Saran Tunyasuvunakool
78183e60e1
- Make mjTask non-opaque and remove C++ Task class. - Make C++ thread pool a subclass of a skeletal mjThreadPool C struct. - Make the mjTask status enum more consistent with the rest of MuJoCo. - Change mju_threadPoolEnqueue to take just the mjTask. Users must now prepare the mjTask by assigning the function pointer and argument into the struct. - Rename files in thread/ to be more consistent with the rest of MuJoCo. - Run threading tests in CMake. - Allow use of C++20 designated initializers. Otherwise the functionality remains identical. PiperOrigin-RevId: 564374675 Change-Id: I37c9894566bc39faf217e5aa97a4e2713a70e467
34 lines
977 B
C++
34 lines
977 B
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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#include "thread/thread_task.h"
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#include <thread>
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#include <mujoco/mjthread.h>
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namespace mujoco {
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void mju_defaultTask(mjTask* task) {
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task->func = nullptr;
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task->args = nullptr;
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task->status = mjTASK_NEW;
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}
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void mju_taskJoin(mjTask* task) {
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while (GetAtomicTaskStatus(task) != mjTASK_COMPLETED) {
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std::this_thread::yield();
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}
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}
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} // namespace mujoco
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