# Script Script节点允许用户在设备上运行自定义的Python脚本。由于计算资源有限，Script节点不应用于繁重的计算（例如图像处理/计算机视觉），而应用于管理管线的流程（业务逻辑）。示例用例包括控制节点如[ImageManip](https://docs.luxonis.com/software/depthai-components/nodes/image_manip.md)、[ColorCamera](https://docs.luxonis.com/software/depthai-components/nodes/color_camera.md)、[SpatialLocationCalculator](https://docs.luxonis.com/software/depthai/examples/spatial_location_calculator.md)、解码[NeuralNetwork](https://docs.luxonis.com/software/depthai-components/nodes/neural_network.md)结果，或与GPIO交互。对于调试脚本，我们建议使用[script_logging](https://docs.luxonis.com/software/depthai/examples/script_change_pipeline_flow.md)。 ## 如何放置 #### Python ```python pipeline = dai.Pipeline() script = pipeline.create(dai.node.Script) ``` #### C++ ```cpp dai::Pipeline pipeline; auto script = pipeline.create(); ``` ## 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](https://docs.luxonis.com/software/depthai-components/messages/message_group.md)类型。 ## 用法 #### Python ```python script = pipeline.create(dai.node.Script) script.setScript(""" import time import marshal num = 123 node.warn(f"Number {num}") # 打印到主机 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) # ... # 初始化设备后，启用日志级别 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}") # 打印到主机 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); // ... // 初始化设备后，启用日志级别 device.setLogLevel(dai::LogLevel.WARN); device.setLogOutputLevel(dai::LogLevel.WARN); ``` ## 与GPIO交互 在Script节点中，您可以使用GPIO模块与VPU的GPIO进行交互。当前支持以下函数： ```python # 模块 import GPIO # 通用 GPIO.setup(gpio, dir, pud, exclusive) GPIO.release(gpio) GPIO.write(gpio, value) GPIO.read(gpio) # 中断 GPIO.waitInterruptEvent(gpio = -1) # 阻塞，直到任何中断或指定gpio的中断发生。带回调的中断在此处被忽略 GPIO.hasInterruptEvent(gpio = -1) # 返回是否在任意或指定gpio上发生了中断。带回调的中断在此处被忽略 GPIO.setInterrupt(gpio, edge, priority, callback = None) # 向指定引脚添加中断 GPIO.clearInterrupt(gpio) # 清除指定引脚的中断 # PWM GPIO.setPwm(gpio, highCount, lowCount, repeat=0) # repeat == 0 表示无限 GPIO.enablePwm(gpio, enable) # 枚举 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 ``` 下面是一个示例，演示如何通过主机（通过[XLinkIn](https://docs.luxonis.com/software/depthai-components/nodes/xlink_in.md)）在Script节点内切换GPIO引脚40。在[OAK-SoM-Pro](https://shop71313603.taobao.com/?spm=pc_detail.30350276.shop_block.dshopinfo.27a17dd635FNDA)上，GPIO 40驱动两个4线摄像头的FSYNC信号，我们正是基于此目的使用了以下代码。 ```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() # 等待来自主机的消息 node.warn('GPIO toggle: ' + str(toggleVal)) toggleVal = not toggleVal ret = GPIO.write(MX_PIN, toggleVal) # 切换GPIO ``` ## 时间同步 Script节点可以访问设备（内部）时钟以及同步后的主机时钟。主机时钟与设备时钟同步，精度低于2.5ms @ 1σ，请参考[主机时钟同步](https://docs.luxonis.com/software/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() # 与主机时钟同步 # Clock.now() -> 内部/设备时钟 # Clock.offsetToHost() -> 内部/设备时钟与主机时钟之间的偏移量 now = tnow_full.seconds if now % interval == 0 and now != previous: previous = now node.warn(f'{tnow_full}') node.io['out'].send(ctrl) ``` ## 使用 DepthAI [消息](https://docs.luxonis.com/software/depthai-components/messages.md) depthai 模块隐式地导入到脚本节点中。您可以创建新的 depthai 消息并为其分配数据，例如： ```python buf = Buffer(100) # 为 Buffer 消息分配 100 字节 # 创建 CameraControl 消息，设置手动对焦 control = CameraControl() control.setManualFocus(100) imgFrame = ImgFrame(300*300*3) # 300x300x3 字节的缓冲区 ``` ## 可用的模块和库 可用模块 ```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" ``` LEON_CSS 可用的模块： ```text "binascii", "_random", "_socket", "_md5", "_sha1", "_sha256", "_sha512", "select", "array", "unicodedata" ``` 库 ```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" ``` LEON_CSS 可用的库： ```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" ``` 模块与库的区别在于：模块是带有 Python 绑定的预编译 C 源码，而库是打包成库并预编译成 Python 字节码（在加载到固件之前）的 Python 源码。 LEON_CSS 上可用的网络/协议模块/库只能用于 [OAK POE 设备](https://docs.luxonis.com/hardware.md#poe-designs)。您可以指定脚本在哪个处理器上运行，例如，对于 LEON_CSS： ```python script = pipeline.create(dai.node.Script) script.setProcessor(dai.ProcessorType.LEON_CSS) ``` ## 功能示例 * [脚本相机控制](https://docs.luxonis.com/software/depthai/examples/script_camera_control.md) - 控制相机 * [脚本获取本地 IP](https://docs.luxonis.com/software/depthai/examples/script_get_ip.md) - 获取本地 IP * [脚本 HTTP 客户端](https://docs.luxonis.com/software/depthai/examples/script_http_client.md) - 发送 HTTP 请求 * [脚本 TCP 流式传输](https://github.com/luxonis/oak-examples/tree/master/gen2-poe-tcp-streaming) - 从脚本节点内部进行 TCP 通信，支持主机模式或客户端模式 * [脚本 MQTT 发布](https://github.com/luxonis/oak-examples/tree/master/gen2-poe-mqtt) - 从脚本节点内部发布 MQTT 消息 * [脚本 HTTP 服务器](https://docs.luxonis.com/software/depthai/examples/script_http_server.md) - 通过 HTTP 提供静态图像 * [脚本 MJPEG 服务器](https://docs.luxonis.com/software/depthai/examples/script_mjpeg_server.md) - 通过 HTTP 提供 MJPEG 视频流 * [脚本 NNData 示例](https://docs.luxonis.com/software/depthai/examples/script_nndata_example.md) - 构建 [NNData](https://docs.luxonis.com/software/depthai-components/messages/nn_data.md) * [三角测量实验](https://github.com/luxonis/oak-examples/blob/master/gen2-triangulation/main.py) * [Movenet 解码（边缘模式）](https://github.com/geaxgx/depthai_movenet/blob/main/template_processing_script.py) - geaxgx 提供的一个稍微复杂的示例 ## 参考 ### depthai.node.Script(depthai.Node) Kind: Class #### getProcessor(self) -> depthai.ProcessorType: depthai.ProcessorType Kind: Method Get on which processor the script should run Returns: Processor type - Leon CSS or Leon MSS #### getScriptName(self) -> str: str Kind: Method 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 "