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Fix GCC and MSVC build.

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PiperOrigin-RevId: 564390190
Change-Id: Icba3eefb394b8d17798679dd9876f127fba5a599
This commit is contained in:
Saran Tunyasuvunakool
2023-09-11 08:16:20 -07:00
committed by Copybara-Service
parent 78183e60e1
commit 860f7b376a
4 changed files with 11 additions and 17 deletions
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cmake/MujocoOptions.cmake
+1 -4
View File
@@ -99,12 +99,9 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
# Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__. # Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__.
set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wimplicit-fallthrough=5 set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wimplicit-fallthrough=5
-Wno-maybe-uninitialized -Wno-c++20-extensions -Wno-maybe-uninitialized
) )
endif() endif()
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wno-c++20-designator)
endif()
endif() endif()
include(MujocoHarden) include(MujocoHarden)
sample/cmake/SampleOptions.cmake
+1 -4
View File
@@ -99,12 +99,9 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
# Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__. # Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__.
set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wimplicit-fallthrough=5 set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wimplicit-fallthrough=5
-Wno-maybe-uninitialized -Wno-c++20-extensions -Wno-maybe-uninitialized
) )
endif() endif()
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wno-c++20-designator)
endif()
endif() endif()
include(MujocoHarden) include(MujocoHarden)
simulate/cmake/SimulateOptions.cmake
+1 -4
View File
@@ -99,12 +99,9 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
# Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__. # Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__.
set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wimplicit-fallthrough=5 set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wimplicit-fallthrough=5
-Wno-maybe-uninitialized -Wno-c++20-extensions -Wno-maybe-uninitialized
) )
endif() endif()
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wno-c++20-designator)
endif()
endif() endif()
include(MujocoHarden) include(MujocoHarden)
src/thread/thread_pool.cc
+8 -5
View File
@@ -18,6 +18,7 @@
#include <cstddef> #include <cstddef>
#include <memory> #include <memory>
#include <thread> #include <thread>
#include <utility>
#include <vector> #include <vector>
#include <mujoco/mjthread.h> #include <mujoco/mjthread.h>
@@ -41,8 +42,9 @@ struct WorkerThread {
// An mjTask for shutting down this worker. // An mjTask for shutting down this worker.
mjTask shutdown_task_ { mjTask shutdown_task_ {
.func = &ShutdownFunction, &ShutdownFunction,
.args = nullptr, nullptr,
mjTASK_NEW
}; };
}; };
} // namespace } // namespace
@@ -51,11 +53,12 @@ struct WorkerThread {
// (The public mjThreadPool C struct is an opaque one.) // (The public mjThreadPool C struct is an opaque one.)
class ThreadPoolImpl : public mjThreadPool { class ThreadPoolImpl : public mjThreadPool {
public: public:
ThreadPoolImpl(int num_worker) : mjThreadPool{.nworker = num_worker} { ThreadPoolImpl(int num_worker) : mjThreadPool{num_worker} {
// initialize worker threads // initialize worker threads
for (int i = 0; i < num_worker; ++i) { for (int i = 0; i < num_worker; ++i) {
workers_.push_back( WorkerThread worker{
{std::make_unique<std::thread>(ThreadPoolWorker, this)}); std::make_unique<std::thread>(ThreadPoolWorker, this)};
workers_.push_back(std::move(worker));
} }
} }