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Implement Multi-Threading into the Codebase #58

Merged
merged 33 commits into from
Jul 29, 2023
Merged

Implement Multi-Threading into the Codebase #58

merged 33 commits into from
Jul 29, 2023

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ClayJay3
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@ClayJay3 ClayJay3 commented Jul 27, 2023 •
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This PR implements an interface class that aims to give programmers the ability to easily multi-thread their code without worrying about low-level thread and memory management. Just inherit the base class and implement a couple pure virtual functions.

Since resource access management (resource locking) for the users implemented code can not be controlled internally by the interface, users should know when and how to acquire locks with mutexes and they should also use atomic whenever possible. A guide detailing this will be implemented shortly.

- Implemented AutonomyThread bass class.
    - High level thread management
    - All threaded code implemented in pure virtual functions
    - Thread pool functionality
    - Loop parallelizer functionality
    - Guaranteed safe shutdown of threads
    - Ability to return templated type from thread pool
- Added two threading examples
    -   A prime number calculator
    -  An Aruco tag generator

Closes issue #29

ClayJay3 added 26 commits July 16, 2023 20:56
@ClayJay3
Some directory restructure and added READMEs.
f8665d4
@ClayJay3
Updated src and project README.
9ebac77
@ClayJay3
Update file Authors.
dad56ce
@ClayJay3
Added new directories to CMAKE and fixed imports.
4609129
@ClayJay3
Threading abstraction test.
dab3555
@ClayJay3
Merge remote-tracking branch 'origin/development' into topic/multithr…
b9b60ea 
…eading-infrastructure
@ClayJay3
Upgrade to C++ 20.
ff5a775
@ClayJay3
Implemented and started testing AutonomyThread template.
063bc7b
@ClayJay3
Troubleshooting stop functionality of thread.
2db3ee0
@ClayJay3
Testing.
6d6054c
@ClayJay3
Debugging a thread.detach issue. Added some more thread safety.
9197de4
@ClayJay3
Method renaming and fixed intellisense c++ compiler version.
c2c6be6
@ClayJay3
Removed detach functionality as it's unsafe, use join instead.
3b44840
@ClayJay3
Fixed cpp intellisense include paths.
c92cb33
@ClayJay3
Rewriting AutonomyThreading base class to universally support single …
58b5ccf 
…threads and pools with return types.
@ClayJay3
Single threading is functional with new threadpool design.
de15f3d
@ClayJay3
Once again rewrote and reworking threading interface. ThreadPools are…
2cdcb65 
… now only for internal use as a utility to the main thread.
@ClayJay3
Renamed thread interface, fixed joining bug.
c4a6a90
@ClayJay3
Improved safety of AutonomyThread destructor.
e0abded
@ClayJay3
Implemented example of main thread utilizing thread pooling.
1f80683
@ClayJay3
Reorganized AutonomyThread interface and implemented a loop paralleli…
1c1100e 
…zer.
@ClayJay3
Troubleshooting thread resource locks.
c8cc8af
@ClayJay3
Fixed a race condition, fixed premature thread destruction, and final…
df4eb7f 
…ized example file.
@ClayJay3
Prevented AutonomyThread Start() method from spawning more than one t…
9db13fe 
…hread.
@ClayJay3
Merge remote-tracking branch 'origin/development' into topic/multithr…
0828389 
…eading-infrastructure
@ClayJay3
Added example to main.
f40631e
@ClayJay3 ClayJay3 added enhancement Requests for new features or improvements to existing features. 5-Star Indicates a very difficult task, suitable for experts or those with extensive experience, requiring labels Jul 27, 2023
@ClayJay3 ClayJay3 added this to the URC 2024 - Sprint 0 milestone Jul 27, 2023
@ClayJay3 ClayJay3 requested a review from Byrdman32 July 27, 2023 01:47
@ClayJay3 ClayJay3 self-assigned this Jul 27, 2023
@ClayJay3 ClayJay3 linked an issue Jul 27, 2023 that may be closed by this pull request
Implement Multi-Threading into the Codebase #29
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@ClayJay3 ClayJay3 temporarily deployed to github-pages July 27, 2023 01:47 — with GitHub Actions Inactive
@ClayJay3 ClayJay3 changed the title Topic/multithreading infrastructure Implement Multi-Threading into the Codebase Jul 27, 2023
Byrdman32
Byrdman32 requested changes Jul 27, 2023
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Overall looks good. Please look at the comments and modify or justify the method/reason for doing it the way implemented.

@ClayJay3 ClayJay3 temporarily deployed to github-pages July 28, 2023 03:00 — with GitHub Actions Inactive
ClayJay3
ClayJay3 commented Jul 28, 2023
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All comments resolved, and requested changes have been made.

@ClayJay3 ClayJay3 requested a review from Byrdman32 July 28, 2023 03:09
Byrdman32
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Making the one change requested in the devcontainer.json file and then it looks like it will be ready for merging.

Byrdman32
Byrdman32 requested changes Jul 29, 2023
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@ClayJay3 ClayJay3 temporarily deployed to github-pages July 29, 2023 03:29 — with GitHub Actions Inactive
@ClayJay3 ClayJay3 temporarily deployed to github-pages July 29, 2023 03:30 — with GitHub Actions Inactive
@ClayJay3 ClayJay3 requested a review from Byrdman32 July 29, 2023 03:31
@ClayJay3 ClayJay3 temporarily deployed to github-pages July 29, 2023 03:32 — with GitHub Actions Inactive
Byrdman32
Byrdman32 approved these changes Jul 29, 2023
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Looks great! Thanks for your patience.

@ClayJay3 ClayJay3 merged commit 0abf765 into development Jul 29, 2023
@ClayJay3 ClayJay3 deleted the topic/multithreading-infrastructure branch July 29, 2023 03:54
MRDT-Software pushed a commit that referenced this pull request May 14, 2024
@ClayJay3
Merge pull request #58 from MissouriMRDT/topic/multithreading-infrast…
355eb12 
…ructure

Implement Multi-Threading into the Codebase
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@Byrdman32 Byrdman32 Byrdman32 approved these changes

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Implement Multi-Threading into the Codebase
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