (internal) clock and also synchronized host clock. Host clock is synchronized with device clock at below 2.5ms precision at 1σ, [Host clock syncing](https://docs.luxonis.com/software-v3/depthai/depthai-components/device.md). ```python import time interval = 60 ctrl = CameraControl() ctrl.setCaptureStill(True) previous = 0 while True: time.sleep(0.001) tnow_full = Clock.nowHost() # Synced clock with host # Clock.now() -> internal/device clock # Clock.offsetToHost() -> Offset between internal/device clock and host clock now = tnow_full.seconds if now % interval == 0 and now != previous: previous = now node.warn(f'{tnow_full}') node.io['out'].send(ctrl) ``` ## Using DepthAI [Messages](https://docs.luxonis.com/software-v3/depthai/depthai-components/messages.md) The depthai module is implicitly imported to the script node. You can create new depthai messages and assign data to it, for example: ```python buf = Buffer(100) # Assign 100 bytes to the Buffer message # Create CameraControl message, set manual focus control = CameraControl() control.setManualFocus(100) imgFrame = ImgFrame(300*300*3) # Buffer with 300x300x3 bytes ``` ## Available modules and libraries #### RVC2 Available modules ```text "posix", "errno", "pwd", "_sre", "_codecs", "_weakref", "_functools", "_operator", "_collections", "_abc", "itertools", "atexit", "_stat", "time", "_datetime", "math", "_thread", "_io", "_symtable", "marshal", "_ast", "gc", "_warnings", "_string", "_struct" ``` Available Modules for LEON_CSS: ```text "binascii", "_random", "_socket", "_md5", "_sha1", "_sha256", "_sha512", "select", "array", "unicodedata" ``` Libraries ```text "__main__", "_collections_abc", "_frozen_importlib", "_frozen_importlib_external", "_sitebuiltins", "abc", "codecs", "datetime", "encodings", "encodings.aliases", "encodings.ascii", "encodings.latin_1", "encodings.mbcs", "encodings.utf_8", "genericpath", "io", "os", "posixpath", "site", "stat", "threading", "types", "struct", "copyreg", "reprlib", "operator", "keyword", "heapq", "collections", "functools", "sre_constants", "sre_parse", "sre_compile", "enum", "re", "json", "json.decoder", "json.encoder", "json.scanner", "textwrap" ``` Libraries for LEON_CSS: ```text "http", "http.client", "http.server", "html", "mimetypes", "copy", "shutil", "fnmatch", "socketserver", "contextlib", "email", "email._encoded_words", "email._header_value_parser", "email._parseaddr", "email._policybase", "email.base64mime", "email.charset", "email.contentmanager", "email.encoders", "email.errors", "email.feedparser", "email.generator", "email.header", "email.headerregistry", "email.iterators", "email.message", "email.parser", "email.policy", "email.quoprimime", "email.utils", "string", "base64", "quopri", "random", "warnings", "bisect", "hashlib", "logging", "traceback", "linecache", "socket", "token", "tokenize", "weakref", "_weakrefset", "collections.abc", "selectors", "urllib", "urllib.parse", "calendar", "locale", "uu", "encodings.idna", "stringprep" ``` The difference between module and library is that module is a precompiled C source with Python bindings, whereas library is Python source code packed into a library and precompiled into Python bytecode (before loaded into our Firmware). Networking/protocol modules/libraries that are available on the LEON_CSS can only be used on [OAK POE device](https://docs.luxonis.com/hardware.md#poe-designs). You can specify on which processor the script will run, eg. for LEON_CSS: ```python script = pipeline.create(dai.node.Script) script.setProcessor(dai.ProcessorType.LEON_CSS) ``` #### RVC4 Script node on the OAK4 is using the base python environment, which means that all modules and libraries that are available in the base python environment are also available in the script node. To add additional modules or libraries, you can use the pip command in the base python environment. ## Examples of functionality * [Script simple](https://docs.luxonis.com/software-v3/depthai/examples/script/script_simple.md) - Simple example of using Script node to send and receive messages. * [Script switch cameras](https://docs.luxonis.com/software-v3/depthai/examples/script/script_switch_all_cameras.md) - Example of using Script node to switch between multiple cameras. ## Reference ### dai::node::Script Kind: class #### InputMap inputs Kind: variable Inputs to Script node. Can be accessed using subscript operator (Eg: inputs['in1']) By default inputs are set to blocking with queue size 8 #### OutputMap outputs Kind: variable Outputs from Script node. Can be accessed subscript operator (Eg: outputs['out1']) #### void setScriptPath(const std::filesystem::path & path, const std::string & name) Kind: function Specify local filesystem path to load the script parameters: path: Filesystem path to load the script; name: Optionally set a name of this script, otherwise the name defaults to the path #### void setScript(const std::string & script, const std::string & name) Kind: function Sets script data to be interpreted parameters: script: Script string to be interpreted; name: Optionally set a name of this script #### void setScript(const std::vector< std::uint8_t > & data, const std::string & name) Kind: function Sets script data to be interpreted parameters: data: Binary data that represents the script to be interpreted; name: Optionally set a name of this script #### std::filesystem::path getScriptPath() Kind: function Get filesystem path from where script was loaded. return: std::filesystem::path from where script was loaded, otherwise returns empty path #### std::string getScriptName() Kind: function Get the script name in utf-8. When name set with setScript() or setScriptPath() , returns that name. When script loaded with setScriptPath() with name not provided, returns the utf-8 string of that path. Otherwise, returns "