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
47 lines
1.3 KiB
C++
47 lines
1.3 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 "src/thread/thread_queue.h"
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#include <cstddef>
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#include <gtest/gtest.h>
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namespace mujoco {
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namespace {
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constexpr size_t kBufferCapacity = 640;
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TEST(TestMujocoLocklessQueue, TestMujocoLocklessQueue) {
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LocklessQueue<void*, 640> queue;
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EXPECT_TRUE(queue.empty());
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int test_integers[kBufferCapacity];
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for (int h = 0; h < 10; ++h) {
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for (int i = 0; i < kBufferCapacity; ++i) {
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test_integers[i] = i;
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queue.push(&test_integers[i]);
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}
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EXPECT_TRUE(queue.full());
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for (int i = 0; i < kBufferCapacity; ++i) {
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void* output_ptr = queue.pop();
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ASSERT_EQ(output_ptr, &test_integers[i]);
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}
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EXPECT_TRUE(queue.empty());
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}
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}
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} // namespace
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} // namespace mujoco
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