Matthew Bennice
8ffdee355a
PiperOrigin-RevId: 562800238 Change-Id: I94c883488391f7e95347eb2fe8dc291125233fff
71 lines
1.6 KiB
C++
71 lines
1.6 KiB
C++
// 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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// IWYU pragma: private, include "third_party/mujoco/include/mujoco.h"
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// IWYU pragma: friend "third_party/(py/)?mujoco/.*"
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#ifndef MUJOCO_SRC_THREAD_TASK_H_
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#define MUJOCO_SRC_THREAD_TASK_H_
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#ifdef __cplusplus
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#include <atomic>
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#include <new>
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#include <thread>
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namespace mujoco {
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class Task {
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public:
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using FunctionPtr = void* (*)(void*);
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enum Status {
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QUEUED,
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COMPLETE,
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};
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static void Initialize(
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Task* task,
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FunctionPtr start_routine,
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void* args) {
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// instantiate a task at the pointer passed in
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new(task) Task();
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task->start_routine_ = start_routine;
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task->args_ = args;
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task->status_ = Status::QUEUED;
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}
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void Execute() {
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args_ = start_routine_(args_);
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status_ = Status::COMPLETE;
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}
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void Join() {
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while (status_ != Status::COMPLETE) {
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std::this_thread::yield();
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}
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}
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private:
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FunctionPtr start_routine_;
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void* args_;
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std::atomic<Status> status_ = Status::QUEUED;
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};
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} // namespace mujoco
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#endif // __cplusplus
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#endif // MUJOCO_SRC_THREAD_TASK_H_
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