Matthew Bennice
6225186964
PiperOrigin-RevId: 562649644 Change-Id: I9c35b270e4b3b50cc7eb5a152f24d71def8e2fcd
91 lines
2.5 KiB
C++
91 lines
2.5 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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#include <mujoco/mjthread.h>
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#include <atomic>
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#include <gtest/gtest.h>
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#include <mujoco/mujoco.h>
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#include "src/thread/task.h"
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#include "src/thread/thread_pool.h"
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namespace {
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struct TestFunctionArgs_ {
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int input;
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// make this atomic to avoid red-herring tsan failures.
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std::atomic<int> output;
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};
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typedef struct TestFunctionArgs_ TestFunctionArgs;
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void* test_function(void* args) {
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TestFunctionArgs* test_function_args = static_cast<TestFunctionArgs*>(args);
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if (!test_function_args) {
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return nullptr;
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}
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test_function_args->output = test_function_args->input;
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return nullptr;
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}
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TEST(TestMjThreadPool, EnsureStructClassSizeMatch) {
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EXPECT_EQ(sizeof(mjTask), sizeof(mujoco::Task));
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EXPECT_EQ(sizeof(mjThreadPool), sizeof(mujoco::ThreadPool<128>));
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}
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TEST(TestMjThreadPool, TestMjThreadPool10Threads) {
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mjThreadPool* thread_pool = mju_threadPoolCreate(10);
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TestFunctionArgs test_function_args[1000];
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mjTask tasks[1000];
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for (int i = 0; i < 1000; ++i) {
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test_function_args[i].input = i;
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mju_threadPoolEnqueue(thread_pool, &tasks[i], test_function,
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(void*)&test_function_args[i]);
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}
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for (int i = 0; i < 1000; ++i) {
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mju_taskJoin(&tasks[i]);
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}
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for (int i = 0; i < 1000; ++i) {
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EXPECT_EQ(test_function_args[i].input, test_function_args[i].output);
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}
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mju_threadPoolDestroy(thread_pool);
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}
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TEST(TestMjThreadPool, TestMjThreadPool100Threads) {
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mjThreadPool* thread_pool = mju_threadPoolCreate(100);
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TestFunctionArgs test_function_args[1000];
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mjTask tasks[1000];
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for (int i = 0; i < 1000; ++i) {
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test_function_args[i].input = i;
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mju_threadPoolEnqueue(thread_pool, &tasks[i], test_function,
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(void*)&test_function_args[i]);
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}
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for (int i = 0; i < 1000; ++i) {
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mju_taskJoin(&tasks[i]);
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}
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for (int i = 0; i < 1000; ++i) {
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EXPECT_EQ(test_function_args[i].input, test_function_args[i].output);
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}
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mju_threadPoolDestroy(thread_pool);
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}
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} // namespace
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