common/workerpool.h

/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
All rights reserved.
This software was developed in the APRIL Robotics Lab under the
direction of Edwin Olson, ebolson@umich.edu. This software may be
available under alternative licensing terms; contact the address above.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
   list of conditions and the following disclaimer.
2. 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.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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*/

#pragma once

#include "zarray.h"

typedef struct workerpool workerpool_t;

// as a special case, if nthreads==1, no additional threads are
// created, and workerpool_run will run synchronously.
workerpool_t *workerpool_create(int nthreads);
void workerpool_destroy(workerpool_t *wp);

void workerpool_add_task(workerpool_t *wp, void (*f)(void *p), void *p);

// runs all added tasks, waits for them to complete.
void workerpool_run(workerpool_t *wp);

// same as workerpool_run, except always single threaded. (mostly for debugging).
void workerpool_run_single(workerpool_t *wp);

int workerpool_get_nthreads(workerpool_t *wp);

int workerpool_get_nprocs();