copy in assert.h from rosconsole

Author: tfoote

include/rcutils/assert.h

@@ -0,0 +1,155 @@
+/*
+ * Copyright (c) 2008, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+// Author: Josh Faust
+
+#ifndef ROSCONSOLE_ROSASSERT_H
+#define ROSCONSOLE_ROSASSERT_H
+
+#include "ros/console.h"
+#include "ros/static_assert.h"
+
+/** \file */
+
+/** \def ROS_ASSERT(cond)
+ * \brief Asserts that the provided condition evaluates to true.
+ *
+ * If it is false, program execution will abort, with an informative
+ * statement about which assertion failed, in what file.  Use ROS_ASSERT
+ * instead of assert() itself.
+ *
+ * If running inside a debugger, ROS_ASSERT will allow you to step past the assertion.
+ */
+
+/** \def ROS_ASSERT_MSG(cond, ...)
+ * \brief Asserts that the provided condition evaluates to true.
+ *
+ * If it is false, program execution will abort, with an informative
+ * statement about which assertion failed, in what file, and it will print out
+ * a printf-style message you define.  Example usage:
+ @verbatim
+   ROS_ASSERT_MSG(x > 0, "Uh oh, x went negative.  Value = %d", x);
+ @endverbatim
+ *
+ * If running inside a debugger, ROS_ASSERT will allow you to step past the assertion.
+ */
+
+/**
+ * \def ROS_ASSERT_CMD()
+ * \brief Runs a command if the provided condition is false
+ *
+ * For example:
+\verbatim
+  ROS_ASSERT_CMD(x > 0, handleError(...));
+\endverbatim
+ */
+
+/** \def ROS_BREAK()
+ * \brief Aborts program execution.
+ *
+ * Aborts program execution with an informative message stating what file and
+ * line it was called from. Use ROS_BREAK instead of calling assert(0) or
+ * ROS_ASSERT(0).
+ *
+ * If running inside a debugger, ROS_BREAK will allow you to step past the breakpoint.
+ */
+
+/** \def ROS_ISSUE_BREAK()
+ * \brief Always issues a breakpoint instruction.
+ *
+ * This define is mostly for internal use, but is useful if you want to simply issue a break
+ * instruction in a cross-platform way.
+ *
+ * Currently implemented for Windows (any platform), powerpc64, and x86
+ */
+
+#include <ros/platform.h>
+
+#ifdef WIN32
+# if defined (__MINGW32__)
+#  define ROS_ISSUE_BREAK() DebugBreak();
+# else // MSVC
+#  define ROS_ISSUE_BREAK() __debugbreak();
+# endif
+#elif defined(__powerpc64__)
+# define ROS_ISSUE_BREAK() asm volatile ("tw 31,1,1");
+#elif defined(__i386__) || defined(__ia64__) || defined(__x86_64__)
+# define ROS_ISSUE_BREAK() asm("int $3");
+#else
+# include <stdlib.h>
+# define ROS_ISSUE_BREAK() abort();
+#endif
+
+#ifndef NDEBUG
+#ifndef ROS_ASSERT_ENABLED
+#define ROS_ASSERT_ENABLED
+#endif
+#endif
+
+#ifdef ROS_ASSERT_ENABLED
+#define ROS_BREAK() \
+  do { \
+    ROS_FATAL("BREAKPOINT HIT\n\tfile = %s\n\tline=%d\n", __FILE__, __LINE__); \
+    ROS_ISSUE_BREAK() \
+  } while (false)
+
+#define ROS_ASSERT(cond) \
+  do { \
+    if (!(cond)) { \
+      ROS_FATAL("ASSERTION FAILED\n\tfile = %s\n\tline = %d\n\tcond = %s\n", __FILE__, __LINE__, #cond); \
+      ROS_ISSUE_BREAK() \
+    } \
+  } while (false)
+
+#define ROS_ASSERT_MSG(cond, ...) \
+  do { \
+    if (!(cond)) { \
+      ROS_FATAL("ASSERTION FAILED\n\tfile = %s\n\tline = %d\n\tcond = %s\n\tmessage = ", __FILE__, __LINE__, #cond); \
+      ROS_FATAL(__VA_ARGS__); \
+      ROS_FATAL("\n"); \
+      ROS_ISSUE_BREAK(); \
+    } \
+  } while (false)
+
+#define ROS_ASSERT_CMD(cond, cmd) \
+  do { \
+    if (!(cond)) { \
+      cmd; \
+    } \
+  } while (false)
+
+
+#else
+#define ROS_BREAK()
+#define ROS_ASSERT(cond)
+#define ROS_ASSERT_MSG(cond, ...)
+#define ROS_ASSERT_CMD(cond, cmd)
+#endif
+
+#endif // ROSCONSOLE_ROSASSERT_H