rmw
master
C API providing a middleware abstraction layer which is used to implement the rest of ROS.
include
rmw
impl
cpp
macros.hpp
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// Copyright 2015 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RMW__IMPL__CPP__MACROS_HPP_
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#define RMW__IMPL__CPP__MACROS_HPP_
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#include <iostream>
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#include <sstream>
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#include <string>
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#include "
rcutils/snprintf.h
"
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#include "
rmw/allocators.h
"
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#include "
rmw/error_handling.h
"
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#include "
rmw/impl/config.h
"
// For RMW_AVOID_MEMORY_ALLOCATION
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#include "
rmw/impl/cpp/demangle.hpp
"
// For demangle.
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#define RMW_TRY_PLACEMENT_NEW(Destination, BufferForNew, FailureAction, Type, ...) \
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try { \
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Destination = new(BufferForNew) Type(__VA_ARGS__); \
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} catch (const std::exception & exception) { \
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RMW_SET_ERROR_MSG( \
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( \
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std::string("caught C++ exception ") + rmw::impl::cpp::demangle(exception) + \
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" constructing " #Type ": " + exception.what() \
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).c_str()); \
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FailureAction; \
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} catch (...) { \
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RMW_SET_ERROR_MSG("caught unknown C++ exception constructing " #Type); \
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FailureAction; \
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}
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#define RMW_TRY_DESTRUCTOR(Statement, Type, FailureAction) \
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try { \
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Statement; \
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} catch (const std::exception & exception) { \
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RMW_SET_ERROR_MSG( \
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( \
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std::string("caught C++ exception in destructor of " #Type ": ") + \
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rmw::impl::cpp::demangle(exception) + ": " + exception.what() \
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).c_str()); \
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FailureAction; \
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} catch (...) { \
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RMW_SET_ERROR_MSG("caught unknown C++ exception in destructor of " #Type); \
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FailureAction; \
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}
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#define RMW_TRY_DESTRUCTOR_FROM_WITHIN_FAILURE(Statement, Type) \
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try { \
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Statement; \
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} catch (const std::exception & exception) { \
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std::stringstream ss; \
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ss << "caught C++ exception in destructor of " #Type " while handling a failure: " \
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<< rmw::impl::cpp::demangle(exception) << ": " << exception.what() \
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<< ", at: " << __FILE__ << ":" << __LINE__ << '\n'; \
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(std::cerr << ss.str()).flush(); \
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} catch (...) { \
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std::stringstream ss; \
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ss << "caught unknown C++ exception in destructor of " #Type << \
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" while handling a failure at: " << __FILE__ << ":" << __LINE__ << '\n'; \
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(std::cerr << ss.str()).flush(); \
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}
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#if RMW_AVOID_MEMORY_ALLOCATION
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#define RMW_CHECK_TYPE_IDENTIFIERS_MATCH(ElementName, ElementTypeID, ExpectedTypeID, OnFailure) \
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{ \
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if (ElementTypeID != ExpectedTypeID) { \
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char __msg[1024]; \
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int ret = rcutils_snprintf( \
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__msg, sizeof(__msg), \
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#ElementName " implementation '%s'(%p) does not match rmw implementation '%s'(%p)", \
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ElementTypeID, reinterpret_cast<const void *>(ElementTypeID), \
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ExpectedTypeID, reinterpret_cast<const void *>(ExpectedTypeID)); \
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if (ret < 0) { \
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static const char error_msg[] = \
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"RMW_CHECK_TYPE_IDENTIFIERS_MATCH(): rcutils_snprintf() failed"; \
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memmove(__msg, error_msg, sizeof(error_msg)); \
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} \
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RMW_SET_ERROR_MSG(__msg); \
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OnFailure; \
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} \
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}
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#else // RMW_AVOID_MEMORY_ALLOCATION
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#define RMW_CHECK_TYPE_IDENTIFIERS_MATCH(ElementName, ElementTypeID, ExpectedTypeID, OnFailure) \
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{ \
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if (ElementTypeID != ExpectedTypeID) { \
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int __bytes_that_would_have_been_written = rcutils_snprintf( \
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NULL, 0, \
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#ElementName " implementation '%s'(%p) does not match rmw implementation '%s'(%p)", \
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ElementTypeID, reinterpret_cast<const void *>(ElementTypeID), \
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ExpectedTypeID, reinterpret_cast<const void *>(ExpectedTypeID)); \
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if (__bytes_that_would_have_been_written < 0) { \
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RMW_SET_ERROR_MSG( \
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"RMW_CHECK_TYPE_IDENTIFIERS_MATCH(): rcutils_snprintf(NULL, 0, ...) failed"); \
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OnFailure; \
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} else { \
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char * __msg = \
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reinterpret_cast<char *>(rmw_allocate(__bytes_that_would_have_been_written + 1)); \
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if (NULL == __msg) { \
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RMW_SET_ERROR_MSG( \
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"RMW_CHECK_TYPE_IDENTIFIERS_MATCH(): rmw_allocate() failed"); \
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} else { \
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int ret = rcutils_snprintf( \
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__msg, __bytes_that_would_have_been_written + 1, \
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#ElementName " implementation '%s'(%p) does not match rmw implementation '%s'(%p)", \
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ElementTypeID, reinterpret_cast<const void *>(ElementTypeID), \
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ExpectedTypeID, reinterpret_cast<const void *>(ExpectedTypeID)); \
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if (ret < 0) { \
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RMW_SET_ERROR_MSG( \
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"RMW_CHECK_TYPE_IDENTIFIERS_MATCH(): rcutils_snprintf() failed"); \
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} else { \
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RMW_SET_ERROR_MSG(__msg); \
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} \
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} \
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rmw_free(__msg); \
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OnFailure; \
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} \
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} \
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}
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#endif // RMW_AVOID_MEMORY_ALLOCATION
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#endif // RMW__IMPL__CPP__MACROS_HPP_
allocators.h
error_handling.h
Functions and macros to interact with error handling mechanisms.
demangle.hpp
config.h
snprintf.h
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