Add threading primitives.

PiperOrigin-RevId: 562649644
Change-Id: I9c35b270e4b3b50cc7eb5a152f24d71def8e2fcd

test/thread/task_test.cc

@@ -0,0 +1,46 @@
+// 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 "src/thread/task.h"
+
+#include <gtest/gtest.h>
+
+namespace mujoco {
+namespace {
+
+struct TestFunctionArgs {
+  int input;
+  int output;
+};
+
+void* test_function(void* args) {
+  TestFunctionArgs* test_function_args = (TestFunctionArgs*)args;
+  test_function_args->output = test_function_args->input;
+  return nullptr;
+}
+
+TEST(TestMjThread, TestMjThread) {
+  TestFunctionArgs test_function_args;
+  test_function_args.input = 1;
+  test_function_args.output = 2;
+  Task task;
+  Task::Initialize(
+      &task, test_function, static_cast<void*>(&test_function_args));
+  task.Execute();
+  task.Join();
+  EXPECT_EQ(test_function_args.input, test_function_args.output);
+}
+
+}  // namespace
+}  // namespace mujoco