Add new mju_threadpool API function, and delete old threading API.
PiperOrigin-RevId: 922838541 Change-Id: Id9f7e0fb298ffde61fcc49a802dc78971858ce51
This commit is contained in:
Kyle Bayes
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Copybara-Service
Copybara-Service
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a22fc2423a
commit
b935d4153c
@@ -20,7 +20,6 @@
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#include <mujoco/mjplugin.h>
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#include <mujoco/mjrender.h>
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#include <mujoco/mjspec.h>
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#include <mujoco/mjthread.h>
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#include <mujoco/mjtype.h>
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#include <mujoco/mjui.h>
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#include <mujoco/mjvisualize.h>
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@@ -123,9 +122,6 @@ MJ_ASSERT_SIZE(mjtEvent, 4);
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MJ_ASSERT_SIZE(mjtItem, 4);
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MJ_ASSERT_SIZE(mjtSection, 4);
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// mjthread.h
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MJ_ASSERT_SIZE(mjtTaskStatus, 4);
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// mjplugin.h
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MJ_ASSERT_SIZE(mjtPluginCapabilityBit, 4);
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@@ -20,7 +20,7 @@
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#include <mujoco/mjtype.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjthread.h>
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@@ -112,9 +112,12 @@ struct mjData_ {
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// arena pointer
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size_t parena; // first available byte in arena
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// threading
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uintptr_t threadpool; // thread pool pointer
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mjtBool threadlock; // disable stack freeing during threaded execution
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// memory utilization statistics
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mjtSize maxuse_stack; // maximum stack allocation in bytes (mutable)
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mjtSize maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes
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mjtSize maxuse_arena; // maximum arena allocation in bytes
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int maxuse_con; // maximum number of contacts
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int maxuse_efc; // maximum number of scalar constraints
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@@ -417,9 +420,6 @@ struct mjData_ {
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mjtNum* efc_force; // constraint force in constraint space (nefc x 1)
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mjtNum* ifrc_constraint; // constraint force (nidof x 1)
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// thread pool pointer
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uintptr_t threadpool;
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// compilation signature
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uint64_t signature; // also held by the mjSpec that compiled the model
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};
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@@ -1,42 +0,0 @@
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// Copyright 2023 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_INCLUDE_MJTHREAD_H_
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#define MUJOCO_INCLUDE_MJTHREAD_H_
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#define mjMAXTHREAD 128 // maximum number of threads in a thread pool
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typedef enum mjtTaskStatus_ { // status values for mjTask
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mjTASK_NEW = 0, // newly created
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mjTASK_QUEUED, // enqueued in a thread pool
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mjTASK_COMPLETED // completed execution
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} mjtTaskStatus;
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// function pointer type for mjTask
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typedef void* (*mjfTask)(void*);
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// An opaque type representing a thread pool.
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struct mjThreadPool_ {
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int nworker; // number of workers in the pool
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};
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typedef struct mjThreadPool_ mjThreadPool;
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struct mjTask_ { // a task that can be executed by a thread pool.
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mjfTask func; // pointer to the function that implements the task
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void* args; // arguments to func
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volatile int status; // status of the task
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};
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typedef struct mjTask_ mjTask;
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#endif // MUJOCO_INCLUDE_MJTHREAD_H_
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@@ -1014,6 +1014,7 @@
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X( size_t, pstack ) \
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X( size_t, pbase ) \
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X( size_t, parena ) \
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X( uintptr_t, threadpool ) \
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X( size_t, maxuse_stack ) \
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X( size_t, maxuse_arena ) \
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X( int, maxuse_con ) \
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@@ -1036,13 +1037,11 @@
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X( mjtBool, flg_energyvel ) \
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X( mjtBool, flg_subtreevel ) \
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X( mjtBool, flg_rnepost ) \
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X( mjtNum, time ) \
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X( uintptr_t, threadpool )
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X( mjtNum, time )
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// vector fields of mjData
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#define MJDATA_VECTOR \
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X( size_t, maxuse_threadstack, mjMAXTHREAD, 1 ) \
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X( mjSolverStat, solver, mjNISLAND, mjNSOLVER ) \
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X( int, solver_niter, mjNISLAND, 1 ) \
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X( int, solver_nnz, mjNISLAND, 1 ) \
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+2
-18
@@ -31,7 +31,6 @@
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#include <mujoco/mjrender.h>
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#include <mujoco/mjsan.h>
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#include <mujoco/mjspec.h>
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#include <mujoco/mjthread.h>
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#include <mujoco/mjtype.h>
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#include <mujoco/mjui.h>
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#include <mujoco/mjvisualize.h>
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@@ -1593,23 +1592,8 @@ MJAPI mjSpec* mju_decodeResource(mjResource* resource, const char* content_type,
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//---------------------------------- Threads -------------------------------------------------------
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// Create a thread pool with the specified number of threads running.
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MJAPI mjThreadPool* mju_threadPoolCreate(size_t number_of_threads);
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// Adds a thread pool to mjData and configures it for multi-threaded use.
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MJAPI void mju_bindThreadPool(mjData* d, void* thread_pool);
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// Enqueue a task in a thread pool.
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MJAPI void mju_threadPoolEnqueue(mjThreadPool* thread_pool, mjTask* task);
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// Destroy a thread pool.
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MJAPI void mju_threadPoolDestroy(mjThreadPool* thread_pool);
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// Initialize an mjTask.
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MJAPI void mju_defaultTask(mjTask* task);
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// Wait for a task to complete.
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MJAPI void mju_taskJoin(mjTask* task);
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// Create a thread pool with nthread worker threads.
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MJAPI void mju_threadpool(mjData* d, int nthread);
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//---------------------------------- Attachment ----------------------------------------------------
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