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#define OPENPOSE_THREAD_THREAD_MANAGER_HPP
#include <atomic>
#include <set> // std::multiset
#include <tuple>
#include <openpose/core/common.hpp>
#include <openpose/thread/enumClasses.hpp>
#include <openpose/thread/queue.hpp>
#include <openpose/thread/thread.hpp>
#include <openpose/thread/worker.hpp>
namespace op
{
template<typename TDatums, typename TWorker = std::shared_ptr<Worker<TDatums>>, typename TQueue = Queue<TDatums>>
class ThreadManager
{
public:
// Completely customizable case
explicit ThreadManager(const ThreadManagerMode threadManagerMode = ThreadManagerMode::Synchronous);
virtual ~ThreadManager();
/**
* It sets the maximum number of elements in the queue.
* For maximum speed, set to a very large number, but the trade-off would be:
* - Latency will hugely increase.
* - The program might go out of RAM memory (so the computer might freeze).
* For minimum latency while keeping an optimal speed, set to -1, that will automatically
* detect the ideal number based on how many elements are connected to that queue.
* @param defaultMaxSizeQueues long long element with the maximum number of elements on the queue.
*/
void setDefaultMaxSizeQueues(const long long defaultMaxSizeQueues = -1);
void add(const unsigned long long threadId, const std::vector<TWorker>& tWorkers,
const unsigned long long queueInId, const unsigned long long queueOutId);
void add(const unsigned long long threadId, const TWorker& tWorker, const unsigned long long queueInId,
const unsigned long long queueOutId);
void reset();
void exec();
void start();
void stop();
inline std::shared_ptr<std::atomic<bool>> getIsRunningSharedPtr()
{
return spIsRunning;
}
inline bool isRunning() const
{
return *spIsRunning;
}
bool tryEmplace(TDatums& tDatums);
bool waitAndEmplace(TDatums& tDatums);
bool tryPush(const TDatums& tDatums);
bool waitAndPush(const TDatums& tDatums);
bool tryPop(TDatums& tDatums);
bool waitAndPop(TDatums& tDatums);
private:
const ThreadManagerMode mThreadManagerMode;
std::shared_ptr<std::atomic<bool>> spIsRunning;
long long mDefaultMaxSizeQueues;
std::multiset<std::tuple<unsigned long long, std::vector<TWorker>, unsigned long long, unsigned long long>> mThreadWorkerQueues;
std::vector<std::shared_ptr<Thread<TDatums, TWorker>>> mThreads;
std::vector<std::shared_ptr<TQueue>> mTQueues;
void add(const std::vector<std::tuple<unsigned long long, std::vector<TWorker>, unsigned long long, unsigned long long>>& threadWorkerQueues);
void add(const std::vector<std::tuple<unsigned long long, TWorker, unsigned long long, unsigned long long>>& threadWorkerQueues);
void multisetToThreads();
void checkAndCreateEmptyThreads();
void checkAndCreateQueues();
DELETE_COPY(ThreadManager);
};
}
// Implementation
#include <utility> // std::pair
#include <openpose/utilities/fastMath.hpp>
#include <openpose/thread/subThread.hpp>
#include <openpose/thread/subThreadNoQueue.hpp>
#include <openpose/thread/subThreadQueueIn.hpp>
#include <openpose/thread/subThreadQueueInOut.hpp>
#include <openpose/thread/subThreadQueueOut.hpp>
namespace op
{
template<typename TDatums, typename TWorker, typename TQueue>
ThreadManager<TDatums, TWorker, TQueue>::ThreadManager(const ThreadManagerMode threadManagerMode) :
mThreadManagerMode{threadManagerMode},
spIsRunning{std::make_shared<std::atomic<bool>>(false)},
mDefaultMaxSizeQueues{-1ll}
{
}
template<typename TDatums, typename TWorker, typename TQueue>
ThreadManager<TDatums, TWorker, TQueue>::~ThreadManager()
{
}
template<typename TDatums, typename TWorker, typename TQueue>
void ThreadManager<TDatums, TWorker, TQueue>::setDefaultMaxSizeQueues(const long long defaultMaxSizeQueues)
{
try
{
mDefaultMaxSizeQueues = {defaultMaxSizeQueues};
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
template<typename TDatums, typename TWorker, typename TQueue>
void ThreadManager<TDatums, TWorker, TQueue>::add(const unsigned long long threadId,
const std::vector<TWorker>& tWorkers,
const unsigned long long queueInId,
const unsigned long long queueOutId)
{
try
{
add({std::make_tuple(threadId, tWorkers, queueInId, queueOutId)});
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
template<typename TDatums, typename TWorker, typename TQueue>
void ThreadManager<TDatums, TWorker, TQueue>::add(const unsigned long long threadId,
const TWorker& tWorker,
const unsigned long long queueInId,
const unsigned long long queueOutId)
{
try
{
add({std::make_tuple(threadId, std::vector<TWorker>{tWorker}, queueInId, queueOutId)});
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
template<typename TDatums, typename TWorker, typename TQueue>
void ThreadManager<TDatums, TWorker, TQueue>::reset()
{
try
{
mThreadWorkerQueues.clear();
mThreads.clear();
mTQueues.clear();
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
template<typename TDatums, typename TWorker, typename TQueue>
void ThreadManager<TDatums, TWorker, TQueue>::exec()
{
try
{
opLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
// Set threads
multisetToThreads();
if (!mThreads.empty())
{
opLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
// Start threads
for (auto i = 0u; i < mThreads.size() - 1; i++)
mThreads.at(i)->startInThread();
(*mThreads.rbegin())->exec(spIsRunning);
// Stop threads - It will arrive here when the exec() command has finished
stop();
}
opLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
template<typename TDatums, typename TWorker, typename TQueue>
void ThreadManager<TDatums, TWorker, TQueue>::start()
{
try
{
opLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
// Set threads
multisetToThreads();
// Start threads
for (auto& thread : mThreads)
thread->startInThread();
opLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
template<typename TDatums, typename TWorker, typename TQueue>
void ThreadManager<TDatums, TWorker, TQueue>::stop()
{
try
{
opLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
for (auto& tQueue : mTQueues)
tQueue->stop();
opLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
*spIsRunning = false;
for (auto& thread : mThreads)
thread->stopAndJoin();
opLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
checkWorkerErrors();
opLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
template<typename TDatums, typename TWorker, typename TQueue>
bool ThreadManager<TDatums, TWorker, TQueue>::tryEmplace(TDatums& tDatums)
{
try
{
if (mThreadManagerMode != ThreadManagerMode::Asynchronous
&& mThreadManagerMode != ThreadManagerMode::AsynchronousIn)
error("Not available for this ThreadManagerMode.", __LINE__, __FUNCTION__, __FILE__);
if (mTQueues.empty())
error("ThreadManager already stopped or not started yet.", __LINE__, __FUNCTION__, __FILE__);
return mTQueues[0]->tryEmplace(tDatums);
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
return false;
}
}
template<typename TDatums, typename TWorker, typename TQueue>
bool ThreadManager<TDatums, TWorker, TQueue>::waitAndEmplace(TDatums& tDatums)
{
try
{
if (mThreadManagerMode != ThreadManagerMode::Asynchronous
&& mThreadManagerMode != ThreadManagerMode::AsynchronousIn)
error("Not available for this ThreadManagerMode.", __LINE__, __FUNCTION__, __FILE__);
if (mTQueues.empty())
error("ThreadManager already stopped or not started yet.", __LINE__, __FUNCTION__, __FILE__);
return mTQueues[0]->waitAndEmplace(tDatums);
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
return false;
}
}
template<typename TDatums, typename TWorker, typename TQueue>
bool ThreadManager<TDatums, TWorker, TQueue>::tryPush(const TDatums& tDatums)
{
try
{
if (mThreadManagerMode != ThreadManagerMode::Asynchronous
&& mThreadManagerMode != ThreadManagerMode::AsynchronousIn)
error("Not available for this ThreadManagerMode.", __LINE__, __FUNCTION__, __FILE__);
if (mTQueues.empty())
error("ThreadManager already stopped or not started yet.", __LINE__, __FUNCTION__, __FILE__);
return mTQueues[0]->tryPush(tDatums);
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
return false;
}
}
template<typename TDatums, typename TWorker, typename TQueue>
bool ThreadManager<TDatums, TWorker, TQueue>::waitAndPush(const TDatums& tDatums)
{
try
{
if (mThreadManagerMode != ThreadManagerMode::Asynchronous
&& mThreadManagerMode != ThreadManagerMode::AsynchronousIn)
error("Not available for this ThreadManagerMode.", __LINE__, __FUNCTION__, __FILE__);
if (mTQueues.empty())
error("ThreadManager already stopped or not started yet.", __LINE__, __FUNCTION__, __FILE__);
return mTQueues[0]->waitAndPush(tDatums);
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
return false;
}
}
template<typename TDatums, typename TWorker, typename TQueue>
bool ThreadManager<TDatums, TWorker, TQueue>::tryPop(TDatums& tDatums)
{
try
{
if (mThreadManagerMode != ThreadManagerMode::Asynchronous
&& mThreadManagerMode != ThreadManagerMode::AsynchronousOut)
error("Not available for this ThreadManagerMode.", __LINE__, __FUNCTION__, __FILE__);
if (mTQueues.empty())
error("ThreadManager already stopped or not started yet.", __LINE__, __FUNCTION__, __FILE__);
return (*mTQueues.rbegin())->tryPop(tDatums);
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
return false;
}
}
template<typename TDatums, typename TWorker, typename TQueue>
bool ThreadManager<TDatums, TWorker, TQueue>::waitAndPop(TDatums& tDatums)
{
try
{
if (mThreadManagerMode != ThreadManagerMode::Asynchronous
&& mThreadManagerMode != ThreadManagerMode::AsynchronousOut)
error("Not available for this ThreadManagerMode.", __LINE__, __FUNCTION__, __FILE__);
if (mTQueues.empty())
error("ThreadManager already stopped or not started yet.", __LINE__, __FUNCTION__, __FILE__);
return (*mTQueues.rbegin())->waitAndPop(tDatums);
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
return false;
}
}
template<typename TDatums, typename TWorker, typename TQueue>
void ThreadManager<TDatums, TWorker, TQueue>::add(const std::vector<std::tuple<unsigned long long, std::vector<TWorker>,
unsigned long long, unsigned long long>>& threadWorkerQueues)
{
try
{
for (const auto& threadWorkerQueue : threadWorkerQueues)
mThreadWorkerQueues.insert(threadWorkerQueue);
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
template<typename TDatums, typename TWorker, typename TQueue>
void ThreadManager<TDatums, TWorker, TQueue>::add(const std::vector<std::tuple<unsigned long long, TWorker, unsigned long long,
unsigned long long>>& threadWorkerQueues)
{
try
{
for (const auto& threadWorkerQueue : threadWorkerQueues)
add({std::make_tuple(std::get<0>(threadWorkerQueue),
std::vector<TWorker>{std::get<1>(threadWorkerQueue)},
std::get<2>(threadWorkerQueue),
std::get<3>(threadWorkerQueue))});
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
template<typename TDatums, typename TWorker, typename TQueue>
void ThreadManager<TDatums, TWorker, TQueue>::multisetToThreads()
{
try
{
if (!mThreadWorkerQueues.empty())
{
// This avoids extra std::cout if errors occur on different threads
setMainThread();
// Check threads
checkAndCreateEmptyThreads();
// Check and create queues
checkAndCreateQueues();
// Data
const auto maxQueueIdSynchronous = mTQueues.size()+1;
// Set up threads
for (const auto& threadWorkerQueue : mThreadWorkerQueues)
{
auto& thread = mThreads[std::get<0>(threadWorkerQueue)];
const auto& tWorkers = std::get<1>(threadWorkerQueue);
const auto queueIn = std::get<2>(threadWorkerQueue);
const auto queueOut = std::get<3>(threadWorkerQueue);
std::shared_ptr<SubThread<TDatums, TWorker>> subThread;
// If AsynchronousIn -> queue indexes are OK
if (mThreadManagerMode == ThreadManagerMode::Asynchronous
|| mThreadManagerMode == ThreadManagerMode::AsynchronousIn)
{
if (mThreadManagerMode == ThreadManagerMode::AsynchronousIn
&& queueOut == mTQueues.size())
subThread = {std::make_shared<SubThreadQueueIn<TDatums, TWorker, TQueue>>(
tWorkers, mTQueues.at(queueIn))};
else
subThread = {std::make_shared<SubThreadQueueInOut<TDatums, TWorker, TQueue>>(
tWorkers, mTQueues.at(queueIn), mTQueues.at(queueOut))};
}
// If !AsynchronousIn -> queue indexes - 1
else if (queueOut != maxQueueIdSynchronous
|| mThreadManagerMode == ThreadManagerMode::AsynchronousOut)
{
// Queue in + out
if (queueIn != 0)
subThread = {std::make_shared<SubThreadQueueInOut<TDatums, TWorker, TQueue>>(
tWorkers, mTQueues.at(queueIn-1), mTQueues.at(queueOut-1))};
// Case queue out (first TWorker(s))
else
subThread = {std::make_shared<SubThreadQueueOut<TDatums, TWorker, TQueue>>(
tWorkers, mTQueues.at(queueOut-1))};
}
// Case queue in (last TWorker(s))
else if (queueIn != 0) // && queueOut == maxQueueIdSynchronous
subThread = {std::make_shared<SubThreadQueueIn<TDatums, TWorker, TQueue>>(
tWorkers, mTQueues.at(queueIn-1))};
// Case no queue
else // if (queueIn == 0 && queueOut == maxQueueIdSynchronous)
subThread = {std::make_shared<SubThreadNoQueue<TDatums, TWorker>>(tWorkers)};
thread->add(subThread);
}
}
else
error("Empty, no TWorker(s) added.", __LINE__);
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
template<typename TDatums, typename TWorker, typename TQueue>
void ThreadManager<TDatums, TWorker, TQueue>::checkAndCreateEmptyThreads()
{
try
{
// Check all thread ids from 0-maxThreadId are present
const auto maxThreadId = std::get<0>(*mThreadWorkerQueues.crbegin());
auto previousThreadId = std::get<0>(*mThreadWorkerQueues.cbegin());
for (const auto& threadWorkerQueue : mThreadWorkerQueues)
{
const auto currentThreadId = std::get<0>(threadWorkerQueue);
if (currentThreadId - previousThreadId > 1)
error("Missing thread id " + std::to_string(currentThreadId) + " of "
+ std::to_string(maxThreadId) + ".", __LINE__, __FUNCTION__, __FILE__);
previousThreadId = currentThreadId;
}
// Create Threads
// #threads = maxThreadId+1
mThreads.resize(maxThreadId);
for (auto& thread : mThreads)
thread = std::make_shared<Thread<TDatums, TWorker>>();
mThreads.emplace_back(std::make_shared<Thread<TDatums, TWorker>>(spIsRunning));
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
template<typename TDatums, typename TWorker, typename TQueue>
void ThreadManager<TDatums, TWorker, TQueue>::checkAndCreateQueues()
{
try
{
if (!mThreadWorkerQueues.empty())
{
// Get max queue id to get queue size
auto maxQueueId = std::get<3>(*mThreadWorkerQueues.cbegin());
for (const auto& threadWorkerQueue : mThreadWorkerQueues)
maxQueueId = fastMax(
maxQueueId, fastMax(std::get<2>(threadWorkerQueue), std::get<3>(threadWorkerQueue)));
// Check each queue id has at least a worker that uses it as input and another one as output.
// Special cases:
std::vector<std::pair<bool, bool>> usedQueueIds(maxQueueId+1, {false, false});
for (const auto& threadWorkerQueue : mThreadWorkerQueues)
{
usedQueueIds.at(std::get<2>(threadWorkerQueue)).first = true;
usedQueueIds.at(std::get<3>(threadWorkerQueue)).second = true;
}
// Id 0 must only needs a worker using it as input.
usedQueueIds.begin()->second = true;
// Id maxQueueId only needs a worker using it as output.
usedQueueIds.rbegin()->first = true;
// Error if missing queue id
for (auto i = 0ull ; i < usedQueueIds.size() ; i++)
{
if (!usedQueueIds[i].first)
error("Missing queue id " + std::to_string(i) + " (of "
+ std::to_string(maxQueueId) + ") as input.", __LINE__, __FUNCTION__, __FILE__);
if (!usedQueueIds[i].second)
error("Missing queue id " + std::to_string(i) + " (of "
+ std::to_string(maxQueueId) + ") as output.", __LINE__, __FUNCTION__, __FILE__);
}
// Create Queues
if (mThreadManagerMode == ThreadManagerMode::Asynchronous)
mTQueues.resize(maxQueueId+1); // First and last one are queues
else if (mThreadManagerMode == ThreadManagerMode::Synchronous)
mTQueues.resize(maxQueueId-1); // First and last one are not actually queues
else if (mThreadManagerMode == ThreadManagerMode::AsynchronousIn
|| mThreadManagerMode == ThreadManagerMode::AsynchronousOut)
mTQueues.resize(maxQueueId); // First or last one is queue
else
error("Unknown ThreadManagerMode", __LINE__, __FUNCTION__, __FILE__);
for (auto& tQueue : mTQueues)
tQueue = std::make_shared<TQueue>(mDefaultMaxSizeQueues);
}
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
COMPILE_TEMPLATE_DATUM(ThreadManager);
}
#endif // OPENPOSE_THREAD_THREAD_MANAGER_HPP
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