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enh(#30): Add ability for ARGoS to pin threads to cores
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,78 @@ | ||
| /** | ||
| * @file <argos3/core/simulator/space/space_multi_thread.cpp> | ||
| * | ||
| * @author John Harwell - <john.r.harwell@gmail.com> | ||
| */ | ||
|
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| #include <argos3/core/simulator/space/space_multi_thread.h> | ||
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| namespace argos { | ||
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| /****************************************/ | ||
| /****************************************/ | ||
|
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| CSpaceMultiThread::CSpaceMultiThread(UInt32 un_n_threads, | ||
| bool b_pin_threads_to_cores) : | ||
| m_bPinThreadsToCores(b_pin_threads_to_cores), | ||
| m_vecThreads(un_n_threads) { | ||
| LOG << "[INFO] Using " << GetNumThreads() << " parallel threads" << std::endl; | ||
| if (m_bPinThreadsToCores) { | ||
| LOG << "[INFO] Pinning threads to cores by thread ID" << std::endl; | ||
| } | ||
| } | ||
|
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| /****************************************/ | ||
| /****************************************/ | ||
| void CSpaceMultiThread::DestroyAllThreads(void) { | ||
| int nErrors; | ||
| if (!m_vecThreads.empty()) { | ||
| for(UInt32 i = 0; i < GetNumThreads(); ++i) { | ||
| if((nErrors = pthread_cancel(m_vecThreads[i]))) { | ||
| THROW_ARGOSEXCEPTION("Error canceling threads " << ::strerror(nErrors)); | ||
| } | ||
| } | ||
| auto** ppJoinResult = new void*[GetNumThreads()]; | ||
| for(UInt32 i = 0; i < GetNumThreads(); ++i) { | ||
| if((nErrors = pthread_join(m_vecThreads[i], ppJoinResult + i))) { | ||
| THROW_ARGOSEXCEPTION("Error joining threads " << ::strerror(nErrors)); | ||
| } | ||
| if(ppJoinResult[i] != PTHREAD_CANCELED) { | ||
| LOGERR << "[WARNING] Thread #" << i<< " not canceled" << std::endl; | ||
| } | ||
| } | ||
| delete[] ppJoinResult; | ||
| } | ||
| } | ||
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| /****************************************/ | ||
| /****************************************/ | ||
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| void CSpaceMultiThread::CreateSingleThread(UInt32 unThreadId, | ||
| void *(*start_routine) (void *), | ||
| void *arg) { | ||
| if (unThreadId > GetNumThreads()) { | ||
| THROW_ARGOSEXCEPTION("Cannot create thread " << unThreadId << ": Id out of range"); | ||
| } | ||
| /* Create the thread */ | ||
| int nErrors = pthread_create(&m_vecThreads[unThreadId], | ||
| nullptr, | ||
| start_routine, | ||
| arg); | ||
| if(nErrors != 0) { | ||
| THROW_ARGOSEXCEPTION("Error creating thread: " << ::strerror(nErrors)); | ||
| } | ||
| /* pin thread i to core i */ | ||
| if (m_bPinThreadsToCores) { | ||
| cpu_set_t cpuset; | ||
| CPU_ZERO(&cpuset); | ||
| CPU_SET(unThreadId, &cpuset); | ||
| int rc = pthread_setaffinity_np(m_vecThreads[unThreadId], | ||
| sizeof(cpu_set_t), | ||
| &cpuset); | ||
| if (rc != 0) { | ||
| THROW_ARGOSEXCEPTION("Error setting thread " << unThreadId << " affinity: " << ::strerror(rc)); | ||
| } | ||
| } | ||
| } | ||
|
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||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,71 @@ | ||
| /** | ||
| * @file <argos3/core/simulator/space/space_multi_thread.h> | ||
| * | ||
| * @brief This file provides the definition of the Swarmanoid 3D Space with | ||
| * threads. | ||
| * | ||
| * @author John Harwell - <john.r.harwell@gmail.com> | ||
| */ | ||
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| #ifndef INCLUDE_SPACE_MULTI_THREAD_H_ | ||
| #define INCLUDE_SPACE_MULTI_THREAD_H_ | ||
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| #include <vector> | ||
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| namespace argos { | ||
| class CSpace; | ||
| } | ||
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| #include <argos3/core/simulator/space/space.h> | ||
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| namespace argos { | ||
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| /** | ||
| * @brief Base class for common threading functionality used by @ref | ||
| * CSpaceMultithreadBalanceLength, @ref CSpaceMultithreadBalanceQuantity. | ||
| */ | ||
| class CSpaceMultiThread : public CSpace { | ||
| public: | ||
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| CSpaceMultiThread(UInt32 un_n_threads, bool b_pin_threads); | ||
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| /** | ||
| * @brief Return the # of configured threads. If threads were not | ||
| * specified, returns 0. | ||
| */ | ||
| inline UInt32 GetNumThreads() const { return m_vecThreads.size(); } | ||
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| protected: | ||
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| /** | ||
| * @brief After ARGoS finishes running the experiment, dispose of all | ||
| * threads, which are no longer needed. | ||
| */ | ||
| void DestroyAllThreads(); | ||
|
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| /** | ||
| * @brief During initialization, create a single thread. | ||
| * | ||
| * @param unThreadId The index/ID of the thread. | ||
| * @param start_routine Pointer to the routine that the thread should start | ||
| * execution in. | ||
| * @param arg The single argument which will be passed to @p | ||
| * start_routine. Can be NULL. | ||
| */ | ||
|
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| void CreateSingleThread(UInt32 unThreadId, | ||
| void *(*start_routine) (void *), | ||
| void *arg); | ||
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| private: | ||
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| /** Should threads be pinned to cores ? */ | ||
| bool m_bPinThreadsToCores; | ||
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| /** The slave thread array */ | ||
| std::vector<pthread_t> m_vecThreads; | ||
| }; | ||
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| } | ||
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| #endif /* INCLUDE_SPACE_MULTI_THREAD_H_ */ |
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