Release 260111

2026-01-11 18:23:29 +08:00
commit 3721ecbf8a
2601 changed files with 855070 additions and 0 deletions
--- a/third_party/acados/include/acados/utils/timing.h
+++ b/third_party/acados/include/acados/utils/timing.h
@@ -0,0 +1,122 @@
+/*
+ * Copyright (c) The acados authors.
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_UTILS_TIMING_H_
+#define ACADOS_UTILS_TIMING_H_
+
+#include "acados/utils/types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef MEASURE_TIMINGS
+#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
+
+/* Use Windows QueryPerformanceCounter for timing. */
+#include <Windows.h>
+
+/** A structure for keeping internal timer data. */
+typedef struct acados_timer_
+{
+    LARGE_INTEGER tic;
+    LARGE_INTEGER toc;
+    LARGE_INTEGER freq;
+} acados_timer;
+
+#elif defined(__APPLE__)
+
+#include <mach/mach_time.h>
+
+/** A structure for keeping internal timer data. */
+typedef struct acados_timer_
+{
+    uint64_t tic;
+    uint64_t toc;
+    mach_timebase_info_data_t tinfo;
+} acados_timer;
+
+#elif defined(__MABX2__)
+
+#include <brtenv.h>
+
+typedef struct acados_timer_
+{
+    double time;
+} acados_timer;
+
+#else
+
+/* Use POSIX clock_gettime() for timing on non-Windows machines. */
+#include <time.h>
+
+#if (__STDC_VERSION__ >= 199901L) && !(defined __MINGW32__ || defined __MINGW64__)  // C99 Mode
+
+#include <sys/stat.h>
+#include <sys/time.h>
+
+typedef struct acados_timer_
+{
+    struct timeval tic;
+    struct timeval toc;
+} acados_timer;
+
+#else  // ANSI C Mode
+
+/** A structure for keeping internal timer data. */
+typedef struct acados_timer_
+{
+    struct timespec tic;
+    struct timespec toc;
+} acados_timer;
+
+#endif  // __STDC_VERSION__ >= 199901L
+
+#endif  // (defined _WIN32 || defined _WIN64)
+
+#else
+
+// Dummy type when timings are off
+typedef real_t acados_timer;
+
+#endif  // MEASURE_TIMINGS
+
+/** A function for measurement of the current time. */
+void acados_tic(acados_timer* t);
+
+/** A function which returns the elapsed time. */
+real_t acados_toc(acados_timer* t);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_TIMING_H_