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, ColorCamera, SpatialLocationCalculator, decoding NeuralNetwork results, or interfacing with GPIOs. For debugging scripts, we suggest Script node logging.

How to place it¶

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

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

Inputs and Outputs¶

inputs[]  ┌──────────────┐  outputs[]
---------►│              ├-----------►
---------►│              ├-----------►
   ...    │    Script    |    ...
   ...    │              │    ...
---------►│              ├-----------►
          └──────────────┘

Users can define as many inputs and outputs as they need. Inputs and outputs can be any Message type.

Usage¶

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)

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

# 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 specfied 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

Using DepthAI Messages ¶

The depthai module is implicitly imported to the script node. You can create new depthai messages and assign data to it, for example:

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¶

"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"

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

"__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"

"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. You can specify on which processor the script will run, eg. for LEON_CSS:

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

Examples of functionality¶

Script camera control - Controlling the camera
Script get local IP - Get local IP
Script HTTP client - Send HTTP request
Script HTTP server - still image over HTTP
Script MJPEG server - MJPEG video stream over HTTP
Script NNData example - Constructs NNData
Triangulation experiment
Movenet decoding (edge mode) - A bit more complex example by geaxgx

Reference¶

class depthai.node.Script

class Connection: Connection between an Input and Output

class Id: Node identificator. Unique for every node on a single Pipeline

Properties: alias of depthai.ScriptProperties

getAssetManager(*args, **kwargs)

Overloaded function.

getAssetManager(self: depthai.Node) -> depthai.AssetManager

Get node AssetManager as a const reference

getAssetManager(self: depthai.Node) -> depthai.AssetManager

Get node AssetManager as a const reference

getInputRefs(*args, **kwargs)

Overloaded function.

getInputRefs(self: depthai.Node) -> List[depthai.Node.Input]

Retrieves reference to node inputs

getInputRefs(self: depthai.Node) -> List[depthai.Node.Input]

Retrieves reference to node inputs

getInputs(self: depthai.Node) → List[depthai.Node.Input]: Retrieves all nodes inputs

getName(self: depthai.Node) → str: Retrieves nodes name

getOutputRefs(*args, **kwargs)

Overloaded function.

getOutputRefs(self: depthai.Node) -> List[depthai.Node.Output]

Retrieves reference to node outputs

getOutputRefs(self: depthai.Node) -> List[depthai.Node.Output]

Retrieves reference to node outputs

getOutputs(self: depthai.Node) → List[depthai.Node.Output]: Retrieves all nodes outputs

getParentPipeline(*args, **kwargs)

Overloaded function.

getParentPipeline(self: depthai.Node) -> depthai.Pipeline
getParentPipeline(self: depthai.Node) -> depthai.Pipeline

getProcessor(self: depthai.node.Script) → depthai.ProcessorType

Get on which processor the script should run

Returns: Processor type - Leon CSS or Leon MSS

getScriptName(self: depthai.node.Script) → str: Get filesystem path from where script was loaded. If script wasn’t set by path, function returns empty string

getScriptPath(self: depthai.node.Script) → str: Get filesystem path from where script was loaded. If script wasn’t set by path, function returns empty string

property id: Id of node

setProcessor(self: depthai.node.Script, arg0: depthai.ProcessorType) → None

Set on which processor the script should run

Parameter type:: Processor type - Leon CSS or Leon MSS

setScript(*args, **kwargs)

Overloaded function.

setScript(self: depthai.node.Script, script: str, name: str = ‘’) -> None

Sets script data to be interpreted

Parameter script:: Script string to be interpreted
Parameter name:: Optionally set a name of this script

setScript(self: depthai.node.Script, data: List[int], name: str = ‘’) -> None

Sets script data to be interpreted

Parameter data:: Binary data that represents the script to be interpreted
Parameter name:: Optionally set a name of this script

setScriptPath(self: depthai.node.Script, arg0: str) → None: Specify local filesystem path to load the script

class dai::node::Script : public dai::NodeCRTP<Node, Script, ScriptProperties>¶

Public Functions

Script(const std::shared_ptr<PipelineImpl> &par, int64_t nodeId)¶

Script(const std::shared_ptr<PipelineImpl> &par, int64_t nodeId, std::unique_ptr<Properties> props)¶

void setScriptPath(const std::string &path)¶: Specify local filesystem path to load the script

void setScript(const std::string &script, const std::string &name = "")¶

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 = "")¶

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::string getScriptPath() const¶: Get filesystem path from where script was loaded. If script wasn’t set by path, function returns empty string

std::string getScriptName() const¶: Get filesystem path from where script was loaded. If script wasn’t set by path, function returns empty string

void setProcessor(ProcessorType type)¶

Set on which processor the script should run

Parameters

type: Processor type - Leon CSS or Leon MSS

ProcessorType getProcessor() const¶

Get on which processor the script should run

Return: Processor type - Leon CSS or Leon MSS

Public Members

InputMap inputs¶: 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¶: Outputs from Script node. Can be accessed subscript operator (Eg: outputs[‘out1’])

Public Static Attributes

constexpr const char *NAME = "Script"¶

Private Members

std::string scriptPath = ""¶

Got questions?

We’re always happy to help with code or other questions you might have.

Script¶

How to place it¶

Inputs and Outputs¶

Usage¶

Interfacing with GPIOs¶

Using DepthAI Messages ¶

Available modules and libraries¶

Examples of functionality¶

Reference¶

Got questions?

Community Discord

Discussion Forum

Email Support

Script¶

How to place it¶

Inputs and Outputs¶

Usage¶

Interfacing with GPIOs¶

Using DepthAI Messages¶

Available modules and libraries¶

Examples of functionality¶

Reference¶

Got questions?

Community Discord

Discussion Forum

Email Support

Using DepthAI Messages ¶