feat: load pinned OSQP native library

2026-08-03 23:48:41 +08:00
parent 2abb465d98
commit 39c1708c48
5 changed files with 608 additions and 2 deletions
@@ -0,0 +1,111 @@
+using System;
+using System.ComponentModel;
+using System.Runtime.InteropServices;
+
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+internal static class OsqpNativeMethods
+{
+    [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+    internal delegate IntPtr VersionDelegate();
+
+    [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+    internal delegate void SetDefaultSettingsDelegate(IntPtr settings);
+
+    [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+    internal delegate int SetupDelegate(
+        out IntPtr solver,
+        IntPtr upperTriangularP,
+        IntPtr linearCost,
+        IntPtr constraints,
+        IntPtr lowerBounds,
+        IntPtr upperBounds,
+        int constraintCount,
+        int variableCount,
+        IntPtr settings);
+
+    [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+    internal delegate int WarmStartDelegate(IntPtr solver, IntPtr primal, IntPtr dual);
+
+    [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+    internal delegate int SolveDelegate(IntPtr solver);
+
+    [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+    internal delegate int CleanupDelegate(IntPtr solver);
+
+    public static IntPtr LoadLibrary(string absolutePath)
+    {
+        return LoadLibraryW(absolutePath);
+    }
+
+    public static bool FreeModule(IntPtr moduleHandle)
+    {
+        return FreeLibrary(moduleHandle);
+    }
+
+    public static string LastErrorMessage()
+    {
+        int error = Marshal.GetLastWin32Error();
+        return new Win32Exception(error).Message;
+    }
+
+    public static OsqpNativeApi ResolveApi(IntPtr moduleHandle)
+    {
+        return new OsqpNativeApi(
+            Resolve<VersionDelegate>(moduleHandle, "osqp_version"),
+            Resolve<SetDefaultSettingsDelegate>(moduleHandle, "osqp_set_default_settings"),
+            Resolve<SetupDelegate>(moduleHandle, "osqp_setup"),
+            Resolve<WarmStartDelegate>(moduleHandle, "osqp_warm_start"),
+            Resolve<SolveDelegate>(moduleHandle, "osqp_solve"),
+            Resolve<CleanupDelegate>(moduleHandle, "osqp_cleanup"));
+    }
+
+    private static T Resolve<T>(IntPtr moduleHandle, string exportName) where T : Delegate
+    {
+        IntPtr procedure = GetProcAddress(moduleHandle, exportName);
+        if (procedure == IntPtr.Zero)
+            throw new InvalidOperationException("Missing OSQP export " + exportName + ".");
+        return Marshal.GetDelegateForFunctionPointer<T>(procedure);
+    }
+
+    [DllImport("kernel32", CharSet = CharSet.Unicode, ExactSpelling = true, SetLastError = true)]
+    private static extern IntPtr LoadLibraryW(string fileName);
+
+    [DllImport("kernel32", ExactSpelling = true, SetLastError = true)]
+    [return: MarshalAs(UnmanagedType.Bool)]
+    private static extern bool FreeLibrary(IntPtr moduleHandle);
+
+    [DllImport("kernel32", CharSet = CharSet.Ansi, ExactSpelling = true, SetLastError = true)]
+    private static extern IntPtr GetProcAddress(IntPtr moduleHandle, string procedureName);
+}
+
+internal sealed class OsqpNativeApi
+{
+    public OsqpNativeApi(
+        OsqpNativeMethods.VersionDelegate version,
+        OsqpNativeMethods.SetDefaultSettingsDelegate setDefaultSettings,
+        OsqpNativeMethods.SetupDelegate setup,
+        OsqpNativeMethods.WarmStartDelegate warmStart,
+        OsqpNativeMethods.SolveDelegate solve,
+        OsqpNativeMethods.CleanupDelegate cleanup)
+    {
+        Version = version;
+        SetDefaultSettings = setDefaultSettings;
+        Setup = setup;
+        WarmStart = warmStart;
+        Solve = solve;
+        Cleanup = cleanup;
+    }
+
+    public OsqpNativeMethods.VersionDelegate Version { get; }
+
+    public OsqpNativeMethods.SetDefaultSettingsDelegate SetDefaultSettings { get; }
+
+    public OsqpNativeMethods.SetupDelegate Setup { get; }
+
+    public OsqpNativeMethods.WarmStartDelegate WarmStart { get; }
+
+    public OsqpNativeMethods.SolveDelegate Solve { get; }
+
+    public OsqpNativeMethods.CleanupDelegate Cleanup { get; }
+}