Add threading primitives.

PiperOrigin-RevId: 562649644 Change-Id: I9c35b270e4b3b50cc7eb5a152f24d71def8e2fcd
2023-09-04 20:08:39 -07:00
parent 94a8705ad0
commit 6225186964
28 changed files with 1046 additions and 3 deletions
@@ -32,6 +32,7 @@ API function can be classified as:
 - :ref:`Derivatives<Derivatives-api>`.
 - :ref:`Plugin<Plugins-api>` related functions.
 - :ref:`Macros<Macros>`.
+- :ref:`Thread<Thread>` related functions.

 .. TODO(b/273075045): Better category-label namespacing.

@@ -712,7 +712,26 @@ Options for configuring the automatic :ref:`actuator length-range computation<CL

 .. mujoco-include:: mjLROpt

+.. _mjTask:

+mjTask
+~~~~~~
+
+This is a representation of a task to be run asynchronously inside of an :ref:`mjThreadPool` . It is created in the
+:ref:`mju_threadPoolEnqueue` method of the :ref:`mjThreadPool`  and is used to join the task at completion.
+
+.. mujoco-include:: mjTask
+
+.. _mjThreadPool:
+
+mjThreadPool
+~~~~~~~~~~~~
+
+This is the data structure of the threadpool. It can only be constructed programmatically, and does not
+have an analog in MJCF. In order to enable multi-threaded calculations, a pointer to an existing :ref:`mjThreadPool`
+should be assigned to the ``mjData.threadpool``.
+
+.. mujoco-include:: mjThreadPool

 .. _tyStatStructure:

@@ -3433,3 +3433,43 @@ mjp_getResourceProviderAtSlot
 Look up a resource provider by slot number returned by mjp_registerResourceProvider.
 If invalid slot number, return NULL.

+.. _Thread:
+
+Thread
+^^^^^^
+.. _mju_threadPoolCreate:
+
+mju_threadPoolCreate
+~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mju_threadPoolCreate
+
+Creates a thread pool with the specified number of threads running.
+
+.. _mju_threadPoolEnqueue:
+
+mju_threadPoolEnqueue
+~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mju_threadPoolEnqueue
+
+Enqueues a task in a thread pool.
+
+.. _mju_taskJoin:
+
+mju_taskJoin
+~~~~~~~~~~~~
+
+.. mujoco-include:: mju_taskJoin
+
+Waits for a task to complete.
+
+.. _mju_threadPoolDestroy:
+
+mju_threadPoolDestroy
+~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mju_threadPoolDestroy
+
+Destroys a thread pool.
+