/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2023, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
/**
 * @file   WorkerThreadsPool.cpp
 * @brief  Simple thread pool
 * @author Jose Luis Blanco Claraco
 * @date   Dec 6, 2018
 */

#include "core-precomp.h"  // Precompiled headers
//
#include <mrpt/config.h>
#include <mrpt/core/WorkerThreadsPool.h>
#include <mrpt/core/exceptions.h>

#include <iostream>

// for SetThreadDescription()
#if defined(_WIN32)
#define WIN32_LEAN_AND_MEAN
#include <windows.h>
#endif

using namespace mrpt;

void WorkerThreadsPool::clear()
{
	{
		std::unique_lock<std::mutex> lock(queue_mutex_);
		do_stop_ = true;
	}
	condition_.notify_all();

	if (!tasks_.empty())
		std::cerr << "[WorkerThreadsPool name=`" << name_
				  << "`] Warning: clear() called (probably from a "
					 "dtor) while having "
				  << tasks_.size() << " pending tasks. Aborting them.\n";

	for (auto& t : threads_)
		if (t.joinable()) t.join();
	threads_.clear();
}

std::size_t WorkerThreadsPool::pendingTasks() const noexcept
{
	return tasks_.size();
}

void WorkerThreadsPool::resize(std::size_t num_threads)
{
	for (std::size_t i = 0; i < num_threads; ++i)
		threads_.emplace_back([this] {
			for (;;)
			{
				try
				{
					std::function<void()> task;
					{
						std::unique_lock<std::mutex> lock(queue_mutex_);
						condition_.wait(lock, [this] {
							return do_stop_ || !tasks_.empty();
						});
						if (do_stop_) return;
						task = std::move(tasks_.front());
						tasks_.pop();
					}
					// Execute:
					task();
				}
				catch (std::exception& e)
				{
					std::cerr << "[WorkerThreadsPool name=`" << name_
							  << "`] Exception:\n"
							  << mrpt::exception_to_str(e) << "\n";
				}
			}
		});
}

// code partially replicated from mrpt::system for convenience (avoid dep)
static void mySetThreadName(const std::string& name, std::thread& theThread)
{
#if defined(MRPT_OS_WINDOWS) && !defined(__MINGW32_MAJOR_VERSION)
	wchar_t wName[50];
	std::mbstowcs(wName, name.c_str(), sizeof(wName) / sizeof(wName[0]));
	SetThreadDescription(theThread.native_handle(), wName);
#elif defined(MRPT_OS_LINUX) && !MRPT_IN_EMSCRIPTEN
	auto handle = theThread.native_handle();
	pthread_setname_np(handle, name.c_str());
#endif
}

void WorkerThreadsPool::name(const std::string& name)
{
	using namespace std::string_literals;

	name_ = name;

	for (std::size_t i = 0; i < threads_.size(); ++i)
	{
		const std::string str = name + "["s + std::to_string(i) + "]"s;
		mySetThreadName(str, threads_.at(i));
	}
}
