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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2018 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: vitus@google.com (Michael Vitus)
// This include must come before any #ifndef check on Ceres compile options.
#include "ceres/internal/config.h"
#ifdef CERES_USE_CXX_THREADS
#include <chrono>
#include <condition_variable>
#include <mutex>
#include <thread>
#include "ceres/thread_pool.h"
#include "glog/logging.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
namespace ceres::internal {
// Adds a number of tasks to the thread pool and ensures they all run.
TEST(ThreadPool, AddTask) {
int value = 0;
const int num_tasks = 100;
{
ThreadPool thread_pool(2);
std::condition_variable condition;
std::mutex mutex;
for (int i = 0; i < num_tasks; ++i) {
thread_pool.AddTask([&]() {
std::lock_guard<std::mutex> lock(mutex);
++value;
condition.notify_all();
});
}
std::unique_lock<std::mutex> lock(mutex);
condition.wait(lock, [&]() { return value == num_tasks; });
}
EXPECT_EQ(num_tasks, value);
}
// Adds a number of tasks to the queue and resizes the thread pool while the
// threads are executing their work.
TEST(ThreadPool, ResizingDuringExecution) {
int value = 0;
const int num_tasks = 100;
// Run this test in a scope to delete the thread pool and all of the threads
// are stopped.
{
ThreadPool thread_pool(/*num_threads=*/2);
std::condition_variable condition;
std::mutex mutex;
// Acquire a lock on the mutex to prevent the threads from finishing their
// execution so we can test resizing the thread pool while the workers are
// executing a task.
std::unique_lock<std::mutex> lock(mutex);
// The same task for all of the workers to execute.
auto task = [&]() {
// This will block until the mutex is released inside the condition
// variable.
std::lock_guard<std::mutex> lock(mutex);
++value;
condition.notify_all();
};
// Add the initial set of tasks to run.
for (int i = 0; i < num_tasks / 2; ++i) {
thread_pool.AddTask(task);
}
// Resize the thread pool while tasks are executing.
thread_pool.Resize(/*num_threads=*/3);
// Add more tasks to the thread pool to guarantee these are also completed.
for (int i = 0; i < num_tasks / 2; ++i) {
thread_pool.AddTask(task);
}
// Unlock the mutex to unblock all of the threads and wait until all of the
// tasks are completed.
condition.wait(lock, [&]() { return value == num_tasks; });
}
EXPECT_EQ(num_tasks, value);
}
// Tests the destructor will wait until all running tasks are finished before
// destructing the thread pool.
TEST(ThreadPool, Destructor) {
// Ensure the hardware supports more than 1 thread to ensure the test will
// pass.
const int num_hardware_threads = std::thread::hardware_concurrency();
if (num_hardware_threads <= 1) {
LOG(ERROR)
<< "Test not supported, the hardware does not support threading.";
return;
}
std::condition_variable condition;
std::mutex mutex;
// Lock the mutex to ensure the tasks are blocked.
std::unique_lock<std::mutex> master_lock(mutex);
int value = 0;
// Create a thread that will instantiate and delete the thread pool. This is
// required because we need to block on the thread pool being deleted and
// signal the tasks to finish.
std::thread thread([&]() {
ThreadPool thread_pool(/*num_threads=*/2);
for (int i = 0; i < 100; ++i) {
thread_pool.AddTask([&]() {
// This will block until the mutex is released inside the condition
// variable.
std::lock_guard<std::mutex> lock(mutex);
++value;
condition.notify_all();
});
}
// The thread pool should be deleted.
});
// Give the thread pool time to start, add all the tasks, and then delete
// itself.
std::this_thread::sleep_for(std::chrono::milliseconds(500));
// Unlock the tasks.
master_lock.unlock();
// Wait for the thread to complete.
thread.join();
EXPECT_EQ(100, value);
}
TEST(ThreadPool, Resize) {
// Ensure the hardware supports more than 1 thread to ensure the test will
// pass.
const int num_hardware_threads = std::thread::hardware_concurrency();
if (num_hardware_threads <= 1) {
LOG(ERROR)
<< "Test not supported, the hardware does not support threading.";
return;
}
ThreadPool thread_pool(1);
EXPECT_EQ(1, thread_pool.Size());
thread_pool.Resize(2);
EXPECT_EQ(2, thread_pool.Size());
// Try reducing the thread pool size and verify it stays the same size.
thread_pool.Resize(1);
EXPECT_EQ(2, thread_pool.Size());
}
} // namespace ceres::internal
#endif // CERES_USE_CXX_THREADS