43 lines
1.5 KiB
C
43 lines
1.5 KiB
C
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// Copyright 2023 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_INCLUDE_MJTHREAD_H_
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#define MUJOCO_INCLUDE_MJTHREAD_H_
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#define mjMAXTHREAD 128 // maximum number of threads in a thread pool
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typedef enum mjtTaskStatus_ { // status values for mjTask
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mjTASK_NEW = 0, // newly created
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mjTASK_QUEUED, // enqueued in a thread pool
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mjTASK_COMPLETED // completed execution
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} mjtTaskStatus;
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// function pointer type for mjTask
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typedef void* (*mjfTask)(void*);
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// An opaque type representing a thread pool.
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struct mjThreadPool_ {
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int nworker; // number of workers in the pool
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};
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typedef struct mjThreadPool_ mjThreadPool;
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struct mjTask_ { // a task that can be executed by a thread pool.
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mjfTask func; // pointer to the function that implements the task
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void* args; // arguments to func
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volatile int status; // status of the task
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};
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typedef struct mjTask_ mjTask;
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#endif // MUJOCO_INCLUDE_MJTHREAD_H_
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