dirk-thomas
commented
6 years ago From @ablasdel on January 8, 2013 22:46
ros_assert.diff content:
Index: test/verify_test_asserts_disabled.cpp
===================================================================
--- test/verify_test_asserts_disabled.cpp (revision 0)
+++ test/verify_test_asserts_disabled.cpp (revision 0)
@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2011, CLMC Lab, University of Southern California
+ * 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
+ * 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 Mrinal Kalakrishnan */
+
+#define NDEBUG
+
+#include <ros/assert.h>
+#include <gtest/gtest.h>
+
+#include "verify_test.h"
+
+TEST(VerifyTest, assertsDisabled)
+{
+ counter = 0;
+ doVerifySuccess();
+ EXPECT_EQ(1, counter);
+
+ doVerifyFailure();
+ EXPECT_EQ(2, counter);
+}
+
+TEST(VerifyTest, assertsDisabledMessage)
+{
+ counter = 0;
+ doVerifyMessageSuccess();
+ EXPECT_EQ(1, counter);
+
+ doVerifyMessageFailure();
+ EXPECT_EQ(2, counter);
+}
Index: test/verify_test_asserts_enabled.cpp
===================================================================
--- test/verify_test_asserts_enabled.cpp (revision 0)
+++ test/verify_test_asserts_enabled.cpp (revision 0)
@@ -0,0 +1,49 @@
+/*
+ * Copyright (c) 2011, CLMC Lab, University of Southern California
+ * 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
+ * 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 Mrinal Kalakrishnan */
+
+#define ROS_ASSERT_ENABLED
+
+#include <ros/assert.h>
+#include <gtest/gtest.h>
+
+#include "verify_test.h"
+
+TEST(VerifyTest, assertsEnabled)
+{
+ doVerifySuccess();
+ EXPECT_DEATH(doVerifyFailure(), "ASSERTION FAILED");
+}
+
+TEST(VerifyTest, assertsEnabledMessage)
+{
+ doVerifyMessageSuccess();
+ EXPECT_DEATH(doVerifyMessageFailure(), "ASSERTION FAILED");
+}
+
Index: test/verify_test.cpp
===================================================================
--- test/verify_test.cpp (revision 0)
+++ test/verify_test.cpp (revision 0)
@@ -0,0 +1,42 @@
+/*
+ * Copyright (c) 2011, CLMC Lab, University of Southern California
+ * 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
+ * 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 Mrinal Kalakrishnan */
+
+#include <gtest/gtest.h>
+#include <ros/time.h>
+
+int main(int argc, char **argv)
+{
+ testing::InitGoogleTest(&argc, argv);
+ ros::Time::init();
+ testing::FLAGS_gtest_death_test_style = "threadsafe";
+
+ return RUN_ALL_TESTS();
+}
Index: test/verify_test.h
===================================================================
--- test/verify_test.h (revision 0)
+++ test/verify_test.h (revision 0)
@@ -0,0 +1,75 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+* Copyright (c) 2011, CLMC Lab, University of Southern California
+* 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 the Willow Garage 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 Mrinal Kalakrishnan */
+
+
+#ifndef VERIFY_TEST_H_
+#define VERIFY_TEST_H_
+
+static int counter=0;
+
+static bool incCounterSuccess()
+{
+ ++counter;
+ return true;
+}
+
+static bool incCounterFailure()
+{
+ ++counter;
+ return false;
+}
+
+static void doVerifySuccess()
+{
+ ROS_VERIFY(incCounterSuccess());
+}
+
+static void doVerifyFailure()
+{
+ ROS_VERIFY(incCounterFailure());
+}
+
+static void doVerifyMessageSuccess()
+{
+ ROS_VERIFY_MSG(incCounterSuccess(), "Testing %d %d %d", 1, 2, 3);
+}
+
+static void doVerifyMessageFailure()
+{
+ ROS_VERIFY_MSG(incCounterFailure(), "Testing %d %d %d", 1, 2, 3);
+}
+
+#endif /* VERIFY_TEST_H_ */
Index: include/ros/assert.h
===================================================================
--- include/ros/assert.h (revision 13189)
+++ include/ros/assert.h (working copy)
@@ -89,6 +89,18 @@
* Currently implemented for Windows (any platform), powerpc64, and x86
*/
+/** \def ROS_VERIFY(cond)
+ * \brief Similar to ROS_ASSERT, but executes "cond" even if asserts are disabled.
+ */
+
+/** \def ROS_VERIFY_MSG(cond, ...)
+ * \brief Similar to ROS_ASSERT_MSG, but executes "cond" even if asserts are disabled.
+ */
+
+/** \def ROS_VERIFY_CMD(cond, cmd)
+ * \brief Similar to ROS_ASSERT_CMD, but executes "cond" even if asserts are disabled.
+ */
+
#ifdef WIN32
# define ROS_ISSUE_BREAK() __debugbreak();
#elif defined(__powerpc64__)
@@ -136,12 +148,23 @@
} \
} while (0)
+#define ROS_VERIFY(cond) \
+ ROS_ASSERT(cond)
+#define ROS_VERIFY_MSG(cond, ...) \
+ ROS_ASSERT_MSG(cond, __VA_ARGS__)
+
+#define ROS_VERIFY_CMD(cond, cmd) \
+ ROS_ASSERT_CMD(cond, cmd)
+
#else
#define ROS_BREAK()
#define ROS_ASSERT(cond)
#define ROS_ASSERT_MSG(cond, ...)
#define ROS_ASSERT_CMD(cond, cmd)
+#define ROS_VERIFY(cond) ((void)(cond))
+#define ROS_VERIFY_MSG(cond, ...) ((void)(cond))
+#define ROS_VERIFY_CMD(cond, cmd) ((void)(cond))
#endif
#endif // ROSCONSOLE_ROSASSERT_H
Index: CMakeLists.txt
===================================================================
--- CMakeLists.txt (revision 13189)
+++ CMakeLists.txt (working copy)
@@ -25,6 +25,13 @@
if(${CMAKE_SYSTEM_NAME} STREQUAL Linux)
rosbuild_add_gtest(test/assertion_test test/assertion_test.cpp)
target_link_libraries(test/assertion_test ${PROJECT_NAME})
+
+ rosbuild_add_gtest(test/verify_test
+ test/verify_test_asserts_disabled.cpp
+ test/verify_test_asserts_enabled.cpp
+ test/verify_test.cpp
+ )
+ target_link_libraries(test/verify_test ${PROJECT_NAME})
endif(${CMAKE_SYSTEM_NAME} STREQUAL Linux)
rosbuild_add_gtest(test/thread_test test/thread_test.cpp)
From @ablasdel on January 8, 2013 22:45
I've added macros ROS_VERIFY, ROS_VERIFY_MSG, and ROS_VERIFY_CMD which are similar to ROSASSERT*, except that they also execute the condition when asserts are disabled. This was inspired by BOOST_VERIFY. It's really useful to do things like:
ROS_VERIFY(someFunctionWhichShouldReturnTrue());
Patch attached.
change history (ros_assert.diff in the first ): Changed 2 years ago by mrinal
attachment ros_assert.diff added Patch to add ROSVERIFY* macros. Also includes tests for them.
migration of trac ticket: https://code.ros.org/trac/ros/ticket/3323
_Copied from original issue: ros/roscomm#71