created a queue-based thread pool. Tasks are inserted into a queue and then popped by the thread pool workers to be processed.

lib/include/srslte/common/thread_pool.h

@@ -29,10 +29,15 @@
 #ifndef SRSLTE_THREAD_POOL_H
 #define SRSLTE_THREAD_POOL_H
 
+#include <condition_variable>
+#include <functional>
+#include <memory>
+#include <mutex>
+#include <queue>
+#include <stack>
 #include <stdint.h>
 #include <string>
 #include <vector>
-#include <stack>
 
 #include "srslte/common/threads.h"
 
@@ -96,6 +101,48 @@ private:
   std::vector<pthread_mutex_t> mutex;
   std::stack<worker*>          available_workers;
 };
-}
+
+class task_thread_pool
+{
+  using task_t = std::function<void(uint32_t worker_id)>;
+
+public:
+  task_thread_pool(uint32_t nof_workers);
+  ~task_thread_pool();
+  void start(int32_t prio = -1, uint32_t mask = 255);
+  void stop();
+
+  void     push_task(const task_t& task);
+  void     push_task(task_t&& task);
+  uint32_t nof_pending_tasks();
+
+private:
+  class worker_t : public thread
+  {
+  public:
+    explicit worker_t(task_thread_pool* parent_, uint32_t id);
+    void     setup(int32_t prio, uint32_t mask);
+    bool     is_running() const { return running; }
+    uint32_t id() const { return id_; }
+
+    void run_thread() override;
+
+  private:
+    bool wait_task(task_t* task);
+
+    task_thread_pool* parent  = nullptr;
+    uint32_t          id_     = 0;
+    bool              running = false;
+  };
+
+  std::queue<task_t>      pending_tasks;
+  std::vector<worker_t>   workers;
+  std::mutex              queue_mutex;
+  std::condition_variable cv_empty, cv_exit;
+  bool                    running;
+  uint32_t                nof_workers_running = 0;
+};
+
+} // namespace srslte
 
 #endif // SRSLTE_THREAD_POOL_H

lib/include/srslte/common/threads.h

@@ -50,9 +50,11 @@ class thread
 {
 public:
   thread(const std::string& name_) : _thread(0), name(name_) {}
-  bool start(int prio = -1) {
+  thread(const thread&)     = delete;
-    return threads_new_rt_prio(&_thread, thread_function_entry, this, prio);    
+  thread(thread&&) noexcept = default;
-  }
+  thread& operator=(const thread&) = delete;
+  thread& operator=(thread&&) noexcept = default;
+  bool    start(int prio = -1) { return threads_new_rt_prio(&_thread, thread_function_entry, this, prio); }
   bool start_cpu(int prio, int cpu) {
     return threads_new_rt_cpu(&_thread, thread_function_entry, this, cpu, prio);    
   }

lib/src/common/thread_pool.cc

@@ -280,6 +280,129 @@ uint32_t thread_pool::get_nof_workers()
   return nof_workers;
 }
 
+/**************************************************************************
+ *  task_thread_pool - uses a queue to enqueue callables, that start
+ *  once a worker is available
+ *************************************************************************/
+
+task_thread_pool::task_thread_pool(uint32_t nof_workers) : running(false)
+{
+  workers.reserve(nof_workers);
+  for (uint32_t i = 0; i < nof_workers; ++i) {
+    workers.emplace_back(this, i);
+  }
+}
+
+task_thread_pool::~task_thread_pool()
+{
+  stop();
 }
 
+void task_thread_pool::start(int32_t prio, uint32_t mask)
+{
+  std::lock_guard<std::mutex> lock(queue_mutex);
+  running = true;
+  for (worker_t& w : workers) {
+    w.setup(prio, mask);
+  }
+}
+
+void task_thread_pool::stop()
+{
+  std::unique_lock<std::mutex> lock(queue_mutex);
+  running = false;
+  do {
+    nof_workers_running = 0;
+    // next worker that is still running
+    for (worker_t& w : workers) {
+      if (w.is_running()) {
+        nof_workers_running++;
+      }
+    }
+    if (nof_workers_running > 0) {
+      lock.unlock();
+      cv_empty.notify_all();
+      lock.lock();
+      cv_exit.wait(lock);
+    }
+  } while (nof_workers_running > 0);
+}
+
+void task_thread_pool::push_task(const task_t& task)
+{
+  {
+    std::lock_guard<std::mutex> lock(queue_mutex);
+    pending_tasks.push(task);
+  }
+  cv_empty.notify_one();
+}
+
+void task_thread_pool::push_task(task_t&& task)
+{
+  {
+    std::lock_guard<std::mutex> lock(queue_mutex);
+    pending_tasks.push(std::move(task));
+  }
+  cv_empty.notify_one();
+}
+
+uint32_t task_thread_pool::nof_pending_tasks()
+{
+  std::lock_guard<std::mutex> lock(queue_mutex);
+  return pending_tasks.size();
+}
+
+task_thread_pool::worker_t::worker_t(srslte::task_thread_pool* parent_, uint32_t my_id) :
+  parent(parent_),
+  thread("TASKWORKER"),
+  id_(my_id)
+{
+  set_name(std::string("TASKWORKER") + std::to_string(my_id));
+}
+
+void task_thread_pool::worker_t::setup(int32_t prio, uint32_t mask)
+{
+  if (mask == 255) {
+    start(prio);
+  } else {
+    start_cpu_mask(prio, mask);
+  }
+}
+
+bool task_thread_pool::worker_t::wait_task(task_t* task)
+{
+  std::unique_lock<std::mutex> lock(parent->queue_mutex);
+  while (parent->running and parent->pending_tasks.empty()) {
+    parent->cv_empty.wait(lock);
+  }
+  if (not parent->running) {
+    return false;
+  }
+  if (task) {
+    *task = std::move(parent->pending_tasks.front());
+  }
+  parent->pending_tasks.pop();
+  return true;
+}
+
+void task_thread_pool::worker_t::run_thread()
+{
+  running = true;
+
+  // main loop
+  task_t task;
+  while (wait_task(&task)) {
+    task(id());
+  }
+
+  // on exit, notify pool class
+  std::unique_lock<std::mutex> lock(parent->queue_mutex);
+  running = false;
+  parent->nof_workers_running--;
+  if (parent->nof_workers_running == 0) {
+    lock.unlock();
+    parent->cv_exit.notify_one();
+  }
+}
 
+} // namespace srslte

lib/test/common/queue_test.cc

@@ -19,8 +19,9 @@
  *
  */
 
+#include "srslte/common/multiqueue.h"
+#include "srslte/common/thread_pool.h"
 #include <iostream>
-#include <srslte/common/multiqueue.h>
 #include <thread>
 #include <unistd.h>
 
@@ -214,10 +215,104 @@ int test_multiqueue_threading3()
   return 0;
 }
 
+int test_task_thread_pool()
+{
+  std::cout << "\n====== TEST task thread pool test 1: start ======\n";
+  // Description: check whether the tasks are successfully distributed between workers
+
+  uint32_t                nof_workers = 4, nof_runs = 10000;
+  std::vector<int>        count_worker(nof_workers, 0);
+  std::vector<std::mutex> count_mutex(nof_workers);
+
+  task_thread_pool thread_pool(nof_workers);
+  thread_pool.start();
+
+  auto task = [&count_worker, &count_mutex](uint32_t worker_id) {
+    std::lock_guard<std::mutex> lock(count_mutex[worker_id]);
+    //    std::cout << "hello world from worker " << worker_id << std::endl;
+    count_worker[worker_id]++;
+  };
+
+  for (uint32_t i = 0; i < nof_runs; ++i) {
+    thread_pool.push_task(task);
+  }
+
+  // wait for all tasks to be successfully processed
+  while (thread_pool.nof_pending_tasks() > 0) {
+    usleep(100);
+  }
+
+  thread_pool.stop();
+
+  uint32_t total_count = 0;
+  for (uint32_t i = 0; i < nof_workers; ++i) {
+    if (count_worker[i] < 10) {
+      printf("the number of tasks %d assigned to worker %d is too low\n", count_worker[i], i);
+      return -1;
+    }
+    total_count += count_worker[i];
+    printf("worker %d: %d runs\n", i, count_worker[i]);
+  }
+  if (total_count != nof_runs) {
+    printf("Number of task runs=%d does not match total=%d\n", total_count, nof_runs);
+    return -1;
+  }
+
+  std::cout << "outcome: Success\n";
+  std::cout << "===================================================\n";
+  return 0;
+}
+
+int test_task_thread_pool2()
+{
+  std::cout << "\n====== TEST task thread pool test 2: start ======\n";
+  // Description: push a very long task to all workers, and call thread_pool.stop() to check if it waits for the tasks
+  //              to be completed, and does not get stuck.
+
+  uint32_t   nof_workers     = 4;
+  uint8_t    workers_started = 0, workers_finished = 0;
+  std::mutex mut;
+
+  task_thread_pool thread_pool(nof_workers);
+  thread_pool.start();
+
+  auto task = [&workers_started, &workers_finished, &mut](uint32_t worker_id) {
+    {
+      std::lock_guard<std::mutex> lock(mut);
+      workers_started++;
+    }
+    sleep(1);
+    std::lock_guard<std::mutex> lock(mut);
+    std::cout << "worker " << worker_id << " has finished\n";
+    workers_finished++;
+  };
+
+  for (uint32_t i = 0; i < nof_workers; ++i) {
+    thread_pool.push_task(task);
+  }
+
+  while (workers_started != nof_workers) {
+    usleep(10);
+  }
+
+  std::cout << "stopping thread pool...\n";
+  thread_pool.stop();
+  std::cout << "thread pool stopped.\n";
+
+  TESTASSERT(workers_finished == nof_workers);
+
+  std::cout << "outcome: Success\n";
+  std::cout << "===================================================\n";
+  return 0;
+}
+
 int main()
 {
   TESTASSERT(test_multiqueue() == 0);
   TESTASSERT(test_multiqueue_threading() == 0);
   TESTASSERT(test_multiqueue_threading2() == 0);
   TESTASSERT(test_multiqueue_threading3() == 0);
+
+  TESTASSERT(test_task_thread_pool() == 0);
+  TESTASSERT(test_task_thread_pool2() == 0);
 }