Fix weird merge resolution and bolster integration tests

integration-tests/tests/oak_d_test.go

@@ -40,7 +40,7 @@ func TestCameraServer(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 	})
 
-	t.Run("Get images method", func(t *testing.T) {
+	t.Run("Get images method (two images)", func(t *testing.T) {
 		images, metadata, err := cam.Images(timeoutCtx)
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, images, test.ShouldNotBeNil)
@@ -64,13 +64,38 @@ func TestCameraServer(t *testing.T) {
 	t.Run("Reconfigure module", func(t *testing.T) {
 		cfg := resource.Config{
 			Attributes: utils.AttributeMap{
-				"sensors": []string{"color"},
+				"sensors": []string{"depth"},
 			},
 		}
 		err := cam.Reconfigure(timeoutCtx, resource.Dependencies{}, cfg)
 		test.That(t, err, test.ShouldBeNil)
 	})
 
+	t.Run("Get image method", func(t *testing.T) {
+		stream, err := cam.Stream(timeoutCtx)
+		test.That(t, err, test.ShouldBeNil)
+		img, _, err := stream.Next(timeoutCtx)
+		test.That(t, err, test.ShouldBeNil)
+		bounds := img.Bounds()
+		test.That(t, bounds.Dx(), test.ShouldEqual, defaultWidth)
+		test.That(t, bounds.Dy(), test.ShouldEqual, defaultHeight)
+	})
+
+	t.Run("Get images method (one image)", func(t *testing.T) {
+		images, metadata, err := cam.Images(timeoutCtx)
+		test.That(t, err, test.ShouldBeNil)
+		test.That(t, images, test.ShouldNotBeNil)
+		test.That(t, len(images), test.ShouldEqual, 1)
+		test.That(t, metadata, test.ShouldNotBeNil)
+
+		img := images[0]
+		test.That(t, img.SourceName, test.ShouldEqual, componentName)
+		bounds := img.Image.Bounds()
+		test.That(t, bounds.Dx(), test.ShouldEqual, defaultWidth)
+		test.That(t, bounds.Dy(), test.ShouldEqual, defaultHeight)
+		test.That(t, metadata.CapturedAt, test.ShouldHappenBefore, time.Now())
+	})
+
 	t.Run("Shut down the camera", func(t *testing.T) {
 		test.That(t, cam.Close(timeoutCtx), test.ShouldBeNil)
 	})

src/components/oak.py

@@ -352,15 +352,15 @@ async def get_point_cloud(
             details = "Cannot process PCD. OAK camera not configured for stereo depth outputs. See README for details"
             raise MethodNotAllowed(method_name="get_point_cloud", details=details)
 
-        self._wait_until_worker_running()
+        await self._wait_until_worker_running()
 
         # By default, we do not get point clouds even when color and depth are both requested
         # We have to reinitialize the worker/OakCamera to start making point clouds
         if not self.worker.user_wants_pc:
             self.worker.user_wants_pc = True
             self.worker.reset()
-            await self.worker.configure()
-            self.worker.start()
+            self.worker.configure()
+            await self.worker.start()
 
         while not self.worker.running:
             LOGGER.info("Waiting for worker to restart with pcd configured...")