python: release GIL when running server (#1458)

Since running the server can be a blocking function, we need to release the GIL so that other Python threads can run. This also means we no longer need to poll for the server to finish running by setting the blocking argument to True. Signed-off-by: David Lechner <[email protected]>
gazebosim · Apr 26, 2022 · 0a5828e · 0a5828e
1 parent 07bbeb2
commit 0a5828e
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Showing 4 changed files with 4 additions and 13 deletions.
diff --git a/examples/scripts/python_api/testFixture.py b/examples/scripts/python_api/testFixture.py
@@ -23,7 +23,6 @@
 # python3 examples/scripts/python_api/helperFixture.py
 
 import os
-import time
 
 from ignition.common import set_verbosity
 from ignition.gazebo import TestFixture, World, world_entity
@@ -75,10 +74,7 @@ def on_post_udpate_cb(_info, _ecm):
 helper.finalize()
 
 server = helper.server()
-server.run(False, 1000, False)
-
-while(server.is_running()):
-    time.sleep(0.1)
+server.run(True, 1000, False)
 
 print('iterations ', iterations)
 print('post_iterations ', post_iterations)

diff --git a/python/src/ignition/gazebo/Server.cc b/python/src/ignition/gazebo/Server.cc
@@ -35,6 +35,7 @@ void defineGazeboServer(pybind11::object module)
   .def(pybind11::init<ignition::gazebo::ServerConfig &>())
   .def(
     "run", &ignition::gazebo::Server::Run,
+    pybind11::call_guard<pybind11::gil_scoped_release>(),
     "Run the server. By default this is a non-blocking call, "
     " which means the server runs simulation in a separate thread. Pass "
     " in true to the _blocking argument to run the server in the current "

diff --git a/python/test/testFixture_TEST.py b/python/test/testFixture_TEST.py
@@ -13,7 +13,6 @@
 # limitations under the License.
 
 import os
-import time
 import unittest
 
 from ignition.common import set_verbosity
@@ -56,10 +55,7 @@ def on_udpate_cb(_info, _ecm):
         helper.finalize()
 
         server = helper.server()
-        server.run(False, 1000, False)
-
-        while(server.is_running()):
-            time.sleep(0.1)
+        server.run(True, 1000, False)
 
         self.assertEqual(1000, pre_iterations)
         self.assertEqual(1000, iterations)

diff --git a/tutorials/python_interfaces.md b/tutorials/python_interfaces.md
@@ -37,9 +37,7 @@ helper.finalize()
   - **Step 5**: Run the server
 
 ```python
-server.run(False, 1000, False)
-while(server.is_running()):
-    time.sleep(0.1)
+server.run(True, 1000, False)
 ```
 
 # Run the example