This is an import of assert.h from rosconsole

CMakeLists.txt

@@ -198,6 +198,13 @@ if(BUILD_TESTING)
     target_link_libraries(test_allocator ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools)
   endif()
 
+  rcutils_custom_add_gtest(test_assert
+    test/test_assert.cpp
+  )
+  if(TARGET test_assert)
+    target_link_libraries(test_assert ${PROJECT_NAME})
+  endif()
+
   rcutils_custom_add_gtest(test_char_array
     test/test_char_array.cpp
   )

include/rcutils/assert.h

@@ -0,0 +1,149 @@
+// Copyright (c) 2008, Willow Garage, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// 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 the {company} 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 RCUTILS__ASSERT_H_
+#define RCUTILS__ASSERT_H_
+
+#include "rcutils/logging_macros.h"
+
+/** \file */
+
+/** \def RCUTILS_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 RCUTILS_ASSERT
+ * instead of assert() itself.
+ *
+ * If running inside a debugger, RCUTILS_ASSERT will allow you to step past the assertion.
+ */
+
+/** \def RCUTILS_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
+   RCUTILS_ASSERT_MSG(x > 0, "Uh oh, x went negative.  Value = %d", x);
+ @endverbatim
+ *
+ * If running inside a debugger, RCUTILS_ASSERT will allow you to step past the assertion.
+ */
+
+/**
+ * \def RCUTILS_ASSERT_CMD()
+ * \brief Runs a command if the provided condition is false
+ *
+ * For example:
+\verbatim
+  RCUTILS_ASSERT_CMD(x > 0, handleError(...));
+\endverbatim
+ */
+
+/** \def RCUTILS_BREAK()
+ * \brief Aborts program execution.
+ *
+ * Aborts program execution with an informative message stating what file and
+ * line it was called from. Use RCUTILS_BREAK instead of calling assert(0) or
+ * RCUTILS_ASSERT(0).
+ *
+ * If running inside a debugger, RCUTILS_BREAK will allow you to step past the breakpoint.
+ */
+
+/** \def RCUTILS_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
+ */
+
+
+#ifdef WIN32
+# if defined (__MINGW32__)
+#  define RCUTILS_ISSUE_BREAK() DebugBreak();
+# else  // MSVC
+#  define RCUTILS_ISSUE_BREAK() __debugbreak();
+# endif
+#elif defined(__powerpc64__)
+# define RCUTILS_ISSUE_BREAK() asm volatile ("tw 31,1,1");
+#elif defined(__i386__) || defined(__ia64__) || defined(__x86_64__)
+# define RCUTILS_ISSUE_BREAK() asm ("int $3");
+#else
+# include <stdlib.h>
+# define RCUTILS_ISSUE_BREAK() abort();
+#endif
+
+#ifndef NDEBUG
+#ifndef RCUTILS_ASSERT_ENABLED
+#define RCUTILS_ASSERT_ENABLED
+#endif
+#endif
+
+#ifdef RCUTILS_ASSERT_ENABLED
+#define RCUTILS_BREAK() \
+  do { \
+    RCUTILS_LOG_FATAL("BREAKPOINT HIT\n\tfile = %s\n\tline=%d\n", __FILE__, __LINE__); \
+    RCUTILS_ISSUE_BREAK() \
+  } while (false)
+
+#define RCUTILS_ASSERT(cond) \
+  do { \
+    if (!(cond)) { \
+      RCUTILS_LOG_FATAL("ASSERTION FAILED\n\tfile = %s\n\tline = %d\n\tcond = %s\n", \
+        __FILE__, __LINE__, #cond); \
+      RCUTILS_ISSUE_BREAK() \
+    } \
+  } while (false)
+
+#define RCUTILS_ASSERT_MSG(cond, ...) \
+  do { \
+    if (!(cond)) { \
+      RCUTILS_LOG_FATAL("ASSERTION FAILED\n\tfile = %s\n\tline = %d\n\tcond = %s\n\tmessage = ", \
+        __FILE__, __LINE__, #cond); \
+      RCUTILS_LOG_FATAL(__VA_ARGS__); \
+      RCUTILS_LOG_FATAL("\n"); \
+      RCUTILS_ISSUE_BREAK(); \
+    } \
+  } while (false)
+
+#else
+#define RCUTILS_BREAK()
+#define RCUTILS_ASSERT(cond)
+#define RCUTILS_ASSERT_MSG(cond, ...)
+#endif
+
+#endif  // RCUTILS__ASSERT_H_

test/test_assert.cpp

@@ -0,0 +1,53 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// 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 <gtest/gtest.h>
+#include <string>
+
+#include "rcutils/logging_macros.h"
+#include "rcutils/assert.h"
+
+
+void test_assert(bool value)
+{
+  RCUTILS_ASSERT(value);
+}
+
+
+void test_assert_msg(bool value, std::string message)
+{
+  RCUTILS_ASSERT_MSG(value, "%s", message.c_str());
+}
+
+
+void test_break(void)
+{
+  RCUTILS_BREAK();
+}
+
+TEST(TestAssert, test_rcutils_assert)
+{
+  // Should pass
+  test_assert(true);
+  test_assert_msg(true, "no message");
+
+  EXPECT_DEATH(test_assert(false), "");
+  EXPECT_DEATH(test_assert_msg(false, "message output"), ".*message output.*");
+}
+
+
+TEST(TestAssert, test_rcutils_break)
+{
+  EXPECT_DEATH(test_break(), "");
+}