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Refactor thread pool implementation.

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- Make mjTask non-opaque and remove C++ Task class.
- Make C++ thread pool a subclass of a skeletal mjThreadPool C struct.
- Make the mjTask status enum more consistent with the rest of MuJoCo.
- Change mju_threadPoolEnqueue to take just the mjTask. Users must now prepare the mjTask by assigning the function pointer and argument into the struct.
- Rename files in thread/ to be more consistent with the rest of MuJoCo.
- Run threading tests in CMake.
- Allow use of C++20 designated initializers.

Otherwise the functionality remains identical.

PiperOrigin-RevId: 564374675
Change-Id: I37c9894566bc39faf217e5aa97a4e2713a70e467
This commit is contained in:
Saran Tunyasuvunakool
2023-09-11 07:19:50 -07:00
committed by Copybara-Service
parent 0ba10cc4f0
commit 78183e60e1
24 changed files with 379 additions and 458 deletions
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introspect/functions.py
+31 -27
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@@ -8269,7 +8269,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=ValueType(name='size_t'),
),
),
doc='Creates a thread pool with the specified number of threads running.', # pylint: disable=line-too-long
doc='Create a thread pool with the specified number of threads running.', # pylint: disable=line-too-long
)),
('mju_threadPoolEnqueue',
FunctionDecl(
@@ -8288,32 +8288,8 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='mjTask'),
),
),
FunctionParameterDecl(
name='start_routine',
type=ValueType(name='void *(*)(void *)'),
),
FunctionParameterDecl(
name='args',
type=PointerType(
inner_type=ValueType(name='void'),
),
),
),
doc='Enqueues a task in a thread pool.',
)),
('mju_taskJoin',
FunctionDecl(
name='mju_taskJoin',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='task',
type=PointerType(
inner_type=ValueType(name='mjTask'),
),
),
),
doc='Waits for a task to complete.',
doc='Enqueue a task in a thread pool.',
)),
('mju_threadPoolDestroy',
FunctionDecl(
@@ -8327,6 +8303,34 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
),
),
doc='Destroys a thread pool.',
doc='Destroy a thread pool.',
)),
('mju_defaultTask',
FunctionDecl(
name='mju_defaultTask',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='task',
type=PointerType(
inner_type=ValueType(name='mjTask'),
),
),
),
doc='Initialize an mjTask.',
)),
('mju_taskJoin',
FunctionDecl(
name='mju_taskJoin',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='task',
type=PointerType(
inner_type=ValueType(name='mjTask'),
),
),
),
doc='Wait for a task to complete.',
)),
])