XLinkIn lazy buffer allocation

cmake/Depthai/DepthaiDeviceSideConfig.cmake

@@ -2,7 +2,7 @@
 set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")
 
 # "full commit hash of device side binary"
-set(DEPTHAI_DEVICE_SIDE_COMMIT "147d0fe4e861c7b71a77a8d39e3c8e7ddcaca9ea")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "5ddab18ae6996cb8eb50954a86a7ca9a44f7f05b")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

tests/CMakeLists.txt

@@ -464,3 +464,7 @@ dai_set_test_labels(camera_test ondevice rvc2_all rvc4 ci)
 # VideoEncoder test
 dai_add_test(video_encoder_test src/ondevice_tests/video_encoder_test.cpp)
 dai_set_test_labels(video_encoder_test ondevice rvc2_all rvc4 ci)
+
+# XLinkIn test
+dai_add_test(xlink_test src/ondevice_tests/xlink_tests.cpp)
+dai_set_test_labels(xlink_test ondevice rvc2_all ci)

tests/src/ondevice_tests/xlink_tests.cpp

@@ -0,0 +1,35 @@
+#include <catch2/catch_all.hpp>
+#include <catch2/catch_test_macros.hpp>
+#include <depthai/depthai.hpp>
+#include <depthai/pipeline/node/internal/XLinkIn.hpp>
+
+#include <thread>
+#include <chrono>
+using namespace std::chrono_literals;
+
+TEST_CASE("XLinkIn lazy allocation test") {
+    dai::Pipeline p;
+    auto manip = p.create<dai::node::ImageManip>()->build();
+
+    auto xLinkInImage = p.create<dai::node::internal::XLinkIn>();
+    auto xLinkInConfig = p.create<dai::node::internal::XLinkIn>();
+
+    xLinkInImage->setMaxDataSize(1024 * 1024 * 1024); // 1GB per frame
+    xLinkInImage->setNumFrames(64);
+
+    xLinkInConfig->setMaxDataSize(1024 * 1024 * 1024); // 1GB per frame
+    xLinkInConfig->setNumFrames(64);
+
+    xLinkInImage->out.link(manip->inputImage);
+    xLinkInConfig->out.link(manip->inputConfig);
+
+    auto run = [&]() {
+        p.start();
+        std::this_thread::sleep_for(1s);
+    };
+
+    // Without lazy allocation, this will throw as all the above XLinkIn nodes
+    // would allocate all the frames at once.
+    REQUIRE_NOTHROW(p.build());
+    REQUIRE_NOTHROW(run());
+}