ARCSassert.hh

[詳解]

 
//
// Copyright (C) 2011-2023 Yokokura, Yuki
// MIT License. For details, see the LICENSE file.
 
#ifndef ARCSASSERT
#define ARCSASSERT
 
#include <cassert>
#include <pthread.h>
#include <string>
 
// 関数呼び出し用マクロ(コンパイル時定数の場合assertを呼び出し、実行時の場合assert_from_macroを呼び出す)
#define arcs_assert(a) (__builtin_constant_p(a) ? assert(a) : ARCSassert::assert_from_macro(a,#a,__FILE__,__LINE__))    
 
namespace ARCS {    // ARCS名前空間
    class ARCSassert {
        public:
            ARCSassert();   
            ~ARCSassert();  
            static void assert_from_macro(const bool assertion, const std::string& condition, const std::string& file, const int line); 
            bool IsRealtimeMode(void);      
            void SetRealtimeMode(void);     
            void SetNonRealtimeMode(void);  
            bool IsEmergency(void);         
            void DeclareEmergency(void);    
            void DoneEmergencyProc(void);   
            bool IsDoneEmergencyProc(void); 
            std::tuple< std::string, std::string, int >
             GetAssertInfo(void);           
            void WaitEmergency(void);       
            
        private:
            ARCSassert(const ARCSassert&) = delete;                 
            const ARCSassert& operator=(const ARCSassert&) = delete;
            
            static const unsigned int WAIT_TIME = 1000;     
            
            static pthread_mutex_t SyncMutex;       
            static pthread_cond_t SyncCond;         
            
            static bool RealtimeModeFlag;           
            static bool EmergencyStopFlag;          
            static bool EmergencyProcDoneFlag;      
            static std::string EmergencyStopCond;   
            static std::string EmergencyStopFile;   
            static int EmergencyStopLine;           
    };
}
 
#endif