[SofaSimulationCore] Move CpuTask class into its own file

SofaKernel/modules/SofaSimulationCore/CMakeLists.txt

@@ -19,6 +19,7 @@ set(HEADER_FILES
     ${SRC_ROOT}/CollisionEndEvent.h
     ${SRC_ROOT}/CollisionVisitor.h
     ${SRC_ROOT}/Colors.h
+    ${SRC_ROOT}/CpuTask.h
     ${SRC_ROOT}/DeactivatedNodeVisitor.h
     ${SRC_ROOT}/DefaultAnimationLoop.h
     ${SRC_ROOT}/DefaultVisualManagerLoop.h
@@ -93,6 +94,7 @@ set(SOURCE_FILES
     ${SRC_ROOT}/CollisionBeginEvent.cpp
     ${SRC_ROOT}/CollisionEndEvent.cpp
     ${SRC_ROOT}/CollisionVisitor.cpp
+    ${SRC_ROOT}/CpuTask.cpp
     ${SRC_ROOT}/DeactivatedNodeVisitor.cpp
     ${SRC_ROOT}/DefaultAnimationLoop.cpp
     ${SRC_ROOT}/DefaultVisualManagerLoop.cpp

SofaKernel/modules/SofaSimulationCore/SofaSimulationCore_test/TaskSchedulerTestTasks.h

@@ -1,5 +1,4 @@
-#include <sofa/simulation/Task.h>
-#include <thread>
+#include <sofa/simulation/CpuTask.h>
 
 namespace sofa
 {

SofaKernel/modules/SofaSimulationCore/SofaSimulationCore_test/TaskSchedulerTests.cpp

@@ -1,6 +1,7 @@
 #include "TaskSchedulerTestTasks.h"
 
 #include <sofa/simulation/TaskScheduler.h>
+#include <sofa/simulation/CpuTask.h>
 #include <sofa/simulation/DefaultTaskScheduler.h>
 #include <sofa/helper/testing/BaseTest.h>
 

SofaKernel/modules/SofaSimulationCore/src/sofa/simulation/CpuTask.cpp

@@ -0,0 +1,60 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* 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/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#include <sofa/simulation/CpuTask.h>
+
+#include <thread>
+
+
+namespace sofa::simulation
+{
+    CpuTask::CpuTask(CpuTask::Status* status, int scheduledThread)
+    : Task(scheduledThread)
+    , m_status(status)
+    {
+    }
+
+    CpuTask::~CpuTask()
+    {
+    }
+
+    CpuTask::Status *CpuTask::getStatus(void) const
+    {
+        return m_status;
+    }
+
+    bool CpuTask::Status::isBusy() const
+    {
+        return (m_busy.load(std::memory_order_relaxed) > 0);
+    }
+
+    int CpuTask::Status::setBusy(bool busy)
+    {
+        if (busy)
+        {
+            return m_busy.fetch_add(1, std::memory_order_relaxed);
+        }
+        else
+        {
+            return m_busy.fetch_sub(1, std::memory_order_relaxed);
+        }
+    }
+}

SofaKernel/modules/SofaSimulationCore/src/sofa/simulation/CpuTask.h

@@ -0,0 +1,66 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* 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/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+
+#include <sofa/simulation/config.h>
+
+#include <sofa/simulation/Task.h>
+
+namespace sofa::simulation
+{
+    /**  Base class to implement a CPU task
+     *   all the tasks running on the CPU should inherits from this class
+     */
+    class SOFA_SIMULATION_CORE_API CpuTask : public Task
+    {
+    public:
+
+        /** CPU Task Status class definition:
+         *  used to synchronize CPU tasks  */
+        class SOFA_SIMULATION_CORE_API Status : public Task::Status
+        {
+        public:
+            Status() : m_busy(0) {}
+
+            bool isBusy() const override final;
+
+            int setBusy(bool busy) override final;
+
+        private:
+            std::atomic<int> m_busy;
+        };
+
+
+        CpuTask::Status* getStatus(void) const override final;
+
+
+    public:
+
+        CpuTask(CpuTask::Status* status, int scheduledThread = -1);
+
+        virtual ~CpuTask();
+
+    private:
+        CpuTask::Status* m_status;
+    };
+
+}

SofaKernel/modules/SofaSimulationCore/src/sofa/simulation/InitTasks.cpp

@@ -7,6 +7,9 @@
 #include <sofa/core/visual/VisualParams.h>
 #include <sofa/helper/AdvancedTimer.h>
 #include <sofa/core/ConstraintParams.h>
+#include <sofa/simulation/TaskScheduler.h>
+
+#include <thread>
 
 namespace sofa
 {

SofaKernel/modules/SofaSimulationCore/src/sofa/simulation/InitTasks.h

@@ -22,7 +22,7 @@
 #ifndef InitTasks_h__
 #define InitTasks_h__
 
-#include <sofa/simulation/TaskScheduler.h>
+#include <sofa/simulation/CpuTask.h>
 
 namespace sofa
 {

SofaKernel/modules/SofaSimulationCore/src/sofa/simulation/Task.cpp

@@ -1,73 +1,68 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* 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/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
 #include <sofa/simulation/Task.h>
 
-#include <cassert>
-#include <thread>
+namespace sofa::simulation
+{
+    Task::Allocator* Task::_allocator = nullptr;
 
+    Task::Task(int scheduledThread)
+    : m_scheduledThread(scheduledThread)
+    , m_id(0)
+    {
+    }
 
-namespace sofa
-{
-	namespace simulation
-	{
-
-
-        Task::Allocator* Task::_allocator = nullptr;
-
-
-        Task::Task(int scheduledThread)
-        : m_scheduledThread(scheduledThread)
-        , m_id(0)
-        {            
-        }
-
-        Task::~Task()
-        {
-        }
-
-
-        CpuTask::CpuTask(CpuTask::Status* status, int scheduledThread)
-        : Task(scheduledThread)
-        , m_status(status)
-        {
-        }
-
-        CpuTask::~CpuTask()
-        {
-        }
-
-
-
-
-        ThreadSpecificTask::ThreadSpecificTask(std::atomic<int>* atomicCounter, std::mutex* mutex, CpuTask::Status* status )
-        : CpuTask(status)
-        , m_atomicCounter(atomicCounter)
-        , m_threadSpecificMutex(mutex)
-        {}
-
-        ThreadSpecificTask::~ThreadSpecificTask()
-        {
-        }
-
-        Task::MemoryAlloc ThreadSpecificTask::run()
-        {
-
-            runThreadSpecific();
-
-            {
-                std::lock_guard<std::mutex> lock(*m_threadSpecificMutex);
-                runCriticalThreadSpecific();
-            }
-
-            m_atomicCounter->fetch_sub(1, std::memory_order_acq_rel);
-
-            while(m_atomicCounter->load(std::memory_order_relaxed) > 0)
-            {
-                // yield while waiting
-                std::this_thread::yield();
-            }
-            return Task::MemoryAlloc::Stack;
-        }
+    Task::~Task()
+    {
+    }
+
+    void *Task::operator new(std::size_t sz)
+    {
+        return _allocator->allocate(sz);
+    }
+
+    void Task::operator delete(void *ptr)
+    {
+        _allocator->free(ptr, 0);
+    }
+
+    void Task::operator delete(void *ptr, std::size_t sz)
+    {
+        _allocator->free(ptr, sz);
+    }
+
+    int Task::getScheduledThread() const
+    {
+        return m_scheduledThread;
+    }
+
+    Task::Allocator *Task::getAllocator()
+    {
+        return _allocator;
+    }
 
-
-	} // namespace simulation
+    void Task::setAllocator(Task::Allocator *allocator)
+    {
+        _allocator = allocator;
+    }
 
 } // namespace sofa