Binding to setup task scheduler (nb threads) (#366)

* Binding to setup task scheduler (nb threads)

* Update examples/taskScheduler.py

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

---------

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_TaskScheduler.cpp

@@ -0,0 +1,72 @@
+/******************************************************************************
+*                              SofaPython3 plugin                             *
+*                  (c) 2021 CNRS, University of Lille, INRIA                  *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of 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.                                             *
+*                                                                             *
+* This program 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 GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+
+#include <SofaPython3/Sofa/Core/Binding_TaskScheduler.h>
+#include <sofa/simulation/MainTaskSchedulerFactory.h>
+#include <sofa/simulation/TaskScheduler.h>
+#include <SofaPython3/Sofa/Core/Binding_TaskScheduler_doc.h>
+
+
+/// Makes an alias for the pybind11 namespace to increase readability.
+namespace py { using namespace pybind11; }
+
+namespace sofapython3
+{
+py::module moduleAddTaskScheduler(py::module& m)
+{
+    py::module taskSchedulerModule = m.def_submodule("TaskScheduler");
+
+    taskSchedulerModule.doc() = R"doc(
+        TaskScheduler
+        -----------------------
+
+        Configuration of the main task scheduler.
+    )doc";
+
+
+    taskSchedulerModule.def("init", [](const unsigned int nbThreads)
+    {
+        auto* const taskScheduler = sofa::simulation::MainTaskSchedulerFactory::createInRegistry();
+        assert(taskScheduler);
+        taskScheduler->init(nbThreads);
+    }, sofapython3::doc::taskscheduler::init);
+
+    taskSchedulerModule.def("getThreadCount", []()
+    {
+        const auto* const taskScheduler = sofa::simulation::MainTaskSchedulerFactory::createInRegistry();
+        assert(taskScheduler);
+        return taskScheduler->getThreadCount();
+    }, sofapython3::doc::taskscheduler::getThreadCount);
+
+    taskSchedulerModule.def("stop", []()
+    {
+        auto* const taskScheduler = sofa::simulation::MainTaskSchedulerFactory::createInRegistry();
+        assert(taskScheduler);
+        return taskScheduler->stop();
+    });
+
+    taskSchedulerModule.def("GetHardwareThreadsCount", []()
+    {
+        return sofa::simulation::TaskScheduler::GetHardwareThreadsCount();
+    }, sofapython3::doc::taskscheduler::GetHardwareThreadsCount);
+
+    return taskSchedulerModule;
+}
+}

bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_TaskScheduler.h

@@ -0,0 +1,29 @@
+/******************************************************************************
+*                              SofaPython3 plugin                             *
+*                  (c) 2021 CNRS, University of Lille, INRIA                  *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of 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.                                             *
+*                                                                             *
+* This program 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 GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+
+#pragma once
+
+#include <pybind11/pybind11.h>
+
+namespace sofapython3 {
+
+pybind11::module moduleAddTaskScheduler(pybind11::module& m);
+
+} /// namespace sofapython3

bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_TaskScheduler_doc.h

@@ -0,0 +1,40 @@
+/******************************************************************************
+*                              SofaPython3 plugin                             *
+*                  (c) 2021 CNRS, University of Lille, INRIA                  *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of 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.                                             *
+*                                                                             *
+* This program 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 GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+
+#pragma once
+
+namespace sofapython3::doc::taskscheduler
+{
+
+static auto init =
+    R"(
+    Initialize the main task scheduler with a number of threads.
+    )";
+
+static auto getThreadCount =
+    R"(
+    Returns the number of threads used by the main task scheduler.
+    )";
+
+static auto GetHardwareThreadsCount =
+    R"(
+    Assuming 2 concurrent threads by CPU core, return the number of CPU cores on the system
+    )";
+}

bindings/Sofa/src/SofaPython3/Sofa/Core/CMakeLists.txt

@@ -45,6 +45,8 @@ set(HEADER_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseCamera_doc.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Topology.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseMeshTopology.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_TaskScheduler.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_TaskScheduler_doc.h
 )
 
 set(SOURCE_FILES
@@ -75,6 +77,7 @@ set(SOURCE_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseLink.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Topology.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseMeshTopology.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_TaskScheduler.cpp
 )
 
 if (NOT TARGET SofaPython3::Plugin)

bindings/Sofa/src/SofaPython3/Sofa/Core/Submodule_Core.cpp

@@ -44,6 +44,7 @@ using sofa::helper::logging::Message;
 #include <SofaPython3/Sofa/Core/Binding_PythonScriptEvent.h>
 #include <SofaPython3/Sofa/Core/Binding_Topology.h>
 #include <SofaPython3/Sofa/Core/Binding_BaseMeshTopology.h>
+#include <SofaPython3/Sofa/Core/Binding_TaskScheduler.h>
 
 #include <SofaPython3/Sofa/Core/Data/Binding_DataString.h>
 #include <SofaPython3/Sofa/Core/Data/Binding_DataLink.h>
@@ -128,6 +129,7 @@ PYBIND11_MODULE(Core, core)
     moduleAddTopology(core);
     moduleAddBaseMeshTopology(core);
     moduleAddPointSetTopologyModifier(core);
+    moduleAddTaskScheduler(core);
 }
 
 } ///namespace sofapython3

examples/taskScheduler.py

@@ -0,0 +1,56 @@
+import Sofa
+from Sofa.Core import TaskScheduler
+import time
+
+def createScene(root):
+    root.dt = 0.01
+
+    root.addObject("RequiredPlugin", pluginName=[
+        "MultiThreading",
+        "Sofa.Component.Constraint.Projective",
+        "Sofa.Component.Engine.Select",
+        "Sofa.Component.LinearSolver.Iterative",
+        "Sofa.Component.Mass",
+        "Sofa.Component.ODESolver.Backward",
+        "Sofa.Component.StateContainer",
+        "Sofa.Component.Topology.Container.Grid",
+        "Sofa.Component.Visual",
+        "Sofa.Component.Topology.Container.Dynamic",
+    ])
+    root.addObject('VisualStyle', displayFlags="showForceFields")
+    root.addObject('DefaultAnimationLoop')
+    root.addObject('EulerImplicitSolver', rayleighStiffness=0.1, rayleighMass=0.1)
+    root.addObject('CGLinearSolver', iterations=25, tolerance=1.0e-9, threshold=1.0e-9)
+    root.addObject('MechanicalObject', template="Vec3")
+    root.addObject('UniformMass', vertexMass=1)
+    root.addObject('RegularGridTopology', nx=8, ny=8, nz=40, xmin=-1.5, xmax=1.5, ymin=-1.5, ymax=1.5, zmin=0, zmax=19)
+    root.addObject('BoxROI', box=[-1.5, -1.5, 0, 1.5, 1.5, 0.0001], name="box")
+    root.addObject('FixedConstraint', indices="@box.indices")
+    root.addObject('ParallelHexahedronFEMForceField', youngModulus=400000, poissonRatio=0.4, method="large", updateStiffnessMatrix=False)
+
+
+# When not using runSofa, this main function will be called python
+def main():
+    root = Sofa.Core.Node("root")
+    createScene(root)
+    Sofa.Simulation.init(root)
+
+    for nb_threads in range(1, TaskScheduler.GetHardwareThreadsCount() + 1):
+        print(f'Number of threads #{nb_threads}')
+        Sofa.Simulation.reset(root)
+        TaskScheduler.init(nb_threads)
+
+        start = time.time()
+        for iteration in range(500):
+            Sofa.Simulation.animate(root, root.dt.value)
+        end = time.time()
+        print("500 iterations computed in " + str(end - start) + " seconds")
+
+    print("Stopping...")
+    TaskScheduler.stop()
+    print("Stopped")
+
+
+
+if __name__ == '__main__':
+    main()