drake_assert.h

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#pragma once

#include <type_traits>

#include "drake/drakeCommon_export.h"


#ifdef DRAKE_DOXYGEN_CXX
#define DRAKE_ASSERT(condition)
#define DRAKE_ABORT_UNLESS(condition)
#define DRAKE_ABORT()
#else  //  DRAKE_DOXYGEN_CXX

// Users should NOT set these; only this header should set them.
#ifdef DRAKE_ASSERT_IS_ARMED
# error Unexpected DRAKE_ASSERT_IS_ARMED defined.
#endif
#ifdef DRAKE_ASSERT_IS_DISARMED
# error Unexpected DRAKE_ASSERT_IS_DISARMED defined.
#endif

// Decide whether Drake assertions are enabled.
#if defined(DRAKE_ENABLE_ASSERTS) && defined(DRAKE_DISABLE_ASSERTS)
# error Conflicting assertion toggles.
#elif defined(DRAKE_ENABLE_ASSERTS)
# define DRAKE_ASSERT_IS_ARMED
#elif defined(DRAKE_DISABLE_ASSERTS) || defined(NDEBUG)
# define DRAKE_ASSERT_IS_DISARMED
#else
# define DRAKE_ASSERT_IS_ARMED
#endif

namespace drake {
namespace detail {
// Abort the program with an error message.
DRAKECOMMON_EXPORT
void Abort(const char* condition, const char* func, const char* file, int line);
}
}

#define DRAKE_ABORT()                                           \
  ::drake::detail::Abort(nullptr, __func__, __FILE__, __LINE__)

#define DRAKE_ABORT_UNLESS(condition)                                   \
  do {                                                                  \
    if (!(condition)) {                                                 \
      ::drake::detail::Abort(#condition, __func__, __FILE__, __LINE__); \
    }                                                                   \
  } while (0)

#ifdef DRAKE_ASSERT_IS_ARMED
// Assertions are enabled.
# define DRAKE_ASSERT(condition) DRAKE_ABORT_UNLESS(condition)
#else
// Assertions are disabled, so just typecheck the expression.
# define DRAKE_ASSERT(condition) static_assert(                 \
      std::is_convertible<decltype(condition), bool>::value,    \
      "Assertion condition should be bool-convertible.")
#endif

#endif  // DRAKE_DOXYGEN_CXX