Yuval Tassa
8a643f4e2b
PiperOrigin-RevId: 958383817 Change-Id: I17fcdbf32967ec5a5c4d2552823ef5100faaea3b
82 lines
2.1 KiB
C++
82 lines
2.1 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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#include "user/user_threadpool.h"
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#include <condition_variable>
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#include <functional>
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#include <mutex>
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#include <thread>
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#include <utility>
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namespace mujoco::user {
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constinit thread_local int ThreadPool::worker_id_ = -1;
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// ThreadPool constructor
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ThreadPool::ThreadPool(int num_threads) : ctr_(0) {
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for (int i = 0; i < num_threads; i++) {
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threads_.push_back(std::thread(&ThreadPool::WorkerThread, this, i));
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}
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}
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// ThreadPool destructor
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ThreadPool::~ThreadPool() {
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{
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std::unique_lock<std::mutex> lock(m_);
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for (int i = 0; i < threads_.size(); i++) { queue_.push(nullptr); }
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cv_in_.notify_all();
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}
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for (auto& thread : threads_) { thread.join(); }
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}
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// ThreadPool scheduler
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void ThreadPool::Schedule(std::function<void()> task) {
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std::unique_lock<std::mutex> lock(m_);
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queue_.push(std::move(task));
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cv_in_.notify_one();
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}
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// ThreadPool worker
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void ThreadPool::WorkerThread(int i) {
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worker_id_ = i;
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while (true) {
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auto task = [&]() {
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std::unique_lock<std::mutex> lock(m_);
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cv_in_.wait(lock, [&]() { return !queue_.empty(); });
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std::function<void()> task = std::move(queue_.front());
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queue_.pop();
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cv_in_.notify_one();
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return task;
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}();
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if (task == nullptr) {
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{
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std::unique_lock<std::mutex> lock(m_);
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++ctr_;
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cv_ext_.notify_one();
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}
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break;
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}
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task();
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{
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std::unique_lock<std::mutex> lock(m_);
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++ctr_;
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cv_ext_.notify_one();
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}
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}
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}
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} // namespace mujoco::user
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