Kyle Bayes
ac1f41160d
PiperOrigin-RevId: 541584847 Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a
121 lines
4.2 KiB
C++
121 lines
4.2 KiB
C++
// Copyright 2021 DeepMind Technologies Limited
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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 MUJOCO_SRC_ENGINE_ENGINE_UTIL_ERRMEM_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_UTIL_ERRMEM_H_
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#include <stdarg.h>
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#include <stddef.h>
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#include <stdio.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmacro.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifndef mjPRINTFLIKE
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#if defined(__GNUC__)
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#define mjPRINTFLIKE(n, m) __attribute__((format(printf, n, m)))
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#else
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#define mjPRINTFLIKE(n, m)
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#endif // __GNUC__
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#endif // mjPRINTFLIKE
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//------------------------------ user handlers -----------------------------------------------------
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MJAPI extern void (*mju_user_error)(const char*);
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MJAPI extern void (*mju_user_warning)(const char*);
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MJAPI extern void* (*mju_user_malloc)(size_t);
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MJAPI extern void (*mju_user_free)(void*);
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// clear user handlers; restore default processing
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MJAPI void mju_clearHandlers(void);
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// gets/sets thread-local error/warning handlers for internal use
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MJAPI void (*_mjPRIVATE__get_tls_error_fn(void))(const char*);
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MJAPI void _mjPRIVATE__set_tls_error_fn(void (*h)(const char*));
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MJAPI void (*_mjPRIVATE__get_tls_warning_fn(void))(const char*);
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MJAPI void _mjPRIVATE__set_tls_warning_fn(void (*h)(const char*));
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//------------------------------ errors and warnings -----------------------------------------------
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// errors
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MJAPI void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
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MJAPI void mju_error_v(const char* msg, va_list args);
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MJAPI void mju_error_i(const char* msg, int i);
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MJAPI void mju_error_s(const char* msg, const char* text);
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// warnings
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MJAPI void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
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MJAPI void mju_warning_i(const char* msg, int i);
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MJAPI void mju_warning_s(const char* msg, const char* text);
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// write [datetime, type: message] to MUJOCO_LOG.TXT
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MJAPI void mju_writeLog(const char* type, const char* msg);
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//------------------------------ internal error macros --------------------------------------------
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// need at least c99 or c++11
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#if (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) || \
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(defined(__cplusplus) && __cplusplus >= 201103L)
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// macro to get the first argument
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#define _GET_MSG(msg, ...) msg
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// helper function for the mjERROR macro
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// formats buf as '{prefix}: {msg}' and passes along to mju_error_v
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static inline void _mju_error_prefix(char *buf, size_t nbuf, const char* prefix,
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const char* msg, ...) mjPRINTFLIKE(4, 5);
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static inline void _mju_error_prefix(char *buf, size_t nbuf, const char* prefix,
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const char* msg, ...) {
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snprintf(buf, nbuf, "%s: %s", prefix, msg);
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va_list args;
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va_start(args, msg);
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mju_error_v(buf, args);
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va_end(args);
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}
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// macro to get first argument
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#define _GET_MSG(msg, ...) msg
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// internal macro to prepend the calling function name to the error message
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// standard support for variadic macros with zero arguments is only now
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// supported in C23 and C++20 so we rely on a helper function to get around this
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// in a portable way
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#define mjERROR(...) { \
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char _buf[sizeof(_GET_MSG(__VA_ARGS__)) + sizeof(__func__) + 1]; \
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_mju_error_prefix(_buf, sizeof(_buf), __func__, __VA_ARGS__); \
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}
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#else
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#define mjERROR mju_error
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#endif // c99 or c++11
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//------------------------------ malloc and free ---------------------------------------------------
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// allocate memory; byte-align on 8; pad size to multiple of 8
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MJAPI void* mju_malloc(size_t size);
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// free memory with free() by default
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MJAPI void mju_free(void* ptr);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_UTIL_ERRMEM_H_
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