Python exposes dds-topic-reader-thread as topic-reader

OhadMeir · Feb 5, 2025 · af2125e · af2125e
1 parent eb889f6
commit af2125e
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Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/third-party/realdds/py/pyrealdds.cpp b/third-party/realdds/py/pyrealdds.cpp
@@ -25,7 +25,7 @@
 #include <realdds/dds-guid.h>
 #include <realdds/dds-time.h>
 #include <realdds/dds-topic.h>
-#include <realdds/dds-topic-reader.h>
+#include <realdds/dds-topic-reader-thread.h>
 #include <realdds/dds-topic-writer.h>
 #include <realdds/dds-publisher.h>
 #include <realdds/dds-subscriber.h>
@@ -461,7 +461,8 @@ PYBIND11_MODULE(NAME, m) {
         } );
 
     using realdds::dds_topic_reader;
-    py::class_< dds_topic_reader, std::shared_ptr< dds_topic_reader > >( m, "topic_reader" )
+    using realdds::dds_topic_reader_thread;
+    py::class_< dds_topic_reader_thread, std::shared_ptr< dds_topic_reader_thread > >( m, "topic_reader" )
         .def( py::init< std::shared_ptr< dds_topic > const & >() )
         .def( FN_FWD( dds_topic_reader, on_data_available, (dds_topic_reader *), (), callback( self ); ) )
         .def( FN_FWD( dds_topic_reader,
@@ -475,7 +476,7 @@ PYBIND11_MODULE(NAME, m) {
                       (eprosima::fastdds::dds::SampleLostStatus const & status),
                       callback( self, status.total_count, status.total_count_change ); ) )
         .def( "topic", &dds_topic_reader::topic )
-        .def( "run", &dds_topic_reader::run )
+        .def( "run", &dds_topic_reader_thread::run )
         .def( "wait_for_writers", &dds_topic_reader::wait_for_writers )
         .def( "stop", &dds_topic_reader::stop, 
               // GIL release needed: stop will wait and cause a hang if we're inside a callback

diff --git a/unit-tests/dds/test-control-reply.py b/unit-tests/dds/test-control-reply.py
@@ -5,6 +5,7 @@
 #test:retries 2
 
 from rspy import log, test
+import time
 import pyrealdds as dds
 dds.debug( log.is_debug_on() )
 
@@ -140,5 +141,8 @@ def control( device, json, n=1 ):
         test.check_equal( reply_count[device2.guid()], dev2_replies + 1 )
 
     device = None
+    remote.run( 'server = None' )
+    time.sleep(0.050) # Give server and device time to close gracefully
 
 test.print_results()
+