Script

Script 节点允许用户在设备上运行自定义 Python 脚本。由于计算资源限制，脚本节点不应用于繁重的计算（例如图像处理/计算机视觉），而应用于管理流程（业务逻辑）。示例用例包括控制 ImageManip、ColorCamera、SpatialLocationCalculator 等节点，解码 NeuralNetwork 结果，或与 GPIO 接口。有关调试脚本，我们建议使用 script_logging。

如何放置

Python

1pipeline = dai.Pipeline()
2script = pipeline.create(dai.node.Script)

C++

1dai::Pipeline pipeline;
2auto script = pipeline.create<dai::node::Script>();

输入和输出

用户可以根据需要定义任意数量的输入和输出。输入和输出可以是任何 components_messages 类型。

用法

Python

1script = pipeline.create(dai.node.Script)
2script.setScript("""
3    import time
4    import marshal
5    num = 123
6    node.warn(f"Number {num}") # Print to host
7    x = [1, "Hello", {"Foo": "Bar"}]
8    x_serial = marshal.dumps(x)
9    b = Buffer(len(x_serial))
10    while True:
11        time.sleep(1)
12        b.setData(x_serial)
13        node.io['out'].send(b)
14""")
15script.outputs['out'].link(xout.input)
16
17# ...
18# After initializing the device, enable log levels
19device.setLogLevel(dai.LogLevel.WARN)
20device.setLogOutputLevel(dai.LogLevel.WARN)

C++

1auto script = pipeline.create<dai::node::Script>();
2script->setScript(R"(
3    import time
4    import marshal
5    num = 123
6    node.warn(f"Number {num}") # Print to host
7    x = [1, "Hello", {"Foo": "Bar"}]
8    x_serial = marshal.dumps(x)
9    b = Buffer(len(x_serial))
10    while True:
11        time.sleep(1)
12        b.setData(x_serial)
13        node.io['out'].send(b)
14)");
15script->outputs["out"].link(xout->input);
16
17// ...
18// After initializing the device, enable log levels
19device.setLogLevel(dai::LogLevel.WARN);
20device.setLogOutputLevel(dai::LogLevel.WARN);

与 GPIO 接口

在脚本节点中，您可以使用 GPIO 模块与 VPU 的 GPIO 进行交互。当前支持的功能包括：

Python

1# Module
2import GPIO
3
4# General
5GPIO.setup(gpio, dir, pud, exclusive)
6GPIO.release(gpio)
7GPIO.write(gpio, value)
8GPIO.read(gpio)
9
10# Interrupts
11GPIO.waitInterruptEvent(gpio = -1) # blocks until any interrupt or interrupt by specified gpio is fired. Interrupts with callbacks are ignored here
12GPIO.hasInterruptEvent(gpio = -1) # returns whether interrupt happened on any or specified gpio. Interrupts with callbacks are ignored here
13GPIO.setInterrupt(gpio, edge, priority, callback = None) # adds interrupt to specified pin
14GPIO.clearInterrupt(gpio) # clears interrupt of specified pin
15
16# PWM
17GPIO.setPwm(gpio, highCount, lowCount, repeat=0) # repeat == 0 means indefinite
18GPIO.enablePwm(gpio, enable)
19
20# Enumerations
21GPIO.Direction: GPIO.IN, GPIO.OUT
22GPIO.State: GPIO.LOW, GPIO.HIGH
23GPIO.PullDownUp: GPIO.PULL_NONE, GPIO.PULL_DOWN, GPIO.PULL_UP
24GPIO.Edge: GPIO.RISING, GPIO.FALLING, GPIO.LEVEL_HIGH, GPIO.LEVEL_LOW

这是一个示例，通过（通过 XLinkIn）从主机切换脚本节点内的 GPIO 引脚 40。在 OAK-SoM-Pro 上， GPIO 40 为两个 4 通道摄像头驱动 FSYNC 信号，我们为此目的使用了以下代码。

Python

1import GPIO
2MX_PIN = 40
3
4ret = GPIO.setup(MX_PIN, GPIO.OUT, GPIO.PULL_DOWN)
5toggleVal = True
6
7while True:
8  data = node.io['in'].get()  # Wait for a message from the host computer
9
10  node.warn('GPIO toggle: ' + str(toggleVal))
11  toggleVal = not toggleVal
12  ret = GPIO.write(MX_PIN, toggleVal)  # Toggle the GPIO

时间同步

脚本节点可以访问设备（内部）时钟以及同步的主机时钟。主机时钟以低于 2.5ms 的精度（在 1σ 下）与设备时钟同步，主机时钟同步。

Python

1import time
2interval = 60
3ctrl = CameraControl()
4ctrl.setCaptureStill(True)
5previous = 0
6while True:
7    time.sleep(0.001)
8
9    tnow_full = Clock.nowHost() # Synced clock with host
10    # Clock.now() -> internal/device clock
11    # Clock.offsetToHost() -> Offset between internal/device clock and host clock
12
13    now = tnow_full.seconds
14    if now % interval == 0 and now != previous:
15        previous = now
16        node.warn(f'{tnow_full}')
17        node.io['out'].send(ctrl)

使用 DepthAI 消息

depthai 模块已隐式导入到脚本节点。您可以创建新的 depthai 消息并为其赋值，例如：

Python

1buf = Buffer(100) # 为 Buffer 消息分配 100 字节
2
3# 创建 CameraControl 消息，设置手动对焦
4control = CameraControl()
5control.setManualFocus(100)
6
7imgFrame = ImgFrame(300*300*3) # 具有 300x300x3 字节的缓冲区

可用模块和库

可用模块

Text

1"posix", "errno", "pwd", "_sre", "_codecs", "_weakref", "_functools", "_operator",
2"_collections", "_abc", "itertools", "atexit", "_stat", "time", "_datetime", "math",
3"_thread", "_io", "_symtable", "marshal", "_ast", "gc", "_warnings", "_string", "_struct"

LEON_CSS 可用模块：

Text

1"binascii", "_random", "_socket", "_md5", "_sha1", "_sha256", "_sha512", "select",
2"array", "unicodedata

库

Text

1"__main__", "_collections_abc", "_frozen_importlib", "_frozen_importlib_external",
2"_sitebuiltins", "abc", "codecs", "datetime", "encodings", "encodings.aliases",
3"encodings.ascii", "encodings.latin_1", "encodings.mbcs", "encodings.utf_8", "genericpath",
4"io", "os", "posixpath", "site", "stat", "threading", "types", "struct", "copyreg",
5"reprlib", "operator", "keyword", "heapq", "collections", "functools", "sre_constants",
6"sre_parse", "sre_compile", "enum", "re", "json", "json.decoder", "json.encoder",
7"json.scanner", "textwrap"

LEON_CSS 库：

Text

1"http", "http.client", "http.server", "html", "mimetypes", "copy", "shutil", "fnmatch",
2"socketserver", "contextlib", "email", "email._encoded_words", "email._header_value_parser",
3"email._parseaddr", "email._policybase", "email.base64mime", "email.charset",
4"email.contentmanager",  "email.encoders", "email.errors", "email.feedparser",
5"email.generator", "email.header", "email.headerregistry", "email.iterators", "email.message",
6"email.parser", "email.policy", "email.quoprimime", "email.utils", "string", "base64",
7"quopri", "random", "warnings", "bisect", "hashlib", "logging", "traceback", "linecache",
8"socket", "token", "tokenize", "weakref", "_weakrefset", "collections.abc", "selectors",
9"urllib", "urllib.parse", "calendar", "locale", "uu", "encodings.idna", "stringprep"

模块和库的区别在于，模块是预编译的 C 源代码，带有 Python 绑定，而库是打包成库的 Python 源代码，并预编译成 Python 字节码（在加载到我们的固件之前）。在 LEON_CSS 上可用的网络/协议模块/库只能在 OAK POE 设备上使用。您可以指定脚本将在哪个处理器上运行，例如，对于 LEON_CSS：

Python

1script = pipeline.create(dai.node.Script)
2script.setProcessor(dai.ProcessorType.LEON_CSS)

功能示例

脚本相机控制 - 控制相机
脚本获取本地 IP - 获取本地 IP
脚本 HTTP 客户端 - 发送 HTTP 请求
脚本 TCP 流 - 从 Script 节点内部进行 TCP 通信，可以是主机或客户端模式
脚本 MQTT 发布 - 从 Script 节点内部进行 MQTT 发布
脚本 HTTP 服务器 - 通过 HTTP 发送静态图像
脚本 MJPEG 服务器 - 通过 HTTP 进行 MJPEG 视频流
脚本 NNData 示例 - 构建 NNData
三角测量实验
Movenet 解码（边缘模式） - geaxgx 的一个更复杂的示例

参考

class

depthai.node.Script(depthai.Node)

method

getProcessor(self) -> depthai.ProcessorType: depthai.ProcessorType

Get on which processor the script should run  Returns:     Processor type - Leon CSS or Leon MSS

method

getScriptName(self) -> str: str

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 "<script>"  Returns:     std::string of script name in utf-8

method

setProcessor(self, arg0: depthai.ProcessorType)

Set on which processor the script should run  Parameter ``type``:     Processor type - Leon CSS or Leon MSS

method

method

property

property

需要帮助？

请前往 Discussion Forum 获取技术支持或提出您可能有的任何其他问题。

本页目录

ScriptView as Markdown

如何放置

Python

C++

输入和输出

用法

Python

C++

与 GPIO 接口

时间同步

使用 DepthAI 消息

可用模块和库

功能示例

参考

depthai.node.Script(depthai.Node)

需要帮助？

Script