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bug: Assertion error raised due to _reauthorize not running in pipeline thread

See original GitHub issue

Context

OS and version used: Windows 10
Python version: 3.9.7
pip version: 21.2.3
list of installed packages: attrs==21.2.0 azure-core==1.21.1 azure-iot-device==2.9.0 azure-storage-blob==12.9.0 backcall==0.2.0 certifi==2021.10.8 cffi==1.15.0 charset-normalizer==2.0.9 colorama==0.4.4 cryptography==36.0.0 decorator==5.1.0 deprecation==2.1.0 idna==3.3 ipython==7.30.1 isodate==0.6.0 janus==0.7.0 jedi==0.18.1 jsonschema==4.2.1 matplotlib-inline==0.1.3 msrest==0.6.21 oauthlib==3.1.1 packaging==21.3 paho-mqtt==1.6.1 parso==0.8.3 pickleshare==0.7.5 prompt-toolkit==3.0.24 pycparser==2.21 pydantic==1.8.2 Pygments==2.10.0 pyparsing==3.0.6 pyrsistent==0.18.0 PySocks==1.7.1 PyYAML==6.0 requests==2.26.0 requests-oauthlib==1.3.0 requests-unixsocket==0.2.0 six==1.16.0 traitlets==5.1.1 typing_extensions==4.0.1 urllib3==1.26.7 wcwidth==0.2.5
cloned repo: https://github.com/Azure/azure-iot-sdk-python/blob/main/azure-iot-device/samples/sync-samples/receive_direct_method.py

Description of the issue

When running the receive direct method sample code for a long time (i.e. >24 h), the code raises an assertion error that the function _reauthorize is not running inside a pipeline thread. As a result, the device can no longer receive direct methods, but the main thread does not crash, so it’s not possible to know when this error has occurred apart from looking at the logs. A similar error has been mentioned in the below link: https://docs.microsoft.com/en-us/answers/questions/679775/iot-device-assertion-error-freezing-iot-device.html

Code sample exhibiting the issue

See above Azure IoT Device code sample

Console log of the issue

File "C:\...\Python39\lib\threading.py", line 973, in _bootstrap_inner
   self.run()
File "C:\...\Python39\lib\threading.py", line 1286 in run
   self.function(*self.args, **self.kwargs)
File "C:\...\venv\lib\site-packages\azure\iot\device\common\pipeline\pipeline_stages_base.py", line 523, in retry_authorize
   this.reuthorize()
File "C:\...\venv\lib\site-packages\azure\iot\device\common\pipeline\pipeline_thread.py", line 192, in wrapper
   assert(
AssertionError:
   Function _reauthorize is not running inside pipeline thread. It should be.
   You should use invoke_on_pipeline_thread(_nowait) to enter the pipeline
   thread before calling this function. If you're hitting this from inside a test
   function, you may need to add the fake_pipeline_thread fixture to your
   test. (generally applied on the global pytestmark in a module).