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feat(autoware_utils): add autoware_assert #42

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23 changes: 23 additions & 0 deletions autoware_utils/include/autoware_utils/system/assert.hpp
Original file line number Diff line number Diff line change
@@ -0,0 +1,23 @@
// Copyright 2023 Tier IV, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef AUTOWARE_UTILS__SYSTEM__ASSERT_HPP_
#define AUTOWARE_UTILS__SYSTEM__ASSERT_HPP_

namespace autoware_utils
{
void autoware_assert(const bool condition);
} // namespace autoware_utils

#endif // AUTOWARE_UTILS__SYSTEM__ASSERT_HPP_
35 changes: 35 additions & 0 deletions autoware_utils/src/system/assert.cpp
Original file line number Diff line number Diff line change
@@ -0,0 +1,35 @@
// Copyright 2023 Tier IV, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include "autoware_utils/system/assert.hpp"

#include <iostream>
#include <ostream>

namespace autoware_utils
{
void autoware_assert(const bool condition)
{
if (!condition) {
std::cerr << "[ERROR][autoware_assert] Assertion failed." << std::endl;

#ifdef ASSERT_ABORT
std::abort();
#else
std::cerr << "[ERROR][autoware_assert] Continuing execution despite failed assertion."
<< std::endl;
#endif
}
}
} // namespace autoware_utils
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