workerpool.h

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/* 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.
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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();