126 lines
3.4 KiB
C
126 lines
3.4 KiB
C
/*
|
|
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
|
|
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
|
|
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
|
|
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
|
|
*
|
|
* 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(__DSPACE__)
|
|
|
|
#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_
|