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Diffstat (limited to 'libs/ode-0.16.1/include/ode/threading_impl.h')
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diff --git a/libs/ode-0.16.1/include/ode/threading_impl.h b/libs/ode-0.16.1/include/ode/threading_impl.h new file mode 100644 index 0000000..0781d6a --- /dev/null +++ b/libs/ode-0.16.1/include/ode/threading_impl.h @@ -0,0 +1,292 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * + * All rights reserved. Email: russ@q12.org Web: www.q12.org * + * * + * Builtin ODE threading implementation header. * + * Copyright (C) 2011-2019 Oleh Derevenko. All rights reserved. * + * e-mail: odar@eleks.com (change all "a" to "e") * + * * + * This library is free software; you can redistribute it and/or * + * modify it under the terms of EITHER: * + * (1) The GNU Lesser General Public License as published by the Free * + * Software Foundation; either version 2.1 of the License, or (at * + * your option) any later version. The text of the GNU Lesser * + * General Public License is included with this library in the * + * file LICENSE.TXT. * + * (2) The BSD-style license that is included with this library in * + * the file LICENSE-BSD.TXT. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * + * LICENSE.TXT and LICENSE-BSD.TXT for more details. * + * * + *************************************************************************/ + +/* + * A threading implementation built into ODE for those who does not care to + * or can't implement an own one. + */ + +#ifndef _ODE_THREADING_IMPL_H_ +#define _ODE_THREADING_IMPL_H_ + + +#include <ode/odeconfig.h> +#include <ode/threading.h> + + +#ifdef __cplusplus +extern "C" { +#endif + + +struct dxThreadingThreadPool; +typedef struct dxThreadingThreadPool *dThreadingThreadPoolID; + + +/** + * @brief Allocates built-in self-threaded threading implementation object. + * + * A self-threaded implementation is a type of implementation that performs + * processing of posted calls by means of caller thread itself. This type of + * implementation does not need thread pool to serve it. + * + * Note that since May 9th, 2017 (rev. #2066) the Self-Threaded implementation + * returns 0 rather than 1 as available thread count to distinguish from + * thread pools with just one thread in them. + * + * The processing is arranged in a way to prevent call stack depth growth + * as more and more nested calls are posted. + * + * Note that it is not necessary to create and assign a self-threaded + * implementation to a world, as there is a global one used by default + * if no implementation is explicitly assigned. You should only assign + * each world an individual threading implementation instance if simulations + * need to be run in parallel in multiple threads for the worlds. + * + * @returns ID of object allocated or NULL on failure + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + * @see dThreadingFreeImplementation + */ +ODE_API dThreadingImplementationID dThreadingAllocateSelfThreadedImplementation(); + +/** + * @brief Allocates built-in multi-threaded threading implementation object. + * + * A multi-threaded implementation is a type of implementation that has to be + * served with a thread pool. The thread pool can be either the built-in ODE object + * or set of external threads that dedicate themselves to this purpose and stay + * in ODE until implementation releases them. + * + * @returns ID of object allocated or NULL on failure + * + * @ingroup threading + * @see dThreadingThreadPoolServeMultiThreadedImplementation + * @see dExternalThreadingServeMultiThreadedImplementation + * @see dThreadingFreeImplementation + */ +ODE_API dThreadingImplementationID dThreadingAllocateMultiThreadedImplementation(); + +/** + * @brief Retrieves the functions record of a built-in threading implementation. + * + * The implementation can be the one allocated by ODE (from @c dThreadingAllocateMultiThreadedImplementation). + * Do not use this function with self-made custom implementations - + * they should be bundled with their own set of functions. + * + * @param impl Threading implementation ID + * @returns Pointer to associated functions structure + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + */ +ODE_API const dThreadingFunctionsInfo *dThreadingImplementationGetFunctions(dThreadingImplementationID impl); + +/** + * @brief Requests a built-in implementation to release threads serving it. + * + * The function unblocks threads employed in implementation serving and lets them + * return to from where they originate. It's the responsibility of external code + * to make sure all the calls to ODE that might be dependent on given threading + * implementation object had already returned before this call is made. If threading + * implementation is still processing some posted calls while this function is + * invoked the behavior is implementation dependent. + * + * This call is to be used to request the threads to be released before waiting + * for them in host pool or before waiting for them to exit. Implementation object + * must not be destroyed before it is known that all the serving threads have already + * returned from it. If implementation needs to be reused after this function is called + * and all the threads have exited from it a call to @c dThreadingImplementationCleanupForRestart + * must be made to restore internal state of the object. + * + * If this function is called for self-threaded built-in threading implementation + * the call has no effect. + * + * @param impl Threading implementation ID + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + * @see dThreadingImplementationCleanupForRestart + */ +ODE_API void dThreadingImplementationShutdownProcessing(dThreadingImplementationID impl); + +/** + * @brief Restores built-in implementation's state to let it be reused after shutdown. + * + * If a multi-threaded built-in implementation needs to be reused after a call + * to @c dThreadingImplementationShutdownProcessing this call is to be made to + * restore object's internal state. After that the implementation can be served again. + * + * If this function is called for self-threaded built-in threading implementation + * the call has no effect. + * + * @param impl Threading implementation ID + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + * @see dThreadingImplementationShutdownProcessing + */ +ODE_API void dThreadingImplementationCleanupForRestart(dThreadingImplementationID impl); + +/** + * @brief Deletes an instance of built-in threading implementation. + * + * @warning A care must be taken to make sure the implementation is unassigned + * from all the objects it was assigned to and that there are no more threads + * serving it before attempting to call this function. + * + * @param impl Threading implementation ID + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + */ +ODE_API void dThreadingFreeImplementation(dThreadingImplementationID impl); + + +typedef void (dThreadReadyToServeCallback)(void *callback_context); + +/** + * @brief An entry point for external threads that would like to serve a built-in + * threading implementation object. + * + * A thread that calls this function remains blocked in ODE and serves implementation + * object @p impl until being released with @c dThreadingImplementationShutdownProcessing call. + * This function can be used to provide external threads instead of ODE's built-in + * thread pools. + * + * The optional callback @readiness_callback is called after the thread has reached + * and has registered within the implementation. The implementation should not + * be used until all dedicated threads register within it as otherwise it will not + * have accurate view of the execution resources available. + * + * @param impl Threading implementation ID + * @param readiness_callback Optional readiness callback to be called after thread enters the implementation + * @param callback_context A value to be passed as parameter to readiness callback + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + * @see dThreadingImplementationShutdownProcessing + */ +ODE_API void dExternalThreadingServeMultiThreadedImplementation(dThreadingImplementationID impl, + dThreadReadyToServeCallback *readiness_callback/*=NULL*/, void *callback_context/*=NULL*/); + + +/** + * @brief Creates an instance of built-in thread pool object that can be used to serve + * multi-threaded threading implementations. + * + * The threads allocated inherit priority of caller thread. Their affinity is not + * explicitly adjusted and gets the value the system assigns by default. Threads + * have their stack memory fully committed immediately on start. On POSIX platforms + * threads are started with all the possible signals blocked. Threads execute + * calls to @c dAllocateODEDataForThread with @p ode_data_allocate_flags + * on initialization. + * + * On POSIX platforms this function must be called with signals masked + * or other measures must be taken to prevent reception of signals by calling thread + * for the duration of the call. + * + * @param thread_count Number of threads to start in pool + * @param stack_size Size of stack to be used for every thread or 0 for system default value + * @param ode_data_allocate_flags Flags to be passed to @c dAllocateODEDataForThread on behalf of each thread + * @returns ID of object allocated or NULL on failure + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + * @see dThreadingImplementationShutdownProcessing + * @see dThreadingFreeThreadPool + */ +ODE_API dThreadingThreadPoolID dThreadingAllocateThreadPool(unsigned thread_count, + dsizeint stack_size, unsigned int ode_data_allocate_flags, void *reserved/*=NULL*/); + +/** + * @brief Commands an instance of built-in thread pool to serve a built-in multi-threaded + * threading implementation. + * + * A pool can only serve one threading implementation at a time. + * Call @c dThreadingImplementationShutdownProcessing to release pool threads + * from implementation serving and make them idle. Pool threads must be released + * from any implementations before pool is attempted to be deleted. + * + * This function waits for threads to register within implementation before returning. + * So, after the function call exits the implementation can be used immediately. + * + * @param pool Thread pool ID to serve the implementation + * @param impl Implementation ID of implementation to be served + * + * @ingroup threading + * @see dThreadingAllocateThreadPool + * @see dThreadingAllocateMultiThreadedImplementation + * @see dThreadingImplementationShutdownProcessing + */ +ODE_API void dThreadingThreadPoolServeMultiThreadedImplementation(dThreadingThreadPoolID pool, dThreadingImplementationID impl); + +/** + * @brief Waits until all pool threads are released from threading implementation + * they might be serving. + * + * The function can be used after a call to @c dThreadingImplementationShutdownProcessing + * to make sure all the threads have already been released by threading implementation + * and it can be deleted or it can be cleaned up for restart and served by another pool + * or this pool's threads can be used to serve another threading implementation. + * + * Note that is it not necessary to call this function before pool destruction + * since @c dThreadingFreeThreadPool performs similar wait operation implicitly on its own. + * + * It is OK to call this function even if pool was not serving any threading implementation + * in which case the call exits immediately with minimal delay. + * + * @param pool Thread pool ID to wait for + * + * @ingroup threading + * @see dThreadingAllocateThreadPool + * @see dThreadingImplementationShutdownProcessing + * @see dThreadingFreeThreadPool + */ +ODE_API void dThreadingThreadPoolWaitIdleState(dThreadingThreadPoolID pool); + +/** + * @brief Deletes a built-in thread pool instance. + * + * The pool threads must be released from any implementations they might be serving + * before this function is called. Otherwise the call is going to block + * and wait until pool's threads return. + * + * @param pool Thread pool ID to delete + * + * @ingroup threading + * @see dThreadingAllocateThreadPool + * @see dThreadingImplementationShutdownProcessing + */ +ODE_API void dThreadingFreeThreadPool(dThreadingThreadPoolID pool); + + +#ifdef __cplusplus +} +#endif + +#endif /* #ifndef _ODE_THREADING_IMPL_H_ */ |