add example/MultiThreading functions
This commit is contained in:
Erwin Coumans
436
examples/MultiThreading/b3PosixThreadSupport.cpp
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436
examples/MultiThreading/b3PosixThreadSupport.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include <stdio.h>
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#include "b3PosixThreadSupport.h"
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#include <errno.h>
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#include <unistd.h>
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#define checkPThreadFunction(returnValue) \
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if(0 != returnValue) { \
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printf("PThread problem at line %i in file %s: %i %d\n", __LINE__, __FILE__, returnValue, errno); \
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}
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// The number of threads should be equal to the number of available cores
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// Todo: each worker should be linked to a single core, using SetThreadIdealProcessor.
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b3PosixThreadSupport::b3PosixThreadSupport(ThreadConstructionInfo& threadConstructionInfo)
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{
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startThreads(threadConstructionInfo);
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}
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// cleanup/shutdown Libspe2
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b3PosixThreadSupport::~b3PosixThreadSupport()
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{
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stopThreads();
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}
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#if (defined (__APPLE__))
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#define NAMED_SEMAPHORES
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#endif
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// this semaphore will signal, if and how many threads are finished with their work
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static sem_t* mainSemaphore=0;
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static sem_t* createSem(const char* baseName)
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{
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static int semCount = 0;
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#ifdef NAMED_SEMAPHORES
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/// Named semaphore begin
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char name[32];
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snprintf(name, 32, "/%s-%d-%4.4d", baseName, getpid(), semCount++);
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sem_t* tempSem = sem_open(name, O_CREAT, 0600, 0);
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if (tempSem != reinterpret_cast<sem_t *>(SEM_FAILED))
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{
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// printf("Created \"%s\" Semaphore %p\n", name, tempSem);
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}
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else
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{
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//printf("Error creating Semaphore %d\n", errno);
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exit(-1);
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}
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/// Named semaphore end
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#else
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sem_t* tempSem = new sem_t;
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checkPThreadFunction(sem_init(tempSem, 0, 0));
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#endif
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return tempSem;
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}
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static void destroySem(sem_t* semaphore)
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{
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#ifdef NAMED_SEMAPHORES
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checkPThreadFunction(sem_close(semaphore));
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#else
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checkPThreadFunction(sem_destroy(semaphore));
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delete semaphore;
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#endif
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}
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static void *threadFunction(void *argument)
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{
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b3PosixThreadSupport::b3ThreadStatus* status = (b3PosixThreadSupport::b3ThreadStatus*)argument;
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while (1)
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{
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checkPThreadFunction(sem_wait(status->startSemaphore));
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void* userPtr = status->m_userPtr;
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if (userPtr)
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{
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b3Assert(status->m_status);
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status->m_userThreadFunc(userPtr,status->m_lsMemory);
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status->m_status = 2;
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checkPThreadFunction(sem_post(mainSemaphore));
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status->threadUsed++;
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} else {
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//exit Thread
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status->m_status = 3;
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checkPThreadFunction(sem_post(mainSemaphore));
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printf("Thread with taskId %i exiting\n",status->m_taskId);
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break;
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}
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}
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printf("Thread TERMINATED\n");
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return 0;
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}
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///send messages to SPUs
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void b3PosixThreadSupport::sendRequest(int uiCommand, void* uiArgument0, int taskId)
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{
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/// gMidphaseSPU.sendRequest(CMD_GATHER_AND_PROCESS_PAIRLIST, (int) &taskDesc);
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///we should spawn an SPU task here, and in 'waitForResponse' it should wait for response of the (one of) the first tasks that finished
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switch (uiCommand)
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{
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case B3_THREAD_SCHEDULE_TASK:
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{
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b3ThreadStatus& spuStatus = m_activeThreadStatus[taskId];
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b3Assert(taskId >= 0);
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b3Assert(taskId < m_activeThreadStatus.size());
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spuStatus.m_commandId = uiCommand;
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spuStatus.m_status = 1;
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spuStatus.m_userPtr = (void*)uiArgument0;
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// fire event to start new task
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checkPThreadFunction(sem_post(spuStatus.startSemaphore));
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break;
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}
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default:
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{
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///not implemented
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b3Assert(0);
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}
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};
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}
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///non-blocking test if a task is completed. First implement all versions, and then enable this API
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bool b3PosixThreadSupport::isTaskCompleted(int *puiArgument0, int *puiArgument1, int timeOutInMilliseconds)
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{
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b3Assert(m_activeThreadStatus.size());
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// wait for any of the threads to finish
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int result = sem_trywait(mainSemaphore);
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if (result==0)
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{
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// get at least one thread which has finished
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size_t last = -1;
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for(size_t t=0; t < size_t(m_activeThreadStatus.size()); ++t) {
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if(2 == m_activeThreadStatus[t].m_status) {
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last = t;
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break;
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}
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}
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b3ThreadStatus& spuStatus = m_activeThreadStatus[last];
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b3Assert(spuStatus.m_status > 1);
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spuStatus.m_status = 0;
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// need to find an active spu
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b3Assert(last >= 0);
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*puiArgument0 = spuStatus.m_taskId;
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*puiArgument1 = spuStatus.m_status;
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return true;
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}
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return false;
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}
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///check for messages from SPUs
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void b3PosixThreadSupport::waitForResponse( int *puiArgument0, int *puiArgument1)
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{
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///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response
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///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback'
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b3Assert(m_activeThreadStatus.size());
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// wait for any of the threads to finish
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checkPThreadFunction(sem_wait(mainSemaphore));
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// get at least one thread which has finished
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size_t last = -1;
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for(size_t t=0; t < size_t(m_activeThreadStatus.size()); ++t) {
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if(2 == m_activeThreadStatus[t].m_status) {
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last = t;
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break;
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}
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}
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b3ThreadStatus& spuStatus = m_activeThreadStatus[last];
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b3Assert(spuStatus.m_status > 1);
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spuStatus.m_status = 0;
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// need to find an active spu
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b3Assert(last >= 0);
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*puiArgument0 = spuStatus.m_taskId;
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*puiArgument1 = spuStatus.m_status;
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}
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void b3PosixThreadSupport::startThreads(ThreadConstructionInfo& threadConstructionInfo)
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{
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printf("%s creating %i threads.\n", __FUNCTION__, threadConstructionInfo.m_numThreads);
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m_activeThreadStatus.resize(threadConstructionInfo.m_numThreads);
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mainSemaphore = createSem("main");
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//checkPThreadFunction(sem_wait(mainSemaphore));
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for (int i=0;i < threadConstructionInfo.m_numThreads;i++)
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{
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printf("starting thread %d\n",i);
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b3ThreadStatus& spuStatus = m_activeThreadStatus[i];
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spuStatus.startSemaphore = createSem("threadLocal");
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checkPThreadFunction(pthread_create(&spuStatus.thread, NULL, &threadFunction, (void*)&spuStatus));
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spuStatus.m_userPtr=0;
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spuStatus.m_taskId = i;
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spuStatus.m_commandId = 0;
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spuStatus.m_status = 0;
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spuStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc();
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spuStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
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spuStatus.threadUsed = 0;
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printf("started thread %d \n",i);
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}
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}
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///tell the task scheduler we are done with the SPU tasks
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void b3PosixThreadSupport::stopThreads()
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{
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for(size_t t=0; t < size_t(m_activeThreadStatus.size()); ++t)
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{
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b3ThreadStatus& spuStatus = m_activeThreadStatus[t];
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printf("%s: Thread %i used: %ld\n", __FUNCTION__, int(t), spuStatus.threadUsed);
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spuStatus.m_userPtr = 0;
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checkPThreadFunction(sem_post(spuStatus.startSemaphore));
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checkPThreadFunction(sem_wait(mainSemaphore));
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printf("destroy semaphore\n");
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destroySem(spuStatus.startSemaphore);
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printf("semaphore destroyed\n");
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checkPThreadFunction(pthread_join(spuStatus.thread,0));
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}
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printf("destroy main semaphore\n");
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destroySem(mainSemaphore);
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printf("main semaphore destroyed\n");
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m_activeThreadStatus.clear();
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}
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class b3PosixCriticalSection : public b3CriticalSection
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{
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pthread_mutex_t m_mutex;
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public:
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b3PosixCriticalSection()
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{
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pthread_mutex_init(&m_mutex, NULL);
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}
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virtual ~b3PosixCriticalSection()
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{
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pthread_mutex_destroy(&m_mutex);
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}
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B3_ATTRIBUTE_ALIGNED16(unsigned int mCommonBuff[32]);
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virtual unsigned int getSharedParam(int i)
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{
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return mCommonBuff[i];
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}
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virtual void setSharedParam(int i,unsigned int p)
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{
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mCommonBuff[i] = p;
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}
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virtual void lock()
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{
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pthread_mutex_lock(&m_mutex);
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}
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virtual void unlock()
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{
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pthread_mutex_unlock(&m_mutex);
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}
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};
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#if defined(_POSIX_BARRIERS) && (_POSIX_BARRIERS - 20012L) >= 0
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/* OK to use barriers on this platform */
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class b3PosixBarrier : public b3Barrier
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{
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pthread_barrier_t m_barr;
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int m_numThreads;
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public:
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b3PosixBarrier()
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:m_numThreads(0) { }
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virtual ~b3PosixBarrier() {
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pthread_barrier_destroy(&m_barr);
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}
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virtual void sync()
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{
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int rc = pthread_barrier_wait(&m_barr);
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if(rc != 0 && rc != PTHREAD_BARRIER_SERIAL_THREAD)
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{
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printf("Could not wait on barrier\n");
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exit(-1);
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}
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}
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virtual void setMaxCount(int numThreads)
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{
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int result = pthread_barrier_init(&m_barr, NULL, numThreads);
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m_numThreads = numThreads;
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b3Assert(result==0);
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}
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virtual int getMaxCount()
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{
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return m_numThreads;
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}
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};
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#else
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/* Not OK to use barriers on this platform - insert alternate code here */
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class b3PosixBarrier : public b3Barrier
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{
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pthread_mutex_t m_mutex;
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pthread_cond_t m_cond;
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int m_numThreads;
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int m_called;
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public:
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b3PosixBarrier()
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:m_numThreads(0)
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{
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}
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virtual ~b3PosixBarrier()
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{
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if (m_numThreads>0)
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{
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pthread_mutex_destroy(&m_mutex);
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pthread_cond_destroy(&m_cond);
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}
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}
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virtual void sync()
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{
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pthread_mutex_lock(&m_mutex);
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m_called++;
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if (m_called == m_numThreads) {
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m_called = 0;
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pthread_cond_broadcast(&m_cond);
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} else {
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pthread_cond_wait(&m_cond,&m_mutex);
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}
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pthread_mutex_unlock(&m_mutex);
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}
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virtual void setMaxCount(int numThreads)
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{
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if (m_numThreads>0)
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{
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pthread_mutex_destroy(&m_mutex);
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pthread_cond_destroy(&m_cond);
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}
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m_called = 0;
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pthread_mutex_init(&m_mutex,NULL);
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pthread_cond_init(&m_cond,NULL);
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m_numThreads = numThreads;
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}
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virtual int getMaxCount()
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{
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return m_numThreads;
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}
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};
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#endif//_POSIX_BARRIERS
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b3Barrier* b3PosixThreadSupport::createBarrier()
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{
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b3PosixBarrier* barrier = new b3PosixBarrier();
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barrier->setMaxCount(getNumTasks());
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return barrier;
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}
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b3CriticalSection* b3PosixThreadSupport::createCriticalSection()
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{
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return new b3PosixCriticalSection();
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}
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void b3PosixThreadSupport::deleteBarrier(b3Barrier* barrier)
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{
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delete barrier;
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}
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void b3PosixThreadSupport::deleteCriticalSection(b3CriticalSection* cs)
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{
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delete cs;
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}
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