Changed std::execution to std::async in Us4OEM initialization, remove…

…d TBB dependency.
us4useu · Oct 6, 2021 · 479d5eb · 479d5eb
1 parent 10487b0
commit 479d5eb
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Showing 3 changed files with 25 additions and 38 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -101,8 +101,7 @@ find_package(Eigen3 REQUIRED)
 if("${ARRUS_BUILD_PLATFORM}" STREQUAL "windows")
     set(ARRUS_OS_DEPS "")
 else("${ARRUS_BUILD_PLATFORM}" STREQUAL "linux")
-    find_package(TBB REQUIRED)
-    set(ARRUS_OS_DEPS tbb)
+    set(ARRUS_OS_DEPS "")
 endif()
 ################################################################################
 # Sub-projects

diff --git a/arrus/core/devices/us4r/external/ius4oem/IUs4OEMInitializerImpl.h b/arrus/core/devices/us4r/external/ius4oem/IUs4OEMInitializerImpl.h
@@ -2,9 +2,9 @@
 #define ARRUS_CORE_DEVICES_US4R_EXTERNAL_IUS4OEM_IUS4OEMINITIALIZERIMPL_H
 
 #include <algorithm>
-#include <execution>
 #include <mutex>
 #include <iostream>
+#include <future>
 
 #include "IUs4OEMInitializer.h"
 
@@ -32,30 +32,17 @@ class IUs4OEMInitializerImpl : public IUs4OEMInitializer {
         // Us4OEMs are initialized here.
     }
 private:
+
     void initializeUs4oems(std::vector<IUs4OEMHandle> &ius4oems, int level) {
-        std::vector<std::exception> exceptions;
-        std::mutex exceptions_mutex;
+        std::vector<std::future<void>> results;
 
-        std::for_each(
-            std::execution::par_unseq, std::begin(ius4oems), std::end(ius4oems),
-            [&](IUs4OEMHandle &u) {
-                try {
-                    u->Initialize(level);
-                }
-                catch(const std::exception &e) {
-                    std::lock_guard guard(exceptions_mutex);
-                    exceptions.push_back(e);
-                }
-                catch(...) {
-                    std::lock_guard guard(exceptions_mutex);
-                    exceptions.push_back(std::runtime_error("Unknown exception during Us4OEM initialization."));
-                }
-            }
-        );
-        if(!exceptions.empty()) {
-            // TODO create a complete list of error messages
-            // now throw any of the exception
-            throw exceptions.front();
+        for(IUs4OEMHandle &ius4oem : ius4oems) {
+            std::future<void> result = std::async(std::launch::async, [&ius4oem, level]() {ius4oem->Initialize(level);});
+            results.push_back(std::move(result));
+        }
+        for(auto &result: results) {
+            result.wait();
+            result.get(); // wait and throw exception if necessary.
         }
     }
 };

diff --git a/arrus/core/devices/us4r/external/ius4oem/IUs4OEMInitializerImplTest.cpp b/arrus/core/devices/us4r/external/ius4oem/IUs4OEMInitializerImplTest.cpp
@@ -10,6 +10,7 @@ namespace {
 using namespace arrus::devices;
 using ::testing::Return;
 using ::testing::InSequence;
+using ::testing::Sequence;
 
 // Test if the input array is approprietaly sorted
 TEST(IUs4OEMInitializerImplTest, Us4OEMsSortedApproprietaly) {
@@ -45,24 +46,24 @@ TEST(IUs4OEMInitializerImplTest, Us4OEMsInitializedProperly) {
     ON_CALL(GET_MOCK_PTR(ius4oems[1]), GetID)
             .WillByDefault(Return(0));
 
-    // The actual order: 1, 0
     {
-        InSequence seq;
+        Sequence us4oem0Seq;
+        Sequence us4oem1Seq;
 
-        EXPECT_CALL(GET_MOCK_PTR(ius4oems[1]), Initialize(1));
-        EXPECT_CALL(GET_MOCK_PTR(ius4oems[0]), Initialize(1));
+        EXPECT_CALL(GET_MOCK_PTR(ius4oems[1]), Initialize(1)).InSequence(us4oem1Seq);
+        EXPECT_CALL(GET_MOCK_PTR(ius4oems[0]), Initialize(1)).InSequence(us4oem0Seq);
 
-        EXPECT_CALL(GET_MOCK_PTR(ius4oems[1]), Synchronize());
-        EXPECT_CALL(GET_MOCK_PTR(ius4oems[1]), Initialize(2));
-        EXPECT_CALL(GET_MOCK_PTR(ius4oems[0]), Initialize(2));
+        EXPECT_CALL(GET_MOCK_PTR(ius4oems[1]), Synchronize()).InSequence(us4oem1Seq, us4oem0Seq);
+        EXPECT_CALL(GET_MOCK_PTR(ius4oems[1]), Initialize(2)).InSequence(us4oem1Seq);
+        EXPECT_CALL(GET_MOCK_PTR(ius4oems[0]), Initialize(2)).InSequence(us4oem0Seq);
 
-        EXPECT_CALL(GET_MOCK_PTR(ius4oems[1]), Synchronize());
-        EXPECT_CALL(GET_MOCK_PTR(ius4oems[1]), Initialize(3));
-        EXPECT_CALL(GET_MOCK_PTR(ius4oems[0]), Initialize(3));
+        EXPECT_CALL(GET_MOCK_PTR(ius4oems[1]), Synchronize()).InSequence(us4oem1Seq, us4oem0Seq);
+        EXPECT_CALL(GET_MOCK_PTR(ius4oems[1]), Initialize(3)).InSequence(us4oem1Seq);
+        EXPECT_CALL(GET_MOCK_PTR(ius4oems[0]), Initialize(3)).InSequence(us4oem0Seq);
 
-        EXPECT_CALL(GET_MOCK_PTR(ius4oems[1]), Synchronize());
-        EXPECT_CALL(GET_MOCK_PTR(ius4oems[1]), Initialize(4));
-        EXPECT_CALL(GET_MOCK_PTR(ius4oems[0]), Initialize(4));
+        EXPECT_CALL(GET_MOCK_PTR(ius4oems[1]), Synchronize()).InSequence(us4oem1Seq, us4oem0Seq);
+        EXPECT_CALL(GET_MOCK_PTR(ius4oems[1]), Initialize(4)).InSequence(us4oem1Seq);
+        EXPECT_CALL(GET_MOCK_PTR(ius4oems[0]), Initialize(4)).InSequence(us4oem0Seq);
     }
 
     IUs4OEMInitializerImpl initializer;