Visual Servoing Platform  version 3.2.0 under development (2018-10-16)
testThread2.cpp

Test threading capabilities (extended).

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Test threading capabilities (extended).
*
*****************************************************************************/
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_PTHREAD) || (defined(_WIN32) && !defined(WINRT_8_0))
#include <iostream>
#include <stdlib.h>
#include <time.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpThread.h>
namespace
{
class ArithmFunctor
{
public:
ArithmFunctor(const vpColVector &v1, const vpColVector &v2, const unsigned int start, const unsigned int end)
: m_add(), m_mul(), m_v1(v1), m_v2(v2), m_indexStart(start), m_indexEnd(end)
{
}
ArithmFunctor() : m_add(), m_mul(), m_v1(), m_v2(), m_indexStart(0), m_indexEnd(0) {}
void operator()() { computeImpl(); }
vpColVector getVectorAdd() const { return m_add; }
vpColVector getVectorMul() const { return m_mul; }
private:
vpColVector m_add;
vpColVector m_mul;
unsigned int m_indexStart;
unsigned int m_indexEnd;
void computeImpl()
{
m_add.resize(m_indexEnd - m_indexStart);
m_mul.resize(m_indexEnd - m_indexStart);
// to simulate a long computation
for (int iter = 0; iter < 100; iter++) {
for (unsigned int i = m_indexStart, cpt = 0; i < m_indexEnd; i++, cpt++) {
m_add[cpt] = m_v1[i] + m_v2[i];
m_mul[cpt] = m_v1[i] * m_v2[i];
}
}
}
};
vpThread::Return arithmThread(vpThread::Args args)
{
ArithmFunctor *f = static_cast<ArithmFunctor *>(args);
(*f)();
return 0;
}
void insert(vpColVector &v1, const vpColVector &v2)
{
unsigned int size = v1.size();
v1.resize(size + v2.size(), false);
for (unsigned int i = 0, cpt = size; i < v2.size(); i++, cpt++) {
v1[cpt] = v2[i];
}
}
bool check(const vpColVector &v1, const vpColVector &v2, const vpColVector &res_add, const vpColVector &res_mul)
{
double add = 0.0, mul = 0.0;
for (unsigned int i = 0; i < v1.size(); i++) {
add += v1[i] + v2[i];
mul += v1[i] * v2[i];
}
double add_th = res_add.sum();
double mul_th = res_mul.sum();
std::cout << "add=" << add << " ; add_th=" << add_th << std::endl;
std::cout << "mul=" << mul << " ; mul_th=" << mul_th << std::endl;
if (!vpMath::equal(add, add_th, std::numeric_limits<double>::epsilon())) {
std::cerr << "Problem: add=" << add << " ; add_th=" << add_th << std::endl;
return false;
}
if (!vpMath::equal(mul, mul_th, std::numeric_limits<double>::epsilon())) {
std::cerr << "Problem: mul=" << mul << " ; mul_th=" << mul_th << std::endl;
return false;
}
return true;
}
}
int main()
{
std::string use_threading = "true";
try {
use_threading = vpIoTools::getenv("APPVEYOR_THREADING");
} catch (...) {
}
if (use_threading == "true") {
unsigned int nb_threads = 4;
unsigned int size = 1000007;
srand((unsigned int)time(NULL));
vpColVector v1(size), v2(size);
for (unsigned int i = 0; i < size; i++) {
v1[i] = rand() % 101;
v2[i] = rand() % 101;
}
std::vector<vpThread> threads(nb_threads);
std::vector<ArithmFunctor> functors(nb_threads);
unsigned int split = size / nb_threads;
for (unsigned int i = 0; i < nb_threads; i++) {
if (i < nb_threads - 1) {
functors[i] = ArithmFunctor(v1, v2, i * split, (i + 1) * split);
} else {
functors[i] = ArithmFunctor(v1, v2, i * split, size);
}
std::cout << "Create thread: " << i << std::endl;
threads[i].create((vpThread::Fn)arithmThread, (vpThread::Args)&functors[i]);
}
vpColVector res_add, res_mul;
for (size_t i = 0; i < nb_threads; i++) {
std::cout << "Join thread: " << i << std::endl;
threads[i].join();
insert(res_add, functors[i].getVectorAdd());
insert(res_mul, functors[i].getVectorMul());
}
if (!check(v1, v2, res_add, res_mul)) {
return EXIT_FAILURE;
}
}
std::cout << "testThread2 is ok!" << std::endl;
return EXIT_SUCCESS;
}
#else
#include <cstdlib>
#include <iostream>
int main()
{
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
std::cout << "You should enable pthread usage and rebuild ViSP..." << std::endl;
#else
std::cout << "Multi-threading seems not supported on this platform" << std::endl;
#endif
return EXIT_SUCCESS;
}
#endif