First attempt at small node agglomeration
Richard Roberts
parent
3118f6bb9f
commit
1b263e4bdb
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@ -48,47 +48,92 @@ namespace gtsam {
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expanded(false), treeNode(_treeNode), parentData(_parentData) {}
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};
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/// Do nothing - default argument for post-visitor for tree traversal
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// Do nothing - default argument for post-visitor for tree traversal
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template<typename NODE, typename DATA>
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void no_op(const boost::shared_ptr<NODE>& node, const DATA& data) {}
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// Internal node used in parallel traversal stack
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template<typename NODE, typename DATA>
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struct ParallelTraversalNode {
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const boost::shared_ptr<NODE>& treeNode;
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DATA myData;
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ParallelTraversalNode(const boost::shared_ptr<NODE>& treeNode, const DATA& myData) :
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treeNode(treeNode), myData(myData) {}
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};
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template<typename NODE, typename DATA, typename VISITOR_PRE, typename VISITOR_POST>
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class PreOrderTask : public tbb::task
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{
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public:
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const boost::shared_ptr<NODE>& treeNode;
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DATA& myData;
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DATA myData;
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VISITOR_PRE& visitorPre;
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VISITOR_POST& visitorPost;
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PreOrderTask(const boost::shared_ptr<NODE>& treeNode, DATA& myData, VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost) :
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treeNode(treeNode), myData(myData), visitorPre(visitorPre), visitorPost(visitorPost) {}
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int problemSizeThreshold;
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PreOrderTask(const boost::shared_ptr<NODE>& treeNode, const DATA& myData,
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VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost, int problemSizeThreshold) :
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treeNode(treeNode), myData(myData), visitorPre(visitorPre), visitorPost(visitorPost),
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problemSizeThreshold(problemSizeThreshold) {}
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typedef ParallelTraversalNode<NODE, DATA> ParallelTraversalNode;
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tbb::task* execute()
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{
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// Set TBB ref count
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set_ref_count(1 + (int)treeNode->children.size());
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// Create data and tasks for our children
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std::vector<DATA> childData;
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childData.reserve(treeNode->children.size());
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std::vector<PreOrderTask*> tasks;
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tasks.reserve(treeNode->children.size());
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BOOST_FOREACH(const boost::shared_ptr<NODE>& child, treeNode->children)
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{
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childData.push_back(visitorPre(child, myData));
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tasks.push_back(new(allocate_child()) PreOrderTask(child, childData.back(), visitorPre, visitorPost));
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}
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// Spawn tasks
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BOOST_FOREACH(PreOrderTask* task, tasks)
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spawn(*task);
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// Wait for tasks to finish
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wait_for_all();
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// Shared data
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int problemSize = 0;
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// Now that the children are finished, run the post-order visitor
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(void) visitorPost(treeNode, myData);
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//std::cout << "New task: " << std::endl;
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//BOOST_FOREACH(Key j, treeNode->keys)
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// std::cout << j << " ";
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//std::cout << std::endl;
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// Process this node and its children
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processNode(treeNode, myData, problemSize);
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// Return NULL
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return NULL;
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}
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void processNode(const boost::shared_ptr<NODE>& node, DATA& myData, int& problemSize)
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{
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tbb::task_list childTasks;
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int nChildTasks = 0;
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// Increment problem size for this node
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problemSize += node->problemSize();
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// Visit children until problem size exceeds a threshold, then spawn a new task
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BOOST_FOREACH(const boost::shared_ptr<NODE>& child, node->children)
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{
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if(problemSize < problemSizeThreshold)
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{
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//std::cout << "problemSize = " << problemSize << std::endl;
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//BOOST_FOREACH(Key j, child->keys)
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// std::cout << j << " ";
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//std::cout << std::endl;
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// Process child sequentially (recursive call will increase problem size for children
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DATA childData = visitorPre(child, myData);
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processNode(child, childData, problemSize);
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}
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else
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{
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// Process child in a subtask
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childTasks.push_back(*new(allocate_child())
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PreOrderTask(child, visitorPre(child, myData), visitorPre, visitorPost, problemSizeThreshold));
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++ nChildTasks;
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}
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}
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// If we have child tasks, start subtasks and wait for them to complete
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if(nChildTasks > 0) {
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set_ref_count(1 + nChildTasks);
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spawn(childTasks);
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wait_for_all();
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}
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// Run the post-order visitor
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(void) visitorPost(node, myData);
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}
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};
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template<typename ROOTS, typename NODE, typename DATA, typename VISITOR_PRE, typename VISITOR_POST>
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@ -99,8 +144,11 @@ namespace gtsam {
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DATA& myData;
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VISITOR_PRE& visitorPre;
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VISITOR_POST& visitorPost;
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RootTask(const ROOTS& roots, DATA& myData, VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost) :
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roots(roots), myData(myData), visitorPre(visitorPre), visitorPost(visitorPost) {}
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int problemSizeThreshold;
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RootTask(const ROOTS& roots, DATA& myData, VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost,
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int problemSizeThreshold) :
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roots(roots), myData(myData), visitorPre(visitorPre), visitorPost(visitorPost),
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problemSizeThreshold(problemSizeThreshold) {}
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tbb::task* execute()
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{
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@ -108,14 +156,12 @@ namespace gtsam {
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// Set TBB ref count
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set_ref_count(1 + (int)roots.size());
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// Create data and tasks for our children
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std::vector<DATA> rootData;
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rootData.reserve(roots.size());
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std::vector<PreOrderTask*> tasks;
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tasks.reserve(roots.size());
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BOOST_FOREACH(const boost::shared_ptr<NODE>& root, roots)
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{
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rootData.push_back(visitorPre(root, myData));
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tasks.push_back(new(allocate_child()) PreOrderTask(root, rootData.back(), visitorPre, visitorPost));
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tasks.push_back(new(allocate_child())
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PreOrderTask(root, visitorPre(root, myData), visitorPre, visitorPost, problemSizeThreshold));
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}
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// Spawn tasks
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BOOST_FOREACH(PreOrderTask* task, tasks)
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@ -129,11 +175,19 @@ namespace gtsam {
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template<typename NODE, typename ROOTS, typename DATA, typename VISITOR_PRE, typename VISITOR_POST>
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RootTask<ROOTS, NODE, DATA, VISITOR_PRE, VISITOR_POST>&
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CreateRootTask(const ROOTS& roots, DATA& rootData, VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost)
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CreateRootTask(const ROOTS& roots, DATA& rootData, VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost,
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int problemSizeThreshold)
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{
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typedef RootTask<ROOTS, NODE, DATA, VISITOR_PRE, VISITOR_POST> RootTask;
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return *new(tbb::task::allocate_root()) RootTask(roots, rootData, visitorPre, visitorPost);
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return *new(tbb::task::allocate_root()) RootTask(roots, rootData, visitorPre, visitorPost, problemSizeThreshold);
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}
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/* ************************************************************************* */
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//template<class NODE, typename DATA>
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//struct ParallelDFSData {
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// DATA myData;
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// FastList<ParallelTraversalNode<NODE,DATA> >&
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//};
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}
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/** Traverse a forest depth-first with pre-order and post-order visits.
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@ -227,13 +281,15 @@ namespace gtsam {
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* @param rootData The data to pass by reference to \c visitorPre when it is called on each
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* root node. */
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template<class FOREST, typename DATA, typename VISITOR_PRE, typename VISITOR_POST>
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void DepthFirstForestParallel(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost)
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void DepthFirstForestParallel(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost,
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int problemSizeThreshold = 50)
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{
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// Typedefs
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typedef typename FOREST::Node Node;
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typedef boost::shared_ptr<Node> sharedNode;
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tbb::task::spawn_root_and_wait(CreateRootTask<Node>(forest.roots(), rootData, visitorPre, visitorPost));
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tbb::task::spawn_root_and_wait(CreateRootTask<Node>(
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forest.roots(), rootData, visitorPre, visitorPost, problemSizeThreshold));
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}
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