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Add new mju_threadpool API function, and delete old threading API.

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PiperOrigin-RevId: 922838541
Change-Id: Id9f7e0fb298ffde61fcc49a802dc78971858ce51
This commit is contained in:
Kyle Bayes
2026-05-28 10:09:07 -07:00
committed by Copybara-Service
parent a22fc2423a
commit b935d4153c
47 changed files with 576 additions and 1755 deletions
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python/mujoco/introspect/functions.py
+5 -83
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@@ -9985,23 +9985,9 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Find the decoder for a resource and return the decoded spec. The caller takes ownership of the spec and is responsible for cleaning it up.', # pylint: disable=line-too-long
)),
('mju_threadPoolCreate',
('mju_threadpool',
FunctionDecl(
name='mju_threadPoolCreate',
return_type=PointerType(
inner_type=ValueType(name='mjThreadPool'),
),
parameters=(
FunctionParameterDecl(
name='number_of_threads',
type=ValueType(name='size_t'),
),
),
doc='Create a thread pool with the specified number of threads running.', # pylint: disable=line-too-long
)),
('mju_bindThreadPool',
FunctionDecl(
name='mju_bindThreadPool',
name='mju_threadpool',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
@@ -10011,75 +9997,11 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
),
FunctionParameterDecl(
name='thread_pool',
type=PointerType(
inner_type=ValueType(name='void'),
),
name='nthread',
type=ValueType(name='int'),
),
),
doc='Adds a thread pool to mjData and configures it for multi-threaded use.', # pylint: disable=line-too-long
)),
('mju_threadPoolEnqueue',
FunctionDecl(
name='mju_threadPoolEnqueue',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='thread_pool',
type=PointerType(
inner_type=ValueType(name='mjThreadPool'),
),
),
FunctionParameterDecl(
name='task',
type=PointerType(
inner_type=ValueType(name='mjTask'),
),
),
),
doc='Enqueue a task in a thread pool.',
)),
('mju_threadPoolDestroy',
FunctionDecl(
name='mju_threadPoolDestroy',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='thread_pool',
type=PointerType(
inner_type=ValueType(name='mjThreadPool'),
),
),
),
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.',
doc='Create a thread pool with nthread worker threads.',
)),
('mjs_attach',
FunctionDecl(