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
@@ -0,0 +1,90 @@
+// Copyright 2023 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <mujoco/mjthread.h>
+
+#include <atomic>
+
+#include <gtest/gtest.h>
+#include <mujoco/mujoco.h>
+#include "src/thread/task.h"
+#include "src/thread/thread_pool.h"
+
+namespace {
+
+struct TestFunctionArgs_ {
+  int input;
+  // make this atomic to avoid red-herring tsan failures.
+  std::atomic<int> output;
+};
+typedef struct TestFunctionArgs_ TestFunctionArgs;
+
+void* test_function(void* args) {
+  TestFunctionArgs* test_function_args = static_cast<TestFunctionArgs*>(args);
+  if (!test_function_args) {
+    return nullptr;
+  }
+  test_function_args->output = test_function_args->input;
+  return nullptr;
+}
+
+TEST(TestMjThreadPool, EnsureStructClassSizeMatch) {
+  EXPECT_EQ(sizeof(mjTask), sizeof(mujoco::Task));
+  EXPECT_EQ(sizeof(mjThreadPool), sizeof(mujoco::ThreadPool<128>));
+}
+
+TEST(TestMjThreadPool, TestMjThreadPool10Threads) {
+  mjThreadPool* thread_pool = mju_threadPoolCreate(10);
+
+  TestFunctionArgs test_function_args[1000];
+  mjTask tasks[1000];
+  for (int i = 0; i < 1000; ++i) {
+    test_function_args[i].input = i;
+    mju_threadPoolEnqueue(thread_pool, &tasks[i], test_function,
+                          (void*)&test_function_args[i]);
+  }
+
+  for (int i = 0; i < 1000; ++i) {
+    mju_taskJoin(&tasks[i]);
+  }
+
+  for (int i = 0; i < 1000; ++i) {
+    EXPECT_EQ(test_function_args[i].input, test_function_args[i].output);
+  }
+  mju_threadPoolDestroy(thread_pool);
+}
+
+TEST(TestMjThreadPool, TestMjThreadPool100Threads) {
+  mjThreadPool* thread_pool = mju_threadPoolCreate(100);
+
+  TestFunctionArgs test_function_args[1000];
+  mjTask tasks[1000];
+  for (int i = 0; i < 1000; ++i) {
+    test_function_args[i].input = i;
+    mju_threadPoolEnqueue(thread_pool, &tasks[i], test_function,
+                          (void*)&test_function_args[i]);
+  }
+
+  for (int i = 0; i < 1000; ++i) {
+    mju_taskJoin(&tasks[i]);
+  }
+
+  for (int i = 0; i < 1000; ++i) {
+    EXPECT_EQ(test_function_args[i].input, test_function_args[i].output);
+  }
+
+  mju_threadPoolDestroy(thread_pool);
+}
+
+}  // namespace