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Add maxuse_threadstack to mjData

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PiperOrigin-RevId: 567334177
Change-Id: Ifd772350042e548a63ab269fd68fb5e5fef55831
This commit is contained in:
Matthew Bennice
2023-09-21 09:40:14 -07:00
committed by Copybara-Service
parent be75dda8d1
commit 4f34cacf35
13 changed files with 223 additions and 65 deletions
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doc/APIreference/APIglobals.rst
+4
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@@ -489,6 +489,10 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
- 1000
- Maximum number of textures allowed.
Defined in `mjrender.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`_.
* - ``mjMAXTHREADS``
- 128
- Maximum number OS threads that can be used in a thread pool.
Defined in `mjthread.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjthread.h>`_.
* - ``mjMAXUISECT``
- 10
- Maximum number of UI sections.
doc/includes/references.h
+5 -4
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@@ -136,10 +136,11 @@ struct mjData_ {
size_t parena; // first available byte in arena
// memory utilization stats
size_t maxuse_stack; // maximum stack allocation
size_t maxuse_arena; // maximum arena allocation
int maxuse_con; // maximum number of contacts
int maxuse_efc; // maximum number of scalar constraints
size_t maxuse_stack; // maximum stack allocation in bytes
size_t maxuse_threadstack[mjMAXTHREADS]; // maximum stack allocation per thread in bytes
size_t maxuse_arena; // maximum arena allocation in bytes
int maxuse_con; // maximum number of contacts
int maxuse_efc; // maximum number of scalar constraints
// diagnostics
mjWarningStat warning[mjNWARNING]; // warning statistics
include/mujoco/mjdata.h
+6 -4
View File
@@ -20,6 +20,7 @@
#include <mujoco/mjtnum.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjthread.h>
//---------------------------------- primitive types (mjt) -----------------------------------------
@@ -163,10 +164,11 @@ struct mjData_ {
size_t parena; // first available byte in arena
// memory utilization stats
size_t maxuse_stack; // maximum stack allocation
size_t maxuse_arena; // maximum arena allocation
int maxuse_con; // maximum number of contacts
int maxuse_efc; // maximum number of scalar constraints
size_t maxuse_stack; // maximum stack allocation in bytes
size_t maxuse_threadstack[mjMAXTHREADS]; // maximum stack allocation per thread in bytes
size_t maxuse_arena; // maximum arena allocation in bytes
int maxuse_con; // maximum number of contacts
int maxuse_efc; // maximum number of scalar constraints
// diagnostics
mjWarningStat warning[mjNWARNING]; // warning statistics
include/mujoco/mjthread.h
+2
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@@ -15,6 +15,8 @@
#ifndef MUJOCO_INCLUDE_MJTHREAD_H_
#define MUJOCO_INCLUDE_MJTHREAD_H_
#define mjMAXTHREADS 128 // maximum number of threads in a thread pool
typedef enum mjtTaskStatus_ { // status values for mjTask
mjTASK_NEW = 0, // newly created
mjTASK_QUEUED, // enqueued in a thread pool
include/mujoco/mjxmacro.h
+9 -8
View File
@@ -652,14 +652,15 @@
// vector fields of mjData
#define MJDATA_VECTOR \
X( mjWarningStat, warning, mjNWARNING, 1 ) \
X( mjTimerStat, timer, mjNTIMER, 1 ) \
X( mjSolverStat, solver, mjNILSAND, mjNSOLVER ) \
X( int, solver_niter, mjNISLAND, 1 ) \
X( int, solver_nnz, mjNISLAND, 1 ) \
X( mjtNum, solver_fwdinv, 2, 1 ) \
X( mjtNum, energy, 2, 1 )
#define MJDATA_VECTOR \
X( size_t, maxuse_threadstack, mjMAXTHREADS, 1 ) \
X( mjWarningStat, warning, mjNWARNING, 1 ) \
X( mjTimerStat, timer, mjNTIMER, 1 ) \
X( mjSolverStat, solver, mjNILSAND, mjNSOLVER ) \
X( int, solver_niter, mjNISLAND, 1 ) \
X( int, solver_nnz, mjNISLAND, 1 ) \
X( mjtNum, solver_fwdinv, 2, 1 ) \
X( mjtNum, energy, 2, 1 )
// alias XMJV to be the same as X
introspect/enums.py
+10 -10
View File
@@ -370,6 +370,16 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjLRMODE_ALL', 3),
]),
)),
('mjtTaskStatus',
EnumDecl(
name='mjtTaskStatus',
declname='enum mjtTaskStatus_',
values=dict([
('mjTASK_NEW', 0),
('mjTASK_QUEUED', 1),
('mjTASK_COMPLETED', 2),
]),
)),
('mjtState',
EnumDecl(
name='mjtState',
@@ -633,16 +643,6 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjFONT_BIG', 2),
]),
)),
('mjtTaskStatus',
EnumDecl(
name='mjtTaskStatus',
declname='enum mjtTaskStatus_',
values=dict([
('mjTASK_NEW', 0),
('mjTASK_QUEUED', 1),
('mjTASK_COMPLETED', 2),
]),
)),
('mjtButton',
EnumDecl(
name='mjtButton',
introspect/structs.py
+46 -38
View File
@@ -3324,6 +3324,42 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
),
)),
('mjThreadPool',
StructDecl(
name='mjThreadPool',
declname='struct mjThreadPool_',
fields=(
StructFieldDecl(
name='nworker',
type=ValueType(name='int'),
doc='number of workers in the pool',
),
),
)),
('mjTask',
StructDecl(
name='mjTask',
declname='struct mjTask_',
fields=(
StructFieldDecl(
name='func',
type=ValueType(name='mjfTask'),
doc='pointer to the function that implements the task',
),
StructFieldDecl(
name='args',
type=PointerType(
inner_type=ValueType(name='void'),
),
doc='arguments to func',
),
StructFieldDecl(
name='status',
type=ValueType(name='int', is_volatile=True),
doc='status of the task',
),
),
)),
('mjContact',
StructDecl(
name='mjContact',
@@ -3541,12 +3577,20 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='maxuse_stack',
type=ValueType(name='size_t'),
doc='maximum stack allocation',
doc='maximum stack allocation in bytes',
),
StructFieldDecl(
name='maxuse_threadstack',
type=ArrayType(
inner_type=ValueType(name='size_t'),
extents=(128,),
),
doc='maximum stack allocation per thread in bytes',
),
StructFieldDecl(
name='maxuse_arena',
type=ValueType(name='size_t'),
doc='maximum arena allocation',
doc='maximum arena allocation in bytes',
),
StructFieldDecl(
name='maxuse_con',
@@ -7020,42 +7064,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
),
)),
('mjThreadPool',
StructDecl(
name='mjThreadPool',
declname='struct mjThreadPool_',
fields=(
StructFieldDecl(
name='nworker',
type=ValueType(name='int'),
doc='number of workers in the pool',
),
),
)),
('mjTask',
StructDecl(
name='mjTask',
declname='struct mjTask_',
fields=(
StructFieldDecl(
name='func',
type=ValueType(name='mjfTask'),
doc='pointer to the function that implements the task',
),
StructFieldDecl(
name='args',
type=PointerType(
inner_type=ValueType(name='void'),
),
doc='arguments to func',
),
StructFieldDecl(
name='status',
type=ValueType(name='int', is_volatile=True),
doc='status of the task',
),
),
)),
('mjuiState',
StructDecl(
name='mjuiState',
python/mujoco/structs.h
+2
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@@ -16,6 +16,7 @@
#define MUJOCO_PYTHON_STRUCTS_H_
#include <array>
#include <cstddef>
#include <istream>
#include <memory>
#include <optional>
@@ -579,6 +580,7 @@ class MjWrapper<raw::MjData>: public WrapperBase<raw::MjData> {
py_array_or_tuple_t<mjContact> contact;
py_array_or_tuple_t<size_t> maxuse_threadstack;
py_array_or_tuple_t<raw::MjWarningStat> warning;
py_array_or_tuple_t<raw::MjTimerStat> timer;
py_array_or_tuple_t<raw::MjSolverStat> solver;
src/engine/engine_io.c
+1
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@@ -1420,6 +1420,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
// clear memory utilization stats
d->maxuse_stack = 0;
mju_zeroSizeT(d->maxuse_threadstack, mjMAXTHREADS);
d->maxuse_arena = 0;
d->maxuse_con = 0;
d->maxuse_efc = 0;
src/engine/engine_util_misc.c
+4
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@@ -1213,6 +1213,10 @@ void mju_zeroInt(int* res, int n) {
}
void mju_zeroSizeT(size_t* res, size_t n) {
memset(res, 0, n*sizeof(size_t));
}
// copy int vector vec into res
void mju_copyInt(int* res, const int* vec, int n) {
src/engine/engine_util_misc.h
+3
View File
@@ -122,6 +122,9 @@ MJAPI int mju_isZero(mjtNum* vec, int n);
// set integer vector to 0
MJAPI void mju_zeroInt(int* res, int n);
// set size_t vector to 0
MJAPI void mju_zeroSizeT(size_t* res, size_t n);
// copy int vector vec into res
MJAPI void mju_copyInt(int* res, const int* vec, int n);
src/thread/thread_pool.cc
+2 -1
View File
@@ -14,6 +14,7 @@
#include "thread/thread_pool.h"
#include <algorithm>
#include <atomic>
#include <cstddef>
#include <memory>
@@ -55,7 +56,7 @@ class ThreadPoolImpl : public mjThreadPool {
public:
ThreadPoolImpl(int num_worker) : mjThreadPool{num_worker} {
// initialize worker threads
for (int i = 0; i < num_worker; ++i) {
for (int i = 0; i < std::min(num_worker, mjMAXTHREADS); ++i) {
WorkerThread worker{
std::make_unique<std::thread>(ThreadPoolWorker, this)};
workers_.push_back(std::move(worker));
unity/Runtime/Bindings/MjBindings.cs
+129
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@@ -58,6 +58,7 @@ public const bool THIRD_PARTY_MUJOCO_MJRENDER_H_ = true;
public const int mjNAUX = 10;
public const int mjMAXTEXTURE = 1000;
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTHREAD_H_ = true;
public const int mjMAXTHREADS = 128;
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTNUM_H_ = true;
public const bool mjUSEDOUBLE = true;
public const double mjMINVAL = 1e-15;
@@ -580,6 +581,134 @@ public unsafe struct mjData_ {
public UIntPtr pbase;
public UIntPtr parena;
public UIntPtr maxuse_stack;
public UIntPtr maxuse_threadstack0;
public UIntPtr maxuse_threadstack1;
public UIntPtr maxuse_threadstack2;
public UIntPtr maxuse_threadstack3;
public UIntPtr maxuse_threadstack4;
public UIntPtr maxuse_threadstack5;
public UIntPtr maxuse_threadstack6;
public UIntPtr maxuse_threadstack7;
public UIntPtr maxuse_threadstack8;
public UIntPtr maxuse_threadstack9;
public UIntPtr maxuse_threadstack10;
public UIntPtr maxuse_threadstack11;
public UIntPtr maxuse_threadstack12;
public UIntPtr maxuse_threadstack13;
public UIntPtr maxuse_threadstack14;
public UIntPtr maxuse_threadstack15;
public UIntPtr maxuse_threadstack16;
public UIntPtr maxuse_threadstack17;
public UIntPtr maxuse_threadstack18;
public UIntPtr maxuse_threadstack19;
public UIntPtr maxuse_threadstack20;
public UIntPtr maxuse_threadstack21;
public UIntPtr maxuse_threadstack22;
public UIntPtr maxuse_threadstack23;
public UIntPtr maxuse_threadstack24;
public UIntPtr maxuse_threadstack25;
public UIntPtr maxuse_threadstack26;
public UIntPtr maxuse_threadstack27;
public UIntPtr maxuse_threadstack28;
public UIntPtr maxuse_threadstack29;
public UIntPtr maxuse_threadstack30;
public UIntPtr maxuse_threadstack31;
public UIntPtr maxuse_threadstack32;
public UIntPtr maxuse_threadstack33;
public UIntPtr maxuse_threadstack34;
public UIntPtr maxuse_threadstack35;
public UIntPtr maxuse_threadstack36;
public UIntPtr maxuse_threadstack37;
public UIntPtr maxuse_threadstack38;
public UIntPtr maxuse_threadstack39;
public UIntPtr maxuse_threadstack40;
public UIntPtr maxuse_threadstack41;
public UIntPtr maxuse_threadstack42;
public UIntPtr maxuse_threadstack43;
public UIntPtr maxuse_threadstack44;
public UIntPtr maxuse_threadstack45;
public UIntPtr maxuse_threadstack46;
public UIntPtr maxuse_threadstack47;
public UIntPtr maxuse_threadstack48;
public UIntPtr maxuse_threadstack49;
public UIntPtr maxuse_threadstack50;
public UIntPtr maxuse_threadstack51;
public UIntPtr maxuse_threadstack52;
public UIntPtr maxuse_threadstack53;
public UIntPtr maxuse_threadstack54;
public UIntPtr maxuse_threadstack55;
public UIntPtr maxuse_threadstack56;
public UIntPtr maxuse_threadstack57;
public UIntPtr maxuse_threadstack58;
public UIntPtr maxuse_threadstack59;
public UIntPtr maxuse_threadstack60;
public UIntPtr maxuse_threadstack61;
public UIntPtr maxuse_threadstack62;
public UIntPtr maxuse_threadstack63;
public UIntPtr maxuse_threadstack64;
public UIntPtr maxuse_threadstack65;
public UIntPtr maxuse_threadstack66;
public UIntPtr maxuse_threadstack67;
public UIntPtr maxuse_threadstack68;
public UIntPtr maxuse_threadstack69;
public UIntPtr maxuse_threadstack70;
public UIntPtr maxuse_threadstack71;
public UIntPtr maxuse_threadstack72;
public UIntPtr maxuse_threadstack73;
public UIntPtr maxuse_threadstack74;
public UIntPtr maxuse_threadstack75;
public UIntPtr maxuse_threadstack76;
public UIntPtr maxuse_threadstack77;
public UIntPtr maxuse_threadstack78;
public UIntPtr maxuse_threadstack79;
public UIntPtr maxuse_threadstack80;
public UIntPtr maxuse_threadstack81;
public UIntPtr maxuse_threadstack82;
public UIntPtr maxuse_threadstack83;
public UIntPtr maxuse_threadstack84;
public UIntPtr maxuse_threadstack85;
public UIntPtr maxuse_threadstack86;
public UIntPtr maxuse_threadstack87;
public UIntPtr maxuse_threadstack88;
public UIntPtr maxuse_threadstack89;
public UIntPtr maxuse_threadstack90;
public UIntPtr maxuse_threadstack91;
public UIntPtr maxuse_threadstack92;
public UIntPtr maxuse_threadstack93;
public UIntPtr maxuse_threadstack94;
public UIntPtr maxuse_threadstack95;
public UIntPtr maxuse_threadstack96;
public UIntPtr maxuse_threadstack97;
public UIntPtr maxuse_threadstack98;
public UIntPtr maxuse_threadstack99;
public UIntPtr maxuse_threadstack100;
public UIntPtr maxuse_threadstack101;
public UIntPtr maxuse_threadstack102;
public UIntPtr maxuse_threadstack103;
public UIntPtr maxuse_threadstack104;
public UIntPtr maxuse_threadstack105;
public UIntPtr maxuse_threadstack106;
public UIntPtr maxuse_threadstack107;
public UIntPtr maxuse_threadstack108;
public UIntPtr maxuse_threadstack109;
public UIntPtr maxuse_threadstack110;
public UIntPtr maxuse_threadstack111;
public UIntPtr maxuse_threadstack112;
public UIntPtr maxuse_threadstack113;
public UIntPtr maxuse_threadstack114;
public UIntPtr maxuse_threadstack115;
public UIntPtr maxuse_threadstack116;
public UIntPtr maxuse_threadstack117;
public UIntPtr maxuse_threadstack118;
public UIntPtr maxuse_threadstack119;
public UIntPtr maxuse_threadstack120;
public UIntPtr maxuse_threadstack121;
public UIntPtr maxuse_threadstack122;
public UIntPtr maxuse_threadstack123;
public UIntPtr maxuse_threadstack124;
public UIntPtr maxuse_threadstack125;
public UIntPtr maxuse_threadstack126;
public UIntPtr maxuse_threadstack127;
public UIntPtr maxuse_arena;
public int maxuse_con;
public int maxuse_efc;