From bd1ef4dd6d1f314dab61b86b6a18c5c5f2052079 Mon Sep 17 00:00:00 2001
From: elsid <elsid.mail@gmail.com>
Date: Sat, 22 Feb 2020 13:03:44 -0800
Subject: [PATCH] Add detournavigator test for multiple worker threads
---
.../detournavigator/navigator.cpp | 67 +++++++++++++++++++
.../detournavigator/asyncnavmeshupdater.cpp | 22 ++++--
.../detournavigator/asyncnavmeshupdater.hpp | 1 +
components/detournavigator/navmeshmanager.cpp | 2 +-
components/misc/guarded.hpp | 8 +++
5 files changed, 92 insertions(+), 8 deletions(-)
diff --git a/apps/openmw_test_suite/detournavigator/navigator.cpp b/apps/openmw_test_suite/detournavigator/navigator.cpp
index 51370c8e09..71b5315132 100644
--- a/apps/openmw_test_suite/detournavigator/navigator.cpp
+++ b/apps/openmw_test_suite/detournavigator/navigator.cpp
@@ -699,4 +699,71 @@ namespace
EXPECT_FLOAT_EQ(distance, 85.260780334472656);
}
+
+ TEST_F(DetourNavigatorNavigatorTest, multiple_threads_should_lock_tiles)
+ {
+ mSettings.mAsyncNavMeshUpdaterThreads = 2;
+ mNavigator.reset(new NavigatorImpl(mSettings));
+
+ const std::array<btScalar, 5 * 5> heightfieldData {{
+ 0, 0, 0, 0, 0,
+ 0, -25, -25, -25, -25,
+ 0, -25, -100, -100, -100,
+ 0, -25, -100, -100, -100,
+ 0, -25, -100, -100, -100,
+ }};
+ btHeightfieldTerrainShape heightfieldShape(5, 5, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
+ heightfieldShape.setLocalScaling(btVector3(128, 128, 1));
+
+ const std::vector<btBoxShape> boxShapes(100, btVector3(20, 20, 100));
+
+ mNavigator->addAgent(mAgentHalfExtents);
+
+ mNavigator->addObject(ObjectId(&heightfieldShape), heightfieldShape, btTransform::getIdentity());
+
+ for (std::size_t i = 0; i < boxShapes.size(); ++i)
+ {
+ const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 10, i * 10, i * 10));
+ mNavigator->addObject(ObjectId(&boxShapes[i]), boxShapes[i], transform);
+ }
+
+ std::this_thread::sleep_for(std::chrono::microseconds(1));
+
+ for (std::size_t i = 0; i < boxShapes.size(); ++i)
+ {
+ const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 10 + 1, i * 10 + 1, i * 10 + 1));
+ mNavigator->updateObject(ObjectId(&boxShapes[i]), boxShapes[i], transform);
+ }
+
+ mNavigator->update(mPlayerPosition);
+ mNavigator->wait();
+
+ EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut), Status::Success);
+
+ EXPECT_THAT(mPath, ElementsAre(
+ Vec3fEq(-215, 215, 1.8782780170440673828125),
+ Vec3fEq(-199.7968292236328125, 191.09100341796875, -3.54875946044921875),
+ Vec3fEq(-184.5936431884765625, 167.1819915771484375, -8.97846889495849609375),
+ Vec3fEq(-169.3904571533203125, 143.2729949951171875, -14.40818119049072265625),
+ Vec3fEq(-154.1872711181640625, 119.363983154296875, -19.837886810302734375),
+ Vec3fEq(-138.9840850830078125, 95.4549713134765625, -25.2675952911376953125),
+ Vec3fEq(-123.78090667724609375, 71.54595947265625, -30.6973056793212890625),
+ Vec3fEq(-108.57772064208984375, 47.63695526123046875, -36.12701416015625),
+ Vec3fEq(-93.3745269775390625, 23.72794342041015625, -40.754695892333984375),
+ Vec3fEq(-78.17134857177734375, -0.18106450140476226806640625, -37.128795623779296875),
+ Vec3fEq(-62.968158721923828125, -24.0900726318359375, -33.50289154052734375),
+ Vec3fEq(-47.764972686767578125, -47.99908447265625, -30.797946929931640625),
+ Vec3fEq(-23.8524494171142578125, -63.196746826171875, -33.97112274169921875),
+ Vec3fEq(0.0600722394883632659912109375, -78.3944091796875, -37.14543914794921875),
+ Vec3fEq(23.97259521484375, -93.592071533203125, -40.774089813232421875),
+ Vec3fEq(47.885120391845703125, -108.78974151611328125, -36.051296234130859375),
+ Vec3fEq(71.797637939453125, -123.98740386962890625, -30.62355804443359375),
+ Vec3fEq(95.71016693115234375, -139.18505859375, -25.195819854736328125),
+ Vec3fEq(119.6226806640625, -154.382720947265625, -19.768085479736328125),
+ Vec3fEq(143.5352020263671875, -169.5803680419921875, -14.34035015106201171875),
+ Vec3fEq(167.447723388671875, -184.7780303955078125, -8.912616729736328125),
+ Vec3fEq(191.3602294921875, -199.9756927490234375, -3.48488140106201171875),
+ Vec3fEq(215, -215, 1.8782813549041748046875)
+ )) << mPath;
+ }
}
diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp
index da1ac19a7c..1c07384b8b 100644
--- a/components/detournavigator/asyncnavmeshupdater.cpp
+++ b/components/detournavigator/asyncnavmeshupdater.cpp
@@ -102,8 +102,11 @@ namespace DetourNavigator
void AsyncNavMeshUpdater::wait()
{
- std::unique_lock<std::mutex> lock(mMutex);
- mDone.wait(lock, [&] { return mJobs.empty() && getTotalThreadJobsUnsafe() == 0; });
+ {
+ std::unique_lock<std::mutex> lock(mMutex);
+ mDone.wait(lock, [&] { return mJobs.empty() && getTotalThreadJobsUnsafe() == 0; });
+ }
+ mProcessingTiles.wait(mProcessed, [] (const auto& v) { return v.empty(); });
}
void AsyncNavMeshUpdater::reportStats(unsigned int frameNumber, osg::Stats& stats) const
@@ -122,7 +125,7 @@ namespace DetourNavigator
void AsyncNavMeshUpdater::process() throw()
{
- Log(Debug::Debug) << "Start process navigator jobs";
+ Log(Debug::Debug) << "Start process navigator jobs by thread=" << std::this_thread::get_id();
while (!mShouldStop)
{
try
@@ -140,12 +143,13 @@ namespace DetourNavigator
Log(Debug::Error) << "AsyncNavMeshUpdater::process exception: " << e.what();
}
}
- Log(Debug::Debug) << "Stop navigator jobs processing";
+ Log(Debug::Debug) << "Stop navigator jobs processing by thread=" << std::this_thread::get_id();
}
bool AsyncNavMeshUpdater::processJob(const Job& job)
{
- Log(Debug::Debug) << "Process job for agent=(" << std::fixed << std::setprecision(2) << job.mAgentHalfExtents << ")";
+ Log(Debug::Debug) << "Process job for agent=(" << std::fixed << std::setprecision(2) << job.mAgentHalfExtents << ")"
+ " by thread=" << std::this_thread::get_id();
const auto start = std::chrono::steady_clock::now();
@@ -176,7 +180,8 @@ namespace DetourNavigator
" generation=" << locked->getGeneration() <<
" revision=" << locked->getNavMeshRevision() <<
" time=" << std::chrono::duration_cast<FloatMs>(finish - start).count() << "ms" <<
- " total_time=" << std::chrono::duration_cast<FloatMs>(finish - firstStart).count() << "ms";
+ " total_time=" << std::chrono::duration_cast<FloatMs>(finish - firstStart).count() << "ms"
+ " thread=" << std::this_thread::get_id();
return isSuccess(status);
}
@@ -201,7 +206,7 @@ namespace DetourNavigator
}
Log(Debug::Debug) << "Got " << mJobs.size() << " navigator jobs and "
- << threadQueue.mJobs.size() << " thread jobs";
+ << threadQueue.mJobs.size() << " thread jobs by thread=" << std::this_thread::get_id();
auto job = threadQueue.mJobs.empty()
? getJob(mJobs, mPushed)
@@ -329,6 +334,9 @@ namespace DetourNavigator
if (agent->second.empty())
locked->erase(agent);
+
+ if (locked->empty())
+ mProcessed.notify_all();
}
std::size_t AsyncNavMeshUpdater::getTotalThreadJobsUnsafe() const
diff --git a/components/detournavigator/asyncnavmeshupdater.hpp b/components/detournavigator/asyncnavmeshupdater.hpp
index c833d617c0..6a3799969f 100644
--- a/components/detournavigator/asyncnavmeshupdater.hpp
+++ b/components/detournavigator/asyncnavmeshupdater.hpp
@@ -86,6 +86,7 @@ namespace DetourNavigator
mutable std::mutex mMutex;
std::condition_variable mHasJob;
std::condition_variable mDone;
+ std::condition_variable mProcessed;
Jobs mJobs;
std::map<osg::Vec3f, std::set<TilePosition>> mPushed;
Misc::ScopeGuarded<TilePosition> mPlayerTile;
diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp
index b6c25bd93c..2424a51e31 100644
--- a/components/detournavigator/navmeshmanager.cpp
+++ b/components/detournavigator/navmeshmanager.cpp
@@ -191,7 +191,7 @@ namespace DetourNavigator
mAsyncNavMeshUpdater.post(agentHalfExtents, cached, playerTile, tilesToPost);
if (changedTiles != mChangedTiles.end())
changedTiles->second.clear();
- Log(Debug::Debug) << "cache update posted for agent=" << agentHalfExtents <<
+ Log(Debug::Debug) << "Cache update posted for agent=" << agentHalfExtents <<
" playerTile=" << lastPlayerTile->second <<
" recastMeshManagerRevision=" << lastRevision;
}
diff --git a/components/misc/guarded.hpp b/components/misc/guarded.hpp
index 559476867a..55a2c670cf 100644
--- a/components/misc/guarded.hpp
+++ b/components/misc/guarded.hpp
@@ -3,6 +3,7 @@
#include <mutex>
#include <memory>
+#include <condition_variable>
namespace Misc
{
@@ -79,6 +80,13 @@ namespace Misc
return Locked<const T>(mMutex, mValue);
}
+ template <class Predicate>
+ void wait(std::condition_variable& cv, Predicate&& predicate)
+ {
+ std::unique_lock<std::mutex> lock(mMutex);
+ cv.wait(lock, [&] { return predicate(mValue); });
+ }
+
private:
std::mutex mMutex;
T mValue;