fix PR comments and add unit test

include/librealsense2/h/rs_pipeline.h

@@ -43,9 +43,8 @@ extern "C" {
 
     /**
      * Set the device to be used in the pipline.
-     * The function is used to assign the device, ensuring the pipeline maintains the sensitivity values configured for
-     * this device by the user. 
-     * \param[in] pipe the pipeline
+     * 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 );

include/librealsense2/hpp/rs_pipeline.hpp

@@ -494,7 +494,7 @@ namespace rs2
 
         /**
          * Set the device to be used in the pipline.
-         * The function is used to assign the device, ensuring the pipeline maintains the sensitivity values configured for this device by the user.
+         * 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 )

src/pipeline/pipeline.cpp

@@ -46,15 +46,14 @@ namespace librealsense
             return unsafe_get_active_profile();
         }
 
-        void pipeline::set_device(
-             std::shared_ptr< librealsense::device_interface >  device_interface ) 
+        void pipeline::set_device( std::shared_ptr< librealsense::device_interface >  device_interface ) 
         {
-            _device_interface = device_interface;
+            _device = device_interface;
         }
 
         std::shared_ptr< librealsense::device_interface >  pipeline::get_device() 
         {
-            return _device_interface;
+            return _device;
         }
 
         std::shared_ptr<profile> pipeline::get_active_profile() const

src/rs.cpp

@@ -2201,9 +2201,7 @@ void rs2_pipeline_stop(rs2_pipeline* pipe, rs2_error ** error) BEGIN_API_CALL
 }
 HANDLE_EXCEPTIONS_AND_RETURN(, pipe)
 
-void rs2_pipeline_set_device( rs2_pipeline * pipe,
-                                             rs2_device * device,
-                                             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 );

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, 4)
+
+    cfg.enable_stream(rs.stream.accel, rs.format.motion_xyz32f, 200)
+    cfg.enable_stream(rs.stream.gyro, rs.format.motion_xyz32f, 200)
+
+    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 **/
 }