[hal] Fix USB serial port assignment in SerialHelper (#8689)

This is just #7793 with requested changes applied.

.bazelrc

@@ -11,14 +11,14 @@ build --tool_java_runtime_version=remotejdk_17
 test --test_output=errors
 test --test_verbose_timeout_warnings
 
-import shared/bazel/compiler_flags/sanitizers.rc
-import shared/bazel/compiler_flags/base_linux_flags.rc
-import shared/bazel/compiler_flags/linux_flags.rc
-import shared/bazel/compiler_flags/osx_flags.rc
-import shared/bazel/compiler_flags/roborio_flags.rc
-import shared/bazel/compiler_flags/systemcore_flags.rc
-import shared/bazel/compiler_flags/windows_flags.rc
-import shared/bazel/compiler_flags/coverage_flags.rc
+import %workspace%/shared/bazel/compiler_flags/sanitizers.rc
+import %workspace%/shared/bazel/compiler_flags/base_linux_flags.rc
+import %workspace%/shared/bazel/compiler_flags/linux_flags.rc
+import %workspace%/shared/bazel/compiler_flags/osx_flags.rc
+import %workspace%/shared/bazel/compiler_flags/roborio_flags.rc
+import %workspace%/shared/bazel/compiler_flags/systemcore_flags.rc
+import %workspace%/shared/bazel/compiler_flags/windows_flags.rc
+import %workspace%/shared/bazel/compiler_flags/coverage_flags.rc
 
 # Alias toolchain names to what wpilibsuite uses for CI/Artifact naming
 build:athena --config=roborio

.clang-tidy

@@ -45,6 +45,8 @@ Checks:
   -clang-diagnostic-#warnings,
   -clang-diagnostic-pedantic,
   clang-analyzer-*,
+  -clang-analyzer-optin.cplusplus.UninitializedObject,
+  -clang-analyzer-security.FloatLoopCounter,
   cppcoreguidelines-slicing,
   google-build-namespaces,
   google-explicit-constructor,

.gersemirc

@@ -1,6 +1,4 @@
-color: false
 definitions: [cmake/modules]
 line_length: 100
 list_expansion: favour-inlining
-quiet: false
 unsafe: false

.github/workflows/aql/wpilib-mvn-development_unused.aql

@@ -3,7 +3,10 @@
     {
       "aql": {
         "items.find": {
-          "repo": "wpilib-mvn-development-local",
+          "$or":[
+            { "repo": "wpilib-mvn-development-local" },
+            { "repo": "wpilib-mvn-development-2027-local" }
+          ],
           "path": { "$nmatch":"*edu/wpi/first/thirdparty*" },
           "$or":[
             {

.github/workflows/bazel.yml

@@ -31,13 +31,13 @@ jobs:
         with:
           token: ${{ secrets.BUILDBUDDY_API_KEY }}
 
-      - name: Build Release
-        run: bazel --output_user_root=C:\\bazelroot ${{ matrix.action }} -k ...   --config=ci -c opt ${{ matrix.config }} --verbose_failures
+      - name: bazel ${{ matrix.action }}
+        run: bazel --output_user_root=C:\\bazelroot ${{ matrix.action }} -k ...   --config=ci ${{ matrix.config }} --verbose_failures
         shell: bash
 
   build-mac:
     name: "Mac"
-    runs-on: macos-14
+    runs-on: macOS-15
     steps:
       - uses: actions/checkout@v4
         with: { fetch-depth: 0 }
@@ -47,7 +47,7 @@ jobs:
         with:
           token: ${{ secrets.BUILDBUDDY_API_KEY }}
 
-      - name: Build Release
+      - name: bazel test (release)
         run: bazel test -k ...   --config=ci -c opt --config=macos --nojava_header_compilation --verbose_failures
         shell: bash
 
@@ -70,7 +70,7 @@ jobs:
         with:
           token: ${{ secrets.BUILDBUDDY_API_KEY }}
 
-      - name: Build and Test Release
+      - name: bazel ${{ matrix.action }} (release)
         run: bazel ${{ matrix.action }} ... --config=ci -c opt ${{ matrix.config }} -k --verbose_failures
 
   buildifier:

.github/workflows/cmake-android.yml

@@ -30,7 +30,7 @@ jobs:
       - uses: nttld/setup-ndk@v1
         id: setup-ndk
         with:
-          ndk-version: r27c
+          ndk-version: r27d
           add-to-path: false
 
       - uses: actions/setup-java@v4
@@ -39,13 +39,19 @@ jobs:
           java-version: 17
 
       - name: Install sccache
-        uses: mozilla-actions/sccache-action@v0.0.5
+        uses: mozilla-actions/sccache-action@v0.0.9
 
       - name: Install dependencies
         run: sudo apt-get update && sudo apt-get install -y ninja-build
 
       - name: configure
         run: cmake --preset with-sccache -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWITH_WPILIB=OFF -DWITH_GUI=OFF -DWITH_CSCORE=OFF -DWITH_TESTS=OFF -DWITH_SIMULATION_MODULES=OFF -DWITH_PROTOBUF=OFF -DWITH_JAVA=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_TOOLCHAIN_FILE=${{ steps.setup-ndk.outputs.ndk-path }}/build/cmake/android.toolchain.cmake -DANDROID_ABI="${{ matrix.abi }}" -DANDROID_PLATFORM=android-24
+        env:
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: build
         run: cmake --build build-cmake --parallel $(nproc)
+        env:
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

.github/workflows/cmake.yml

@@ -20,11 +20,11 @@ jobs:
             name: Linux
             container: wpilib/roborio-cross-ubuntu:2025-22.04
             flags: "--preset with-java-and-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
-          - os: macOS-14
+          - os: macOS-15
             name: macOS
             container: ""
-            env: "PATH=\"/opt/homebrew/opt/protobuf@3/bin:$PATH\""
-            flags: "--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON -DCMAKE_LIBRARY_PATH=/opt/homebrew/opt/protobuf@3/lib -DProtobuf_INCLUDE_DIR=/opt/homebrew/opt/protobuf@3/include -DProtobuf_PROTOC_EXECUTABLE=/opt/homebrew/opt/protobuf@3/bin/protoc"
+            env: ""
+            flags: "--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
           - os: windows-2022
             name: Windows
             container: ""
@@ -40,7 +40,7 @@ jobs:
 
       - name: Install dependencies (macOS)
         if: runner.os == 'macOS'
-        run: brew install opencv protobuf@3 ninja
+        run: brew install opencv protobuf@29 ninja
 
       - uses: ilammy/msvc-dev-cmd@v1.13.0
         if: runner.os == 'Windows'
@@ -50,7 +50,7 @@ jobs:
         uses: lukka/get-cmake@v3.29.3
 
       - name: Install sccache
-        uses: mozilla-actions/sccache-action@v0.0.5
+        uses: mozilla-actions/sccache-action@v0.0.9
 
       - uses: actions/checkout@v4
 
@@ -59,7 +59,7 @@ jobs:
         uses: lukka/run-vcpkg@v11.5
         with:
           vcpkgDirectory: ${{ runner.workspace }}/vcpkg
-          vcpkgGitCommitId: 37c3e63a1306562f7f59c4c3c8892ddd50fdf992 # HEAD on 2024-02-24
+          vcpkgGitCommitId: 74e6536215718009aae747d86d84b78376bf9e09 # HEAD on 2025-10-17
 
       - name: configure
         run: cmake ${{ matrix.flags }}

.github/workflows/documentation.yml

@@ -1,67 +0,0 @@
-name: Documentation
-
-on: [push, workflow_dispatch]
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  BASE_PATH: allwpilib/docs
-
-jobs:
-  publish:
-    name: "Documentation - Publish"
-    runs-on: ubuntu-22.04
-    if: github.repository == 'wpilibsuite/allwpilib' && (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
-    concurrency: ci-docs-publish
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          persist-credentials: false
-      - uses: gradle/actions/wrapper-validation@v4
-      - uses: actions/setup-java@v4
-        with:
-          distribution: 'temurin'
-          java-version: 17
-      - name: Set environment variables (Development)
-        run: |
-          echo "BRANCH=development" >> $GITHUB_ENV
-        if: github.ref == 'refs/heads/main'
-      - name: Set environment variables (Tag)
-        run: |
-          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "BRANCH=beta" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
-      - name: Set environment variables (Release)
-        run: |
-          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "BRANCH=release" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta') && !contains(github.ref, '2027')
-      - name: Build with Gradle
-        run: ./gradlew docs:generateJavaDocs docs:doxygen -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
-      - name: Install SSH Client 🔑
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
-      - name: Deploy 🚀
-        uses: JamesIves/github-pages-deploy-action@v4.6.1
-        with:
-          ssh-key: true
-          repository-name: wpilibsuite/wpilibsuite.github.io
-          branch: allwpilib-${{ env.BRANCH }}
-          clean: true
-          single-commit: true
-          folder: docs/build/docs
-      - name: Trigger Workflow
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.DISPATCH_PAT_TOKEN }}
-          script: |
-            github.rest.actions.createWorkflowDispatch({
-              owner: context.repo.owner,
-              repo: 'wpilibsuite.github.io',
-              workflow_id: 'static.yml',
-              ref: 'main',
-            })

.github/workflows/fix_compile_commands.py

@@ -31,6 +31,9 @@ def main():
             # Replace GCC warning argument with one Clang recognizes
             elif arg == "-Wno-maybe-uninitialized":
                 out_args.append("-Wno-uninitialized")
+            # Skip GCC-specific warning argument
+            elif arg == "-Wno-error=restrict":
+                pass
             else:
                 out_args.append(arg)
 

.github/workflows/gradle.yml

@@ -52,11 +52,11 @@ jobs:
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
       - name: Build with Gradle
-        uses: addnab/docker-run-action@v3
+        uses: wpilibsuite/docker-run-action@v4
         with:
           image: ${{ matrix.container }}
           options: -v ${{ github.workspace }}:/work -w /work -e ARTIFACTORY_PUBLISH_USERNAME -e ARTIFACTORY_PUBLISH_PASSWORD -e GITHUB_REF -e CI
-          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+          run: df . && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
@@ -98,7 +98,7 @@ jobs:
             build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
-          - os: macOS-14
+          - os: macOS-15
             artifact-name: macOS
             architecture: aarch64
             task: "build"
@@ -153,7 +153,7 @@ jobs:
         if: matrix.os == 'windows-2022'
       - name: Check disk free space pre-cleanup (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Cleanup disk space
         # CodeQL: 5G
         # go: 748M
@@ -162,10 +162,10 @@ jobs:
           rm -rf /Users/runner/hostedtoolcache/CodeQL
           rm -rf /Users/runner/hostedtoolcache/go
           rm -rf /Users/runner/Library/Android
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Check disk free space post-cleanup (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Build with Gradle
         run: ./gradlew ${{ matrix.task }} --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         env:
@@ -181,7 +181,7 @@ jobs:
         if: matrix.os == 'windows-2022'
       - name: Check disk free space (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}
@@ -203,7 +203,7 @@ jobs:
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
       - name: Build with Gradle
-        run: ./gradlew docs:zipDocs --build-cache -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew docs:zipDocs --build-cache -PbuildServer -PdocWarningsAsErrors ${{ env.EXTRA_GRADLE_ARGS }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
@@ -212,6 +212,68 @@ jobs:
           name: Documentation
           path: docs/build/outputs
 
+  publish:
+    name: "Documentation - Publish"
+    runs-on: ubuntu-22.04
+    if: github.repository == 'wpilibsuite/allwpilib' && (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
+    needs: [build-documentation]
+    concurrency: ci-docs-publish
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          persist-credentials: false
+      - name: Download docs artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: Documentation
+      - name: Make output directories
+        run: |
+          mkdir -p docs/tmp/doxygen/html
+          mkdir -p docs/tmp/javadoc
+      - name: Extract docs
+        run: |
+          unzip _GROUP_edu_wpi_first_wpilibc_ID_documentation_CLS.zip -d docs/tmp/doxygen/html
+          unzip _GROUP_edu_wpi_first_wpilibj_ID_documentation_CLS.zip -d docs/tmp/javadoc
+      - name: Set environment variables (Development)
+        run: |
+          echo "BRANCH=development" >> $GITHUB_ENV
+        if: github.ref == 'refs/heads/main'
+      - name: Set environment variables (Tag)
+        run: |
+          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+          echo "BRANCH=beta" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
+      - name: Set environment variables (Release)
+        run: |
+          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+          echo "BRANCH=release" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta') && !contains(github.ref, '2027')
+      - name: Install SSH Client 🔑
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
+      - name: Deploy 🚀
+        uses: JamesIves/github-pages-deploy-action@v4.6.1
+        with:
+          ssh-key: true
+          repository-name: wpilibsuite/wpilibsuite.github.io
+          branch: allwpilib-${{ env.BRANCH }}
+          clean: true
+          single-commit: true
+          folder: docs/tmp
+      - name: Trigger Workflow
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.DISPATCH_PAT_TOKEN }}
+          script: |
+            github.rest.actions.createWorkflowDispatch({
+              owner: context.repo.owner,
+              repo: 'wpilibsuite.github.io',
+              workflow_id: 'static.yml',
+              ref: 'main',
+            })
+
   combine:
     name: Combine
     needs: [build-docker, build-host, build-documentation]

.github/workflows/lint-format.yml

@@ -36,7 +36,7 @@ jobs:
       - name: Install wpiformat
         run: |
           python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2024.51
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.36
       - name: Run
         run: ${{ runner.temp }}/wpiformat/bin/wpiformat
       - name: Check output
@@ -78,7 +78,7 @@ jobs:
       - name: Install wpiformat
         run: |
           python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2024.51
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.36
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
@@ -123,18 +123,3 @@ jobs:
           echo '' >> $GITHUB_STEP_SUMMARY
           echo '```' >> $GITHUB_STEP_SUMMARY
         if: ${{ failure() }}
-
-  documentation:
-    name: "Documentation"
-    runs-on: ubuntu-22.04
-    needs: [validation]
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-java@v4
-        with:
-          distribution: 'temurin'
-          java-version: 21
-      - name: Build with Gradle
-        run: ./gradlew docs:zipDocs -PbuildServer -PdocWarningsAsErrors ${{ env.EXTRA_GRADLE_ARGS }}

.github/workflows/sanitizers.yml

@@ -36,7 +36,7 @@ jobs:
         run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv-java clang-17 libprotobuf-dev protobuf-compiler ninja-build
 
       - name: Install sccache
-        uses: mozilla-actions/sccache-action@v0.0.5
+        uses: mozilla-actions/sccache-action@v0.0.9
 
       - uses: actions/checkout@v4
 

.github/workflows/sentinel-build.yml

@@ -53,11 +53,11 @@ jobs:
         with:
           fetch-depth: 0
       - name: Build with Gradle
-        uses: addnab/docker-run-action@v3
+        uses: wpilibsuite/docker-run-action@v4
         with:
           image: ${{ matrix.container }}
           options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI
-          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
+          run: df . && echo $GITHUB_REF && ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
       - name: Check free disk space
         run: df .
       - uses: actions/upload-artifact@v4
@@ -97,15 +97,22 @@ jobs:
             build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
-          - os: macOS-14
+          - os: macOS-15
             artifact-name: macOS
             architecture: aarch64
             task: "build"
             outputs: "build/allOutputs"
           - os: windows-2022
-            artifact-name: Win32
+            artifact-name: Win32FFI
             architecture: x86
             task: ":ntcoreffi:build"
+            build-options: "-Pntcoreffibuild \"-Dorg.gradle.jvmargs=-Xmx1096m\""
+            outputs: "ntcoreffi/build/outputs"
+          - os: windows-2022
+            artifact-name: Win64FFI
+            architecture: x64
+            task: ":ntcoreffi:build"
+            build-options: "-Pntcoreffibuild -Pbuildwinarm64"
             outputs: "ntcoreffi/build/outputs"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
@@ -139,7 +146,7 @@ jobs:
         if: matrix.os == 'windows-2022'
       - name: Check disk free space pre-cleanup (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Cleanup disk space
         # CodeQL: 5G
         # go: 748M
@@ -148,10 +155,10 @@ jobs:
           rm -rf /Users/runner/hostedtoolcache/CodeQL
           rm -rf /Users/runner/hostedtoolcache/go
           rm -rf /Users/runner/Library/Android
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Check disk free space post-cleanup (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Build with Gradle
         run: ./gradlew ${{ matrix.task }} -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
       - name: Sign Libraries with Developer ID
@@ -163,7 +170,7 @@ jobs:
         if: matrix.os == 'windows-2022'
       - name: Check disk free space (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}

.github/workflows/tools.yml

@@ -7,7 +7,7 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  YEAR: 2025
+  YEAR: 2026
 
 jobs:
   build-artifacts:
@@ -31,11 +31,11 @@ jobs:
           fetch-depth: 0
       - uses: gradle/actions/wrapper-validation@v4
       - name: Build WPILib with Gradle
-        uses: addnab/docker-run-action@v3
+        uses: wpilibsuite/docker-run-action@v4
         with:
           image: wpilib/roborio-cross-ubuntu:2025-22.04
           options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI -e DISPLAY
-          run: df . && rm -f semicolon_delimited_script && ./gradlew :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish :simulation:halsim_ws_server:publish :simulation:halsim_ws_client:publish :simulation:halsim_xrp:publish :fieldImages:publish :romiVendordep:publish :xrpVendordep:publish :epilogue-processor:publish :epilogue-runtime:publish :thirdparty:googletest:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
+          run: df . && ./gradlew :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish :simulation:halsim_ws_server:publish :simulation:halsim_ws_client:publish :simulation:halsim_xrp:publish :fieldImages:publish :romiVendordep:publish :xrpVendordep:publish :epilogue-processor:publish :epilogue-runtime:publish :thirdparty:googletest:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
       - uses: actions/upload-artifact@v4
         with:
           name: MavenArtifacts
@@ -150,57 +150,47 @@ jobs:
             build/allOutputs/
           retention-days: 7
 
-  Robotpy:
-    name: "Build - Robotpy"
-    needs: [build-artifacts]
-    runs-on: ubuntu-22.04
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        repository: robotpy/mostrobotpy
-        fetch-depth: 0
-    - uses: actions/download-artifact@v4
-      with:
-        name: MavenArtifacts
-    - name: Move artifacts
-      run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
-
-    - uses: actions/setup-python@v5
-      with:
-        python-version: 3.13
-
-    #
-    # Setup build caching
-    #
-
-    - name: Set ccache size
-      shell: bash
-      id: ccache
-      run: echo "MAX_SIZE=500M" >> $GITHUB_OUTPUT
-
-    - name: Setup ccache
-      # uses: hendrikmuhs/ccache-action@v1.2.10
-      uses: robotpy/ccache-action@fork
-      with:
-          key: ubuntu-22.04-3.13
-          variant: ccache
-          max-size: ${{ steps.ccache.outputs.max_size }}
-
-    - name: Install deps
-      shell: bash
-      run: |
-        python -m pip --disable-pip-version-check install -r rdev_requirements.txt
-
-    - name: Install numpy (needed for stubgen but broken in raspbian CI)
-      shell: bash
-      run: |
-        python -m pip --disable-pip-version-check install numpy
-    - name: Patch RobotPy rdev to use local development
-      run: git config user.name github-actions && git config user.email github-actions@github.com && set -- ~/releases/maven/development/edu/wpi/first/wpiutil/wpiutil-cpp/*/ ; wpilibversion=$(basename $1) && echo $wpilibversion && sed --regexp-extended -i 's@(wpilib_bin_url =).*@\1 \"file:\/\/'"$HOME"'\/releases\/maven\/development"@' rdev.toml && sed --regexp-extended -i 's/(wpilib_bin_version =).*/\1 \"'"$wpilibversion"'\"/' rdev.toml && ./rdev.sh update-pyproject --commit
-    - name: Build + test wheels
-      shell: bash
-      run: |
-        ./rdev.sh ci run
-      env:
-        RPYBUILD_STRIP_LIBPYTHON: "1"
-        RPYBUILD_CC_LAUNCHER: ccache
+#  Robotpy:
+#    name: "Build - Robotpy"
+#    needs: [build-artifacts]
+#    runs-on: ubuntu-22.04
+#    steps:
+#    - uses: actions/checkout@v4
+#      with:
+#        repository: robotpy/mostrobotpy
+#        fetch-depth: 0
+#    - uses: actions/download-artifact@v4
+#      with:
+#        name: MavenArtifacts
+#    - name: Move artifacts
+#      run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+#
+#    - uses: actions/setup-python@v5
+#      with:
+#        python-version: 3.13
+#
+#    - name: Install sccache
+#      uses: mozilla-actions/sccache-action@v0.0.9
+#
+#    - name: Install deps
+#      shell: bash
+#      run: |
+#        python -m pip --disable-pip-version-check install -r rdev_requirements.txt
+#
+#    - name: Install numpy (needed for stubgen but broken in raspbian CI)
+#      shell: bash
+#      run: |
+#        python -m pip --disable-pip-version-check install numpy
+#    - name: Patch RobotPy rdev to use local development
+#      run: git config user.name github-actions && git config user.email github-actions@github.com && set -- ~/releases/maven/development/edu/wpi/first/wpiutil/wpiutil-cpp/*/ ; wpilibversion=$(basename $1) && echo $wpilibversion && sed --regexp-extended -i 's@(wpilib_bin_url =).*@\1 \"file:\/\/'"$HOME"'\/releases\/maven\/development"@' rdev.toml && sed --regexp-extended -i 's/(wpilib_bin_version =).*/\1 \"'"$wpilibversion"'\"/' rdev.toml && ./rdev.sh update-pyproject --commit
+#    - name: Build + test wheels
+#      shell: bash
+#      run: |
+#        ./rdev.sh ci run
+#      env:
+#        RPYBUILD_STRIP_LIBPYTHON: "1"
+#        RPYBUILD_CC_LAUNCHER: sccache
+#        SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake-local"
+#        SCCACHE_WEBDAV_KEY_PREFIX: "sccache-robotpy"
+#        SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+#        SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

.github/workflows/upstream-utils.yml

@@ -120,12 +120,6 @@ jobs:
           ./mpack.py clone
           ./mpack.py copy-src
           ./mpack.py format-patch
-      - name: Run memory.py
-        run: |
-          cd upstream_utils
-          ./memory.py clone
-          ./memory.py copy-src
-          ./memory.py format-patch
       - name: Run protobuf.py
         run: |
           cd upstream_utils
@@ -147,4 +141,11 @@ jobs:
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output
-        run: git --no-pager diff --exit-code HEAD ':!*.bazel'
+        run: |
+          set +e
+          git --no-pager diff --exit-code HEAD ':!*.bazel'
+          git_exit_code=$?
+          if test "$git_exit_code" -ne "0"; then
+            echo "::error ::upstream_utils check failed. This is usually caused by a bad script or the copied files differing from what the script outputs. You can learn more about using upstream_utils to modify thirdparty libraries at https://github.com/wpilibsuite/allwpilib/blob/main/upstream_utils/README.md"
+            exit $git_exit_code
+          fi

CMakeLists.txt

@@ -91,6 +91,7 @@ option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
 option(WITH_GUI "Build GUI items" ON)
 option(WITH_SIMULATION_MODULES "Build simulation modules" ON)
 option(WITH_PROTOBUF "Build protobuf support" ON)
+option(WITH_BENCHMARK "Build the benchmark project" ON)
 
 # Options for using a package manager (e.g., vcpkg) for certain dependencies.
 option(USE_SYSTEM_FMTLIB "Use system fmtlib" OFF)
@@ -288,6 +289,7 @@ endif()
 set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
 set(SELF_DIR "$\{SELF_DIR\}")
 set(WPIUNITS_DEP_REPLACE_IMPL "find_dependency(wpiunits)")
+set(WPIANNOTATIONS_DEP_REPLACE_IMPL "find_dependency(wpiannotations)")
 set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
 add_subdirectory(wpiutil)
 
@@ -307,6 +309,10 @@ if(WITH_WPIMATH)
     add_subdirectory(wpimath)
 endif()
 
+if(WITH_JAVA)
+    add_subdirectory(wpiannotations)
+endif()
+
 if(WITH_WPIUNITS AND NOT WITH_WPIMATH)
     # In case of building wpiunits standalone
     set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})
@@ -345,7 +351,9 @@ endif()
 if(WITH_WPILIB)
     set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)")
     set(WPILIBC_DEP_REPLACE "find_dependency(wpilibc)")
-    set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
+    if(WITH_JAVA)
+        set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
+    endif()
     set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
     add_subdirectory(apriltag)
     add_subdirectory(wpilibj)
@@ -359,6 +367,10 @@ if(WITH_WPILIB)
     add_subdirectory(developerRobot)
 endif()
 
+if(WITH_BENCHMARK)
+    add_subdirectory(benchmark)
+endif()
+
 if(WITH_SIMULATION_MODULES)
     add_subdirectory(simulation)
 endif()

CODE_OF_CONDUCT.md

@@ -4,8 +4,7 @@
 
 As members, contributors, and leaders, we commit to fostering a community where everyone feels safe, respected, and valued. We are dedicated to ensuring that participation in this community is harassment-free, inclusive, and welcoming, regardless of age, body type, abilities (visible or invisible), ethnicity, gender identity or expression, sexual orientation, socioeconomic background, education, nationality, personal appearance, race, or religion.
 
-Above all, we pledge to act with integrity, kindness, and empathy—striving to be not only good participants but also good humans.
-
+We pledge to act and interact in ways that contribute to an open, welcoming, diverse, inclusive, and healthy community.
 
 ## Our Standards
 
@@ -57,7 +56,7 @@ the consequences for any action they deem in violation of this Code of Conduct:
 **Community Impact**: Use of inappropriate language or other behavior deemed
 unprofessional or unwelcome in the community.
 
-**Consequence**: A private, written warning from community leaders, providing
+**Consequence**: A warning from community leaders, providing
 clarity around the nature of the violation and an explanation of why the
 behavior was inappropriate. A public apology may be requested.
 

CONTRIBUTING.md

@@ -4,6 +4,7 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
 
 - [General Contribution Rules](#general-contribution-rules)
 - [What to Contribute](#what-to-contribute)
+- [Contribution Process](#contribution-process)
 - [Coding Guidelines](#coding-guidelines)
 - [Submitting Changes](#submitting-changes)
     - [Pull Request Format](#pull-request-format)
@@ -30,50 +31,26 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
     - Features must be added to Java (WPILibJ), C++ (WPILibC), with rare exceptions.
         - Most of Python (RobotPy) is created by wrapping WPILibC with pybind11 via robotpy-build. However, new features to the command framework should also be submitted to [robotpy-commands-v2](https://github.com/robotpy/robotpy-commands-v2) as the command framework is reimplemented in Python.
     - During competition season, we will not merge any new feature additions. We want to ensure that the API is stable during the season to help minimize issues for teams.
-    - Ask about large changes before spending a bunch of time on them! You can create a new issue on our GitHub tracker for feature request/discussion and talk about it with us there.
+    - Ask about large changes before spending a bunch of time on them! See [Contribution Process](#contribution-process) for where to ask.
     - Features that make it easier for teams with less experience to be more successful are more likely to be accepted.
     - Features in WPILib should be broadly applicable to all teams. Anything that is team specific should not be submitted.
     - As a rule, we are happy with the general structure of WPILib. We are not interested in major rewrites of all of WPILib. We are open to talking about ideas, but backwards compatibility is very important for WPILib, so be sure to keep this in mind when proposing major changes.
     - Generally speaking, we do not accept code for specific sensors. We have to be able to test the sensor in hardware on the WPILib test bed. Additionally, hardware availability for teams is important. Therefore, as a general rule, the library only directly supports hardware that is in the Kit of Parts. If you are a company interested in getting a sensor into the Kit of Parts, please contact FIRST directly at frcparts@firstinspires.org.
 
+## Contribution Process
+
+Have an idea to make WPILib better? Here's some steps to go from idea to implementation:
+
+1. (Optional) **Discuss it in the Discord.** The programming discussion channel in the [Unofficial FIRST Robotics Competition Discord Server](https://discord.com/invite/frc) is a popular choice for initial discussion about ideas because many WPILib developers are active there and the live messaging nature of the platform is well suited for initial discussion (particularly for smaller changes). Note that the unofficial Discord server is not a mandatory step in the development process and is not endorsed by FIRST®.
+2. (Recommended) **Open a GitHub issue.** GitHub issues are another way to get initial feedback about an idea before working on an implementation. Compared to the unofficial Discord server, GitHub issues have much wider visibility and are better suited for serious discussions about major changes. Getting feedback about an idea (whether in the unofficial Discord server or in a GitHub issue) before working on the implementation is recommended to avoid working on a change that will be rejected, though some ideas are pretty safe.
+3. (Rare) **Create a design document in GitHub.** Sometimes, a change is so large that a design document is necessary to fully flesh out the details (and get feedback on them) before starting on an implementation. This is done through a pull request that adds the design document (as a Markdown file) to the repository. This is extremely rare, and it is sometimes done concurrently with the implementation if the change doesn't need much debate but is large enough to require a design document.
+4. (Mandatory) **Create a GitHub pull request.** This is how you implement the changes, and is the focus of most of the rest of this document.
+
 ## Coding Guidelines
 
 WPILib uses modified Google style guides for both C++ and Java, which can be found in the [styleguide repository](https://github.com/wpilibsuite/styleguide). Autoformatters are available for many popular editors at https://github.com/google/styleguide. Running wpiformat is required for all contributions and is enforced by our continuous integration system.
 While the library should be fully formatted according to the styles, additional elements of the style guide were not followed when the library was initially created. All new code should follow the guidelines. If you are looking for some easy ramp-up tasks, finding areas that don't follow the style guide and fixing them is very welcome.
 
-### Math documentation
-
-When writing math expressions in documentation, use https://www.unicodeit.net/ to convert LaTeX to a Unicode equivalent that's easier to read. Not all expressions will translate (e.g., superscripts of superscripts) so focus on making it readable by someone who isn't familiar with LaTeX. If content on multiple lines needs to be aligned in Doxygen/Javadoc comments (e.g., integration/summation limits, matrices packed with square brackets and superscripts for them), put them in @verbatim/@endverbatim blocks in Doxygen or `<pre>` tags in Javadoc so they render with monospace font.
-
-The LaTeX to Unicode conversions can also be done locally via the unicodeit Python package. To install it, execute:
-```bash
-pip install --user unicodeit
-```
-
-Here's example usage:
-```bash
-$ python -m unicodeit.cli 'x_{k+1} = Ax_k + Bu_k'
-xₖ₊₁ = Axₖ + Buₖ
-```
-
-On Linux, this process can be streamlined further by adding the following Bash function to your .bashrc (requires `wl-clipboard` on Wayland or `xclip` on X11):
-```bash
-# Converts LaTeX to Unicode, prints the result, and copies it to the clipboard
-uc() {
-  if [ $WAYLAND_DISPLAY ]; then
-    python -m unicodeit.cli $@ | tee >(wl-copy -n)
-  else
-    python -m unicodeit.cli $@ | tee >(xclip -sel)
-  fi
-}
-```
-
-Here's example usage:
-```bash
-$ uc 'x_{k+1} = Ax_k + Bu_k'
-xₖ₊₁ = Axₖ + Buₖ
-```
-
 ## Submitting Changes
 
 ### Pull Request Format

DevelopmentBuilds.md

@@ -13,7 +13,7 @@ This article contains instructions on building projects using a development buil
 
 Development builds are the per-commit build hosted every time a commit is pushed to the [allwpilib](https://github.com/wpilibsuite/allwpilib/) repository. These builds are then hosted on [artifactory](https://frcmaven.wpi.edu/artifactory/webapp/#/home).
 
-To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2025 GradleRIO version, ie `2025.1.1-beta-1`
+To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2026 GradleRIO version, ie `2026.1.1`
 
 ```groovy
 wpi.maven.useLocal = false
@@ -28,13 +28,13 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2025.+'
-wpi.versions.wpimathVersion = '2025.+'
+wpi.versions.wpilibVersion = '2026.+'
+wpi.versions.wpimathVersion = '2026.+'
 ```
 
 C++
@@ -42,13 +42,13 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2025.+'
-wpi.versions.wpimathVersion = '2025.+'
+wpi.versions.wpilibVersion = '2026.+'
+wpi.versions.wpimathVersion = '2026.+'
 ```
 
 ### Development Build Documentation
@@ -64,7 +64,7 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false
@@ -78,7 +78,7 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false

LICENSE.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2025 FIRST and other WPILib contributors
+Copyright (c) 2009-2026 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

MavenArtifacts.md

@@ -14,54 +14,27 @@ The development repository is where development releases of every commit to [mai
 ## Artifact classifiers
 We provide two base types of artifacts.
 
-The first types are Java artifacts. These are usually published as `jar` files. Usually, the actual jar file is published with no classifier. The sources are published with the `-sources` classifier, and the javadocs are published with the `-javadoc` classifier.
-
-The second types are native artifacts. These are usually published as `zip` files (except for the `JNI` artifact types, which are `jar` files. See below for information on this). The `-sources` and `-headers` classifiers contain the sources and headers respectively for the library. Each artifact also contains a classifier for each platform we publish. This platform is in the format `{os}{arch}`. The platform artifact only contains the binaries for a specific platform. In addition, we provide a `-all` classifier. This classifier combines all of the platform artifacts into a single artifact. This is useful for tools that cannot determine what version to use during builds. However, we recommend using the platform specific classifier when possible. Note that the binary artifacts never contain the headers, you always need the `-headers` classifier to get those.
-
-## Artifact Names
-
-WPILib builds four different types of artifacts.
-
-##### C++ Only Libraries
-When we publish C++ only libraries, they are published with the base artifact name as their artifact name, with a `-cpp` extension. All dependencies for the library are linked as shared libraries to the binary.
-
-
-Example:
-```
-edu.wpi.first.wpilibc:wpilibc-cpp:version:classifier@zip
-```
-
-#### Java Only Libraries
-When we publish Java only libraries, they are published with the base artifact name as their artifact name, with a `-java` extension.
+The first types are Java artifacts. These are usually published as `jar` files. Usually, the actual jar file is published with no classifier. The sources are published with the `-sources` classifier, and the javadocs are published with the `-javadoc` classifier. These artifacts are published with the base artifact name as their artifact ID, with a `-java` extension.
 
 Example:
 ```
 edu.wpi.first.wpilibj:wpilibj-java:version
 ```
 
-#### C++/Java Libraries without JNI
-For libraries that are both C++ and Java, but without a JNI component, the C++ component is published with the `basename-cpp` artifact name, and the Java component is published with the `basename-java` artifact name.
+The second types are native artifacts. These are usually published as `zip` files. The `-sources` and `-headers` classifiers contain the sources and headers respectively for the library. Each artifact also contains a classifier for each platform we publish. This platform is in the format `{os}{arch}`. The full list of supported platforms can be found in [native-utils](https://github.com/wpilibsuite/native-utils/blob/main/src/main/java/edu/wpi/first/nativeutils/WPINativeUtilsExtension.java#L94). If the library is built statically, it will have `static` appended to the classifier. Additionally, if the library was built in debug mode, `debug` will be appended to the classifier. The platform artifact only contains the binaries for a specific platform. Note that the binary artifacts never contain the headers, you always need the `-headers` classifier to get those.
+
+If the library is Java and C++ and has a JNI component, the native artifact will have a shared library containing JNI entrypoints alongside the C++ shared library. This JNI shared library will have a `jni` suffix in the file name.
+
+Native artifacts are published with the base artifact name as their artifact ID, with a `-cpp` extension.
 
 Example:
 ```
-edu.wpi.first.wpiutil:wpiutil-cpp:version:classifier@zip (C++)
-edu.wpi.first.wpiutil:wpiutil-java:version (Java)
-```
-
-#### C++/Java Libraries with JNI
-For libraries that are both C++ and Java with a JNI component there are three different artifact names. For Java, the component is published as `basename-java`. For C++, the `basename-cpp` artifact contains the C++ artifacts with all dependencies linked as shared libraries to the binary. These binaries DO contain the JNI entry points. The `basename-jni` artifact contains identical C++ binaries to the `-cpp` artifact, however all of its dependencies are statically linked, and only the JNI and C entry points are exported.
-
-The `-jni` artifact should only be used in cases where you want to create a self contained Java application where the native artifacts are embedded in the jar. Note in an extraction scenario, extending off of the library is never supported, which is why the C++ entry points are not exposed. The name of the library is randomly generated during extraction. For pretty much all cases, and if you ever want to extend from a native library, you should use the `-cpp` artifacts. GradleRIO uses the `-cpp` artifacts for all platforms, even desktop, for this reason.
-
-Example:
-```
-edu.wpi.first.ntcore:ntcore-cpp:version:classifier@zip (C++)
-edu.wpi.first.ntcore:ntcore-jni:version:classifier (JNI jar library)
-edu.wpi.first.ntcore:ntcore-java:version (Java)
+edu.wpi.first.wpimath:wpimath-cpp:version:classifier@zip
+edu.wpi.first.wpimath:wpimath-cpp:version:windowsx86-64staticdebug@zip
 ```
 
 ## Provided Artifacts
-This repository provides the following artifacts. Below each artifact is its dependencies. Note if ever using the `-jni` artifacts, no dependencies are needed for native binaries.
+This repository provides the following artifacts. Below each artifact is its dependencies.
 
 For C++, if building with static dependencies, the listed order should be the link order in your linker.
 

README.md

@@ -50,7 +50,7 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 - C++ compiler
     - On Linux, install GCC 11 or greater
     - On Windows, install [Visual Studio Community 2022](https://visualstudio.microsoft.com/vs/community/) and select the C++ programming language during installation (Gradle can't use the build tools for Visual Studio)
-    - On macOS, install the Xcode command-line build tools via `xcode-select --install`. Xcode 13 or later is required.
+    - On macOS, install the Xcode command-line build tools via `xcode-select --install`. Xcode 14 or later is required.
 - ARM compiler toolchain
     - Run `./gradlew installRoboRioToolchain` after cloning this repository
     - If the WPILib installer was used, this toolchain is already installed
@@ -59,8 +59,6 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 
 On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be able to use the macOS x86 roboRIO toolchain on ARM.
 
-On linux, run `sudo apt install gfortran`. This is necessary to be able to build WPIcal on linux platforms.
-
 ## Setup
 
 Clone the WPILib repository and follow the instructions above for installing any required tooling. The build process uses versioning information from git. Downloading the source is not sufficient to run the build.

ThirdPartyNotices.txt

@@ -48,14 +48,13 @@ apriltag              apriltag/src/main/native/thirdparty/apriltag
 glfw                  thirdparty/imgui_suite/glfw
 Dear ImGui            thirdparty/imgui_suite/imgui
 implot                thirdparty/imgui_suite/implot
-memory                wpiutil/src/main/native/thirdparty/memory
 nanopb                wpiutil/src/main/native/thirdparty/nanopb
 protobuf              wpiutil/src/main/native/thirdparty/protobuf
 mrcal                 wpical/src/main/native/thirdparty/mrcal
 libdogleg             wpical/src/main/native/thirdparty/libdogleg
 Simd                  hal/src/main/native/athena/simd
 
-Additionally, glfw, memory, and nanopb were all modified for use in WPILib.
+Additionally, glfw and nanopb were modified for use in WPILib.
 
 ==============================================================================
 Google Test License
@@ -1331,31 +1330,6 @@ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 
-==============
-memory License
-==============
-Copyright (C) 2015-2023 Jonathan Müller and foonathan/memory contributors
-
-This software is provided 'as-is', without any express or
-implied warranty. In no event will the authors be held
-liable for any damages arising from the use of this software.
-
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute
-it freely, subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented;
-   you must not claim that you wrote the original software.
-   If you use this software in a product, an acknowledgment
-   in the product documentation would be appreciated but
-   is not required.
-
-2. Altered source versions must be plainly marked as such,
-   and must not be misrepresented as being the original software.
-
-3. This notice may not be removed or altered from any
-   source distribution.
-
 ==============
 nanopb License
 ==============

WORKSPACE

@@ -15,12 +15,12 @@ rules_jvm_external_deps()
 load("@rules_jvm_external//:defs.bzl", "maven_install")
 
 maven_artifacts = [
-    "org.ejml:ejml-simple:0.43.1",
-    "com.fasterxml.jackson.core:jackson-annotations:2.15.2",
-    "com.fasterxml.jackson.core:jackson-core:2.15.2",
-    "com.fasterxml.jackson.core:jackson-databind:2.15.2",
-    "us.hebi.quickbuf:quickbuf-runtime:1.3.3",
-    "com.google.code.gson:gson:2.10.1",
+    "org.ejml:ejml-simple:0.44.0",
+    "com.fasterxml.jackson.core:jackson-annotations:2.19.2",
+    "com.fasterxml.jackson.core:jackson-core:2.19.2",
+    "com.fasterxml.jackson.core:jackson-databind:2.19.2",
+    "us.hebi.quickbuf:quickbuf-runtime:1.4",
+    "com.google.code.gson:gson:2.13.1",
 ]
 
 maven_install(

apriltag/build.gradle

@@ -103,14 +103,8 @@ model {
                 return
             }
             it.cppCompiler.define 'WPILIB_EXPORTS'
-
-            if (it.component.name == "${nativeName}JNI") {
-                lib project: ':wpimath', library: 'wpimath', linkage: 'static'
-                lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
-            } else {
-                lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
-                lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-            }
+            lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
+            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
         }
     }
     tasks {

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java

@@ -152,9 +152,10 @@ public class AprilTagFieldLayout {
     var pose =
         switch (origin) {
           case kBlueAllianceWallRightSide -> Pose3d.kZero;
-          case kRedAllianceWallRightSide -> new Pose3d(
-              new Translation3d(m_fieldDimensions.fieldLength, m_fieldDimensions.fieldWidth, 0),
-              new Rotation3d(0, 0, Math.PI));
+          case kRedAllianceWallRightSide ->
+              new Pose3d(
+                  new Translation3d(m_fieldDimensions.fieldLength, m_fieldDimensions.fieldWidth, 0),
+                  new Rotation3d(0, 0, Math.PI));
         };
     setOrigin(pose);
   }

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java

@@ -17,13 +17,17 @@ public enum AprilTagFields {
   /** 2025 Reefscape Welded (see TU 12). */
   k2025ReefscapeWelded("2025-reefscape-welded.json"),
   /** 2025 Reefscape AndyMark (see TU 12). */
-  k2025ReefscapeAndyMark("2025-reefscape-andymark.json");
+  k2025ReefscapeAndyMark("2025-reefscape-andymark.json"),
+  /** 2026 Rebuilt Welded. */
+  k2026RebuiltWelded("2026-rebuilt-welded.json"),
+  /** 2026 Rebuilt AndyMark. */
+  k2026RebuiltAndymark("2026-rebuilt-andymark.json");
 
   /** Base resource directory. */
   public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
 
   /** Alias to the current game. */
-  public static final AprilTagFields kDefaultField = k2025ReefscapeWelded;
+  public static final AprilTagFields kDefaultField = k2026RebuiltWelded;
 
   /** Resource filename. */
   public final String m_resourceFile;

apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp

@@ -135,6 +135,8 @@ std::string_view GetResource_2023_chargedup_json();
 std::string_view GetResource_2024_crescendo_json();
 std::string_view GetResource_2025_reefscape_welded_json();
 std::string_view GetResource_2025_reefscape_andymark_json();
+std::string_view GetResource_2026_rebuilt_welded_json();
+std::string_view GetResource_2026_rebuilt_andymark_json();
 
 }  // namespace frc
 
@@ -156,6 +158,12 @@ AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
     case AprilTagField::k2025ReefscapeAndyMark:
       fieldString = GetResource_2025_reefscape_andymark_json();
       break;
+    case AprilTagField::k2026RebuiltWelded:
+      fieldString = GetResource_2026_rebuilt_welded_json();
+      break;
+    case AprilTagField::k2026RebuiltAndyMark:
+      fieldString = GetResource_2026_rebuilt_andymark_json();
+      break;
     case AprilTagField::kNumFields:
       throw std::invalid_argument("Invalid Field");
   }

apriltag/src/main/native/include/frc/apriltag/AprilTagFields.h

@@ -24,8 +24,12 @@ enum class AprilTagField {
   k2025ReefscapeAndyMark,
   /// 2025 Reefscape Welded (see TU12).
   k2025ReefscapeWelded,
+  /// 2026 Rebuilt Andymark.
+  k2026RebuiltAndyMark,
+  /// 2026 Rebuilt Welded.
+  k2026RebuiltWelded,
   /// Alias to the current game.
-  kDefaultField = k2025ReefscapeWelded,
+  kDefaultField = k2026RebuiltWelded,
 
   // This is a placeholder for denoting the last supported field. This should
   // always be the last entry in the enum and should not be used by users

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.csv

@@ -0,0 +1,33 @@
+ID,X,Y,Z,Z-Rotation,X-Rotation
+1,467.085,291.791,35,180,0
+2,468.559,182.077,44.25,90,0
+3,444.797,172.321,44.25,180,0
+4,444.797,158.321,44.25,180,0
+5,468.559,134.565,44.25,270,0
+6,467.085,24.851,35,180,0
+7,470.034,24.851,35,0,0
+8,482.559,134.565,44.25,270,0
+9,492.329,144.321,44.25,0,0
+10,492.329,158.321,44.25,0,0
+11,482.559,182.077,44.25,90,0
+12,470.034,291.791,35,0,0
+13,649.58,291.02,21.75,180,0
+14,649.58,274.02,21.75,180,0
+15,649.566,169.783,21.75,180,0
+16,649.566,152.783,21.75,180,0
+17,183.034,24.851,35,0,0
+18,181.559,134.565,44.25,270,0
+19,205.321,144.321,44.25,0,0
+20,205.321,158.321,44.25,0,0
+21,181.559,182.077,44.25,90,0
+22,183.034,291.791,35,0,0
+23,180.085,291.791,35,180,0
+24,167.559,182.077,44.25,90,0
+25,157.79,172.321,44.25,180,0
+26,157.79,158.321,44.25,180,0
+27,167.559,134.565,44.25,270,0
+28,180.085,24.851,35,180,0
+29,0.539,25.621,21.75,0,0
+30,0.539,42.621,21.75,0,0
+31,0.553,146.858,21.75,0,0
+32,0.553,163.858,21.75,0,0

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.json

@@ -0,0 +1,584 @@
+{
+  "tags": [
+    {
+      "ID": 1,
+      "pose": {
+        "translation": {
+          "x": 11.863959,
+          "y": 7.411491399999999,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 2,
+      "pose": {
+        "translation": {
+          "x": 11.9013986,
+          "y": 4.6247558,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 3,
+      "pose": {
+        "translation": {
+          "x": 11.2978438,
+          "y": 4.3769534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 4,
+      "pose": {
+        "translation": {
+          "x": 11.2978438,
+          "y": 4.0213534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 5,
+      "pose": {
+        "translation": {
+          "x": 11.9013986,
+          "y": 3.417951,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 6,
+      "pose": {
+        "translation": {
+          "x": 11.863959,
+          "y": 0.6312154,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 7,
+      "pose": {
+        "translation": {
+          "x": 11.9388636,
+          "y": 0.6312154,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 8,
+      "pose": {
+        "translation": {
+          "x": 12.2569986,
+          "y": 3.417951,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 9,
+      "pose": {
+        "translation": {
+          "x": 12.5051566,
+          "y": 3.6657534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 10,
+      "pose": {
+        "translation": {
+          "x": 12.5051566,
+          "y": 4.0213534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 11,
+      "pose": {
+        "translation": {
+          "x": 12.2569986,
+          "y": 4.6247558,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 12,
+      "pose": {
+        "translation": {
+          "x": 11.9388636,
+          "y": 7.411491399999999,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 13,
+      "pose": {
+        "translation": {
+          "x": 16.499332,
+          "y": 7.391907999999999,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 14,
+      "pose": {
+        "translation": {
+          "x": 16.499332,
+          "y": 6.960107999999999,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 15,
+      "pose": {
+        "translation": {
+          "x": 16.4989764,
+          "y": 4.3124882,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 16,
+      "pose": {
+        "translation": {
+          "x": 16.4989764,
+          "y": 3.8806881999999994,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 17,
+      "pose": {
+        "translation": {
+          "x": 4.6490636,
+          "y": 0.6312154,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 18,
+      "pose": {
+        "translation": {
+          "x": 4.6115986,
+          "y": 3.417951,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 19,
+      "pose": {
+        "translation": {
+          "x": 5.2151534,
+          "y": 3.6657534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 20,
+      "pose": {
+        "translation": {
+          "x": 5.2151534,
+          "y": 4.0213534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 21,
+      "pose": {
+        "translation": {
+          "x": 4.6115986,
+          "y": 4.6247558,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 22,
+      "pose": {
+        "translation": {
+          "x": 4.6490636,
+          "y": 7.411491399999999,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 23,
+      "pose": {
+        "translation": {
+          "x": 4.574159,
+          "y": 7.411491399999999,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 24,
+      "pose": {
+        "translation": {
+          "x": 4.2559986,
+          "y": 4.6247558,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 25,
+      "pose": {
+        "translation": {
+          "x": 4.007866,
+          "y": 4.3769534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 26,
+      "pose": {
+        "translation": {
+          "x": 4.007866,
+          "y": 4.0213534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 27,
+      "pose": {
+        "translation": {
+          "x": 4.2559986,
+          "y": 3.417951,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 28,
+      "pose": {
+        "translation": {
+          "x": 4.574159,
+          "y": 0.6312154,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 29,
+      "pose": {
+        "translation": {
+          "x": 0.0136906,
+          "y": 0.6507734,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 30,
+      "pose": {
+        "translation": {
+          "x": 0.0136906,
+          "y": 1.0825734,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 31,
+      "pose": {
+        "translation": {
+          "x": 0.0140462,
+          "y": 3.7301932,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 32,
+      "pose": {
+        "translation": {
+          "x": 0.0140462,
+          "y": 4.1619931999999995,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    }
+  ],
+  "field": {
+    "length": 16.518,
+    "width": 8.043
+  }
+}

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.csv

@@ -0,0 +1,33 @@
+ID,X,Y,Z,Z-Rotation,X-Rotation
+1,467.637,292.314,35,180,0
+2,469.111,182.6,44.25,90,0
+3,445.349,172.844,44.25,180,0
+4,445.349,158.844,44.25,180,0
+5,469.111,135.088,44.25,270,0
+6,467.637,25.374,35,180,0
+7,470.586,25.374,35,0,0
+8,483.111,135.088,44.25,270,0
+9,492.881,144.844,44.25,0,0
+10,492.881,158.844,44.25,0,0
+11,483.111,182.6,44.25,90,0
+12,470.586,292.314,35,0,0
+13,650.918,291.469,21.75,180,0
+14,650.918,274.469,21.75,180,0
+15,650.904,170.219,21.75,180,0
+16,650.904,153.219,21.75,180,0
+17,183.586,25.374,35,0,0
+18,182.111,135.088,44.25,270,0
+19,205.873,144.844,44.25,0,0
+20,205.873,158.844,44.25,0,0
+21,182.111,182.6,44.25,90,0
+22,183.586,292.314,35,0,0
+23,180.637,292.314,35,180,0
+24,168.111,182.6,44.25,90,0
+25,158.341,172.844,44.25,180,0
+26,158.341,158.844,44.25,180,0
+27,168.111,135.088,44.25,270,0
+28,180.637,25.374,35,180,0
+29,0.305,26.219,21.75,0,0
+30,0.305,43.219,21.75,0,0
+31,0.318,147.469,21.75,0,0
+32,0.318,164.469,21.75,0,0

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.json

@@ -0,0 +1,584 @@
+{
+  "tags": [
+    {
+      "ID": 1,
+      "pose": {
+        "translation": {
+          "x": 11.8779798,
+          "y": 7.4247756,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 2,
+      "pose": {
+        "translation": {
+          "x": 11.9154194,
+          "y": 4.638039999999999,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 3,
+      "pose": {
+        "translation": {
+          "x": 11.3118646,
+          "y": 4.3902376,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 4,
+      "pose": {
+        "translation": {
+          "x": 11.3118646,
+          "y": 4.0346376,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 5,
+      "pose": {
+        "translation": {
+          "x": 11.9154194,
+          "y": 3.4312351999999997,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 6,
+      "pose": {
+        "translation": {
+          "x": 11.8779798,
+          "y": 0.6444996,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 7,
+      "pose": {
+        "translation": {
+          "x": 11.9528844,
+          "y": 0.6444996,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 8,
+      "pose": {
+        "translation": {
+          "x": 12.2710194,
+          "y": 3.4312351999999997,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 9,
+      "pose": {
+        "translation": {
+          "x": 12.519177399999998,
+          "y": 3.6790375999999996,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 10,
+      "pose": {
+        "translation": {
+          "x": 12.519177399999998,
+          "y": 4.0346376,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 11,
+      "pose": {
+        "translation": {
+          "x": 12.2710194,
+          "y": 4.638039999999999,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 12,
+      "pose": {
+        "translation": {
+          "x": 11.9528844,
+          "y": 7.4247756,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 13,
+      "pose": {
+        "translation": {
+          "x": 16.5333172,
+          "y": 7.4033126,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 14,
+      "pose": {
+        "translation": {
+          "x": 16.5333172,
+          "y": 6.9715126,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 15,
+      "pose": {
+        "translation": {
+          "x": 16.5329616,
+          "y": 4.3235626,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 16,
+      "pose": {
+        "translation": {
+          "x": 16.5329616,
+          "y": 3.8917626,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 17,
+      "pose": {
+        "translation": {
+          "x": 4.6630844,
+          "y": 0.6444996,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 18,
+      "pose": {
+        "translation": {
+          "x": 4.6256194,
+          "y": 3.4312351999999997,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 19,
+      "pose": {
+        "translation": {
+          "x": 5.229174199999999,
+          "y": 3.6790375999999996,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 20,
+      "pose": {
+        "translation": {
+          "x": 5.229174199999999,
+          "y": 4.0346376,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 21,
+      "pose": {
+        "translation": {
+          "x": 4.6256194,
+          "y": 4.638039999999999,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 22,
+      "pose": {
+        "translation": {
+          "x": 4.6630844,
+          "y": 7.4247756,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 23,
+      "pose": {
+        "translation": {
+          "x": 4.5881798,
+          "y": 7.4247756,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 24,
+      "pose": {
+        "translation": {
+          "x": 4.2700194,
+          "y": 4.638039999999999,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 25,
+      "pose": {
+        "translation": {
+          "x": 4.0218614,
+          "y": 4.3902376,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 26,
+      "pose": {
+        "translation": {
+          "x": 4.0218614,
+          "y": 4.0346376,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 27,
+      "pose": {
+        "translation": {
+          "x": 4.2700194,
+          "y": 3.4312351999999997,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 28,
+      "pose": {
+        "translation": {
+          "x": 4.5881798,
+          "y": 0.6444996,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 29,
+      "pose": {
+        "translation": {
+          "x": 0.0077469999999999995,
+          "y": 0.6659626,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 30,
+      "pose": {
+        "translation": {
+          "x": 0.0077469999999999995,
+          "y": 1.0977626,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 31,
+      "pose": {
+        "translation": {
+          "x": 0.0080772,
+          "y": 3.7457125999999996,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 32,
+      "pose": {
+        "translation": {
+          "x": 0.0080772,
+          "y": 4.1775126,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    }
+  ],
+  "field": {
+    "length": 16.541,
+    "width": 8.069
+  }
+}

apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagDetectorTest.java

@@ -24,7 +24,6 @@ import org.opencv.core.Mat;
 import org.opencv.imgcodecs.Imgcodecs;
 import org.opencv.imgproc.Imgproc;
 
-@SuppressWarnings("PMD.MutableStaticState")
 class AprilTagDetectorTest {
   @SuppressWarnings("MemberName")
   AprilTagDetector detector;

benchmark/CMakeLists.txt

@@ -0,0 +1,44 @@
+project(benchmark)
+
+include(CompileWarnings)
+
+file(GLOB benchmarkCpp_src src/main/native/cpp/*.cpp src/main/native/thirdparty/benchmark/src/*.cpp)
+
+add_executable(benchmarkCpp ${benchmarkCpp_src})
+
+target_compile_features(benchmarkCpp PUBLIC cxx_std_20)
+
+wpilib_target_warnings(benchmarkCpp)
+
+target_link_libraries(
+    benchmarkCpp
+    PUBLIC
+        $<TARGET_NAME_IF_EXISTS:apriltag>
+        $<TARGET_NAME_IF_EXISTS:wpilibc>
+        $<TARGET_NAME_IF_EXISTS:wpilibNewCommands>
+        $<TARGET_NAME_IF_EXISTS:wpimath>
+        $<TARGET_NAME_IF_EXISTS:wpiutil>
+)
+
+# benchmark library setup
+target_compile_definitions(benchmarkCpp PRIVATE benchmark_EXPORTS)
+
+if(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
+    target_link_libraries(benchmarkCpp PRIVATE shlwapi)
+endif()
+
+if(NOT BUILD_SHARED_LIBS)
+    target_compile_definitions(benchmarkCpp PUBLIC -DBENCHMARK_STATIC_DEFINE)
+endif()
+
+install(
+    DIRECTORY src/main/native/thirdparty/benchmark/include/
+    DESTINATION "${include_dest}/benchmark"
+)
+target_include_directories(
+    benchmarkCpp
+    SYSTEM
+    PRIVATE
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/benchmark/include>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/benchmark/src>
+)

benchmark/README.md

@@ -0,0 +1,49 @@
+# Benchmark
+
+This is a benchmark project built directly against this repo's sources.
+
+## Desktop benchmarking
+
+This command runs the Java benchmarks on desktop.
+
+```bash
+./gradlew benchmark:run
+```
+
+This command runs the C++ benchmarks on desktop.
+
+```
+./gradlew benchmark:runCpp
+```
+
+## Deploy to a roboRIO
+
+This project can only deploy over USB. If an alternate IP address is preferred, the `address` block in benchmark/build.gradle can be changed to point to another address.
+
+This command deploys the C++ project using shared dependencies. Prefer this one for most C++ development.
+```bash
+./gradlew benchmark:deployShared
+```
+
+This command deploys the C++ project with all dependencies statically linked.
+```bash
+./gradlew benchmark:deployStatic
+```
+
+This command deploys the Java project and all required dependencies. It also installs the JRE if it's not currently installed.
+```bash
+./gradlew benchmark:deployJava
+```
+
+Those commands won't start the robot executable, so you have to manually ssh in and start it. The following command will do that.
+```bash
+ssh lvuser@172.22.11.2 frcRunRobot.sh
+```
+
+Console log prints will appear in the terminal.
+
+Deploying any of these to the roboRIO will disable the current startup project until it is redeployed.
+
+## Faster builds
+
+If your benchmarks only need some projects, you can comment out or delete unnecessary subprojects from the dependencies, benchmarkCpp, and benchmarkCppStatic blocks in benchmark/build.gradle (Java or C++) and from `target_link_libraries()` in benchmark/CMakeLists.txt (C++ only).

benchmark/build.gradle

@@ -0,0 +1,343 @@
+import edu.wpi.first.deployutils.deploy.target.RemoteTarget
+import edu.wpi.first.deployutils.deploy.target.location.SshDeployLocation
+import edu.wpi.first.deployutils.deploy.artifact.*
+import org.gradle.internal.os.OperatingSystem
+
+plugins {
+    id 'java'
+    id 'application'
+    id 'cpp'
+    id 'visual-studio'
+}
+
+apply plugin: 'edu.wpi.first.NativeUtils'
+apply plugin: 'edu.wpi.first.DeployUtils'
+
+apply from: "${rootDir}/shared/config.gradle"
+
+application {
+    if (OperatingSystem.current().isMacOsX()) {
+        applicationDefaultJvmArgs = ['-XstartOnFirstThread']
+    }
+}
+
+ext {
+    sharedCvConfigs = [benchmarkCpp: []]
+    staticCvConfigs = [benchmarkCppStatic: []]
+    useJava = true
+    useCpp = true
+    skipDev = true
+}
+
+apply from: "${rootDir}/shared/opencv.gradle"
+
+application {
+    mainClass = 'frc.robot.Main'
+}
+
+apply plugin: 'com.gradleup.shadow'
+
+repositories {
+    maven {
+        url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
+    }
+}
+
+dependencies {
+    implementation project(':apriltag')
+    implementation project(':cameraserver')
+    implementation project(':cscore')
+    implementation project(':epilogue-runtime')
+    implementation project(':hal')
+    implementation project(':ntcore')
+    implementation project(':wpilibj')
+    implementation project(':wpilibNewCommands')
+    implementation project(':wpimath')
+    implementation project(':wpinet')
+    implementation project(':wpiunits')
+    implementation project(':wpiutil')
+    annotationProcessor project(':epilogue-processor')
+    implementation "org.openjdk.jmh:jmh-core:1.37"
+    annotationProcessor "org.openjdk.jmh:jmh-generator-annprocess:1.37"
+}
+
+tasks.withType(com.github.spotbugs.snom.SpotBugsTask).configureEach {
+    onlyIf { false }
+}
+
+deploy {
+    targets {
+        roborio(RemoteTarget) {
+            directory = '/home/lvuser'
+            maxChannels = 4
+            locations {
+                ssh(SshDeployLocation) {
+                    address = "172.22.11.2"
+                    user = 'admin'
+                    password = ''
+                    ipv6 = false
+                }
+            }
+
+            def remote = it
+
+            artifacts.registerFactory(WPIJREArtifact) {
+                return objects.newInstance(WPIJREArtifact, it, remote)
+            }
+
+            artifacts {
+                all {
+                    predeploy << { ctx ->
+                        ctx.execute('. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t 2> /dev/null')
+                        ctx.execute("sed -i -e 's/\"exec /\"/' /usr/local/frc/bin/frcRunRobot.sh")
+                    }
+                    postdeploy << { ctx ->
+                        ctx.execute("sync")
+                        ctx.execute("ldconfig")
+                    }
+                }
+
+                benchmarkCpp(NativeExecutableArtifact) {
+                    libraryDirectory = '/usr/local/frc/third-party/lib'
+                    def excludes = getLibraryFilter().getExcludes()
+                    excludes.add('**/*.so.debug')
+                    excludes.add('**/*.so.*.debug')
+                    postdeploy << { ctx ->
+                        ctx.execute("echo '/home/lvuser/benchmarkCpp' > /home/lvuser/robotCommand")
+                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
+                        ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/benchmarkCpp\"")
+                        ctx.execute('chmod +x benchmarkCpp')
+                    }
+                }
+
+                benchmarkCppStatic(NativeExecutableArtifact) {
+                    libraryDirectory = '/usr/local/frc/third-party/lib'
+                    postdeploy << { ctx ->
+                        ctx.execute("echo '/home/lvuser/benchmarkCppStatic' > /home/lvuser/robotCommand")
+                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
+                        ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/benchmarkCppStatic\"")
+                        ctx.execute('chmod +x benchmarkCppStatic')
+                    }
+                }
+
+                benchmarkCppJava(NativeExecutableArtifact) {
+                    libraryDirectory = '/usr/local/frc/third-party/lib'
+                    def excludes = getLibraryFilter().getExcludes()
+                    excludes.add('**/*.so.debug')
+                    excludes.add('**/*.so.*.debug')
+                }
+
+                jre(WPIJREArtifact) {
+                }
+
+                benchmarkJava(JavaArtifact) {
+                    jarTask = shadowJar
+                    postdeploy << { ctx ->
+                        ctx.execute("echo '/usr/local/frc/JRE/bin/java -XX:+UseSerialGC -Djava.library.path=/usr/local/frc/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB -jar /home/lvuser/benchmark-all.jar' > /home/lvuser/robotCommand")
+                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
+                    }
+                }
+            }
+        }
+    }
+}
+
+// Prevent the eclipse compiler (used by the VS Code extension for intellisense and debugging)
+// from generating bad class files from annotation processors like Epilogue
+eclipse {
+    classpath {
+        containers 'org.eclipse.buildship.core.gradleclasspathcontainer'
+        file.whenMerged { cp ->
+            def entries = cp.entries;
+            def src = new org.gradle.plugins.ide.eclipse.model.SourceFolder('build/generated/sources/annotationProcessor/java/main/', null)
+            entries.add(src)
+        }
+    }
+}
+
+tasks.register('deployJava') {
+    try {
+        dependsOn tasks.named('deployjreroborio')
+        dependsOn tasks.named('deploybenchmarkJavaroborio')
+        dependsOn tasks.named('deploybenchmarkCppJavaroborio') // Deploying shared C++ is how to get the Java shared libraries.
+    } catch (ignored) {
+    }
+}
+
+tasks.register('deployShared') {
+    try {
+        dependsOn tasks.named('deploybenchmarkCpproborio')
+    } catch (ignored) {
+    }
+}
+
+tasks.register('deployStatic') {
+    try {
+        dependsOn tasks.named('deploybenchmarkCppStaticroborio')
+    } catch (ignored) {
+    }
+}
+
+model {
+    components {
+        benchmarkCpp(NativeExecutableSpec) {
+            if (project.hasProperty('ciDebugOnly')) {
+                targetBuildTypes 'debug'
+            } else {
+                targetBuildTypes 'release'
+            }
+            sources {
+                cpp {
+                    source {
+                        srcDirs = [
+                            'src/main/native/cpp',
+                            'src/main/native/thirdparty/benchmark/src'
+                        ]
+                        includes = ['**/*.cpp']
+                    }
+                    exportedHeaders {
+                        srcDirs = [
+                            'src/main/native/include',
+                            'src/main/native/thirdparty/benchmark/include',
+                            'src/main/native/thirdparty/benchmark/src'
+                        ]
+                        includes = ['**/*.h']
+                    }
+                }
+            }
+            binaries.all { binary ->
+                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                    if (binary.buildType.name == 'debug') {
+                        deploy.targets.roborio.artifacts.benchmarkCpp.binary = binary
+                        deploy.targets.roborio.artifacts.benchmarkCppJava.binary = binary
+                    }
+                }
+                lib project: ':apriltag', library: 'apriltag', linkage: 'shared'
+                lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
+                lib project: ':cscore', library: 'cscore', linkage: 'shared'
+                lib project: ':cscore', library: 'cscoreJNIShared', linkage: 'shared'
+                project(':hal').addHalDependency(binary, 'shared')
+                project(':hal').addHalJniDependency(binary)
+                project(':ntcore').addNtcoreDependency(binary, 'shared')
+                project(':ntcore').addNtcoreJniDependency(binary)
+                lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
+                lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
+                lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
+                lib project: ':wpimath', library: 'wpimathJNIShared', linkage: 'shared'
+                lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
+                lib project: ':wpinet', library: 'wpinetJNIShared', linkage: 'shared'
+                lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+                lib project: ':wpiutil', library: 'wpiutilJNIShared', linkage: 'shared'
+                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                    nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
+                }
+                if (binary.targetPlatform.operatingSystem.isWindows()) {
+                    // Shlwapi.lib is needed for SHGetValueA() inside thirdparty benchmark
+                    binary.linker.args << "Shlwapi.lib"
+                }
+                binary.cppCompiler.define 'benchmark_EXPORTS'
+            }
+        }
+        benchmarkCppStatic(NativeExecutableSpec) {
+            if (project.hasProperty('ciDebugOnly')) {
+                targetBuildTypes 'debug'
+            } else {
+                targetBuildTypes 'release'
+            }
+            nativeUtils.excludeBinariesFromStrip(it)
+            sources {
+                cpp {
+                    source {
+                        srcDirs = [
+                            'src/main/native/cpp',
+                            'src/main/native/thirdparty/benchmark/src'
+                        ]
+                        includes = ['**/*.cpp']
+                    }
+                    exportedHeaders {
+                        srcDirs = [
+                            'src/main/native/include',
+                            'src/main/native/thirdparty/benchmark/include',
+                            'src/main/native/thirdparty/benchmark/src'
+                        ]
+                        includes = ['**/*.h']
+                    }
+                }
+            }
+            binaries.all { binary ->
+                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                    if (binary.buildType.name == 'debug') {
+                        deploy.targets.roborio.artifacts.benchmarkCppStatic.binary = binary
+                    }
+                }
+                lib project: ':apriltag', library: 'apriltag', linkage: 'static'
+                lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
+                lib project: ':cscore', library: 'cscore', linkage: 'static'
+                project(':hal').addHalDependency(binary, 'static')
+                project(':ntcore').addNtcoreDependency(binary, 'static')
+                lib project: ':wpilibc', library: 'wpilibc', linkage: 'static'
+                lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'static'
+                lib project: ':wpimath', library: 'wpimath', linkage: 'static'
+                lib project: ':wpinet', library: 'wpinet', linkage: 'static'
+                lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
+                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                    nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
+                }
+                if (binary.targetPlatform.operatingSystem.isWindows()) {
+                    // Shlwapi.lib is needed for SHGetValueA() inside thirdparty benchmark
+                    binary.linker.args << "Shlwapi.lib"
+                }
+                binary.cppCompiler.define 'benchmark_EXPORTS'
+                binary.cppCompiler.define 'BENCHMARK_STATIC_DEFINE'
+            }
+        }
+        all {
+            it.sources.each {
+                it.exportedHeaders {
+                    srcDirs 'src/main/native/thirdparty/benchmark/include'
+                }
+            }
+        }
+    }
+    tasks {
+        def c = $.components
+        project.tasks.create('runCpp', Exec) {
+            group = 'WPILib'
+            description = "Run the benchmarkCpp executable"
+            def found = false
+            def systemArch = getCurrentArch()
+            c.each {
+                if (it in NativeExecutableSpec && it.name == "benchmarkCpp") {
+                    it.binaries.each {
+                        if (!found) {
+                            def arch = it.targetPlatform.name
+                            if (arch == systemArch) {
+                                dependsOn it.tasks.install
+                                commandLine it.tasks.install.runScriptFile.get().asFile.toString()
+                                def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
+                                run.dependsOn it.tasks.install
+                                run.systemProperty 'java.library.path', filePath
+
+                                found = true
+                            }
+                        }
+                    }
+                }
+            }
+        }
+        installAthena(Task) {
+            $.binaries.each {
+                if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.component.name == 'benchmarkCpp') {
+                    dependsOn it.tasks.install
+                }
+            }
+        }
+        installAthenaStatic(Task) {
+            $.binaries.each {
+                if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.component.name == 'benchmarkCppStatic') {
+                    dependsOn it.tasks.install
+                }
+            }
+        }
+    }
+}

benchmark/src/main/java/frc/robot/Main.java

@@ -0,0 +1,79 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.path.TravelingSalesman;
+import java.util.concurrent.TimeUnit;
+import org.openjdk.jmh.annotations.Benchmark;
+import org.openjdk.jmh.annotations.BenchmarkMode;
+import org.openjdk.jmh.annotations.Mode;
+import org.openjdk.jmh.annotations.OutputTimeUnit;
+import org.openjdk.jmh.profile.GCProfiler;
+import org.openjdk.jmh.runner.Runner;
+import org.openjdk.jmh.runner.RunnerException;
+import org.openjdk.jmh.runner.options.Options;
+import org.openjdk.jmh.runner.options.OptionsBuilder;
+import org.openjdk.jmh.runner.options.TimeValue;
+
+public class Main {
+  private static final Pose2d[] poses = {
+    new Pose2d(-1, 1, Rotation2d.kCW_90deg),
+    new Pose2d(-1, 2, Rotation2d.kCCW_90deg),
+    new Pose2d(0, 0, Rotation2d.kZero),
+    new Pose2d(0, 3, Rotation2d.kCW_90deg),
+    new Pose2d(1, 1, Rotation2d.kCCW_90deg),
+    new Pose2d(1, 2, Rotation2d.kCCW_90deg),
+  };
+  private static final int iterations = 100;
+
+  private static final TravelingSalesman transformTraveler =
+      new TravelingSalesman(
+          (pose1, pose2) -> {
+            var transform = pose2.minus(pose1);
+            return Math.hypot(transform.getX(), transform.getY());
+          });
+  private static final TravelingSalesman twistTraveler =
+      new TravelingSalesman(
+          (pose1, pose2) -> {
+            var twist = pose1.log(pose2);
+            return Math.hypot(twist.dx, twist.dy);
+          });
+
+  /**
+   * Main function.
+   *
+   * @param args The (unused) arguments to the program.
+   */
+  public static void main(String... args) throws RunnerException {
+    Options opt =
+        new OptionsBuilder()
+            .include(Main.class.getSimpleName())
+            .addProfiler(GCProfiler.class)
+            .forks(1)
+            .warmupIterations(2)
+            .warmupTime(TimeValue.seconds(3))
+            .measurementIterations(3)
+            .measurementTime(TimeValue.seconds(3))
+            .build();
+
+    new Runner(opt).run();
+  }
+
+  @Benchmark
+  @BenchmarkMode(Mode.AverageTime)
+  @OutputTimeUnit(TimeUnit.MICROSECONDS)
+  public Pose2d[] transform() {
+    return transformTraveler.solve(poses, iterations);
+  }
+
+  @Benchmark
+  @BenchmarkMode(Mode.AverageTime)
+  @OutputTimeUnit(TimeUnit.MICROSECONDS)
+  public Pose2d[] twist() {
+    return twistTraveler.solve(poses, iterations);
+  }
+}

benchmark/src/main/native/cpp/Main.cpp

@@ -0,0 +1,44 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <benchmark/benchmark.h>
+#include <frc/geometry/Pose2d.h>
+#include <frc/path/TravelingSalesman.h>
+
+#include <units/angle.h>
+#include <units/length.h>
+#include <wpi/array.h>
+
+static constexpr wpi::array<frc::Pose2d, 6> poses{
+    frc::Pose2d{-1_m, 1_m, -90_deg}, frc::Pose2d{-1_m, 2_m, 90_deg},
+    frc::Pose2d{0_m, 0_m, 0_deg},    frc::Pose2d{0_m, 3_m, -90_deg},
+    frc::Pose2d{1_m, 1_m, 90_deg},   frc::Pose2d{1_m, 2_m, 90_deg},
+};
+static constexpr int iterations = 100;
+
+void BM_Transform(benchmark::State& state) {
+  frc::TravelingSalesman traveler{[](auto pose1, auto pose2) {
+    auto transform = pose2 - pose1;
+    return units::math::hypot(transform.X(), transform.Y()).value();
+  }};
+  // NOLINTNEXTLINE(clang-analyzer-deadcode.DeadStores)
+  for (auto _ : state) {
+    traveler.Solve(poses, iterations);
+  }
+}
+BENCHMARK(BM_Transform);
+
+void BM_Twist(benchmark::State& state) {
+  frc::TravelingSalesman traveler{[](auto pose1, auto pose2) {
+    auto twist = pose1.Log(pose2);
+    return units::math::hypot(twist.dx, twist.dy).value();
+  }};
+  // NOLINTNEXTLINE(clang-analyzer-deadcode.DeadStores)
+  for (auto _ : state) {
+    traveler.Solve(poses, iterations);
+  }
+}
+BENCHMARK(BM_Twist);
+
+BENCHMARK_MAIN();

benchmark/src/main/native/thirdparty/benchmark/include/benchmark/export.h

@@ -0,0 +1,47 @@
+#ifndef BENCHMARK_EXPORT_H
+#define BENCHMARK_EXPORT_H
+
+#if defined(_WIN32)
+#define EXPORT_ATTR __declspec(dllexport)
+#define IMPORT_ATTR __declspec(dllimport)
+#define NO_EXPORT_ATTR
+#define DEPRECATED_ATTR __declspec(deprecated)
+#else  // _WIN32
+#define EXPORT_ATTR __attribute__((visibility("default")))
+#define IMPORT_ATTR __attribute__((visibility("default")))
+#define NO_EXPORT_ATTR __attribute__((visibility("hidden")))
+#define DEPRECATE_ATTR __attribute__((__deprecated__))
+#endif  // _WIN32
+
+#ifdef BENCHMARK_STATIC_DEFINE
+#define BENCHMARK_EXPORT
+#define BENCHMARK_NO_EXPORT
+#else  // BENCHMARK_STATIC_DEFINE
+#ifndef BENCHMARK_EXPORT
+#ifdef benchmark_EXPORTS
+/* We are building this library */
+#define BENCHMARK_EXPORT EXPORT_ATTR
+#else  // benchmark_EXPORTS
+/* We are using this library */
+#define BENCHMARK_EXPORT IMPORT_ATTR
+#endif  // benchmark_EXPORTS
+#endif  // !BENCHMARK_EXPORT
+
+#ifndef BENCHMARK_NO_EXPORT
+#define BENCHMARK_NO_EXPORT NO_EXPORT_ATTR
+#endif  // !BENCHMARK_NO_EXPORT
+#endif  // BENCHMARK_STATIC_DEFINE
+
+#ifndef BENCHMARK_DEPRECATED
+#define BENCHMARK_DEPRECATED DEPRECATE_ATTR
+#endif  // BENCHMARK_DEPRECATED
+
+#ifndef BENCHMARK_DEPRECATED_EXPORT
+#define BENCHMARK_DEPRECATED_EXPORT BENCHMARK_EXPORT BENCHMARK_DEPRECATED
+#endif  // BENCHMARK_DEPRECATED_EXPORT
+
+#ifndef BENCHMARK_DEPRECATED_NO_EXPORT
+#define BENCHMARK_DEPRECATED_NO_EXPORT BENCHMARK_NO_EXPORT BENCHMARK_DEPRECATED
+#endif  // BENCHMARK_DEPRECATED_EXPORT
+
+#endif /* BENCHMARK_EXPORT_H */

benchmark/src/main/native/thirdparty/benchmark/src/arraysize.h

@@ -0,0 +1,33 @@
+#ifndef BENCHMARK_ARRAYSIZE_H_
+#define BENCHMARK_ARRAYSIZE_H_
+
+#include "internal_macros.h"
+
+namespace benchmark {
+namespace internal {
+// The arraysize(arr) macro returns the # of elements in an array arr.
+// The expression is a compile-time constant, and therefore can be
+// used in defining new arrays, for example.  If you use arraysize on
+// a pointer by mistake, you will get a compile-time error.
+//
+
+// This template function declaration is used in defining arraysize.
+// Note that the function doesn't need an implementation, as we only
+// use its type.
+template <typename T, size_t N>
+char (&ArraySizeHelper(T (&array)[N]))[N];
+
+// That gcc wants both of these prototypes seems mysterious. VC, for
+// its part, can't decide which to use (another mystery). Matching of
+// template overloads: the final frontier.
+#ifndef COMPILER_MSVC
+template <typename T, size_t N>
+char (&ArraySizeHelper(const T (&array)[N]))[N];
+#endif
+
+#define arraysize(array) (sizeof(::benchmark::internal::ArraySizeHelper(array)))
+
+}  // end namespace internal
+}  // end namespace benchmark
+
+#endif  // BENCHMARK_ARRAYSIZE_H_

benchmark/src/main/native/thirdparty/benchmark/src/benchmark.cpp

@@ -0,0 +1,912 @@
+// Copyright 2015 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "benchmark/benchmark.h"
+
+#include "benchmark_api_internal.h"
+#include "benchmark_runner.h"
+#include "internal_macros.h"
+
+#ifndef BENCHMARK_OS_WINDOWS
+#if !defined(BENCHMARK_OS_FUCHSIA) && !defined(BENCHMARK_OS_QURT)
+#include <sys/resource.h>
+#endif
+#include <sys/time.h>
+#include <unistd.h>
+#endif
+
+#ifdef BENCHMARK_OS_LINUX
+#include <sys/personality.h>
+#endif
+
+#include <algorithm>
+#include <atomic>
+#include <condition_variable>
+#include <cstdio>
+#include <cstdlib>
+#include <fstream>
+#include <iostream>
+#include <limits>
+#include <map>
+#include <memory>
+#include <random>
+#include <string>
+#include <thread>
+#include <utility>
+
+#include "check.h"
+#include "colorprint.h"
+#include "commandlineflags.h"
+#include "complexity.h"
+#include "counter.h"
+#include "log.h"
+#include "mutex.h"
+#include "perf_counters.h"
+#include "re.h"
+#include "statistics.h"
+#include "string_util.h"
+#include "thread_manager.h"
+#include "thread_timer.h"
+
+namespace benchmark {
+// Print a list of benchmarks. This option overrides all other options.
+BM_DEFINE_bool(benchmark_list_tests, false);
+
+// A regular expression that specifies the set of benchmarks to execute.  If
+// this flag is empty, or if this flag is the string \"all\", all benchmarks
+// linked into the binary are run.
+BM_DEFINE_string(benchmark_filter, "");
+
+// Specification of how long to run the benchmark.
+//
+// It can be either an exact number of iterations (specified as `<integer>x`),
+// or a minimum number of seconds (specified as `<float>s`). If the latter
+// format (ie., min seconds) is used, the system may run the benchmark longer
+// until the results are considered significant.
+//
+// For backward compatibility, the `s` suffix may be omitted, in which case,
+// the specified number is interpreted as the number of seconds.
+//
+// For cpu-time based tests, this is the lower bound
+// on the total cpu time used by all threads that make up the test.  For
+// real-time based tests, this is the lower bound on the elapsed time of the
+// benchmark execution, regardless of number of threads.
+BM_DEFINE_string(benchmark_min_time, kDefaultMinTimeStr);
+
+// Minimum number of seconds a benchmark should be run before results should be
+// taken into account. This e.g can be necessary for benchmarks of code which
+// needs to fill some form of cache before performance is of interest.
+// Note: results gathered within this period are discarded and not used for
+// reported result.
+BM_DEFINE_double(benchmark_min_warmup_time, 0.0);
+
+// The number of runs of each benchmark. If greater than 1, the mean and
+// standard deviation of the runs will be reported.
+BM_DEFINE_int32(benchmark_repetitions, 1);
+
+// If enabled, forces each benchmark to execute exactly one iteration and one
+// repetition, bypassing any configured
+// MinTime()/MinWarmUpTime()/Iterations()/Repetitions()
+BM_DEFINE_bool(benchmark_dry_run, false);
+
+// If set, enable random interleaving of repetitions of all benchmarks.
+// See http://github.com/google/benchmark/issues/1051 for details.
+BM_DEFINE_bool(benchmark_enable_random_interleaving, false);
+
+// Report the result of each benchmark repetitions. When 'true' is specified
+// only the mean, standard deviation, and other statistics are reported for
+// repeated benchmarks. Affects all reporters.
+BM_DEFINE_bool(benchmark_report_aggregates_only, false);
+
+// Display the result of each benchmark repetitions. When 'true' is specified
+// only the mean, standard deviation, and other statistics are displayed for
+// repeated benchmarks. Unlike benchmark_report_aggregates_only, only affects
+// the display reporter, but  *NOT* file reporter, which will still contain
+// all the output.
+BM_DEFINE_bool(benchmark_display_aggregates_only, false);
+
+// The format to use for console output.
+// Valid values are 'console', 'json', or 'csv'.
+BM_DEFINE_string(benchmark_format, "console");
+
+// The format to use for file output.
+// Valid values are 'console', 'json', or 'csv'.
+BM_DEFINE_string(benchmark_out_format, "json");
+
+// The file to write additional output to.
+BM_DEFINE_string(benchmark_out, "");
+
+// Whether to use colors in the output.  Valid values:
+// 'true'/'yes'/1, 'false'/'no'/0, and 'auto'. 'auto' means to use colors if
+// the output is being sent to a terminal and the TERM environment variable is
+// set to a terminal type that supports colors.
+BM_DEFINE_string(benchmark_color, "auto");
+
+// Whether to use tabular format when printing user counters to the console.
+// Valid values: 'true'/'yes'/1, 'false'/'no'/0.  Defaults to false.
+BM_DEFINE_bool(benchmark_counters_tabular, false);
+
+// List of additional perf counters to collect, in libpfm format. For more
+// information about libpfm: https://man7.org/linux/man-pages/man3/libpfm.3.html
+BM_DEFINE_string(benchmark_perf_counters, "");
+
+// Extra context to include in the output formatted as comma-separated key-value
+// pairs. Kept internal as it's only used for parsing from env/command line.
+BM_DEFINE_kvpairs(benchmark_context, {});
+
+// Set the default time unit to use for reports
+// Valid values are 'ns', 'us', 'ms' or 's'
+BM_DEFINE_string(benchmark_time_unit, "");
+
+// The level of verbose logging to output
+BM_DEFINE_int32(v, 0);
+
+namespace internal {
+
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
+std::map<std::string, std::string>* global_context = nullptr;
+
+BENCHMARK_EXPORT std::map<std::string, std::string>*& GetGlobalContext() {
+  return global_context;
+}
+
+namespace {
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
+void const volatile* volatile global_force_escape_pointer;
+}  // namespace
+
+// FIXME: Verify if LTO still messes this up?
+void UseCharPointer(char const volatile* const v) {
+  // We want to escape the pointer `v` so that the compiler can not eliminate
+  // computations that produced it. To do that, we escape the pointer by storing
+  // it into a volatile variable, since generally, volatile store, is not
+  // something the compiler is allowed to elide.
+  global_force_escape_pointer = reinterpret_cast<void const volatile*>(v);
+}
+
+}  // namespace internal
+
+State::State(std::string name, IterationCount max_iters,
+             const std::vector<int64_t>& ranges, int thread_i, int n_threads,
+             internal::ThreadTimer* timer, internal::ThreadManager* manager,
+             internal::PerfCountersMeasurement* perf_counters_measurement,
+             ProfilerManager* profiler_manager)
+    : total_iterations_(0),
+      batch_leftover_(0),
+      max_iterations(max_iters),
+      started_(false),
+      finished_(false),
+      skipped_(internal::NotSkipped),
+      range_(ranges),
+      complexity_n_(0),
+      name_(std::move(name)),
+      thread_index_(thread_i),
+      threads_(n_threads),
+      timer_(timer),
+      manager_(manager),
+      perf_counters_measurement_(perf_counters_measurement),
+      profiler_manager_(profiler_manager) {
+  BM_CHECK(max_iterations != 0) << "At least one iteration must be run";
+  BM_CHECK_LT(thread_index_, threads_)
+      << "thread_index must be less than threads";
+
+  // Add counters with correct flag now.  If added with `counters[name]` in
+  // `PauseTiming`, a new `Counter` will be inserted the first time, which
+  // won't have the flag.  Inserting them now also reduces the allocations
+  // during the benchmark.
+  if (perf_counters_measurement_ != nullptr) {
+    for (const std::string& counter_name :
+         perf_counters_measurement_->names()) {
+      counters[counter_name] = Counter(0.0, Counter::kAvgIterations);
+    }
+  }
+
+  // Note: The use of offsetof below is technically undefined until C++17
+  // because State is not a standard layout type. However, all compilers
+  // currently provide well-defined behavior as an extension (which is
+  // demonstrated since constexpr evaluation must diagnose all undefined
+  // behavior). However, GCC and Clang also warn about this use of offsetof,
+  // which must be suppressed.
+#if defined(__INTEL_COMPILER)
+#pragma warning push
+#pragma warning(disable : 1875)
+#elif defined(__GNUC__) || defined(__clang__)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Winvalid-offsetof"
+#endif
+#if defined(__NVCC__)
+#pragma nv_diagnostic push
+#pragma nv_diag_suppress 1427
+#endif
+#if defined(__NVCOMPILER)
+#pragma diagnostic push
+#pragma diag_suppress offset_in_non_POD_nonstandard
+#endif
+  // Offset tests to ensure commonly accessed data is on the first cache line.
+  const int cache_line_size = 64;
+  static_assert(
+      offsetof(State, skipped_) <= (cache_line_size - sizeof(skipped_)), "");
+#if defined(__INTEL_COMPILER)
+#pragma warning pop
+#elif defined(__GNUC__) || defined(__clang__)
+#pragma GCC diagnostic pop
+#endif
+#if defined(__NVCC__)
+#pragma nv_diagnostic pop
+#endif
+#if defined(__NVCOMPILER)
+#pragma diagnostic pop
+#endif
+}
+
+void State::PauseTiming() {
+  // Add in time accumulated so far
+  BM_CHECK(started_ && !finished_ && !skipped());
+  timer_->StopTimer();
+  if (perf_counters_measurement_ != nullptr) {
+    std::vector<std::pair<std::string, double>> measurements;
+    if (!perf_counters_measurement_->Stop(measurements)) {
+      BM_CHECK(false) << "Perf counters read the value failed.";
+    }
+    for (const auto& name_and_measurement : measurements) {
+      const std::string& name = name_and_measurement.first;
+      const double measurement = name_and_measurement.second;
+      // Counter was inserted with `kAvgIterations` flag by the constructor.
+      assert(counters.find(name) != counters.end());
+      counters[name].value += measurement;
+    }
+  }
+}
+
+void State::ResumeTiming() {
+  BM_CHECK(started_ && !finished_ && !skipped());
+  timer_->StartTimer();
+  if (perf_counters_measurement_ != nullptr) {
+    perf_counters_measurement_->Start();
+  }
+}
+
+void State::SkipWithMessage(const std::string& msg) {
+  skipped_ = internal::SkippedWithMessage;
+  {
+    MutexLock l(manager_->GetBenchmarkMutex());
+    if (internal::NotSkipped == manager_->results.skipped_) {
+      manager_->results.skip_message_ = msg;
+      manager_->results.skipped_ = skipped_;
+    }
+  }
+  total_iterations_ = 0;
+  if (timer_->running()) {
+    timer_->StopTimer();
+  }
+}
+
+void State::SkipWithError(const std::string& msg) {
+  skipped_ = internal::SkippedWithError;
+  {
+    MutexLock l(manager_->GetBenchmarkMutex());
+    if (internal::NotSkipped == manager_->results.skipped_) {
+      manager_->results.skip_message_ = msg;
+      manager_->results.skipped_ = skipped_;
+    }
+  }
+  total_iterations_ = 0;
+  if (timer_->running()) {
+    timer_->StopTimer();
+  }
+}
+
+void State::SetIterationTime(double seconds) {
+  timer_->SetIterationTime(seconds);
+}
+
+void State::SetLabel(const std::string& label) {
+  MutexLock l(manager_->GetBenchmarkMutex());
+  manager_->results.report_label_ = label;
+}
+
+void State::StartKeepRunning() {
+  BM_CHECK(!started_ && !finished_);
+  started_ = true;
+  total_iterations_ = skipped() ? 0 : max_iterations;
+  if (BENCHMARK_BUILTIN_EXPECT(profiler_manager_ != nullptr, false)) {
+    profiler_manager_->AfterSetupStart();
+  }
+  manager_->StartStopBarrier();
+  if (!skipped()) {
+    ResumeTiming();
+  }
+}
+
+void State::FinishKeepRunning() {
+  BM_CHECK(started_ && (!finished_ || skipped()));
+  if (!skipped()) {
+    PauseTiming();
+  }
+  // Total iterations has now wrapped around past 0. Fix this.
+  total_iterations_ = 0;
+  finished_ = true;
+  manager_->StartStopBarrier();
+  if (BENCHMARK_BUILTIN_EXPECT(profiler_manager_ != nullptr, false)) {
+    profiler_manager_->BeforeTeardownStop();
+  }
+}
+
+namespace internal {
+namespace {
+
+// Flushes streams after invoking reporter methods that write to them. This
+// ensures users get timely updates even when streams are not line-buffered.
+void FlushStreams(BenchmarkReporter* reporter) {
+  if (reporter == nullptr) {
+    return;
+  }
+  std::flush(reporter->GetOutputStream());
+  std::flush(reporter->GetErrorStream());
+}
+
+// Reports in both display and file reporters.
+void Report(BenchmarkReporter* display_reporter,
+            BenchmarkReporter* file_reporter, const RunResults& run_results) {
+  auto report_one = [](BenchmarkReporter* reporter, bool aggregates_only,
+                       const RunResults& results) {
+    assert(reporter);
+    // If there are no aggregates, do output non-aggregates.
+    aggregates_only &= !results.aggregates_only.empty();
+    if (!aggregates_only) {
+      reporter->ReportRuns(results.non_aggregates);
+    }
+    if (!results.aggregates_only.empty()) {
+      reporter->ReportRuns(results.aggregates_only);
+    }
+  };
+
+  report_one(display_reporter, run_results.display_report_aggregates_only,
+             run_results);
+  if (file_reporter != nullptr) {
+    report_one(file_reporter, run_results.file_report_aggregates_only,
+               run_results);
+  }
+
+  FlushStreams(display_reporter);
+  FlushStreams(file_reporter);
+}
+
+void RunBenchmarks(const std::vector<BenchmarkInstance>& benchmarks,
+                   BenchmarkReporter* display_reporter,
+                   BenchmarkReporter* file_reporter) {
+  // Note the file_reporter can be null.
+  BM_CHECK(display_reporter != nullptr);
+
+  // Determine the width of the name field using a minimum width of 10.
+  bool might_have_aggregates = FLAGS_benchmark_repetitions > 1;
+  size_t name_field_width = 10;
+  size_t stat_field_width = 0;
+  for (const BenchmarkInstance& benchmark : benchmarks) {
+    name_field_width =
+        std::max<size_t>(name_field_width, benchmark.name().str().size());
+    might_have_aggregates |= benchmark.repetitions() > 1;
+
+    for (const auto& Stat : benchmark.statistics()) {
+      stat_field_width = std::max<size_t>(stat_field_width, Stat.name_.size());
+    }
+  }
+  if (might_have_aggregates) {
+    name_field_width += 1 + stat_field_width;
+  }
+
+  // Print header here
+  BenchmarkReporter::Context context;
+  context.name_field_width = name_field_width;
+
+  // Keep track of running times of all instances of each benchmark family.
+  std::map<int /*family_index*/, BenchmarkReporter::PerFamilyRunReports>
+      per_family_reports;
+
+  if (display_reporter->ReportContext(context) &&
+      ((file_reporter == nullptr) || file_reporter->ReportContext(context))) {
+    FlushStreams(display_reporter);
+    FlushStreams(file_reporter);
+
+    size_t num_repetitions_total = 0;
+
+    // This perfcounters object needs to be created before the runners vector
+    // below so it outlasts their lifetime.
+    PerfCountersMeasurement perfcounters(
+        StrSplit(FLAGS_benchmark_perf_counters, ','));
+
+    // Vector of benchmarks to run
+    std::vector<internal::BenchmarkRunner> runners;
+    runners.reserve(benchmarks.size());
+
+    // Count the number of benchmarks with threads to warn the user in case
+    // performance counters are used.
+    int benchmarks_with_threads = 0;
+
+    // Loop through all benchmarks
+    for (const BenchmarkInstance& benchmark : benchmarks) {
+      BenchmarkReporter::PerFamilyRunReports* reports_for_family = nullptr;
+      if (benchmark.complexity() != oNone) {
+        reports_for_family = &per_family_reports[benchmark.family_index()];
+      }
+      benchmarks_with_threads += static_cast<int>(benchmark.threads() > 1);
+      runners.emplace_back(benchmark, &perfcounters, reports_for_family);
+      int num_repeats_of_this_instance = runners.back().GetNumRepeats();
+      num_repetitions_total +=
+          static_cast<size_t>(num_repeats_of_this_instance);
+      if (reports_for_family != nullptr) {
+        reports_for_family->num_runs_total += num_repeats_of_this_instance;
+      }
+    }
+    assert(runners.size() == benchmarks.size() && "Unexpected runner count.");
+
+    // The use of performance counters with threads would be unintuitive for
+    // the average user so we need to warn them about this case
+    if ((benchmarks_with_threads > 0) && (perfcounters.num_counters() > 0)) {
+      GetErrorLogInstance()
+          << "***WARNING*** There are " << benchmarks_with_threads
+          << " benchmarks with threads and " << perfcounters.num_counters()
+          << " performance counters were requested. Beware counters will "
+             "reflect the combined usage across all "
+             "threads.\n";
+    }
+
+    std::vector<size_t> repetition_indices;
+    repetition_indices.reserve(num_repetitions_total);
+    for (size_t runner_index = 0, num_runners = runners.size();
+         runner_index != num_runners; ++runner_index) {
+      const internal::BenchmarkRunner& runner = runners[runner_index];
+      std::fill_n(std::back_inserter(repetition_indices),
+                  runner.GetNumRepeats(), runner_index);
+    }
+    assert(repetition_indices.size() == num_repetitions_total &&
+           "Unexpected number of repetition indexes.");
+
+    if (FLAGS_benchmark_enable_random_interleaving) {
+      std::random_device rd;
+      std::mt19937 g(rd());
+      std::shuffle(repetition_indices.begin(), repetition_indices.end(), g);
+    }
+
+    for (size_t repetition_index : repetition_indices) {
+      internal::BenchmarkRunner& runner = runners[repetition_index];
+      runner.DoOneRepetition();
+      if (runner.HasRepeatsRemaining()) {
+        continue;
+      }
+      // FIXME: report each repetition separately, not all of them in bulk.
+
+      display_reporter->ReportRunsConfig(
+          runner.GetMinTime(), runner.HasExplicitIters(), runner.GetIters());
+      if (file_reporter != nullptr) {
+        file_reporter->ReportRunsConfig(
+            runner.GetMinTime(), runner.HasExplicitIters(), runner.GetIters());
+      }
+
+      RunResults run_results = runner.GetResults();
+
+      // Maybe calculate complexity report
+      if (const auto* reports_for_family = runner.GetReportsForFamily()) {
+        if (reports_for_family->num_runs_done ==
+            reports_for_family->num_runs_total) {
+          auto additional_run_stats = ComputeBigO(reports_for_family->Runs);
+          run_results.aggregates_only.insert(run_results.aggregates_only.end(),
+                                             additional_run_stats.begin(),
+                                             additional_run_stats.end());
+          per_family_reports.erase(
+              static_cast<int>(reports_for_family->Runs.front().family_index));
+        }
+      }
+
+      Report(display_reporter, file_reporter, run_results);
+    }
+  }
+  display_reporter->Finalize();
+  if (file_reporter != nullptr) {
+    file_reporter->Finalize();
+  }
+  FlushStreams(display_reporter);
+  FlushStreams(file_reporter);
+}
+
+// Disable deprecated warnings temporarily because we need to reference
+// CSVReporter but don't want to trigger -Werror=-Wdeprecated-declarations
+BENCHMARK_DISABLE_DEPRECATED_WARNING
+
+std::unique_ptr<BenchmarkReporter> CreateReporter(
+    std::string const& name, ConsoleReporter::OutputOptions output_opts) {
+  typedef std::unique_ptr<BenchmarkReporter> PtrType;
+  if (name == "console") {
+    return PtrType(new ConsoleReporter(output_opts));
+  }
+  if (name == "json") {
+    return PtrType(new JSONReporter());
+  }
+  if (name == "csv") {
+    return PtrType(new CSVReporter());
+  }
+  std::cerr << "Unexpected format: '" << name << "'\n";
+  std::flush(std::cerr);
+  std::exit(1);
+}
+
+BENCHMARK_RESTORE_DEPRECATED_WARNING
+
+}  // end namespace
+
+bool IsZero(double n) {
+  return std::abs(n) < std::numeric_limits<double>::epsilon();
+}
+
+ConsoleReporter::OutputOptions GetOutputOptions(bool force_no_color) {
+  int output_opts = ConsoleReporter::OO_Defaults;
+  auto is_benchmark_color = [force_no_color]() -> bool {
+    if (force_no_color) {
+      return false;
+    }
+    if (FLAGS_benchmark_color == "auto") {
+      return IsColorTerminal();
+    }
+    return IsTruthyFlagValue(FLAGS_benchmark_color);
+  };
+  if (is_benchmark_color()) {
+    output_opts |= ConsoleReporter::OO_Color;
+  } else {
+    output_opts &= ~ConsoleReporter::OO_Color;
+  }
+  if (FLAGS_benchmark_counters_tabular) {
+    output_opts |= ConsoleReporter::OO_Tabular;
+  } else {
+    output_opts &= ~ConsoleReporter::OO_Tabular;
+  }
+  return static_cast<ConsoleReporter::OutputOptions>(output_opts);
+}
+
+}  // end namespace internal
+
+BenchmarkReporter* CreateDefaultDisplayReporter() {
+  static auto* default_display_reporter =
+      internal::CreateReporter(FLAGS_benchmark_format,
+                               internal::GetOutputOptions())
+          .release();
+  return default_display_reporter;
+}
+
+size_t RunSpecifiedBenchmarks() {
+  return RunSpecifiedBenchmarks(nullptr, nullptr, FLAGS_benchmark_filter);
+}
+
+size_t RunSpecifiedBenchmarks(std::string spec) {
+  return RunSpecifiedBenchmarks(nullptr, nullptr, std::move(spec));
+}
+
+size_t RunSpecifiedBenchmarks(BenchmarkReporter* display_reporter) {
+  return RunSpecifiedBenchmarks(display_reporter, nullptr,
+                                FLAGS_benchmark_filter);
+}
+
+size_t RunSpecifiedBenchmarks(BenchmarkReporter* display_reporter,
+                              std::string spec) {
+  return RunSpecifiedBenchmarks(display_reporter, nullptr, std::move(spec));
+}
+
+size_t RunSpecifiedBenchmarks(BenchmarkReporter* display_reporter,
+                              BenchmarkReporter* file_reporter) {
+  return RunSpecifiedBenchmarks(display_reporter, file_reporter,
+                                FLAGS_benchmark_filter);
+}
+
+size_t RunSpecifiedBenchmarks(BenchmarkReporter* display_reporter,
+                              BenchmarkReporter* file_reporter,
+                              std::string spec) {
+  if (spec.empty() || spec == "all") {
+    spec = ".";  // Regexp that matches all benchmarks
+  }
+
+  // Setup the reporters
+  std::ofstream output_file;
+  std::unique_ptr<BenchmarkReporter> default_display_reporter;
+  std::unique_ptr<BenchmarkReporter> default_file_reporter;
+  if (display_reporter == nullptr) {
+    default_display_reporter.reset(CreateDefaultDisplayReporter());
+    display_reporter = default_display_reporter.get();
+  }
+  auto& Out = display_reporter->GetOutputStream();
+  auto& Err = display_reporter->GetErrorStream();
+
+  std::string const& fname = FLAGS_benchmark_out;
+  if (fname.empty() && (file_reporter != nullptr)) {
+    Err << "A custom file reporter was provided but "
+           "--benchmark_out=<file> was not specified.\n";
+    Out.flush();
+    Err.flush();
+    std::exit(1);
+  }
+  if (!fname.empty()) {
+    output_file.open(fname);
+    if (!output_file.is_open()) {
+      Err << "invalid file name: '" << fname << "'\n";
+      Out.flush();
+      Err.flush();
+      std::exit(1);
+    }
+    if (file_reporter == nullptr) {
+      default_file_reporter = internal::CreateReporter(
+          FLAGS_benchmark_out_format, FLAGS_benchmark_counters_tabular
+                                          ? ConsoleReporter::OO_Tabular
+                                          : ConsoleReporter::OO_None);
+      file_reporter = default_file_reporter.get();
+    }
+    file_reporter->SetOutputStream(&output_file);
+    file_reporter->SetErrorStream(&output_file);
+  }
+
+  std::vector<internal::BenchmarkInstance> benchmarks;
+  if (!FindBenchmarksInternal(spec, &benchmarks, &Err)) {
+    Out.flush();
+    Err.flush();
+    return 0;
+  }
+
+  if (benchmarks.empty()) {
+    Err << "Failed to match any benchmarks against regex: " << spec << "\n";
+    Out.flush();
+    Err.flush();
+    return 0;
+  }
+
+  if (FLAGS_benchmark_list_tests) {
+    for (auto const& benchmark : benchmarks) {
+      Out << benchmark.name().str() << "\n";
+    }
+  } else {
+    internal::RunBenchmarks(benchmarks, display_reporter, file_reporter);
+  }
+
+  Out.flush();
+  Err.flush();
+  return benchmarks.size();
+}
+
+namespace {
+// stores the time unit benchmarks use by default
+TimeUnit default_time_unit = kNanosecond;
+}  // namespace
+
+TimeUnit GetDefaultTimeUnit() { return default_time_unit; }
+
+void SetDefaultTimeUnit(TimeUnit unit) { default_time_unit = unit; }
+
+std::string GetBenchmarkFilter() { return FLAGS_benchmark_filter; }
+
+void SetBenchmarkFilter(std::string value) {
+  FLAGS_benchmark_filter = std::move(value);
+}
+
+int32_t GetBenchmarkVerbosity() { return FLAGS_v; }
+
+void RegisterMemoryManager(MemoryManager* manager) {
+  internal::memory_manager = manager;
+}
+
+void RegisterProfilerManager(ProfilerManager* manager) {
+  // Don't allow overwriting an existing manager.
+  if (manager != nullptr) {
+    BM_CHECK_EQ(internal::profiler_manager, nullptr);
+  }
+  internal::profiler_manager = manager;
+}
+
+void AddCustomContext(const std::string& key, const std::string& value) {
+  if (internal::global_context == nullptr) {
+    internal::global_context = new std::map<std::string, std::string>();
+  }
+  if (!internal::global_context->emplace(key, value).second) {
+    std::cerr << "Failed to add custom context \"" << key << "\" as it already "
+              << "exists with value \"" << value << "\"\n";
+  }
+}
+
+namespace internal {
+
+void (*HelperPrintf)();
+
+void PrintUsageAndExit() {
+  HelperPrintf();
+  std::flush(std::cout);
+  std::flush(std::cerr);
+  std::exit(0);
+}
+
+void SetDefaultTimeUnitFromFlag(const std::string& time_unit_flag) {
+  if (time_unit_flag == "s") {
+    return SetDefaultTimeUnit(kSecond);
+  }
+  if (time_unit_flag == "ms") {
+    return SetDefaultTimeUnit(kMillisecond);
+  }
+  if (time_unit_flag == "us") {
+    return SetDefaultTimeUnit(kMicrosecond);
+  }
+  if (time_unit_flag == "ns") {
+    return SetDefaultTimeUnit(kNanosecond);
+  }
+  if (!time_unit_flag.empty()) {
+    PrintUsageAndExit();
+  }
+}
+
+void ParseCommandLineFlags(int* argc, char** argv) {
+  using namespace benchmark;
+  BenchmarkReporter::Context::executable_name =
+      ((argc != nullptr) && *argc > 0) ? argv[0] : "unknown";
+  for (int i = 1; (argc != nullptr) && i < *argc; ++i) {
+    if (ParseBoolFlag(argv[i], "benchmark_list_tests",
+                      &FLAGS_benchmark_list_tests) ||
+        ParseStringFlag(argv[i], "benchmark_filter", &FLAGS_benchmark_filter) ||
+        ParseStringFlag(argv[i], "benchmark_min_time",
+                        &FLAGS_benchmark_min_time) ||
+        ParseDoubleFlag(argv[i], "benchmark_min_warmup_time",
+                        &FLAGS_benchmark_min_warmup_time) ||
+        ParseInt32Flag(argv[i], "benchmark_repetitions",
+                       &FLAGS_benchmark_repetitions) ||
+        ParseBoolFlag(argv[i], "benchmark_dry_run", &FLAGS_benchmark_dry_run) ||
+        ParseBoolFlag(argv[i], "benchmark_enable_random_interleaving",
+                      &FLAGS_benchmark_enable_random_interleaving) ||
+        ParseBoolFlag(argv[i], "benchmark_report_aggregates_only",
+                      &FLAGS_benchmark_report_aggregates_only) ||
+        ParseBoolFlag(argv[i], "benchmark_display_aggregates_only",
+                      &FLAGS_benchmark_display_aggregates_only) ||
+        ParseStringFlag(argv[i], "benchmark_format", &FLAGS_benchmark_format) ||
+        ParseStringFlag(argv[i], "benchmark_out", &FLAGS_benchmark_out) ||
+        ParseStringFlag(argv[i], "benchmark_out_format",
+                        &FLAGS_benchmark_out_format) ||
+        ParseStringFlag(argv[i], "benchmark_color", &FLAGS_benchmark_color) ||
+        ParseBoolFlag(argv[i], "benchmark_counters_tabular",
+                      &FLAGS_benchmark_counters_tabular) ||
+        ParseStringFlag(argv[i], "benchmark_perf_counters",
+                        &FLAGS_benchmark_perf_counters) ||
+        ParseKeyValueFlag(argv[i], "benchmark_context",
+                          &FLAGS_benchmark_context) ||
+        ParseStringFlag(argv[i], "benchmark_time_unit",
+                        &FLAGS_benchmark_time_unit) ||
+        ParseInt32Flag(argv[i], "v", &FLAGS_v)) {
+      for (int j = i; j != *argc - 1; ++j) {
+        argv[j] = argv[j + 1];
+      }
+
+      --(*argc);
+      --i;
+    } else if (IsFlag(argv[i], "help")) {
+      PrintUsageAndExit();
+    }
+  }
+  for (auto const* flag :
+       {&FLAGS_benchmark_format, &FLAGS_benchmark_out_format}) {
+    if (*flag != "console" && *flag != "json" && *flag != "csv") {
+      PrintUsageAndExit();
+    }
+  }
+  SetDefaultTimeUnitFromFlag(FLAGS_benchmark_time_unit);
+  if (FLAGS_benchmark_color.empty()) {
+    PrintUsageAndExit();
+  }
+  if (FLAGS_benchmark_dry_run) {
+    AddCustomContext("dry_run", "true");
+  }
+  for (const auto& kv : FLAGS_benchmark_context) {
+    AddCustomContext(kv.first, kv.second);
+  }
+}
+
+int InitializeStreams() {
+  static std::ios_base::Init init;
+  return 0;
+}
+
+template <typename T>
+std::make_unsigned_t<T> get_as_unsigned(T v) {
+  using UnsignedT = std::make_unsigned_t<T>;
+  return static_cast<UnsignedT>(v);
+}
+
+}  // end namespace internal
+
+void MaybeReenterWithoutASLR(int /*argc*/, char** argv) {
+  // On e.g. Hexagon simulator, argv may be NULL.
+  if (!argv) return;
+
+#ifdef BENCHMARK_OS_LINUX
+  const auto curr_personality = personality(0xffffffff);
+
+  // We should never fail to read-only query the current personality,
+  // but let's be cautious.
+  if (curr_personality == -1) return;
+
+  // If ASLR is already disabled, we have nothing more to do.
+  if (internal::get_as_unsigned(curr_personality) & ADDR_NO_RANDOMIZE) return;
+
+  // Try to change the personality to disable ASLR.
+  const auto proposed_personality =
+      internal::get_as_unsigned(curr_personality) | ADDR_NO_RANDOMIZE;
+  const auto prev_personality = personality(proposed_personality);
+
+  // Have we failed to change the personality? That may happen.
+  if (prev_personality == -1) return;
+
+  // Make sure the parsona has been updated with the no-ASLR flag,
+  // otherwise we will try to reenter infinitely.
+  // This seems impossible, but can happen in some docker configurations.
+  const auto new_personality = personality(0xffffffff);
+  if ((internal::get_as_unsigned(new_personality) & ADDR_NO_RANDOMIZE) == 0)
+    return;
+
+  execv(argv[0], argv);
+  // The exec() functions return only if an error has occurred,
+  // in which case we want to just continue as-is.
+#else
+  return;
+#endif
+}
+
+std::string GetBenchmarkVersion() {
+#ifdef BENCHMARK_VERSION
+  return {BENCHMARK_VERSION};
+#else
+  return {""};
+#endif
+}
+
+void PrintDefaultHelp() {
+  fprintf(stdout,
+          "benchmark"
+          " [--benchmark_list_tests={true|false}]\n"
+          "          [--benchmark_filter=<regex>]\n"
+          "          [--benchmark_min_time=`<integer>x` OR `<float>s` ]\n"
+          "          [--benchmark_min_warmup_time=<min_warmup_time>]\n"
+          "          [--benchmark_repetitions=<num_repetitions>]\n"
+          "          [--benchmark_dry_run={true|false}]\n"
+          "          [--benchmark_enable_random_interleaving={true|false}]\n"
+          "          [--benchmark_report_aggregates_only={true|false}]\n"
+          "          [--benchmark_display_aggregates_only={true|false}]\n"
+          "          [--benchmark_format=<console|json|csv>]\n"
+          "          [--benchmark_out=<filename>]\n"
+          "          [--benchmark_out_format=<json|console|csv>]\n"
+          "          [--benchmark_color={auto|true|false}]\n"
+          "          [--benchmark_counters_tabular={true|false}]\n"
+#if defined HAVE_LIBPFM
+          "          [--benchmark_perf_counters=<counter>,...]\n"
+#endif
+          "          [--benchmark_context=<key>=<value>,...]\n"
+          "          [--benchmark_time_unit={ns|us|ms|s}]\n"
+          "          [--v=<verbosity>]\n");
+}
+
+void Initialize(int* argc, char** argv, void (*HelperPrintf)()) {
+  internal::HelperPrintf = HelperPrintf;
+  internal::ParseCommandLineFlags(argc, argv);
+  internal::LogLevel() = FLAGS_v;
+}
+
+void Shutdown() { delete internal::global_context; }
+
+bool ReportUnrecognizedArguments(int argc, char** argv) {
+  for (int i = 1; i < argc; ++i) {
+    fprintf(stderr, "%s: error: unrecognized command-line flag: %s\n", argv[0],
+            argv[i]);
+  }
+  return argc > 1;
+}
+
+}  // end namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/benchmark_api_internal.cpp

@@ -0,0 +1,118 @@
+#include "benchmark_api_internal.h"
+
+#include <cinttypes>
+
+#include "string_util.h"
+
+namespace benchmark {
+namespace internal {
+
+BenchmarkInstance::BenchmarkInstance(Benchmark* benchmark, int family_idx,
+                                     int per_family_instance_idx,
+                                     const std::vector<int64_t>& args,
+                                     int thread_count)
+    : benchmark_(*benchmark),
+      family_index_(family_idx),
+      per_family_instance_index_(per_family_instance_idx),
+      aggregation_report_mode_(benchmark_.aggregation_report_mode_),
+      args_(args),
+      time_unit_(benchmark_.GetTimeUnit()),
+      measure_process_cpu_time_(benchmark_.measure_process_cpu_time_),
+      use_real_time_(benchmark_.use_real_time_),
+      use_manual_time_(benchmark_.use_manual_time_),
+      complexity_(benchmark_.complexity_),
+      complexity_lambda_(benchmark_.complexity_lambda_),
+      statistics_(benchmark_.statistics_),
+      repetitions_(benchmark_.repetitions_),
+      min_time_(benchmark_.min_time_),
+      min_warmup_time_(benchmark_.min_warmup_time_),
+      iterations_(benchmark_.iterations_),
+      threads_(thread_count),
+      setup_(benchmark_.setup_),
+      teardown_(benchmark_.teardown_) {
+  name_.function_name = benchmark_.name_;
+
+  size_t arg_i = 0;
+  for (const auto& arg : args) {
+    if (!name_.args.empty()) {
+      name_.args += '/';
+    }
+
+    if (arg_i < benchmark->arg_names_.size()) {
+      const auto& arg_name = benchmark_.arg_names_[arg_i];
+      if (!arg_name.empty()) {
+        name_.args += StrFormat("%s:", arg_name.c_str());
+      }
+    }
+
+    name_.args += StrFormat("%" PRId64, arg);
+    ++arg_i;
+  }
+
+  if (!IsZero(benchmark->min_time_)) {
+    name_.min_time = StrFormat("min_time:%0.3f", benchmark_.min_time_);
+  }
+
+  if (!IsZero(benchmark->min_warmup_time_)) {
+    name_.min_warmup_time =
+        StrFormat("min_warmup_time:%0.3f", benchmark_.min_warmup_time_);
+  }
+
+  if (benchmark_.iterations_ != 0) {
+    name_.iterations = StrFormat(
+        "iterations:%lu", static_cast<unsigned long>(benchmark_.iterations_));
+  }
+
+  if (benchmark_.repetitions_ != 0) {
+    name_.repetitions = StrFormat("repeats:%d", benchmark_.repetitions_);
+  }
+
+  if (benchmark_.measure_process_cpu_time_) {
+    name_.time_type = "process_time";
+  }
+
+  if (benchmark_.use_manual_time_) {
+    if (!name_.time_type.empty()) {
+      name_.time_type += '/';
+    }
+    name_.time_type += "manual_time";
+  } else if (benchmark_.use_real_time_) {
+    if (!name_.time_type.empty()) {
+      name_.time_type += '/';
+    }
+    name_.time_type += "real_time";
+  }
+
+  if (!benchmark_.thread_counts_.empty()) {
+    name_.threads = StrFormat("threads:%d", threads_);
+  }
+}
+
+State BenchmarkInstance::Run(
+    IterationCount iters, int thread_id, internal::ThreadTimer* timer,
+    internal::ThreadManager* manager,
+    internal::PerfCountersMeasurement* perf_counters_measurement,
+    ProfilerManager* profiler_manager) const {
+  State st(name_.function_name, iters, args_, thread_id, threads_, timer,
+           manager, perf_counters_measurement, profiler_manager);
+  benchmark_.Run(st);
+  return st;
+}
+
+void BenchmarkInstance::Setup() const {
+  if (setup_ != nullptr) {
+    State st(name_.function_name, /*iters*/ 1, args_, /*thread_id*/ 0, threads_,
+             nullptr, nullptr, nullptr, nullptr);
+    setup_(st);
+  }
+}
+
+void BenchmarkInstance::Teardown() const {
+  if (teardown_ != nullptr) {
+    State st(name_.function_name, /*iters*/ 1, args_, /*thread_id*/ 0, threads_,
+             nullptr, nullptr, nullptr, nullptr);
+    teardown_(st);
+  }
+}
+}  // namespace internal
+}  // namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/benchmark_api_internal.h

@@ -0,0 +1,90 @@
+#ifndef BENCHMARK_API_INTERNAL_H
+#define BENCHMARK_API_INTERNAL_H
+
+#include <cmath>
+#include <iosfwd>
+#include <limits>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "benchmark/benchmark.h"
+#include "commandlineflags.h"
+
+namespace benchmark {
+namespace internal {
+
+// Information kept per benchmark we may want to run
+class BenchmarkInstance {
+ public:
+  BenchmarkInstance(Benchmark* benchmark, int family_idx,
+                    int per_family_instance_idx,
+                    const std::vector<int64_t>& args, int thread_count);
+
+  const BenchmarkName& name() const { return name_; }
+  int family_index() const { return family_index_; }
+  int per_family_instance_index() const { return per_family_instance_index_; }
+  AggregationReportMode aggregation_report_mode() const {
+    return aggregation_report_mode_;
+  }
+  TimeUnit time_unit() const { return time_unit_; }
+  bool measure_process_cpu_time() const { return measure_process_cpu_time_; }
+  bool use_real_time() const { return use_real_time_; }
+  bool use_manual_time() const { return use_manual_time_; }
+  BigO complexity() const { return complexity_; }
+  BigOFunc* complexity_lambda() const { return complexity_lambda_; }
+  const std::vector<Statistics>& statistics() const { return statistics_; }
+  int repetitions() const { return repetitions_; }
+  double min_time() const { return min_time_; }
+  double min_warmup_time() const { return min_warmup_time_; }
+  IterationCount iterations() const { return iterations_; }
+  int threads() const { return threads_; }
+  void Setup() const;
+  void Teardown() const;
+  const auto& GetUserThreadRunnerFactory() const {
+    return benchmark_.threadrunner_;
+  }
+
+  State Run(IterationCount iters, int thread_id, internal::ThreadTimer* timer,
+            internal::ThreadManager* manager,
+            internal::PerfCountersMeasurement* perf_counters_measurement,
+            ProfilerManager* profiler_manager) const;
+
+ private:
+  BenchmarkName name_;
+  Benchmark& benchmark_;
+  const int family_index_;
+  const int per_family_instance_index_;
+  AggregationReportMode aggregation_report_mode_;
+  const std::vector<int64_t>& args_;
+  TimeUnit time_unit_;
+  bool measure_process_cpu_time_;
+  bool use_real_time_;
+  bool use_manual_time_;
+  BigO complexity_;
+  BigOFunc* complexity_lambda_;
+  UserCounters counters_;
+  const std::vector<Statistics>& statistics_;
+  int repetitions_;
+  double min_time_;
+  double min_warmup_time_;
+  IterationCount iterations_;
+  int threads_;  // Number of concurrent threads to us
+
+  callback_function setup_;
+  callback_function teardown_;
+};
+
+bool FindBenchmarksInternal(const std::string& re,
+                            std::vector<BenchmarkInstance>* benchmarks,
+                            std::ostream* Err);
+
+bool IsZero(double n);
+
+BENCHMARK_EXPORT
+ConsoleReporter::OutputOptions GetOutputOptions(bool force_no_color = false);
+
+}  // end namespace internal
+}  // end namespace benchmark
+
+#endif  // BENCHMARK_API_INTERNAL_H

benchmark/src/main/native/thirdparty/benchmark/src/benchmark_name.cpp

@@ -0,0 +1,59 @@
+// Copyright 2015 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <benchmark/benchmark.h>
+
+namespace benchmark {
+
+namespace {
+
+// Compute the total size of a pack of std::strings
+size_t size_impl() { return 0; }
+
+template <typename Head, typename... Tail>
+size_t size_impl(const Head& head, const Tail&... tail) {
+  return head.size() + size_impl(tail...);
+}
+
+// Join a pack of std::strings using a delimiter
+// TODO(dominic): use absl::StrJoin
+void join_impl(std::string& /*unused*/, char /*unused*/) {}
+
+template <typename Head, typename... Tail>
+void join_impl(std::string& s, const char delimiter, const Head& head,
+               const Tail&... tail) {
+  if (!s.empty() && !head.empty()) {
+    s += delimiter;
+  }
+
+  s += head;
+
+  join_impl(s, delimiter, tail...);
+}
+
+template <typename... Ts>
+std::string join(char delimiter, const Ts&... ts) {
+  std::string s;
+  s.reserve(sizeof...(Ts) + size_impl(ts...));
+  join_impl(s, delimiter, ts...);
+  return s;
+}
+}  // namespace
+
+BENCHMARK_EXPORT
+std::string BenchmarkName::str() const {
+  return join('/', function_name, args, min_time, min_warmup_time, iterations,
+              repetitions, time_type, threads);
+}
+}  // namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/benchmark_register.cpp

@@ -0,0 +1,544 @@
+// Copyright 2015 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "benchmark_register.h"
+
+#ifndef BENCHMARK_OS_WINDOWS
+#if !defined(BENCHMARK_OS_FUCHSIA) && !defined(BENCHMARK_OS_QURT)
+#include <sys/resource.h>
+#endif
+#include <sys/time.h>
+#include <unistd.h>
+#endif
+
+#include <algorithm>
+#include <atomic>
+#include <cinttypes>
+#include <condition_variable>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <fstream>
+#include <iostream>
+#include <memory>
+#include <numeric>
+#include <sstream>
+#include <thread>
+
+#include "benchmark/benchmark.h"
+#include "benchmark_api_internal.h"
+#include "check.h"
+#include "commandlineflags.h"
+#include "complexity.h"
+#include "internal_macros.h"
+#include "log.h"
+#include "mutex.h"
+#include "re.h"
+#include "statistics.h"
+#include "string_util.h"
+#include "timers.h"
+
+namespace benchmark {
+
+namespace {
+// For non-dense Range, intermediate values are powers of kRangeMultiplier.
+constexpr int kRangeMultiplier = 8;
+
+// The size of a benchmark family determines is the number of inputs to repeat
+// the benchmark on. If this is "large" then warn the user during configuration.
+constexpr size_t kMaxFamilySize = 100;
+
+constexpr char kDisabledPrefix[] = "DISABLED_";
+}  // end namespace
+
+namespace internal {
+
+//=============================================================================//
+//                         BenchmarkFamilies
+//=============================================================================//
+
+// Class for managing registered benchmarks.  Note that each registered
+// benchmark identifies a family of related benchmarks to run.
+class BenchmarkFamilies {
+ public:
+  static BenchmarkFamilies* GetInstance();
+
+  // Registers a benchmark family and returns the index assigned to it.
+  size_t AddBenchmark(std::unique_ptr<Benchmark> family);
+
+  // Clear all registered benchmark families.
+  void ClearBenchmarks();
+
+  // Extract the list of benchmark instances that match the specified
+  // regular expression.
+  bool FindBenchmarks(std::string spec,
+                      std::vector<BenchmarkInstance>* benchmarks,
+                      std::ostream* Err);
+
+ private:
+  BenchmarkFamilies() {}
+
+  std::vector<std::unique_ptr<Benchmark>> families_;
+  Mutex mutex_;
+};
+
+BenchmarkFamilies* BenchmarkFamilies::GetInstance() {
+  static BenchmarkFamilies instance;
+  return &instance;
+}
+
+size_t BenchmarkFamilies::AddBenchmark(std::unique_ptr<Benchmark> family) {
+  MutexLock l(mutex_);
+  size_t index = families_.size();
+  families_.push_back(std::move(family));
+  return index;
+}
+
+void BenchmarkFamilies::ClearBenchmarks() {
+  MutexLock l(mutex_);
+  families_.clear();
+  families_.shrink_to_fit();
+}
+
+bool BenchmarkFamilies::FindBenchmarks(
+    std::string spec, std::vector<BenchmarkInstance>* benchmarks,
+    std::ostream* ErrStream) {
+  BM_CHECK(ErrStream);
+  auto& Err = *ErrStream;
+  // Make regular expression out of command-line flag
+  std::string error_msg;
+  Regex re;
+  bool is_negative_filter = false;
+  if (spec[0] == '-') {
+    spec.replace(0, 1, "");
+    is_negative_filter = true;
+  }
+  if (!re.Init(spec, &error_msg)) {
+    Err << "Could not compile benchmark re: " << error_msg << '\n';
+    return false;
+  }
+
+  // Special list of thread counts to use when none are specified
+  const std::vector<int> one_thread = {1};
+
+  int next_family_index = 0;
+
+  MutexLock l(mutex_);
+  for (std::unique_ptr<Benchmark>& family : families_) {
+    int family_index = next_family_index;
+    int per_family_instance_index = 0;
+
+    // Family was deleted or benchmark doesn't match
+    if (!family) {
+      continue;
+    }
+
+    if (family->ArgsCnt() == -1) {
+      family->Args({});
+    }
+    const std::vector<int>* thread_counts =
+        (family->thread_counts_.empty()
+             ? &one_thread
+             : &static_cast<const std::vector<int>&>(family->thread_counts_));
+    const size_t family_size = family->args_.size() * thread_counts->size();
+    // The benchmark will be run at least 'family_size' different inputs.
+    // If 'family_size' is very large warn the user.
+    if (family_size > kMaxFamilySize) {
+      Err << "The number of inputs is very large. " << family->name_
+          << " will be repeated at least " << family_size << " times.\n";
+    }
+    // reserve in the special case the regex ".", since we know the final
+    // family size.  this doesn't take into account any disabled benchmarks
+    // so worst case we reserve more than we need.
+    if (spec == ".") {
+      benchmarks->reserve(benchmarks->size() + family_size);
+    }
+
+    for (auto const& args : family->args_) {
+      for (int num_threads : *thread_counts) {
+        BenchmarkInstance instance(family.get(), family_index,
+                                   per_family_instance_index, args,
+                                   num_threads);
+
+        const auto full_name = instance.name().str();
+        if (full_name.rfind(kDisabledPrefix, 0) != 0 &&
+            ((re.Match(full_name) && !is_negative_filter) ||
+             (!re.Match(full_name) && is_negative_filter))) {
+          benchmarks->push_back(std::move(instance));
+
+          ++per_family_instance_index;
+
+          // Only bump the next family index once we've estabilished that
+          // at least one instance of this family will be run.
+          if (next_family_index == family_index) {
+            ++next_family_index;
+          }
+        }
+      }
+    }
+  }
+  return true;
+}
+
+Benchmark* RegisterBenchmarkInternal(std::unique_ptr<Benchmark> bench) {
+  Benchmark* bench_ptr = bench.get();
+  BenchmarkFamilies* families = BenchmarkFamilies::GetInstance();
+  families->AddBenchmark(std::move(bench));
+  return bench_ptr;
+}
+
+// FIXME: This function is a hack so that benchmark.cc can access
+// `BenchmarkFamilies`
+bool FindBenchmarksInternal(const std::string& re,
+                            std::vector<BenchmarkInstance>* benchmarks,
+                            std::ostream* Err) {
+  return BenchmarkFamilies::GetInstance()->FindBenchmarks(re, benchmarks, Err);
+}
+
+//=============================================================================//
+//                               Benchmark
+//=============================================================================//
+
+Benchmark::Benchmark(const std::string& name)
+    : name_(name),
+      aggregation_report_mode_(ARM_Unspecified),
+      time_unit_(GetDefaultTimeUnit()),
+      use_default_time_unit_(true),
+      range_multiplier_(kRangeMultiplier),
+      min_time_(0),
+      min_warmup_time_(0),
+      iterations_(0),
+      repetitions_(0),
+      measure_process_cpu_time_(false),
+      use_real_time_(false),
+      use_manual_time_(false),
+      complexity_(oNone),
+      complexity_lambda_(nullptr) {
+  ComputeStatistics("mean", StatisticsMean);
+  ComputeStatistics("median", StatisticsMedian);
+  ComputeStatistics("stddev", StatisticsStdDev);
+  ComputeStatistics("cv", StatisticsCV, kPercentage);
+}
+
+Benchmark::~Benchmark() {}
+
+Benchmark* Benchmark::Name(const std::string& name) {
+  SetName(name);
+  return this;
+}
+
+Benchmark* Benchmark::Arg(int64_t x) {
+  BM_CHECK(ArgsCnt() == -1 || ArgsCnt() == 1);
+  args_.push_back({x});
+  return this;
+}
+
+Benchmark* Benchmark::Unit(TimeUnit unit) {
+  time_unit_ = unit;
+  use_default_time_unit_ = false;
+  return this;
+}
+
+Benchmark* Benchmark::Range(int64_t start, int64_t limit) {
+  BM_CHECK(ArgsCnt() == -1 || ArgsCnt() == 1);
+  std::vector<int64_t> arglist;
+  AddRange(&arglist, start, limit, range_multiplier_);
+
+  for (int64_t i : arglist) {
+    args_.push_back({i});
+  }
+  return this;
+}
+
+Benchmark* Benchmark::Ranges(
+    const std::vector<std::pair<int64_t, int64_t>>& ranges) {
+  BM_CHECK(ArgsCnt() == -1 || ArgsCnt() == static_cast<int>(ranges.size()));
+  std::vector<std::vector<int64_t>> arglists(ranges.size());
+  for (std::size_t i = 0; i < ranges.size(); i++) {
+    AddRange(&arglists[i], ranges[i].first, ranges[i].second,
+             range_multiplier_);
+  }
+
+  ArgsProduct(arglists);
+
+  return this;
+}
+
+Benchmark* Benchmark::ArgsProduct(
+    const std::vector<std::vector<int64_t>>& arglists) {
+  BM_CHECK(ArgsCnt() == -1 || ArgsCnt() == static_cast<int>(arglists.size()));
+
+  std::vector<std::size_t> indices(arglists.size());
+  const std::size_t total = std::accumulate(
+      std::begin(arglists), std::end(arglists), std::size_t{1},
+      [](const std::size_t res, const std::vector<int64_t>& arglist) {
+        return res * arglist.size();
+      });
+  std::vector<int64_t> args;
+  args.reserve(arglists.size());
+  for (std::size_t i = 0; i < total; i++) {
+    for (std::size_t arg = 0; arg < arglists.size(); arg++) {
+      args.push_back(arglists[arg][indices[arg]]);
+    }
+    args_.push_back(args);
+    args.clear();
+
+    std::size_t arg = 0;
+    do {
+      indices[arg] = (indices[arg] + 1) % arglists[arg].size();
+    } while (indices[arg++] == 0 && arg < arglists.size());
+  }
+
+  return this;
+}
+
+Benchmark* Benchmark::ArgName(const std::string& name) {
+  BM_CHECK(ArgsCnt() == -1 || ArgsCnt() == 1);
+  arg_names_ = {name};
+  return this;
+}
+
+Benchmark* Benchmark::ArgNames(const std::vector<std::string>& names) {
+  BM_CHECK(ArgsCnt() == -1 || ArgsCnt() == static_cast<int>(names.size()));
+  arg_names_ = names;
+  return this;
+}
+
+Benchmark* Benchmark::DenseRange(int64_t start, int64_t limit, int step) {
+  BM_CHECK(ArgsCnt() == -1 || ArgsCnt() == 1);
+  BM_CHECK_LE(start, limit);
+  for (int64_t arg = start; arg <= limit; arg += step) {
+    args_.push_back({arg});
+  }
+  return this;
+}
+
+Benchmark* Benchmark::Args(const std::vector<int64_t>& args) {
+  BM_CHECK(ArgsCnt() == -1 || ArgsCnt() == static_cast<int>(args.size()));
+  args_.push_back(args);
+  return this;
+}
+
+Benchmark* Benchmark::Apply(void (*custom_arguments)(Benchmark* benchmark)) {
+  custom_arguments(this);
+  return this;
+}
+
+Benchmark* Benchmark::Setup(callback_function&& setup) {
+  BM_CHECK(setup != nullptr);
+  setup_ = std::forward<callback_function>(setup);
+  return this;
+}
+
+Benchmark* Benchmark::Setup(const callback_function& setup) {
+  BM_CHECK(setup != nullptr);
+  setup_ = setup;
+  return this;
+}
+
+Benchmark* Benchmark::Teardown(callback_function&& teardown) {
+  BM_CHECK(teardown != nullptr);
+  teardown_ = std::forward<callback_function>(teardown);
+  return this;
+}
+
+Benchmark* Benchmark::Teardown(const callback_function& teardown) {
+  BM_CHECK(teardown != nullptr);
+  teardown_ = teardown;
+  return this;
+}
+
+Benchmark* Benchmark::RangeMultiplier(int multiplier) {
+  BM_CHECK(multiplier > 1);
+  range_multiplier_ = multiplier;
+  return this;
+}
+
+Benchmark* Benchmark::MinTime(double t) {
+  BM_CHECK(t > 0.0);
+  BM_CHECK(iterations_ == 0);
+  min_time_ = t;
+  return this;
+}
+
+Benchmark* Benchmark::MinWarmUpTime(double t) {
+  BM_CHECK(t >= 0.0);
+  BM_CHECK(iterations_ == 0);
+  min_warmup_time_ = t;
+  return this;
+}
+
+Benchmark* Benchmark::Iterations(IterationCount n) {
+  BM_CHECK(n > 0);
+  BM_CHECK(IsZero(min_time_));
+  BM_CHECK(IsZero(min_warmup_time_));
+  iterations_ = n;
+  return this;
+}
+
+Benchmark* Benchmark::Repetitions(int n) {
+  BM_CHECK(n > 0);
+  repetitions_ = n;
+  return this;
+}
+
+Benchmark* Benchmark::ReportAggregatesOnly(bool value) {
+  aggregation_report_mode_ = value ? ARM_ReportAggregatesOnly : ARM_Default;
+  return this;
+}
+
+Benchmark* Benchmark::DisplayAggregatesOnly(bool value) {
+  // If we were called, the report mode is no longer 'unspecified', in any case.
+  aggregation_report_mode_ = static_cast<AggregationReportMode>(
+      aggregation_report_mode_ | ARM_Default);
+
+  if (value) {
+    aggregation_report_mode_ = static_cast<AggregationReportMode>(
+        aggregation_report_mode_ | ARM_DisplayReportAggregatesOnly);
+  } else {
+    aggregation_report_mode_ = static_cast<AggregationReportMode>(
+        aggregation_report_mode_ & ~ARM_DisplayReportAggregatesOnly);
+  }
+
+  return this;
+}
+
+Benchmark* Benchmark::MeasureProcessCPUTime() {
+  // Can be used together with UseRealTime() / UseManualTime().
+  measure_process_cpu_time_ = true;
+  return this;
+}
+
+Benchmark* Benchmark::UseRealTime() {
+  BM_CHECK(!use_manual_time_)
+      << "Cannot set UseRealTime and UseManualTime simultaneously.";
+  use_real_time_ = true;
+  return this;
+}
+
+Benchmark* Benchmark::UseManualTime() {
+  BM_CHECK(!use_real_time_)
+      << "Cannot set UseRealTime and UseManualTime simultaneously.";
+  use_manual_time_ = true;
+  return this;
+}
+
+Benchmark* Benchmark::Complexity(BigO complexity) {
+  complexity_ = complexity;
+  return this;
+}
+
+Benchmark* Benchmark::Complexity(BigOFunc* complexity) {
+  complexity_lambda_ = complexity;
+  complexity_ = oLambda;
+  return this;
+}
+
+Benchmark* Benchmark::ComputeStatistics(const std::string& name,
+                                        StatisticsFunc* statistics,
+                                        StatisticUnit unit) {
+  statistics_.emplace_back(name, statistics, unit);
+  return this;
+}
+
+Benchmark* Benchmark::Threads(int t) {
+  BM_CHECK_GT(t, 0);
+  thread_counts_.push_back(t);
+  return this;
+}
+
+Benchmark* Benchmark::ThreadRange(int min_threads, int max_threads) {
+  BM_CHECK_GT(min_threads, 0);
+  BM_CHECK_GE(max_threads, min_threads);
+
+  AddRange(&thread_counts_, min_threads, max_threads, 2);
+  return this;
+}
+
+Benchmark* Benchmark::DenseThreadRange(int min_threads, int max_threads,
+                                       int stride) {
+  BM_CHECK_GT(min_threads, 0);
+  BM_CHECK_GE(max_threads, min_threads);
+  BM_CHECK_GE(stride, 1);
+
+  for (auto i = min_threads; i < max_threads; i += stride) {
+    thread_counts_.push_back(i);
+  }
+  thread_counts_.push_back(max_threads);
+  return this;
+}
+
+Benchmark* Benchmark::ThreadPerCpu() {
+  thread_counts_.push_back(CPUInfo::Get().num_cpus);
+  return this;
+}
+
+Benchmark* Benchmark::ThreadRunner(threadrunner_factory&& factory) {
+  threadrunner_ = std::move(factory);
+  return this;
+}
+
+void Benchmark::SetName(const std::string& name) { name_ = name; }
+
+const char* Benchmark::GetName() const { return name_.c_str(); }
+
+int Benchmark::ArgsCnt() const {
+  if (args_.empty()) {
+    if (arg_names_.empty()) {
+      return -1;
+    }
+    return static_cast<int>(arg_names_.size());
+  }
+  return static_cast<int>(args_.front().size());
+}
+
+const char* Benchmark::GetArgName(int arg) const {
+  BM_CHECK_GE(arg, 0);
+  size_t uarg = static_cast<size_t>(arg);
+  BM_CHECK_LT(uarg, arg_names_.size());
+  return arg_names_[uarg].c_str();
+}
+
+TimeUnit Benchmark::GetTimeUnit() const {
+  return use_default_time_unit_ ? GetDefaultTimeUnit() : time_unit_;
+}
+
+//=============================================================================//
+//                            FunctionBenchmark
+//=============================================================================//
+
+void FunctionBenchmark::Run(State& st) { func_(st); }
+
+}  // end namespace internal
+
+void ClearRegisteredBenchmarks() {
+  internal::BenchmarkFamilies::GetInstance()->ClearBenchmarks();
+}
+
+std::vector<int64_t> CreateRange(int64_t lo, int64_t hi, int multi) {
+  std::vector<int64_t> args;
+  internal::AddRange(&args, lo, hi, multi);
+  return args;
+}
+
+std::vector<int64_t> CreateDenseRange(int64_t start, int64_t limit, int step) {
+  BM_CHECK_LE(start, limit);
+  std::vector<int64_t> args;
+  for (int64_t arg = start; arg <= limit; arg += step) {
+    args.push_back(arg);
+  }
+  return args;
+}
+
+}  // end namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/benchmark_register.h

@@ -0,0 +1,109 @@
+#ifndef BENCHMARK_REGISTER_H
+#define BENCHMARK_REGISTER_H
+
+#include <algorithm>
+#include <limits>
+#include <vector>
+
+#include "check.h"
+
+namespace benchmark {
+namespace internal {
+
+// Append the powers of 'mult' in the closed interval [lo, hi].
+// Returns iterator to the start of the inserted range.
+template <typename T>
+typename std::vector<T>::iterator AddPowers(std::vector<T>* dst, T lo, T hi,
+                                            int mult) {
+  BM_CHECK_GE(lo, 0);
+  BM_CHECK_GE(hi, lo);
+  BM_CHECK_GE(mult, 2);
+
+  const size_t start_offset = dst->size();
+
+  static const T kmax = std::numeric_limits<T>::max();
+
+  // Space out the values in multiples of "mult"
+  for (T i = static_cast<T>(1); i <= hi; i = static_cast<T>(i * mult)) {
+    if (i >= lo) {
+      dst->push_back(i);
+    }
+    // Break the loop here since multiplying by
+    // 'mult' would move outside of the range of T
+    if (i > kmax / mult) break;
+  }
+
+  return dst->begin() + static_cast<int>(start_offset);
+}
+
+template <typename T>
+void AddNegatedPowers(std::vector<T>* dst, T lo, T hi, int mult) {
+  // We negate lo and hi so we require that they cannot be equal to 'min'.
+  BM_CHECK_GT(lo, std::numeric_limits<T>::min());
+  BM_CHECK_GT(hi, std::numeric_limits<T>::min());
+  BM_CHECK_GE(hi, lo);
+  BM_CHECK_LE(hi, 0);
+
+  // Add positive powers, then negate and reverse.
+  // Casts necessary since small integers get promoted
+  // to 'int' when negating.
+  const auto lo_complement = static_cast<T>(-lo);
+  const auto hi_complement = static_cast<T>(-hi);
+
+  const auto it = AddPowers(dst, hi_complement, lo_complement, mult);
+
+  std::for_each(it, dst->end(), [](T& t) { t = static_cast<T>(t * -1); });
+  std::reverse(it, dst->end());
+}
+
+template <typename T>
+void AddRange(std::vector<T>* dst, T lo, T hi, int mult) {
+  static_assert(std::is_integral<T>::value && std::is_signed<T>::value,
+                "Args type must be a signed integer");
+
+  BM_CHECK_GE(hi, lo);
+  BM_CHECK_GE(mult, 2);
+
+  // Add "lo"
+  dst->push_back(lo);
+
+  // Handle lo == hi as a special case, so we then know
+  // lo < hi and so it is safe to add 1 to lo and subtract 1
+  // from hi without falling outside of the range of T.
+  if (lo == hi) return;
+
+  // Ensure that lo_inner <= hi_inner below.
+  if (lo + 1 == hi) {
+    dst->push_back(hi);
+    return;
+  }
+
+  // Add all powers of 'mult' in the range [lo+1, hi-1] (inclusive).
+  const auto lo_inner = static_cast<T>(lo + 1);
+  const auto hi_inner = static_cast<T>(hi - 1);
+
+  // Insert negative values
+  if (lo_inner < 0) {
+    AddNegatedPowers(dst, lo_inner, std::min(hi_inner, T{-1}), mult);
+  }
+
+  // Treat 0 as a special case (see discussion on #762).
+  if (lo < 0 && hi >= 0) {
+    dst->push_back(0);
+  }
+
+  // Insert positive values
+  if (hi_inner > 0) {
+    AddPowers(dst, std::max(lo_inner, T{1}), hi_inner, mult);
+  }
+
+  // Add "hi" (if different from last value).
+  if (hi != dst->back()) {
+    dst->push_back(hi);
+  }
+}
+
+}  // namespace internal
+}  // namespace benchmark
+
+#endif  // BENCHMARK_REGISTER_H

benchmark/src/main/native/thirdparty/benchmark/src/benchmark_runner.cpp

@@ -0,0 +1,573 @@
+// Copyright 2015 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "benchmark_runner.h"
+
+#include "benchmark/benchmark.h"
+#include "benchmark_api_internal.h"
+#include "internal_macros.h"
+
+#ifndef BENCHMARK_OS_WINDOWS
+#if !defined(BENCHMARK_OS_FUCHSIA) && !defined(BENCHMARK_OS_QURT)
+#include <sys/resource.h>
+#endif
+#include <sys/time.h>
+#include <unistd.h>
+#endif
+
+#include <algorithm>
+#include <atomic>
+#include <climits>
+#include <cmath>
+#include <condition_variable>
+#include <cstdio>
+#include <cstdlib>
+#include <fstream>
+#include <functional>
+#include <iostream>
+#include <limits>
+#include <memory>
+#include <string>
+#include <thread>
+#include <utility>
+
+#include "check.h"
+#include "colorprint.h"
+#include "commandlineflags.h"
+#include "complexity.h"
+#include "counter.h"
+#include "log.h"
+#include "mutex.h"
+#include "perf_counters.h"
+#include "re.h"
+#include "statistics.h"
+#include "string_util.h"
+#include "thread_manager.h"
+#include "thread_timer.h"
+
+namespace benchmark {
+
+BM_DECLARE_bool(benchmark_dry_run);
+BM_DECLARE_string(benchmark_min_time);
+BM_DECLARE_double(benchmark_min_warmup_time);
+BM_DECLARE_int32(benchmark_repetitions);
+BM_DECLARE_bool(benchmark_report_aggregates_only);
+BM_DECLARE_bool(benchmark_display_aggregates_only);
+BM_DECLARE_string(benchmark_perf_counters);
+
+namespace internal {
+
+MemoryManager* memory_manager = nullptr;
+
+ProfilerManager* profiler_manager = nullptr;
+
+namespace {
+
+constexpr IterationCount kMaxIterations = 1000000000000;
+const double kDefaultMinTime =
+    std::strtod(::benchmark::kDefaultMinTimeStr, /*p_end*/ nullptr);
+
+BenchmarkReporter::Run CreateRunReport(
+    const benchmark::internal::BenchmarkInstance& b,
+    const internal::ThreadManager::Result& results,
+    IterationCount memory_iterations,
+    const MemoryManager::Result& memory_result, double seconds,
+    int64_t repetition_index, int64_t repeats) {
+  // Create report about this benchmark run.
+  BenchmarkReporter::Run report;
+
+  report.run_name = b.name();
+  report.family_index = b.family_index();
+  report.per_family_instance_index = b.per_family_instance_index();
+  report.skipped = results.skipped_;
+  report.skip_message = results.skip_message_;
+  report.report_label = results.report_label_;
+  // This is the total iterations across all threads.
+  report.iterations = results.iterations;
+  report.time_unit = b.time_unit();
+  report.threads = b.threads();
+  report.repetition_index = repetition_index;
+  report.repetitions = repeats;
+
+  if (report.skipped == 0u) {
+    if (b.use_manual_time()) {
+      report.real_accumulated_time = results.manual_time_used;
+    } else {
+      report.real_accumulated_time = results.real_time_used;
+    }
+    report.use_real_time_for_initial_big_o = b.use_manual_time();
+    report.cpu_accumulated_time = results.cpu_time_used;
+    report.complexity_n = results.complexity_n;
+    report.complexity = b.complexity();
+    report.complexity_lambda = b.complexity_lambda();
+    report.statistics = &b.statistics();
+    report.counters = results.counters;
+
+    if (memory_iterations > 0) {
+      report.memory_result = memory_result;
+      report.allocs_per_iter =
+          memory_iterations != 0
+              ? static_cast<double>(memory_result.num_allocs) /
+                    static_cast<double>(memory_iterations)
+              : 0;
+    }
+
+    internal::Finish(&report.counters, results.iterations, seconds,
+                     b.threads());
+  }
+  return report;
+}
+
+// Execute one thread of benchmark b for the specified number of iterations.
+// Adds the stats collected for the thread into manager->results.
+void RunInThread(const BenchmarkInstance* b, IterationCount iters,
+                 int thread_id, ThreadManager* manager,
+                 PerfCountersMeasurement* perf_counters_measurement,
+                 ProfilerManager* profiler_manager_) {
+  internal::ThreadTimer timer(
+      b->measure_process_cpu_time()
+          ? internal::ThreadTimer::CreateProcessCpuTime()
+          : internal::ThreadTimer::Create());
+
+  State st = b->Run(iters, thread_id, &timer, manager,
+                    perf_counters_measurement, profiler_manager_);
+  if (!(st.skipped() || st.iterations() >= st.max_iterations)) {
+    st.SkipWithError(
+        "The benchmark didn't run, nor was it explicitly skipped. Please call "
+        "'SkipWithXXX` in your benchmark as appropriate.");
+  }
+  {
+    MutexLock l(manager->GetBenchmarkMutex());
+    internal::ThreadManager::Result& results = manager->results;
+    results.iterations += st.iterations();
+    results.cpu_time_used += timer.cpu_time_used();
+    results.real_time_used += timer.real_time_used();
+    results.manual_time_used += timer.manual_time_used();
+    results.complexity_n += st.complexity_length_n();
+    internal::Increment(&results.counters, st.counters);
+  }
+  manager->NotifyThreadComplete();
+}
+
+double ComputeMinTime(const benchmark::internal::BenchmarkInstance& b,
+                      const BenchTimeType& iters_or_time) {
+  if (!IsZero(b.min_time())) {
+    return b.min_time();
+  }
+  // If the flag was used to specify number of iters, then return the default
+  // min_time.
+  if (iters_or_time.tag == BenchTimeType::ITERS) {
+    return kDefaultMinTime;
+  }
+
+  return iters_or_time.time;
+}
+
+IterationCount ComputeIters(const benchmark::internal::BenchmarkInstance& b,
+                            const BenchTimeType& iters_or_time) {
+  if (b.iterations() != 0) {
+    return b.iterations();
+  }
+
+  // We've already concluded that this flag is currently used to pass
+  // iters but do a check here again anyway.
+  BM_CHECK(iters_or_time.tag == BenchTimeType::ITERS);
+  return iters_or_time.iters;
+}
+
+class ThreadRunnerDefault : public ThreadRunnerBase {
+ public:
+  explicit ThreadRunnerDefault(int num_threads)
+      : pool(static_cast<size_t>(num_threads - 1)) {}
+
+  void RunThreads(const std::function<void(int)>& fn) final {
+    // Run all but one thread in separate threads
+    for (std::size_t ti = 0; ti < pool.size(); ++ti) {
+      pool[ti] = std::thread(fn, static_cast<int>(ti + 1));
+    }
+    // And run one thread here directly.
+    // (If we were asked to run just one thread, we don't create new threads.)
+    // Yes, we need to do this here *after* we start the separate threads.
+    fn(0);
+
+    // The main thread has finished. Now let's wait for the other threads.
+    for (std::thread& thread : pool) {
+      thread.join();
+    }
+  }
+
+ private:
+  std::vector<std::thread> pool;
+};
+
+std::unique_ptr<ThreadRunnerBase> GetThreadRunner(
+    const threadrunner_factory& userThreadRunnerFactory, int num_threads) {
+  return userThreadRunnerFactory
+             ? userThreadRunnerFactory(num_threads)
+             : std::make_unique<ThreadRunnerDefault>(num_threads);
+}
+
+}  // end namespace
+
+BenchTimeType ParseBenchMinTime(const std::string& value) {
+  BenchTimeType ret = {};
+
+  if (value.empty()) {
+    ret.tag = BenchTimeType::TIME;
+    ret.time = 0.0;
+    return ret;
+  }
+
+  if (value.back() == 'x') {
+    char* p_end = nullptr;
+    // Reset errno before it's changed by strtol.
+    errno = 0;
+    IterationCount num_iters = std::strtol(value.c_str(), &p_end, 10);
+
+    // After a valid parse, p_end should have been set to
+    // point to the 'x' suffix.
+    BM_CHECK(errno == 0 && p_end != nullptr && *p_end == 'x')
+        << "Malformed iters value passed to --benchmark_min_time: `" << value
+        << "`. Expected --benchmark_min_time=<integer>x.";
+
+    ret.tag = BenchTimeType::ITERS;
+    ret.iters = num_iters;
+    return ret;
+  }
+
+  bool has_suffix = value.back() == 's';
+  if (!has_suffix) {
+    BM_VLOG(0) << "Value passed to --benchmark_min_time should have a suffix. "
+                  "Eg., `30s` for 30-seconds.";
+  }
+
+  char* p_end = nullptr;
+  // Reset errno before it's changed by strtod.
+  errno = 0;
+  double min_time = std::strtod(value.c_str(), &p_end);
+
+  // After a successful parse, p_end should point to the suffix 's',
+  // or the end of the string if the suffix was omitted.
+  BM_CHECK(errno == 0 && p_end != nullptr &&
+           ((has_suffix && *p_end == 's') || *p_end == '\0'))
+      << "Malformed seconds value passed to --benchmark_min_time: `" << value
+      << "`. Expected --benchmark_min_time=<float>x.";
+
+  ret.tag = BenchTimeType::TIME;
+  ret.time = min_time;
+
+  return ret;
+}
+
+BenchmarkRunner::BenchmarkRunner(
+    const benchmark::internal::BenchmarkInstance& b_,
+    PerfCountersMeasurement* pcm_,
+    BenchmarkReporter::PerFamilyRunReports* reports_for_family_)
+    : b(b_),
+      reports_for_family(reports_for_family_),
+      parsed_benchtime_flag(ParseBenchMinTime(FLAGS_benchmark_min_time)),
+      min_time(FLAGS_benchmark_dry_run
+                   ? 0
+                   : ComputeMinTime(b_, parsed_benchtime_flag)),
+      min_warmup_time(
+          FLAGS_benchmark_dry_run
+              ? 0
+              : ((!IsZero(b.min_time()) && b.min_warmup_time() > 0.0)
+                     ? b.min_warmup_time()
+                     : FLAGS_benchmark_min_warmup_time)),
+      warmup_done(FLAGS_benchmark_dry_run ? true : !(min_warmup_time > 0.0)),
+      repeats(FLAGS_benchmark_dry_run
+                  ? 1
+                  : (b.repetitions() != 0 ? b.repetitions()
+                                          : FLAGS_benchmark_repetitions)),
+      has_explicit_iteration_count(b.iterations() != 0 ||
+                                   parsed_benchtime_flag.tag ==
+                                       BenchTimeType::ITERS),
+      thread_runner(
+          GetThreadRunner(b.GetUserThreadRunnerFactory(), b.threads())),
+      iters(FLAGS_benchmark_dry_run
+                ? 1
+                : (has_explicit_iteration_count
+                       ? ComputeIters(b_, parsed_benchtime_flag)
+                       : 1)),
+      perf_counters_measurement_ptr(pcm_) {
+  run_results.display_report_aggregates_only =
+      (FLAGS_benchmark_report_aggregates_only ||
+       FLAGS_benchmark_display_aggregates_only);
+  run_results.file_report_aggregates_only =
+      FLAGS_benchmark_report_aggregates_only;
+  if (b.aggregation_report_mode() != internal::ARM_Unspecified) {
+    run_results.display_report_aggregates_only =
+        ((b.aggregation_report_mode() &
+          internal::ARM_DisplayReportAggregatesOnly) != 0u);
+    run_results.file_report_aggregates_only =
+        ((b.aggregation_report_mode() &
+          internal::ARM_FileReportAggregatesOnly) != 0u);
+    BM_CHECK(FLAGS_benchmark_perf_counters.empty() ||
+             (perf_counters_measurement_ptr->num_counters() == 0))
+        << "Perf counters were requested but could not be set up.";
+  }
+}
+
+BenchmarkRunner::IterationResults BenchmarkRunner::DoNIterations() {
+  BM_VLOG(2) << "Running " << b.name().str() << " for " << iters << "\n";
+
+  std::unique_ptr<internal::ThreadManager> manager;
+  manager.reset(new internal::ThreadManager(b.threads()));
+
+  thread_runner->RunThreads([&](int thread_idx) {
+    RunInThread(&b, iters, thread_idx, manager.get(),
+                perf_counters_measurement_ptr, /*profiler_manager=*/nullptr);
+  });
+
+  IterationResults i;
+  // Acquire the measurements/counters from the manager, UNDER THE LOCK!
+  {
+    MutexLock l(manager->GetBenchmarkMutex());
+    i.results = manager->results;
+  }
+
+  // And get rid of the manager.
+  manager.reset();
+
+  BM_VLOG(2) << "Ran in " << i.results.cpu_time_used << "/"
+             << i.results.real_time_used << "\n";
+
+  // By using KeepRunningBatch a benchmark can iterate more times than
+  // requested, so take the iteration count from i.results.
+  i.iters = i.results.iterations / b.threads();
+
+  // Base decisions off of real time if requested by this benchmark.
+  i.seconds = i.results.cpu_time_used;
+  if (b.use_manual_time()) {
+    i.seconds = i.results.manual_time_used;
+  } else if (b.use_real_time()) {
+    i.seconds = i.results.real_time_used;
+  }
+
+  return i;
+}
+
+IterationCount BenchmarkRunner::PredictNumItersNeeded(
+    const IterationResults& i) const {
+  // See how much iterations should be increased by.
+  // Note: Avoid division by zero with max(seconds, 1ns).
+  double multiplier = GetMinTimeToApply() * 1.4 / std::max(i.seconds, 1e-9);
+  // If our last run was at least 10% of FLAGS_benchmark_min_time then we
+  // use the multiplier directly.
+  // Otherwise we use at most 10 times expansion.
+  // NOTE: When the last run was at least 10% of the min time the max
+  // expansion should be 14x.
+  const bool is_significant = (i.seconds / GetMinTimeToApply()) > 0.1;
+  multiplier = is_significant ? multiplier : 10.0;
+
+  // So what seems to be the sufficiently-large iteration count? Round up.
+  const IterationCount max_next_iters = static_cast<IterationCount>(
+      std::llround(std::max(multiplier * static_cast<double>(i.iters),
+                            static_cast<double>(i.iters) + 1.0)));
+  // But we do have *some* limits though..
+  const IterationCount next_iters = std::min(max_next_iters, kMaxIterations);
+
+  BM_VLOG(3) << "Next iters: " << next_iters << ", " << multiplier << "\n";
+  return next_iters;  // round up before conversion to integer.
+}
+
+bool BenchmarkRunner::ShouldReportIterationResults(
+    const IterationResults& i) const {
+  // Determine if this run should be reported;
+  // Either it has run for a sufficient amount of time
+  // or because an error was reported.
+  return (i.results.skipped_ != 0u) || FLAGS_benchmark_dry_run ||
+         i.iters >= kMaxIterations ||  // Too many iterations already.
+         i.seconds >=
+             GetMinTimeToApply() ||  // The elapsed time is large enough.
+         // CPU time is specified but the elapsed real time greatly exceeds
+         // the minimum time.
+         // Note that user provided timers are except from this test.
+         ((i.results.real_time_used >= 5 * GetMinTimeToApply()) &&
+          !b.use_manual_time());
+}
+
+double BenchmarkRunner::GetMinTimeToApply() const {
+  // In order to re-use functionality to run and measure benchmarks for running
+  // a warmup phase of the benchmark, we need a way of telling whether to apply
+  // min_time or min_warmup_time. This function will figure out if we are in the
+  // warmup phase and therefore need to apply min_warmup_time or if we already
+  // in the benchmarking phase and min_time needs to be applied.
+  return warmup_done ? min_time : min_warmup_time;
+}
+
+void BenchmarkRunner::FinishWarmUp(const IterationCount& i) {
+  warmup_done = true;
+  iters = i;
+}
+
+void BenchmarkRunner::RunWarmUp() {
+  // Use the same mechanisms for warming up the benchmark as used for actually
+  // running and measuring the benchmark.
+  IterationResults i_warmup;
+  // Dont use the iterations determined in the warmup phase for the actual
+  // measured benchmark phase. While this may be a good starting point for the
+  // benchmark and it would therefore get rid of the need to figure out how many
+  // iterations are needed if min_time is set again, this may also be a complete
+  // wrong guess since the warmup loops might be considerably slower (e.g
+  // because of caching effects).
+  const IterationCount i_backup = iters;
+
+  for (;;) {
+    b.Setup();
+    i_warmup = DoNIterations();
+    b.Teardown();
+
+    const bool finish = ShouldReportIterationResults(i_warmup);
+
+    if (finish) {
+      FinishWarmUp(i_backup);
+      break;
+    }
+
+    // Although we are running "only" a warmup phase where running enough
+    // iterations at once without measuring time isn't as important as it is for
+    // the benchmarking phase, we still do it the same way as otherwise it is
+    // very confusing for the user to know how to choose a proper value for
+    // min_warmup_time if a different approach on running it is used.
+    iters = PredictNumItersNeeded(i_warmup);
+    assert(iters > i_warmup.iters &&
+           "if we did more iterations than we want to do the next time, "
+           "then we should have accepted the current iteration run.");
+  }
+}
+
+MemoryManager::Result BenchmarkRunner::RunMemoryManager(
+    IterationCount memory_iterations) {
+  memory_manager->Start();
+  std::unique_ptr<internal::ThreadManager> manager;
+  manager.reset(new internal::ThreadManager(1));
+  b.Setup();
+  RunInThread(&b, memory_iterations, 0, manager.get(),
+              perf_counters_measurement_ptr,
+              /*profiler_manager=*/nullptr);
+  manager.reset();
+  b.Teardown();
+  MemoryManager::Result memory_result;
+  memory_manager->Stop(memory_result);
+  memory_result.memory_iterations = memory_iterations;
+  return memory_result;
+}
+
+void BenchmarkRunner::RunProfilerManager(IterationCount profile_iterations) {
+  std::unique_ptr<internal::ThreadManager> manager;
+  manager.reset(new internal::ThreadManager(1));
+  b.Setup();
+  RunInThread(&b, profile_iterations, 0, manager.get(),
+              /*perf_counters_measurement_ptr=*/nullptr,
+              /*profiler_manager=*/profiler_manager);
+  manager.reset();
+  b.Teardown();
+}
+
+void BenchmarkRunner::DoOneRepetition() {
+  assert(HasRepeatsRemaining() && "Already done all repetitions?");
+
+  const bool is_the_first_repetition = num_repetitions_done == 0;
+
+  // In case a warmup phase is requested by the benchmark, run it now.
+  // After running the warmup phase the BenchmarkRunner should be in a state as
+  // this warmup never happened except the fact that warmup_done is set. Every
+  // other manipulation of the BenchmarkRunner instance would be a bug! Please
+  // fix it.
+  if (!warmup_done) {
+    RunWarmUp();
+  }
+
+  IterationResults i;
+  // We *may* be gradually increasing the length (iteration count)
+  // of the benchmark until we decide the results are significant.
+  // And once we do, we report those last results and exit.
+  // Please do note that the if there are repetitions, the iteration count
+  // is *only* calculated for the *first* repetition, and other repetitions
+  // simply use that precomputed iteration count.
+  for (;;) {
+    b.Setup();
+    i = DoNIterations();
+    b.Teardown();
+
+    // Do we consider the results to be significant?
+    // If we are doing repetitions, and the first repetition was already done,
+    // it has calculated the correct iteration time, so we have run that very
+    // iteration count just now. No need to calculate anything. Just report.
+    // Else, the normal rules apply.
+    const bool results_are_significant = !is_the_first_repetition ||
+                                         has_explicit_iteration_count ||
+                                         ShouldReportIterationResults(i);
+    // Good, let's report them!
+    if (results_are_significant) {
+      break;
+    }
+
+    // Nope, bad iteration. Let's re-estimate the hopefully-sufficient
+    // iteration count, and run the benchmark again...
+
+    iters = PredictNumItersNeeded(i);
+    assert(iters > i.iters &&
+           "if we did more iterations than we want to do the next time, "
+           "then we should have accepted the current iteration run.");
+  }
+
+  // Produce memory measurements if requested.
+  MemoryManager::Result memory_result;
+  IterationCount memory_iterations = 0;
+  if (memory_manager != nullptr) {
+    // Only run a few iterations to reduce the impact of one-time
+    // allocations in benchmarks that are not properly managed.
+    memory_iterations = std::min<IterationCount>(16, iters);
+    memory_result = RunMemoryManager(memory_iterations);
+  }
+
+  if (profiler_manager != nullptr) {
+    // We want to externally profile the benchmark for the same number of
+    // iterations because, for example, if we're tracing the benchmark then we
+    // want trace data to reasonably match PMU data.
+    RunProfilerManager(iters);
+  }
+
+  // Ok, now actually report.
+  BenchmarkReporter::Run report =
+      CreateRunReport(b, i.results, memory_iterations, memory_result, i.seconds,
+                      num_repetitions_done, repeats);
+
+  if (reports_for_family != nullptr) {
+    ++reports_for_family->num_runs_done;
+    if (report.skipped == 0u) {
+      reports_for_family->Runs.push_back(report);
+    }
+  }
+
+  run_results.non_aggregates.push_back(report);
+
+  ++num_repetitions_done;
+}
+
+RunResults&& BenchmarkRunner::GetResults() {
+  assert(!HasRepeatsRemaining() && "Did not run all repetitions yet?");
+
+  // Calculate additional statistics over the repetitions of this instance.
+  run_results.aggregates_only = ComputeStats(run_results.non_aggregates);
+
+  return std::move(run_results);
+}
+
+}  // end namespace internal
+
+}  // end namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/benchmark_runner.h

@@ -0,0 +1,127 @@
+// Copyright 2015 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef BENCHMARK_RUNNER_H_
+#define BENCHMARK_RUNNER_H_
+
+#include <memory>
+#include <thread>
+#include <vector>
+
+#include "benchmark_api_internal.h"
+#include "perf_counters.h"
+#include "thread_manager.h"
+
+namespace benchmark {
+
+namespace internal {
+
+extern MemoryManager* memory_manager;
+extern ProfilerManager* profiler_manager;
+
+struct RunResults {
+  std::vector<BenchmarkReporter::Run> non_aggregates;
+  std::vector<BenchmarkReporter::Run> aggregates_only;
+
+  bool display_report_aggregates_only = false;
+  bool file_report_aggregates_only = false;
+};
+
+struct BENCHMARK_EXPORT BenchTimeType {
+  enum { UNSPECIFIED, ITERS, TIME } tag;
+  union {
+    IterationCount iters;
+    double time;
+  };
+};
+
+BENCHMARK_EXPORT
+BenchTimeType ParseBenchMinTime(const std::string& value);
+
+class BenchmarkRunner {
+ public:
+  BenchmarkRunner(const benchmark::internal::BenchmarkInstance& b_,
+                  benchmark::internal::PerfCountersMeasurement* pcm_,
+                  BenchmarkReporter::PerFamilyRunReports* reports_for_family);
+
+  int GetNumRepeats() const { return repeats; }
+
+  bool HasRepeatsRemaining() const {
+    return GetNumRepeats() != num_repetitions_done;
+  }
+
+  void DoOneRepetition();
+
+  RunResults&& GetResults();
+
+  BenchmarkReporter::PerFamilyRunReports* GetReportsForFamily() const {
+    return reports_for_family;
+  }
+
+  double GetMinTime() const { return min_time; }
+
+  bool HasExplicitIters() const { return has_explicit_iteration_count; }
+
+  IterationCount GetIters() const { return iters; }
+
+ private:
+  RunResults run_results;
+
+  const benchmark::internal::BenchmarkInstance& b;
+  BenchmarkReporter::PerFamilyRunReports* reports_for_family;
+
+  BenchTimeType parsed_benchtime_flag;
+  const double min_time;
+  const double min_warmup_time;
+  bool warmup_done;
+  const int repeats;
+  const bool has_explicit_iteration_count;
+
+  int num_repetitions_done = 0;
+
+  std::unique_ptr<ThreadRunnerBase> thread_runner;
+
+  IterationCount iters;  // preserved between repetitions!
+  // So only the first repetition has to find/calculate it,
+  // the other repetitions will just use that precomputed iteration count.
+
+  PerfCountersMeasurement* const perf_counters_measurement_ptr = nullptr;
+
+  struct IterationResults {
+    internal::ThreadManager::Result results;
+    IterationCount iters;
+    double seconds;
+  };
+  IterationResults DoNIterations();
+
+  MemoryManager::Result RunMemoryManager(IterationCount memory_iterations);
+
+  void RunProfilerManager(IterationCount profile_iterations);
+
+  IterationCount PredictNumItersNeeded(const IterationResults& i) const;
+
+  bool ShouldReportIterationResults(const IterationResults& i) const;
+
+  double GetMinTimeToApply() const;
+
+  void FinishWarmUp(const IterationCount& i);
+
+  void RunWarmUp();
+};
+
+}  // namespace internal
+
+}  // end namespace benchmark
+
+#endif  // BENCHMARK_RUNNER_H_

benchmark/src/main/native/thirdparty/benchmark/src/check.cpp

@@ -0,0 +1,14 @@
+#include "check.h"
+
+namespace benchmark {
+namespace internal {
+
+namespace {
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
+AbortHandlerT* handler = &std::abort;
+}  // namespace
+
+BENCHMARK_EXPORT AbortHandlerT*& GetAbortHandler() { return handler; }
+
+}  // namespace internal
+}  // namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/check.h

@@ -0,0 +1,112 @@
+#ifndef CHECK_H_
+#define CHECK_H_
+
+#include <cmath>
+#include <cstdlib>
+#include <ostream>
+#include <string_view>
+
+#include "benchmark/export.h"
+#include "internal_macros.h"
+#include "log.h"
+
+#if defined(__GNUC__) || defined(__clang__)
+#define BENCHMARK_NOEXCEPT noexcept
+#define BENCHMARK_NOEXCEPT_OP(x) noexcept(x)
+#elif defined(_MSC_VER) && !defined(__clang__)
+#if _MSC_VER >= 1900
+#define BENCHMARK_NOEXCEPT noexcept
+#define BENCHMARK_NOEXCEPT_OP(x) noexcept(x)
+#else
+#define BENCHMARK_NOEXCEPT
+#define BENCHMARK_NOEXCEPT_OP(x)
+#endif
+#define __func__ __FUNCTION__
+#else
+#define BENCHMARK_NOEXCEPT
+#define BENCHMARK_NOEXCEPT_OP(x)
+#endif
+
+namespace benchmark {
+namespace internal {
+
+typedef void(AbortHandlerT)();
+
+BENCHMARK_EXPORT
+AbortHandlerT*& GetAbortHandler();
+
+BENCHMARK_NORETURN inline void CallAbortHandler() {
+  GetAbortHandler()();
+  std::flush(std::cout);
+  std::flush(std::cerr);
+  std::abort();  // fallback to enforce noreturn
+}
+
+// CheckHandler is the class constructed by failing BM_CHECK macros.
+// CheckHandler will log information about the failures and abort when it is
+// destructed.
+class CheckHandler {
+ public:
+  CheckHandler(std::string_view check, std::string_view file,
+               std::string_view func, int line)
+      : log_(GetErrorLogInstance()) {
+    log_ << file << ":" << line << ": " << func << ": Check `" << check
+         << "' failed. ";
+  }
+
+  LogType& GetLog() { return log_; }
+
+#if defined(COMPILER_MSVC)
+#pragma warning(push)
+#pragma warning(disable : 4722)
+#endif
+  BENCHMARK_NORETURN ~CheckHandler() BENCHMARK_NOEXCEPT_OP(false) {
+    log_ << '\n';
+    CallAbortHandler();
+  }
+#if defined(COMPILER_MSVC)
+#pragma warning(pop)
+#endif
+
+  CheckHandler& operator=(const CheckHandler&) = delete;
+  CheckHandler(const CheckHandler&) = delete;
+  CheckHandler() = delete;
+
+ private:
+  LogType& log_;
+};
+
+}  // end namespace internal
+}  // end namespace benchmark
+
+// The BM_CHECK macro returns a std::ostream object that can have extra
+// information written to it.
+#ifndef NDEBUG
+#define BM_CHECK(b)                                          \
+  (b ? ::benchmark::internal::GetNullLogInstance()           \
+     : ::benchmark::internal::CheckHandler(                  \
+           std::string_view(#b), std::string_view(__FILE__), \
+           std::string_view(__func__), __LINE__)             \
+           .GetLog())
+#else
+#define BM_CHECK(b) ::benchmark::internal::GetNullLogInstance()
+#endif
+
+// clang-format off
+// preserve whitespacing between operators for alignment
+#define BM_CHECK_EQ(a, b) BM_CHECK((a) == (b))
+#define BM_CHECK_NE(a, b) BM_CHECK((a) != (b))
+#define BM_CHECK_GE(a, b) BM_CHECK((a) >= (b))
+#define BM_CHECK_LE(a, b) BM_CHECK((a) <= (b))
+#define BM_CHECK_GT(a, b) BM_CHECK((a) > (b))
+#define BM_CHECK_LT(a, b) BM_CHECK((a) < (b))
+
+#define BM_CHECK_FLOAT_EQ(a, b, eps) BM_CHECK(std::fabs((a) - (b)) <  (eps))
+#define BM_CHECK_FLOAT_NE(a, b, eps) BM_CHECK(std::fabs((a) - (b)) >= (eps))
+#define BM_CHECK_FLOAT_GE(a, b, eps) BM_CHECK((a) - (b) > -(eps))
+#define BM_CHECK_FLOAT_LE(a, b, eps) BM_CHECK((b) - (a) > -(eps))
+#define BM_CHECK_FLOAT_GT(a, b, eps) BM_CHECK((a) - (b) >  (eps))
+#define BM_CHECK_FLOAT_LT(a, b, eps) BM_CHECK((b) - (a) >  (eps))
+//clang-format on
+
+#endif  // CHECK_H_

benchmark/src/main/native/thirdparty/benchmark/src/colorprint.cpp

@@ -0,0 +1,222 @@
+// Copyright 2015 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "colorprint.h"
+
+#include <cstdarg>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <memory>
+#include <string>
+
+#include "check.h"
+#include "internal_macros.h"
+
+#ifdef BENCHMARK_OS_WINDOWS
+#include <io.h>
+#include <windows.h>
+#else
+#include <unistd.h>
+#endif  // BENCHMARK_OS_WINDOWS
+
+namespace benchmark {
+namespace {
+#ifdef BENCHMARK_OS_WINDOWS
+typedef WORD PlatformColorCode;
+#else
+typedef const char* PlatformColorCode;
+#endif
+
+PlatformColorCode GetPlatformColorCode(LogColor color) {
+#ifdef BENCHMARK_OS_WINDOWS
+  switch (color) {
+    case COLOR_RED:
+      return FOREGROUND_RED;
+    case COLOR_GREEN:
+      return FOREGROUND_GREEN;
+    case COLOR_YELLOW:
+      return FOREGROUND_RED | FOREGROUND_GREEN;
+    case COLOR_BLUE:
+      return FOREGROUND_BLUE;
+    case COLOR_MAGENTA:
+      return FOREGROUND_BLUE | FOREGROUND_RED;
+    case COLOR_CYAN:
+      return FOREGROUND_BLUE | FOREGROUND_GREEN;
+    case COLOR_WHITE:  // fall through to default
+    default:
+      return 0;
+  }
+#else
+  switch (color) {
+    case COLOR_RED:
+      return "1";
+    case COLOR_GREEN:
+      return "2";
+    case COLOR_YELLOW:
+      return "3";
+    case COLOR_BLUE:
+      return "4";
+    case COLOR_MAGENTA:
+      return "5";
+    case COLOR_CYAN:
+      return "6";
+    case COLOR_WHITE:
+      return "7";
+    default:
+      return nullptr;
+  };
+#endif
+}
+
+}  // end namespace
+
+std::string FormatString(const char* msg, va_list args) {
+  // we might need a second shot at this, so pre-emptivly make a copy
+  va_list args_cp;
+  va_copy(args_cp, args);
+
+  std::size_t size = 256;
+  char local_buff[256];
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wformat-nonliteral"
+#endif  // __GNUC__
+  auto ret = vsnprintf(local_buff, size, msg, args_cp);
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif  // __GNUC__
+
+  va_end(args_cp);
+
+  // currently there is no error handling for failure, so this is hack.
+  BM_CHECK(ret >= 0);
+
+  if (ret == 0) {  // handle empty expansion
+    return {};
+  }
+  if (static_cast<size_t>(ret) < size) {
+    return local_buff;
+  }
+  // we did not provide a long enough buffer on our first attempt.
+  size = static_cast<size_t>(ret) + 1;  // + 1 for the null byte
+  std::unique_ptr<char[]> buff(new char[size]);
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wformat-nonliteral"
+#endif  // __GNUC__
+  ret = vsnprintf(buff.get(), size, msg, args);
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif  // __GNUC__
+  BM_CHECK(ret > 0 && (static_cast<size_t>(ret)) < size);
+  return buff.get();
+}
+
+std::string FormatString(const char* msg, ...) {
+  va_list args;
+  va_start(args, msg);
+  auto tmp = FormatString(msg, args);
+  va_end(args);
+  return tmp;
+}
+
+void ColorPrintf(std::ostream& out, LogColor color, const char* fmt, ...) {
+  va_list args;
+  va_start(args, fmt);
+  ColorPrintf(out, color, fmt, args);
+  va_end(args);
+}
+
+void ColorPrintf(std::ostream& out, LogColor color, const char* fmt,
+                 va_list args) {
+#ifdef BENCHMARK_OS_WINDOWS
+  ((void)out);  // suppress unused warning
+
+  const HANDLE stdout_handle = GetStdHandle(STD_OUTPUT_HANDLE);
+
+  // Gets the current text color.
+  CONSOLE_SCREEN_BUFFER_INFO buffer_info;
+  GetConsoleScreenBufferInfo(stdout_handle, &buffer_info);
+  const WORD original_color_attrs = buffer_info.wAttributes;
+
+  // We need to flush the stream buffers into the console before each
+  // SetConsoleTextAttribute call lest it affect the text that is already
+  // printed but has not yet reached the console.
+  out.flush();
+
+  const WORD original_background_attrs =
+      original_color_attrs & (BACKGROUND_RED | BACKGROUND_GREEN |
+                              BACKGROUND_BLUE | BACKGROUND_INTENSITY);
+
+  SetConsoleTextAttribute(stdout_handle, GetPlatformColorCode(color) |
+                                             FOREGROUND_INTENSITY |
+                                             original_background_attrs);
+  out << FormatString(fmt, args);
+
+  out.flush();
+  // Restores the text and background color.
+  SetConsoleTextAttribute(stdout_handle, original_color_attrs);
+#else
+  const char* color_code = GetPlatformColorCode(color);
+  if (color_code != nullptr) {
+    out << FormatString("\033[0;3%sm", color_code);
+  }
+  out << FormatString(fmt, args) << "\033[m";
+#endif
+}
+
+bool IsColorTerminal() {
+#if BENCHMARK_OS_WINDOWS
+  // On Windows the TERM variable is usually not set, but the
+  // console there does support colors.
+  return 0 != _isatty(_fileno(stdout));
+#else
+  // On non-Windows platforms, we rely on the TERM variable. This list of
+  // supported TERM values is copied from Google Test:
+  // <https://github.com/google/googletest/blob/v1.13.0/googletest/src/gtest.cc#L3225-L3259>.
+  const char* const SUPPORTED_TERM_VALUES[] = {
+      "xterm",
+      "xterm-color",
+      "xterm-256color",
+      "screen",
+      "screen-256color",
+      "tmux",
+      "tmux-256color",
+      "rxvt-unicode",
+      "rxvt-unicode-256color",
+      "linux",
+      "cygwin",
+      "xterm-kitty",
+      "alacritty",
+      "foot",
+      "foot-extra",
+      "wezterm",
+  };
+
+  const char* const term = getenv("TERM");
+
+  bool term_supports_color = false;
+  for (const char* candidate : SUPPORTED_TERM_VALUES) {
+    if ((term != nullptr) && 0 == strcmp(term, candidate)) {
+      term_supports_color = true;
+      break;
+    }
+  }
+
+  return 0 != isatty(fileno(stdout)) && term_supports_color;
+#endif  // BENCHMARK_OS_WINDOWS
+}
+
+}  // end namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/colorprint.h

@@ -0,0 +1,33 @@
+#ifndef BENCHMARK_COLORPRINT_H_
+#define BENCHMARK_COLORPRINT_H_
+
+#include <cstdarg>
+#include <iostream>
+#include <string>
+
+namespace benchmark {
+enum LogColor {
+  COLOR_DEFAULT,
+  COLOR_RED,
+  COLOR_GREEN,
+  COLOR_YELLOW,
+  COLOR_BLUE,
+  COLOR_MAGENTA,
+  COLOR_CYAN,
+  COLOR_WHITE
+};
+
+std::string FormatString(const char* msg, va_list args);
+std::string FormatString(const char* msg, ...);
+
+void ColorPrintf(std::ostream& out, LogColor color, const char* fmt,
+                 va_list args);
+void ColorPrintf(std::ostream& out, LogColor color, const char* fmt, ...);
+
+// Returns true if stdout appears to be a terminal that supports colored
+// output, false otherwise.
+bool IsColorTerminal();
+
+}  // end namespace benchmark
+
+#endif  // BENCHMARK_COLORPRINT_H_

benchmark/src/main/native/thirdparty/benchmark/src/commandlineflags.cpp

@@ -0,0 +1,321 @@
+// Copyright 2015 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "commandlineflags.h"
+
+#include <algorithm>
+#include <cctype>
+#include <cstdlib>
+#include <cstring>
+#include <iostream>
+#include <limits>
+#include <map>
+#include <utility>
+
+#include "../src/string_util.h"
+
+namespace benchmark {
+namespace {
+
+// Parses 'str' for a 32-bit signed integer.  If successful, writes
+// the result to *value and returns true; otherwise leaves *value
+// unchanged and returns false.
+bool ParseInt32(const std::string& src_text, const char* str, int32_t* value) {
+  // Parses the environment variable as a decimal integer.
+  char* end = nullptr;
+  const long long_value = strtol(str, &end, 10);  // NOLINT
+
+  // Has strtol() consumed all characters in the string?
+  if (*end != '\0') {
+    // No - an invalid character was encountered.
+    std::cerr << src_text << " is expected to be a 32-bit integer, "
+              << "but actually has value \"" << str << "\".\n";
+    return false;
+  }
+
+  // Is the parsed value in the range of an Int32?
+  const int32_t result = static_cast<int32_t>(long_value);
+  if (long_value == std::numeric_limits<long>::max() ||
+      long_value == std::numeric_limits<long>::min() ||
+      // The parsed value overflows as a long.  (strtol() returns
+      // LONG_MAX or LONG_MIN when the input overflows.)
+      result != long_value
+      // The parsed value overflows as an Int32.
+  ) {
+    std::cerr << src_text << " is expected to be a 32-bit integer, "
+              << "but actually has value \"" << str << "\", "
+              << "which overflows.\n";
+    return false;
+  }
+
+  *value = result;
+  return true;
+}
+
+// Parses 'str' for a double.  If successful, writes the result to *value and
+// returns true; otherwise leaves *value unchanged and returns false.
+bool ParseDouble(const std::string& src_text, const char* str, double* value) {
+  // Parses the environment variable as a decimal integer.
+  char* end = nullptr;
+  const double double_value = strtod(str, &end);  // NOLINT
+
+  // Has strtol() consumed all characters in the string?
+  if (*end != '\0') {
+    // No - an invalid character was encountered.
+    std::cerr << src_text << " is expected to be a double, "
+              << "but actually has value \"" << str << "\".\n";
+    return false;
+  }
+
+  *value = double_value;
+  return true;
+}
+
+// Parses 'str' into KV pairs. If successful, writes the result to *value and
+// returns true; otherwise leaves *value unchanged and returns false.
+bool ParseKvPairs(const std::string& src_text, const char* str,
+                  std::map<std::string, std::string>* value) {
+  std::map<std::string, std::string> kvs;
+  for (const auto& kvpair : StrSplit(str, ',')) {
+    const auto kv = StrSplit(kvpair, '=');
+    if (kv.size() != 2) {
+      std::cerr << src_text << " is expected to be a comma-separated list of "
+                << "<key>=<value> strings, but actually has value \"" << str
+                << "\".\n";
+      return false;
+    }
+    if (!kvs.emplace(kv[0], kv[1]).second) {
+      std::cerr << src_text << " is expected to contain unique keys but key \""
+                << kv[0] << "\" was repeated.\n";
+      return false;
+    }
+  }
+
+  *value = kvs;
+  return true;
+}
+
+// Returns the name of the environment variable corresponding to the
+// given flag.  For example, FlagToEnvVar("foo") will return
+// "BENCHMARK_FOO" in the open-source version.
+std::string FlagToEnvVar(const char* flag) {
+  const std::string flag_str(flag);
+
+  std::string env_var;
+  for (size_t i = 0; i != flag_str.length(); ++i) {
+    env_var += static_cast<char>(::toupper(flag_str.c_str()[i]));
+  }
+
+  return env_var;
+}
+
+}  // namespace
+
+BENCHMARK_EXPORT
+bool BoolFromEnv(const char* flag, bool default_val) {
+  const std::string env_var = FlagToEnvVar(flag);
+  const char* const value_str = getenv(env_var.c_str());
+  return value_str == nullptr ? default_val : IsTruthyFlagValue(value_str);
+}
+
+BENCHMARK_EXPORT
+int32_t Int32FromEnv(const char* flag, int32_t default_val) {
+  const std::string env_var = FlagToEnvVar(flag);
+  const char* const value_str = getenv(env_var.c_str());
+  int32_t value = default_val;
+  if (value_str == nullptr ||
+      !ParseInt32(std::string("Environment variable ") + env_var, value_str,
+                  &value)) {
+    return default_val;
+  }
+  return value;
+}
+
+BENCHMARK_EXPORT
+double DoubleFromEnv(const char* flag, double default_val) {
+  const std::string env_var = FlagToEnvVar(flag);
+  const char* const value_str = getenv(env_var.c_str());
+  double value = default_val;
+  if (value_str == nullptr ||
+      !ParseDouble(std::string("Environment variable ") + env_var, value_str,
+                   &value)) {
+    return default_val;
+  }
+  return value;
+}
+
+BENCHMARK_EXPORT
+const char* StringFromEnv(const char* flag, const char* default_val) {
+  const std::string env_var = FlagToEnvVar(flag);
+  const char* const value = getenv(env_var.c_str());
+  return value == nullptr ? default_val : value;
+}
+
+BENCHMARK_EXPORT
+std::map<std::string, std::string> KvPairsFromEnv(
+    const char* flag, std::map<std::string, std::string> default_val) {
+  const std::string env_var = FlagToEnvVar(flag);
+  const char* const value_str = getenv(env_var.c_str());
+
+  if (value_str == nullptr) {
+    return default_val;
+  }
+
+  std::map<std::string, std::string> value;
+  if (!ParseKvPairs("Environment variable " + env_var, value_str, &value)) {
+    return default_val;
+  }
+  return value;
+}
+
+// Parses a string as a command line flag.  The string should have
+// the format "--flag=value".  When def_optional is true, the "=value"
+// part can be omitted.
+//
+// Returns the value of the flag, or nullptr if the parsing failed.
+const char* ParseFlagValue(const char* str, const char* flag,
+                           bool def_optional) {
+  // str and flag must not be nullptr.
+  if (str == nullptr || flag == nullptr) {
+    return nullptr;
+  }
+
+  // The flag must start with "--".
+  const std::string flag_str = std::string("--") + std::string(flag);
+  const size_t flag_len = flag_str.length();
+  if (strncmp(str, flag_str.c_str(), flag_len) != 0) {
+    return nullptr;
+  }
+
+  // Skips the flag name.
+  const char* flag_end = str + flag_len;
+
+  // When def_optional is true, it's OK to not have a "=value" part.
+  if (def_optional && (flag_end[0] == '\0')) {
+    return flag_end;
+  }
+
+  // If def_optional is true and there are more characters after the
+  // flag name, or if def_optional is false, there must be a '=' after
+  // the flag name.
+  if (flag_end[0] != '=') {
+    return nullptr;
+  }
+
+  // Returns the string after "=".
+  return flag_end + 1;
+}
+
+BENCHMARK_EXPORT
+bool ParseBoolFlag(const char* str, const char* flag, bool* value) {
+  // Gets the value of the flag as a string.
+  const char* const value_str = ParseFlagValue(str, flag, true);
+
+  // Aborts if the parsing failed.
+  if (value_str == nullptr) {
+    return false;
+  }
+
+  // Converts the string value to a bool.
+  *value = IsTruthyFlagValue(value_str);
+  return true;
+}
+
+BENCHMARK_EXPORT
+bool ParseInt32Flag(const char* str, const char* flag, int32_t* value) {
+  // Gets the value of the flag as a string.
+  const char* const value_str = ParseFlagValue(str, flag, false);
+
+  // Aborts if the parsing failed.
+  if (value_str == nullptr) {
+    return false;
+  }
+
+  // Sets *value to the value of the flag.
+  return ParseInt32(std::string("The value of flag --") + flag, value_str,
+                    value);
+}
+
+BENCHMARK_EXPORT
+bool ParseDoubleFlag(const char* str, const char* flag, double* value) {
+  // Gets the value of the flag as a string.
+  const char* const value_str = ParseFlagValue(str, flag, false);
+
+  // Aborts if the parsing failed.
+  if (value_str == nullptr) {
+    return false;
+  }
+
+  // Sets *value to the value of the flag.
+  return ParseDouble(std::string("The value of flag --") + flag, value_str,
+                     value);
+}
+
+BENCHMARK_EXPORT
+bool ParseStringFlag(const char* str, const char* flag, std::string* value) {
+  // Gets the value of the flag as a string.
+  const char* const value_str = ParseFlagValue(str, flag, false);
+
+  // Aborts if the parsing failed.
+  if (value_str == nullptr) {
+    return false;
+  }
+
+  *value = value_str;
+  return true;
+}
+
+BENCHMARK_EXPORT
+bool ParseKeyValueFlag(const char* str, const char* flag,
+                       std::map<std::string, std::string>* value) {
+  const char* const value_str = ParseFlagValue(str, flag, false);
+
+  if (value_str == nullptr) {
+    return false;
+  }
+
+  for (const auto& kvpair : StrSplit(value_str, ',')) {
+    const auto kv = StrSplit(kvpair, '=');
+    if (kv.size() != 2) {
+      return false;
+    }
+    value->emplace(kv[0], kv[1]);
+  }
+
+  return true;
+}
+
+BENCHMARK_EXPORT
+bool IsFlag(const char* str, const char* flag) {
+  return (ParseFlagValue(str, flag, true) != nullptr);
+}
+
+BENCHMARK_EXPORT
+bool IsTruthyFlagValue(const std::string& value) {
+  if (value.size() == 1) {
+    char v = value[0];
+    return isalnum(v) &&
+           !(v == '0' || v == 'f' || v == 'F' || v == 'n' || v == 'N');
+  }
+  if (!value.empty()) {
+    std::string value_lower(value);
+    std::transform(value_lower.begin(), value_lower.end(), value_lower.begin(),
+                   [](char c) { return static_cast<char>(::tolower(c)); });
+    return !(value_lower == "false" || value_lower == "no" ||
+             value_lower == "off");
+  }
+  return true;
+}
+
+}  // end namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/commandlineflags.h

@@ -0,0 +1,137 @@
+#ifndef BENCHMARK_COMMANDLINEFLAGS_H_
+#define BENCHMARK_COMMANDLINEFLAGS_H_
+
+#include <cstdint>
+#include <map>
+#include <string>
+
+#include "benchmark/export.h"
+
+// Macro for referencing flags.
+#define FLAG(name) FLAGS_##name
+
+// Macros for declaring flags.
+// NOLINTBEGIN(cppcoreguidelines-avoid-non-const-global-variables)
+#define BM_DECLARE_bool(name) BENCHMARK_EXPORT extern bool FLAG(name)
+#define BM_DECLARE_int32(name) BENCHMARK_EXPORT extern int32_t FLAG(name)
+#define BM_DECLARE_double(name) BENCHMARK_EXPORT extern double FLAG(name)
+#define BM_DECLARE_string(name) BENCHMARK_EXPORT extern std::string FLAG(name)
+#define BM_DECLARE_kvpairs(name) \
+  BENCHMARK_EXPORT extern std::map<std::string, std::string> FLAG(name)
+// NOLINTEND(cppcoreguidelines-avoid-non-const-global-variables)
+
+// Macros for defining flags.
+// NOLINTBEGIN(cppcoreguidelines-avoid-non-const-global-variables)
+#define BM_DEFINE_bool(name, default_val) \
+  BENCHMARK_EXPORT bool FLAG(name) = benchmark::BoolFromEnv(#name, default_val)
+#define BM_DEFINE_int32(name, default_val) \
+  BENCHMARK_EXPORT int32_t FLAG(name) =    \
+      benchmark::Int32FromEnv(#name, default_val)
+#define BM_DEFINE_double(name, default_val) \
+  BENCHMARK_EXPORT double FLAG(name) =      \
+      benchmark::DoubleFromEnv(#name, default_val)
+#define BM_DEFINE_string(name, default_val) \
+  BENCHMARK_EXPORT std::string FLAG(name) = \
+      benchmark::StringFromEnv(#name, default_val)
+#define BM_DEFINE_kvpairs(name, default_val)                       \
+  BENCHMARK_EXPORT std::map<std::string, std::string> FLAG(name) = \
+      benchmark::KvPairsFromEnv(#name, default_val)
+// NOLINTEND(cppcoreguidelines-avoid-non-const-global-variables)
+
+namespace benchmark {
+
+// Parses a bool from the environment variable corresponding to the given flag.
+//
+// If the variable exists, returns IsTruthyFlagValue() value;  if not,
+// returns the given default value.
+BENCHMARK_EXPORT
+bool BoolFromEnv(const char* flag, bool default_val);
+
+// Parses an Int32 from the environment variable corresponding to the given
+// flag.
+//
+// If the variable exists, returns ParseInt32() value;  if not, returns
+// the given default value.
+BENCHMARK_EXPORT
+int32_t Int32FromEnv(const char* flag, int32_t default_val);
+
+// Parses an Double from the environment variable corresponding to the given
+// flag.
+//
+// If the variable exists, returns ParseDouble();  if not, returns
+// the given default value.
+BENCHMARK_EXPORT
+double DoubleFromEnv(const char* flag, double default_val);
+
+// Parses a string from the environment variable corresponding to the given
+// flag.
+//
+// If variable exists, returns its value;  if not, returns
+// the given default value.
+BENCHMARK_EXPORT
+const char* StringFromEnv(const char* flag, const char* default_val);
+
+// Parses a set of kvpairs from the environment variable corresponding to the
+// given flag.
+//
+// If variable exists, returns its value;  if not, returns
+// the given default value.
+BENCHMARK_EXPORT
+std::map<std::string, std::string> KvPairsFromEnv(
+    const char* flag, std::map<std::string, std::string> default_val);
+
+// Parses a string for a bool flag, in the form of either
+// "--flag=value" or "--flag".
+//
+// In the former case, the value is taken as true if it passes IsTruthyValue().
+//
+// In the latter case, the value is taken as true.
+//
+// On success, stores the value of the flag in *value, and returns
+// true.  On failure, returns false without changing *value.
+BENCHMARK_EXPORT
+bool ParseBoolFlag(const char* str, const char* flag, bool* value);
+
+// Parses a string for an Int32 flag, in the form of "--flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true.  On failure, returns false without changing *value.
+BENCHMARK_EXPORT
+bool ParseInt32Flag(const char* str, const char* flag, int32_t* value);
+
+// Parses a string for a Double flag, in the form of "--flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true.  On failure, returns false without changing *value.
+BENCHMARK_EXPORT
+bool ParseDoubleFlag(const char* str, const char* flag, double* value);
+
+// Parses a string for a string flag, in the form of "--flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true.  On failure, returns false without changing *value.
+BENCHMARK_EXPORT
+bool ParseStringFlag(const char* str, const char* flag, std::string* value);
+
+// Parses a string for a kvpairs flag in the form "--flag=key=value,key=value"
+//
+// On success, stores the value of the flag in *value and returns true. On
+// failure returns false, though *value may have been mutated.
+BENCHMARK_EXPORT
+bool ParseKeyValueFlag(const char* str, const char* flag,
+                       std::map<std::string, std::string>* value);
+
+// Returns true if the string matches the flag.
+BENCHMARK_EXPORT
+bool IsFlag(const char* str, const char* flag);
+
+// Returns true unless value starts with one of: '0', 'f', 'F', 'n' or 'N', or
+// some non-alphanumeric character. Also returns false if the value matches
+// one of 'no', 'false', 'off' (case-insensitive). As a special case, also
+// returns true if value is the empty string.
+BENCHMARK_EXPORT
+bool IsTruthyFlagValue(const std::string& value);
+
+}  // end namespace benchmark
+
+#endif  // BENCHMARK_COMMANDLINEFLAGS_H_

benchmark/src/main/native/thirdparty/benchmark/src/complexity.cpp

@@ -0,0 +1,257 @@
+// Copyright 2016 Ismael Jimenez Martinez. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// Source project : https://github.com/ismaelJimenez/cpp.leastsq
+// Adapted to be used with google benchmark
+
+#include "complexity.h"
+
+#include <algorithm>
+#include <cmath>
+
+#include "benchmark/benchmark.h"
+#include "check.h"
+
+namespace benchmark {
+
+// Internal function to calculate the different scalability forms
+BigOFunc* FittingCurve(BigO complexity) {
+  switch (complexity) {
+    case oN:
+      return [](IterationCount n) -> double { return static_cast<double>(n); };
+    case oNSquared:
+      return [](IterationCount n) -> double { return std::pow(n, 2); };
+    case oNCubed:
+      return [](IterationCount n) -> double { return std::pow(n, 3); };
+    case oLogN:
+      return [](IterationCount n) -> double {
+        return std::log2(static_cast<double>(n));
+      };
+    case oNLogN:
+      return [](IterationCount n) -> double {
+        return static_cast<double>(n) * std::log2(static_cast<double>(n));
+      };
+    case o1:
+    default:
+      return [](IterationCount) { return 1.0; };
+  }
+}
+
+// Function to return an string for the calculated complexity
+std::string GetBigOString(BigO complexity) {
+  switch (complexity) {
+    case oN:
+      return "N";
+    case oNSquared:
+      return "N^2";
+    case oNCubed:
+      return "N^3";
+    case oLogN:
+      return "lgN";
+    case oNLogN:
+      return "NlgN";
+    case o1:
+      return "(1)";
+    default:
+      return "f(N)";
+  }
+}
+
+// Find the coefficient for the high-order term in the running time, by
+// minimizing the sum of squares of relative error, for the fitting curve
+// given by the lambda expression.
+//   - n             : Vector containing the size of the benchmark tests.
+//   - time          : Vector containing the times for the benchmark tests.
+//   - fitting_curve : lambda expression (e.g. [](ComplexityN n) {return n; };).
+
+// For a deeper explanation on the algorithm logic, please refer to
+// https://en.wikipedia.org/wiki/Least_squares#Least_squares,_regression_analysis_and_statistics
+
+LeastSq MinimalLeastSq(const std::vector<ComplexityN>& n,
+                       const std::vector<double>& time,
+                       BigOFunc* fitting_curve) {
+  double sigma_gn_squared = 0.0;
+  double sigma_time = 0.0;
+  double sigma_time_gn = 0.0;
+
+  // Calculate least square fitting parameter
+  for (size_t i = 0; i < n.size(); ++i) {
+    double gn_i = fitting_curve(n[i]);
+    sigma_gn_squared += gn_i * gn_i;
+    sigma_time += time[i];
+    sigma_time_gn += time[i] * gn_i;
+  }
+
+  LeastSq result;
+  result.complexity = oLambda;
+
+  // Calculate complexity.
+  result.coef = sigma_time_gn / sigma_gn_squared;
+
+  // Calculate RMS
+  double rms = 0.0;
+  for (size_t i = 0; i < n.size(); ++i) {
+    double fit = result.coef * fitting_curve(n[i]);
+    rms += std::pow((time[i] - fit), 2);
+  }
+
+  // Normalized RMS by the mean of the observed values
+  double mean = sigma_time / static_cast<double>(n.size());
+  result.rms = std::sqrt(rms / static_cast<double>(n.size())) / mean;
+
+  return result;
+}
+
+// Find the coefficient for the high-order term in the running time, by
+// minimizing the sum of squares of relative error.
+//   - n          : Vector containing the size of the benchmark tests.
+//   - time       : Vector containing the times for the benchmark tests.
+//   - complexity : If different than oAuto, the fitting curve will stick to
+//                  this one. If it is oAuto, it will be calculated the best
+//                  fitting curve.
+LeastSq MinimalLeastSq(const std::vector<ComplexityN>& n,
+                       const std::vector<double>& time, const BigO complexity) {
+  BM_CHECK_EQ(n.size(), time.size());
+  BM_CHECK_GE(n.size(), 2);  // Do not compute fitting curve is less than two
+                             // benchmark runs are given
+  BM_CHECK_NE(complexity, oNone);
+
+  LeastSq best_fit;
+
+  if (complexity == oAuto) {
+    std::vector<BigO> fit_curves = {oLogN, oN, oNLogN, oNSquared, oNCubed};
+
+    // Take o1 as default best fitting curve
+    best_fit = MinimalLeastSq(n, time, FittingCurve(o1));
+    best_fit.complexity = o1;
+
+    // Compute all possible fitting curves and stick to the best one
+    for (const auto& fit : fit_curves) {
+      LeastSq current_fit = MinimalLeastSq(n, time, FittingCurve(fit));
+      if (current_fit.rms < best_fit.rms) {
+        best_fit = current_fit;
+        best_fit.complexity = fit;
+      }
+    }
+  } else {
+    best_fit = MinimalLeastSq(n, time, FittingCurve(complexity));
+    best_fit.complexity = complexity;
+  }
+
+  return best_fit;
+}
+
+std::vector<BenchmarkReporter::Run> ComputeBigO(
+    const std::vector<BenchmarkReporter::Run>& reports) {
+  typedef BenchmarkReporter::Run Run;
+  std::vector<Run> results;
+
+  if (reports.size() < 2) {
+    return results;
+  }
+
+  // Accumulators.
+  std::vector<ComplexityN> n;
+  std::vector<double> real_time;
+  std::vector<double> cpu_time;
+
+  // Populate the accumulators.
+  for (const Run& run : reports) {
+    BM_CHECK_GT(run.complexity_n, 0)
+        << "Did you forget to call SetComplexityN?";
+    n.push_back(run.complexity_n);
+    real_time.push_back(run.real_accumulated_time /
+                        static_cast<double>(run.iterations));
+    cpu_time.push_back(run.cpu_accumulated_time /
+                       static_cast<double>(run.iterations));
+  }
+
+  LeastSq result_cpu;
+  LeastSq result_real;
+
+  if (reports[0].complexity == oLambda) {
+    result_cpu = MinimalLeastSq(n, cpu_time, reports[0].complexity_lambda);
+    result_real = MinimalLeastSq(n, real_time, reports[0].complexity_lambda);
+  } else {
+    const BigO* InitialBigO = &reports[0].complexity;
+    const bool use_real_time_for_initial_big_o =
+        reports[0].use_real_time_for_initial_big_o;
+    if (use_real_time_for_initial_big_o) {
+      result_real = MinimalLeastSq(n, real_time, *InitialBigO);
+      InitialBigO = &result_real.complexity;
+      // The Big-O complexity for CPU time must have the same Big-O function!
+    }
+    result_cpu = MinimalLeastSq(n, cpu_time, *InitialBigO);
+    InitialBigO = &result_cpu.complexity;
+    if (!use_real_time_for_initial_big_o) {
+      result_real = MinimalLeastSq(n, real_time, *InitialBigO);
+    }
+  }
+
+  // Drop the 'args' when reporting complexity.
+  auto run_name = reports[0].run_name;
+  run_name.args.clear();
+
+  // Get the data from the accumulator to BenchmarkReporter::Run's.
+  Run big_o;
+  big_o.run_name = run_name;
+  big_o.family_index = reports[0].family_index;
+  big_o.per_family_instance_index = reports[0].per_family_instance_index;
+  big_o.run_type = BenchmarkReporter::Run::RT_Aggregate;
+  big_o.repetitions = reports[0].repetitions;
+  big_o.repetition_index = Run::no_repetition_index;
+  big_o.threads = reports[0].threads;
+  big_o.aggregate_name = "BigO";
+  big_o.aggregate_unit = StatisticUnit::kTime;
+  big_o.report_label = reports[0].report_label;
+  big_o.iterations = 0;
+  big_o.real_accumulated_time = result_real.coef;
+  big_o.cpu_accumulated_time = result_cpu.coef;
+  big_o.report_big_o = true;
+  big_o.complexity = result_cpu.complexity;
+
+  // All the time results are reported after being multiplied by the
+  // time unit multiplier. But since RMS is a relative quantity it
+  // should not be multiplied at all. So, here, we _divide_ it by the
+  // multiplier so that when it is multiplied later the result is the
+  // correct one.
+  double multiplier = GetTimeUnitMultiplier(reports[0].time_unit);
+
+  // Only add label to mean/stddev if it is same for all runs
+  Run rms;
+  rms.run_name = run_name;
+  rms.family_index = reports[0].family_index;
+  rms.per_family_instance_index = reports[0].per_family_instance_index;
+  rms.run_type = BenchmarkReporter::Run::RT_Aggregate;
+  rms.aggregate_name = "RMS";
+  rms.aggregate_unit = StatisticUnit::kPercentage;
+  rms.report_label = big_o.report_label;
+  rms.iterations = 0;
+  rms.repetition_index = Run::no_repetition_index;
+  rms.repetitions = reports[0].repetitions;
+  rms.threads = reports[0].threads;
+  rms.real_accumulated_time = result_real.rms / multiplier;
+  rms.cpu_accumulated_time = result_cpu.rms / multiplier;
+  rms.report_rms = true;
+  rms.complexity = result_cpu.complexity;
+  // don't forget to keep the time unit, or we won't be able to
+  // recover the correct value.
+  rms.time_unit = reports[0].time_unit;
+
+  results.push_back(big_o);
+  results.push_back(rms);
+  return results;
+}
+
+}  // end namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/complexity.h

@@ -0,0 +1,55 @@
+// Copyright 2016 Ismael Jimenez Martinez. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// Source project : https://github.com/ismaelJimenez/cpp.leastsq
+// Adapted to be used with google benchmark
+
+#ifndef COMPLEXITY_H_
+#define COMPLEXITY_H_
+
+#include <string>
+#include <vector>
+
+#include "benchmark/benchmark.h"
+
+namespace benchmark {
+
+// Return a vector containing the bigO and RMS information for the specified
+// list of reports. If 'reports.size() < 2' an empty vector is returned.
+std::vector<BenchmarkReporter::Run> ComputeBigO(
+    const std::vector<BenchmarkReporter::Run>& reports);
+
+// This data structure will contain the result returned by MinimalLeastSq
+//   - coef        : Estimated coefficient for the high-order term as
+//                   interpolated from data.
+//   - rms         : Normalized Root Mean Squared Error.
+//   - complexity  : Scalability form (e.g. oN, oNLogN). In case a scalability
+//                   form has been provided to MinimalLeastSq this will return
+//                   the same value. In case BigO::oAuto has been selected, this
+//                   parameter will return the best fitting curve detected.
+
+struct LeastSq {
+  LeastSq() : coef(0.0), rms(0.0), complexity(oNone) {}
+
+  double coef;
+  double rms;
+  BigO complexity;
+};
+
+// Function to return an string for the calculated complexity
+std::string GetBigOString(BigO complexity);
+
+}  // end namespace benchmark
+
+#endif  // COMPLEXITY_H_

benchmark/src/main/native/thirdparty/benchmark/src/console_reporter.cpp

@@ -0,0 +1,212 @@
+// Copyright 2015 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <algorithm>
+#include <cstdint>
+#include <cstdio>
+#include <cstring>
+#include <iostream>
+#include <string>
+#include <tuple>
+#include <vector>
+
+#include "benchmark/benchmark.h"
+#include "check.h"
+#include "colorprint.h"
+#include "commandlineflags.h"
+#include "complexity.h"
+#include "counter.h"
+#include "internal_macros.h"
+#include "string_util.h"
+#include "timers.h"
+
+namespace benchmark {
+
+BENCHMARK_EXPORT
+bool ConsoleReporter::ReportContext(const Context& context) {
+  name_field_width_ = context.name_field_width;
+  printed_header_ = false;
+  prev_counters_.clear();
+
+  PrintBasicContext(&GetErrorStream(), context);
+
+#ifdef BENCHMARK_OS_WINDOWS
+  if ((output_options_ & OO_Color)) {
+    auto stdOutBuf = std::cout.rdbuf();
+    auto outStreamBuf = GetOutputStream().rdbuf();
+    if (stdOutBuf != outStreamBuf) {
+      GetErrorStream()
+          << "Color printing is only supported for stdout on windows."
+             " Disabling color printing\n";
+      output_options_ = static_cast<OutputOptions>(output_options_ & ~OO_Color);
+    }
+  }
+#endif
+
+  return true;
+}
+
+BENCHMARK_EXPORT
+void ConsoleReporter::PrintHeader(const Run& run) {
+  std::string str =
+      FormatString("%-*s %13s %15s %12s", static_cast<int>(name_field_width_),
+                   "Benchmark", "Time", "CPU", "Iterations");
+  if (!run.counters.empty()) {
+    if ((output_options_ & OO_Tabular) != 0) {
+      for (auto const& c : run.counters) {
+        str += FormatString(" %10s", c.first.c_str());
+      }
+    } else {
+      str += " UserCounters...";
+    }
+  }
+  std::string line = std::string(str.length(), '-');
+  GetOutputStream() << line << "\n" << str << "\n" << line << "\n";
+}
+
+BENCHMARK_EXPORT
+void ConsoleReporter::ReportRuns(const std::vector<Run>& reports) {
+  for (const auto& run : reports) {
+    // print the header:
+    // --- if none was printed yet
+    bool print_header = !printed_header_;
+    // --- or if the format is tabular and this run
+    //     has different fields from the prev header
+    print_header |= ((output_options_ & OO_Tabular) != 0) &&
+                    (!internal::SameNames(run.counters, prev_counters_));
+    if (print_header) {
+      printed_header_ = true;
+      prev_counters_ = run.counters;
+      PrintHeader(run);
+    }
+    // As an alternative to printing the headers like this, we could sort
+    // the benchmarks by header and then print. But this would require
+    // waiting for the full results before printing, or printing twice.
+    PrintRunData(run);
+  }
+}
+
+static void IgnoreColorPrint(std::ostream& out, LogColor /*unused*/,
+                             const char* fmt, ...) {
+  va_list args;
+  va_start(args, fmt);
+  out << FormatString(fmt, args);
+  va_end(args);
+}
+
+static std::string FormatTime(double time) {
+  // For the time columns of the console printer 13 digits are reserved. One of
+  // them is a space and max two of them are the time unit (e.g ns). That puts
+  // us at 10 digits usable for the number.
+  // Align decimal places...
+  if (time < 1.0) {
+    return FormatString("%10.3f", time);
+  }
+  if (time < 10.0) {
+    return FormatString("%10.2f", time);
+  }
+  if (time < 100.0) {
+    return FormatString("%10.1f", time);
+  }
+  // Assuming the time is at max 9.9999e+99 and we have 10 digits for the
+  // number, we get 10-1(.)-1(e)-1(sign)-2(exponent) = 5 digits to print.
+  if (time > 9999999999 /*max 10 digit number*/) {
+    return FormatString("%1.4e", time);
+  }
+  return FormatString("%10.0f", time);
+}
+
+BENCHMARK_EXPORT
+void ConsoleReporter::PrintRunData(const Run& result) {
+  typedef void(PrinterFn)(std::ostream&, LogColor, const char*, ...);
+  auto& Out = GetOutputStream();
+  PrinterFn* printer = (output_options_ & OO_Color) != 0
+                           ? static_cast<PrinterFn*>(ColorPrintf)
+                           : IgnoreColorPrint;
+  auto name_color =
+      (result.report_big_o || result.report_rms) ? COLOR_BLUE : COLOR_GREEN;
+  printer(Out, name_color, "%-*s ", name_field_width_,
+          result.benchmark_name().c_str());
+
+  if (internal::SkippedWithError == result.skipped) {
+    printer(Out, COLOR_RED, "ERROR OCCURRED: \'%s\'",
+            result.skip_message.c_str());
+    printer(Out, COLOR_DEFAULT, "\n");
+    return;
+  }
+  if (internal::SkippedWithMessage == result.skipped) {
+    printer(Out, COLOR_WHITE, "SKIPPED: \'%s\'", result.skip_message.c_str());
+    printer(Out, COLOR_DEFAULT, "\n");
+    return;
+  }
+
+  const double real_time = result.GetAdjustedRealTime();
+  const double cpu_time = result.GetAdjustedCPUTime();
+  const std::string real_time_str = FormatTime(real_time);
+  const std::string cpu_time_str = FormatTime(cpu_time);
+
+  if (result.report_big_o) {
+    std::string big_o = GetBigOString(result.complexity);
+    printer(Out, COLOR_YELLOW, "%10.2f %-4s %10.2f %-4s ", real_time,
+            big_o.c_str(), cpu_time, big_o.c_str());
+  } else if (result.report_rms) {
+    printer(Out, COLOR_YELLOW, "%10.0f %-4s %10.0f %-4s ", real_time * 100, "%",
+            cpu_time * 100, "%");
+  } else if (result.run_type != Run::RT_Aggregate ||
+             result.aggregate_unit == StatisticUnit::kTime) {
+    const char* timeLabel = GetTimeUnitString(result.time_unit);
+    printer(Out, COLOR_YELLOW, "%s %-4s %s %-4s ", real_time_str.c_str(),
+            timeLabel, cpu_time_str.c_str(), timeLabel);
+  } else {
+    assert(result.aggregate_unit == StatisticUnit::kPercentage);
+    printer(Out, COLOR_YELLOW, "%10.2f %-4s %10.2f %-4s ",
+            (100. * result.real_accumulated_time), "%",
+            (100. * result.cpu_accumulated_time), "%");
+  }
+
+  if (!result.report_big_o && !result.report_rms) {
+    printer(Out, COLOR_CYAN, "%10lld", result.iterations);
+  }
+
+  for (const auto& c : result.counters) {
+    const std::size_t cNameLen =
+        std::max(static_cast<std::size_t>(10), c.first.length());
+    std::string s;
+    const char* unit = "";
+    if (result.run_type == Run::RT_Aggregate &&
+        result.aggregate_unit == StatisticUnit::kPercentage) {
+      s = StrFormat("%.2f", 100. * c.second.value);
+      unit = "%";
+    } else {
+      s = HumanReadableNumber(c.second.value, c.second.oneK);
+      if ((c.second.flags & Counter::kIsRate) != 0) {
+        unit = (c.second.flags & Counter::kInvert) != 0 ? "s" : "/s";
+      }
+    }
+    if ((output_options_ & OO_Tabular) != 0) {
+      printer(Out, COLOR_DEFAULT, " %*s%s", cNameLen - strlen(unit), s.c_str(),
+              unit);
+    } else {
+      printer(Out, COLOR_DEFAULT, " %s=%s%s", c.first.c_str(), s.c_str(), unit);
+    }
+  }
+
+  if (!result.report_label.empty()) {
+    printer(Out, COLOR_DEFAULT, " %s", result.report_label.c_str());
+  }
+
+  printer(Out, COLOR_DEFAULT, "\n");
+}
+
+}  // end namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/counter.cpp

@@ -0,0 +1,82 @@
+// Copyright 2015 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "counter.h"
+
+namespace benchmark {
+namespace internal {
+
+double Finish(Counter const& c, IterationCount iterations, double cpu_time,
+              double num_threads) {
+  double v = c.value;
+  if ((c.flags & Counter::kIsRate) != 0) {
+    v /= cpu_time;
+  }
+  if ((c.flags & Counter::kAvgThreads) != 0) {
+    v /= num_threads;
+  }
+  if ((c.flags & Counter::kIsIterationInvariant) != 0) {
+    v *= static_cast<double>(iterations);
+  }
+  if ((c.flags & Counter::kAvgIterations) != 0) {
+    v /= static_cast<double>(iterations);
+  }
+
+  if ((c.flags & Counter::kInvert) != 0) {  // Invert is *always* last.
+    v = 1.0 / v;
+  }
+  return v;
+}
+
+void Finish(UserCounters* l, IterationCount iterations, double cpu_time,
+            double num_threads) {
+  for (auto& c : *l) {
+    c.second.value = Finish(c.second, iterations, cpu_time, num_threads);
+  }
+}
+
+void Increment(UserCounters* l, UserCounters const& r) {
+  // add counters present in both or just in *l
+  for (auto& c : *l) {
+    auto it = r.find(c.first);
+    if (it != r.end()) {
+      c.second.value = c.second + it->second;
+    }
+  }
+  // add counters present in r, but not in *l
+  for (auto const& tc : r) {
+    auto it = l->find(tc.first);
+    if (it == l->end()) {
+      (*l)[tc.first] = tc.second;
+    }
+  }
+}
+
+bool SameNames(UserCounters const& l, UserCounters const& r) {
+  if (&l == &r) {
+    return true;
+  }
+  if (l.size() != r.size()) {
+    return false;
+  }
+  for (auto const& c : l) {
+    if (r.find(c.first) == r.end()) {
+      return false;
+    }
+  }
+  return true;
+}
+
+}  // end namespace internal
+}  // end namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/counter.h

@@ -0,0 +1,32 @@
+// Copyright 2015 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef BENCHMARK_COUNTER_H_
+#define BENCHMARK_COUNTER_H_
+
+#include "benchmark/benchmark.h"
+
+namespace benchmark {
+
+// these counter-related functions are hidden to reduce API surface.
+namespace internal {
+void Finish(UserCounters* l, IterationCount iterations, double time,
+            double num_threads);
+void Increment(UserCounters* l, UserCounters const& r);
+bool SameNames(UserCounters const& l, UserCounters const& r);
+}  // end namespace internal
+
+}  // end namespace benchmark
+
+#endif  // BENCHMARK_COUNTER_H_

benchmark/src/main/native/thirdparty/benchmark/src/csv_reporter.cpp

@@ -0,0 +1,175 @@
+// Copyright 2015 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <algorithm>
+#include <cstdint>
+#include <iostream>
+#include <string>
+#include <tuple>
+#include <vector>
+
+#include "benchmark/benchmark.h"
+#include "check.h"
+#include "complexity.h"
+#include "string_util.h"
+#include "timers.h"
+
+// File format reference: http://edoceo.com/utilitas/csv-file-format.
+
+namespace benchmark {
+
+namespace {
+std::vector<std::string> elements = {
+    "name",           "iterations",       "real_time",        "cpu_time",
+    "time_unit",      "bytes_per_second", "items_per_second", "label",
+    "error_occurred", "error_message"};
+}  // namespace
+
+std::string CsvEscape(const std::string& s) {
+  std::string tmp;
+  tmp.reserve(s.size() + 2);
+  for (char c : s) {
+    switch (c) {
+      case '"':
+        tmp += "\"\"";
+        break;
+      default:
+        tmp += c;
+        break;
+    }
+  }
+  return '"' + tmp + '"';
+}
+
+BENCHMARK_EXPORT
+bool CSVReporter::ReportContext(const Context& context) {
+  PrintBasicContext(&GetErrorStream(), context);
+  return true;
+}
+
+BENCHMARK_EXPORT
+void CSVReporter::ReportRuns(const std::vector<Run>& reports) {
+  std::ostream& Out = GetOutputStream();
+
+  if (!printed_header_) {
+    // save the names of all the user counters
+    for (const auto& run : reports) {
+      for (const auto& cnt : run.counters) {
+        if (cnt.first == "bytes_per_second" ||
+            cnt.first == "items_per_second") {
+          continue;
+        }
+        user_counter_names_.insert(cnt.first);
+      }
+    }
+
+    // print the header
+    for (auto B = elements.begin(); B != elements.end();) {
+      Out << *B++;
+      if (B != elements.end()) {
+        Out << ",";
+      }
+    }
+    for (auto B = user_counter_names_.begin();
+         B != user_counter_names_.end();) {
+      Out << ",\"" << *B++ << "\"";
+    }
+    Out << "\n";
+
+    printed_header_ = true;
+  } else {
+    // check that all the current counters are saved in the name set
+    for (const auto& run : reports) {
+      for (const auto& cnt : run.counters) {
+        if (cnt.first == "bytes_per_second" ||
+            cnt.first == "items_per_second") {
+          continue;
+        }
+        BM_CHECK(user_counter_names_.find(cnt.first) !=
+                 user_counter_names_.end())
+            << "All counters must be present in each run. "
+            << "Counter named \"" << cnt.first
+            << "\" was not in a run after being added to the header";
+      }
+    }
+  }
+
+  // print results for each run
+  for (const auto& run : reports) {
+    PrintRunData(run);
+  }
+}
+
+BENCHMARK_EXPORT
+void CSVReporter::PrintRunData(const Run& run) {
+  std::ostream& Out = GetOutputStream();
+  Out << CsvEscape(run.benchmark_name()) << ",";
+  if (run.skipped != 0u) {
+    Out << std::string(elements.size() - 3, ',');
+    Out << std::boolalpha << (internal::SkippedWithError == run.skipped) << ",";
+    Out << CsvEscape(run.skip_message) << "\n";
+    return;
+  }
+
+  // Do not print iteration on bigO and RMS report
+  if (!run.report_big_o && !run.report_rms) {
+    Out << run.iterations;
+  }
+  Out << ",";
+
+  if (run.run_type != Run::RT_Aggregate ||
+      run.aggregate_unit == StatisticUnit::kTime) {
+    Out << run.GetAdjustedRealTime() << ",";
+    Out << run.GetAdjustedCPUTime() << ",";
+  } else {
+    assert(run.aggregate_unit == StatisticUnit::kPercentage);
+    Out << run.real_accumulated_time << ",";
+    Out << run.cpu_accumulated_time << ",";
+  }
+
+  // Do not print timeLabel on bigO and RMS report
+  if (run.report_big_o) {
+    Out << GetBigOString(run.complexity);
+  } else if (!run.report_rms &&
+             run.aggregate_unit != StatisticUnit::kPercentage) {
+    Out << GetTimeUnitString(run.time_unit);
+  }
+  Out << ",";
+
+  if (run.counters.find("bytes_per_second") != run.counters.end()) {
+    Out << run.counters.at("bytes_per_second");
+  }
+  Out << ",";
+  if (run.counters.find("items_per_second") != run.counters.end()) {
+    Out << run.counters.at("items_per_second");
+  }
+  Out << ",";
+  if (!run.report_label.empty()) {
+    Out << CsvEscape(run.report_label);
+  }
+  Out << ",,";  // for error_occurred and error_message
+
+  // Print user counters
+  for (const auto& ucn : user_counter_names_) {
+    auto it = run.counters.find(ucn);
+    if (it == run.counters.end()) {
+      Out << ",";
+    } else {
+      Out << "," << it->second;
+    }
+  }
+  Out << '\n';
+}
+
+}  // end namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/cycleclock.h

@@ -0,0 +1,255 @@
+// ----------------------------------------------------------------------
+// CycleClock
+//    A CycleClock tells you the current time in Cycles.  The "time"
+//    is actually time since power-on.  This is like time() but doesn't
+//    involve a system call and is much more precise.
+//
+// NOTE: Not all cpu/platform/kernel combinations guarantee that this
+// clock increments at a constant rate or is synchronized across all logical
+// cpus in a system.
+//
+// If you need the above guarantees, please consider using a different
+// API. There are efforts to provide an interface which provides a millisecond
+// granularity and implemented as a memory read. A memory read is generally
+// cheaper than the CycleClock for many architectures.
+//
+// Also, in some out of order CPU implementations, the CycleClock is not
+// serializing. So if you're trying to count at cycles granularity, your
+// data might be inaccurate due to out of order instruction execution.
+// ----------------------------------------------------------------------
+
+#ifndef BENCHMARK_CYCLECLOCK_H_
+#define BENCHMARK_CYCLECLOCK_H_
+
+#include <cstdint>
+
+#include "benchmark/benchmark.h"
+#include "internal_macros.h"
+
+#if defined(BENCHMARK_OS_MACOSX)
+#include <mach/mach_time.h>
+#endif
+// For MSVC, we want to use '_asm rdtsc' when possible (since it works
+// with even ancient MSVC compilers), and when not possible the
+// __rdtsc intrinsic, declared in <intrin.h>.  Unfortunately, in some
+// environments, <windows.h> and <intrin.h> have conflicting
+// declarations of some other intrinsics, breaking compilation.
+// Therefore, we simply declare __rdtsc ourselves. See also
+// http://connect.microsoft.com/VisualStudio/feedback/details/262047
+#if defined(COMPILER_MSVC) && !defined(_M_IX86) && !defined(_M_ARM64) && \
+    !defined(_M_ARM64EC)
+extern "C" uint64_t __rdtsc();
+#pragma intrinsic(__rdtsc)
+#endif
+
+#if !defined(BENCHMARK_OS_WINDOWS) || defined(BENCHMARK_OS_MINGW)
+#include <sys/time.h>
+#include <time.h>
+#endif
+
+#ifdef BENCHMARK_OS_EMSCRIPTEN
+#include <emscripten.h>
+#endif
+
+namespace benchmark {
+// NOTE: only i386 and x86_64 have been well tested.
+// PPC, sparc, alpha, and ia64 are based on
+//    http://peter.kuscsik.com/wordpress/?p=14
+// with modifications by m3b.  See also
+//    https://setisvn.ssl.berkeley.edu/svn/lib/fftw-3.0.1/kernel/cycle.h
+namespace cycleclock {
+// This should return the number of cycles since power-on.  Thread-safe.
+inline BENCHMARK_ALWAYS_INLINE int64_t Now() {
+#if defined(BENCHMARK_OS_MACOSX)
+  // this goes at the top because we need ALL Macs, regardless of
+  // architecture, to return the number of "mach time units" that
+  // have passed since startup.  See sysinfo.cc where
+  // InitializeSystemInfo() sets the supposed cpu clock frequency of
+  // macs to the number of mach time units per second, not actual
+  // CPU clock frequency (which can change in the face of CPU
+  // frequency scaling).  Also note that when the Mac sleeps, this
+  // counter pauses; it does not continue counting, nor does it
+  // reset to zero.
+  return static_cast<int64_t>(mach_absolute_time());
+#elif defined(BENCHMARK_OS_EMSCRIPTEN)
+  // this goes above x86-specific code because old versions of Emscripten
+  // define __x86_64__, although they have nothing to do with it.
+  return static_cast<int64_t>(emscripten_get_now() * 1e+6);
+#elif defined(__i386__)
+  int64_t ret;
+  __asm__ volatile("rdtsc" : "=A"(ret));
+  return ret;
+#elif defined(__x86_64__) || defined(__amd64__)
+  uint64_t low, high;
+  __asm__ volatile("rdtsc" : "=a"(low), "=d"(high));
+  return static_cast<int64_t>((high << 32) | low);
+#elif defined(__powerpc__) || defined(__ppc__)
+  // This returns a time-base, which is not always precisely a cycle-count.
+#if defined(__powerpc64__) || defined(__ppc64__)
+  int64_t tb;
+  asm volatile("mfspr %0, 268" : "=r"(tb));
+  return tb;
+#else
+  uint32_t tbl, tbu0, tbu1;
+  asm volatile(
+      "mftbu %0\n"
+      "mftb %1\n"
+      "mftbu %2"
+      : "=r"(tbu0), "=r"(tbl), "=r"(tbu1));
+  tbl &= -static_cast<int32_t>(tbu0 == tbu1);
+  // high 32 bits in tbu1; low 32 bits in tbl  (tbu0 is no longer needed)
+  return (static_cast<uint64_t>(tbu1) << 32) | tbl;
+#endif
+#elif defined(__sparc__)
+  int64_t tick;
+  asm(".byte 0x83, 0x41, 0x00, 0x00");
+  asm("mov   %%g1, %0" : "=r"(tick));
+  return tick;
+#elif defined(__ia64__)
+  int64_t itc;
+  asm("mov %0 = ar.itc" : "=r"(itc));
+  return itc;
+#elif defined(COMPILER_MSVC) && defined(_M_IX86)
+  // Older MSVC compilers (like 7.x) don't seem to support the
+  // __rdtsc intrinsic properly, so I prefer to use _asm instead
+  // when I know it will work.  Otherwise, I'll use __rdtsc and hope
+  // the code is being compiled with a non-ancient compiler.
+  _asm rdtsc
+#elif defined(COMPILER_MSVC) && (defined(_M_ARM64) || defined(_M_ARM64EC))
+  // See // https://docs.microsoft.com/en-us/cpp/intrinsics/arm64-intrinsics
+  // and https://reviews.llvm.org/D53115
+  int64_t virtual_timer_value;
+  virtual_timer_value = _ReadStatusReg(ARM64_CNTVCT);
+  return virtual_timer_value;
+#elif defined(COMPILER_MSVC)
+  return __rdtsc();
+#elif defined(BENCHMARK_OS_NACL)
+  // Native Client validator on x86/x86-64 allows RDTSC instructions,
+  // and this case is handled above. Native Client validator on ARM
+  // rejects MRC instructions (used in the ARM-specific sequence below),
+  // so we handle it here. Portable Native Client compiles to
+  // architecture-agnostic bytecode, which doesn't provide any
+  // cycle counter access mnemonics.
+
+  // Native Client does not provide any API to access cycle counter.
+  // Use clock_gettime(CLOCK_MONOTONIC, ...) instead of gettimeofday
+  // because is provides nanosecond resolution (which is noticeable at
+  // least for PNaCl modules running on x86 Mac & Linux).
+  // Initialize to always return 0 if clock_gettime fails.
+  struct timespec ts = {0, 0};
+  clock_gettime(CLOCK_MONOTONIC, &ts);
+  return static_cast<int64_t>(ts.tv_sec) * 1000000000 + ts.tv_nsec;
+#elif defined(__aarch64__)
+  // System timer of ARMv8 runs at a different frequency than the CPU's.
+  // The frequency is fixed, typically in the range 1-50MHz.  It can be
+  // read at CNTFRQ special register.  We assume the OS has set up
+  // the virtual timer properly.
+  int64_t virtual_timer_value;
+  asm volatile("mrs %0, cntvct_el0" : "=r"(virtual_timer_value));
+  return virtual_timer_value;
+#elif defined(__ARM_ARCH)
+  // V6 is the earliest arch that has a standard cyclecount
+  // Native Client validator doesn't allow MRC instructions.
+#if (__ARM_ARCH >= 6)
+  uint32_t pmccntr;
+  uint32_t pmuseren;
+  uint32_t pmcntenset;
+  // Read the user mode perf monitor counter access permissions.
+  asm volatile("mrc p15, 0, %0, c9, c14, 0" : "=r"(pmuseren));
+  if (pmuseren & 1) {  // Allows reading perfmon counters for user mode code.
+    asm volatile("mrc p15, 0, %0, c9, c12, 1" : "=r"(pmcntenset));
+    if (pmcntenset & 0x80000000ul) {  // Is it counting?
+      asm volatile("mrc p15, 0, %0, c9, c13, 0" : "=r"(pmccntr));
+      // The counter is set up to count every 64th cycle
+      return static_cast<int64_t>(pmccntr) * 64;  // Should optimize to << 6
+    }
+  }
+#endif
+  struct timeval tv;
+  gettimeofday(&tv, nullptr);
+  return static_cast<int64_t>(tv.tv_sec) * 1000000 + tv.tv_usec;
+#elif defined(__mips__) || defined(__m68k__)
+  // mips apparently only allows rdtsc for superusers, so we fall
+  // back to gettimeofday.  It's possible clock_gettime would be better.
+  struct timeval tv;
+  gettimeofday(&tv, nullptr);
+  return static_cast<int64_t>(tv.tv_sec) * 1000000 + tv.tv_usec;
+#elif defined(__loongarch__) || defined(__csky__)
+  struct timeval tv;
+  gettimeofday(&tv, nullptr);
+  return static_cast<int64_t>(tv.tv_sec) * 1000000 + tv.tv_usec;
+#elif defined(__s390__)  // Covers both s390 and s390x.
+  // Return the CPU clock.
+  uint64_t tsc;
+#if defined(BENCHMARK_OS_ZOS)
+  // z/OS HLASM syntax.
+  asm(" stck %0" : "=m"(tsc) : : "cc");
+#else
+  // Linux on Z syntax.
+  asm("stck %0" : "=Q"(tsc) : : "cc");
+#endif
+  return tsc;
+#elif defined(__riscv)  // RISC-V
+  // Use RDTIME (and RDTIMEH on riscv32).
+  // RDCYCLE is a privileged instruction since Linux 6.6.
+#if __riscv_xlen == 32
+  uint32_t cycles_lo, cycles_hi0, cycles_hi1;
+  // This asm also includes the PowerPC overflow handling strategy, as above.
+  // Implemented in assembly because Clang insisted on branching.
+  asm volatile(
+      "rdtimeh %0\n"
+      "rdtime %1\n"
+      "rdtimeh %2\n"
+      "sub %0, %0, %2\n"
+      "seqz %0, %0\n"
+      "sub %0, zero, %0\n"
+      "and %1, %1, %0\n"
+      : "=r"(cycles_hi0), "=r"(cycles_lo), "=r"(cycles_hi1));
+  return static_cast<int64_t>((static_cast<uint64_t>(cycles_hi1) << 32) |
+                              cycles_lo);
+#else
+  uint64_t cycles;
+  asm volatile("rdtime %0" : "=r"(cycles));
+  return static_cast<int64_t>(cycles);
+#endif
+#elif defined(__e2k__) || defined(__elbrus__)
+  struct timeval tv;
+  gettimeofday(&tv, nullptr);
+  return static_cast<int64_t>(tv.tv_sec) * 1000000 + tv.tv_usec;
+#elif defined(__hexagon__)
+  uint64_t pcycle;
+  asm volatile("%0 = C15:14" : "=r"(pcycle));
+  return static_cast<int64_t>(pcycle);
+#elif defined(__alpha__)
+  // Alpha has a cycle counter, the PCC register, but it is an unsigned 32-bit
+  // integer and thus wraps every ~4s, making using it for tick counts
+  // unreliable beyond this time range.  The real-time clock is low-precision,
+  // roughtly ~1ms, but it is the only option that can reasonable count
+  // indefinitely.
+  struct timeval tv;
+  gettimeofday(&tv, nullptr);
+  return static_cast<int64_t>(tv.tv_sec) * 1000000 + tv.tv_usec;
+#elif defined(__hppa__) || defined(__linux__)
+  // Fallback for all other architectures with a recent Linux kernel, e.g.:
+  // HP PA-RISC provides a user-readable clock counter (cr16), but
+  // it's not syncronized across CPUs and only 32-bit wide when programs
+  // are built as 32-bit binaries.
+  // Same for SH-4 and possibly others.
+  // Use clock_gettime(CLOCK_MONOTONIC, ...) instead of gettimeofday
+  // because is provides nanosecond resolution.
+  // Initialize to always return 0 if clock_gettime fails.
+  struct timespec ts = {0, 0};
+  clock_gettime(CLOCK_MONOTONIC, &ts);
+  return static_cast<int64_t>(ts.tv_sec) * 1000000000 + ts.tv_nsec;
+#else
+  // The soft failover to a generic implementation is automatic only for ARM.
+  // For other platforms the developer is expected to make an attempt to create
+  // a fast implementation and use generic version if nothing better is
+  // available.
+#error You need to define CycleTimer for your OS and CPU
+#endif
+}
+}  // end namespace cycleclock
+}  // end namespace benchmark
+
+#endif  // BENCHMARK_CYCLECLOCK_H_

benchmark/src/main/native/thirdparty/benchmark/src/internal_macros.h

@@ -0,0 +1,111 @@
+#ifndef BENCHMARK_INTERNAL_MACROS_H_
+#define BENCHMARK_INTERNAL_MACROS_H_
+
+/* Needed to detect STL */
+#include <cstdlib>
+
+// clang-format off
+
+#ifndef __has_feature
+#define __has_feature(x) 0
+#endif
+
+#if defined(__clang__)
+  #if !defined(COMPILER_CLANG)
+    #define COMPILER_CLANG
+  #endif
+#elif defined(_MSC_VER)
+  #if !defined(COMPILER_MSVC)
+    #define COMPILER_MSVC
+  #endif
+#elif defined(__GNUC__)
+  #if !defined(COMPILER_GCC)
+    #define COMPILER_GCC
+  #endif
+#endif
+
+#if __has_feature(cxx_attributes)
+  #define BENCHMARK_NORETURN [[noreturn]]
+#elif defined(__GNUC__)
+  #define BENCHMARK_NORETURN __attribute__((noreturn))
+#elif defined(COMPILER_MSVC)
+  #define BENCHMARK_NORETURN __declspec(noreturn)
+#else
+  #define BENCHMARK_NORETURN
+#endif
+
+#if defined(__CYGWIN__)
+  #define BENCHMARK_OS_CYGWIN 1
+#elif defined(_WIN32)
+  #define BENCHMARK_OS_WINDOWS 1
+  // WINAPI_FAMILY_PARTITION is defined in winapifamily.h.
+  // We include windows.h which implicitly includes winapifamily.h for compatibility.
+  #ifndef NOMINMAX
+    #define NOMINMAX
+  #endif
+  #include <windows.h>
+  #if defined(WINAPI_FAMILY_PARTITION)
+    #if WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_DESKTOP)
+      #define BENCHMARK_OS_WINDOWS_WIN32 1
+    #elif WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_APP)
+      #define BENCHMARK_OS_WINDOWS_RT 1
+    #endif
+  #endif
+  #if defined(__MINGW32__)
+    #define BENCHMARK_OS_MINGW 1
+  #endif
+#elif defined(__APPLE__)
+  #define BENCHMARK_OS_APPLE 1
+  #include "TargetConditionals.h"
+  #if defined(TARGET_OS_MAC)
+    #define BENCHMARK_OS_MACOSX 1
+    #if defined(TARGET_OS_IPHONE)
+      #define BENCHMARK_OS_IOS 1
+    #endif
+  #endif
+#elif defined(__FreeBSD__)
+  #define BENCHMARK_OS_FREEBSD 1
+#elif defined(__NetBSD__)
+  #define BENCHMARK_OS_NETBSD 1
+#elif defined(__OpenBSD__)
+  #define BENCHMARK_OS_OPENBSD 1
+#elif defined(__DragonFly__)
+  #define BENCHMARK_OS_DRAGONFLY 1
+#elif defined(__linux__)
+  #define BENCHMARK_OS_LINUX 1
+#elif defined(__native_client__)
+  #define BENCHMARK_OS_NACL 1
+#elif defined(__EMSCRIPTEN__)
+  #define BENCHMARK_OS_EMSCRIPTEN 1
+#elif defined(__rtems__)
+  #define BENCHMARK_OS_RTEMS 1
+#elif defined(__Fuchsia__)
+#define BENCHMARK_OS_FUCHSIA 1
+#elif defined (__SVR4) && defined (__sun)
+#define BENCHMARK_OS_SOLARIS 1
+#elif defined(__QNX__)
+#define BENCHMARK_OS_QNX 1
+#elif defined(__MVS__)
+#define BENCHMARK_OS_ZOS 1
+#elif defined(__hexagon__)
+#define BENCHMARK_OS_QURT 1
+#endif
+
+#if defined(__ANDROID__) && defined(__GLIBCXX__)
+#define BENCHMARK_STL_ANDROID_GNUSTL 1
+#endif
+
+#if !__has_feature(cxx_exceptions) && !defined(__cpp_exceptions) \
+     && !defined(__EXCEPTIONS)
+  #define BENCHMARK_HAS_NO_EXCEPTIONS
+#endif
+
+#if defined(COMPILER_CLANG) || defined(COMPILER_GCC)
+  #define BENCHMARK_MAYBE_UNUSED __attribute__((unused))
+#else
+  #define BENCHMARK_MAYBE_UNUSED
+#endif
+
+// clang-format on
+
+#endif  // BENCHMARK_INTERNAL_MACROS_H_

benchmark/src/main/native/thirdparty/benchmark/src/json_reporter.cpp

@@ -0,0 +1,341 @@
+// Copyright 2015 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <algorithm>
+#include <cmath>
+#include <cstdint>
+#include <iomanip>  // for setprecision
+#include <iostream>
+#include <limits>
+#include <string>
+#include <tuple>
+#include <vector>
+
+#include "benchmark/benchmark.h"
+#include "complexity.h"
+#include "string_util.h"
+#include "timers.h"
+
+namespace benchmark {
+namespace {
+
+std::string StrEscape(const std::string& s) {
+  std::string tmp;
+  tmp.reserve(s.size());
+  for (char c : s) {
+    switch (c) {
+      case '\b':
+        tmp += "\\b";
+        break;
+      case '\f':
+        tmp += "\\f";
+        break;
+      case '\n':
+        tmp += "\\n";
+        break;
+      case '\r':
+        tmp += "\\r";
+        break;
+      case '\t':
+        tmp += "\\t";
+        break;
+      case '\\':
+        tmp += "\\\\";
+        break;
+      case '"':
+        tmp += "\\\"";
+        break;
+      default:
+        tmp += c;
+        break;
+    }
+  }
+  return tmp;
+}
+
+std::string FormatKV(std::string const& key, std::string const& value) {
+  return StrFormat("\"%s\": \"%s\"", StrEscape(key).c_str(),
+                   StrEscape(value).c_str());
+}
+
+std::string FormatKV(std::string const& key, const char* value) {
+  return StrFormat("\"%s\": \"%s\"", StrEscape(key).c_str(),
+                   StrEscape(value).c_str());
+}
+
+std::string FormatKV(std::string const& key, bool value) {
+  return StrFormat("\"%s\": %s", StrEscape(key).c_str(),
+                   value ? "true" : "false");
+}
+
+std::string FormatKV(std::string const& key, int64_t value) {
+  std::stringstream ss;
+  ss << '"' << StrEscape(key) << "\": " << value;
+  return ss.str();
+}
+
+std::string FormatKV(std::string const& key, int value) {
+  return FormatKV(key, static_cast<int64_t>(value));
+}
+
+std::string FormatKV(std::string const& key, double value) {
+  std::stringstream ss;
+  ss << '"' << StrEscape(key) << "\": ";
+
+  if (std::isnan(value)) {
+    ss << (value < 0 ? "-" : "") << "NaN";
+  } else if (std::isinf(value)) {
+    ss << (value < 0 ? "-" : "") << "Infinity";
+  } else {
+    const auto max_digits10 =
+        std::numeric_limits<decltype(value)>::max_digits10;
+    const auto max_fractional_digits10 = max_digits10 - 1;
+    ss << std::scientific << std::setprecision(max_fractional_digits10)
+       << value;
+  }
+  return ss.str();
+}
+
+int64_t RoundDouble(double v) { return std::lround(v); }
+
+}  // end namespace
+
+bool JSONReporter::ReportContext(const Context& context) {
+  std::ostream& out = GetOutputStream();
+
+  out << "{\n";
+  std::string inner_indent(2, ' ');
+
+  // Open context block and print context information.
+  out << inner_indent << "\"context\": {\n";
+  std::string indent(4, ' ');
+
+  std::string walltime_value = LocalDateTimeString();
+  out << indent << FormatKV("date", walltime_value) << ",\n";
+
+  out << indent << FormatKV("host_name", context.sys_info.name) << ",\n";
+
+  if (Context::executable_name != nullptr) {
+    out << indent << FormatKV("executable", Context::executable_name) << ",\n";
+  }
+
+  CPUInfo const& info = context.cpu_info;
+  out << indent << FormatKV("num_cpus", static_cast<int64_t>(info.num_cpus))
+      << ",\n";
+  out << indent
+      << FormatKV("mhz_per_cpu",
+                  RoundDouble(info.cycles_per_second / 1000000.0))
+      << ",\n";
+  if (CPUInfo::Scaling::UNKNOWN != info.scaling) {
+    out << indent
+        << FormatKV("cpu_scaling_enabled",
+                    info.scaling == CPUInfo::Scaling::ENABLED)
+        << ",\n";
+  }
+
+  const SystemInfo& sysinfo = context.sys_info;
+  if (SystemInfo::ASLR::UNKNOWN != sysinfo.ASLRStatus) {
+    out << indent
+        << FormatKV("aslr_enabled",
+                    sysinfo.ASLRStatus == SystemInfo::ASLR::ENABLED)
+        << ",\n";
+  }
+
+  out << indent << "\"caches\": [\n";
+  indent = std::string(6, ' ');
+  std::string cache_indent(8, ' ');
+  for (size_t i = 0; i < info.caches.size(); ++i) {
+    const auto& CI = info.caches[i];
+    out << indent << "{\n";
+    out << cache_indent << FormatKV("type", CI.type) << ",\n";
+    out << cache_indent << FormatKV("level", static_cast<int64_t>(CI.level))
+        << ",\n";
+    out << cache_indent << FormatKV("size", static_cast<int64_t>(CI.size))
+        << ",\n";
+    out << cache_indent
+        << FormatKV("num_sharing", static_cast<int64_t>(CI.num_sharing))
+        << "\n";
+    out << indent << "}";
+    if (i != info.caches.size() - 1) {
+      out << ",";
+    }
+    out << "\n";
+  }
+  indent = std::string(4, ' ');
+  out << indent << "],\n";
+  out << indent << "\"load_avg\": [";
+  for (auto it = info.load_avg.begin(); it != info.load_avg.end();) {
+    out << *it++;
+    if (it != info.load_avg.end()) {
+      out << ",";
+    }
+  }
+  out << "],\n";
+
+  out << indent << FormatKV("library_version", GetBenchmarkVersion());
+  out << ",\n";
+
+#if defined(NDEBUG)
+  const char build_type[] = "release";
+#else
+  const char build_type[] = "debug";
+#endif
+  out << indent << FormatKV("library_build_type", build_type);
+  out << ",\n";
+
+  // NOTE: our json schema is not strictly tied to the library version!
+  out << indent << FormatKV("json_schema_version", 1);
+
+  std::map<std::string, std::string>* global_context =
+      internal::GetGlobalContext();
+
+  if (global_context != nullptr) {
+    for (const auto& kv : *global_context) {
+      out << ",\n";
+      out << indent << FormatKV(kv.first, kv.second);
+    }
+  }
+  out << "\n";
+
+  // Close context block and open the list of benchmarks.
+  out << inner_indent << "},\n";
+  out << inner_indent << "\"benchmarks\": [\n";
+  return true;
+}
+
+void JSONReporter::ReportRuns(std::vector<Run> const& reports) {
+  if (reports.empty()) {
+    return;
+  }
+  std::string indent(4, ' ');
+  std::ostream& out = GetOutputStream();
+  if (!first_report_) {
+    out << ",\n";
+  }
+  first_report_ = false;
+
+  for (auto it = reports.begin(); it != reports.end(); ++it) {
+    out << indent << "{\n";
+    PrintRunData(*it);
+    out << indent << '}';
+    auto it_cp = it;
+    if (++it_cp != reports.end()) {
+      out << ",\n";
+    }
+  }
+}
+
+void JSONReporter::Finalize() {
+  // Close the list of benchmarks and the top level object.
+  GetOutputStream() << "\n  ]\n}\n";
+}
+
+void JSONReporter::PrintRunData(Run const& run) {
+  std::string indent(6, ' ');
+  std::ostream& out = GetOutputStream();
+  out << indent << FormatKV("name", run.benchmark_name()) << ",\n";
+  out << indent << FormatKV("family_index", run.family_index) << ",\n";
+  out << indent
+      << FormatKV("per_family_instance_index", run.per_family_instance_index)
+      << ",\n";
+  out << indent << FormatKV("run_name", run.run_name.str()) << ",\n";
+  out << indent << FormatKV("run_type", [&run]() -> const char* {
+    switch (run.run_type) {
+      case BenchmarkReporter::Run::RT_Iteration:
+        return "iteration";
+      case BenchmarkReporter::Run::RT_Aggregate:
+        return "aggregate";
+    }
+    BENCHMARK_UNREACHABLE();
+  }()) << ",\n";
+  out << indent << FormatKV("repetitions", run.repetitions) << ",\n";
+  if (run.run_type != BenchmarkReporter::Run::RT_Aggregate) {
+    out << indent << FormatKV("repetition_index", run.repetition_index)
+        << ",\n";
+  }
+  out << indent << FormatKV("threads", run.threads) << ",\n";
+  if (run.run_type == BenchmarkReporter::Run::RT_Aggregate) {
+    out << indent << FormatKV("aggregate_name", run.aggregate_name) << ",\n";
+    out << indent << FormatKV("aggregate_unit", [&run]() -> const char* {
+      switch (run.aggregate_unit) {
+        case StatisticUnit::kTime:
+          return "time";
+        case StatisticUnit::kPercentage:
+          return "percentage";
+      }
+      BENCHMARK_UNREACHABLE();
+    }()) << ",\n";
+  }
+  if (internal::SkippedWithError == run.skipped) {
+    out << indent << FormatKV("error_occurred", true) << ",\n";
+    out << indent << FormatKV("error_message", run.skip_message) << ",\n";
+  } else if (internal::SkippedWithMessage == run.skipped) {
+    out << indent << FormatKV("skipped", true) << ",\n";
+    out << indent << FormatKV("skip_message", run.skip_message) << ",\n";
+  }
+  if (!run.report_big_o && !run.report_rms) {
+    out << indent << FormatKV("iterations", run.iterations) << ",\n";
+    if (run.run_type != Run::RT_Aggregate ||
+        run.aggregate_unit == StatisticUnit::kTime) {
+      out << indent << FormatKV("real_time", run.GetAdjustedRealTime())
+          << ",\n";
+      out << indent << FormatKV("cpu_time", run.GetAdjustedCPUTime());
+    } else {
+      assert(run.aggregate_unit == StatisticUnit::kPercentage);
+      out << indent << FormatKV("real_time", run.real_accumulated_time)
+          << ",\n";
+      out << indent << FormatKV("cpu_time", run.cpu_accumulated_time);
+    }
+    out << ",\n"
+        << indent << FormatKV("time_unit", GetTimeUnitString(run.time_unit));
+  } else if (run.report_big_o) {
+    out << indent << FormatKV("cpu_coefficient", run.GetAdjustedCPUTime())
+        << ",\n";
+    out << indent << FormatKV("real_coefficient", run.GetAdjustedRealTime())
+        << ",\n";
+    out << indent << FormatKV("big_o", GetBigOString(run.complexity)) << ",\n";
+    out << indent << FormatKV("time_unit", GetTimeUnitString(run.time_unit));
+  } else if (run.report_rms) {
+    out << indent << FormatKV("rms", run.GetAdjustedCPUTime());
+  }
+
+  for (const auto& c : run.counters) {
+    out << ",\n" << indent << FormatKV(c.first, c.second);
+  }
+
+  if (run.memory_result.memory_iterations > 0) {
+    const auto& memory_result = run.memory_result;
+    out << ",\n" << indent << FormatKV("allocs_per_iter", run.allocs_per_iter);
+    out << ",\n"
+        << indent << FormatKV("max_bytes_used", memory_result.max_bytes_used);
+
+    auto report_if_present = [&out, &indent](const std::string& label,
+                                             int64_t val) {
+      if (val != MemoryManager::TombstoneValue) {
+        out << ",\n" << indent << FormatKV(label, val);
+      }
+    };
+
+    report_if_present("total_allocated_bytes",
+                      memory_result.total_allocated_bytes);
+    report_if_present("net_heap_growth", memory_result.net_heap_growth);
+  }
+
+  if (!run.report_label.empty()) {
+    out << ",\n" << indent << FormatKV("label", run.report_label);
+  }
+  out << '\n';
+}
+
+}  // end namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/log.h

@@ -0,0 +1,76 @@
+#ifndef BENCHMARK_LOG_H_
+#define BENCHMARK_LOG_H_
+
+#include <iostream>
+#include <ostream>
+
+namespace benchmark {
+namespace internal {
+
+typedef std::basic_ostream<char>&(EndLType)(std::basic_ostream<char>&);
+
+class LogType {
+  friend LogType& GetNullLogInstance();
+  friend LogType& GetErrorLogInstance();
+
+  // FIXME: Add locking to output.
+  template <class Tp>
+  friend LogType& operator<<(LogType&, Tp const&);
+  friend LogType& operator<<(LogType&, EndLType*);
+
+ private:
+  LogType(std::ostream* out) : out_(out) {}
+  std::ostream* out_;
+
+  // NOTE: we could use BENCHMARK_DISALLOW_COPY_AND_ASSIGN but we shouldn't have
+  // a dependency on benchmark.h from here.
+  LogType(const LogType&) = delete;
+  LogType& operator=(const LogType&) = delete;
+};
+
+template <class Tp>
+LogType& operator<<(LogType& log, Tp const& value) {
+  if (log.out_) {
+    *log.out_ << value;
+  }
+  return log;
+}
+
+inline LogType& operator<<(LogType& log, EndLType* m) {
+  if (log.out_) {
+    *log.out_ << m;
+  }
+  return log;
+}
+
+inline int& LogLevel() {
+  static int log_level = 0;
+  return log_level;
+}
+
+inline LogType& GetNullLogInstance() {
+  static LogType null_log(static_cast<std::ostream*>(nullptr));
+  return null_log;
+}
+
+inline LogType& GetErrorLogInstance() {
+  static LogType error_log(&std::clog);
+  return error_log;
+}
+
+inline LogType& GetLogInstanceForLevel(int level) {
+  if (level <= LogLevel()) {
+    return GetErrorLogInstance();
+  }
+  return GetNullLogInstance();
+}
+
+}  // end namespace internal
+}  // end namespace benchmark
+
+// clang-format off
+#define BM_VLOG(x)                                                               \
+  (::benchmark::internal::GetLogInstanceForLevel(x) << "-- LOG(" << x << "):" \
+                                                                         " ")
+// clang-format on
+#endif

benchmark/src/main/native/thirdparty/benchmark/src/mutex.h

@@ -0,0 +1,155 @@
+#ifndef BENCHMARK_MUTEX_H_
+#define BENCHMARK_MUTEX_H_
+
+#include <condition_variable>
+#include <mutex>
+
+#include "check.h"
+
+// Enable thread safety attributes only with clang.
+// The attributes can be safely erased when compiling with other compilers.
+#if defined(HAVE_THREAD_SAFETY_ATTRIBUTES)
+#define THREAD_ANNOTATION_ATTRIBUTE_(x) __attribute__((x))
+#else
+#define THREAD_ANNOTATION_ATTRIBUTE_(x)  // no-op
+#endif
+
+#define CAPABILITY(x) THREAD_ANNOTATION_ATTRIBUTE_(capability(x))
+
+#define SCOPED_CAPABILITY THREAD_ANNOTATION_ATTRIBUTE_(scoped_lockable)
+
+#define GUARDED_BY(x) THREAD_ANNOTATION_ATTRIBUTE_(guarded_by(x))
+
+#define PT_GUARDED_BY(x) THREAD_ANNOTATION_ATTRIBUTE_(pt_guarded_by(x))
+
+#define ACQUIRED_BEFORE(...) \
+  THREAD_ANNOTATION_ATTRIBUTE_(acquired_before(__VA_ARGS__))
+
+#define ACQUIRED_AFTER(...) \
+  THREAD_ANNOTATION_ATTRIBUTE_(acquired_after(__VA_ARGS__))
+
+#define REQUIRES(...) \
+  THREAD_ANNOTATION_ATTRIBUTE_(requires_capability(__VA_ARGS__))
+
+#define REQUIRES_SHARED(...) \
+  THREAD_ANNOTATION_ATTRIBUTE_(requires_shared_capability(__VA_ARGS__))
+
+#define ACQUIRE(...) \
+  THREAD_ANNOTATION_ATTRIBUTE_(acquire_capability(__VA_ARGS__))
+
+#define ACQUIRE_SHARED(...) \
+  THREAD_ANNOTATION_ATTRIBUTE_(acquire_shared_capability(__VA_ARGS__))
+
+#define RELEASE(...) \
+  THREAD_ANNOTATION_ATTRIBUTE_(release_capability(__VA_ARGS__))
+
+#define RELEASE_SHARED(...) \
+  THREAD_ANNOTATION_ATTRIBUTE_(release_shared_capability(__VA_ARGS__))
+
+#define TRY_ACQUIRE(...) \
+  THREAD_ANNOTATION_ATTRIBUTE_(try_acquire_capability(__VA_ARGS__))
+
+#define TRY_ACQUIRE_SHARED(...) \
+  THREAD_ANNOTATION_ATTRIBUTE_(try_acquire_shared_capability(__VA_ARGS__))
+
+#define EXCLUDES(...) THREAD_ANNOTATION_ATTRIBUTE_(locks_excluded(__VA_ARGS__))
+
+#define ASSERT_CAPABILITY(x) THREAD_ANNOTATION_ATTRIBUTE_(assert_capability(x))
+
+#define ASSERT_SHARED_CAPABILITY(x) \
+  THREAD_ANNOTATION_ATTRIBUTE_(assert_shared_capability(x))
+
+#define RETURN_CAPABILITY(x) THREAD_ANNOTATION_ATTRIBUTE_(lock_returned(x))
+
+#define NO_THREAD_SAFETY_ANALYSIS \
+  THREAD_ANNOTATION_ATTRIBUTE_(no_thread_safety_analysis)
+
+namespace benchmark {
+
+typedef std::condition_variable Condition;
+
+// NOTE: Wrappers for std::mutex and std::unique_lock are provided so that
+// we can annotate them with thread safety attributes and use the
+// -Wthread-safety warning with clang. The standard library types cannot be
+// used directly because they do not provide the required annotations.
+class CAPABILITY("mutex") Mutex {
+ public:
+  Mutex() {}
+
+  void lock() ACQUIRE() { mut_.lock(); }
+  void unlock() RELEASE() { mut_.unlock(); }
+  std::mutex& native_handle() { return mut_; }
+
+ private:
+  std::mutex mut_;
+};
+
+class SCOPED_CAPABILITY MutexLock {
+  typedef std::unique_lock<std::mutex> MutexLockImp;
+
+ public:
+  MutexLock(Mutex& m) ACQUIRE(m) : ml_(m.native_handle()) {}
+  ~MutexLock() RELEASE() {}
+  MutexLockImp& native_handle() { return ml_; }
+
+ private:
+  MutexLockImp ml_;
+};
+
+class Barrier {
+ public:
+  Barrier(int num_threads) : running_threads_(num_threads) {}
+
+  // Called by each thread
+  bool wait() EXCLUDES(lock_) {
+    bool last_thread = false;
+    {
+      MutexLock ml(lock_);
+      last_thread = createBarrier(ml);
+    }
+    if (last_thread) phase_condition_.notify_all();
+    return last_thread;
+  }
+
+  void removeThread() EXCLUDES(lock_) {
+    MutexLock ml(lock_);
+    --running_threads_;
+    if (entered_ != 0) phase_condition_.notify_all();
+  }
+
+ private:
+  Mutex lock_;
+  Condition phase_condition_;
+  int running_threads_;
+
+  // State for barrier management
+  int phase_number_ = 0;
+  int entered_ = 0;  // Number of threads that have entered this barrier
+
+  // Enter the barrier and wait until all other threads have also
+  // entered the barrier.  Returns iff this is the last thread to
+  // enter the barrier.
+  bool createBarrier(MutexLock& ml) REQUIRES(lock_) {
+    BM_CHECK_LT(entered_, running_threads_);
+    entered_++;
+    if (entered_ < running_threads_) {
+      // Wait for all threads to enter
+      int phase_number_cp = phase_number_;
+      auto cb = [this, phase_number_cp]() {
+        return this->phase_number_ > phase_number_cp ||
+               entered_ == running_threads_;  // A thread has aborted in error
+      };
+      phase_condition_.wait(ml.native_handle(), cb);
+      if (phase_number_ > phase_number_cp) return false;
+      // else (running_threads_ == entered_) and we are the last thread.
+    }
+    // Last thread has reached the barrier
+    phase_number_++;
+    entered_ = 0;
+    return true;
+  }
+};
+
+}  // end namespace benchmark
+
+#endif  // BENCHMARK_MUTEX_H_

benchmark/src/main/native/thirdparty/benchmark/src/perf_counters.cpp

@@ -0,0 +1,282 @@
+// Copyright 2021 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "perf_counters.h"
+
+#include <cstring>
+#include <memory>
+#include <vector>
+
+#if defined HAVE_LIBPFM
+#include "perfmon/pfmlib.h"
+#include "perfmon/pfmlib_perf_event.h"
+#endif
+
+namespace benchmark {
+namespace internal {
+
+#if defined HAVE_LIBPFM
+
+size_t PerfCounterValues::Read(const std::vector<int>& leaders) {
+  // Create a pointer for multiple reads
+  const size_t bufsize = values_.size() * sizeof(values_[0]);
+  char* ptr = reinterpret_cast<char*>(values_.data());
+  size_t size = bufsize;
+  for (int lead : leaders) {
+    auto read_bytes = ::read(lead, ptr, size);
+    if (read_bytes >= ssize_t(sizeof(uint64_t))) {
+      // Actual data bytes are all bytes minus initial padding
+      std::size_t data_bytes =
+          static_cast<std::size_t>(read_bytes) - sizeof(uint64_t);
+      // This should be very cheap since it's in hot cache
+      std::memmove(ptr, ptr + sizeof(uint64_t), data_bytes);
+      // Increment our counters
+      ptr += data_bytes;
+      size -= data_bytes;
+    } else {
+      int err = errno;
+      GetErrorLogInstance() << "Error reading lead " << lead << " errno:" << err
+                            << " " << ::strerror(err) << "\n";
+      return 0;
+    }
+  }
+  return (bufsize - size) / sizeof(uint64_t);
+}
+
+const bool PerfCounters::kSupported = true;
+
+// Initializes libpfm only on the first call.  Returns whether that single
+// initialization was successful.
+bool PerfCounters::Initialize() {
+  // Function-scope static gets initialized only once on first call.
+  static const bool success = []() {
+    return pfm_initialize() == PFM_SUCCESS;
+  }();
+  return success;
+}
+
+bool PerfCounters::IsCounterSupported(const std::string& name) {
+  Initialize();
+  perf_event_attr_t attr;
+  std::memset(&attr, 0, sizeof(attr));
+  pfm_perf_encode_arg_t arg;
+  std::memset(&arg, 0, sizeof(arg));
+  arg.attr = &attr;
+  const int mode = PFM_PLM3;  // user mode only
+  int ret = pfm_get_os_event_encoding(name.c_str(), mode, PFM_OS_PERF_EVENT_EXT,
+                                      &arg);
+  return (ret == PFM_SUCCESS);
+}
+
+PerfCounters PerfCounters::Create(
+    const std::vector<std::string>& counter_names) {
+  if (!counter_names.empty()) {
+    Initialize();
+  }
+
+  // Valid counters will populate these arrays but we start empty
+  std::vector<std::string> valid_names;
+  std::vector<int> counter_ids;
+  std::vector<int> leader_ids;
+
+  // Resize to the maximum possible
+  valid_names.reserve(counter_names.size());
+  counter_ids.reserve(counter_names.size());
+
+  const int kCounterMode = PFM_PLM3;  // user mode only
+
+  // Group leads will be assigned on demand. The idea is that once we cannot
+  // create a counter descriptor, the reason is that this group has maxed out
+  // so we set the group_id again to -1 and retry - giving the algorithm a
+  // chance to create a new group leader to hold the next set of counters.
+  int group_id = -1;
+
+  // Loop through all performance counters
+  for (size_t i = 0; i < counter_names.size(); ++i) {
+    // we are about to push into the valid names vector
+    // check if we did not reach the maximum
+    if (valid_names.size() == PerfCounterValues::kMaxCounters) {
+      // Log a message if we maxed out and stop adding
+      GetErrorLogInstance()
+          << counter_names.size() << " counters were requested. The maximum is "
+          << PerfCounterValues::kMaxCounters << " and " << valid_names.size()
+          << " were already added. All remaining counters will be ignored\n";
+      // stop the loop and return what we have already
+      break;
+    }
+
+    // Check if this name is empty
+    const auto& name = counter_names[i];
+    if (name.empty()) {
+      GetErrorLogInstance()
+          << "A performance counter name was the empty string\n";
+      continue;
+    }
+
+    // Here first means first in group, ie the group leader
+    const bool is_first = (group_id < 0);
+
+    // This struct will be populated by libpfm from the counter string
+    // and then fed into the syscall perf_event_open
+    struct perf_event_attr attr {};
+    attr.size = sizeof(attr);
+
+    // This is the input struct to libpfm.
+    pfm_perf_encode_arg_t arg{};
+    arg.attr = &attr;
+    const int pfm_get = pfm_get_os_event_encoding(name.c_str(), kCounterMode,
+                                                  PFM_OS_PERF_EVENT, &arg);
+    if (pfm_get != PFM_SUCCESS) {
+      GetErrorLogInstance()
+          << "Unknown performance counter name: " << name << "\n";
+      continue;
+    }
+
+    // We then proceed to populate the remaining fields in our attribute struct
+    // Note: the man page for perf_event_create suggests inherit = true and
+    // read_format = PERF_FORMAT_GROUP don't work together, but that's not the
+    // case.
+    attr.disabled = is_first;
+    attr.inherit = true;
+    attr.pinned = is_first;
+    attr.exclude_kernel = true;
+    attr.exclude_user = false;
+    attr.exclude_hv = true;
+
+    // Read all counters in a group in one read.
+    attr.read_format = PERF_FORMAT_GROUP;  //| PERF_FORMAT_TOTAL_TIME_ENABLED |
+                                           // PERF_FORMAT_TOTAL_TIME_RUNNING;
+
+    int id = -1;
+    while (id < 0) {
+      static constexpr size_t kNrOfSyscallRetries = 5;
+      // Retry syscall as it was interrupted often (b/64774091).
+      for (size_t num_retries = 0; num_retries < kNrOfSyscallRetries;
+           ++num_retries) {
+        id = perf_event_open(&attr, 0, -1, group_id, 0);
+        if (id >= 0 || errno != EINTR) {
+          break;
+        }
+      }
+      if (id < 0) {
+        // If the file descriptor is negative we might have reached a limit
+        // in the current group. Set the group_id to -1 and retry
+        if (group_id >= 0) {
+          // Create a new group
+          group_id = -1;
+        } else {
+          // At this point we have already retried to set a new group id and
+          // failed. We then give up.
+          break;
+        }
+      }
+    }
+
+    // We failed to get a new file descriptor. We might have reached a hard
+    // hardware limit that cannot be resolved even with group multiplexing
+    if (id < 0) {
+      GetErrorLogInstance() << "***WARNING** Failed to get a file descriptor "
+                               "for performance counter "
+                            << name << ". Ignoring\n";
+
+      // We give up on this counter but try to keep going
+      // as the others would be fine
+      continue;
+    }
+    if (group_id < 0) {
+      // This is a leader, store and assign it to the current file descriptor
+      leader_ids.push_back(id);
+      group_id = id;
+    }
+    // This is a valid counter, add it to our descriptor's list
+    counter_ids.push_back(id);
+    valid_names.push_back(name);
+  }
+
+  // Loop through all group leaders activating them
+  // There is another option of starting ALL counters in a process but
+  // that would be far reaching an intrusion. If the user is using PMCs
+  // by themselves then this would have a side effect on them. It is
+  // friendlier to loop through all groups individually.
+  for (int lead : leader_ids) {
+    if (ioctl(lead, PERF_EVENT_IOC_ENABLE) != 0) {
+      // This should never happen but if it does, we give up on the
+      // entire batch as recovery would be a mess.
+      GetErrorLogInstance() << "***WARNING*** Failed to start counters. "
+                               "Claring out all counters.\n";
+
+      // Close all performance counters
+      for (int id : counter_ids) {
+        ::close(id);
+      }
+
+      // Return an empty object so our internal state is still good and
+      // the process can continue normally without impact
+      return NoCounters();
+    }
+  }
+
+  return PerfCounters(std::move(valid_names), std::move(counter_ids),
+                      std::move(leader_ids));
+}
+
+void PerfCounters::CloseCounters() const {
+  if (counter_ids_.empty()) {
+    return;
+  }
+  for (int lead : leader_ids_) {
+    ioctl(lead, PERF_EVENT_IOC_DISABLE);
+  }
+  for (int fd : counter_ids_) {
+    close(fd);
+  }
+}
+#else   // defined HAVE_LIBPFM
+size_t PerfCounterValues::Read(const std::vector<int>&) { return 0; }
+
+const bool PerfCounters::kSupported = false;
+
+bool PerfCounters::Initialize() { return false; }
+
+bool PerfCounters::IsCounterSupported(const std::string&) { return false; }
+
+PerfCounters PerfCounters::Create(
+    const std::vector<std::string>& counter_names) {
+  if (!counter_names.empty()) {
+    GetErrorLogInstance() << "Performance counters not supported.\n";
+  }
+  return NoCounters();
+}
+
+void PerfCounters::CloseCounters() const {}
+#endif  // defined HAVE_LIBPFM
+
+PerfCountersMeasurement::PerfCountersMeasurement(
+    const std::vector<std::string>& counter_names)
+    : start_values_(counter_names.size()), end_values_(counter_names.size()) {
+  counters_ = PerfCounters::Create(counter_names);
+}
+
+PerfCounters& PerfCounters::operator=(PerfCounters&& other) noexcept {
+  if (this != &other) {
+    CloseCounters();
+
+    counter_ids_ = std::move(other.counter_ids_);
+    leader_ids_ = std::move(other.leader_ids_);
+    counter_names_ = std::move(other.counter_names_);
+  }
+  return *this;
+}
+}  // namespace internal
+}  // namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/perf_counters.h

@@ -0,0 +1,200 @@
+// Copyright 2021 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef BENCHMARK_PERF_COUNTERS_H
+#define BENCHMARK_PERF_COUNTERS_H
+
+#include <array>
+#include <cstdint>
+#include <cstring>
+#include <memory>
+#include <vector>
+
+#include "benchmark/benchmark.h"
+#include "check.h"
+#include "log.h"
+#include "mutex.h"
+
+#ifndef BENCHMARK_OS_WINDOWS
+#include <unistd.h>
+#endif
+
+#if defined(_MSC_VER)
+#pragma warning(push)
+// C4251: <symbol> needs to have dll-interface to be used by clients of class
+#pragma warning(disable : 4251)
+#endif
+
+namespace benchmark {
+namespace internal {
+
+// Typically, we can only read a small number of counters. There is also a
+// padding preceding counter values, when reading multiple counters with one
+// syscall (which is desirable). PerfCounterValues abstracts these details.
+// The implementation ensures the storage is inlined, and allows 0-based
+// indexing into the counter values.
+// The object is used in conjunction with a PerfCounters object, by passing it
+// to Snapshot(). The Read() method relocates individual reads, discarding
+// the initial padding from each group leader in the values buffer such that
+// all user accesses through the [] operator are correct.
+class BENCHMARK_EXPORT PerfCounterValues {
+ public:
+  explicit PerfCounterValues(size_t nr_counters) : nr_counters_(nr_counters) {
+    BM_CHECK_LE(nr_counters_, kMaxCounters);
+  }
+
+  // We are reading correctly now so the values don't need to skip padding
+  uint64_t operator[](size_t pos) const { return values_[pos]; }
+
+  // Increased the maximum to 32 only since the buffer
+  // is std::array<> backed
+  static constexpr size_t kMaxCounters = 32;
+
+ private:
+  friend class PerfCounters;
+  // Get the byte buffer in which perf counters can be captured.
+  // This is used by PerfCounters::Read
+  std::pair<char*, size_t> get_data_buffer() {
+    return {reinterpret_cast<char*>(values_.data()),
+            sizeof(uint64_t) * (kPadding + nr_counters_)};
+  }
+
+  // This reading is complex and as the goal of this class is to
+  // abstract away the intrincacies of the reading process, this is
+  // a better place for it
+  size_t Read(const std::vector<int>& leaders);
+
+  // Move the padding to 2 due to the reading algorithm (1st padding plus a
+  // current read padding)
+  static constexpr size_t kPadding = 2;
+  std::array<uint64_t, kPadding + kMaxCounters> values_;
+  const size_t nr_counters_;
+};
+
+// Collect PMU counters. The object, once constructed, is ready to be used by
+// calling read(). PMU counter collection is enabled from the time create() is
+// called, to obtain the object, until the object's destructor is called.
+class BENCHMARK_EXPORT PerfCounters final {
+ public:
+  // True iff this platform supports performance counters.
+  static const bool kSupported;
+
+  // Returns an empty object
+  static PerfCounters NoCounters() { return PerfCounters(); }
+
+  ~PerfCounters() { CloseCounters(); }
+  PerfCounters() = default;
+  PerfCounters(PerfCounters&&) = default;
+  PerfCounters(const PerfCounters&) = delete;
+  PerfCounters& operator=(PerfCounters&&) noexcept;
+  PerfCounters& operator=(const PerfCounters&) = delete;
+
+  // Platform-specific implementations may choose to do some library
+  // initialization here.
+  static bool Initialize();
+
+  // Check if the given counter is supported, if the app wants to
+  // check before passing
+  static bool IsCounterSupported(const std::string& name);
+
+  // Return a PerfCounters object ready to read the counters with the names
+  // specified. The values are user-mode only. The counter name format is
+  // implementation and OS specific.
+  // In case of failure, this method will in the worst case return an
+  // empty object whose state will still be valid.
+  static PerfCounters Create(const std::vector<std::string>& counter_names);
+
+  // Take a snapshot of the current value of the counters into the provided
+  // valid PerfCounterValues storage. The values are populated such that:
+  // names()[i]'s value is (*values)[i]
+  BENCHMARK_ALWAYS_INLINE bool Snapshot(PerfCounterValues* values) const {
+#ifndef BENCHMARK_OS_WINDOWS
+    assert(values != nullptr);
+    return values->Read(leader_ids_) == counter_ids_.size();
+#else
+    (void)values;
+    return false;
+#endif
+  }
+
+  const std::vector<std::string>& names() const { return counter_names_; }
+  size_t num_counters() const { return counter_names_.size(); }
+
+ private:
+  PerfCounters(const std::vector<std::string>& counter_names,
+               std::vector<int>&& counter_ids, std::vector<int>&& leader_ids)
+      : counter_ids_(std::move(counter_ids)),
+        leader_ids_(std::move(leader_ids)),
+        counter_names_(counter_names) {}
+
+  void CloseCounters() const;
+
+  std::vector<int> counter_ids_;
+  std::vector<int> leader_ids_;
+  std::vector<std::string> counter_names_;
+};
+
+// Typical usage of the above primitives.
+class BENCHMARK_EXPORT PerfCountersMeasurement final {
+ public:
+  PerfCountersMeasurement(const std::vector<std::string>& counter_names);
+
+  size_t num_counters() const { return counters_.num_counters(); }
+
+  std::vector<std::string> names() const { return counters_.names(); }
+
+  BENCHMARK_ALWAYS_INLINE bool Start() {
+    if (num_counters() == 0) return true;
+    // Tell the compiler to not move instructions above/below where we take
+    // the snapshot.
+    ClobberMemory();
+    valid_read_ &= counters_.Snapshot(&start_values_);
+    ClobberMemory();
+
+    return valid_read_;
+  }
+
+  BENCHMARK_ALWAYS_INLINE bool Stop(
+      std::vector<std::pair<std::string, double>>& measurements) {
+    if (num_counters() == 0) return true;
+    // Tell the compiler to not move instructions above/below where we take
+    // the snapshot.
+    ClobberMemory();
+    valid_read_ &= counters_.Snapshot(&end_values_);
+    ClobberMemory();
+
+    for (size_t i = 0; i < counters_.names().size(); ++i) {
+      double measurement = static_cast<double>(end_values_[i]) -
+                           static_cast<double>(start_values_[i]);
+      measurements.push_back({counters_.names()[i], measurement});
+    }
+
+    return valid_read_;
+  }
+
+ private:
+  PerfCounters counters_;
+  bool valid_read_ = true;
+  PerfCounterValues start_values_;
+  PerfCounterValues end_values_;
+};
+
+}  // namespace internal
+}  // namespace benchmark
+
+#if defined(_MSC_VER)
+#pragma warning(pop)
+#endif
+
+#endif  // BENCHMARK_PERF_COUNTERS_H

benchmark/src/main/native/thirdparty/benchmark/src/re.h

@@ -0,0 +1,156 @@
+// Copyright 2015 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef BENCHMARK_RE_H_
+#define BENCHMARK_RE_H_
+
+#include "internal_macros.h"
+
+// clang-format off
+
+#if !defined(HAVE_STD_REGEX) && \
+    !defined(HAVE_GNU_POSIX_REGEX) && \
+    !defined(HAVE_POSIX_REGEX)
+  // No explicit regex selection; detect based on builtin hints.
+  #if defined(BENCHMARK_OS_LINUX) || defined(BENCHMARK_OS_APPLE)
+    #define HAVE_POSIX_REGEX 1
+  #elif __cplusplus >= 199711L
+    #define HAVE_STD_REGEX 1
+  #endif
+#endif
+
+// Prefer C regex libraries when compiling w/o exceptions so that we can
+// correctly report errors.
+#if defined(BENCHMARK_HAS_NO_EXCEPTIONS) && \
+    defined(HAVE_STD_REGEX) && \
+    (defined(HAVE_GNU_POSIX_REGEX) || defined(HAVE_POSIX_REGEX))
+  #undef HAVE_STD_REGEX
+#endif
+
+#if defined(HAVE_STD_REGEX)
+  #include <regex>
+#elif defined(HAVE_GNU_POSIX_REGEX)
+  #include <gnuregex.h>
+#elif defined(HAVE_POSIX_REGEX)
+  #include <regex.h>
+#else
+#error No regular expression backend was found!
+#endif
+
+// clang-format on
+
+#include <string>
+
+#include "check.h"
+
+namespace benchmark {
+
+// A wrapper around the POSIX regular expression API that provides automatic
+// cleanup
+class Regex {
+ public:
+  Regex() : init_(false) {}
+
+  ~Regex();
+
+  // Compile a regular expression matcher from spec.  Returns true on success.
+  //
+  // On failure (and if error is not nullptr), error is populated with a human
+  // readable error message if an error occurs.
+  bool Init(const std::string& spec, std::string* error);
+
+  // Returns whether str matches the compiled regular expression.
+  bool Match(const std::string& str);
+
+ private:
+  bool init_;
+// Underlying regular expression object
+#if defined(HAVE_STD_REGEX)
+  std::regex re_;
+#elif defined(HAVE_POSIX_REGEX) || defined(HAVE_GNU_POSIX_REGEX)
+  regex_t re_;
+#else
+#error No regular expression backend implementation available
+#endif
+};
+
+#if defined(HAVE_STD_REGEX)
+
+inline bool Regex::Init(const std::string& spec, std::string* error) {
+#ifdef BENCHMARK_HAS_NO_EXCEPTIONS
+  ((void)error);  // suppress unused warning
+#else
+  try {
+#endif
+  re_ = std::regex(spec, std::regex_constants::extended);
+  init_ = true;
+#ifndef BENCHMARK_HAS_NO_EXCEPTIONS
+}
+catch (const std::regex_error& e) {
+  if (error) {
+    *error = e.what();
+  }
+}
+#endif
+return init_;
+}
+
+inline Regex::~Regex() {}
+
+inline bool Regex::Match(const std::string& str) {
+  if (!init_) {
+    return false;
+  }
+  return std::regex_search(str, re_);
+}
+
+#else
+inline bool Regex::Init(const std::string& spec, std::string* error) {
+  int ec = regcomp(&re_, spec.c_str(), REG_EXTENDED | REG_NOSUB);
+  if (ec != 0) {
+    if (error) {
+      size_t needed = regerror(ec, &re_, nullptr, 0);
+      std::vector<char> errbuf(needed);
+      regerror(ec, &re_, errbuf.data(), needed);
+
+      // regerror returns the number of bytes necessary to null terminate
+      // the string, so we move that when assigning to error.
+      BM_CHECK_NE(needed, 0);
+      error->assign(errbuf.data(), needed - 1);
+    }
+
+    return false;
+  }
+
+  init_ = true;
+  return true;
+}
+
+inline Regex::~Regex() {
+  if (init_) {
+    regfree(&re_);
+  }
+}
+
+inline bool Regex::Match(const std::string& str) {
+  if (!init_) {
+    return false;
+  }
+  return regexec(&re_, str.c_str(), 0, nullptr, 0) == 0;
+}
+#endif
+
+}  // end namespace benchmark
+
+#endif  // BENCHMARK_RE_H_

benchmark/src/main/native/thirdparty/benchmark/src/reporter.cpp

@@ -0,0 +1,133 @@
+// Copyright 2015 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <cstdlib>
+#include <iostream>
+#include <map>
+#include <string>
+#include <tuple>
+#include <vector>
+
+#include "benchmark/benchmark.h"
+#include "check.h"
+#include "string_util.h"
+#include "timers.h"
+
+namespace benchmark {
+
+BenchmarkReporter::BenchmarkReporter()
+    : output_stream_(&std::cout), error_stream_(&std::cerr) {}
+
+BenchmarkReporter::~BenchmarkReporter() {}
+
+void BenchmarkReporter::PrintBasicContext(std::ostream *out,
+                                          Context const &context) {
+  BM_CHECK(out) << "cannot be null";
+  auto &Out = *out;
+
+#ifndef BENCHMARK_OS_QURT
+  // Date/time information is not available on QuRT.
+  // Attempting to get it via this call cause the binary to crash.
+  Out << LocalDateTimeString() << "\n";
+#endif
+
+  if (benchmark::BenchmarkReporter::Context::executable_name != nullptr) {
+    Out << "Running " << benchmark::BenchmarkReporter::Context::executable_name
+        << "\n";
+  }
+
+  const CPUInfo &info = context.cpu_info;
+  Out << "Run on (" << info.num_cpus << " X "
+      << (info.cycles_per_second / 1000000.0) << " MHz CPU "
+      << ((info.num_cpus > 1) ? "s" : "") << ")\n";
+  if (!info.caches.empty()) {
+    Out << "CPU Caches:\n";
+    for (const auto &CInfo : info.caches) {
+      Out << "  L" << CInfo.level << " " << CInfo.type << " "
+          << (CInfo.size / 1024) << " KiB";
+      if (CInfo.num_sharing != 0) {
+        Out << " (x" << (info.num_cpus / CInfo.num_sharing) << ")";
+      }
+      Out << "\n";
+    }
+  }
+  if (!info.load_avg.empty()) {
+    Out << "Load Average: ";
+    for (auto It = info.load_avg.begin(); It != info.load_avg.end();) {
+      Out << StrFormat("%.2f", *It++);
+      if (It != info.load_avg.end()) {
+        Out << ", ";
+      }
+    }
+    Out << "\n";
+  }
+
+  std::map<std::string, std::string> *global_context =
+      internal::GetGlobalContext();
+
+  if (global_context != nullptr) {
+    for (const auto &kv : *global_context) {
+      Out << kv.first << ": " << kv.second << "\n";
+    }
+  }
+
+  if (CPUInfo::Scaling::ENABLED == info.scaling) {
+    Out << "***WARNING*** CPU scaling is enabled, the benchmark "
+           "real time measurements may be noisy and will incur extra "
+           "overhead.\n";
+  }
+
+  const SystemInfo &sysinfo = context.sys_info;
+  if (SystemInfo::ASLR::ENABLED == sysinfo.ASLRStatus) {
+    Out << "***WARNING*** ASLR is enabled, the results may have unreproducible "
+           "noise in them.\n";
+  }
+
+#ifndef NDEBUG
+  Out << "***WARNING*** Library was built as DEBUG. Timings may be "
+         "affected.\n";
+#endif
+}
+
+// No initializer because it's already initialized to NULL.
+const char *BenchmarkReporter::Context::executable_name;
+
+BenchmarkReporter::Context::Context()
+    : cpu_info(CPUInfo::Get()), sys_info(SystemInfo::Get()) {}
+
+std::string BenchmarkReporter::Run::benchmark_name() const {
+  std::string name = run_name.str();
+  if (run_type == RT_Aggregate) {
+    name += "_" + aggregate_name;
+  }
+  return name;
+}
+
+double BenchmarkReporter::Run::GetAdjustedRealTime() const {
+  double new_time = real_accumulated_time * GetTimeUnitMultiplier(time_unit);
+  if (iterations != 0) {
+    new_time /= static_cast<double>(iterations);
+  }
+  return new_time;
+}
+
+double BenchmarkReporter::Run::GetAdjustedCPUTime() const {
+  double new_time = cpu_accumulated_time * GetTimeUnitMultiplier(time_unit);
+  if (iterations != 0) {
+    new_time /= static_cast<double>(iterations);
+  }
+  return new_time;
+}
+
+}  // end namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/statistics.cpp

@@ -0,0 +1,232 @@
+// Copyright 2016 Ismael Jimenez Martinez. All rights reserved.
+// Copyright 2017 Roman Lebedev. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "statistics.h"
+
+#include <algorithm>
+#include <cmath>
+#include <numeric>
+#include <string>
+#include <vector>
+
+#include "benchmark/benchmark.h"
+#include "check.h"
+
+namespace benchmark {
+
+const auto StatisticsSum = [](const std::vector<double>& v) {
+  return std::accumulate(v.begin(), v.end(), 0.0);
+};
+
+double StatisticsMean(const std::vector<double>& v) {
+  if (v.empty()) {
+    return 0.0;
+  }
+  return StatisticsSum(v) * (1.0 / static_cast<double>(v.size()));
+}
+
+double StatisticsMedian(const std::vector<double>& v) {
+  if (v.size() < 3) {
+    return StatisticsMean(v);
+  }
+  std::vector<double> copy(v);
+
+  auto center = copy.begin() + v.size() / 2;
+  std::nth_element(copy.begin(), center, copy.end());
+
+  // Did we have an odd number of samples?  If yes, then center is the median.
+  // If not, then we are looking for the average between center and the value
+  // before.  Instead of resorting, we just look for the max value before it,
+  // which is not necessarily the element immediately preceding `center` Since
+  // `copy` is only partially sorted by `nth_element`.
+  if (v.size() % 2 == 1) {
+    return *center;
+  }
+  auto center2 = std::max_element(copy.begin(), center);
+  return (*center + *center2) / 2.0;
+}
+
+// Return the sum of the squares of this sample set
+const auto SumSquares = [](const std::vector<double>& v) {
+  return std::inner_product(v.begin(), v.end(), v.begin(), 0.0);
+};
+
+const auto Sqr = [](const double dat) { return dat * dat; };
+const auto Sqrt = [](const double dat) {
+  // Avoid NaN due to imprecision in the calculations
+  if (dat < 0.0) {
+    return 0.0;
+  }
+  return std::sqrt(dat);
+};
+
+double StatisticsStdDev(const std::vector<double>& v) {
+  const auto mean = StatisticsMean(v);
+  if (v.empty()) {
+    return mean;
+  }
+
+  // Sample standard deviation is undefined for n = 1
+  if (v.size() == 1) {
+    return 0.0;
+  }
+
+  const double avg_squares =
+      SumSquares(v) * (1.0 / static_cast<double>(v.size()));
+  return Sqrt(static_cast<double>(v.size()) /
+              (static_cast<double>(v.size()) - 1.0) *
+              (avg_squares - Sqr(mean)));
+}
+
+double StatisticsCV(const std::vector<double>& v) {
+  if (v.size() < 2) {
+    return 0.0;
+  }
+
+  const auto stddev = StatisticsStdDev(v);
+  const auto mean = StatisticsMean(v);
+
+  if (std::fpclassify(mean) == FP_ZERO) {
+    return 0.0;
+  }
+
+  return stddev / mean;
+}
+
+std::vector<BenchmarkReporter::Run> ComputeStats(
+    const std::vector<BenchmarkReporter::Run>& reports) {
+  typedef BenchmarkReporter::Run Run;
+  std::vector<Run> results;
+
+  auto error_count = std::count_if(reports.begin(), reports.end(),
+                                   [](Run const& run) { return run.skipped; });
+
+  if (reports.size() - static_cast<size_t>(error_count) < 2) {
+    // We don't report aggregated data if there was a single run.
+    return results;
+  }
+
+  // Accumulators.
+  std::vector<double> real_accumulated_time_stat;
+  std::vector<double> cpu_accumulated_time_stat;
+
+  real_accumulated_time_stat.reserve(reports.size());
+  cpu_accumulated_time_stat.reserve(reports.size());
+
+  // All repetitions should be run with the same number of iterations so we
+  // can take this information from the first benchmark.
+  const IterationCount run_iterations = reports.front().iterations;
+  // create stats for user counters
+  struct CounterStat {
+    Counter c;
+    std::vector<double> s;
+  };
+  std::map<std::string, CounterStat> counter_stats;
+  for (Run const& r : reports) {
+    for (auto const& cnt : r.counters) {
+      auto it = counter_stats.find(cnt.first);
+      if (it == counter_stats.end()) {
+        it = counter_stats
+                 .emplace(cnt.first,
+                          CounterStat{cnt.second, std::vector<double>{}})
+                 .first;
+        it->second.s.reserve(reports.size());
+      } else {
+        BM_CHECK_EQ(it->second.c.flags, cnt.second.flags);
+      }
+    }
+  }
+
+  // Populate the accumulators.
+  for (Run const& run : reports) {
+    BM_CHECK_EQ(reports[0].benchmark_name(), run.benchmark_name());
+    BM_CHECK_EQ(run_iterations, run.iterations);
+    if (run.skipped != 0u) {
+      continue;
+    }
+    real_accumulated_time_stat.emplace_back(run.real_accumulated_time);
+    cpu_accumulated_time_stat.emplace_back(run.cpu_accumulated_time);
+    // user counters
+    for (auto const& cnt : run.counters) {
+      auto it = counter_stats.find(cnt.first);
+      BM_CHECK_NE(it, counter_stats.end());
+      it->second.s.emplace_back(cnt.second);
+    }
+  }
+
+  // Only add label if it is same for all runs
+  std::string report_label = reports[0].report_label;
+  for (std::size_t i = 1; i < reports.size(); i++) {
+    if (reports[i].report_label != report_label) {
+      report_label = "";
+      break;
+    }
+  }
+
+  const double iteration_rescale_factor =
+      static_cast<double>(reports.size()) / static_cast<double>(run_iterations);
+
+  for (const auto& Stat : *reports[0].statistics) {
+    // Get the data from the accumulator to BenchmarkReporter::Run's.
+    Run data;
+    data.run_name = reports[0].run_name;
+    data.family_index = reports[0].family_index;
+    data.per_family_instance_index = reports[0].per_family_instance_index;
+    data.run_type = BenchmarkReporter::Run::RT_Aggregate;
+    data.threads = reports[0].threads;
+    data.repetitions = reports[0].repetitions;
+    data.repetition_index = Run::no_repetition_index;
+    data.aggregate_name = Stat.name_;
+    data.aggregate_unit = Stat.unit_;
+    data.report_label = report_label;
+
+    // It is incorrect to say that an aggregate is computed over
+    // run's iterations, because those iterations already got averaged.
+    // Similarly, if there are N repetitions with 1 iterations each,
+    // an aggregate will be computed over N measurements, not 1.
+    // Thus it is best to simply use the count of separate reports.
+    data.iterations = static_cast<IterationCount>(reports.size());
+
+    data.real_accumulated_time = Stat.compute_(real_accumulated_time_stat);
+    data.cpu_accumulated_time = Stat.compute_(cpu_accumulated_time_stat);
+
+    if (data.aggregate_unit == StatisticUnit::kTime) {
+      // We will divide these times by data.iterations when reporting, but the
+      // data.iterations is not necessarily the scale of these measurements,
+      // because in each repetition, these timers are sum over all the iters.
+      // And if we want to say that the stats are over N repetitions and not
+      // M iterations, we need to multiply these by (N/M).
+      data.real_accumulated_time *= iteration_rescale_factor;
+      data.cpu_accumulated_time *= iteration_rescale_factor;
+    }
+
+    data.time_unit = reports[0].time_unit;
+
+    // user counters
+    for (auto const& kv : counter_stats) {
+      // Do *NOT* rescale the custom counters. They are already properly scaled.
+      const auto uc_stat = Stat.compute_(kv.second.s);
+      auto c = Counter(uc_stat, counter_stats[kv.first].c.flags,
+                       counter_stats[kv.first].c.oneK);
+      data.counters[kv.first] = c;
+    }
+
+    results.push_back(data);
+  }
+
+  return results;
+}
+
+}  // end namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/statistics.h

@@ -0,0 +1,44 @@
+// Copyright 2016 Ismael Jimenez Martinez. All rights reserved.
+// Copyright 2017 Roman Lebedev. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef STATISTICS_H_
+#define STATISTICS_H_
+
+#include <vector>
+
+#include "benchmark/benchmark.h"
+
+namespace benchmark {
+
+// Return a vector containing the mean, median and standard deviation
+// information (and any user-specified info) for the specified list of reports.
+// If 'reports' contains less than two non-errored runs an empty vector is
+// returned
+BENCHMARK_EXPORT
+std::vector<BenchmarkReporter::Run> ComputeStats(
+    const std::vector<BenchmarkReporter::Run>& reports);
+
+BENCHMARK_EXPORT
+double StatisticsMean(const std::vector<double>& v);
+BENCHMARK_EXPORT
+double StatisticsMedian(const std::vector<double>& v);
+BENCHMARK_EXPORT
+double StatisticsStdDev(const std::vector<double>& v);
+BENCHMARK_EXPORT
+double StatisticsCV(const std::vector<double>& v);
+
+}  // end namespace benchmark
+
+#endif  // STATISTICS_H_

benchmark/src/main/native/thirdparty/benchmark/src/string_util.cpp

@@ -0,0 +1,277 @@
+#include "string_util.h"
+
+#include <array>
+#ifdef BENCHMARK_STL_ANDROID_GNUSTL
+#include <cerrno>
+#endif
+#include <cmath>
+#include <cstdarg>
+#include <cstdio>
+#include <memory>
+#include <sstream>
+
+#include "arraysize.h"
+#include "benchmark/benchmark.h"
+
+namespace benchmark {
+namespace {
+// kilo, Mega, Giga, Tera, Peta, Exa, Zetta, Yotta.
+const char* const kBigSIUnits[] = {"k", "M", "G", "T", "P", "E", "Z", "Y"};
+// Kibi, Mebi, Gibi, Tebi, Pebi, Exbi, Zebi, Yobi.
+const char* const kBigIECUnits[] = {"Ki", "Mi", "Gi", "Ti",
+                                    "Pi", "Ei", "Zi", "Yi"};
+// milli, micro, nano, pico, femto, atto, zepto, yocto.
+const char* const kSmallSIUnits[] = {"m", "u", "n", "p", "f", "a", "z", "y"};
+
+// We require that all three arrays have the same size.
+static_assert(arraysize(kBigSIUnits) == arraysize(kBigIECUnits),
+              "SI and IEC unit arrays must be the same size");
+static_assert(arraysize(kSmallSIUnits) == arraysize(kBigSIUnits),
+              "Small SI and Big SI unit arrays must be the same size");
+
+const int64_t kUnitsSize = arraysize(kBigSIUnits);
+
+void ToExponentAndMantissa(double val, int precision, double one_k,
+                           std::string* mantissa, int64_t* exponent) {
+  std::stringstream mantissa_stream;
+
+  if (val < 0) {
+    mantissa_stream << "-";
+    val = -val;
+  }
+
+  // Adjust threshold so that it never excludes things which can't be rendered
+  // in 'precision' digits.
+  const double adjusted_threshold =
+      std::max(1.0, 1.0 / std::pow(10.0, precision));
+  const double big_threshold = (adjusted_threshold * one_k) - 1;
+  const double small_threshold = adjusted_threshold;
+  // Values in ]simple_threshold,small_threshold[ will be printed as-is
+  const double simple_threshold = 0.01;
+
+  if (val > big_threshold) {
+    // Positive powers
+    double scaled = val;
+    for (size_t i = 0; i < arraysize(kBigSIUnits); ++i) {
+      scaled /= one_k;
+      if (scaled <= big_threshold) {
+        mantissa_stream << scaled;
+        *exponent = static_cast<int64_t>(i + 1);
+        *mantissa = mantissa_stream.str();
+        return;
+      }
+    }
+    mantissa_stream << val;
+    *exponent = 0;
+  } else if (val < small_threshold) {
+    // Negative powers
+    if (val < simple_threshold) {
+      double scaled = val;
+      for (size_t i = 0; i < arraysize(kSmallSIUnits); ++i) {
+        scaled *= one_k;
+        if (scaled >= small_threshold) {
+          mantissa_stream << scaled;
+          *exponent = -static_cast<int64_t>(i + 1);
+          *mantissa = mantissa_stream.str();
+          return;
+        }
+      }
+    }
+    mantissa_stream << val;
+    *exponent = 0;
+  } else {
+    mantissa_stream << val;
+    *exponent = 0;
+  }
+  *mantissa = mantissa_stream.str();
+}
+
+std::string ExponentToPrefix(int64_t exponent, bool iec) {
+  if (exponent == 0) {
+    return {};
+  }
+
+  const int64_t index = (exponent > 0 ? exponent - 1 : -exponent - 1);
+  if (index >= kUnitsSize) {
+    return {};
+  }
+
+  const char* const* array =
+      (exponent > 0 ? (iec ? kBigIECUnits : kBigSIUnits) : kSmallSIUnits);
+
+  return std::string(array[index]);
+}
+
+std::string ToBinaryStringFullySpecified(double value, int precision,
+                                         Counter::OneK one_k) {
+  std::string mantissa;
+  int64_t exponent = 0;
+  ToExponentAndMantissa(value, precision,
+                        one_k == Counter::kIs1024 ? 1024.0 : 1000.0, &mantissa,
+                        &exponent);
+  return mantissa + ExponentToPrefix(exponent, one_k == Counter::kIs1024);
+}
+
+std::string StrFormatImp(const char* msg, va_list args) {
+  // we might need a second shot at this, so pre-emptivly make a copy
+  va_list args_cp;
+  va_copy(args_cp, args);
+
+  // TODO(ericwf): use std::array for first attempt to avoid one memory
+  // allocation guess what the size might be
+  std::array<char, 256> local_buff = {};
+
+  // 2015-10-08: vsnprintf is used instead of snd::vsnprintf due to a limitation
+  // in the android-ndk
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wformat-nonliteral"
+#endif  // __GNUC__
+  auto ret = vsnprintf(local_buff.data(), local_buff.size(), msg, args_cp);
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif  // __GNUC__
+
+  va_end(args_cp);
+
+  // handle empty expansion
+  if (ret == 0) {
+    return {};
+  }
+  if (static_cast<std::size_t>(ret) < local_buff.size()) {
+    return std::string(local_buff.data());
+  }
+
+  // we did not provide a long enough buffer on our first attempt.
+  // add 1 to size to account for null-byte in size cast to prevent overflow
+  std::size_t size = static_cast<std::size_t>(ret) + 1;
+  auto buff_ptr = std::unique_ptr<char[]>(new char[size]);
+  // 2015-10-08: vsnprintf is used instead of snd::vsnprintf due to a limitation
+  // in the android-ndk
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wformat-nonliteral"
+#endif  // __GNUC__
+  vsnprintf(buff_ptr.get(), size, msg, args);
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif  // __GNUC__
+  return std::string(buff_ptr.get());
+}
+
+}  // end namespace
+
+std::string HumanReadableNumber(double n, Counter::OneK one_k) {
+  return ToBinaryStringFullySpecified(n, 1, one_k);
+}
+
+std::string StrFormat(const char* format, ...) {
+  va_list args;
+  va_start(args, format);
+  std::string tmp = StrFormatImp(format, args);
+  va_end(args);
+  return tmp;
+}
+
+std::vector<std::string> StrSplit(const std::string& str, char delim) {
+  if (str.empty()) {
+    return {};
+  }
+  std::vector<std::string> ret;
+  size_t first = 0;
+  size_t next = str.find(delim);
+  for (; next != std::string::npos;
+       first = next + 1, next = str.find(delim, first)) {
+    ret.push_back(str.substr(first, next - first));
+  }
+  ret.push_back(str.substr(first));
+  return ret;
+}
+
+#ifdef BENCHMARK_STL_ANDROID_GNUSTL
+/*
+ * GNU STL in Android NDK lacks support for some C++11 functions, including
+ * stoul, stoi, stod. We reimplement them here using C functions strtoul,
+ * strtol, strtod. Note that reimplemented functions are in benchmark::
+ * namespace, not std:: namespace.
+ */
+unsigned long stoul(const std::string& str, size_t* pos, int base) {
+  /* Record previous errno */
+  const int oldErrno = errno;
+  errno = 0;
+
+  const char* strStart = str.c_str();
+  char* strEnd = const_cast<char*>(strStart);
+  const unsigned long result = strtoul(strStart, &strEnd, base);
+
+  const int strtoulErrno = errno;
+  /* Restore previous errno */
+  errno = oldErrno;
+
+  /* Check for errors and return */
+  if (strtoulErrno == ERANGE) {
+    throw std::out_of_range("stoul failed: " + str +
+                            " is outside of range of unsigned long");
+  } else if (strEnd == strStart || strtoulErrno != 0) {
+    throw std::invalid_argument("stoul failed: " + str + " is not an integer");
+  }
+  if (pos != nullptr) {
+    *pos = static_cast<size_t>(strEnd - strStart);
+  }
+  return result;
+}
+
+int stoi(const std::string& str, size_t* pos, int base) {
+  /* Record previous errno */
+  const int oldErrno = errno;
+  errno = 0;
+
+  const char* strStart = str.c_str();
+  char* strEnd = const_cast<char*>(strStart);
+  const long result = strtol(strStart, &strEnd, base);
+
+  const int strtolErrno = errno;
+  /* Restore previous errno */
+  errno = oldErrno;
+
+  /* Check for errors and return */
+  if (strtolErrno == ERANGE || long(int(result)) != result) {
+    throw std::out_of_range("stoul failed: " + str +
+                            " is outside of range of int");
+  } else if (strEnd == strStart || strtolErrno != 0) {
+    throw std::invalid_argument("stoul failed: " + str + " is not an integer");
+  }
+  if (pos != nullptr) {
+    *pos = static_cast<size_t>(strEnd - strStart);
+  }
+  return int(result);
+}
+
+double stod(const std::string& str, size_t* pos) {
+  /* Record previous errno */
+  const int oldErrno = errno;
+  errno = 0;
+
+  const char* strStart = str.c_str();
+  char* strEnd = const_cast<char*>(strStart);
+  const double result = strtod(strStart, &strEnd);
+
+  /* Restore previous errno */
+  const int strtodErrno = errno;
+  errno = oldErrno;
+
+  /* Check for errors and return */
+  if (strtodErrno == ERANGE) {
+    throw std::out_of_range("stoul failed: " + str +
+                            " is outside of range of int");
+  } else if (strEnd == strStart || strtodErrno != 0) {
+    throw std::invalid_argument("stoul failed: " + str + " is not an integer");
+  }
+  if (pos != nullptr) {
+    *pos = static_cast<size_t>(strEnd - strStart);
+  }
+  return result;
+}
+#endif
+
+}  // end namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/string_util.h

@@ -0,0 +1,69 @@
+#ifndef BENCHMARK_STRING_UTIL_H_
+#define BENCHMARK_STRING_UTIL_H_
+
+#include <sstream>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "benchmark/benchmark.h"
+#include "benchmark/export.h"
+#include "check.h"
+
+namespace benchmark {
+
+BENCHMARK_EXPORT
+std::string HumanReadableNumber(double n, Counter::OneK one_k);
+
+BENCHMARK_EXPORT
+#if defined(__MINGW32__)
+__attribute__((format(__MINGW_PRINTF_FORMAT, 1, 2)))
+#elif defined(__GNUC__)
+__attribute__((format(printf, 1, 2)))
+#endif
+std::string
+StrFormat(const char* format, ...);
+
+inline std::ostream& StrCatImp(std::ostream& out) BENCHMARK_NOEXCEPT {
+  return out;
+}
+
+template <class First, class... Rest>
+inline std::ostream& StrCatImp(std::ostream& out, First&& f, Rest&&... rest) {
+  out << std::forward<First>(f);
+  return StrCatImp(out, std::forward<Rest>(rest)...);
+}
+
+template <class... Args>
+inline std::string StrCat(Args&&... args) {
+  std::ostringstream ss;
+  StrCatImp(ss, std::forward<Args>(args)...);
+  return ss.str();
+}
+
+BENCHMARK_EXPORT
+std::vector<std::string> StrSplit(const std::string& str, char delim);
+
+// Disable lint checking for this block since it re-implements C functions.
+// NOLINTBEGIN
+#ifdef BENCHMARK_STL_ANDROID_GNUSTL
+/*
+ * GNU STL in Android NDK lacks support for some C++11 functions, including
+ * stoul, stoi, stod. We reimplement them here using C functions strtoul,
+ * strtol, strtod. Note that reimplemented functions are in benchmark::
+ * namespace, not std:: namespace.
+ */
+unsigned long stoul(const std::string& str, size_t* pos = nullptr,
+                    int base = 10);
+int stoi(const std::string& str, size_t* pos = nullptr, int base = 10);
+double stod(const std::string& str, size_t* pos = nullptr);
+#else
+using std::stod;   // NOLINT(misc-unused-using-decls)
+using std::stoi;   // NOLINT(misc-unused-using-decls)
+using std::stoul;  // NOLINT(misc-unused-using-decls)
+#endif
+// NOLINTEND
+
+}  // end namespace benchmark
+
+#endif  // BENCHMARK_STRING_UTIL_H_

benchmark/src/main/native/thirdparty/benchmark/src/sysinfo.cpp

@@ -0,0 +1,902 @@
+// Copyright 2015 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "internal_macros.h"
+
+#ifdef BENCHMARK_OS_WINDOWS
+#if !defined(WINVER) || WINVER < 0x0600
+#undef WINVER
+#define WINVER 0x0600
+#endif  // WINVER handling
+#include <shlwapi.h>
+#undef StrCat  // Don't let StrCat in string_util.h be renamed to lstrcatA
+#include <versionhelpers.h>
+#include <windows.h>
+
+#include <codecvt>
+#else
+#include <fcntl.h>
+#if !defined(BENCHMARK_OS_FUCHSIA) && !defined(BENCHMARK_OS_QURT)
+#include <sys/resource.h>
+#endif
+#include <sys/time.h>
+#include <sys/types.h>  // this header must be included before 'sys/sysctl.h' to avoid compilation error on FreeBSD
+#include <unistd.h>
+#if defined BENCHMARK_OS_FREEBSD || defined BENCHMARK_OS_MACOSX || \
+    defined BENCHMARK_OS_NETBSD || defined BENCHMARK_OS_OPENBSD || \
+    defined BENCHMARK_OS_DRAGONFLY
+#define BENCHMARK_HAS_SYSCTL
+#include <sys/sysctl.h>
+#endif
+#endif
+#if defined(BENCHMARK_OS_SOLARIS)
+#include <kstat.h>
+#include <netdb.h>
+#endif
+#if defined(BENCHMARK_OS_QNX)
+#include <sys/syspage.h>
+#endif
+#if defined(BENCHMARK_OS_QURT)
+#include <qurt.h>
+#endif
+#if defined(BENCHMARK_HAS_PTHREAD_AFFINITY)
+#include <pthread.h>
+#endif
+
+#if defined(BENCHMARK_OS_LINUX)
+#include <sys/personality.h>
+#endif
+
+#include <algorithm>
+#include <array>
+#include <bitset>
+#include <cerrno>
+#include <climits>
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <fstream>
+#include <iostream>
+#include <iterator>
+#include <limits>
+#include <locale>
+#include <memory>
+#include <random>
+#include <sstream>
+#include <utility>
+
+#include "benchmark/benchmark.h"
+#include "check.h"
+#include "cycleclock.h"
+#include "log.h"
+#include "string_util.h"
+#include "timers.h"
+
+namespace benchmark {
+namespace {
+
+void PrintImp(std::ostream& out) { out << '\n'; }
+
+template <class First, class... Rest>
+void PrintImp(std::ostream& out, First&& f, Rest&&... rest) {
+  out << std::forward<First>(f);
+  PrintImp(out, std::forward<Rest>(rest)...);
+}
+
+template <class... Args>
+BENCHMARK_NORETURN void PrintErrorAndDie(Args&&... args) {
+  PrintImp(std::cerr, std::forward<Args>(args)...);
+  std::cerr << std::flush;
+  std::exit(EXIT_FAILURE);
+}
+
+#ifdef BENCHMARK_HAS_SYSCTL
+
+/// ValueUnion - A type used to correctly alias the byte-for-byte output of
+/// `sysctl` with the result type it's to be interpreted as.
+struct ValueUnion {
+  union DataT {
+    int32_t int32_value;
+    int64_t int64_value;
+    // For correct aliasing of union members from bytes.
+    char bytes[8];
+  };
+  using DataPtr = std::unique_ptr<DataT, decltype(&std::free)>;
+
+  // The size of the data union member + its trailing array size.
+  std::size_t size;
+  DataPtr buff;
+
+ public:
+  ValueUnion() : size(0), buff(nullptr, &std::free) {}
+
+  explicit ValueUnion(std::size_t buff_size)
+      : size(sizeof(DataT) + buff_size),
+        buff(::new(std::malloc(size)) DataT(), &std::free) {}
+
+  ValueUnion(ValueUnion&& other) = default;
+
+  explicit operator bool() const { return bool(buff); }
+
+  char* data() const { return buff->bytes; }
+
+  std::string GetAsString() const { return std::string(data()); }
+
+  int64_t GetAsInteger() const {
+    if (size == sizeof(buff->int32_value))
+      return buff->int32_value;
+    else if (size == sizeof(buff->int64_value))
+      return buff->int64_value;
+    BENCHMARK_UNREACHABLE();
+  }
+
+  template <class T, int N>
+  std::array<T, N> GetAsArray() {
+    const int arr_size = sizeof(T) * N;
+    BM_CHECK_LE(arr_size, size);
+    std::array<T, N> arr;
+    std::memcpy(arr.data(), data(), arr_size);
+    return arr;
+  }
+};
+
+ValueUnion GetSysctlImp(std::string const& name) {
+#if defined BENCHMARK_OS_OPENBSD
+  int mib[2];
+
+  mib[0] = CTL_HW;
+  if ((name == "hw.ncpuonline") || (name == "hw.cpuspeed")) {
+    ValueUnion buff(sizeof(int));
+
+    if (name == "hw.ncpuonline") {
+      mib[1] = HW_NCPUONLINE;
+    } else {
+      mib[1] = HW_CPUSPEED;
+    }
+
+    if (sysctl(mib, 2, buff.data(), &buff.size, nullptr, 0) == -1) {
+      return ValueUnion();
+    }
+    return buff;
+  }
+  return ValueUnion();
+#else
+  std::size_t cur_buff_size = 0;
+  if (sysctlbyname(name.c_str(), nullptr, &cur_buff_size, nullptr, 0) == -1)
+    return ValueUnion();
+
+  ValueUnion buff(cur_buff_size);
+  if (sysctlbyname(name.c_str(), buff.data(), &buff.size, nullptr, 0) == 0)
+    return buff;
+  return ValueUnion();
+#endif
+}
+
+BENCHMARK_MAYBE_UNUSED
+bool GetSysctl(std::string const& name, std::string* out) {
+  out->clear();
+  auto buff = GetSysctlImp(name);
+  if (!buff) return false;
+  out->assign(buff.data());
+  return true;
+}
+
+template <class Tp,
+          class = typename std::enable_if<std::is_integral<Tp>::value>::type>
+bool GetSysctl(std::string const& name, Tp* out) {
+  *out = 0;
+  auto buff = GetSysctlImp(name);
+  if (!buff) return false;
+  *out = static_cast<Tp>(buff.GetAsInteger());
+  return true;
+}
+
+template <class Tp, size_t N>
+bool GetSysctl(std::string const& name, std::array<Tp, N>* out) {
+  auto buff = GetSysctlImp(name);
+  if (!buff) return false;
+  *out = buff.GetAsArray<Tp, N>();
+  return true;
+}
+#endif
+
+template <class ArgT>
+bool ReadFromFile(std::string const& fname, ArgT* arg) {
+  *arg = ArgT();
+  std::ifstream f(fname.c_str());
+  if (!f.is_open()) {
+    return false;
+  }
+  f >> *arg;
+  return f.good();
+}
+
+CPUInfo::Scaling CpuScaling(int num_cpus) {
+  // We don't have a valid CPU count, so don't even bother.
+  if (num_cpus <= 0) {
+    return CPUInfo::Scaling::UNKNOWN;
+  }
+#if defined(BENCHMARK_OS_QNX)
+  return CPUInfo::Scaling::UNKNOWN;
+#elif !defined(BENCHMARK_OS_WINDOWS)
+  // On Linux, the CPUfreq subsystem exposes CPU information as files on the
+  // local file system. If reading the exported files fails, then we may not be
+  // running on Linux, so we silently ignore all the read errors.
+  std::string res;
+  for (int cpu = 0; cpu < num_cpus; ++cpu) {
+    std::string governor_file =
+        StrCat("/sys/devices/system/cpu/cpu", cpu, "/cpufreq/scaling_governor");
+    if (ReadFromFile(governor_file, &res) && res != "performance") {
+      return CPUInfo::Scaling::ENABLED;
+    }
+  }
+  return CPUInfo::Scaling::DISABLED;
+#else
+  return CPUInfo::Scaling::UNKNOWN;
+#endif
+}
+
+int CountSetBitsInCPUMap(std::string val) {
+  auto CountBits = [](std::string part) {
+    using CPUMask = std::bitset<sizeof(std::uintptr_t) * CHAR_BIT>;
+    part = "0x" + part;
+    CPUMask mask(benchmark::stoul(part, nullptr, 16));
+    return static_cast<int>(mask.count());
+  };
+  std::size_t pos = 0;
+  int total = 0;
+  while ((pos = val.find(',')) != std::string::npos) {
+    total += CountBits(val.substr(0, pos));
+    val = val.substr(pos + 1);
+  }
+  if (!val.empty()) {
+    total += CountBits(val);
+  }
+  return total;
+}
+
+BENCHMARK_MAYBE_UNUSED
+std::vector<CPUInfo::CacheInfo> GetCacheSizesFromKVFS() {
+  std::vector<CPUInfo::CacheInfo> res;
+  std::string dir = "/sys/devices/system/cpu/cpu0/cache/";
+  int idx = 0;
+  while (true) {
+    CPUInfo::CacheInfo info;
+    std::string fpath = StrCat(dir, "index", idx++, "/");
+    std::ifstream f(StrCat(fpath, "size").c_str());
+    if (!f.is_open()) {
+      break;
+    }
+    std::string suffix;
+    f >> info.size;
+    if (f.fail()) {
+      PrintErrorAndDie("Failed while reading file '", fpath, "size'");
+    }
+    if (f.good()) {
+      f >> suffix;
+      if (f.bad()) {
+        PrintErrorAndDie(
+            "Invalid cache size format: failed to read size suffix");
+      } else if (f && suffix != "K") {
+        PrintErrorAndDie("Invalid cache size format: Expected bytes ", suffix);
+      } else if (suffix == "K") {
+        info.size *= 1024;
+      }
+    }
+    if (!ReadFromFile(StrCat(fpath, "type"), &info.type)) {
+      PrintErrorAndDie("Failed to read from file ", fpath, "type");
+    }
+    if (!ReadFromFile(StrCat(fpath, "level"), &info.level)) {
+      PrintErrorAndDie("Failed to read from file ", fpath, "level");
+    }
+    std::string map_str;
+    if (!ReadFromFile(StrCat(fpath, "shared_cpu_map"), &map_str)) {
+      PrintErrorAndDie("Failed to read from file ", fpath, "shared_cpu_map");
+    }
+    info.num_sharing = CountSetBitsInCPUMap(map_str);
+    res.push_back(info);
+  }
+
+  return res;
+}
+
+#ifdef BENCHMARK_OS_MACOSX
+std::vector<CPUInfo::CacheInfo> GetCacheSizesMacOSX() {
+  std::vector<CPUInfo::CacheInfo> res;
+  std::array<int, 4> cache_counts{{0, 0, 0, 0}};
+  GetSysctl("hw.cacheconfig", &cache_counts);
+
+  struct {
+    std::string name;
+    std::string type;
+    int level;
+    int num_sharing;
+  } cases[] = {{"hw.l1dcachesize", "Data", 1, cache_counts[1]},
+               {"hw.l1icachesize", "Instruction", 1, cache_counts[1]},
+               {"hw.l2cachesize", "Unified", 2, cache_counts[2]},
+               {"hw.l3cachesize", "Unified", 3, cache_counts[3]}};
+  for (auto& c : cases) {
+    int val;
+    if (!GetSysctl(c.name, &val)) continue;
+    CPUInfo::CacheInfo info;
+    info.type = c.type;
+    info.level = c.level;
+    info.size = val;
+    info.num_sharing = c.num_sharing;
+    res.push_back(std::move(info));
+  }
+  return res;
+}
+#elif defined(BENCHMARK_OS_WINDOWS)
+std::vector<CPUInfo::CacheInfo> GetCacheSizesWindows() {
+  std::vector<CPUInfo::CacheInfo> res;
+  DWORD buffer_size = 0;
+  using PInfo = SYSTEM_LOGICAL_PROCESSOR_INFORMATION;
+  using CInfo = CACHE_DESCRIPTOR;
+
+  using UPtr = std::unique_ptr<PInfo, decltype(&std::free)>;
+  GetLogicalProcessorInformation(nullptr, &buffer_size);
+  UPtr buff(static_cast<PInfo*>(std::malloc(buffer_size)), &std::free);
+  if (!GetLogicalProcessorInformation(buff.get(), &buffer_size)) {
+    PrintErrorAndDie("Failed during call to GetLogicalProcessorInformation: ",
+                     GetLastError());
+  }
+
+  PInfo* it = buff.get();
+  PInfo* end = buff.get() + (buffer_size / sizeof(PInfo));
+
+  for (; it != end; ++it) {
+    if (it->Relationship != RelationCache) {
+      continue;
+    }
+    using BitSet = std::bitset<sizeof(ULONG_PTR) * CHAR_BIT>;
+    BitSet b(it->ProcessorMask);
+    // To prevent duplicates, only consider caches where CPU 0 is specified
+    if (!b.test(0)) continue;
+    const CInfo& cache = it->Cache;
+    CPUInfo::CacheInfo C;
+    C.num_sharing = static_cast<int>(b.count());
+    C.level = cache.Level;
+    C.size = static_cast<int>(cache.Size);
+    C.type = "Unknown";
+    switch (cache.Type) {
+// Windows SDK version >= 10.0.26100.0
+#ifdef NTDDI_WIN11_GE
+      case CacheUnknown:
+        break;
+#endif
+      case CacheUnified:
+        C.type = "Unified";
+        break;
+      case CacheInstruction:
+        C.type = "Instruction";
+        break;
+      case CacheData:
+        C.type = "Data";
+        break;
+      case CacheTrace:
+        C.type = "Trace";
+        break;
+    }
+    res.push_back(C);
+  }
+  return res;
+}
+#elif BENCHMARK_OS_QNX
+std::vector<CPUInfo::CacheInfo> GetCacheSizesQNX() {
+  std::vector<CPUInfo::CacheInfo> res;
+  struct cacheattr_entry* cache = SYSPAGE_ENTRY(cacheattr);
+  uint32_t const elsize = SYSPAGE_ELEMENT_SIZE(cacheattr);
+  int num = SYSPAGE_ENTRY_SIZE(cacheattr) / elsize;
+  for (int i = 0; i < num; ++i) {
+    CPUInfo::CacheInfo info;
+    switch (cache->flags) {
+      case CACHE_FLAG_INSTR:
+        info.type = "Instruction";
+        info.level = 1;
+        break;
+      case CACHE_FLAG_DATA:
+        info.type = "Data";
+        info.level = 1;
+        break;
+      case CACHE_FLAG_UNIFIED:
+        info.type = "Unified";
+        info.level = 2;
+        break;
+      case CACHE_FLAG_SHARED:
+        info.type = "Shared";
+        info.level = 3;
+        break;
+      default:
+        continue;
+        break;
+    }
+    info.size = cache->line_size * cache->num_lines;
+    info.num_sharing = 0;
+    res.push_back(std::move(info));
+    cache = SYSPAGE_ARRAY_ADJ_OFFSET(cacheattr, cache, elsize);
+  }
+  return res;
+}
+#endif
+
+std::vector<CPUInfo::CacheInfo> GetCacheSizes() {
+#ifdef BENCHMARK_OS_MACOSX
+  return GetCacheSizesMacOSX();
+#elif defined(BENCHMARK_OS_WINDOWS)
+  return GetCacheSizesWindows();
+#elif defined(BENCHMARK_OS_QNX)
+  return GetCacheSizesQNX();
+#elif defined(BENCHMARK_OS_QURT) || defined(__EMSCRIPTEN__)
+  return std::vector<CPUInfo::CacheInfo>();
+#elif defined(__FRC_ROBORIO__)
+  return std::vector<CPUInfo::CacheInfo>();
+#else
+  return GetCacheSizesFromKVFS();
+#endif
+}
+
+std::string GetSystemName() {
+#if defined(BENCHMARK_OS_WINDOWS)
+  std::string str;
+  static constexpr int COUNT = MAX_COMPUTERNAME_LENGTH + 1;
+  TCHAR hostname[COUNT] = {'\0'};
+  DWORD DWCOUNT = COUNT;
+  if (!GetComputerName(hostname, &DWCOUNT)) return std::string("");
+#ifndef UNICODE
+  str = std::string(hostname, DWCOUNT);
+#else
+  // `WideCharToMultiByte` returns `0` when conversion fails.
+  int len = WideCharToMultiByte(CP_UTF8, WC_ERR_INVALID_CHARS, hostname,
+                                DWCOUNT, NULL, 0, NULL, NULL);
+  str.resize(len);
+  WideCharToMultiByte(CP_UTF8, WC_ERR_INVALID_CHARS, hostname, DWCOUNT, &str[0],
+                      str.size(), NULL, NULL);
+#endif
+  return str;
+#elif defined(BENCHMARK_OS_QURT)
+  std::string str = "Hexagon DSP";
+  qurt_arch_version_t arch_version_struct;
+  if (qurt_sysenv_get_arch_version(&arch_version_struct) == QURT_EOK) {
+    str += " v";
+    str += std::to_string(arch_version_struct.arch_version);
+  }
+  return str;
+#else
+#ifndef HOST_NAME_MAX
+#ifdef BENCHMARK_HAS_SYSCTL  // BSD/Mac doesn't have HOST_NAME_MAX defined
+#define HOST_NAME_MAX 64
+#elif defined(BENCHMARK_OS_NACL)
+#define HOST_NAME_MAX 64
+#elif defined(BENCHMARK_OS_QNX)
+#define HOST_NAME_MAX 154
+#elif defined(BENCHMARK_OS_RTEMS)
+#define HOST_NAME_MAX 256
+#elif defined(BENCHMARK_OS_SOLARIS)
+#define HOST_NAME_MAX MAXHOSTNAMELEN
+#elif defined(BENCHMARK_OS_ZOS)
+#define HOST_NAME_MAX _POSIX_HOST_NAME_MAX
+#else
+#pragma message("HOST_NAME_MAX not defined. using 64")
+#define HOST_NAME_MAX 64
+#endif
+#endif  // def HOST_NAME_MAX
+  char hostname[HOST_NAME_MAX];
+  int retVal = gethostname(hostname, HOST_NAME_MAX);
+  return retVal != 0 ? std::string() : std::string(hostname);
+#endif  // Catch-all POSIX block.
+}
+
+SystemInfo::ASLR GetASLR() {
+#ifdef BENCHMARK_OS_LINUX
+  const auto curr_personality = personality(0xffffffff);
+  return (curr_personality & ADDR_NO_RANDOMIZE) ? SystemInfo::ASLR::DISABLED
+                                                : SystemInfo::ASLR::ENABLED;
+#else
+  // FIXME: support detecting ASLR on other OS.
+  return SystemInfo::ASLR::UNKNOWN;
+#endif
+}
+
+int GetNumCPUsImpl() {
+#ifdef BENCHMARK_OS_WINDOWS
+  SYSTEM_INFO sysinfo;
+  // Use memset as opposed to = {} to avoid GCC missing initializer false
+  // positives.
+  std::memset(&sysinfo, 0, sizeof(SYSTEM_INFO));
+  GetSystemInfo(&sysinfo);
+  // number of logical processors in the current group
+  return static_cast<int>(sysinfo.dwNumberOfProcessors);
+#elif defined(BENCHMARK_OS_QNX)
+  return static_cast<int>(_syspage_ptr->num_cpu);
+#elif defined(BENCHMARK_OS_QURT)
+  qurt_sysenv_max_hthreads_t hardware_threads;
+  if (qurt_sysenv_get_max_hw_threads(&hardware_threads) != QURT_EOK) {
+    hardware_threads.max_hthreads = 1;
+  }
+  return static_cast<int>(hardware_threads.max_hthreads);
+#elif defined(BENCHMARK_HAS_SYSCTL)
+  // *BSD, macOS
+  int num_cpu = -1;
+  constexpr auto* hwncpu =
+#if defined BENCHMARK_OS_MACOSX
+      "hw.logicalcpu";
+#elif defined(HW_NCPUONLINE)
+      "hw.ncpuonline";
+#else
+      "hw.ncpu";
+#endif
+  if (GetSysctl(hwncpu, &num_cpu)) return num_cpu;
+  PrintErrorAndDie("Err: ", strerror(errno));
+#elif defined(_SC_NPROCESSORS_ONLN)
+  // Linux, Solaris, AIX, Haiku, WASM, etc.
+  // Returns -1 in case of a failure.
+  int num_cpu = static_cast<int>(sysconf(_SC_NPROCESSORS_ONLN));
+  if (num_cpu < 0) {
+    PrintErrorAndDie("sysconf(_SC_NPROCESSORS_ONLN) failed with error: ",
+                     strerror(errno));
+  }
+  return num_cpu;
+#else
+  // Fallback, no other API exists.
+  return -1;
+#endif
+  BENCHMARK_UNREACHABLE();
+}
+
+int GetNumCPUs() {
+  int num_cpus = GetNumCPUsImpl();
+  if (num_cpus < 1) {
+    std::cerr << "Unable to extract number of CPUs.\n";
+    // There must be at least one CPU on which we're running.
+    num_cpus = 1;
+  }
+  return num_cpus;
+}
+
+class ThreadAffinityGuard final {
+ public:
+  ThreadAffinityGuard() : reset_affinity(SetAffinity()) {
+    if (!reset_affinity) {
+      std::cerr << "***WARNING*** Failed to set thread affinity. Estimated CPU "
+                   "frequency may be incorrect.\n";
+    }
+  }
+
+  ~ThreadAffinityGuard() {
+    if (!reset_affinity) {
+      return;
+    }
+
+#if defined(BENCHMARK_HAS_PTHREAD_AFFINITY)
+    int ret = pthread_setaffinity_np(self, sizeof(previous_affinity),
+                                     &previous_affinity);
+    if (ret == 0) {
+      return;
+    }
+#elif defined(BENCHMARK_OS_WINDOWS_WIN32)
+    DWORD_PTR ret = SetThreadAffinityMask(self, previous_affinity);
+    if (ret != 0) {
+      return;
+    }
+#endif  // def BENCHMARK_HAS_PTHREAD_AFFINITY
+    PrintErrorAndDie("Failed to reset thread affinity");
+  }
+
+  ThreadAffinityGuard(ThreadAffinityGuard&&) = delete;
+  ThreadAffinityGuard(const ThreadAffinityGuard&) = delete;
+  ThreadAffinityGuard& operator=(ThreadAffinityGuard&&) = delete;
+  ThreadAffinityGuard& operator=(const ThreadAffinityGuard&) = delete;
+
+ private:
+  bool SetAffinity() {
+#if defined(BENCHMARK_HAS_PTHREAD_AFFINITY)
+    int ret = 0;
+    self = pthread_self();
+    ret = pthread_getaffinity_np(self, sizeof(previous_affinity),
+                                 &previous_affinity);
+    if (ret != 0) {
+      return false;
+    }
+
+    cpu_set_t affinity;
+    memcpy(&affinity, &previous_affinity, sizeof(affinity));
+
+    bool is_first_cpu = true;
+
+    for (int i = 0; i < CPU_SETSIZE; ++i) {
+      if (CPU_ISSET(i, &affinity)) {
+        if (is_first_cpu) {
+          is_first_cpu = false;
+        } else {
+          CPU_CLR(i, &affinity);
+        }
+      }
+    }
+
+    if (is_first_cpu) {
+      return false;
+    }
+
+    ret = pthread_setaffinity_np(self, sizeof(affinity), &affinity);
+    return ret == 0;
+#elif defined(BENCHMARK_OS_WINDOWS_WIN32)
+    self = GetCurrentThread();
+    DWORD_PTR mask = static_cast<DWORD_PTR>(1) << GetCurrentProcessorNumber();
+    previous_affinity = SetThreadAffinityMask(self, mask);
+    return previous_affinity != 0;
+#else
+    return false;
+#endif  // def BENCHMARK_HAS_PTHREAD_AFFINITY
+  }
+
+#if defined(BENCHMARK_HAS_PTHREAD_AFFINITY)
+  pthread_t self{};
+  cpu_set_t previous_affinity{};
+#elif defined(BENCHMARK_OS_WINDOWS_WIN32)
+  HANDLE self;
+  DWORD_PTR previous_affinity;
+#endif  // def BENCHMARK_HAS_PTHREAD_AFFINITY
+  bool reset_affinity;
+};
+
+double GetCPUCyclesPerSecond(CPUInfo::Scaling scaling) {
+  // Currently, scaling is only used on linux path here,
+  // suppress diagnostics about it being unused on other paths.
+  (void)scaling;
+
+#if defined BENCHMARK_OS_LINUX || defined BENCHMARK_OS_CYGWIN
+  long freq = 0;
+
+  // If the kernel is exporting the tsc frequency use that. There are issues
+  // where cpuinfo_max_freq cannot be relied on because the BIOS may be
+  // exporintg an invalid p-state (on x86) or p-states may be used to put the
+  // processor in a new mode (turbo mode). Essentially, those frequencies
+  // cannot always be relied upon. The same reasons apply to /proc/cpuinfo as
+  // well.
+  if (ReadFromFile("/sys/devices/system/cpu/cpu0/tsc_freq_khz", &freq)
+      // If CPU scaling is disabled, use the *current* frequency.
+      // Note that we specifically don't want to read cpuinfo_cur_freq,
+      // because it is only readable by root.
+      || (scaling == CPUInfo::Scaling::DISABLED &&
+          ReadFromFile("/sys/devices/system/cpu/cpu0/cpufreq/scaling_cur_freq",
+                       &freq))
+      // Otherwise, if CPU scaling may be in effect, we want to use
+      // the *maximum* frequency, not whatever CPU speed some random processor
+      // happens to be using now.
+      || ReadFromFile("/sys/devices/system/cpu/cpu0/cpufreq/cpuinfo_max_freq",
+                      &freq)) {
+    // The value is in kHz (as the file name suggests).  For example, on a
+    // 2GHz warpstation, the file contains the value "2000000".
+    return static_cast<double>(freq) * 1000.0;
+  }
+
+  const double error_value = -1;
+  double bogo_clock = error_value;
+
+  std::ifstream f("/proc/cpuinfo");
+  if (!f.is_open()) {
+    std::cerr << "failed to open /proc/cpuinfo\n";
+    return error_value;
+  }
+
+  auto StartsWithKey = [](std::string const& Value, std::string const& Key) {
+    if (Key.size() > Value.size()) {
+      return false;
+    }
+    auto Cmp = [&](char X, char Y) {
+      return std::tolower(X) == std::tolower(Y);
+    };
+    return std::equal(Key.begin(), Key.end(), Value.begin(), Cmp);
+  };
+
+  std::string ln;
+  while (std::getline(f, ln)) {
+    if (ln.empty()) {
+      continue;
+    }
+    std::size_t split_idx = ln.find(':');
+    std::string value;
+    if (split_idx != std::string::npos) {
+      value = ln.substr(split_idx + 1);
+    }
+    // When parsing the "cpu MHz" and "bogomips" (fallback) entries, we only
+    // accept positive values. Some environments (virtual machines) report zero,
+    // which would cause infinite looping in WallTime_Init.
+    if (StartsWithKey(ln, "cpu MHz")) {
+      if (!value.empty()) {
+        double cycles_per_second = benchmark::stod(value) * 1000000.0;
+        if (cycles_per_second > 0) {
+          return cycles_per_second;
+        }
+      }
+    } else if (StartsWithKey(ln, "bogomips")) {
+      if (!value.empty()) {
+        bogo_clock = benchmark::stod(value) * 1000000.0;
+        if (bogo_clock < 0.0) {
+          bogo_clock = error_value;
+        }
+      }
+    }
+  }
+  if (f.bad()) {
+    std::cerr << "Failure reading /proc/cpuinfo\n";
+    return error_value;
+  }
+  if (!f.eof()) {
+    std::cerr << "Failed to read to end of /proc/cpuinfo\n";
+    return error_value;
+  }
+  f.close();
+  // If we found the bogomips clock, but nothing better, we'll use it (but
+  // we're not happy about it); otherwise, fallback to the rough estimation
+  // below.
+  if (bogo_clock >= 0.0) {
+    return bogo_clock;
+  }
+
+#elif defined BENCHMARK_HAS_SYSCTL
+  constexpr auto* freqStr =
+#if defined(BENCHMARK_OS_FREEBSD) || defined(BENCHMARK_OS_NETBSD)
+      "machdep.tsc_freq";
+#elif defined BENCHMARK_OS_OPENBSD
+      "hw.cpuspeed";
+#elif defined BENCHMARK_OS_DRAGONFLY
+      "hw.tsc_frequency";
+#else
+      "hw.cpufrequency";
+#endif
+  unsigned long long hz = 0;
+#if defined BENCHMARK_OS_OPENBSD
+  if (GetSysctl(freqStr, &hz)) {
+    return static_cast<double>(hz * 1000000);
+  }
+#else
+  if (GetSysctl(freqStr, &hz)) {
+    return static_cast<double>(hz);
+  }
+#endif
+  fprintf(stderr, "Unable to determine clock rate from sysctl: %s: %s\n",
+          freqStr, strerror(errno));
+  fprintf(stderr,
+          "This does not affect benchmark measurements, only the "
+          "metadata output.\n");
+
+#elif defined BENCHMARK_OS_WINDOWS_WIN32
+  // In NT, read MHz from the registry. If we fail to do so or we're in win9x
+  // then make a crude estimate.
+  DWORD data, data_size = sizeof(data);
+  if (IsWindowsXPOrGreater() &&
+      SUCCEEDED(
+          SHGetValueA(HKEY_LOCAL_MACHINE,
+                      "HARDWARE\\DESCRIPTION\\System\\CentralProcessor\\0",
+                      "~MHz", nullptr, &data, &data_size))) {
+    return static_cast<double>(static_cast<int64_t>(data) *
+                               static_cast<int64_t>(1000 * 1000));  // was mhz
+  }
+#elif defined(BENCHMARK_OS_SOLARIS)
+  kstat_ctl_t* kc = kstat_open();
+  if (!kc) {
+    std::cerr << "failed to open /dev/kstat\n";
+    return -1;
+  }
+  kstat_t* ksp = kstat_lookup(kc, const_cast<char*>("cpu_info"), -1,
+                              const_cast<char*>("cpu_info0"));
+  if (!ksp) {
+    std::cerr << "failed to lookup in /dev/kstat\n";
+    return -1;
+  }
+  if (kstat_read(kc, ksp, NULL) < 0) {
+    std::cerr << "failed to read from /dev/kstat\n";
+    return -1;
+  }
+  kstat_named_t* knp = (kstat_named_t*)kstat_data_lookup(
+      ksp, const_cast<char*>("current_clock_Hz"));
+  if (!knp) {
+    std::cerr << "failed to lookup data in /dev/kstat\n";
+    return -1;
+  }
+  if (knp->data_type != KSTAT_DATA_UINT64) {
+    std::cerr << "current_clock_Hz is of unexpected data type: "
+              << knp->data_type << "\n";
+    return -1;
+  }
+  double clock_hz = knp->value.ui64;
+  kstat_close(kc);
+  return clock_hz;
+#elif defined(BENCHMARK_OS_QNX)
+  return static_cast<double>(
+      static_cast<int64_t>(SYSPAGE_ENTRY(cpuinfo)->speed) *
+      static_cast<int64_t>(1000 * 1000));
+#elif defined(BENCHMARK_OS_QURT)
+  // QuRT doesn't provide any API to query Hexagon frequency.
+  return 1000000000;
+#endif
+  // If we've fallen through, attempt to roughly estimate the CPU clock rate.
+
+  // Make sure to use the same cycle counter when starting and stopping the
+  // cycle timer. We just pin the current thread to a cpu in the previous
+  // affinity set.
+  ThreadAffinityGuard affinity_guard;
+
+  static constexpr double estimate_time_s = 1.0;
+  const double start_time = ChronoClockNow();
+  const auto start_ticks = cycleclock::Now();
+
+  // Impose load instead of calling sleep() to make sure the cycle counter
+  // works.
+  using PRNG = std::minstd_rand;
+  using Result = PRNG::result_type;
+  PRNG rng(static_cast<Result>(start_ticks));
+
+  Result state = 0;
+
+  do {
+    static constexpr size_t batch_size = 10000;
+    rng.discard(batch_size);
+    state += rng();
+
+  } while (ChronoClockNow() - start_time < estimate_time_s);
+
+  DoNotOptimize(state);
+
+  const auto end_ticks = cycleclock::Now();
+  const double end_time = ChronoClockNow();
+
+  return static_cast<double>(end_ticks - start_ticks) / (end_time - start_time);
+  // Reset the affinity of current thread when the lifetime of affinity_guard
+  // ends.
+}
+
+std::vector<double> GetLoadAvg() {
+#if (defined BENCHMARK_OS_FREEBSD || defined(BENCHMARK_OS_LINUX) ||     \
+     defined BENCHMARK_OS_MACOSX || defined BENCHMARK_OS_NETBSD ||      \
+     defined BENCHMARK_OS_OPENBSD || defined BENCHMARK_OS_DRAGONFLY) && \
+    !(defined(__ANDROID__) && __ANDROID_API__ < 29)
+  static constexpr int kMaxSamples = 3;
+  std::vector<double> res(kMaxSamples, 0.0);
+  const auto nelem = getloadavg(res.data(), kMaxSamples);
+  if (nelem < 1) {
+    res.clear();
+  } else {
+    res.resize(static_cast<size_t>(nelem));
+  }
+  return res;
+#else
+  return {};
+#endif
+}
+
+}  // end namespace
+
+const CPUInfo& CPUInfo::Get() {
+  static const CPUInfo* info = new CPUInfo();
+  return *info;
+}
+
+CPUInfo::CPUInfo()
+    : num_cpus(GetNumCPUs()),
+      scaling(CpuScaling(num_cpus)),
+      cycles_per_second(GetCPUCyclesPerSecond(scaling)),
+      caches(GetCacheSizes()),
+      load_avg(GetLoadAvg()) {}
+
+const SystemInfo& SystemInfo::Get() {
+  static const SystemInfo* info = new SystemInfo();
+  return *info;
+}
+
+SystemInfo::SystemInfo() : name(GetSystemName()), ASLRStatus(GetASLR()) {}
+}  // end namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/thread_manager.h

@@ -0,0 +1,45 @@
+#ifndef BENCHMARK_THREAD_MANAGER_H
+#define BENCHMARK_THREAD_MANAGER_H
+
+#include <atomic>
+
+#include "benchmark/benchmark.h"
+#include "mutex.h"
+
+namespace benchmark {
+namespace internal {
+
+class ThreadManager {
+ public:
+  explicit ThreadManager(int num_threads) : start_stop_barrier_(num_threads) {}
+
+  Mutex& GetBenchmarkMutex() const RETURN_CAPABILITY(benchmark_mutex_) {
+    return benchmark_mutex_;
+  }
+
+  bool StartStopBarrier() { return start_stop_barrier_.wait(); }
+
+  void NotifyThreadComplete() { start_stop_barrier_.removeThread(); }
+
+  struct Result {
+    IterationCount iterations = 0;
+    double real_time_used = 0;
+    double cpu_time_used = 0;
+    double manual_time_used = 0;
+    int64_t complexity_n = 0;
+    std::string report_label_;
+    std::string skip_message_;
+    internal::Skipped skipped_ = internal::NotSkipped;
+    UserCounters counters;
+  };
+  GUARDED_BY(GetBenchmarkMutex()) Result results;
+
+ private:
+  mutable Mutex benchmark_mutex_;
+  Barrier start_stop_barrier_;
+};
+
+}  // namespace internal
+}  // namespace benchmark
+
+#endif  // BENCHMARK_THREAD_MANAGER_H

benchmark/src/main/native/thirdparty/benchmark/src/thread_timer.h

@@ -0,0 +1,86 @@
+#ifndef BENCHMARK_THREAD_TIMER_H
+#define BENCHMARK_THREAD_TIMER_H
+
+#include "check.h"
+#include "timers.h"
+
+namespace benchmark {
+namespace internal {
+
+class ThreadTimer {
+  explicit ThreadTimer(bool measure_process_cpu_time_)
+      : measure_process_cpu_time(measure_process_cpu_time_) {}
+
+ public:
+  static ThreadTimer Create() {
+    return ThreadTimer(/*measure_process_cpu_time_=*/false);
+  }
+  static ThreadTimer CreateProcessCpuTime() {
+    return ThreadTimer(/*measure_process_cpu_time_=*/true);
+  }
+
+  // Called by each thread
+  void StartTimer() {
+    running_ = true;
+    start_real_time_ = ChronoClockNow();
+    start_cpu_time_ = ReadCpuTimerOfChoice();
+  }
+
+  // Called by each thread
+  void StopTimer() {
+    BM_CHECK(running_);
+    running_ = false;
+    real_time_used_ += ChronoClockNow() - start_real_time_;
+    // Floating point error can result in the subtraction producing a negative
+    // time. Guard against that.
+    cpu_time_used_ +=
+        std::max<double>(ReadCpuTimerOfChoice() - start_cpu_time_, 0);
+  }
+
+  // Called by each thread
+  void SetIterationTime(double seconds) { manual_time_used_ += seconds; }
+
+  bool running() const { return running_; }
+
+  // REQUIRES: timer is not running
+  double real_time_used() const {
+    BM_CHECK(!running_);
+    return real_time_used_;
+  }
+
+  // REQUIRES: timer is not running
+  double cpu_time_used() const {
+    BM_CHECK(!running_);
+    return cpu_time_used_;
+  }
+
+  // REQUIRES: timer is not running
+  double manual_time_used() const {
+    BM_CHECK(!running_);
+    return manual_time_used_;
+  }
+
+ private:
+  double ReadCpuTimerOfChoice() const {
+    if (measure_process_cpu_time) return ProcessCPUUsage();
+    return ThreadCPUUsage();
+  }
+
+  // should the thread, or the process, time be measured?
+  const bool measure_process_cpu_time;
+
+  bool running_ = false;        // Is the timer running
+  double start_real_time_ = 0;  // If running_
+  double start_cpu_time_ = 0;   // If running_
+
+  // Accumulated time so far (does not contain current slice if running_)
+  double real_time_used_ = 0;
+  double cpu_time_used_ = 0;
+  // Manually set iteration time. User sets this with SetIterationTime(seconds).
+  double manual_time_used_ = 0;
+};
+
+}  // namespace internal
+}  // namespace benchmark
+
+#endif  // BENCHMARK_THREAD_TIMER_H

benchmark/src/main/native/thirdparty/benchmark/src/timers.cpp

@@ -0,0 +1,288 @@
+// Copyright 2015 Google Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "timers.h"
+
+#include "internal_macros.h"
+
+#ifdef BENCHMARK_OS_WINDOWS
+#include <shlwapi.h>
+#undef StrCat  // Don't let StrCat in string_util.h be renamed to lstrcatA
+#include <versionhelpers.h>
+#include <windows.h>
+#else
+#include <fcntl.h>
+#if !defined(BENCHMARK_OS_FUCHSIA) && !defined(BENCHMARK_OS_QURT)
+#include <sys/resource.h>
+#endif
+#include <sys/time.h>
+#include <sys/types.h>  // this header must be included before 'sys/sysctl.h' to avoid compilation error on FreeBSD
+#include <unistd.h>
+#if defined BENCHMARK_OS_FREEBSD || defined BENCHMARK_OS_DRAGONFLY || \
+    defined BENCHMARK_OS_MACOSX
+#include <sys/sysctl.h>
+#endif
+#if defined(BENCHMARK_OS_MACOSX)
+#include <mach/mach_init.h>
+#include <mach/mach_port.h>
+#include <mach/thread_act.h>
+#endif
+#if defined(BENCHMARK_OS_QURT)
+#include <qurt.h>
+#endif
+#endif
+
+#ifdef BENCHMARK_OS_EMSCRIPTEN
+#include <emscripten.h>
+#endif
+
+#include <cerrno>
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <ctime>
+#include <iostream>
+#include <limits>
+#include <mutex>
+
+#include "check.h"
+#include "log.h"
+#include "string_util.h"
+
+namespace benchmark {
+
+// Suppress unused warnings on helper functions.
+#if defined(__GNUC__)
+#pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+#if defined(__NVCOMPILER)
+#pragma diag_suppress declared_but_not_referenced
+#endif
+
+namespace {
+#if defined(BENCHMARK_OS_WINDOWS)
+double MakeTime(FILETIME const& kernel_time, FILETIME const& user_time) {
+  ULARGE_INTEGER kernel;
+  ULARGE_INTEGER user;
+  kernel.HighPart = kernel_time.dwHighDateTime;
+  kernel.LowPart = kernel_time.dwLowDateTime;
+  user.HighPart = user_time.dwHighDateTime;
+  user.LowPart = user_time.dwLowDateTime;
+  return (static_cast<double>(kernel.QuadPart) +
+          static_cast<double>(user.QuadPart)) *
+         1e-7;
+}
+#elif !defined(BENCHMARK_OS_FUCHSIA) && !defined(BENCHMARK_OS_QURT)
+double MakeTime(struct rusage const& ru) {
+  return (static_cast<double>(ru.ru_utime.tv_sec) +
+          static_cast<double>(ru.ru_utime.tv_usec) * 1e-6 +
+          static_cast<double>(ru.ru_stime.tv_sec) +
+          static_cast<double>(ru.ru_stime.tv_usec) * 1e-6);
+}
+#endif
+#if defined(BENCHMARK_OS_MACOSX)
+double MakeTime(thread_basic_info_data_t const& info) {
+  return (static_cast<double>(info.user_time.seconds) +
+          static_cast<double>(info.user_time.microseconds) * 1e-6 +
+          static_cast<double>(info.system_time.seconds) +
+          static_cast<double>(info.system_time.microseconds) * 1e-6);
+}
+#endif
+#if defined(CLOCK_PROCESS_CPUTIME_ID) || defined(CLOCK_THREAD_CPUTIME_ID)
+double MakeTime(struct timespec const& ts) {
+  return static_cast<double>(ts.tv_sec) +
+         (static_cast<double>(ts.tv_nsec) * 1e-9);
+}
+#endif
+
+BENCHMARK_NORETURN void DiagnoseAndExit(const char* msg) {
+  std::cerr << "ERROR: " << msg << '\n';
+  std::flush(std::cerr);
+  std::exit(EXIT_FAILURE);
+}
+
+}  // end namespace
+
+double ProcessCPUUsage() {
+#if defined(BENCHMARK_OS_WINDOWS)
+  HANDLE proc = GetCurrentProcess();
+  FILETIME creation_time;
+  FILETIME exit_time;
+  FILETIME kernel_time;
+  FILETIME user_time;
+  if (GetProcessTimes(proc, &creation_time, &exit_time, &kernel_time,
+                      &user_time))
+    return MakeTime(kernel_time, user_time);
+  DiagnoseAndExit("GetProccessTimes() failed");
+#elif defined(BENCHMARK_OS_QURT)
+  // Note that qurt_timer_get_ticks() is no longer documented as of SDK 5.3.0,
+  // and doesn't appear to work on at least some devices (eg Samsung S22),
+  // so let's use the actually-documented and apparently-equivalent
+  // qurt_sysclock_get_hw_ticks() call instead.
+  return static_cast<double>(
+             qurt_timer_timetick_to_us(qurt_sysclock_get_hw_ticks())) *
+         1.0e-6;
+#elif defined(BENCHMARK_OS_EMSCRIPTEN)
+  // clock_gettime(CLOCK_PROCESS_CPUTIME_ID, ...) returns 0 on Emscripten.
+  // Use Emscripten-specific API. Reported CPU time would be exactly the
+  // same as total time, but this is ok because there aren't long-latency
+  // synchronous system calls in Emscripten.
+  return emscripten_get_now() * 1e-3;
+#elif defined(CLOCK_PROCESS_CPUTIME_ID) && !defined(BENCHMARK_OS_MACOSX)
+  // FIXME We want to use clock_gettime, but its not available in MacOS 10.11.
+  // See https://github.com/google/benchmark/pull/292
+  struct timespec spec {};
+  if (clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &spec) == 0) {
+    return MakeTime(spec);
+  }
+  DiagnoseAndExit("clock_gettime(CLOCK_PROCESS_CPUTIME_ID, ...) failed");
+#else
+  struct rusage ru;
+  if (getrusage(RUSAGE_SELF, &ru) == 0) return MakeTime(ru);
+  DiagnoseAndExit("getrusage(RUSAGE_SELF, ...) failed");
+#endif
+}
+
+double ThreadCPUUsage() {
+#if defined(BENCHMARK_OS_WINDOWS)
+  HANDLE this_thread = GetCurrentThread();
+  FILETIME creation_time;
+  FILETIME exit_time;
+  FILETIME kernel_time;
+  FILETIME user_time;
+  GetThreadTimes(this_thread, &creation_time, &exit_time, &kernel_time,
+                 &user_time);
+  return MakeTime(kernel_time, user_time);
+#elif defined(BENCHMARK_OS_QURT)
+  // Note that qurt_timer_get_ticks() is no longer documented as of SDK 5.3.0,
+  // and doesn't appear to work on at least some devices (eg Samsung S22),
+  // so let's use the actually-documented and apparently-equivalent
+  // qurt_sysclock_get_hw_ticks() call instead.
+  return static_cast<double>(
+             qurt_timer_timetick_to_us(qurt_sysclock_get_hw_ticks())) *
+         1.0e-6;
+#elif defined(BENCHMARK_OS_MACOSX)
+  // FIXME We want to use clock_gettime, but its not available in MacOS 10.11.
+  // See https://github.com/google/benchmark/pull/292
+  mach_msg_type_number_t count = THREAD_BASIC_INFO_COUNT;
+  thread_basic_info_data_t info;
+  mach_port_t thread = pthread_mach_thread_np(pthread_self());
+  if (thread_info(thread, THREAD_BASIC_INFO,
+                  reinterpret_cast<thread_info_t>(&info),
+                  &count) == KERN_SUCCESS) {
+    return MakeTime(info);
+  }
+  DiagnoseAndExit("ThreadCPUUsage() failed when evaluating thread_info");
+#elif defined(BENCHMARK_OS_EMSCRIPTEN)
+  // Emscripten doesn't support traditional threads
+  return ProcessCPUUsage();
+#elif defined(BENCHMARK_OS_RTEMS)
+  // RTEMS doesn't support CLOCK_THREAD_CPUTIME_ID. See
+  // https://github.com/RTEMS/rtems/blob/master/cpukit/posix/src/clockgettime.c
+  return ProcessCPUUsage();
+#elif defined(BENCHMARK_OS_ZOS)
+  // z/OS doesn't support CLOCK_THREAD_CPUTIME_ID.
+  return ProcessCPUUsage();
+#elif defined(BENCHMARK_OS_SOLARIS)
+  struct rusage ru;
+  if (getrusage(RUSAGE_LWP, &ru) == 0) return MakeTime(ru);
+  DiagnoseAndExit("getrusage(RUSAGE_LWP, ...) failed");
+#elif defined(CLOCK_THREAD_CPUTIME_ID)
+  struct timespec ts {};
+  if (clock_gettime(CLOCK_THREAD_CPUTIME_ID, &ts) == 0) {
+    return MakeTime(ts);
+  }
+  DiagnoseAndExit("clock_gettime(CLOCK_THREAD_CPUTIME_ID, ...) failed");
+#else
+#error Per-thread timing is not available on your system.
+#endif
+}
+
+std::string LocalDateTimeString() {
+  // Write the local time in RFC3339 format yyyy-mm-ddTHH:MM:SS+/-HH:MM.
+  typedef std::chrono::system_clock Clock;
+  std::time_t now = Clock::to_time_t(Clock::now());
+  const std::size_t kTzOffsetLen = 6;
+  const std::size_t kTimestampLen = 19;
+
+  std::size_t tz_len = 0;
+  std::size_t timestamp_len = 0;
+  long int offset_minutes = 0;
+  char tz_offset_sign = '+';
+  // tz_offset is set in one of three ways:
+  // * strftime with %z - This either returns empty or the ISO 8601 time.  The
+  // maximum length an
+  //   ISO 8601 string can be is 7 (e.g. -03:30, plus trailing zero).
+  // * snprintf with %c%02li:%02li - The maximum length is 41 (one for %c, up to
+  // 19 for %02li,
+  //   one for :, up to 19 %02li, plus trailing zero).
+  // * A fixed string of "-00:00".  The maximum length is 7 (-00:00, plus
+  // trailing zero).
+  //
+  // Thus, the maximum size this needs to be is 41.
+  char tz_offset[41];
+  // Long enough buffer to avoid format-overflow warnings
+  char storage[128];
+
+#if defined(BENCHMARK_OS_WINDOWS)
+  std::tm* timeinfo_p = ::localtime(&now);
+#else
+  std::tm timeinfo{};
+  std::tm* timeinfo_p = &timeinfo;
+  ::localtime_r(&now, &timeinfo);
+#endif
+
+  tz_len = std::strftime(tz_offset, sizeof(tz_offset), "%z", timeinfo_p);
+
+  if (tz_len < kTzOffsetLen && tz_len > 1) {
+    // Timezone offset was written. strftime writes offset as +HHMM or -HHMM,
+    // RFC3339 specifies an offset as +HH:MM or -HH:MM. To convert, we parse
+    // the offset as an integer, then reprint it to a string.
+
+    offset_minutes = ::strtol(tz_offset, NULL, 10);
+    if (offset_minutes < 0) {
+      offset_minutes *= -1;
+      tz_offset_sign = '-';
+    }
+
+    tz_len = static_cast<size_t>(
+        ::snprintf(tz_offset, sizeof(tz_offset), "%c%02li:%02li",
+                   tz_offset_sign, offset_minutes / 100, offset_minutes % 100));
+    BM_CHECK(tz_len == kTzOffsetLen);
+    ((void)tz_len);  // Prevent unused variable warning in optimized build.
+  } else {
+    // Unknown offset. RFC3339 specifies that unknown local offsets should be
+    // written as UTC time with -00:00 timezone.
+#if defined(BENCHMARK_OS_WINDOWS)
+    // Potential race condition if another thread calls localtime or gmtime.
+    timeinfo_p = ::gmtime(&now);
+#else
+    ::gmtime_r(&now, &timeinfo);
+#endif
+
+    strncpy(tz_offset, "-00:00", kTzOffsetLen + 1);
+  }
+
+  timestamp_len =
+      std::strftime(storage, sizeof(storage), "%Y-%m-%dT%H:%M:%S", timeinfo_p);
+  BM_CHECK(timestamp_len == kTimestampLen);
+  // Prevent unused variable warning in optimized build.
+  ((void)kTimestampLen);
+
+  std::strncat(storage, tz_offset, sizeof(storage) - timestamp_len - 1);
+  return std::string(storage);
+}
+
+}  // end namespace benchmark

benchmark/src/main/native/thirdparty/benchmark/src/timers.h

@@ -0,0 +1,75 @@
+#ifndef BENCHMARK_TIMERS_H
+#define BENCHMARK_TIMERS_H
+
+#include <chrono>
+#include <string>
+
+namespace benchmark {
+
+// Return the CPU usage of the current process
+double ProcessCPUUsage();
+
+// Return the CPU usage of the children of the current process
+double ChildrenCPUUsage();
+
+// Return the CPU usage of the current thread
+double ThreadCPUUsage();
+
+#if defined(BENCHMARK_OS_QURT)
+
+// std::chrono::now() can return 0 on some Hexagon devices;
+// this reads the value of a 56-bit, 19.2MHz hardware counter
+// and converts it to seconds. Unlike std::chrono, this doesn't
+// return an absolute time, but since ChronoClockNow() is only used
+// to compute elapsed time, this shouldn't matter.
+struct QuRTClock {
+  typedef uint64_t rep;
+  typedef std::ratio<1, 19200000> period;
+  typedef std::chrono::duration<rep, period> duration;
+  typedef std::chrono::time_point<QuRTClock> time_point;
+  static const bool is_steady = false;
+
+  static time_point now() {
+    unsigned long long count;
+    asm volatile(" %0 = c31:30 " : "=r"(count));
+    return time_point(static_cast<duration>(count));
+  }
+};
+
+#else
+
+#if defined(HAVE_STEADY_CLOCK)
+template <bool HighResIsSteady = std::chrono::high_resolution_clock::is_steady>
+struct ChooseSteadyClock {
+  typedef std::chrono::high_resolution_clock type;
+};
+
+template <>
+struct ChooseSteadyClock<false> {
+  typedef std::chrono::steady_clock type;
+};
+#endif  // HAVE_STEADY_CLOCK
+
+#endif
+
+struct ChooseClockType {
+#if defined(BENCHMARK_OS_QURT)
+  typedef QuRTClock type;
+#elif defined(HAVE_STEADY_CLOCK)
+  typedef ChooseSteadyClock<>::type type;
+#else
+  typedef std::chrono::high_resolution_clock type;
+#endif
+};
+
+inline double ChronoClockNow() {
+  typedef ChooseClockType::type ClockType;
+  using FpSeconds = std::chrono::duration<double, std::chrono::seconds::period>;
+  return FpSeconds(ClockType::now().time_since_epoch()).count();
+}
+
+std::string LocalDateTimeString();
+
+}  // end namespace benchmark
+
+#endif  // BENCHMARK_TIMERS_H

build.gradle

@@ -13,14 +13,14 @@ plugins {
     id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '2023.0.1'
     id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
     id 'edu.wpi.first.NativeUtils' apply false
-    id 'edu.wpi.first.GradleJni' version '1.1.0'
+    id 'edu.wpi.first.GradleJni' version '1.2.0'
     id 'edu.wpi.first.GradleVsCode'
     id 'idea'
     id 'visual-studio'
-    id 'net.ltgt.errorprone' version '3.1.0' apply false
-    id 'com.gradleup.shadow' version '8.3.4' apply false
-    id 'com.diffplug.spotless' version '6.20.0' apply false
-    id 'com.github.spotbugs' version '6.0.2' apply false
+    id 'net.ltgt.errorprone' version '4.3.0' apply false
+    id 'com.gradleup.shadow' version '9.1.0' apply false
+    id 'com.diffplug.spotless' version '8.0.0' apply false
+    id 'com.github.spotbugs' version '6.4.2' apply false
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
@@ -39,11 +39,11 @@ allprojects {
     }
 }
 
-buildScan {
-    termsOfServiceUrl = 'https://gradle.com/terms-of-service'
-    termsOfServiceAgree = 'yes'
-
-    publishAlways()
+develocity {
+    buildScan {
+        termsOfUseUrl = "https://gradle.com/help/legal-terms-of-use"
+        termsOfUseAgree = "yes"
+    }
 }
 
 import com.github.spotbugs.snom.Effort
@@ -81,7 +81,7 @@ task libraryBuild() {}
 build.dependsOn outputVersions
 
 task copyAllOutputs(type: Copy) {
-    destinationDir outputsFolder
+    destinationDir = outputsFolder
 }
 
 build.dependsOn copyAllOutputs
@@ -170,5 +170,5 @@ ext.getCurrentArch = {
 }
 
 wrapper {
-    gradleVersion = '8.11'
+    gradleVersion = '8.14.3'
 }

buildSrc/build.gradle

@@ -5,9 +5,9 @@ repositories {
             url = 'https://frcmaven.wpi.edu/artifactory/ex-gradle'
         }
         mavenCentral()
-        url "https://plugins.gradle.org/m2/"
+        url = "https://plugins.gradle.org/m2/"
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2025.9.1"
+    implementation "edu.wpi.first:native-utils:2026.0.0"
 }

cameraserver/multiCameraServer/build.gradle

@@ -31,7 +31,7 @@ repositories {
 }
 
 dependencies {
-    implementation 'com.google.code.gson:gson:2.10.1'
+    implementation 'com.google.code.gson:gson:2.13.1'
 
     implementation project(':wpiutil')
     implementation project(':wpinet')

cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java

@@ -46,7 +46,7 @@ public final class CameraServer {
   private static final String kPublishName = "/CameraPublisher";
 
   private static final class PropertyPublisher implements AutoCloseable {
-    @SuppressWarnings({"PMD.MissingBreakInSwitch", "PMD.ImplicitSwitchFallThrough", "fallthrough"})
+    @SuppressWarnings("fallthrough")
     PropertyPublisher(NetworkTable table, VideoEvent event) {
       String name;
       String infoName;
@@ -66,7 +66,7 @@ public final class CameraServer {
             break;
           case kEnum:
             m_choicesTopic = table.getStringArrayTopic(infoName + "/choices");
-            // fall through
+          // fallthrough
           case kInteger:
             m_integerValueEntry = table.getIntegerTopic(name).getEntry(0);
             m_minPublisher = table.getIntegerTopic(infoName + "/min").publish();

cameraserver/src/main/java/edu/wpi/first/vision/VisionPipeline.java

@@ -13,6 +13,7 @@ import org.opencv.core.Mat;
  * @see VisionRunner
  * @see VisionThread
  */
+@FunctionalInterface
 public interface VisionPipeline {
   /**
    * Processes the image input and sets the result objects. Implementations should make these

cmake/modules/CompileWarnings.cmake

@@ -46,8 +46,15 @@ macro(wpilib_target_warnings target)
 
     # Suppress warning "enumeration types with a fixed underlying type are a
     # Clang extension"
-    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-        target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:C>:-Wno-fixed-enum-extension>)
+    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT EMSCRIPTEN)
+        if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS 20.0)
+            target_compile_options(
+                ${target}
+                PRIVATE $<$<COMPILE_LANGUAGE:C>:-Wno-fixed-enum-extension>
+            )
+        else()
+            target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:C>:-Wno-c23-extensions>)
+        endif()
     endif()
 
     # Compress debug info with GCC

cscore/.styleguide

@@ -38,8 +38,10 @@ includeOtherLibs {
   ^fmt/
   ^gtest/
   ^opencv2/
+  ^imgui
   ^support/
   ^tcpsockets/
   ^wpi/
+  ^wpigui
   ^wpinet/
 }

cscore/BUILD.bazel

@@ -40,6 +40,14 @@ objc_library(
         "src/main/native/include",
         "src/main/native/objcpp",
     ],
+    sdk_frameworks = [
+        "CoreFoundation",
+        "AVFoundation",
+        "Foundation",
+        "CoreMedia",
+        "CoreVideo",
+        "IOKit",
+    ],
     tags = ["manual"],
     deps = [
         "//wpinet:wpinet.static",

cscore/CMakeLists.txt

@@ -21,7 +21,7 @@ if(APPLE)
         cscore
         PROPERTIES
             LINK_FLAGS
-                "-framework CoreFoundation -framework AVFoundation -framework Foundation -framework CoreMedia -framework CoreVideo"
+                "-framework CoreFoundation -framework AVFoundation -framework Foundation -framework CoreMedia -framework CoreVideo -framework IOKit"
     )
 elseif(MSVC)
     target_sources(cscore PRIVATE ${cscore_windows_src})

cscore/build.gradle

@@ -60,13 +60,8 @@ model {
             if (!it.buildable || !(it instanceof NativeBinarySpec)) {
                 return
             }
-            if (it.component.name == "${nativeName}JNI") {
-                lib project: ':wpinet', library: 'wpinet', linkage: 'static'
-                lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
-            } else {
-                lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
-                lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-            }
+            lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
+            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
         }
     }
 }

cscore/examples/usbcvstream/usbcvstream.cpp

@@ -5,7 +5,6 @@
 #include <opencv2/core/core.hpp>
 #include <wpi/print.h>
 
-#include "cscore.h"
 #include "cscore_cv.h"
 
 int main() {

cscore/examples/usbviewer/usbviewer.cpp

@@ -3,14 +3,17 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <atomic>
+#include <memory>
 #include <thread>
+#include <utility>
 #include <vector>
 
-#define IMGUI_DEFINE_MATH_OPERATORS
 #include <imgui.h>
 #include <imgui_internal.h>
 #include <opencv2/core/core.hpp>
+#include <opencv2/core/mat.hpp>
 #include <opencv2/imgproc.hpp>
+#include <wpi/mutex.h>
 #include <wpi/print.h>
 #include <wpi/spinlock.h>
 #include <wpigui.h>
@@ -21,10 +24,10 @@
 namespace gui = wpi::gui;
 
 int main() {
-  std::atomic<cv::Mat*> latestFrame{nullptr};
-  std::vector<cv::Mat*> sharedFreeList;
-  wpi::spinlock sharedFreeListMutex;
-  std::vector<cv::Mat*> sourceFreeList;
+  wpi::spinlock latestFrameMutex;
+  std::unique_ptr<cv::Mat> latestFrame;
+  wpi::mutex freeListMutex;
+  std::vector<std::unique_ptr<cv::Mat>> freeList;
   std::atomic<bool> stopCamera{false};
 
   cs::UsbCamera camera{"usbcam", 0};
@@ -42,36 +45,31 @@ int main() {
         continue;
       }
 
-      // get or create a mat, prefer sourceFreeList over sharedFreeList
-      cv::Mat* out;
-      if (!sourceFreeList.empty()) {
-        out = sourceFreeList.back();
-        sourceFreeList.pop_back();
-      } else {
-        {
-          std::scoped_lock lock(sharedFreeListMutex);
-          for (auto mat : sharedFreeList) {
-            sourceFreeList.emplace_back(mat);
-          }
-          sharedFreeList.clear();
-        }
-        if (!sourceFreeList.empty()) {
-          out = sourceFreeList.back();
-          sourceFreeList.pop_back();
+      // get or create a mat
+      std::unique_ptr<cv::Mat> out;
+      {
+        std::scoped_lock lock{freeListMutex};
+        if (!freeList.empty()) {
+          out = std::move(freeList.back());
+          freeList.pop_back();
         } else {
-          out = new cv::Mat;
+          out = std::make_unique<cv::Mat>();
         }
       }
 
       // convert to RGBA
       cv::cvtColor(frame, *out, cv::COLOR_BGR2RGBA);
 
-      // make available
-      auto prev = latestFrame.exchange(out);
+      {
+        // make available
+        std::scoped_lock lock{latestFrameMutex};
+        latestFrame.swap(out);
+      }
 
-      // put prev on free list
-      if (prev) {
-        sourceFreeList.emplace_back(prev);
+      // put the previous frame on free list
+      if (out) {
+        std::scoped_lock lock{freeListMutex};
+        freeList.emplace_back(std::move(out));
       }
     }
   });
@@ -80,7 +78,11 @@ int main() {
   gui::Initialize("Hello World", 1024, 768);
   gui::Texture tex;
   gui::AddEarlyExecute([&] {
-    auto frame = latestFrame.exchange(nullptr);
+    std::unique_ptr<cv::Mat> frame;
+    {
+      std::scoped_lock lock{latestFrameMutex};
+      latestFrame.swap(frame);
+    }
     if (frame) {
       // create or update texture
       if (!tex || frame->cols != tex.GetWidth() ||
@@ -90,9 +92,10 @@ int main() {
       } else {
         tex.Update(frame->data);
       }
-      // put back on shared freelist
-      std::scoped_lock lock(sharedFreeListMutex);
-      sharedFreeList.emplace_back(frame);
+      {
+        std::scoped_lock lock{freeListMutex};
+        freeList.emplace_back(std::move(frame));
+      }
     }
 
     ImGui::SetNextWindowSize(ImVec2(640, 480), ImGuiCond_FirstUseEver);

cscore/src/main/java/edu/wpi/first/cscore/CvSource.java

@@ -68,8 +68,9 @@ public class CvSource extends ImageSource {
             case 2 -> PixelFormat.kYUYV; // 2 channels is assumed YUYV
             case 3 -> PixelFormat.kBGR; // 3 channels is assumed BGR
             case 4 -> PixelFormat.kBGRA; // 4 channels is assumed BGRA
-            default -> throw new VideoException(
-                "Unable to get pixel format for " + channels + " channels");
+            default ->
+                throw new VideoException(
+                    "Unable to get pixel format for " + channels + " channels");
           };
 
       putFrame(finalImage, format, true);

cscore/src/main/native/cpp/MjpegServerImpl.cpp

@@ -773,8 +773,7 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
     lastFrameTime = thisFrameTime;
     double timestamp = lastFrameTime / 1000000.0;
     header.clear();
-    oss << "\r\n--" BOUNDARY "\r\n"
-        << "Content-Type: image/jpeg\r\n";
+    oss << "\r\n--" BOUNDARY "\r\n" << "Content-Type: image/jpeg\r\n";
     wpi::print(oss, "Content-Length: {}\r\n", size);
     wpi::print(oss, "X-Timestamp: {}\r\n", timestamp);
     oss << "\r\n";

cscore/src/main/native/cpp/cscore_c.cpp

@@ -44,7 +44,7 @@ static O* ConvertToC(std::vector<I>&& in, int* count) {
   // retain vector at end of returned array
   alignas(T) unsigned char buf[sizeof(T)];
   new (buf) T(std::move(in));
-  std::memcpy(out + size * sizeof(O), buf, sizeof(T));
+  std::memcpy(out + size, buf, sizeof(T));
 
   return out;
 }
@@ -392,7 +392,7 @@ void CS_FreeEvents(CS_Event* arr, int count) {
   // destroy vector saved at end of array
   using T = std::vector<cs::RawEvent>;
   alignas(T) unsigned char buf[sizeof(T)];
-  std::memcpy(buf, arr + count * sizeof(CS_Event), sizeof(T));
+  std::memcpy(buf, arr + count, sizeof(T));
   reinterpret_cast<T*>(buf)->~T();
 
   std::free(arr);

cscore/src/main/native/objcpp/UsbCameraImpl.h

@@ -12,6 +12,8 @@
 #include <string>
 #include <optional>
 
+#include <wpi/StringMap.h>
+
 #include "SourceImpl.h"
 
 namespace cs {
@@ -88,9 +90,34 @@ class UsbCameraImpl : public SourceImpl {
 
   UsbCameraImplObjc* cppGetObjc() { return m_objc; }
 
+  int CreatePropertyPublic(std::string_view name, std::function<std::unique_ptr<PropertyImpl>()> newFunc) {
+    return CreateProperty(name, newFunc);
+  }
+
+  PropertyImpl* GetPropertyPublic(int property) {
+    return GetProperty(property);
+  }
+
+  void NotifyPropertyCreatedPublic(int propIndex, PropertyImpl& prop) {
+    NotifyPropertyCreated(propIndex, prop);
+  }
+
+  void UpdatePropertyValuePublic(int property, bool setString, int value, std::string_view valueStr) {
+    UpdatePropertyValue(property, setString, value, valueStr);
+  }
+
+  wpi::mutex& GetMutex() { return m_mutex; }
+
+  // Property cache accessors
+  wpi::StringMap<uint32_t>& GetPropertyCache() { return m_propertyCache; }
+  wpi::StringMap<uint32_t>& GetPropertyAutoCache() { return m_propertyAutoCache; }
+
  private:
   UsbCameraImplObjc* m_objc;
   std::vector<CameraModeStore> m_platformModes;
-  VideoMode m_mode;
+  
+  // Property caches
+  wpi::StringMap<uint32_t> m_propertyCache;
+  wpi::StringMap<uint32_t> m_propertyAutoCache;
 };
 }  // namespace cs

cscore/src/main/native/objcpp/UsbCameraImplObjc.h

@@ -5,11 +5,39 @@
 #pragma once
 
 #import <AVFoundation/AVFoundation.h>
-#import "UsbCameraDelegate.h"
+
 #include <memory>
 #include <string_view>
+
+#import "UsbCameraDelegate.h"
+#import "UvcControlImpl.h"
+
 #include "cscore_cpp.h"
 
+// Quirk: exposure auto is 3 for on, 1 for off
+#define kPropertyAutoExposureOn 3
+#define kPropertyAutoExposureOff 1
+
+// Property names
+#define kPropertyBrightness "brightness"
+#define kPropertyWhiteBalance "white_balance_temperature"
+#define kPropertyExposure "raw_exposure_time_absolute"
+#define kPropertyContrast "raw_contrast"
+#define kPropertySaturation "raw_saturation"
+#define kPropertySharpness "raw_sharpness"
+#define kPropertyGain "gain"
+#define kPropertyGamma "gamma"
+#define kPropertyHue "raw_hue"
+#define kPropertyFocus "focus_absolute"
+#define kPropertyZoom "zoom"
+#define kPropertyBackLightCompensation "backlight_compensation"
+#define kPropertyPowerLineFrequency "power_line_frequency"
+
+// Auto property names
+#define kPropertyAutoExposure "exposure_auto"
+#define kPropertyAutoWhiteBalance "white_balance_automatic"
+#define kPropertyAutoFocus "focus_auto"
+
 namespace cs {
 class UsbCameraImpl;
 }
@@ -30,6 +58,7 @@ class UsbCameraImpl;
 @property(nonatomic) AVCaptureDevice* videoDevice;
 @property(nonatomic) AVCaptureDeviceInput* videoInput;
 @property(nonatomic) UsbCameraDelegate* callback;
+@property(nonatomic) UvcControlImpl* uvcControl;
 @property(nonatomic) AVCaptureVideoDataOutput* videoOutput;
 @property(nonatomic) AVCaptureSession* session;
 
@@ -68,4 +97,8 @@ class UsbCameraImpl;
 - (void)getCameraName:(std::string*)name;
 - (void)setNewCameraPath:(std::string_view*)path;
 
+- (void)deviceCacheProperties;
+- (void)cacheProperty:(uint32_t)propID withName:(NSString *)name;
+- (void)cacheAutoProperty:(uint32_t)propID withName:(NSString *)baseName;
+
 @end

cscore/src/main/native/objcpp/UsbCameraImplObjc.mm

@@ -2,12 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#import "UsbCameraImplObjc.h"
-#include "UsbCameraImpl.h"
+#include <wpi/SmallString.h>
 
 #pragma GCC diagnostic ignored "-Wunused-parameter"
+#import "UsbCameraImplObjc.h"
+
 #include "Notifier.h"
 #include "Log.h"
+#include "UsbCameraImpl.h"
 
 template <typename S, typename... Args>
 inline void NamedLog(UsbCameraImplObjc* objc, unsigned int level,
@@ -104,44 +106,300 @@ using namespace cs;
                name:AVCaptureDeviceWasDisconnectedNotification
              object:nil];
     [self deviceConnect];
+    [self deviceCacheProperties];
   });
 }
 
+- (BOOL)getEnabledWithProperty:(int)property withValue:(int)value {
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    return false;
+  }
+
+  // There is room for quirk handling improvement here, but I will leave it
+  // for now.
+  if (property == sharedThis->GetPropertyIndex(kPropertyAutoExposure)) {
+    return value == kPropertyAutoExposureOn;
+  }
+
+  return value != 0;
+}
+
+
+- (int)clampToPercent:(int)value {
+  if (value < 0) {
+    return 0;
+  }
+  if (value > 100) {
+    return 100;
+  }
+  return value;
+}
+
+- (int)percentageToRaw:(int)propID percentage:(int)percentage min:(int)min max:(int)max {
+  if (min == max) {
+    return min;
+  }
+
+  return min + (max - min) * percentage / 100;
+}
+
+- (BOOL)isPercentageProperty:(int)propID {
+    return propID == CAPPROPID_BRIGHTNESS ||
+           propID == CAPPROPID_CONTRAST ||
+           propID == CAPPROPID_SATURATION ||
+           propID == CAPPROPID_HUE ||
+           propID == CAPPROPID_SHARPNESS ||
+           propID == CAPPROPID_GAIN;
+}
+
 // Property functions
 - (void)setProperty:(int)property
           withValue:(int)value
              status:(CS_Status*)status {
+    auto sharedThis = self.cppImpl.lock();
+    if (!sharedThis) {
+        *status = CS_INVALID_HANDLE;
+        return;
+    }
+    
+    // Make sure properties are cached
+    if (!self.propertiesCached) {
+        [self deviceCacheProperties];
+    }
+    
+    // Get the property name from the property index
+    wpi::SmallString<128> nameBuf;
+    std::string_view propName = sharedThis->GetPropertyName(property, nameBuf, status);
+    if (*status != 0) {
+        OBJCERROR("Failed to get property name for index {}", property);
+        return;
+    }
+    
+    std::string nameStr(propName);
+    
+    // Check if it's an auto property
+    auto& propertyAutoCache = sharedThis->GetPropertyAutoCache();
+    auto autoIt = propertyAutoCache.find(nameStr);
+    if (autoIt != propertyAutoCache.end()) {
+        uint32_t propID = autoIt->second;
+        bool enabled = [self getEnabledWithProperty:property withValue:value];
+        dispatch_async_and_wait(self.sessionQueue, ^{
+            if (self.uvcControl == nil) {
+                *status = CS_INVALID_PROPERTY;
+                return;
+            }
+            
+            if (![self.uvcControl setAutoProperty:propID enabled:enabled status:status]) {
+                OBJCERROR("Failed to set auto property {} to {}",
+                        nameStr, enabled);
+                return;
+            }
+            
+            // Update property value
+            sharedThis->UpdatePropertyValuePublic(property, false, value, {});
+        });
+        return;
+    }
+    
+    // Handle regular property
+    auto& propertyCache = sharedThis->GetPropertyCache();
+    auto it = propertyCache.find(nameStr);
+    if (it == propertyCache.end()) {
+        OBJCERROR("Property not found in cache: {}", nameStr);
+        *status = CS_INVALID_PROPERTY;
+        return;
+    }
+    
+    uint32_t propID = it->second;
+    
+    dispatch_async_and_wait(self.sessionQueue, ^{
+        if (self.uvcControl == nil) {
+            *status = CS_INVALID_PROPERTY;
+            return;
+        }
+        
+        // Get the property implementation to access its limits
+        const PropertyImpl* prop = sharedThis->GetPropertyPublic(property);
+        if (!prop) {
+            *status = CS_INVALID_PROPERTY;
+            return;
+        }
+        
+
+        int32_t realValue = value;
+        if ([self isPercentageProperty:propID]) {
+            // Clamp to 0-100
+            realValue = [self clampToPercent:realValue];
+
+            // Scale to min/max
+            realValue = [self percentageToRaw:propID percentage:realValue min:prop->minimum max:prop->maximum];
+        }
+
+        if (![self.uvcControl setProperty:propID withValue:realValue status:status]) {
+            OBJCERROR("Failed to set property {} to value {}", nameStr, realValue);
+            return;
+        }
+        
+        // Update property value in the container
+        sharedThis->UpdatePropertyValuePublic(property, false, value, {});
+    });
 }
+
 - (void)setStringProperty:(int)property
                 withValue:(std::string_view*)value
                    status:(CS_Status*)status {
+  *status = CS_INVALID_PROPERTY;
+  return;
 }
 
 // Standard common camera properties
 - (void)setBrightness:(int)brightness status:(CS_Status*)status {
-  *status = CS_INVALID_PROPERTY;
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  
+  // Make sure properties are cached
+  if (!self.propertiesCached) {
+    [self deviceCacheProperties];
+  }
+  
+  // Get the property index and set it
+  int prop = sharedThis->GetPropertyIndex(kPropertyBrightness);
+  sharedThis->SetProperty(prop, brightness, status);
 }
+
 - (int)getBrightness:(CS_Status*)status {
-  *status = CS_INVALID_PROPERTY;
-  return 0;
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    *status = CS_INVALID_HANDLE;
+    return 0;
+  }
+  
+  // Make sure properties are cached
+  if (!self.propertiesCached) {
+    [self deviceCacheProperties];
+  }
+  
+  // Get the property index and its value
+  int prop = sharedThis->GetPropertyIndex(kPropertyBrightness);
+  return sharedThis->GetProperty(prop, status);
 }
+
 - (void)setWhiteBalanceAuto:(CS_Status*)status {
-  *status = CS_INVALID_PROPERTY;
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  
+  // Make sure properties are cached
+  if (!self.propertiesCached) {
+    [self deviceCacheProperties];
+  }
+  
+  int prop = sharedThis->GetPropertyIndex(kPropertyAutoWhiteBalance);
+  sharedThis->SetProperty(prop, 1, status);
 }
+
 - (void)setWhiteBalanceHoldCurrent:(CS_Status*)status {
-  *status = CS_INVALID_PROPERTY;
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  
+  // Make sure properties are cached
+  if (!self.propertiesCached) {
+    [self deviceCacheProperties];
+  }
+  
+  int prop = sharedThis->GetPropertyIndex(kPropertyAutoWhiteBalance);
+  sharedThis->SetProperty(prop, 0, status);
 }
+
 - (void)setWhiteBalanceManual:(int)value status:(CS_Status*)status {
-  *status = CS_INVALID_PROPERTY;
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  
+  // Make sure properties are cached
+  if (!self.propertiesCached) {
+    [self deviceCacheProperties];
+  }
+  
+  // First disable auto white balance
+  int autoProp = sharedThis->GetPropertyIndex(kPropertyAutoWhiteBalance);
+  sharedThis->SetProperty(autoProp, 0, status);
+  if (*status != 0) {
+    return;
+  }
+  
+  // Then set the white balance value
+  int prop = sharedThis->GetPropertyIndex(kPropertyWhiteBalance);
+  sharedThis->SetProperty(prop, value, status);
 }
+
 - (void)setExposureAuto:(CS_Status*)status {
-  *status = CS_INVALID_PROPERTY;
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  
+  // Make sure properties are cached
+  if (!self.propertiesCached) {
+    [self deviceCacheProperties];
+  }
+  
+  // Set the auto exposure property to enabled (1)
+  int prop = sharedThis->GetPropertyIndex(kPropertyAutoExposure);
+  sharedThis->SetProperty(prop, kPropertyAutoExposureOn, status);
 }
+
 - (void)setExposureHoldCurrent:(CS_Status*)status {
-  *status = CS_INVALID_PROPERTY;
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  
+  // Make sure properties are cached
+  if (!self.propertiesCached) {
+    [self deviceCacheProperties];
+  }
+  
+  // Set the auto exposure property to disabled (0)
+  int prop = sharedThis->GetPropertyIndex(kPropertyAutoExposure);
+  sharedThis->SetProperty(prop, kPropertyAutoExposureOff, status);
 }
+
 - (void)setExposureManual:(int)value status:(CS_Status*)status {
-  *status = CS_INVALID_PROPERTY;
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  
+  // Make sure properties are cached
+  if (!self.propertiesCached) {
+    [self deviceCacheProperties];
+  }
+  
+  // First disable auto exposure
+  int autoProp = sharedThis->GetPropertyIndex(kPropertyAutoExposure);
+  sharedThis->SetProperty(autoProp, kPropertyAutoExposureOff, status);
+  if (*status != 0) {
+    return;
+  }
+  
+  // Then set the exposure value
+  int prop = sharedThis->GetPropertyIndex(kPropertyExposure);
+  sharedThis->SetProperty(prop, value, status);
 }
 
 - (bool)setVideoMode:(const cs::VideoMode&)mode status:(CS_Status*)status {
@@ -295,10 +553,144 @@ using namespace cs;
 
 // All above are called from C++, must always dispatch to loop
 
+// Property caching methods
 - (void)deviceCacheProperties {
-  if (self.session == nil) {
-    return;
-  }
+    if (self.uvcControl == nil) {
+        return;
+    }
+
+    auto sharedThis = self.cppImpl.lock();
+    if (!sharedThis) {
+        OBJCERROR("Cannot cache properties: UsbCameraImpl not available");
+        return;
+    }
+
+    // Cache basic properties
+    [self cacheProperty:CAPPROPID_BRIGHTNESS withName:@kPropertyBrightness];
+    [self cacheProperty:CAPPROPID_WHITEBALANCE withName:@kPropertyWhiteBalance];
+    [self cacheProperty:CAPPROPID_EXPOSURE withName:@kPropertyExposure];
+    [self cacheProperty:CAPPROPID_CONTRAST withName:@kPropertyContrast];
+    [self cacheProperty:CAPPROPID_SATURATION withName:@kPropertySaturation];
+    [self cacheProperty:CAPPROPID_SHARPNESS withName:@kPropertySharpness];
+    [self cacheProperty:CAPPROPID_GAIN withName:@kPropertyGain];
+    [self cacheProperty:CAPPROPID_GAMMA withName:@kPropertyGamma];
+    [self cacheProperty:CAPPROPID_HUE withName:@kPropertyHue];
+    [self cacheProperty:CAPPROPID_FOCUS withName:@kPropertyFocus];
+    [self cacheProperty:CAPPROPID_ZOOM withName:@kPropertyZoom];
+    [self cacheProperty:CAPPROPID_BACKLIGHTCOMP withName:@kPropertyBackLightCompensation];
+    [self cacheProperty:CAPPROPID_POWERLINEFREQ withName:@kPropertyPowerLineFrequency];
+    
+    // Cache auto properties
+    [self cacheAutoProperty:CAPPROPID_EXPOSURE withName:@kPropertyAutoExposure];
+    [self cacheAutoProperty:CAPPROPID_WHITEBALANCE withName:@kPropertyAutoWhiteBalance];
+    [self cacheAutoProperty:CAPPROPID_FOCUS withName:@kPropertyAutoFocus];
+    
+    self.propertiesCached = true;
+}
+
+- (void)cacheProperty:(uint32_t)propID withName:(NSString *)name {
+    auto sharedThis = self.cppImpl.lock();
+    if (!sharedThis) {
+        OBJCERROR("Cannot cache property: UsbCameraImpl not available");
+        return;
+    }
+    
+    if (self.uvcControl == nil) {
+        OBJCWARNING("Cannot cache property {}: UVC control not initialized", [name UTF8String]);
+        return;
+    }
+    
+    // Get property limits
+    int32_t minimum = 0, maximum = 0, defaultValue = 0;
+    int32_t value = defaultValue;
+    CS_Status status;
+    
+    std::string nameStr = std::string([name UTF8String]);
+    
+    // Get the property limits
+    if (![self.uvcControl getPropertyLimits:propID 
+                                      min:&minimum 
+                                      max:&maximum 
+                                 defValue:&defaultValue 
+                                   status:&status]) {
+        OBJCWARNING("Failed to get property limits for {}", nameStr);
+        return;
+    }
+    
+    // Get current value
+    if (![self.uvcControl getProperty:propID withValue:&value status:&status]) {
+        value = defaultValue;
+        OBJCWARNING("Failed to get current value for {}: {}", 
+                  nameStr, value);
+        return;
+    }
+    
+    // Create property
+    auto& propertyCache = sharedThis->GetPropertyCache();
+    propertyCache[nameStr] = propID;
+    
+    // Create the property implementation
+    std::unique_ptr<PropertyImpl> prop;
+    prop = std::make_unique<PropertyImpl>(nameStr);
+    prop->propKind = CS_PROP_INTEGER;
+    prop->value = value;
+    prop->minimum = minimum;
+    prop->maximum = maximum;
+    prop->step = 1;  // Most camera properties use a step of 1
+    prop->defaultValue = defaultValue;
+    
+    // Add the property to the container
+    std::scoped_lock lock(sharedThis->GetMutex());
+    int ndx = sharedThis->CreatePropertyPublic(nameStr, [&] { return std::move(prop); });
+    
+    // Notify that property has been created
+    sharedThis->NotifyPropertyCreatedPublic(ndx, *sharedThis->GetPropertyPublic(ndx));
+}
+
+- (void)cacheAutoProperty:(uint32_t)propID withName:(NSString *)baseName {
+    auto sharedThis = self.cppImpl.lock();
+    if (!sharedThis) {
+        OBJCERROR("Cannot cache auto property: UsbCameraImpl not available");
+        return;
+    }
+    
+    if (self.uvcControl == nil) {
+        OBJCWARNING("Cannot cache auto property {}: UVC control not initialized", [baseName UTF8String]);
+        return;
+    }
+    
+    // Build auto mode property name
+    std::string nameStr = std::string([baseName UTF8String]);
+    
+    // Get current auto mode status
+    bool enabled = false;
+    CS_Status status = 0;
+    
+    if(![self.uvcControl getAutoProperty:propID enabled:&enabled status:&status]) {
+        OBJCWARNING("Failed to get auto property {}", nameStr);
+        return;
+    }
+    
+    // Create property
+    std::unique_ptr<PropertyImpl> prop;
+    prop = std::make_unique<PropertyImpl>(nameStr);
+    prop->propKind = CS_PROP_BOOLEAN;
+    prop->value = enabled ? 1 : 0;
+    prop->minimum = 0;
+    prop->maximum = 1;
+    prop->step = 1;
+    prop->defaultValue = 0;  // Default is manual mode
+    
+    // Add property to container
+    std::scoped_lock lock(sharedThis->GetMutex());
+    int ndx = sharedThis->CreatePropertyPublic(nameStr, [&] { return std::move(prop); });
+    
+    // Notify property created
+    sharedThis->NotifyPropertyCreatedPublic(ndx, *sharedThis->GetPropertyPublic(ndx));
+    
+    // Map property name to ID
+    auto& propertyAutoCache = sharedThis->GetPropertyAutoCache();
+    propertyAutoCache[nameStr] = propID;
 }
 
 static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
@@ -380,22 +772,27 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
              toCheck->height, toCheck->fps);
   std::vector<CameraModeStore>& platformModes =
       sharedThis->objcGetPlatformVideoModes();
-  // Find the matching mode
-  auto match = std::find_if(platformModes.begin(), platformModes.end(),
-                            [&](CameraModeStore& input) {
-                              return input.mode.CompareWithoutFps(*toCheck);
-                            });
+  
+  // Find all matching modes
+  std::vector<CameraModeStore*> matchingModes;
+  for (auto& mode : platformModes) {
+    if (mode.mode.CompareWithoutFps(*toCheck)) {
+      matchingModes.push_back(&mode);
+    }
+  }
 
-  if (match == platformModes.end()) {
+  if (matchingModes.empty()) {
     return nil;
   }
 
   // Check FPS
-  for (CameraFPSRange& range : match->fpsRanges) {
-    OBJCDEBUG3("Checking Range {} {}", range.min, range.max);
-    if (range.IsWithinRange(toCheck->fps)) {
-      *fps = toCheck->fps;
-      return match->format;
+  for (auto mode : matchingModes) {
+    for (CameraFPSRange& range : mode->fpsRanges) {
+      OBJCDEBUG3("Checking Range {} {}", range.min, range.max);
+      if (range.IsWithinRange(toCheck->fps)) {
+        *fps = toCheck->fps;
+        return mode->format;
+      }
     }
   }
 
@@ -454,6 +851,53 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
   self.deviceValid = true;
 }
 
+- (CMTime)findNearestFrameDuration:(int)fps {
+  if (self.currentFormat == nil) {
+    return CMTimeMake(1, fps);
+  }
+
+  NSArray<AVFrameRateRange*>* frameRates = self.currentFormat.videoSupportedFrameRateRanges;
+  if (frameRates.count == 0) {
+    return CMTimeMake(1, fps);
+  }
+
+  // Find the nearest frame duration
+  CMTime nearestDuration = CMTimeMake(1, fps);
+  double minDiff = DBL_MAX;
+
+  for (AVFrameRateRange* range in frameRates) {
+    CMTime minDuration = range.minFrameDuration;
+    CMTime maxDuration = range.maxFrameDuration;
+    
+    // Calculate frame duration for current fps
+    CMTime targetDuration = CMTimeMake(1, fps);
+    
+    // Check if within range
+    if (CMTimeCompare(targetDuration, minDuration) >= 0 && 
+        CMTimeCompare(targetDuration, maxDuration) <= 0) {
+      return targetDuration;
+    }
+    
+    // Calculate difference with min value
+    double minDiffValue = fabs(CMTimeGetSeconds(targetDuration) - CMTimeGetSeconds(minDuration));
+    if (minDiffValue < minDiff) {
+      minDiff = minDiffValue;
+      nearestDuration = minDuration;
+    }
+    
+    // Calculate difference with max value
+    double maxDiffValue = fabs(CMTimeGetSeconds(targetDuration) - CMTimeGetSeconds(maxDuration));
+    if (maxDiffValue < minDiff) {
+      minDiff = maxDiffValue;
+      nearestDuration = maxDuration;
+    }
+  }
+
+  OBJCDEBUG("Nearest fps: {}", nearestDuration.timescale / static_cast<double>(nearestDuration.value));
+  
+  return nearestDuration;
+}
+
 - (bool)deviceStreamOn {
   if (self.streaming) {
     return false;
@@ -461,24 +905,32 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
   if (!self.deviceValid) {
     return false;
   }
-  self.streaming = true;
 
+  if (![self.videoDevice lockForConfiguration:nil]) {
+    OBJCERROR("Failed to lock for configuration");
+    return false;
+  }
+
+  [self.session beginConfiguration];
+
+  if (self.currentFormat != nil) {
+    self.videoDevice.activeFormat = self.currentFormat;
+  }
+
+  if (self.currentFPS != 0) {
+    CMTime frameDuration = [self findNearestFrameDuration:self.currentFPS];
+    self.videoDevice.activeVideoMinFrameDuration = frameDuration;
+    self.videoDevice.activeVideoMaxFrameDuration = frameDuration;
+  }
+
+  [self.session commitConfiguration];
+
+  self.streaming = true;
+  // Start the capture session before device unlock to ensure
+  // the session preset settings are preserved
   [self.session startRunning];
 
-  if ([self.videoDevice lockForConfiguration:nil]) {
-    if (self.currentFormat != nil) {
-      self.videoDevice.activeFormat = self.currentFormat;
-    }
-    if (self.currentFPS != 0) {
-      self.videoDevice.activeVideoMinFrameDuration =
-          CMTimeMake(1, self.currentFPS);
-      self.videoDevice.activeVideoMaxFrameDuration =
-          CMTimeMake(1, self.currentFPS);
-    }
-    [self.videoDevice unlockForConfiguration];
-  } else {
-    OBJCERROR("Failed to lock for configuration");
-  }
+  [self.videoDevice unlockForConfiguration];
 
   return true;
 }
@@ -569,6 +1021,16 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
     goto err;
   }
 
+  CS_Status status;
+  self.uvcControl = [UvcControlImpl createFromAVCaptureDevice:self.videoDevice status:&status];
+  if (self.uvcControl == nil) {
+    OBJCWARNING("Failed to initialize UVC control for camera: {}", status);
+  } else {
+    OBJCINFO("UVC control initialized successfully");
+  }
+  
+  self.uvcControl.cppImpl = self.cppImpl;
+
   self.callback = [[UsbCameraDelegate alloc] init];
   if (self.callback == nil) {
     OBJCWARNING("Creating Camera Callback failed");

cscore/src/main/native/objcpp/UvcControlImpl.h

@@ -0,0 +1,129 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#import <AVFoundation/AVFoundation.h>
+#import <IOKit/IOCFPlugIn.h>
+#import <IOKit/usb/IOUSBLib.h>
+
+#include <memory>
+#include <string_view>
+
+#import "UsbCameraDelegate.h"
+
+#include "cscore_cpp.h"
+
+// Status code definition
+#define CS_UVC_STATUS_ERROR -3001
+#define CS_UVC_STATUS_DEVICE_DISCONNECTED -3002
+
+// UVC control selector definitions
+#define UVC_INPUT_TERMINAL_ID 0x01
+
+// Camera terminal control selectors
+#define CT_AE_MODE_CONTROL 0x02
+#define CT_AE_PRIORITY_CONTROL 0x03
+#define CT_EXPOSURE_TIME_ABSOLUTE_CONTROL 0x04
+#define CT_EXPOSURE_TIME_RELATIVE_CONTROL 0x05
+#define CT_FOCUS_ABSOLUTE_CONTROL 0x06
+#define CT_FOCUS_RELATIVE_CONTROL 0x07
+#define CT_FOCUS_AUTO_CONTROL 0x08
+#define CT_ZOOM_ABSOLUTE_CONTROL 0x0B
+#define CT_ZOOM_RELATIVE_CONTROL 0x0C
+
+// Processing unit control selectors
+#define PU_BACKLIGHT_COMPENSATION_CONTROL 0x01
+#define PU_BRIGHTNESS_CONTROL 0x02
+#define PU_CONTRAST_CONTROL 0x03
+#define PU_GAIN_CONTROL 0x04
+#define PU_POWER_LINE_FREQUENCY_CONTROL 0x05
+#define PU_HUE_CONTROL 0x06
+#define PU_SATURATION_CONTROL 0x07
+#define PU_SHARPNESS_CONTROL 0x08
+#define PU_GAMMA_CONTROL 0x09
+#define PU_WHITE_BALANCE_TEMPERATURE_CONTROL 0x0A
+#define PU_WHITE_BALANCE_TEMPERATURE_AUTO_CONTROL 0x0B
+#define PU_WHITE_BALANCE_COMPONENT_CONTROL 0x0C
+#define PU_WHITE_BALANCE_COMPONENT_AUTO_CONTROL 0x0D
+#define PU_HUE_AUTO_CONTROL 0x10
+#define PU_CONTRAST_AUTO_CONTROL 0x13
+
+// Camera request error code
+#define VC_REQUEST_ERROR_CODE_CONTROL 0x02
+
+// UVC control interface definitions
+#define UVC_CONTROL_INTERFACE_CLASS 14
+#define UVC_CONTROL_INTERFACE_SUBCLASS 1
+
+// UVC control request types
+#define UVC_SET_CUR 0x01
+#define UVC_GET_CUR 0x81
+#define UVC_GET_MIN 0x82
+#define UVC_GET_MAX 0x83
+#define UVC_GET_RES 0x84
+#define UVC_GET_INFO 0x86
+#define UVC_GET_DEF 0x87
+
+// Camera property ID definitions
+#define CAPPROPID_EXPOSURE 1
+#define CAPPROPID_FOCUS 2
+#define CAPPROPID_ZOOM 3
+#define CAPPROPID_WHITEBALANCE 4
+#define CAPPROPID_GAIN 5
+#define CAPPROPID_BRIGHTNESS 6
+#define CAPPROPID_CONTRAST 7
+#define CAPPROPID_SATURATION 8
+#define CAPPROPID_GAMMA 9
+#define CAPPROPID_HUE 10
+#define CAPPROPID_SHARPNESS 11
+#define CAPPROPID_BACKLIGHTCOMP 12
+#define CAPPROPID_POWERLINEFREQ 13
+#define CAPPROPID_LAST 14
+
+namespace cs {
+class UsbCameraImpl;
+}
+
+@interface UvcControlImpl : NSObject
+
+@property(nonatomic) IOUSBInterfaceInterface190** controlInterface;
+@property(nonatomic) uint32_t processingUnitID;
+@property(nonatomic) std::weak_ptr<cs::UsbCameraImpl> cppImpl;
+
+// Create from AVCaptureDevice
++ (instancetype)createFromAVCaptureDevice:(AVCaptureDevice*)device status:(CS_Status*)status;
+
+// Initialize with USB vendor/product/location
+- (instancetype)initWithVendorId:(uint16_t)vid 
+                      productId:(uint16_t)pid 
+                       location:(uint32_t)location
+                         status:(CS_Status*)status;
+
+- (void)dealloc;
+
+// Basic property control
+- (bool)setProperty:(uint32_t)propID 
+          withValue:(int32_t)value
+             status:(CS_Status*)status;
+- (bool)getProperty:(uint32_t)propID 
+          withValue:(int32_t*)value
+             status:(CS_Status*)status;
+
+// Auto mode control
+- (bool)setAutoProperty:(uint32_t)propID 
+               enabled:(bool)enabled
+                status:(CS_Status*)status;
+- (bool)getAutoProperty:(uint32_t)propID 
+               enabled:(bool*)enabled
+                status:(CS_Status*)status;
+
+// Property range query
+- (bool)getPropertyLimits:(uint32_t)propID
+                     min:(int32_t*)min
+                     max:(int32_t*)max
+                defValue:(int32_t*)defValue
+                  status:(CS_Status*)status;
+
+@end 

cscore/src/main/native/objcpp/UvcControlImpl.mm

@@ -0,0 +1,773 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// Copyright (c) 2017 Jason von Nieda, Niels Moseley
+//
+// The MIT License (MIT)
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#import <AVFoundation/AVFoundation.h>
+
+#import "UvcControlImpl.h"
+
+#include "Log.h"
+#include "UsbCameraImpl.h"
+
+template <typename S, typename... Args>
+inline void NamedLog(UvcControlImpl* objc, unsigned int level,
+                     const char* file, unsigned int line, const S& format,
+                     Args&&... args) {
+  auto sharedThis = objc.cppImpl.lock();
+  if (!sharedThis) {
+    return;
+  }
+
+  wpi::Logger& logger = sharedThis->objcGetLogger();
+  std::string_view name = sharedThis->GetName();
+
+  if (logger.HasLogger() && level >= logger.min_level()) {
+    cs::NamedLogV(logger, level, file, line, name, format,
+                  fmt::make_format_args(args...));
+  }
+}
+
+#define UVCLOG(level, format, ...) \
+  NamedLog(self, level, __FILE__, __LINE__, \
+           format __VA_OPT__(, ) __VA_ARGS__)
+
+#define UVCERROR(format, ...) \
+  UVCLOG(::wpi::WPI_LOG_ERROR, format __VA_OPT__(, ) __VA_ARGS__)
+#define UVCWARNING(format, ...) \
+  UVCLOG(::wpi::WPI_LOG_WARNING, format __VA_OPT__(, ) __VA_ARGS__)
+#define UVCINFO(format, ...) \
+  UVCLOG(::wpi::WPI_LOG_INFO, format __VA_OPT__(, ) __VA_ARGS__)
+
+#ifdef NDEBUG
+#define UVCDEBUG(format, ...) \
+  do {                         \
+  } while (0)
+#define UVCDEBUG1(format, ...) \
+  do {                          \
+  } while (0)
+#define UVCDEBUG2(format, ...) \
+  do {                          \
+  } while (0)
+#define UVCDEBUG3(format, ...) \
+  do {                          \
+  } while (0)
+#define UVCDEBUG4(format, ...) \
+  do {                          \
+  } while (0)
+#else
+#define UVCDEBUG(format, ...) \
+  UVCLOG(::wpi::WPI_LOG_DEBUG, format __VA_OPT__(, ) __VA_ARGS__)
+#define UVCDEBUG1(format, ...) \
+  UVCLOG(::wpi::WPI_LOG_DEBUG1, format __VA_OPT__(, ) __VA_ARGS__)
+#define UVCDEBUG2(format, ...) \
+  UVCLOG(::wpi::WPI_LOG_DEBUG2, format __VA_OPT__(, ) __VA_ARGS__)
+#define UVCDEBUG3(format, ...) \
+  UVCLOG(::wpi::WPI_LOG_DEBUG3, format __VA_OPT__(, ) __VA_ARGS__)
+#define UVCDEBUG4(format, ...) \
+  UVCLOG(::wpi::WPI_LOG_DEBUG4, format __VA_OPT__(, ) __VA_ARGS__)
+#endif
+
+// USB descriptor for UVC processing unit
+struct ProcessingUnitDescriptor
+{
+    uint8_t bLength;
+    uint8_t bDescriptorType;        // CS_INTERFACE 0x24
+    uint8_t bDescriptorSubtype;     // VC_PROCESSING_UNIT 0x05
+    uint8_t bUnitID;
+};
+
+struct propertyInfo_t
+{
+    uint32_t    selector;   // selector ID
+    uint32_t    unit;       // unit (==0 for INPUT TERMINA:, ==1 for PROCESSING UNIT)
+    uint32_t    length;     // length (bytes)
+};
+
+/** The order of the propertyInfo structure must
+    be the same as the PROPID numbers in the
+    openpnp-capture.h header */
+const propertyInfo_t propertyInfo[] =
+{
+    {0,0,0},
+    {CT_EXPOSURE_TIME_ABSOLUTE_CONTROL   , 0, 4},
+    {CT_FOCUS_ABSOLUTE_CONTROL           , 0, 2},
+    {CT_ZOOM_ABSOLUTE_CONTROL            , 0, 2},
+    {PU_WHITE_BALANCE_TEMPERATURE_CONTROL, 1, 2},
+    {PU_GAIN_CONTROL                     , 1, 2},
+    {PU_BRIGHTNESS_CONTROL               , 1, 2},
+    {PU_CONTRAST_CONTROL                 , 1, 2},
+    {PU_SATURATION_CONTROL               , 1, 2},
+    {PU_GAMMA_CONTROL                    , 1, 2},
+    {PU_HUE_CONTROL                      , 1, 2},
+    {PU_SHARPNESS_CONTROL                , 1, 2},
+    {PU_BACKLIGHT_COMPENSATION_CONTROL   , 1, 2},
+    {PU_POWER_LINE_FREQUENCY_CONTROL     , 1, 1}
+};
+
+@implementation UvcControlImpl {
+    IOUSBDeviceInterface** _deviceInterface;
+}
+
+
++ (instancetype)createFromAVCaptureDevice:(AVCaptureDevice*)device status:(CS_Status*)status {
+    if (!device) {
+        NSLog(@"UVC: device is nil");
+        *status = CS_UVC_STATUS_ERROR;
+        return nil;
+    }
+    
+    NSError* error = nil;
+    NSRegularExpression* regex = [NSRegularExpression regularExpressionWithPattern:@"^UVC\\s+Camera\\s+VendorID\\_([0-9]+)\\s+ProductID\\_([0-9]+)$" 
+                                                                         options:0 
+                                                                           error:&error];
+    if (error) {
+        NSLog(@"UVC: failed to create regex: %@", error);
+        *status = CS_UVC_STATUS_ERROR;
+        return nil;
+    }
+    
+    NSString* modelID = [device valueForKey:@"modelID"];
+    if (!modelID) {
+        NSLog(@"UVC: modelID is nil");
+        *status = CS_UVC_STATUS_ERROR;
+        return nil;
+    }
+    
+    NSTextCheckingResult* match = [regex firstMatchInString:modelID 
+                                                   options:0 
+                                                     range:NSMakeRange(0, modelID.length)];
+    if (!match || match.numberOfRanges != 3) {
+        NSLog(@"UVC: modelID regex match failed");
+        *status = CS_UVC_STATUS_ERROR;
+        return nil;
+    }
+    
+    NSString* vendorIDStr = [modelID substringWithRange:[match rangeAtIndex:1]];
+    NSString* productIDStr = [modelID substringWithRange:[match rangeAtIndex:2]];
+    uint16_t vendorID = (uint16_t)strtoul([vendorIDStr UTF8String], NULL, 10);
+    uint16_t productID = (uint16_t)strtoul([productIDStr UTF8String], NULL, 10);
+    
+    uint32_t locationID = 0;
+    CFMutableDictionaryRef dict = IOServiceMatching(kIOUSBDeviceClassName);
+    CFDictionarySetValue(dict, CFSTR("idVendor"), (__bridge CFNumberRef)@(vendorID));
+    CFDictionarySetValue(dict, CFSTR("idProduct"), (__bridge CFNumberRef)@(productID));
+    
+    io_iterator_t iter = 0;
+    kern_return_t ioResult = IOServiceGetMatchingServices(kIOMainPortDefault, dict, &iter);
+    if (ioResult == kIOReturnSuccess) {
+        io_service_t usbDevice = IOIteratorNext(iter);
+        while (usbDevice != 0) {
+            CFTypeRef locationIDRef = IORegistryEntryCreateCFProperty(usbDevice, 
+                                                                    CFSTR("locationID"), 
+                                                                    kCFAllocatorDefault, 
+                                                                    0);
+            if (locationIDRef) {
+                locationID = [(__bridge NSNumber*)locationIDRef unsignedIntValue];
+                CFRelease(locationIDRef);
+                NSString* uniqueID = [device valueForKey:@"uniqueID"];
+                NSString* locationIDHex = [NSString stringWithFormat:@"0x%x", locationID];
+                if ([uniqueID hasPrefix:locationIDHex]) {
+                    IOObjectRelease(usbDevice);
+                    break;
+                }
+            }
+            IOObjectRelease(usbDevice);
+            usbDevice = IOIteratorNext(iter);
+        }
+        IOObjectRelease(iter);
+    }
+    
+    UvcControlImpl *instance = [[UvcControlImpl alloc] initWithVendorId:vendorID 
+                                        productId:productID 
+                                        location:locationID 
+                                           status:status];
+    if (!instance) {
+        NSLog(@"UVC: failed to create UvcControlImpl, status=%d", *status);
+    }
+    return instance;
+}
+
+- (instancetype)initWithVendorId:(uint16_t)vid 
+                      productId:(uint16_t)pid 
+                      location:(uint32_t)location
+                         status:(CS_Status*)status {
+    self = [super init];
+    if (self) {
+        // UVCINFO("Initializing with VID: 0x{:04X}, PID: 0x{:04X}, Location: 0x{:08X}", vid, pid, location);
+        _deviceInterface = [self findDevice:vid productId:pid location:location];
+        if (_deviceInterface == nullptr) {
+            // UVCWARNING("Failed to find device");
+            *status = CS_UVC_STATUS_DEVICE_DISCONNECTED;
+            return nil;
+        }
+        
+        _processingUnitID = [self getProcessingUnitID:_deviceInterface];
+        
+        _controlInterface = [self createControlInterface:_deviceInterface];
+        
+        if (_controlInterface == nullptr) {
+            // UVCWARNING("Failed to create control interface");
+            *status = CS_UVC_STATUS_DEVICE_DISCONNECTED;
+            return nil;
+        }
+    }
+    return self;
+}
+
+- (void)dealloc {
+    if (_controlInterface != nullptr) {
+        (*_controlInterface)->USBInterfaceClose(_controlInterface);
+        (*_controlInterface)->Release(_controlInterface);
+    }
+    if (_deviceInterface != nullptr) {
+        (*_deviceInterface)->Release(_deviceInterface);
+    }
+}
+
+- (IOUSBDeviceInterface**)findDevice:(uint16_t)vid 
+                          productId:(uint16_t)pid 
+                          location:(uint32_t)location {
+
+    CFMutableDictionaryRef dict = IOServiceMatching(kIOUSBDeviceClassName);
+    
+    io_iterator_t serviceIterator;
+    kern_return_t result = IOServiceGetMatchingServices((mach_port_t)NULL, dict, &serviceIterator);
+    if (result != kIOReturnSuccess) {
+        UVCERROR("findDevice: IOServiceGetMatchingServices failed: {}", result);
+        return nullptr;
+    }
+    
+    io_service_t device;
+    while((device = IOIteratorNext(serviceIterator)) != 0) {
+        IOUSBDeviceInterface **deviceInterface = nullptr;
+        IOCFPlugInInterface  **plugInInterface = nullptr;
+        SInt32 score;
+        
+        kern_return_t result = IOCreatePlugInInterfaceForService(
+            device, kIOUSBDeviceUserClientTypeID,
+            kIOCFPlugInInterfaceID, &plugInInterface, &score);
+            
+        if ((result != kIOReturnSuccess) || (plugInInterface == nullptr)) {
+            UVCERROR("findDevice: Camera control error: {}", result);
+            IOObjectRelease(device);
+            continue;
+        }
+        
+        HRESULT hr = (*plugInInterface)->QueryInterface(plugInInterface,
+            CFUUIDGetUUIDBytes(kIOUSBDeviceInterfaceID),
+            (LPVOID*)&deviceInterface);
+            
+        if (hr || (deviceInterface == nullptr)) {
+            (*plugInInterface)->Release(plugInInterface);
+            IOObjectRelease(device);
+            UVCERROR("findDevice: QueryInterface failed");
+            continue;
+        }
+        
+        uint16_t vendorID, productID;
+        uint32_t locationID;
+        result = (*deviceInterface)->GetDeviceVendor(deviceInterface, &vendorID);
+        result = (*deviceInterface)->GetDeviceProduct(deviceInterface, &productID);
+        result = (*deviceInterface)->GetLocationID(deviceInterface, &locationID);
+        
+        // if 'location' is zero, we won't match on location
+        // to achieve this, we simply set locationID to zero.
+        if (location == 0) {
+            locationID = 0;
+        }
+        
+        if ((vendorID == vid) && (productID == pid) && (locationID == location)) {
+            (*plugInInterface)->Release(plugInInterface);
+            IOObjectRelease(device);
+            IOObjectRelease(serviceIterator);
+            return deviceInterface;
+        }
+        
+        (*deviceInterface)->Release(deviceInterface);
+        (*plugInInterface)->Release(plugInInterface);
+        IOObjectRelease(device);
+    }
+    
+    IOObjectRelease(serviceIterator);
+    return nullptr;
+}
+
+- (uint32_t)getProcessingUnitID:(IOUSBDeviceInterface**)dev {
+    IOReturn kr;
+    IOUSBConfigurationDescriptorPtr configDesc;
+    
+    kr = (*dev)->GetConfigurationDescriptorPtr(dev, 0, &configDesc);
+    if (kr) {
+        return 0;
+    }
+
+    UVCDEBUG4("USB descriptor:");
+    UVCDEBUG4("  length    = 0x{:08X}", configDesc->bLength);
+    UVCDEBUG4("  type      = 0x{:08X}", configDesc->bDescriptorType);
+    UVCDEBUG4("  totalLen  = 0x{:08X}", configDesc->wTotalLength);
+    UVCDEBUG4("  interfaces = 0x{:08X}", configDesc->bNumInterfaces);
+    
+    uint32_t idx = 0;
+    uint8_t *ptr = (uint8_t*)configDesc;
+
+    // Search for VIDEO/CONTROL interface descriptor
+    // Class=14, Subclass=1, Protocol=0
+    // and find the processing unit, if available..
+        // DescriptorType 0x24, DescriptorSubType 0x5
+
+    IOUSBInterfaceDescriptor *iface = NULL;
+    ProcessingUnitDescriptor *pud   = NULL;
+    bool inVideoControlInterfaceDescriptor = false;
+    while(idx < configDesc->wTotalLength) {
+        IOUSBDescriptorHeader *hdr = (IOUSBDescriptorHeader *)&ptr[idx];
+        switch(hdr->bDescriptorType)
+            {
+                case 0x05:  // Endpoint descriptor ID
+                    break;
+                case 0x02:  // Configuration descriptor ID
+                    break;
+                case 0x04: // Interface descriptor ID
+                    iface = (IOUSBInterfaceDescriptor*)&ptr[idx];
+                    if ((iface->bInterfaceClass == 14) && 
+                        (iface->bInterfaceSubClass == 1) &&
+                        (iface->bInterfaceProtocol == 0))
+                    {
+                        inVideoControlInterfaceDescriptor = true;
+                    }
+                    else
+                    {
+                        inVideoControlInterfaceDescriptor = false;
+                    }
+                    break;
+                case 0x24: // class-specific ID
+                    pud = (ProcessingUnitDescriptor*)&ptr[idx];
+                    if (inVideoControlInterfaceDescriptor)
+                    {
+                        if (pud->bDescriptorSubtype == 0x05)
+                        {
+                            return pud->bUnitID;
+                        }
+                    }
+                    break;
+                default:
+                    break;
+            }
+        idx += hdr->bLength;
+    }
+    
+    return 0;
+}
+
+- (IOUSBInterfaceInterface190**)createControlInterface:(IOUSBDeviceInterface**)deviceInterface {
+    IOUSBInterfaceInterface190 **controlInterface;
+    
+    io_iterator_t interfaceIterator;
+    IOUSBFindInterfaceRequest interfaceRequest;
+    interfaceRequest.bInterfaceClass = UVC_CONTROL_INTERFACE_CLASS;
+    interfaceRequest.bInterfaceSubClass = UVC_CONTROL_INTERFACE_SUBCLASS;
+    interfaceRequest.bInterfaceProtocol = kIOUSBFindInterfaceDontCare;
+    interfaceRequest.bAlternateSetting = kIOUSBFindInterfaceDontCare;
+    
+    IOReturn result = (*deviceInterface)->CreateInterfaceIterator(deviceInterface,
+        &interfaceRequest, &interfaceIterator);
+        
+    if (result != kIOReturnSuccess) {
+        return nullptr;
+    }
+    
+    io_service_t usbInterface;
+    if ((usbInterface = IOIteratorNext(interfaceIterator)) != 0) {
+        IOCFPlugInInterface **plugInInterface = nullptr;
+        SInt32 score;
+        
+        kern_return_t kr = IOCreatePlugInInterfaceForService(usbInterface,
+            kIOUSBInterfaceUserClientTypeID,
+            kIOCFPlugInInterfaceID,
+            &plugInInterface,
+            &score);
+            
+        kr = IOObjectRelease(usbInterface);
+        if ((kr != kIOReturnSuccess) || !plugInInterface) {
+            UVCERROR("createControlInterface: cannot create plug-in {:08X}",
+                kr);
+            return nullptr;
+        }
+        
+        HRESULT hr = (*plugInInterface)->QueryInterface(plugInInterface,
+            CFUUIDGetUUIDBytes(kIOUSBInterfaceInterfaceID),
+            (LPVOID*) &controlInterface);
+            
+        (*plugInInterface)->Release(plugInInterface);
+        
+        if (hr || !controlInterface) {
+            UVCERROR("createControlInterface: cannot create device interface {:08X}",
+                result);
+            return nullptr;
+        }
+        
+        UVCDEBUG3("createControlInterface: created control interface");
+        return controlInterface;
+    }
+    return nullptr;
+}
+
+- (bool)sendControlRequest:(IOUSBDevRequest)req {
+    if (_controlInterface == nullptr) {
+        UVCERROR("control interface is NULL");
+        return false;
+    }
+
+    kern_return_t kr;
+    if (@available(macOS 12.0, *)) {
+        // macOS 12 doesn't like if we're trying to open USB interface here...
+    } else {
+        kr = (*_controlInterface)->USBInterfaceOpen(_controlInterface);
+        if (kr != kIOReturnSuccess) {
+            UVCERROR("USBInterfaceOpen failed with error: 0x{:08X}", kr);
+            return false;
+        }
+    }
+
+    kr = (*_controlInterface)->ControlRequest(_controlInterface, 0, &req);
+    if (kr != kIOReturnSuccess) {
+        // IOKIT error code
+        #define err_get_system(err) (((err)>>26)&0x3f) 
+        #define err_get_sub(err) (((err)>>14)&0xfff) 
+        #define err_get_code(err) ((err)&0x3fff)
+        
+        uint32_t code = err_get_code(kr);
+        uint32_t sys  = err_get_system(kr);
+        uint32_t sub  = err_get_sub(kr);
+
+        switch(kr)
+        {
+            case kIOUSBUnknownPipeErr:
+                UVCERROR("Pipe ref not recognised");
+                break;
+            case kIOUSBTooManyPipesErr:
+                UVCERROR("Too many pipes");
+                break;
+            case kIOUSBEndpointNotFound:
+                UVCERROR("Endpoint not found");
+                break;
+            case kIOUSBConfigNotFound:
+                UVCERROR("USB configuration not found");
+                break;
+            case kIOUSBPipeStalled:
+                //Note: we don't report this as an error as this happens when
+                //      an unsupported or locked property is set.            
+                UVCDEBUG("Pipe has stalled, error needs to be cleared");
+                break;
+            case kIOUSBInterfaceNotFound:
+                UVCERROR("USB control interface not found");
+                break;
+            default:
+                UVCERROR("ControlRequest failed (KR=sys:sub:code) = {:02X}h:{:03X}h:{:04X}h", 
+                    sys, sub, code);
+                break; 
+        }
+
+        if (@available(macOS 12.0, *)) {
+            // macOS 12 doesn't like if we're trying to close USB interface here...
+        } else {
+            kr = (*_controlInterface)->USBInterfaceClose(_controlInterface);
+            if (kr != kIOReturnSuccess) {
+                UVCERROR("USBInterfaceClose failed");
+            }
+        }
+        return false;
+    }
+
+    if (@available(macOS 12.0, *)) {
+        // macOS 12 doesn't like if we're trying to close USB interface here either...
+    } else {
+        kr = (*_controlInterface)->USBInterfaceClose(_controlInterface);
+
+        if (kr != kIOReturnSuccess) {
+            UVCERROR("USBInterfaceClose failed");
+        }
+    }
+
+    return true;
+}
+
+- (bool)setData:(uint32_t)selector unit:(uint32_t)unit length:(uint32_t)length data:(int32_t)data {
+    IOUSBDevRequest req;
+    req.bmRequestType = USBmakebmRequestType((UInt8)kUSBOut, (UInt8)kUSBClass, (UInt8)kUSBInterface);
+    req.bRequest = UVC_SET_CUR;
+    req.wValue = (selector << 8);
+    req.wIndex = (unit << 8);
+    req.wLength = length;
+    req.wLenDone = 0;
+    req.pData = &data;
+    return [self sendControlRequest:req];
+}
+
+- (bool)getData:(uint32_t)selector unit:(uint32_t)unit length:(uint32_t)length data:(int32_t*)data {
+    IOUSBDevRequest req;
+    req.bmRequestType = USBmakebmRequestType((UInt8)kUSBIn, (UInt8)kUSBClass, (UInt8)kUSBInterface);
+    req.bRequest = UVC_GET_CUR;
+    req.wValue = (selector << 8);
+    req.wIndex = (unit << 8);
+    req.wLength = length;
+    req.wLenDone = 0;
+    req.pData = data;
+    return [self sendControlRequest:req];
+}
+
+- (bool)getMaxData:(uint32_t)selector unit:(uint32_t)unit length:(uint32_t)length data:(int32_t*)data {
+    IOUSBDevRequest req;
+    *data = 0;
+    req.bmRequestType = USBmakebmRequestType((UInt8)kUSBIn, (UInt8)kUSBClass, (UInt8)kUSBInterface);
+    req.bRequest = UVC_GET_MAX;
+    req.wValue = (selector << 8);
+    req.wIndex = (unit << 8);
+    req.wLength = length;
+    req.wLenDone = 0;
+    req.pData = data;
+    return [self sendControlRequest:req];
+}
+
+- (bool)getMinData:(uint32_t)selector unit:(uint32_t)unit length:(uint32_t)length data:(int32_t*)data {
+    IOUSBDevRequest req;
+    *data = 0;
+    req.bmRequestType = USBmakebmRequestType((UInt8)kUSBIn, (UInt8)kUSBClass, (UInt8)kUSBInterface);
+    req.bRequest = UVC_GET_MIN;
+    req.wValue = (selector << 8);
+    req.wIndex = (unit << 8);
+    req.wLength = length;
+    req.wLenDone = 0;
+    req.pData = data;
+    return [self sendControlRequest:req];
+}
+
+- (bool)getDefault:(uint32_t)selector unit:(uint32_t)unit length:(uint32_t)length data:(int32_t*)data {
+    IOUSBDevRequest req;
+    *data = 0;
+    req.bmRequestType = USBmakebmRequestType((UInt8)kUSBIn, (UInt8)kUSBClass, (UInt8)kUSBInterface);
+    req.bRequest = UVC_GET_DEF;
+    req.wValue = (selector << 8);
+    req.wIndex = (unit << 8);
+    req.wLength = length;
+    req.wLenDone = 0;
+    req.pData = data;
+    return [self sendControlRequest:req];
+}
+
+- (bool)getInfo:(uint32_t)selector unit:(uint32_t)unit data:(uint32_t*)data {
+    IOUSBDevRequest req;
+    *data = 0;
+    req.bmRequestType = USBmakebmRequestType((UInt8)kUSBIn, (UInt8)kUSBClass, (UInt8)kUSBInterface);
+    req.bRequest = UVC_GET_INFO;
+    req.wValue = (selector << 8);
+    req.wIndex = (unit << 8);
+    req.wLength = 1;
+    req.wLenDone = 0;
+    req.pData = data;
+    return [self sendControlRequest:req];
+}
+
+- (bool)setProperty:(uint32_t)propID withValue:(int32_t)value status:(CS_Status*)status {
+    if (_controlInterface == nullptr) {
+        UVCERROR("control interface is NULL");
+        *status = CS_UVC_STATUS_DEVICE_DISCONNECTED;
+        return false;
+    }
+
+    bool ok = false;
+    if (propID < CAPPROPID_LAST) {
+        uint32_t unit = (propertyInfo[propID].unit == 0) ? UVC_INPUT_TERMINAL_ID : _processingUnitID;
+        ok = [self setData:propertyInfo[propID].selector unit:unit length:propertyInfo[propID].length data:value];
+        if (!ok) {
+            UVCWARNING("Failed to set property {}", propID);
+        }
+    } else {
+        UVCWARNING("Invalid property ID: {}", propID);
+    }
+    return ok;
+}
+
+- (bool)getProperty:(uint32_t)propID withValue:(int32_t*)value status:(CS_Status*)status {
+    if (_controlInterface == nullptr) {
+        UVCERROR("control interface is NULL");
+        *status = CS_UVC_STATUS_DEVICE_DISCONNECTED;
+        return false;
+    }
+
+    bool ok = false;
+    if (propID < CAPPROPID_LAST) {
+        uint32_t unit = (propertyInfo[propID].unit == 0) ? UVC_INPUT_TERMINAL_ID : _processingUnitID;
+        ok = [self getData:propertyInfo[propID].selector unit:unit length:propertyInfo[propID].length data:value];
+
+        switch(propertyInfo[propID].length) {
+            case 2:
+                *value = static_cast<int16_t>(*value);
+                break;
+            case 1:
+                *value = static_cast<int8_t>(*value);
+                break;
+            default:
+                break;
+        }
+        if (!ok) {
+            UVCWARNING("Failed to get property {}", propID);
+        }
+    } else {
+        UVCWARNING("Invalid property ID: {}", propID);
+    }
+    return ok;
+}
+
+- (bool)setAutoProperty:(uint32_t)propID enabled:(bool)enabled status:(CS_Status*)status {
+    if (_controlInterface == nullptr) {
+        UVCERROR("control interface is NULL");
+        *status = CS_UVC_STATUS_DEVICE_DISCONNECTED;
+        return false;
+    }
+
+    int32_t value = enabled ? 1 : 0;
+    switch(propID) {
+        case CAPPROPID_EXPOSURE:
+            return [self setData:CT_AE_MODE_CONTROL unit:UVC_INPUT_TERMINAL_ID length:1 data:enabled ? 0x8 : 0x1];
+        case CAPPROPID_WHITEBALANCE:
+            return [self setData:PU_WHITE_BALANCE_TEMPERATURE_AUTO_CONTROL unit:_processingUnitID length:1 data:value];
+        case CAPPROPID_FOCUS:
+            return [self setData:CT_FOCUS_AUTO_CONTROL unit:UVC_INPUT_TERMINAL_ID length:1 data:value];
+        default:
+            return false;
+    }
+}
+
+- (bool)getAutoProperty:(uint32_t)propID enabled:(bool*)enabled status:(CS_Status*)status {
+    if (_controlInterface == nullptr) {
+        UVCERROR("control interface is NULL");
+        *status = CS_UVC_STATUS_DEVICE_DISCONNECTED;
+        return false;
+    }
+
+    int32_t value;
+    
+    switch(propID) {
+        case CAPPROPID_EXPOSURE:
+            if ([self getData:CT_AE_MODE_CONTROL unit:UVC_INPUT_TERMINAL_ID length:1 data:&value]) {
+                // value = 1 -> manual mode
+                //         2 -> auto mode (I haven't seen this in the wild)
+                //         4 -> shutter priority mode (haven't seen this)
+                //         8 -> aperature prioritry mode (seen this used)
+                value &= 0xFF;
+                *enabled = (value==1) ? false : true;
+                return true;
+            }
+            return false;
+        case CAPPROPID_WHITEBALANCE:
+            if ([self getData:PU_WHITE_BALANCE_TEMPERATURE_AUTO_CONTROL unit:_processingUnitID length:1 data:&value]) {
+                value &= 0xFF;
+                *enabled = (value==1) ? true : false;
+                UVCDEBUG3("White balance auto mode: {}", *enabled ? "enabled" : "disabled");
+                return true;
+            }
+            return false;
+        case CAPPROPID_FOCUS:
+            if ([self getData:CT_FOCUS_AUTO_CONTROL unit:UVC_INPUT_TERMINAL_ID length:1 data:&value]) {
+                value &= 0xFF;
+                *enabled = (value==1) ? true : false;
+                UVCDEBUG3("Focus auto mode: {}", *enabled ? "enabled" : "disabled");
+                return true;
+            }
+            return false;
+        default:
+            UVCWARNING("Unsupported auto property ID: {}", propID);
+            return false;
+    }
+}
+
+- (bool)getPropertyLimits:(uint32_t)propID min:(int32_t*)min max:(int32_t*)max defValue:(int32_t*)defValue status:(CS_Status*)status {
+    if (_controlInterface == nullptr) {
+        *status = CS_UVC_STATUS_DEVICE_DISCONNECTED;
+        return false;
+    }
+
+    bool ok = true;
+    if (propID < CAPPROPID_LAST) {
+        uint32_t unit = (propertyInfo[propID].unit == 0) ? UVC_INPUT_TERMINAL_ID : _processingUnitID;
+        
+        if (![self getMinData:propertyInfo[propID].selector unit:unit length:propertyInfo[propID].length data:min]) {
+            ok = false;
+        }
+
+        if (![self getMaxData:propertyInfo[propID].selector unit:unit length:propertyInfo[propID].length data:max]) {
+            ok = false;
+        }
+
+        if (![self getDefault:propertyInfo[propID].selector unit:unit length:propertyInfo[propID].length data:defValue]) {
+            ok = false;
+        }
+
+        switch(propertyInfo[propID].length) {
+            case 2:
+                *min = static_cast<int16_t>(*min);
+                *max = static_cast<int16_t>(*max);
+                *defValue = static_cast<int16_t>(*defValue);
+                break;
+            case 1:
+                *min = static_cast<int8_t>(*min);
+                *max = static_cast<int8_t>(*max);
+                *defValue = static_cast<int8_t>(*defValue);
+                break;
+            default:
+                break;
+        }
+    } else {
+        UVCWARNING("getPropertyLimits: property ID out of bounds");
+        ok = false;
+    }
+    return ok;
+}
+
+- (void)reportCapabilities:(uint32_t)selector unit:(uint32_t)unit {
+    uint32_t info;
+    [self getInfo:selector unit:unit data:&info];
+    if (info & 0x01) {
+        UVCDEBUG4("GET ");
+    }
+    if (info & 0x02) {
+        UVCDEBUG4("SET ");
+    }
+    if (info & 0x04) {
+        UVCDEBUG4("DISABLED ");
+    }
+    if (info & 0x08) {
+        UVCDEBUG4("AUTO-UPD ");
+    }
+    if (info & 0x10) {
+        UVCDEBUG4("ASYNC ");
+    }
+    if (info & 0x20) {
+        UVCDEBUG4("DISCOMMIT");
+    }
+    UVCDEBUG4("");
+}
+
+@end