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
50 lines
1.6 KiB
C++
50 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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#ifndef MUJOCO_SRC_THREAD_THREAD_TASK_H_
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#define MUJOCO_SRC_THREAD_THREAD_TASK_H_
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#include <mujoco/mjexport.h>
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#include <mujoco/mjthread.h>
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#ifdef __cplusplus
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#include <atomic>
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#include <new>
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#include <type_traits>
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namespace mujoco {
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extern "C" {
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#endif
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// Initialize an mjTask.
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MJAPI void mju_defaultTask(mjTask* task);
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// Wait for a task to complete.
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MJAPI void mju_taskJoin(mjTask* task);
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#ifdef __cplusplus
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} // extern "C"
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using TaskStatus = std::remove_volatile_t<decltype(mjTask::status)>;
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inline std::atomic<TaskStatus>& GetAtomicTaskStatus(mjTask* task) {
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static_assert(sizeof(std::atomic<TaskStatus>) == sizeof(TaskStatus));
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static_assert(alignof(std::atomic<TaskStatus>) == alignof(TaskStatus));
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static_assert(std::atomic<TaskStatus>::is_always_lock_free);
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return *std::launder(reinterpret_cast<std::atomic<TaskStatus>*>(
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const_cast<TaskStatus*>(&task->status)));
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}
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} // namespace mujoco
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#endif // __cplusplus
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#endif // MUJOCO_SRC_THREAD_THREAD_TASK_H_
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