Matthew Bennice
071af3b015
Humanoids22 No threads: Benchmark Execution Time: 9.475905812s Humanoids22 with 10 Threads: Benchmark Execution Time: 4.871352s PiperOrigin-RevId: 571214307 Change-Id: I1f4f2c761b4ae6bc8fac1f28c6c695f6c499f339
86 lines
3.8 KiB
C++
86 lines
3.8 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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#ifndef MUJOCO_SRC_THREAD_THREAD_POOL_H_
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#define MUJOCO_SRC_THREAD_THREAD_POOL_H_
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#include <stddef.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjthread.h>
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#include <mujoco/mujoco.h>
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#ifdef __cplusplus
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namespace mujoco {
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extern "C" {
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#endif
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// MultiThreaded Stack will be an approximately 50/50 split of the entire buffer, with a little
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// wiggle for alignment and caching concerns. The basic layout is to reuse the existing single
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// threaded markers, and then create shards for each thread to use as its stack.
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// Not to scale.
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// |----------|-----------|-----------|-----------|-----------|----------|-----------|-----------|
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// |Used Arena|Free Arena |Shard1 |Shard1 |Shard1 |Shard0 |Shard0 |Shard0 |
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// |%%%%%%%%%%| |StackInfo |Free Stack |Used Stack |StackInfo |Free Stack |Used Stack |
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// |%%%%%%%%%%| | | |%%%%%%%%%%%| | |%%%%%%%%%%%|
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// |%%%%%%%%%%| | | |%%%%%%%%%%%| | |%%%%%%%%%%%|
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// |----------|-----------|-----------|-----------|-----------|----------|-----------|-----------|
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// d->arena d->parena d->pstack shard1->stack_info shard1->bottom_of_stack shard1->bottom_of_stack
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// shard1->stack_info shard0->stack_info shard0->current_stack
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// shard1->top_of_stack shard1->top_of_stack
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// shard1->current_stack
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typedef struct {
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uintptr_t bottom; // First memory address available to the stack
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uintptr_t top; // Current memory address used by the stack
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uintptr_t limit; // Top limit of the stack (note this is smaller than bottom, stack grows down)
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uintptr_t stack_base; // Current stack base for mark and free stack
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} mjStackInfo;
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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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// Returns the stack information for the specified thread's shard.
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mjStackInfo* mju_getStackInfoForThread(mjData* d, size_t thread_id);
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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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// Gets the number of running threads in the thread pool.
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MJAPI size_t mju_threadPoolNumberOfThreads(mjThreadPool* thread_pool);
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// Gets the ID of the current thread being executed
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MJAPI size_t mju_threadPoolCurrentWorkerId(mjThreadPool* 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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// Locks the allocation mutex to protect Arena allocations.
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MJAPI void mju_threadPoolLockAllocMutex(mjThreadPool* thread_pool);
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// Unlocks the allocation mutex to protect Arena allocations.
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MJAPI void mju_threadPoolUnlockAllocMutex(mjThreadPool* thread_pool);
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// Destroy a thread pool.
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MJAPI void mju_threadPoolDestroy(mjThreadPool* thread_pool);
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// Get the destructive interference size for the architecture.
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MJAPI size_t mju_getDestructiveInterferenceSize(void);
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#ifdef __cplusplus
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} // extern "C"
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} // namespace mujoco
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#endif // __cplusplus
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#endif // MUJOCO_SRC_THREAD_THREAD_POOL_H_
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