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Merge pull request #901 from borglab/fan/tbb_revert 

Revert @acxz's TBB revert
release/4.3a0
Fan Jiang 2021-10-28 18:16:38 -04:00 committed by GitHub
parent 4fc9e830ec 7a9d89539c
commit 3755f2185d
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 32 additions and 49 deletions
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6
cmake/HandleTBB.cmake
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@ -7,9 +7,9 @@ if (GTSAM_WITH_TBB)
if(TBB_FOUND) if(TBB_FOUND)
set(GTSAM_USE_TBB 1) # This will go into config.h set(GTSAM_USE_TBB 1) # This will go into config.h
if ((${TBB_VERSION} VERSION_GREATER "2021.1") OR (${TBB_VERSION} VERSION_EQUAL "2021.1")) # if ((${TBB_VERSION} VERSION_GREATER "2021.1") OR (${TBB_VERSION} VERSION_EQUAL "2021.1"))
message(FATAL_ERROR "TBB version greater than 2021.1 (oneTBB API) is not yet supported. Use an older version instead.") # message(FATAL_ERROR "TBB version greater than 2021.1 (oneTBB API) is not yet supported. Use an older version instead.")
endif() # endif()
if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020)) if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020))
set(TBB_GREATER_EQUAL_2020 1) set(TBB_GREATER_EQUAL_2020 1)

3
gtsam/base/treeTraversal-inst.h
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@ -158,9 +158,8 @@ void DepthFirstForestParallel(FOREST& forest, DATA& rootData,
// Typedefs // Typedefs
typedef typename FOREST::Node Node; typedef typename FOREST::Node Node;
tbb::task::spawn_root_and_wait(
internal::CreateRootTask<Node>(forest.roots(), rootData, visitorPre, internal::CreateRootTask<Node>(forest.roots(), rootData, visitorPre,
visitorPost, problemSizeThreshold)); visitorPost, problemSizeThreshold);
#else #else
DepthFirstForest(forest, rootData, visitorPre, visitorPost); DepthFirstForest(forest, rootData, visitorPre, visitorPost);
#endif #endif

68
gtsam/base/treeTraversal/parallelTraversalTasks.h
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@ -22,7 +22,7 @@
#include <boost/make_shared.hpp> #include <boost/make_shared.hpp>
#ifdef GTSAM_USE_TBB #ifdef GTSAM_USE_TBB
#include <tbb/task.h> // tbb::task, tbb::task_list #include <tbb/task_group.h> // tbb::task_group
#include <tbb/scalable_allocator.h> // tbb::scalable_allocator #include <tbb/scalable_allocator.h> // tbb::scalable_allocator
namespace gtsam { namespace gtsam {
@ -34,7 +34,7 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
template<typename NODE, typename DATA, typename VISITOR_PRE, typename VISITOR_POST> template<typename NODE, typename DATA, typename VISITOR_PRE, typename VISITOR_POST>
class PreOrderTask : public tbb::task class PreOrderTask
{ {
public: public:
const boost::shared_ptr<NODE>& treeNode; const boost::shared_ptr<NODE>& treeNode;
@ -42,28 +42,30 @@ namespace gtsam {
VISITOR_PRE& visitorPre; VISITOR_PRE& visitorPre;
VISITOR_POST& visitorPost; VISITOR_POST& visitorPost;
int problemSizeThreshold; int problemSizeThreshold;
tbb::task_group& tg;
bool makeNewTasks; bool makeNewTasks;
bool isPostOrderPhase; // Keep track of order phase across multiple calls to the same functor
mutable bool isPostOrderPhase;
PreOrderTask(const boost::shared_ptr<NODE>& treeNode, const boost::shared_ptr<DATA>& myData, PreOrderTask(const boost::shared_ptr<NODE>& treeNode, const boost::shared_ptr<DATA>& myData,
VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost, int problemSizeThreshold, VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost, int problemSizeThreshold,
bool makeNewTasks = true) tbb::task_group& tg, bool makeNewTasks = true)
: treeNode(treeNode), : treeNode(treeNode),
myData(myData), myData(myData),
visitorPre(visitorPre), visitorPre(visitorPre),
visitorPost(visitorPost), visitorPost(visitorPost),
problemSizeThreshold(problemSizeThreshold), problemSizeThreshold(problemSizeThreshold),
tg(tg),
makeNewTasks(makeNewTasks), makeNewTasks(makeNewTasks),
isPostOrderPhase(false) {} isPostOrderPhase(false) {}
tbb::task* execute() override void operator()() const
{ {
if(isPostOrderPhase) if(isPostOrderPhase)
{ {
// Run the post-order visitor since this task was recycled to run the post-order visitor // Run the post-order visitor since this task was recycled to run the post-order visitor
(void) visitorPost(treeNode, *myData); (void) visitorPost(treeNode, *myData);
return nullptr;
} }
else else
{ {
@ -71,14 +73,10 @@ namespace gtsam {
{ {
if(!treeNode->children.empty()) if(!treeNode->children.empty())
{ {
// Allocate post-order task as a continuation
isPostOrderPhase = true;
recycle_as_continuation();
bool overThreshold = (treeNode->problemSize() >= problemSizeThreshold); bool overThreshold = (treeNode->problemSize() >= problemSizeThreshold);
tbb::task* firstChild = 0; // If we have child tasks, start subtasks and wait for them to complete
tbb::task_list childTasks; tbb::task_group ctg;
for(const boost::shared_ptr<NODE>& child: treeNode->children) for(const boost::shared_ptr<NODE>& child: treeNode->children)
{ {
// Process child in a subtask. Important: Run visitorPre before calling // Process child in a subtask. Important: Run visitorPre before calling
@ -86,37 +84,30 @@ namespace gtsam {
// allocated an extra child, this causes a TBB error. // allocated an extra child, this causes a TBB error.
boost::shared_ptr<DATA> childData = boost::allocate_shared<DATA>( boost::shared_ptr<DATA> childData = boost::allocate_shared<DATA>(
tbb::scalable_allocator<DATA>(), visitorPre(child, *myData)); tbb::scalable_allocator<DATA>(), visitorPre(child, *myData));
tbb::task* childTask = ctg.run(PreOrderTask(child, childData, visitorPre, visitorPost,
new (allocate_child()) PreOrderTask(child, childData, visitorPre, visitorPost, problemSizeThreshold, ctg, overThreshold));
problemSizeThreshold, overThreshold);
if (firstChild)
childTasks.push_back(*childTask);
else
firstChild = childTask;
} }
ctg.wait();
// If we have child tasks, start subtasks and wait for them to complete // Allocate post-order task as a continuation
set_ref_count((int)treeNode->children.size()); isPostOrderPhase = true;
spawn(childTasks); tg.run(*this);
return firstChild;
} }
else else
{ {
// Run the post-order visitor in this task if we have no children // Run the post-order visitor in this task if we have no children
(void) visitorPost(treeNode, *myData); (void) visitorPost(treeNode, *myData);
return nullptr;
} }
} }
else else
{ {
// Process this node and its children in this task // Process this node and its children in this task
processNodeRecursively(treeNode, *myData); processNodeRecursively(treeNode, *myData);
return nullptr;
} }
} }
} }
void processNodeRecursively(const boost::shared_ptr<NODE>& node, DATA& myData) void processNodeRecursively(const boost::shared_ptr<NODE>& node, DATA& myData) const
{ {
for(const boost::shared_ptr<NODE>& child: node->children) for(const boost::shared_ptr<NODE>& child: node->children)
{ {
@ -131,7 +122,7 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
template<typename ROOTS, typename NODE, typename DATA, typename VISITOR_PRE, typename VISITOR_POST> template<typename ROOTS, typename NODE, typename DATA, typename VISITOR_PRE, typename VISITOR_POST>
class RootTask : public tbb::task class RootTask
{ {
public: public:
const ROOTS& roots; const ROOTS& roots;
@ -139,37 +130,30 @@ namespace gtsam {
VISITOR_PRE& visitorPre; VISITOR_PRE& visitorPre;
VISITOR_POST& visitorPost; VISITOR_POST& visitorPost;
int problemSizeThreshold; int problemSizeThreshold;
tbb::task_group& tg;
RootTask(const ROOTS& roots, DATA& myData, VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost, RootTask(const ROOTS& roots, DATA& myData, VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost,
int problemSizeThreshold) : int problemSizeThreshold, tbb::task_group& tg) :
roots(roots), myData(myData), visitorPre(visitorPre), visitorPost(visitorPost), roots(roots), myData(myData), visitorPre(visitorPre), visitorPost(visitorPost),
problemSizeThreshold(problemSizeThreshold) {} problemSizeThreshold(problemSizeThreshold), tg(tg) {}
tbb::task* execute() override void operator()() const
{ {
typedef PreOrderTask<NODE, DATA, VISITOR_PRE, VISITOR_POST> PreOrderTask; typedef PreOrderTask<NODE, DATA, VISITOR_PRE, VISITOR_POST> PreOrderTask;
// Create data and tasks for our children // Create data and tasks for our children
tbb::task_list tasks;
for(const boost::shared_ptr<NODE>& root: roots) for(const boost::shared_ptr<NODE>& root: roots)
{ {
boost::shared_ptr<DATA> rootData = boost::allocate_shared<DATA>(tbb::scalable_allocator<DATA>(), visitorPre(root, myData)); boost::shared_ptr<DATA> rootData = boost::allocate_shared<DATA>(tbb::scalable_allocator<DATA>(), visitorPre(root, myData));
tasks.push_back(*new(allocate_child()) tg.run(PreOrderTask(root, rootData, visitorPre, visitorPost, problemSizeThreshold, tg));
PreOrderTask(root, rootData, visitorPre, visitorPost, problemSizeThreshold));
} }
// Set TBB ref count
set_ref_count(1 + (int) roots.size());
// Spawn tasks
spawn_and_wait_for_all(tasks);
// Return nullptr
return nullptr;
} }
}; };
template<typename NODE, typename ROOTS, typename DATA, typename VISITOR_PRE, typename VISITOR_POST> template<typename NODE, typename ROOTS, typename DATA, typename VISITOR_PRE, typename VISITOR_POST>
RootTask<ROOTS, NODE, DATA, VISITOR_PRE, VISITOR_POST>& void CreateRootTask(const ROOTS& roots, DATA& rootData, VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost, int problemSizeThreshold)
CreateRootTask(const ROOTS& roots, DATA& rootData, VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost, int problemSizeThreshold)
{ {
typedef RootTask<ROOTS, NODE, DATA, VISITOR_PRE, VISITOR_POST> RootTask; typedef RootTask<ROOTS, NODE, DATA, VISITOR_PRE, VISITOR_POST> RootTask;
return *new(tbb::task::allocate_root()) RootTask(roots, rootData, visitorPre, visitorPost, problemSizeThreshold); tbb::task_group tg;
tg.run_and_wait(RootTask(roots, rootData, visitorPre, visitorPost, problemSizeThreshold, tg));
} }
} }