From bd1ef4dd6d1f314dab61b86b6a18c5c5f2052079 Mon Sep 17 00:00:00 2001 From: elsid 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 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 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 lock(mMutex); - mDone.wait(lock, [&] { return mJobs.empty() && getTotalThreadJobsUnsafe() == 0; }); + { + std::unique_lock 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(finish - start).count() << "ms" << - " total_time=" << std::chrono::duration_cast(finish - firstStart).count() << "ms"; + " total_time=" << std::chrono::duration_cast(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> mPushed; Misc::ScopeGuarded 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 #include +#include namespace Misc { @@ -79,6 +80,13 @@ namespace Misc return Locked(mMutex, mValue); } + template + void wait(std::condition_variable& cv, Predicate&& predicate) + { + std::unique_lock lock(mMutex); + cv.wait(lock, [&] { return predicate(mValue); }); + } + private: std::mutex mMutex; T mValue;