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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 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 | // 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.
#include <atomic>
#include <condition_variable>
#include <memory>
#include <mutex>
#include <thread>
#include <gtest/gtest.h>
#include <mujoco/mujoco.h>
namespace mujoco {
namespace {
struct TestFunctionArgs_ {
int input;
// make this atomic to avoid red-herring tsan failures.
std::atomic<int> output;
};
typedef struct TestFunctionArgs_ TestFunctionArgs;
void* test_function(void* args) {
TestFunctionArgs* test_function_args = static_cast<TestFunctionArgs*>(args);
if (!test_function_args) {
return nullptr;
}
test_function_args->output = test_function_args->input;
return nullptr;
}
TEST(TestMjThreadPool, TestMjThreadPool10Threads) {
mjThreadPool* thread_pool = mju_threadPoolCreate(10);
constexpr int kTasks = 1000;
TestFunctionArgs test_function_args[kTasks];
mjTask tasks[kTasks];
for (int i = 0; i < kTasks; ++i) {
test_function_args[i].input = i;
mju_defaultTask(&tasks[i]);
tasks[i].func = test_function;
tasks[i].args = &test_function_args[i];
mju_threadPoolEnqueue(thread_pool, &tasks[i]);
}
for (int i = 0; i < kTasks; ++i) {
mju_taskJoin(&tasks[i]);
}
for (int i = 0; i < kTasks; ++i) {
EXPECT_EQ(test_function_args[i].input, test_function_args[i].output);
}
mju_threadPoolDestroy(thread_pool);
}
TEST(TestMjThreadPool, TestMjThreadPool100Threads) {
mjThreadPool* thread_pool = mju_threadPoolCreate(100);
constexpr int kTasks = 1000;
TestFunctionArgs test_function_args[kTasks];
mjTask tasks[kTasks];
for (int i = 0; i < kTasks; ++i) {
test_function_args[i].input = i;
mju_defaultTask(&tasks[i]);
tasks[i].func = test_function;
tasks[i].args = &test_function_args[i];
mju_threadPoolEnqueue(thread_pool, &tasks[i]);
}
for (int i = 0; i < kTasks; ++i) {
mju_taskJoin(&tasks[i]);
}
for (int i = 0; i < kTasks; ++i) {
EXPECT_EQ(test_function_args[i].input, test_function_args[i].output);
}
mju_threadPoolDestroy(thread_pool);
}
TEST(TestMjThreadPool, TestMjThreadPoolManyWriters) {
mjThreadPool* thread_pool = mju_threadPoolCreate(10);
constexpr int kTasks = 20;
TestFunctionArgs test_function_args[kTasks];
mjTask tasks[kTasks];
std::unique_ptr<std::thread> enqueue_threads[kTasks];
// add tasks to the thread pool from many threads
std::condition_variable start_cv;
std::mutex start_mutex;
bool start = false;
for (int i = 0; i < kTasks; ++i) {
test_function_args[i].input = i;
mju_defaultTask(&tasks[i]);
tasks[i].func = &test_function;
tasks[i].args = &test_function_args[i];
enqueue_threads[i] = std::make_unique<std::thread>([&, i] {
// synchronize all threads adding to the thread_pool at the same time
{
std::unique_lock<std::mutex> lock(start_mutex);
start_cv.wait(lock, [&] { return start; });
}
// enqueue outside the lock, to get some concurrency
mju_threadPoolEnqueue(thread_pool, &tasks[i]);
});
}
{
std::unique_lock<std::mutex> lock(start_mutex);
start = true;
}
start_cv.notify_all();
for (int i = 0; i < kTasks; ++i) {
enqueue_threads[i]->join();
}
for (int i = 0; i < kTasks; ++i) {
mju_taskJoin(&tasks[i]);
}
for (int i = 0; i < kTasks; ++i) {
EXPECT_EQ(test_function_args[i].input, test_function_args[i].output);
}
mju_threadPoolDestroy(thread_pool);
}
} // namespace
} // namespace mujoco
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