1 | /* |
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2 | Bullet Continuous Collision Detection and Physics Library |
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3 | Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com |
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4 | |
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5 | This software is provided 'as-is', without any express or implied warranty. |
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6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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7 | Permission is granted to anyone to use this software for any purpose, |
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8 | including commercial applications, and to alter it and redistribute it freely, |
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9 | subject to the following restrictions: |
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10 | |
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11 | 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. |
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12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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13 | 3. This notice may not be removed or altered from any source distribution. |
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14 | */ |
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15 | |
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16 | #include <stdio.h> |
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17 | #include "PosixThreadSupport.h" |
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18 | |
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19 | |
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20 | #ifdef USE_PTHREADS |
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21 | |
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22 | #include "SpuCollisionTaskProcess.h" |
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23 | #include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h" |
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24 | |
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25 | #define checkPThreadFunction(returnValue) \ |
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26 | if(0 != returnValue) { \ |
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27 | printf("PThread problem at line %i in file %s: %i\n", __LINE__, __FILE__, returnValue); \ |
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28 | } |
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29 | |
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30 | // The number of threads should be equal to the number of available cores |
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31 | // Todo: each worker should be linked to a single core, using SetThreadIdealProcessor. |
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32 | |
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33 | // PosixThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication |
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34 | // Setup and initialize SPU/CELL/Libspe2 |
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35 | PosixThreadSupport::PosixThreadSupport(ThreadConstructionInfo& threadConstructionInfo) |
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36 | { |
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37 | startThreads(threadConstructionInfo); |
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38 | } |
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39 | |
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40 | // cleanup/shutdown Libspe2 |
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41 | PosixThreadSupport::~PosixThreadSupport() |
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42 | { |
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43 | stopSPU(); |
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44 | } |
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45 | |
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46 | // this semaphore will signal, if and how many threads are finished with their work |
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47 | static sem_t mainSemaphore; |
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48 | |
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49 | static void *threadFunction(void *argument) |
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50 | { |
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51 | |
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52 | PosixThreadSupport::btSpuStatus* status = (PosixThreadSupport::btSpuStatus*)argument; |
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53 | |
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54 | |
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55 | while (1) |
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56 | { |
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57 | checkPThreadFunction(sem_wait(&status->startSemaphore)); |
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58 | |
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59 | void* userPtr = status->m_userPtr; |
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60 | |
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61 | if (userPtr) |
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62 | { |
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63 | btAssert(status->m_status); |
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64 | status->m_userThreadFunc(userPtr,status->m_lsMemory); |
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65 | status->m_status = 2; |
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66 | checkPThreadFunction(sem_post(&mainSemaphore)); |
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67 | |
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68 | status->threadUsed++; |
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69 | } else { |
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70 | //exit Thread |
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71 | status->m_status = 3; |
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72 | checkPThreadFunction(sem_post(&mainSemaphore)); |
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73 | printf("Thread with taskId %i exiting\n",status->m_taskId); |
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74 | break; |
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75 | } |
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76 | |
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77 | } |
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78 | |
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79 | printf("Thread TERMINATED\n"); |
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80 | return 0; |
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81 | |
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82 | } |
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83 | |
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84 | ///send messages to SPUs |
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85 | void PosixThreadSupport::sendRequest(uint32_t uiCommand, uint32_t uiArgument0, uint32_t taskId) |
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86 | { |
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87 | /// gMidphaseSPU.sendRequest(CMD_GATHER_AND_PROCESS_PAIRLIST, (uint32_t) &taskDesc); |
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88 | |
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89 | ///we should spawn an SPU task here, and in 'waitForResponse' it should wait for response of the (one of) the first tasks that finished |
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90 | |
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91 | |
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92 | |
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93 | switch (uiCommand) |
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94 | { |
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95 | case CMD_GATHER_AND_PROCESS_PAIRLIST: |
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96 | { |
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97 | btSpuStatus& spuStatus = m_activeSpuStatus[taskId]; |
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98 | btAssert(taskId >= 0); |
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99 | btAssert(taskId < m_activeSpuStatus.size()); |
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100 | |
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101 | spuStatus.m_commandId = uiCommand; |
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102 | spuStatus.m_status = 1; |
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103 | spuStatus.m_userPtr = (void*)uiArgument0; |
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104 | |
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105 | // fire event to start new task |
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106 | checkPThreadFunction(sem_post(&spuStatus.startSemaphore)); |
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107 | break; |
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108 | } |
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109 | default: |
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110 | { |
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111 | ///not implemented |
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112 | btAssert(0); |
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113 | } |
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114 | |
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115 | }; |
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116 | |
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117 | |
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118 | } |
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119 | |
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120 | |
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121 | ///check for messages from SPUs |
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122 | void PosixThreadSupport::waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1) |
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123 | { |
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124 | ///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response |
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125 | |
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126 | ///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback' |
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127 | |
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128 | |
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129 | btAssert(m_activeSpuStatus.size()); |
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130 | |
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131 | // wait for any of the threads to finish |
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132 | checkPThreadFunction(sem_wait(&mainSemaphore)); |
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133 | |
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134 | // get at least one thread which has finished |
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135 | size_t last = -1; |
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136 | |
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137 | for(size_t t=0; t < m_activeSpuStatus.size(); ++t) { |
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138 | if(2 == m_activeSpuStatus[t].m_status) { |
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139 | last = t; |
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140 | break; |
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141 | } |
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142 | } |
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143 | |
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144 | btSpuStatus& spuStatus = m_activeSpuStatus[last]; |
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145 | |
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146 | btAssert(spuStatus.m_status > 1); |
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147 | spuStatus.m_status = 0; |
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148 | |
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149 | // need to find an active spu |
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150 | btAssert(last >= 0); |
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151 | |
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152 | *puiArgument0 = spuStatus.m_taskId; |
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153 | *puiArgument1 = spuStatus.m_status; |
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154 | } |
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155 | |
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156 | |
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157 | |
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158 | void PosixThreadSupport::startThreads(ThreadConstructionInfo& threadConstructionInfo) |
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159 | { |
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160 | printf("%s creating %i threads.\n", __FUNCTION__, threadConstructionInfo.m_numThreads); |
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161 | m_activeSpuStatus.resize(threadConstructionInfo.m_numThreads); |
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162 | |
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163 | checkPThreadFunction(sem_init(&mainSemaphore, 0, 0)); |
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164 | |
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165 | for (int i=0;i < threadConstructionInfo.m_numThreads;i++) |
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166 | { |
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167 | printf("starting thread %d\n",i); |
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168 | |
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169 | btSpuStatus& spuStatus = m_activeSpuStatus[i]; |
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170 | |
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171 | checkPThreadFunction(sem_init(&spuStatus.startSemaphore, 0, 0)); |
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172 | checkPThreadFunction(pthread_create(&spuStatus.thread, NULL, &threadFunction, (void*)&spuStatus)); |
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173 | |
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174 | spuStatus.m_userPtr=0; |
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175 | |
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176 | spuStatus.m_taskId = i; |
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177 | spuStatus.m_commandId = 0; |
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178 | spuStatus.m_status = 0; |
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179 | spuStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc(); |
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180 | spuStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc; |
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181 | spuStatus.threadUsed = 0; |
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182 | |
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183 | printf("started thread %d \n",i); |
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184 | |
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185 | } |
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186 | |
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187 | } |
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188 | |
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189 | void PosixThreadSupport::startSPU() |
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190 | { |
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191 | } |
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192 | |
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193 | |
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194 | ///tell the task scheduler we are done with the SPU tasks |
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195 | void PosixThreadSupport::stopSPU() |
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196 | { |
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197 | for(size_t t=0; t < m_activeSpuStatus.size(); ++t) { |
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198 | btSpuStatus& spuStatus = m_activeSpuStatus[t]; |
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199 | printf("%s: Thread %i used: %ld\n", __FUNCTION__, t, spuStatus.threadUsed); |
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200 | |
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201 | |
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202 | checkPThreadFunction(sem_destroy(&spuStatus.startSemaphore)); |
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203 | checkPThreadFunction(pthread_cancel(spuStatus.thread)); |
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204 | } |
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205 | checkPThreadFunction(sem_destroy(&mainSemaphore)); |
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206 | |
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207 | m_activeSpuStatus.clear(); |
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208 | } |
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209 | |
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210 | #endif // USE_PTHREADS |
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211 | |
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