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2026-10-22 09:23:54 +08:00
commit 63f557a39f
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+/**
+ * @file thread_pool.hpp
+ * @brief thread pool
+ * @author DeepRobotics
+ * @version 1.0
+ * @date 2026-01-07
+ *
+ * @copyright Copyright (c) 2025  DeepRobotics
+ *
+ */
+#pragma once
+#include <atomic>
+#include <condition_variable>
+#include <functional>
+#include <mutex>
+#include <queue>
+#include <thread>
+#include <vector>
+
+class ThreadPool {
+public:
+    ThreadPool(size_t numThreads) : stop(false) {
+        for (size_t i = 0; i < numThreads; ++i) {
+            workers.emplace_back([this]() {
+                while (true) {
+                    std::function<void()> task;
+                    {
+                        std::unique_lock<std::mutex> lock(this->queueMutex);
+                        this->condition.wait(lock, [this] { return this->stop || !this->tasks.empty(); });
+                        if (this->stop && this->tasks.empty()) return;
+                        task = std::move(this->tasks.front());
+                        this->tasks.pop();
+                    }
+                    task();
+                }
+            });
+        }
+    }
+
+    ~ThreadPool() {
+        {
+            std::unique_lock<std::mutex> lock(queueMutex);
+            stop = true;
+        }
+        condition.notify_all();
+        for (std::thread& worker : workers) worker.join();
+    }
+
+    void enqueue(std::function<void()> task) {
+        {
+            std::unique_lock<std::mutex> lock(queueMutex);
+            tasks.emplace(task);
+        }
+        condition.notify_one();
+    }
+
+private:
+    std::vector<std::thread> workers;
+    std::queue<std::function<void()>> tasks;
+
+    std::mutex queueMutex;
+    std::condition_variable condition;
+    std::atomic<bool> stop;
+};