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/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* 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. *
* *
*************************************************************************/
/*
* L1Straight Equation Solving Routines
* Copyright (c) 2017-2019 Oleh Derevenko, odar@eleks.com (change all "a" to "e")
*/
#include <ode/common.h>
#include <ode/matrix.h>
#include <ode/matrix_coop.h>
#include "config.h"
#include "threaded_solver_ldlt.h"
#include "threading_base.h"
#include "resource_control.h"
#include "error.h"
#include "fastlsolve_impl.h"
/*static */
void ThreadedEquationSolverLDLT::estimateCooperativeSolvingL1StraightResourceRequirements(
dxResourceRequirementDescriptor *summaryRequirementsDescriptor,
unsigned allowedThreadCount, unsigned rowCount)
{
dxThreadingBase *threading = summaryRequirementsDescriptor->getrelatedThreading();
unsigned limitedThreadCount = restrictSolvingL1StraightAllowedThreadCount(threading, allowedThreadCount, rowCount);
if (limitedThreadCount > 1)
{
doEstimateCooperativeSolvingL1StraightResourceRequirementsValidated(summaryRequirementsDescriptor, allowedThreadCount, rowCount);
}
}
/*static */
void ThreadedEquationSolverLDLT::cooperativelySolveL1Straight(
dxRequiredResourceContainer *resourceContainer, unsigned allowedThreadCount,
const dReal *L, dReal *b, unsigned rowCount, unsigned rowSkip)
{
dAASSERT(rowCount != 0);
dxThreadingBase *threading = resourceContainer->getThreadingInstance();
unsigned limitedThreadCount = restrictSolvingL1StraightAllowedThreadCount(threading, allowedThreadCount, rowCount);
if (limitedThreadCount <= 1)
{
solveL1Straight<SL1S_B_STRIDE>(L, b, rowCount, rowSkip);
}
else
{
doCooperativelySolveL1StraightValidated(resourceContainer, limitedThreadCount, L, b, rowCount, rowSkip);
}
}
/*static */
unsigned ThreadedEquationSolverLDLT::restrictSolvingL1StraightAllowedThreadCount(
dxThreadingBase *threading, unsigned allowedThreadCount, unsigned rowCount)
{
unsigned limitedThreadCount = 1;
#if dCOOPERATIVE_ENABLED
const unsigned int blockStep = SL1S_BLOCK_SIZE; // Required by the implementation
unsigned solvingBlockCount = deriveSolvingL1StraightBlockCount(rowCount, blockStep);
dIASSERT(deriveSolvingL1StraightThreadCount(SL1S_COOPERATIVE_BLOCK_COUNT_MINIMUM, 2) > 1);
if (solvingBlockCount >= SL1S_COOPERATIVE_BLOCK_COUNT_MINIMUM)
{
limitedThreadCount = threading->calculateThreadingLimitedThreadCount(allowedThreadCount, true);
}
#endif // #if dCOOPERATIVE_ENABLED
return limitedThreadCount;
}
/*static */
void ThreadedEquationSolverLDLT::doEstimateCooperativeSolvingL1StraightResourceRequirementsValidated(
dxResourceRequirementDescriptor *summaryRequirementsDescriptor,
unsigned allowedThreadCount, unsigned rowCount)
{
const unsigned int blockStep = SL1S_BLOCK_SIZE; // Required by the implementation
unsigned blockCount = deriveSolvingL1StraightBlockCount(rowCount, blockStep);
dIASSERT(blockCount >= 1);
unsigned threadCountToUse = deriveSolvingL1StraightThreadCount(blockCount, allowedThreadCount);
dIASSERT(threadCountToUse > 1);
unsigned simultaneousCallCount = 1 + (threadCountToUse - 1);
SolvingL1StraightMemoryEstimates solvingMemoryEstimates;
sizeint solvingMemoryRequired = estimateCooperativelySolvingL1StraightMemoryRequirement<blockStep>(rowCount, solvingMemoryEstimates);
const unsigned solvingAlignmentRequired = ALLOCATION_DEFAULT_ALIGNMENT;
unsigned featureRequirement = dxResourceRequirementDescriptor::STOCK_CALLWAIT_REQUIRED;
summaryRequirementsDescriptor->mergeAnotherDescriptorIn(solvingMemoryRequired, solvingAlignmentRequired, simultaneousCallCount, featureRequirement);
}
/*static */
void ThreadedEquationSolverLDLT::doCooperativelySolveL1StraightValidated(
dxRequiredResourceContainer *resourceContainer, unsigned allowedThreadCount,
const dReal *L, dReal *b, unsigned rowCount, unsigned rowSkip)
{
dIASSERT(allowedThreadCount > 1);
const unsigned int blockStep = SL1S_BLOCK_SIZE; // Required by the implementation
unsigned blockCount = deriveSolvingL1StraightBlockCount(rowCount, blockStep);
dIASSERT(blockCount >= 1);
unsigned threadCountToUse = deriveSolvingL1StraightThreadCount(blockCount, allowedThreadCount);
dIASSERT(threadCountToUse > 1);
dCallWaitID completionWait = resourceContainer->getStockCallWait();
dAASSERT(completionWait != NULL);
atomicord32 blockCompletionProgress;
cellindexint *blockProgressDescriptors;
SolveL1StraightCellContext *cellContexts;
SolvingL1StraightMemoryEstimates solvingMemoryEstimates;
sizeint solvingMemoryRequired = estimateCooperativelySolvingL1StraightMemoryRequirement<blockStep>(rowCount, solvingMemoryEstimates);
dIASSERT(solvingMemoryRequired <= resourceContainer->getMemoryBufferSize());
void *bufferAllocated = resourceContainer->getMemoryBufferPointer();
dIASSERT(bufferAllocated != NULL);
dIASSERT(dALIGN_PTR(bufferAllocated, ALLOCATION_DEFAULT_ALIGNMENT) == bufferAllocated);
void *bufferCurrentLocation = bufferAllocated;
bufferCurrentLocation = markCooperativelySolvingL1StraightMemoryStructuresOut(bufferCurrentLocation, solvingMemoryEstimates, blockProgressDescriptors, cellContexts);
dIVERIFY(bufferCurrentLocation <= (uint8 *)bufferAllocated + solvingMemoryRequired);
initializeCooperativelySolveL1StraightMemoryStructures<blockStep>(rowCount, blockCompletionProgress, blockProgressDescriptors, cellContexts);
dCallReleaseeID calculationFinishReleasee;
SolveL1StraightWorkerContext workerContext; // The variable must exist in the outer scope
workerContext.init(L, b, rowCount, rowSkip, blockCompletionProgress, blockProgressDescriptors, cellContexts);
dxThreadingBase *threading = resourceContainer->getThreadingInstance();
threading->PostThreadedCall(NULL, &calculationFinishReleasee, threadCountToUse - 1, NULL, completionWait, &solveL1Straight_completion_callback, NULL, 0, "SolveL1Straight Completion");
threading->PostThreadedCallsGroup(NULL, threadCountToUse - 1, calculationFinishReleasee, &solveL1Straight_worker_callback, &workerContext, "SolveL1Straight Work");
participateSolvingL1Straight<blockStep, SL1S_B_STRIDE>(L, b, rowCount, rowSkip, blockCompletionProgress, blockProgressDescriptors, cellContexts, threadCountToUse - 1);
threading->WaitThreadedCallExclusively(NULL, completionWait, NULL, "SolveL1Straight End Wait");
}
/*static */
int ThreadedEquationSolverLDLT::solveL1Straight_worker_callback(void *callContext, dcallindex_t callInstanceIndex, dCallReleaseeID dUNUSED(callThisReleasee))
{
SolveL1StraightWorkerContext *ptrContext = (SolveL1StraightWorkerContext *)callContext;
solveL1Straight_worker(*ptrContext, dCAST_TO_SMALLER(unsigned, callInstanceIndex));
return 1;
}
/*static */
void ThreadedEquationSolverLDLT::solveL1Straight_worker(SolveL1StraightWorkerContext &ref_context, unsigned ownThreadIndex)
{
const unsigned blockStep = SL1S_BLOCK_SIZE;
participateSolvingL1Straight<blockStep, SL1S_B_STRIDE>(ref_context.m_L, ref_context.m_b, ref_context.m_rowCount, ref_context.m_rowSkip,
*ref_context.m_ptrBlockCompletionProgress, ref_context.m_blockProgressDescriptors, ref_context.m_cellContexts, ownThreadIndex);
}
/*static */
int ThreadedEquationSolverLDLT::solveL1Straight_completion_callback(void *dUNUSED(callContext), dcallindex_t dUNUSED(callInstanceIndex), dCallReleaseeID dUNUSED(callThisReleasee))
{
return 1;
}
//////////////////////////////////////////////////////////////////////////
// Public interface functions
/*extern ODE_API */
void dSolveL1(const dReal *L, dReal *B, int n, int lskip1)
{
dAASSERT(n != 0);
if (n != 0)
{
dAASSERT(L != NULL);
dAASSERT(B != NULL);
solveL1Straight<1>(L, B, n, lskip1);
}
}
/*extern ODE_API */
void dEstimateCooperativelySolveL1StraightResourceRequirements(dResourceRequirementsID requirements,
unsigned maximalAllowedThreadCount, unsigned maximalRowCount)
{
dAASSERT(requirements != NULL);
dxResourceRequirementDescriptor *requirementsDescriptor = (dxResourceRequirementDescriptor *)requirements;
ThreadedEquationSolverLDLT::estimateCooperativeSolvingL1StraightResourceRequirements(requirementsDescriptor, maximalAllowedThreadCount, maximalRowCount);
}
/*extern ODE_API */
void dCooperativelySolveL1Straight(dResourceContainerID resources, unsigned allowedThreadCount,
const dReal *L, dReal *b, unsigned rowCount, unsigned rowSkip)
{
dAASSERT(resources != NULL);
dxRequiredResourceContainer *resourceContainer = (dxRequiredResourceContainer *)resources;
ThreadedEquationSolverLDLT::cooperativelySolveL1Straight(resourceContainer, allowedThreadCount, L, b, rowCount, rowSkip);
}
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