Yuval Tassa
8a643f4e2b
PiperOrigin-RevId: 958383817 Change-Id: I17fcdbf32967ec5a5c4d2552823ef5100faaea3b
86 lines
2.2 KiB
C++
86 lines
2.2 KiB
C++
// Copyright 2026 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_USER_USER_THREADPOOL_H_
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#define MUJOCO_SRC_USER_USER_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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namespace mujoco::user {
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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() {
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std::lock_guard<std::mutex> lock(m_);
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return ctr_;
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}
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// reset count to zero
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void ResetCount() {
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std::lock_guard<std::mutex> lock(m_);
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ctr_ = 0;
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}
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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 ctr_ >= 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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constinit 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::user
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#endif // MUJOCO_SRC_USER_USER_THREADPOOL_H_
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