Rename mjMAXTHREADS -> mjMAXTHREAD (consistency).

PiperOrigin-RevId: 599130235 Change-Id: Ia80379b8ae0574a7cd8fbc668657f806e90d6c5c
google-deepmind · Jan 17, 2024 · 67a00a3 · 67a00a3
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Showing 8 changed files with 8 additions and 8 deletions.
diff --git a/doc/APIreference/APIglobals.rst b/doc/APIreference/APIglobals.rst
@@ -489,7 +489,7 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
      - 1000
      - Maximum number of textures allowed.
        Defined in `mjrender.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`_.
-   * - ``mjMAXTHREADS``
+   * - ``mjMAXTHREAD``
      - 128
      - Maximum number OS threads that can be used in a thread pool.
        Defined in `mjthread.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjthread.h>`_.

diff --git a/doc/includes/references.h b/doc/includes/references.h
@@ -148,7 +148,7 @@ struct mjData_ {
 
   // memory utilization stats
   size_t  maxuse_stack;                      // maximum stack allocation in bytes
-  size_t  maxuse_threadstack[mjMAXTHREADS];  // maximum stack allocation per thread in bytes
+  size_t  maxuse_threadstack[mjMAXTHREAD];   // maximum stack allocation per thread in bytes
   size_t  maxuse_arena;                      // maximum arena allocation in bytes
   int     maxuse_con;                        // maximum number of contacts
   int     maxuse_efc;                        // maximum number of scalar constraints

diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
@@ -176,7 +176,7 @@ struct mjData_ {
 
   // memory utilization stats
   size_t  maxuse_stack;                      // maximum stack allocation in bytes
-  size_t  maxuse_threadstack[mjMAXTHREADS];  // maximum stack allocation per thread in bytes
+  size_t  maxuse_threadstack[mjMAXTHREAD];   // maximum stack allocation per thread in bytes
   size_t  maxuse_arena;                      // maximum arena allocation in bytes
   int     maxuse_con;                        // maximum number of contacts
   int     maxuse_efc;                        // maximum number of scalar constraints

diff --git a/include/mujoco/mjthread.h b/include/mujoco/mjthread.h
@@ -15,7 +15,7 @@
 #ifndef MUJOCO_INCLUDE_MJTHREAD_H_
 #define MUJOCO_INCLUDE_MJTHREAD_H_
 
-#define mjMAXTHREADS 128       // maximum number of threads in a thread pool
+#define mjMAXTHREAD 128        // maximum number of threads in a thread pool
 
 typedef enum mjtTaskStatus_ {  // status values for mjTask
   mjTASK_NEW = 0,              // newly created

diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
@@ -739,7 +739,7 @@
 
 // vector fields of mjData
 #define MJDATA_VECTOR                                                \
-    X( size_t,         maxuse_threadstack, mjMAXTHREADS, 1         ) \
+    X( size_t,         maxuse_threadstack, mjMAXTHREAD,  1         ) \
     X( mjWarningStat,  warning,            mjNWARNING,   1         ) \
     X( mjTimerStat,    timer,              mjNTIMER,     1         ) \
     X( mjSolverStat,   solver,             mjNILSAND,    mjNSOLVER ) \

diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
@@ -1568,7 +1568,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
 
   // clear memory utilization stats
   d->maxuse_stack = 0;
-  mju_zeroSizeT(d->maxuse_threadstack, mjMAXTHREADS);
+  mju_zeroSizeT(d->maxuse_threadstack, mjMAXTHREAD);
   d->maxuse_arena = 0;
   d->maxuse_con = 0;
   d->maxuse_efc = 0;

diff --git a/src/thread/thread_pool.cc b/src/thread/thread_pool.cc
@@ -65,7 +65,7 @@ class ThreadPoolImpl : public mjThreadPool {
  public:
   ThreadPoolImpl(int num_worker) : mjThreadPool{num_worker} {
     // initialize worker threads
-    for (int i = 0; i < std::min(num_worker, mjMAXTHREADS); ++i) {
+    for (int i = 0; i < std::min(num_worker, mjMAXTHREAD); ++i) {
       WorkerThread worker{
         std::make_unique<std::thread>(ThreadPoolWorker, this, i)};
       workers_.push_back(std::move(worker));

diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
@@ -58,7 +58,7 @@ public static class MujocoLib {
 public const int mjNAUX = 10;
 public const int mjMAXTEXTURE = 1000;
 public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTHREAD_H_ = true;
-public const int mjMAXTHREADS = 128;
+public const int mjMAXTHREAD = 128;
 public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTNUM_H_ = true;
 public const bool mjUSEDOUBLE = true;
 public const double mjMINVAL = 1e-15;