[RSDK-8402] Migrate from OakCamera to DepthAI

.canon.yaml

@@ -0,0 +1,4 @@
+# This file provides project-level configuration for the canon dev environment utility. https://github.com/viamrobotics/canon
+oak:
+    default: true
+    image_arm64: ghcr.io/viamrobotics/cloud-build-base:arm64

.gitignore

@@ -1,9 +1,9 @@
 # top level
-.build-venv
-.canon.yaml
+.build-env
 .DS_Store
 .pytest_cache
 .venv
+build
 module.tar.gz
 oak-integration-tests
 

integration-tests/tests/oak_d_test.go

@@ -40,11 +40,12 @@ 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)
 		test.That(t, metadata, test.ShouldNotBeNil)
+		test.That(t, len(images), test.ShouldEqual, 2)
 		for _, img := range images {
 			test.That(t, img.SourceName, test.ShouldEqual, componentName)
 			bounds := img.Image.Bounds()
@@ -64,7 +65,7 @@ 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)

src/components/helpers/shared.py

@@ -1,23 +1,39 @@
 from typing import Dict, List, Literal, Optional, Tuple
 from numpy.typing import NDArray
 
-from depthai_sdk.components.camera_component import CameraComponent
+from depthai import CameraBoardSocket
+
+
+def get_socket_from_str(s: str) -> CameraBoardSocket:
+    if s == "cam_a":
+        return CameraBoardSocket.CAM_A
+    elif s == "cam_b":
+        return CameraBoardSocket.CAM_B
+    elif s == "cam_c":
+        return CameraBoardSocket.CAM_C
+    else:
+        raise Exception(f"Camera socket '{s}' is not recognized or supported.")
 
 
 class Sensor:
-    component: Optional[CameraComponent] = None
+    def get_unique_name(self) -> str:
+        if self.sensor_type == "color":
+            return f"{self.socket_str}_rgb"
+        else:
+            return f"{self.socket_str}_mono"
 
     def __init__(
         self,
-        socket: Literal["cam_a", "cam_b", "cam_c"],
+        socket_str: Literal["cam_a", "cam_b", "cam_c"],
         sensor_type: Literal["color", "depth"],
         width: int,
         height: int,
         frame_rate: int,
         color_order: Literal["rgb", "bgr"] = "rgb",
         interleaved: bool = False,
     ):
-        self.socket = socket
+        self.socket_str = socket_str
+        self.socket = get_socket_from_str(socket_str)
         self.sensor_type = sensor_type
         self.width = width
         self.height = height
@@ -35,7 +51,7 @@ class Sensors:
     def __init__(self, sensors: List[Sensor]):
         self._mapping = dict()
         for sensor in sensors:
-            self._mapping[sensor.socket] = sensor
+            self._mapping[sensor.socket_str] = sensor
 
         self.color_sensors = self._find_color_sensors()
         self.stereo_pair = self._find_stereo_pair()

src/components/oak.py

@@ -170,6 +170,8 @@ def reconfigure(
             config (ComponentConfig)
             dependencies (Mapping[ResourceName, ResourceBase])
         """
+        self._close()
+
         if self.model == self._oak_d_model:
             self.oak_cfg = OakDConfig(config)
         elif self.model == self._oak_ffc_3p_model:
@@ -199,10 +201,16 @@ async def close(self) -> None:
         Implements `close` to free resources on shutdown.
         """
         LOGGER.info("Closing OAK component.")
-        self.worker_manager.stop()
-        self.worker_manager.join()
+        self._close()
         LOGGER.debug("Closed OAK component.")
 
+    def _close(self) -> None:
+        if self.worker_manager:
+            self.worker_manager.stop()
+            self.worker_manager.join()
+        if self.worker:
+            self.worker.stop()
+
     async def get_image(
         self,
         mime_type: str = "",
@@ -278,7 +286,7 @@ async def get_images(
         """
         LOGGER.debug("get_images called")
 
-        self._wait_until_worker_running()
+        await self._wait_until_worker_running()
 
         # Split logic into helpers for OAK-D and OAK-D like cameras with FFC-like cameras
         # Use MessageSynchronizer only for OAK-D-like
@@ -352,15 +360,15 @@ 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
+        # We have to reinitialize the worker/pipeline+device 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...")