Fixed deadlock on pipeline.stop() with playback device in non realtime

src/concurrency.h

@@ -293,6 +293,7 @@ class dispatcher
 
     void stop()
     {
+        _is_alive = false;
         {
             std::unique_lock<std::mutex> lock(_was_stopped_mutex);
 
@@ -319,7 +320,6 @@ class dispatcher
     {
         stop();
         _queue.clear();
-        _is_alive = false;
 
         if (_thread.joinable())
         _thread.join();

src/pipeline/pipeline.cpp

@@ -132,6 +132,7 @@ namespace librealsense
             {
                 try
                 {
+                    _syncer->stop();
                     _aggregator->stop();
                     auto dev = _active_profile->get_device();
                     if (auto playback = As<librealsense::playback_device>(dev))

src/proc/syncer-processing-block.h

@@ -29,6 +29,13 @@ namespace librealsense
             _enable_opts.push_back( is_enabled_opt );
         }
 
+        // Stopping the syncer means no more frames will be enqueued, and any existing frames
+        // pending dispatch will be lost!
+        void stop()
+        {
+            _matcher->stop();
+        }
+
         ~syncer_process_unit()
         {
             _matcher.reset();

src/sync.cpp

@@ -238,6 +238,13 @@ namespace librealsense
         return matcher;
     }
 
+    void composite_matcher::stop()
+    {
+        for (auto& fq : _frames_queue)
+        {
+            fq.second.clear();
+        }
+    }
 
     std::string composite_matcher::frames_to_string(std::vector<librealsense::matcher*> matchers)
     {

src/sync.h

@@ -82,6 +82,7 @@ namespace librealsense
         virtual const std::vector<stream_id>& get_streams() const = 0;
         virtual const std::vector<rs2_stream>& get_streams_types() const = 0;
         virtual std::string get_name() const = 0;
+        virtual void stop() = 0;
     };
 
     class matcher: public matcher_interface
@@ -99,6 +100,7 @@ namespace librealsense
         virtual std::string get_name() const override;
         bool get_active() const;
         void set_active(const bool active);
+        virtual void stop() override {}
 
     protected:
        std::vector<stream_id> _streams_id;
@@ -134,6 +136,8 @@ namespace librealsense
         std::string frames_to_string(std::vector<librealsense::matcher*> matchers);
         void sync(frame_holder f, const syncronization_environment& env) override;
         std::shared_ptr<matcher> find_matcher(const frame_holder& f);
+        virtual void stop() override;
+
 
     protected:
         virtual void update_next_expected(const frame_holder& f) = 0;

unit-tests/CMakeLists.txt

@@ -207,6 +207,7 @@ list(APPEND PP_Rosbag_Recordings_List
     [pointcloud]_all_combinations_depth_color.bag
     single_depth_color_640x480.bag
     D435i_Depth_and_IMU.bag
+    recording_deadlock.bag
 )
  set(PP_Rosbag_Recordings_URL https://librealsense.intel.com/rs-tests/Rosbag_unit_test_records/)
 foreach(i ${PP_Rosbag_Recordings_List})

unit-tests/func/rec-play/test-non-realtime.py

@@ -0,0 +1,33 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2021 Intel Corporation. All Rights Reserved.
+
+import os
+import pyrealsense2 as rs2
+from rspy import test
+import tempfile
+
+# This test checks that stop of pipeline with playback file
+# and non realtime mode is not stuck due to deadlock of
+# pipeline stop thread and syncer blocking enqueue thread (DSO-15157)
+#############################################################################################
+test.start("Playback with non realtime isn't stuck at stop")
+
+filename = tempfile.gettempdir() + os.sep + 'recording_deadlock.bag'
+
+pipeline = rs2.pipeline()
+config = rs2.config()
+config.enable_all_streams()
+config.enable_device_from_file(filename, repeat_playback=False)
+profile = pipeline.start(config)
+device = profile.get_device().as_playback().set_real_time(False)
+success = True
+while success:
+    success, _ = pipeline.try_wait_for_frames(1000)
+print("stopping...")
+pipeline.stop()
+print("stopped")
+
+test.finish()
+#############################################################################################
+
+test.print_results_and_exit()