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2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 | // 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_SRC_THREAD_THREAD_TASK_H_
#define MUJOCO_SRC_THREAD_THREAD_TASK_H_
#include <mujoco/mjexport.h>
#include <mujoco/mjthread.h>
#ifdef __cplusplus
#include <atomic>
#include <new>
#include <type_traits>
namespace mujoco {
extern "C" {
#endif
// Initialize an mjTask.
MJAPI void mju_defaultTask(mjTask* task);
// Wait for a task to complete.
MJAPI void mju_taskJoin(mjTask* task);
#ifdef __cplusplus
} // extern "C"
using TaskStatus = std::remove_volatile_t<decltype(mjTask::status)>;
inline std::atomic<TaskStatus>& GetAtomicTaskStatus(mjTask* task) {
static_assert(sizeof(std::atomic<TaskStatus>) == sizeof(TaskStatus));
static_assert(alignof(std::atomic<TaskStatus>) == alignof(TaskStatus));
static_assert(std::atomic<TaskStatus>::is_always_lock_free);
return *std::launder(reinterpret_cast<std::atomic<TaskStatus>*>(
const_cast<TaskStatus*>(&task->status)));
}
} // namespace mujoco
#endif // __cplusplus
#endif // MUJOCO_SRC_THREAD_THREAD_TASK_H_
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