PR #13135 from noacoohen: Pipeline new API

include/librealsense2/h/rs_pipeline.h

@@ -41,6 +41,14 @@ extern "C" {
     */
     void rs2_pipeline_stop(rs2_pipeline* pipe, rs2_error ** error);
 
+    /**
+     * Set the device to be used in the pipline.
+     * The function is used to assign the device, useful when the user wish to set controls that cannot be set while streaming. 
+     * \param[in] pipe the pipeline.
+     * \param[in] device  the device to be used in the pipline.
+     */
+    void rs2_pipeline_set_device( rs2_pipeline * pipe, rs2_device * device, rs2_error ** error );
+
     /**
     * Wait until a new set of frames becomes available.
     * The frames set includes time-synchronized frames of each enabled stream in the pipeline.

include/librealsense2/hpp/rs_pipeline.hpp

@@ -492,6 +492,18 @@ namespace rs2
             error::handle(e);
         }
 
+        /**
+         * Set the device to be used in the pipline.
+         * The function is used to assign the device, useful when the user wish to set controls that cannot be set while streaming. 
+         * \param[in] device  the device to be used in the pipline. 
+         */
+        void set_device( rs2::device* device )
+        { 
+            rs2_error * e = nullptr;
+            rs2_pipeline_set_device( _pipeline.get(), device->get().get(), &e );
+            error::handle( e );
+        }
+
         /**
         * Wait until a new set of frames becomes available.
         * The frames set includes time-synchronized frames of each enabled stream in the pipeline.

src/pipeline/config.cpp

@@ -190,8 +190,11 @@ namespace librealsense
             std::lock_guard<std::mutex> lock(_mtx);
             _resolved_profile.reset();
 
+            std::shared_ptr< librealsense::device_interface > requested_device = pipe->get_device();
+            if(! requested_device )
+                requested_device = resolve_device_requests( pipe, timeout );
+
             //Resolve the the device that was specified by the user, this call will wait in case the device is not availabe.
-            auto requested_device = resolve_device_requests(pipe, timeout);
             if (requested_device != nullptr)
             {
                 _resolved_profile = resolve(requested_device);

src/pipeline/pipeline.cpp

@@ -46,6 +46,16 @@ namespace librealsense
             return unsafe_get_active_profile();
         }
 
+        void pipeline::set_device( std::shared_ptr< librealsense::device_interface >  dev ) 
+        {
+            _dev = dev;
+        }
+
+        std::shared_ptr< librealsense::device_interface > pipeline::get_device() 
+        {
+            return _dev;
+        }
+
         std::shared_ptr<profile> pipeline::get_active_profile() const
         {
             std::lock_guard<std::mutex> lock(_mtx);

src/pipeline/pipeline.h

@@ -36,6 +36,8 @@ namespace librealsense
             std::shared_ptr<device_interface> wait_for_device(const std::chrono::milliseconds& timeout = std::chrono::hours::max(),
                 const std::string& serial = "");
             std::shared_ptr<librealsense::context> get_context() const;
+            void set_device( std::shared_ptr< librealsense::device_interface >  dev );
+            std::shared_ptr< librealsense::device_interface >  get_device();
 
         protected:
             rs2_frame_callback_sptr get_callback(std::vector<int> unique_ids);
@@ -61,6 +63,7 @@ namespace librealsense
 
             rs2_frame_callback_sptr _streams_callback;
             std::vector<rs2_stream> _synced_streams;
+            std::shared_ptr< librealsense::device_interface > _dev = nullptr;
         };
     }
 }

src/realsense.def

@@ -306,6 +306,7 @@ EXPORTS
     rs2_pipeline_get_active_profile
     rs2_pipeline_profile_get_device
     rs2_pipeline_profile_get_streams
+    rs2_pipeline_set_device
     rs2_delete_pipeline_profile
 
     rs2_create_config

src/rs.cpp

@@ -2201,7 +2201,16 @@ void rs2_pipeline_stop(rs2_pipeline* pipe, rs2_error ** error) BEGIN_API_CALL
 }
 HANDLE_EXCEPTIONS_AND_RETURN(, pipe)
 
-rs2_frame* rs2_pipeline_wait_for_frames(rs2_pipeline* pipe, unsigned int timeout_ms, rs2_error ** error) BEGIN_API_CALL
+void rs2_pipeline_set_device( rs2_pipeline * pipe, rs2_device * device, rs2_error ** error ) BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL( pipe );
+    VALIDATE_NOT_NULL( device );
+
+    pipe->pipeline->set_device( device->device );
+}
+HANDLE_EXCEPTIONS_AND_RETURN(, pipe, device ) 
+
+rs2_frame* rs2_pipeline_wait_for_frames(rs2_pipeline* pipe, unsigned int timeout_ms, rs2_error ** error)BEGIN_API_CALL
 {
     VALIDATE_NOT_NULL(pipe);
 

unit-tests/live/d400/test-pipeline-set-device.py

@@ -0,0 +1,33 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2024 Intel Corporation. All Rights Reserved.
+
+# LibCI doesn't have D435i so //test:device D435I// is disabled for now
+# test:device D455
+
+import pyrealsense2 as rs
+from rspy import test
+
+gyro_sensitivity_value = 4.0
+
+with test.closure("pipeline - set device"):
+    cfg = rs.config()
+    ctx = rs.context()
+
+    dev = test.find_first_device_or_exit()
+    motion_sensor = dev.first_motion_sensor()
+    pipe = rs.pipeline(ctx)
+    pipe.set_device(dev)
+
+    motion_sensor.set_option(rs.option.gyro_sensitivity, gyro_sensitivity_value)
+
+    cfg.enable_stream(rs.stream.accel)
+    cfg.enable_stream(rs.stream.gyro)
+
+    profile = pipe.start(cfg)
+    device_from_profile = profile.get_device()
+    sensor = device_from_profile.first_motion_sensor()
+    sensor_gyro_sensitivity_value = sensor.get_option(rs.option.gyro_sensitivity)
+    test.check_equal(gyro_sensitivity_value, sensor_gyro_sensitivity_value)
+    pipe.stop()
+
+test.print_results_and_exit()

wrappers/python/pyrs_pipeline.cpp

@@ -169,6 +169,9 @@ void init_pipeline(py::module &m) {
             auto success = self.try_wait_for_frames(&fs, timeout_ms);
             return std::make_tuple(success, fs);
         }, "timeout_ms"_a = 5000, py::call_guard<py::gil_scoped_release>())
-        .def("get_active_profile", &rs2::pipeline::get_active_profile); // No docstring in C++
+        .def("get_active_profile", &rs2::pipeline::get_active_profile) // No docstring in C++
+        .def( "set_device", &rs2::pipeline::set_device,
+              "The function is used to assign the device, useful when the user wish to set controls that cannot be set while streaming. ",
+              "device"_a );
     /** end rs_pipeline.hpp **/
 }