Alessio Quaglino
5a70ad08ab
PiperOrigin-RevId: 572830650 Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
97 lines
3.6 KiB
C
97 lines
3.6 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 <string.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_raw(const char* msg);
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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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// internal macro to prepend the calling function name to the error message
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#pragma warning(disable : 4996) // needed to use strncpy with Visual Studio
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#define mjERROR(...) \
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{ \
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char _errbuf[1024]; \
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size_t _funclen = strlen(__func__); \
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strncpy(_errbuf, __func__, sizeof(_errbuf)); \
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snprintf(_errbuf + _funclen, sizeof(_errbuf) - _funclen, ": " __VA_ARGS__); \
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mju_error_raw(_errbuf); \
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}
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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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