1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
|
// Copyright (C) 2018-2022 Intel Corporation
// SPDX-License-Identifier: Apache-2.0
//
#pragma once
#include <algorithm>
#include <atomic>
#include <condition_variable>
#include <memory>
#include <mutex>
#include <utility>
#include <set>
#include <string>
#include <thread>
#include <vector>
#include <opencv2/core/core.hpp>
#include "utils/performance_metrics.hpp"
// VideoFrame can represent not a single image but the whole grid
class VideoFrame {
public:
typedef std::shared_ptr<VideoFrame> Ptr;
VideoFrame(unsigned sourceID, int64_t frameId, const cv::Mat& frame = cv::Mat()) :
sourceID{sourceID}, frameId{frameId}, frame{frame} {}
virtual ~VideoFrame() = default; // A user has to define how it is reconstructed
const unsigned sourceID;
const int64_t frameId;
cv::Mat frame;
PerformanceMetrics::TimePoint timestamp;
};
class Worker;
class Task {
public:
explicit Task(VideoFrame::Ptr sharedVideoFrame, float priority = 0):
sharedVideoFrame{sharedVideoFrame}, priority{priority} {}
virtual bool isReady() = 0;
virtual void process() = 0;
virtual ~Task() = default;
std::string name;
VideoFrame::Ptr sharedVideoFrame; // it is possible that two tasks try to draw on the same cvMat
const float priority;
};
struct HigherPriority {
bool operator()(const std::shared_ptr<Task>& lhs, const std::shared_ptr<Task>& rhs) const {
return lhs->priority > rhs->priority
|| (lhs->priority == rhs->priority && lhs->sharedVideoFrame->frameId < rhs->sharedVideoFrame->frameId)
|| (lhs->priority == rhs->priority && lhs->sharedVideoFrame->frameId == rhs->sharedVideoFrame->frameId && lhs < rhs);
}
};
class Worker {
public:
explicit Worker(unsigned threadNum):
threadPool(threadNum), running{false} {}
~Worker() {
stop();
}
void runThreads() {
running = true;
for (std::thread& t : threadPool) {
t = std::thread(&Worker::threadFunc, this);
}
}
void push(std::shared_ptr<Task> task) {
tasksMutex.lock();
tasks.insert(task);
tasksMutex.unlock();
tasksCondVar.notify_one();
}
void threadFunc() {
while (running) {
std::unique_lock<std::mutex> lk(tasksMutex);
while (running && tasks.empty()) {
tasksCondVar.wait(lk);
}
try {
auto it = std::find_if(tasks.begin(), tasks.end(), [](const std::shared_ptr<Task>& task){return task->isReady();});
if (tasks.end() != it) {
const std::shared_ptr<Task> task = std::move(*it);
tasks.erase(it);
lk.unlock();
task->process();
}
} catch (...) {
std::lock_guard<std::mutex> lock{exceptionMutex};
if (nullptr == currentException) {
currentException = std::current_exception();
stop();
}
}
}
}
void stop() {
running = false;
tasksCondVar.notify_all();
}
void join() {
for (auto& t : threadPool) {
t.join();
}
if (nullptr != currentException) {
std::rethrow_exception(currentException);
}
}
private:
std::condition_variable tasksCondVar;
std::set<std::shared_ptr<Task>, HigherPriority> tasks;
std::mutex tasksMutex;
std::vector<std::thread> threadPool;
std::atomic<bool> running;
std::exception_ptr currentException;
std::mutex exceptionMutex;
};
void tryPush(const std::weak_ptr<Worker>& worker, std::shared_ptr<Task>&& task) {
try {
std::shared_ptr<Worker>(worker)->push(task);
} catch (const std::bad_weak_ptr&) {}
}
template <class C> class ConcurrentContainer {
public:
C container;
mutable std::mutex mutex;
bool lockedEmpty() const noexcept {
std::lock_guard<std::mutex> lock{mutex};
return container.empty();
}
typename C::size_type lockedSize() const noexcept {
std::lock_guard<std::mutex> lock{mutex};
return container.size();
}
void lockedPushBack(const typename C::value_type& value) {
std::lock_guard<std::mutex> lock{mutex};
container.push_back(value);
}
bool lockedTryPop(typename C::value_type& value) {
mutex.lock();
if (!container.empty()) {
value = container.back();
container.pop_back();
mutex.unlock();
return true;
} else {
mutex.unlock();
return false;
}
}
operator C() const {
std::lock_guard<std::mutex> lock{mutex};
return container;
}
};
|
