w3

dartsim · Jun 4, 2024 · 38b0c52 · 38b0c52
1 parent 7d60d4c
commit 38b0c52
Show file tree

Hide file tree

Showing 7 changed files with 24 additions and 174 deletions.
diff --git a/cmake/DARTFindDependencies.cmake b/cmake/DARTFindDependencies.cmake
@@ -106,6 +106,9 @@ else()
   )
 endif()
 
+# Taskflow
+dart_find_package(Taskflow)
+
 #=======================
 # Optional dependencies
 #=======================

diff --git a/cmake/DARTFindTaskflow.cmake b/cmake/DARTFindTaskflow.cmake
@@ -0,0 +1,9 @@
+# Copyright (c) 2011-2024, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/main/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+find_package(Taskflow)
diff --git a/dart/CMakeLists.txt b/dart/CMakeLists.txt
@@ -127,6 +127,7 @@ target_link_libraries(dart
     Eigen3::Eigen
     fcl
     assimp
+    Taskflow::Taskflow
 )
 if(TARGET fmt::fmt-header-only)
   target_link_libraries(dart PUBLIC fmt::fmt-header-only)
@@ -214,7 +215,7 @@ endif()
 add_component_targets(${PROJECT_NAME} dart dart)
 add_component_dependencies(${PROJECT_NAME} dart external-odelcpsolver)
 add_component_dependency_packages(${PROJECT_NAME} dart
-  assimp Eigen3 fcl fmt
+  assimp Eigen3 fcl fmt Taskflow
 )
 if(TARGET octomap)
   add_component_dependency_packages(${PROJECT_NAME} dart octomap)

diff --git a/dart/common/ThreadPool.cpp b/dart/common/ThreadPool.cpp
diff --git a/dart/common/ThreadPool.hpp b/dart/common/ThreadPool.hpp
diff --git a/dart/constraint/BoxedLcpConstraintSolver.cpp b/dart/constraint/BoxedLcpConstraintSolver.cpp
@@ -34,7 +34,6 @@
 
 #include "dart/common/Logging.hpp"
 #include "dart/common/Profile.hpp"
-#include "dart/common/ThreadPool.hpp"
 #include "dart/constraint/ConstraintBase.hpp"
 #include "dart/constraint/DantzigBoxedLcpSolver.hpp"
 #include "dart/constraint/PgsBoxedLcpSolver.hpp"
@@ -230,7 +229,7 @@ DART_SUPPRESS_DEPRECATED_END
 
 //==============================================================================
 BoxedLcpConstraintSolver::BoxedLcpConstraintSolver(const Config& config)
-  : ConstraintSolver(), mConfig(config), mThreadPool(4)
+  : ConstraintSolver(), mConfig(config), mExecutor(4)
 {
   // Empty
 }
@@ -250,7 +249,7 @@ DART_SUPPRESS_DEPRECATED_END
 DART_SUPPRESS_DEPRECATED_BEGIN
 BoxedLcpConstraintSolver::BoxedLcpConstraintSolver(
     BoxedLcpSolverPtr boxedLcpSolver, BoxedLcpSolverPtr secondaryBoxedLcpSolver)
-  : ConstraintSolver(), mThreadPool(4)
+  : ConstraintSolver(), mExecutor(4)
 {
   if (boxedLcpSolver) {
     setBoxedLcpSolver(std::move(boxedLcpSolver));
@@ -620,18 +619,10 @@ void BoxedLcpConstraintSolver::solveConstrainedGroups()
 
   {
     DART_PROFILE_SCOPED_N("Solve problems");
-
-    std::vector<std::future<void>> results;
-
-    for (auto i = 0u; i < numGroups; ++i) {
-      results.emplace_back(mThreadPool.enqueue(
-          [this, i]() { solveBoxedLcp(mProblems[i], mConstrainedGroups[i]); }));
-    }
-
-    // Wait for all tasks to complete
-    for (auto&& result : results) {
-      result.get();
-    }
+    mTaskflow.for_each_index(0, numGroups, 1, [&](int i) {
+      solveBoxedLcp(mProblems[i], mConstrainedGroups[i]);
+    });
+    mExecutor.run(mTaskflow).wait();
   }
 }
 

diff --git a/dart/constraint/BoxedLcpConstraintSolver.hpp b/dart/constraint/BoxedLcpConstraintSolver.hpp
@@ -35,7 +35,8 @@
 
 #include <dart/constraint/ConstraintSolver.hpp>
 #include <dart/constraint/SmartPointer.hpp>
-#include <dart/common/ThreadPool.hpp>
+
+#include <taskflow/taskflow.hpp>
 
 namespace dart {
 namespace constraint {
@@ -249,7 +250,8 @@ class BoxedLcpConstraintSolver : public ConstraintSolver
 
   std::vector<BoxedLcp> mProblems;
 
-  common::ThreadPool mThreadPool;
+  tf::Executor mExecutor;
+  tf::Taskflow mTaskflow;
 };
 
 } // namespace constraint