Merge pull request #313 from pollen-robotics/312-daemon-publish-thread-prevents-from-running-start-multiple-times

Fix publish thread restart when multiple start/stop

Author: pierre-rouanet

src/reachy_mini/daemon/daemon.py

@@ -48,7 +48,6 @@ def __init__(self, log_level: str = "INFO", wireless_version: bool = False) -> N
             error=None,
             wlan_ip=None,
         )
-        self._thread_publish_status = Thread(target=self._publish_status, daemon=True)
         self._thread_event_publish_status = Event()
 
     async def start(
@@ -115,6 +114,8 @@ async def start(
 
         self.server = ZenohServer(self.backend, localhost_only=localhost_only)
         self.server.start()
+
+        self._thread_publish_status = Thread(target=self._publish_status, daemon=True)
         self._thread_publish_status.start()
 
         def backend_wrapped_run() -> None:

tests/test_daemon.py

@@ -18,6 +18,19 @@ async def test_daemon_start_stop() -> None:
     await daemon.stop(goto_sleep_on_stop=False)
 
 
+@pytest.mark.asyncio
+async def test_daemon_multiple_start_stop() -> None:    
+    daemon = Daemon()
+    
+    for _ in range(3):
+        await daemon.start(
+            sim=True,
+            headless=True,
+            wake_up_on_start=False,
+        )
+        await daemon.stop(goto_sleep_on_stop=False)
+
+
 @pytest.mark.asyncio
 async def test_daemon_client_disconnection() -> None:
     daemon = Daemon()