assert.h

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/*
 * 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
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

// Author: Josh Faust

#ifndef ROSCONSOLE_ROSASSERT_H
#define ROSCONSOLE_ROSASSERT_H

#include "ros/console.h"
#include "ros/static_assert.h"

#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