Levi Burner
a7eb6efd4e
-- 3a95b62f59e81bfef0f076afb173ecc14b27943d by Levi Burner <leviburner@gmail.com>: rollout prototype native threadpool for comparing to python threads -- efd8be1124ac839b902de45973a3ca8b9f2215e6 by Levi Burner <leviburner@gmail.com>: copy mjpcs threadpool into python bindings -- 75603eea3e8362e354a9675e8a6cd14e56ec3d28 by Levi Burner <leviburner@gmail.com>: rollout use threadpool as translation unit -- 06b90febd021663f6cc81fd7895e4d6e2008ed97 by Levi Burner <leviburner@gmail.com>: rollout add chunk_divisor parameter -- 298ab2f3c0d6e12530832c3cdbf784dd92d54806 by Levi Burner <leviburner@gmail.com>: rollout add native threading test -- 169cf9978e7abad6edd1392b8e6aab995e4f8f10 by Levi Burner <leviburner@gmail.com>: rollout exchange chunk_divisor arg for chunk_size -- 265af851d74432d261277d3dbda11cdef1841bc8 by Levi Burner <leviburner@gmail.com>: rollout fix cosmetics -- 1e8bffa88bf36190501b334bef31147e23db39f7 by Levi Burner <leviburner@gmail.com>: make native rollout a class instead of a function -- ba788214b047577f58c41ce0ab6c62c277cd8b0d by Levi Burner <leviburner@gmail.com>: rollout update docs and changelog -- e4cb7732319e04cba2ab2c2ad848c659f6309808 by Levi Burner <leviburner@gmail.com>: rollout don't register atexit handler for Rollout objects -- 5a08d2efdbbbb01d4b1231ff9a36a1dc44f4d9ee by Levi Burner <leviburner@gmail.com>: rollout nthread kwarg, rename shutdown_pool to close, fixups -- f622378543596a208339af0208fa3a70bf2a8007 by Levi Burner <leviburner@gmail.com>: rollout add missing .close() calls -- 50f3ebca43c53eac03f03943c34bb1e46967bd4f by Levi Burner <leviburner@gmail.com>: rollout return immediately COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2282 from aftersomemath:rollout-threaded 50f3ebca43c53eac03f03943c34bb1e46967bd4f PiperOrigin-RevId: 706744277 Change-Id: I1ab2263b7d6ce30cf1908aec8fd5f2eb976a19e6
81 lines
2.1 KiB
C++
81 lines
2.1 KiB
C++
// Copyright 2024 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_PYTHON_THREADPOOL_H_
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#define MUJOCO_PYTHON_THREADPOOL_H_
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#include <condition_variable>
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#include <cstdint>
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#include <functional>
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#include <mutex>
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#include <queue>
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#include <thread>
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#include <vector>
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#include <absl/base/attributes.h>
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namespace mujoco::python {
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// ThreadPool class
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class ThreadPool {
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public:
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// constructor
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explicit ThreadPool(int num_threads);
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// destructor
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~ThreadPool();
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int NumThreads() const { return threads_.size(); }
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// returns an ID between 0 and NumThreads() - 1. must be called within
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// worker thread (returns -1 if not).
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static int WorkerId() { return worker_id_; }
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// ----- methods ----- //
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// set task for threadpool
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void Schedule(std::function<void()> task);
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// return number of tasks completed
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std::uint64_t GetCount() { return ctr_; }
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// reset count to zero
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void ResetCount() { ctr_ = 0; }
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// wait for count, then return
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void WaitCount(int value) {
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std::unique_lock<std::mutex> lock(m_);
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cv_ext_.wait(lock, [&]() { return this->GetCount() >= value; });
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}
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private:
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// ----- methods ----- //
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// execute task with available thread
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void WorkerThread(int i);
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ABSL_CONST_INIT static thread_local int worker_id_;
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// ----- members ----- //
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std::vector<std::thread> threads_;
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std::mutex m_;
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std::condition_variable cv_in_;
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std::condition_variable cv_ext_;
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std::queue<std::function<void()>> queue_;
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std::uint64_t ctr_;
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};
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} // namespace mujoco::python
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#endif // MUJOCO_PYTHON_THREADPOOL_H_
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