Split global properties by asahtik · Pull Request #1685 · luxonis/depthai-core

asahtik · 2026-02-17T09:31:06Z

Purpose

Split global properties into DeviceProperties to allow setting properties before pipeline starts

Specification

None / not applicable

Dependencies & Potential Impact

None / not applicable

Deployment Plan

None / not applicable

Testing & Validation

None / not applicable

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

…e/move_global_properties

Copilot

Pull request overview

This PR splits device-scoped fields out of GlobalProperties into a new DeviceProperties model so device properties can be configured (and kept in sync) before the pipeline starts, and adds coverage to validate the new behavior.

Changes:

Introduces DeviceProperties (separate from GlobalProperties) and updates serialization accordingly.
Updates Pipeline/PipelineImpl and DeviceBase to set/query device properties (including camera tuning blobs, XLink chunk size, SIPP sizes, calibration/Eeprom data).
Adds a new on-device test suite for property-setting behavior and wires it into the test CMake.

Reviewed changes

Copilot reviewed 10 out of 10 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
`include/depthai/properties/GlobalProperties.hpp`	Splits pipeline-only fields into `GlobalProperties` and moves device fields into new `DeviceProperties`.
`include/depthai/pipeline/Pipeline.hpp`	Adds default-device-properties APIs and host-only storage for device properties.
`src/pipeline/Pipeline.cpp`	Implements device-property propagation to the default device and/or host-side tracked properties.
`include/depthai/device/DeviceBase.hpp`	Adds device property APIs (`getProperties`, `setProperties`, tuning blob setters, SIPP setters, calibration availability).
`src/device/DeviceBase.cpp`	Implements new DeviceBase RPC calls and initializes cached properties.
`bindings/python/src/pipeline/PipelineBindings.cpp`	Updates Python bindings: trims `GlobalProperties` fields and adds `DeviceProperties` binding.
`tests/src/ondevice_tests/device_properties_test.cpp`	New tests verifying pre-start application, post-start behavior, and host/device sync.
`tests/CMakeLists.txt`	Registers the new device properties test.
`src/properties/Properties.cpp`	Adds `DeviceProperties` destructor definition.
`cmake/Depthai/DepthaiDeviceRVC4Config.cmake`	Updates embedded RVC4 version string.

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Copilot · 2026-02-17T09:38:36Z

tests/src/ondevice_tests/device_properties_test.cpp

+std::filesystem::path writeTempFile(const std::string& prefix, const std::vector<std::uint8_t>& data) {
+    auto now = std::chrono::steady_clock::now().time_since_epoch().count();
+    std::filesystem::path path = std::filesystem::temp_directory_path() / (prefix + "_" + std::to_string(now) + ".bin");
+    std::ofstream out(path, std::ios::binary);
+    out.write(reinterpret_cast<const char*>(data.data()), static_cast<std::streamsize>(data.size()));
+    out.close();
+    return path;
+}


writeTempFile() creates files in the system temp directory but the tests never remove them. On CI or repeated local runs this can leave behind a growing number of files. Consider using a small RAII helper (or std::filesystem::remove in a SCOPE_EXIT/finally-style guard) to ensure cleanup even on test failures.

Copilot · 2026-02-17T09:38:37Z

src/pipeline/Pipeline.cpp

 bool PipelineImpl::isCalibrationDataAvailable() const {
-    return globalProperties.calibData.has_value();
+    if(defaultDevice) {
+        return defaultDevice->isCalibrationAvailable();
+    }
+    if(defaultDeviceProperties != nullptr) {
+        return defaultDeviceProperties->calibData.has_value();
+    }


isCalibrationDataAvailable() ignores defaultDeviceProperties->calibData whenever defaultDevice exists, so it can return a value inconsistent with getCalibrationData() and with the Pipeline.hpp docs (which describe whether pipeline calibration override has been set). Also, reads of defaultDeviceProperties->calibData here are not protected by calibMtx even though writes in setEepromData() are locked, which can lead to a data race. Consider checking defaultDeviceProperties->calibData first (under calibMtx) and only falling back to the device query if needed (or renaming/retargeting the API if the intent changed).

Copilot · 2026-02-17T09:38:37Z

src/pipeline/Pipeline.cpp

 CalibrationHandler PipelineImpl::getCalibrationData() const {
-    if(globalProperties.calibData) {
-        return CalibrationHandler(globalProperties.calibData.value());
-    } else {
-        return CalibrationHandler();
+    if(defaultDeviceProperties == nullptr) {
+        throw std::runtime_error("No default device properties set in pipeline");
+    }
+    if(defaultDeviceProperties->calibData.has_value()) {
+        return CalibrationHandler(defaultDeviceProperties->calibData.value());
    }


getCalibrationData() reads defaultDeviceProperties->calibData without taking calibMtx, but setEepromData() updates that field under the mutex. To avoid a potential data race, take calibMtx while checking/reading calibData (or copy the optional under lock before branching).

Copilot · 2026-02-17T09:38:37Z

include/depthai/device/DeviceBase.hpp

+     * @param sizeBytes SIPP buffer size in bytes. Device default is 2 * 1024 * 1024 bytes
+     */
+    void setSippBufferSize(int sizeBytes);
+
+    /**
+     * Sets the size of the SIPP DMA buffer on the device.
+     *
+     * @param sizeBytes SIPP DMA buffer size in bytes. Device default is 2 * 1024 * 1024 bytes


The docstrings for setSippBufferSize / setSippDmaBufferSize state a device default of 2 * 1024 * 1024 bytes, but DeviceProperties in GlobalProperties.hpp defines defaults as 18 * 1024 and 16 * 1024 respectively. Please update the documentation to reflect the actual defaults (or adjust the constants if the docs are correct).

Suggested change

* @param sizeBytes SIPP buffer size in bytes. Device default is 2 * 1024 * 1024 bytes

*/

void setSippBufferSize(int sizeBytes);

/**

* Sets the size of the SIPP DMA buffer on the device.

*

* @param sizeBytes SIPP DMA buffer size in bytes. Device default is 2 * 1024 * 1024 bytes

* @param sizeBytes SIPP buffer size in bytes. Device default is 18 * 1024 bytes

*/

void setSippBufferSize(int sizeBytes);

/**

* Sets the size of the SIPP DMA buffer on the device.

*

* @param sizeBytes SIPP DMA buffer size in bytes. Device default is 16 * 1024 bytes

…epthai-core into feature/move_global_properties

…e/move_global_properties

asahtik and others added 13 commits February 3, 2026 14:05

Fix calib being overwritten on pipeline build on RVC4

f518d0a

RVC4 FW: Fix calib being overwritten on pipeline build

d5b54f5

Fix PR issue

5f7421c

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Create DeviceProperties

090012f

Add setters for DeviceProperties

834bcf1

Remove deprecated global properties to device properties

1a50df8

Merge branch 'develop' of github.com:luxonis/depthai-core into featur…

466c54a

…e/move_global_properties

Add device properties getters and setters

06c1067

Property getters/setters improvements

841962b

Add DeviceProperties tests

3d664f0

RVC4 FW: Add rpc calls with support for new DeviceProperties

e030e0e

Merge branch 'develop' of github.com:luxonis/depthai-core into featur…

19b49b0

…e/move_global_properties

Add missing docstrings

de6454b

Copilot AI review requested due to automatic review settings February 17, 2026 09:31

Copilot started reviewing on behalf of asahtik February 17, 2026 09:31 View session

Copilot AI reviewed Feb 17, 2026

View reviewed changes

asahtik added 3 commits February 20, 2026 08:56

Merge branch 'feature/move_global_properties' of github.com:luxonis/d…

4e0e245

…epthai-core into feature/move_global_properties

Merge branch 'develop' of github.com:luxonis/depthai-core into featur…

b95ef1d

…e/move_global_properties

PR fixes

3b0e1c0

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Split global properties#1685

Split global properties#1685
asahtik wants to merge 16 commits intodevelopfrom
feature/move_global_properties

asahtik commented Feb 17, 2026

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asahtik commented Feb 17, 2026

Purpose

Specification

Dependencies & Potential Impact

Deployment Plan

Testing & Validation

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Pull request overview

Reviewed changes

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