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Binding to setup task scheduler (nb threads) (#366)
* Binding to setup task scheduler (nb threads) * Update examples/taskScheduler.py Co-authored-by: Hugo <hugo.talbot@sofa-framework.org> --------- Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>
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‎bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_TaskScheduler.cpp‎

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/******************************************************************************
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* SofaPython3 plugin *
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* (c) 2021 CNRS, University of Lille, INRIA *
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* *
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* This program is free software; you can redistribute it and/or modify it *
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* under the terms of the GNU Lesser General Public License as published by *
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* the Free Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, but WITHOUT *
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* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
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* for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with this program. If not, see <http://www.gnu.org/licenses/>. *
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*******************************************************************************
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* Contact information: contact@sofa-framework.org *
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******************************************************************************/
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#include <SofaPython3/Sofa/Core/Binding_TaskScheduler.h>
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#include <sofa/simulation/MainTaskSchedulerFactory.h>
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#include <sofa/simulation/TaskScheduler.h>
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#include <SofaPython3/Sofa/Core/Binding_TaskScheduler_doc.h>
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/// Makes an alias for the pybind11 namespace to increase readability.
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namespace py { using namespace pybind11; }
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namespace sofapython3
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{
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py::module moduleAddTaskScheduler(py::module& m)
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{
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py::module taskSchedulerModule = m.def_submodule("TaskScheduler");
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taskSchedulerModule.doc() = R"doc(
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TaskScheduler
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-----------------------
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Configuration of the main task scheduler.
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)doc";
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taskSchedulerModule.def("init", [](const unsigned int nbThreads)
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{
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auto* const taskScheduler = sofa::simulation::MainTaskSchedulerFactory::createInRegistry();
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assert(taskScheduler);
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taskScheduler->init(nbThreads);
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}, sofapython3::doc::taskscheduler::init);
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taskSchedulerModule.def("getThreadCount", []()
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{
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const auto* const taskScheduler = sofa::simulation::MainTaskSchedulerFactory::createInRegistry();
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assert(taskScheduler);
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return taskScheduler->getThreadCount();
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}, sofapython3::doc::taskscheduler::getThreadCount);
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taskSchedulerModule.def("stop", []()
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{
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auto* const taskScheduler = sofa::simulation::MainTaskSchedulerFactory::createInRegistry();
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assert(taskScheduler);
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return taskScheduler->stop();
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});
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taskSchedulerModule.def("GetHardwareThreadsCount", []()
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{
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return sofa::simulation::TaskScheduler::GetHardwareThreadsCount();
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}, sofapython3::doc::taskscheduler::GetHardwareThreadsCount);
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return taskSchedulerModule;
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}
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}

‎bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_TaskScheduler.h‎

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/******************************************************************************
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* SofaPython3 plugin *
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* (c) 2021 CNRS, University of Lille, INRIA *
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* *
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* This program is free software; you can redistribute it and/or modify it *
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* under the terms of the GNU Lesser General Public License as published by *
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* the Free Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, but WITHOUT *
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* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
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* for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with this program. If not, see <http://www.gnu.org/licenses/>. *
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*******************************************************************************
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* Contact information: contact@sofa-framework.org *
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******************************************************************************/
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#pragma once
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#include <pybind11/pybind11.h>
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namespace sofapython3 {
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pybind11::module moduleAddTaskScheduler(pybind11::module& m);
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} /// namespace sofapython3

‎bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_TaskScheduler_doc.h‎

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/******************************************************************************
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* SofaPython3 plugin *
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* (c) 2021 CNRS, University of Lille, INRIA *
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* *
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* This program is free software; you can redistribute it and/or modify it *
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* under the terms of the GNU Lesser General Public License as published by *
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* the Free Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, but WITHOUT *
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* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
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* for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with this program. If not, see <http://www.gnu.org/licenses/>. *
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*******************************************************************************
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* Contact information: contact@sofa-framework.org *
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******************************************************************************/
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#pragma once
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namespace sofapython3::doc::taskscheduler
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{
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static auto init =
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R"(
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Initialize the main task scheduler with a number of threads.
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)";
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static auto getThreadCount =
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R"(
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Returns the number of threads used by the main task scheduler.
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)";
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static auto GetHardwareThreadsCount =
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R"(
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Assuming 2 concurrent threads by CPU core, return the number of CPU cores on the system
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)";
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}

‎bindings/Sofa/src/SofaPython3/Sofa/Core/CMakeLists.txt‎

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${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseCamera_doc.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_Topology.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseMeshTopology.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_TaskScheduler.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_TaskScheduler_doc.h
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)
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set(SOURCE_FILES
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseLink.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_Topology.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseMeshTopology.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_TaskScheduler.cpp
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)
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if (NOT TARGET SofaPython3::Plugin)

‎bindings/Sofa/src/SofaPython3/Sofa/Core/Submodule_Core.cpp‎

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#include <SofaPython3/Sofa/Core/Binding_PythonScriptEvent.h>
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#include <SofaPython3/Sofa/Core/Binding_Topology.h>
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#include <SofaPython3/Sofa/Core/Binding_BaseMeshTopology.h>
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#include <SofaPython3/Sofa/Core/Binding_TaskScheduler.h>
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#include <SofaPython3/Sofa/Core/Data/Binding_DataString.h>
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#include <SofaPython3/Sofa/Core/Data/Binding_DataLink.h>
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moduleAddTopology(core);
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moduleAddBaseMeshTopology(core);
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moduleAddPointSetTopologyModifier(core);
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moduleAddTaskScheduler(core);
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}
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} ///namespace sofapython3

‎examples/taskScheduler.py‎

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import Sofa
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from Sofa.Core import TaskScheduler
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import time
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def createScene(root):
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root.dt = 0.01
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root.addObject("RequiredPlugin", pluginName=[
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"MultiThreading",
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"Sofa.Component.Constraint.Projective",
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"Sofa.Component.Engine.Select",
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"Sofa.Component.LinearSolver.Iterative",
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"Sofa.Component.Mass",
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"Sofa.Component.ODESolver.Backward",
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"Sofa.Component.StateContainer",
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"Sofa.Component.Topology.Container.Grid",
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"Sofa.Component.Visual",
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"Sofa.Component.Topology.Container.Dynamic",
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])
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root.addObject('VisualStyle', displayFlags="showForceFields")
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root.addObject('DefaultAnimationLoop')
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root.addObject('EulerImplicitSolver', rayleighStiffness=0.1, rayleighMass=0.1)
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root.addObject('CGLinearSolver', iterations=25, tolerance=1.0e-9, threshold=1.0e-9)
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root.addObject('MechanicalObject', template="Vec3")
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root.addObject('UniformMass', vertexMass=1)
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root.addObject('RegularGridTopology', nx=8, ny=8, nz=40, xmin=-1.5, xmax=1.5, ymin=-1.5, ymax=1.5, zmin=0, zmax=19)
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root.addObject('BoxROI', box=[-1.5, -1.5, 0, 1.5, 1.5, 0.0001], name="box")
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root.addObject('FixedConstraint', indices="@box.indices")
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root.addObject('ParallelHexahedronFEMForceField', youngModulus=400000, poissonRatio=0.4, method="large", updateStiffnessMatrix=False)
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# When not using runSofa, this main function will be called python
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def main():
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root = Sofa.Core.Node("root")
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createScene(root)
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Sofa.Simulation.init(root)
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for nb_threads in range(1, TaskScheduler.GetHardwareThreadsCount() + 1):
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print(f'Number of threads #{nb_threads}')
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Sofa.Simulation.reset(root)
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TaskScheduler.init(nb_threads)
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start = time.time()
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for iteration in range(500):
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Sofa.Simulation.animate(root, root.dt.value)
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end = time.time()
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print("500 iterations computed in " + str(end - start) + " seconds")
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print("Stopping...")
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TaskScheduler.stop()
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print("Stopped")
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if __name__ == '__main__':
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main()

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