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
41 lines
1.4 KiB
C
41 lines
1.4 KiB
C
// Copyright 2023 DeepMind Technologies Limited
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
#ifndef MUJOCO_INCLUDE_MJTHREAD_H_
|
|
#define MUJOCO_INCLUDE_MJTHREAD_H_
|
|
|
|
typedef enum mjtTaskStatus_ { // status values for mjTask
|
|
mjTASK_NEW = 0, // newly created
|
|
mjTASK_QUEUED, // enqueued in a thread pool
|
|
mjTASK_COMPLETED // completed execution
|
|
} mjtTaskStatus;
|
|
|
|
// function pointer type for mjTask
|
|
typedef void* (*mjfTask)(void*);
|
|
|
|
// An opaque type representing a thread pool.
|
|
struct mjThreadPool_ {
|
|
int nworker; // number of workers in the pool
|
|
};
|
|
typedef struct mjThreadPool_ mjThreadPool;
|
|
|
|
struct mjTask_ { // a task that can be executed by a thread pool.
|
|
mjfTask func; // pointer to the function that implements the task
|
|
void* args; // arguments to func
|
|
volatile int status; // status of the task
|
|
};
|
|
typedef struct mjTask_ mjTask;
|
|
|
|
#endif // MUJOCO_INCLUDE_MJTHREAD_H_
|