Reading information from a worker thread efficiently - c++

I'm writing some computer vision software, here's a brief description to help clarify the problem:
I have 3 cameras, each running at 60fps
Each camera has it's own thread, to utilise multiple cores
Each thread waits for a new frame to arrive, does some processing on the image, saves the result and waits for the next frame
My main program creates these thread, using boost, following this tutorial: http://blog.emptycrate.com/node/282
I am currently polling the threads in a tight loop to retrieve the data, e.g.:
while(1) {
for(i=0; i<numCams; i++) {
result[i] = cam[i]->getResult();
}
//do some stuff
}
This seems silly. Is there a standard way of letting the main program know that there is a new result and that it needs to be retrieved?
Thanks!

Yes, you need to use condition variables (AKA events).

Yes, you need to use synchronization. There are many forms depending on what you're using as a threading API, however the simplest is probably a condition variable.

What you need is a thread pool. The number of cameras isn't necessary the same as the optimal number of threads. Thread pool is optimized for performance. Then, you don't need to wait for condition or poll the jobs, you enqueue the jobs (most often it's std::function<void()>) in the thread pool, and that job object should perform all the required work. Use binders (std::bind) or lambda functions to create a job object.

In your case you are talking to hardware, so you may need to use whatever facilities your camera API provides for asynchronous notification of incomming data. Usually that will be some kind of callback you provide, or occasionally something like a Windows Event handle or Unix signal.
In general if you meant "standard" as in "part of the C++ standard", no. You need to use your OS's facilites for interprocess (or thread) condition signalling.
Note that if we were talking Ada (or Modula-2, or many other modern systems programming languages) the answer would have been "yes". I understand there is some talk of putting concurrency support of some kind into a future C++ standard.
In the meantime, there is the boost::thread library for doing this kind of thing. That isn't exactly "standard", but for C++ it is pretty close. I think for what you are trying to do, condition variables might be what you want. However, if you read over the whole facility, other simpler designs may occur to you.

I know this sounds a little odd, however consider using a boost::asio::io_service it's as close to a threadpool as you get currently. When you've captured an image, you can post to this service and the service can then execute a handler asynchronously to handle your image data.

Related

How to have a long waiting thread in Intel TBB?

I want to create a thread or task (more than one to be exact) that goes and does some non CPU intensive work that will take a lot of time because of external causes, such a HTTP request or a file IO operation from a slow disk. I could do this with async await in C# and would be exactly what i am trying to do here. Spawn a thread or task and let it do it's own thing while i continue with execution of the program and simply let it return the result whenever ready. The problem with TBB i have is that all tasks i can make think they are created for a CPU intensive work.
Is what TBB calls GUI Thread what i want in this case ? I would need more than one, is that possible ? Can you point me to the right direction ? Should i look for another library that provides threading and is available for multiple OS ?
Any I/O blocking activity is poorly modeled by a task -- since tasks are meant to run to completion, it's just not what tasks are for. You will not find any TBB task-based approach that circumvents this. Since what you want is a thread, and you want it to work more-or-less nicely with other TBB code you already have, just use TBB's native thread class to solve the problem as you would with any other threading API. You won't need to set priority or anything else on this TBB-managed thread, because it'll get to its blocking call and then not take up any further time until the resource is available.
About the only thing I can think of specifically in TBB is that a task can be assigned a priority. But this isn't the same thing as a thread priority. TBB task priorities only dictate when a task will be selected from the ready pool, but like you said - once the task is running, it's expected to be working hard. The way to do use this to solve the problem you mentioned is to break your IO work into segments, then submit them into the work pool as a series of (dependent) low-priority tasks. But I don't think this gets to your real problem ...
The GUI Thread you mentioned is a pattern in the TBB patterns document that says how to offload a task and then wait for a callback to signal that it's complete. It's not altogether different from an async. I don't think this solves your problem either.
I think the best way for you here is to make an OS-level thread. That's pthreads on Linux or windows threads on Windows. Then you'll want to call this on it: http://msdn.microsoft.com/en-us/library/windows/desktop/ms686277(v=vs.85).aspx ... if you happen to be in C++11, you could use a std::thread to create the thread and then call thread::native_handle to get a handle to call the Windows API to set the priority.

Using asynchronous method vs thread wait

I have 2 versions of a function which are available in a C++ library which do the same task. One is a synchronous function, and another is of asynchronous type which allows a callback function to be registered.
Which of the below strategies is preferable for giving a better memory and performance optimization?
Call the synchronous function in a worker thread, and use mutex synchronization to wait until I get the result
Do not create a thread, but call the asynchronous version and get the result in callback
I am aware that worker thread creation in option 1 will cause more overhead. I am wanting to know issues related to overhead caused by thread synchronization objects, and how it compares to overhead caused by asynchronous call. Does the asynchronous version of a function internally spin off a thread and use synchronization object, or does it uses some other technique like directly talk to the kernel?
"Profile, don't speculate." (DJB)
The answer to this question depends on too many things, and there is no general answer. The role of the developer is to be able to make these decisions. If you don't know, try the options and measure. In many cases, the difference won't matter and non-performance concerns will dominate.
"Premature optimisation is the root of all evil, say 97% of the time" (DEK)
Update in response to the question edit:
C++ libraries, in general, don't get to use magic to avoid synchronisation primitives. The asynchronous vs. synchronous interfaces are likely to be wrappers around things you would do anyway. Processing must happen in a context, and if completion is to be signalled to another context, a synchronisation primitive will be necessary to do that.
Of course, there might be other considerations. If your C++ library is talking to some piece of hardware that can do processing, things might be different. But you haven't told us about anything like that.
The answer to this question depends on context you haven't given us, including information about the library interface and the structure of your code.
Use asynchronous function because will probably do what you want to do manually with synchronous one but less error prone.
Asynchronous: Will create a thread, do work, when done -> call callback
Synchronous: Create a event to wait for, Create a thread for work, Wait for event, On thread call sync version , transfer result, signal event.
You might consider that threads each have their own environment so they use more memory than a non threaded solution when all other things are equal.
Depending on your threading library there can also be significant overhead to starting and stopping threads.
If you need interprocess synchronization there can also be a lot of pain debugging threaded code.
If you're comfortable writing non threaded code (i.e. you won't burn a lot of time writing and debugging it) then that might be the best choice.

Is there a way to abort an SQLite call?

I'm using SQLite3 in a Windows application. I have the source code (so-called SQLite amalgamation).
Sometimes I have to execute heavy queries. That is, I call sqlite3_step on a prepared statement, and it takes a lot of time to complete (due to the heavy I/O load).
I wonder if there's a possibility to abort such a call. I would also be glad if there was an ability to do some background processing in the middle of the call within the same thread (since most of the time is spent in waiting for the I/O to complete).
I thought about modifying the SQLite code myself. In the simplest scenario I could check some condition (like an abort event handle for instance) before every invocation of either ReadFile/WriteFile, and return an error code appropriately. And in order to allow the background processing the file should be opened in the overlapped mode (this enables asynchronous ReadFile/WriteFile).
Is there a chance that interruption of WriteFile may in some circumstances leave the database in the inconsistent state, even with the journal enabled? I guess not, since the whole idea of the journal file is to be prepared for any error of any kind. But I'd like to hear more opinions about this.
Also, did someone tried something similar?
Thanks in advance.
EDIT:
Thanks to ereOn. I wasn't aware of the existence of sqlite3_interrupt. This probably answers my question.
Now, for all of you who wonders how (and why) one expects to do some background processing during the I/O within the same thread.
Unfortunately not many people are familiar with so-called "Overlapped I/O".
http://en.wikipedia.org/wiki/Overlapped_I/O
Using it one issues an I/O operation asynchronously, and the calling thread is not blocked. Then one receives the I/O completion status using one of the completion mechanisms: waitable event, new routine queued into the APC, or the completion port.
Using this technique one doesn't have to create extra threads. Actually the only real legitimation for creating threads is when your bottleneck is the computation time (i.e. CPU load), and the machine has several CPUs (or cores).
And creating a thread just to let it be blocked by the OS most of the time - this doesn't make sense. This leads to the unjustified waste of the OS resources, complicates the program (need for synchronization and etc.).
Unfortunately not all the libraries/APIs allow asynchronous mode of operation, thus making creating extra threads the necessarily evil.
EDIT2:
I've already found the solution, thansk to ereOn.
For all those who nevertheless insist that it's not worth doing things "in background" while "waiting" for the I/O to complete using overlapped I/O. I disagree, and I think there's no point to argue about this. At least this is not related to the subject.
I'm a Windows programmer (as you may noticed), and I have a very extensive experience in all kinds of multitasking. Plus I'm also a driver writer, so that I also know how things work "behind the scenes".
I know that it's a "common practice" to create several threads to do several things "in parallel". But this doesn't mean that this is a good practice. Please allow me not to follow the "common practice".
I don't understand why you want the interruption to come from the same thread and I even don't understand how that would be possible: if the current thread is blocked, waiting for some IO, you can't execute any other code. (Yeah, that's what "blocked" means)
Perhaps if you give us more hints about why you want this, we might help further.
Usually, I use sqlite3_interrupt() to cancel calls. But this, obviously, involves that the call is made from another thread.
By default, SQLite is threadsafe. It sounds to me like the easiest thing to do would be to start the Sqlite command on a background thread, and let SQLite to the necessary locking to have that work.
From your perspective then, the sqlite call looks like an asynchronous bit of I/O, and you can continue normal processing on this thread, such as e.g. using a loop including interruptible sleep and a bit of occasional background processing (e.g. to update a liveness indicator). When the SQLite statement completes, the background thread should set a state variable to indicate this, wake the main thread (if necessary), and terminate.

waiting for 2 different events in a single thread

REMOVED - reason: not really needed.
my questions are:
can I use a linux UDP socket from two different threads? answer was here
I have two different events I would like to wait for using just one thread. One of such events is the addition of an element to a stack and another is the availability of data on a socket.
I can use a boost::condition_variable.wait(lock) for the stack and boost::asio::io_service for the socket. But there is no mechanism (that I am aware of) that allows me to wait for both events at the same time (polling is out of the question). Or is it?
Is there any other alternative solution for this problem that I'm not aware of? - I'll figure this one out by myself.
New Answer
But there is no mechanism (that I am
aware of) that allows me to wait for
both events at the same time (polling
is out of the question). Or is it?
Not that I'm aware of, and not without polling... you'll need a thread to wait for each asynchronous event. You can use a blocking stack or like you said use boost::condition_variable which blocks until there is something on the stack. The boost::asio::io_service will be very useful for managing the udp sockets, but it doesn't actually give you any advantage when it comes to the event handling.
Old Answer
I'm REALLY not sure what you're trying to do... what you're saying doesn't make much sense. I'll do my best to guess what you're trying to do, but I would suggest clarifying the question.
Question:
Do I really need to use the main
thread to send the data over component
A socket or can I do it from the
new-thread? (I think the answer is no,
but I'm not sure about race conditions
on sockets)
Answer:
You don't have to use the main thread to send data over the given component's socket. Now depending on the socket library you're using there might be different restrictions: you may only be able to send data on the same thread that the socket was created, or you might be able to send data from any thread... it really depends on the implementation of your socket.
Question:
how to I wait for both events?
Answer:
You can't do two things at the same time in the same thread... with that said you have two options:
Constantly poll to see if either event has occurred (on the same thread).
Have two threads that are blocking until a desired event occurs (usually when you read from a socket it blocks if there is no data).
Given the description of your problem it's unclear what you would achieve by using boost::condition_variable and/or boost::asio::io_service. Perhaps you should give us a very simple example of code that we can follow.
Question:
Is there any other alternative
solution for this problem that I'm not
aware of?
Answer:
There are always alternative solutions out there, but it's really difficult to tell what the alternatives might be given the current description of the "problem." I think that you should edit the problem again and focus on providing very concrete examples, perhaps some pseudo code, etc.
Switch to Windows and use WaitForMultipleObjects, or get this function implemented in Linux. It's quite handy, and then you can do two things on the same thread.

More threads, better performance?

When I write a message driven app. much like a standard windows app only that it extensively uses messaging for internal operations, what would be the best approach regarding to threading?
As I see it, there are basically three approaches (if you have any other setup in mind, please share):
Having a single thread process all of the messages.
Having separate threads for separate message types (General, UI, Networking, etc...)
Having multiple threads that share and process a single message queue.
So, would there be any significant performance differences between the three?
Here are some general thoughts:
Obviously, the last two options benefit from a situation where there's more than one processor. Plus, if any thread is waiting for an external event, other threads can still process unrelated messages. But ignoring that, seems that multiple threads only add overhead (Thread switches, not to mention more complicated sync situations).
And another question: Would you recommend to implement such a system upon the standard Windows messaging system, or to implement a separate queue mechanism, and why?
The specific choice of threading model should be driven by the nature of the problem you are trying to solve. There isn't necessarily a single "correct" approach to designing the threading model for such an application. However, if we adopt the following assumptions:
messages arrive frequently
messages are independent and don't rely too heavily on shared resources
it is desirable to respond to an arriving message as quickly as possible
you want the app to scale well across processing architectures (i.e. multicode/multi-cpu systems)
scalability is the key design requirement (e.g. more message at a faster rate)
resilience to thread failure / long operations is desirable
In my experience, the most effective threading architecture would be to employ a thread pool. All messages arrive on a single queue, multiple threads wait on the queue and process messages as they arrive. A thread pool implementation can model all three thread-distribution examples you have.
#1 Single thread processes all messages => thread pool with only one thread
#2 Thread per N message types => thread pool with N threads, each thread peeks at the queue to find appropriate message types
#3 Multiple threads for all messages => thread pool with multiple threads
The benefits of this design is that you can scale the number of threads in the thread in proportion to the processing environment or the message load. The number of threads can even scale at runtime to adapt to the realtime message load being experienced.
There are many good thread pooling libraries available for most platforms, including .NET, C++/STL, Java, etc.
As to your second question, whether to use standard windows message dispatch mechanism. This mechanism comes with significant overhead and is really only intended for pumping messages through an windows application's UI loop. Unless this is the problem you are trying to solve, I would advise against using it as a general message dispatching solution. Furthermore, windows messages carry very little data - it is not an object-based model. Each windows message has a code, and a 32-bit parameter. This may not be enough to base a clean messaging model on. Finally, the windows message queue is not design to handle cases like queue saturation, thread starvation, or message re-queuing; these are cases that often arise in implementing a decent message queing solution.
We can't tell you much for sure without knowing the workload (ie, the statistical distribution of events over time) but in general
single queue with multiple servers is at least as fast, and usually faster, so 1,3 would be preferable to 2.
multiple threads in most languages add complexity because of the need to avoid contention and multiple-writer problems
long duration processes can block processing for other things that could get done quicker.
So horseback guess is that having a single event queue, with several server threads taking events off the queue, might be a little faster.
Make sure you use a thread-safe data structure for the queue.
It all depends.
For example:
Events in a GUI queue are best done by a single thread as there is an implied order in the events thus they need to be done serially. Which is why most GUI apps have a single thread to handle events, though potentially multiple events to create them (and it does not preclude the event thread from creating a job and handling it off to a worker pool (see below)).
Events on a socket can potentially by done in parallel (assuming HTTP) as each request is stateless and can thus by done independently (OK I know that is over simplifying HTTP).
Work Jobs were each job is independent and placed on queue. This is the classic case of using a set of worker threads. Each thread does a potentially long operation independently of the other threads. On completion comes back to the queue for another job.
In general, don't worry about the overhead of threads. It's not going to be an issue if you're talking about merely a handful of them. Race conditions, deadlocks, and contention are a bigger concern, and if you don't know what I'm talking about, you have a lot of reading to do before you tackle this.
I'd go with option 3, using whatever abstractions my language of choice offers.
Note that there are two different performance goals, and you haven't stated which you are targetting: throughput and responsiveness.
If you're writing a GUI app, the UI needs to be responsive. You don't care how many clicks per second you can process, but you do care about showing some response within a 10th of a second or so (ideally less). This is one of the reasons it's best to have a single thread devoted to handling the GUI (other reasons have been mentioned in other answers). The GUI thread needs to basically convert windows messages into work-items and let your worker queue handle the heavy work. Once the worker is done, it notifies the GUI thread, which then updates the display to reflect any changes. It does things like painting a window, but not rendering the data to be displayed. This gives the app a quick "snapiness" that is what most users want when they talk about performance. They don't care if it takes 15 seconds to do something hard, as long as when they click on a button or a menu, it reacts instantly.
The other performance characteristic is throughput. This is the number of jobs you can process in a specific amount of time. Usually this type of performance tuning is only needed on server type applications, or other heavy-duty processing. This measures how many webpages can be served up in an hour, or how long it takes to render a DVD. For these sort of jobs, you want to have 1 active thread per CPU. Fewer than that, and you're going to be wasting idle clock cycles. More than that, and the threads will be competing for CPU time and tripping over each other. Take a look at the second graph in this article DDJ articles for the trade-off you're dealing with. Note that the ideal thread count is higher than the number of available CPUs due to things like blocking and locking. The key is the number of active threads.
A good place to start is to ask yourself why you need multiple threads.
The well-thought-out answer to this question will lead you to the best answer to the subsequent question, "how should I use multiple threads in my application?"
And that must be a subsequent question; not a primary question. The fist question must be why, not how.
I think it depends on how long each thread will be running. Does each message take the same amount of time to process? Or will certain messages take a few seconds for example. If I knew that Message A was going to take 10 seconds to complete I would definitely use a new thread because why would I want to hold up the queue for a long running thread...
My 2 cents.
I think option 2 is the best. Having each thread doing independant tasks would give you best results. 3rd approach can cause more delays if multiple threads are doing some I/O operation like disk reads, reading common sockets and so on.
Whether to use Windows messaging framework for processing requests depends on the work load each thread would have. I think windows restricts the no. of messages that can be queued at the most to 10000. For most of the cases this should not be an issue. But if you have lots of messages to be queued this might be some thing to take into consideration.
Seperate queue gives a better control in a sense that you may reorder it the way you want (may be depending on priority)
Yes, there will be performance differences between your choices.
(1) introduces a bottle-neck for message processing
(3) introduces locking contention because you'll need to synchronize access to your shared queue.
(2) is starting to go in the right direction... though a queue for each message type is a little extreme. I'd probably recommend starting with a queue for each model in your app and adding queues where it makes since to do so for improved performance.
If you like option #2, it sounds like you would be interested in implementing a SEDA architecture. It is going to take some reading to understand what is going on, but I think the architecture fits well with your line of thinking.
BTW, Yield is a good C++/Python hybrid implementation.
I'd have a thread pool servicing the message queue, and make the number of threads in the pool easily configurable (perhaps even at runtime). Then test it out with expected load.
That way you can see what the actual correlation is - and if your initial assumptions change, you can easily change your approach.
A more sophisticated approach would be for the system to introspect its own performance traits and adapt it's use of resources, threads in particular, as it goes. Probably overkill for most custom application code, but I'm sure there are products that do that out there.
As for the windows events question - I think that's probably an application specific question that there is no right or wrong answer to in the general case. That said, I usually implement my own queue as I can tailor it to the specific characteristics of the task at hand. Sometimes that might involve routing events via the windows message queue.