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[python] add pipeline.start(cfg, cb), handle gil properly everywhere #3739

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Apr 21, 2019
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[python] add pipeline.start(cfg, cb), handle gil properly everywhere #3739

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19 changes: 10 additions & 9 deletions wrappers/python/python.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -557,8 +557,8 @@ PYBIND11_MODULE(NAME, m) {
"developers who are not using async APIs.")
.def(py::init<>())
.def("enqueue", &rs2::frame_queue::enqueue, "Enqueue a new frame into a queue.", "f"_a)
.def("wait_for_frame", [](const rs2::frame_queue& self, unsigned int timeout_ms) { py::gil_scoped_release(); self.wait_for_frame(timeout_ms); }, "Wait until a new frame "
"becomes available in the queue and dequeue it.", "timeout_ms"_a = 5000)
.def("wait_for_frame", &rs2::frame_queue::wait_for_frame, "Wait until a new frame "
"becomes available in the queue and dequeue it.", "timeout_ms"_a = 5000, py::call_guard<py::gil_scoped_release>())
.def("poll_for_frame", [](const rs2::frame_queue &self)
{
rs2::frame frame;
Expand All @@ -570,7 +570,7 @@ PYBIND11_MODULE(NAME, m) {
rs2::frame frame;
auto success = self.try_wait_for_frame(&frame, timeout_ms);
return std::make_tuple(success, frame);
}, "timeout_ms"_a=5000)
}, "timeout_ms"_a=5000, py::call_guard<py::gil_scoped_release>())
.def("__call__", &rs2::frame_queue::operator())
.def("capacity", &rs2::frame_queue::capacity);

Expand Down Expand Up @@ -603,7 +603,7 @@ PYBIND11_MODULE(NAME, m) {
py::class_<rs2::syncer> syncer(m, "syncer");
syncer.def(py::init<int>(), "queue_size"_a = 1)
.def("wait_for_frames", &rs2::syncer::wait_for_frames, "Wait until a coherent set "
"of frames becomes available", "timeout_ms"_a = 5000)
"of frames becomes available", "timeout_ms"_a = 5000, py::call_guard<py::gil_scoped_release>())
.def("poll_for_frames", [](const rs2::syncer &self)
{
rs2::frameset frames;
Expand All @@ -615,7 +615,7 @@ PYBIND11_MODULE(NAME, m) {
rs2::frameset fs;
auto success = self.try_wait_for_frames(&fs, timeout_ms);
return std::make_tuple(success, fs);
}, "timeout_ms"_a = 5000);
}, "timeout_ms"_a = 5000, py::call_guard<py::gil_scoped_release>());
/*.def("__call__", &rs2::syncer::operator(), "frame"_a)*/

py::class_<rs2::threshold_filter, rs2::filter> threshold(m, "threshold_filter");
Expand Down Expand Up @@ -782,11 +782,11 @@ PYBIND11_MODULE(NAME, m) {
.def("open", (void (rs2::sensor::*)(const std::vector<rs2::stream_profile>&) const) &rs2::sensor::open,
"Open sensor for exclusive access, by committing to a composite configuration, specifying one or "
"more stream profiles.", "profiles"_a)
.def("close", [](const rs2::sensor& self) { py::gil_scoped_release lock; self.close(); }, "Close sensor for exclusive access.")
.def("close", &rs2::sensor::close, "Close sensor for exclusive access.", py::call_guard<py::gil_scoped_release>())
.def("start", [](const rs2::sensor& self, std::function<void(rs2::frame)> callback)
{ self.start(callback); }, "Start passing frames into user provided callback.", "callback"_a)
.def("start", [](const rs2::sensor& self, rs2::frame_queue& queue) { self.start(queue); })
.def("stop", [](const rs2::sensor& self) { py::gil_scoped_release lock; self.stop(); }, "Stop streaming.")
.def("stop", &rs2::sensor::stop, "Stop streaming.", py::call_guard<py::gil_scoped_release>())
.def("get_stream_profiles", &rs2::sensor::get_stream_profiles, "Check if physical sensor is supported.")
.def("get_recommended_filters", &rs2::sensor::get_recommended_filters, "Return the recommended list of filters by the sensor.")

Expand Down Expand Up @@ -837,7 +837,8 @@ PYBIND11_MODULE(NAME, m) {
.def("start", (rs2::pipeline_profile(rs2::pipeline::*)(const rs2::config&)) &rs2::pipeline::start, "config"_a)
.def("start", (rs2::pipeline_profile(rs2::pipeline::*)()) &rs2::pipeline::start)
.def("start", [](rs2::pipeline& self, std::function<void(rs2::frame)> f) { self.start(f); }, "callback"_a)
.def("stop", &rs2::pipeline::stop)
.def("start", [](rs2::pipeline& self, const rs2::config& config, std::function<void(rs2::frame)> f) { self.start(config, f); }, "config"_a, "callback"_a)
.def("stop", &rs2::pipeline::stop, py::call_guard<py::gil_scoped_release>())
.def("wait_for_frames", &rs2::pipeline::wait_for_frames, "timeout_ms"_a = 5000, py::call_guard<py::gil_scoped_release>())
.def("poll_for_frames", [](const rs2::pipeline &self)
{
Expand All @@ -850,7 +851,7 @@ PYBIND11_MODULE(NAME, m) {
rs2::frameset fs;
auto success = self.try_wait_for_frames(&fs, timeout_ms);
return std::make_tuple(success, fs);
}, "timeout_ms"_a = 5000)
}, "timeout_ms"_a = 5000, py::call_guard<py::gil_scoped_release>())
.def("get_active_profile", &rs2::pipeline::get_active_profile);

struct pipeline_wrapper //Workaround to allow python implicit conversion of pipeline to std::shared_ptr<rs2_pipeline>
Expand Down