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

…encoder_frame

README.md

@@ -184,6 +184,7 @@ The following environment variables can be set to alter default behavior of the
 | DEPTHAI_BOOTLOADER_BINARY_USB | Overrides device USB Bootloader binary. Mostly for internal debugging purposes. |
 | DEPTHAI_BOOTLOADER_BINARY_ETH | Overrides device Network Bootloader binary. Mostly for internal debugging purposes. |
 | DEPTHAI_ALLOW_FACTORY_FLASHING | Internal use only |
+| DEPTHAI_LIBUSB_ANDROID_JAVAVM | JavaVM pointer that is passed to libusb for rootless Android interaction with devices. Interpreted as decimal value of uintptr_t |
 
 ## Running tests
 

cmake/Hunter/config.cmake

@@ -8,8 +8,8 @@ hunter_config(
 hunter_config(
     XLink
     VERSION "luxonis-2021.4.2-develop"
-    URL "https://github.com/luxonis/XLink/archive/c940feaf9321f06a7d9660f28e686a9718135f38.tar.gz"
-    SHA1 "52935b6ceb470ee632de3348b9d2aaa2c6c24ac0"
+    URL "https://github.com/luxonis/XLink/archive/6862ec0e5f82efb1148a0b0a21486aaf9831451c.tar.gz"
+    SHA1 "450614ab33425b34a62d9de6d65441d95d708710"
     CMAKE_ARGS
         XLINK_ENABLE_LIBUSB=${DEPTHAI_ENABLE_LIBUSB}
 )

src/utility/Initialization.cpp

@@ -78,6 +78,15 @@ bool initialize(const char* additionalInfo, bool installSignalHandler, void* jav
         (void)installSignalHandler;
 #endif
 
+        // Read JavaVM pointer from env if present
+        {
+            auto javavmEnvStr = utility::getEnv("DEPTHAI_LIBUSB_ANDROID_JAVAVM");
+            if(javavm == nullptr && !javavmEnvStr.empty()) {
+                // Read the uintptr_t value from the decimal string
+                sscanf(javavmEnvStr.c_str(), "%" SCNuPTR, reinterpret_cast<uintptr_t*>(&javavm));
+            }
+        }
+
         // Print core commit and build datetime
         if(additionalInfo != nullptr && additionalInfo[0] != '\0') {
             logger::debug("{}", additionalInfo);