How to wait for all threads to finish, using ExecutorService?

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I need to execute some amount of tasks 4 at a time, something like this:

ExecutorService taskExecutor = Executors.newFixedThreadPool(4);
while(...) {
    taskExecutor.execute(new MyTask());
}
//...wait for completion somehow

How can I get notified once all of them are complete? For now I can’t think about anything better than setting some global task counter and decrease it at the end of every task, then monitor in infinite loop this counter to become 0; or get a list of Futures and in infinite loop monitor isDone for all of them. What are better solutions not involving infinite loops?

Thanks.

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