macros.hpp

//
// Copyright (c) 2017-2022 CNRS INRIA
//

#ifndef __pinocchio_macros_hpp__
#define __pinocchio_macros_hpp__

#include <sstream>

// On Windows, __cplusplus is not necessarily set to the C++ version being used.
// See https://docs.microsoft.com/fr-fr/cpp/build/reference/zc-cplusplus?view=vs-2019 for further
// information.

#if (__cplusplus >= 202002L)
 #define PINOCCHIO_WITH_CXX20_SUPPORT
#endif

#if (__cplusplus >= 201703L || (defined(_MSVC_LANG) && _MSVC_LANG >= 201703))
 #define PINOCCHIO_WITH_CXX17_SUPPORT
#endif

#if (__cplusplus >= 201402L || (defined(_MSVC_LANG) && _MSVC_LANG >= 201403))
 #define PINOCCHIO_WITH_CXX14_SUPPORT
#endif

#if (__cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600))
 #define PINOCCHIO_WITH_CXX11_SUPPORT
#endif

#define PINOCCHIO_STRING_LITERAL(string) #string

// For more details, visit
// https://stackoverflow.com/questions/171435/portability-of-warning-preprocessor-directive
#if defined(__GNUC__) || defined(__clang__)
 #define PINOCCHIO_PRAGMA(x) _Pragma(#x)
 #define PINOCCHIO_PRAGMA_MESSAGE(the_message) PINOCCHIO_PRAGMA(GCC message #the_message)
 #define PINOCCHIO_PRAGMA_WARNING(the_message) PINOCCHIO_PRAGMA(GCC warning #the_message)
 #define PINOCCHIO_PRAGMA_DEPRECATED(the_message) \
 PINOCCHIO_PRAGMA_WARNING(Deprecated : #the_message)
 #define PINOCCHIO_PRAGMA_DEPRECATED_HEADER(old_header, new_header) \
 PINOCCHIO_PRAGMA_WARNING(Deprecated header file : #old_header has been replaced \
 by #new_header.\n Please use #new_header instead of #old_header.)
#else
 #define PINOCCHIO_PRAGMA(x)
 #define PINOCCHIO_PRAGMA_MESSAGE(the_message)
 #define PINOCCHIO_PRAGMA_WARNING(the_message)
 #define PINOCCHIO_PRAGMA_DEPRECATED(the_message)
 #define PINOCCHIO_PRAGMA_DEPRECATED_HEADER(old_header, new_header)
#endif

#define PINOCCHIO_DONT_INLINE EIGEN_DONT_INLINE

// This macro can be used to prevent from macro expansion, similarly to EIGEN_NOT_A_MACRO
#define PINOCCHIO_NOT_A_MACRO

namespace pinocchio
{
 namespace helper
 {
 template<typename T>
 struct argument_type;
 template<typename T, typename U>
 struct argument_type<T(U)>
 {
 typedef U type;
 };
 } // namespace helper
} // namespace pinocchio

#define PINOCCHIO_MACRO_EMPTY_ARG

#define PINOCCHIO_UNUSED_VARIABLE(var) (void)(var)

#define PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE(type, M, nrows, ncols) \
 EIGEN_STATIC_ASSERT( \
 (type::RowsAtCompileTime == Eigen::Dynamic || type::RowsAtCompileTime == nrows) \
 && (type::ColsAtCompileTime == Eigen::Dynamic || type::ColsAtCompileTime == ncols), \
 THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); \
 assert(M.rows() == nrows && M.cols() == ncols);

#define PINOCCHIO_STATIC_ASSERT(condition, msg) \
 { \
 int msg[(condition) ? 1 : -1]; /*avoid unused-variable warning*/ \
 (void)msg; \
 }

namespace pinocchio
{
 namespace helper
 {
 template<typename D, template<typename> class TypeAccess>
 struct handle_return_type_without_typename
 {
 typedef typename TypeAccess<typename argument_type<void(D)>::type>::type type;
 };
 } // namespace helper
} // namespace pinocchio

#if defined(__GNUC__) || defined(__clang__)
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH _Pragma("GCC diagnostic push")
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_POP _Pragma("GCC diagnostic pop")
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS \
 _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_VARIADIC_MACROS \
 _Pragma("GCC diagnostic ignored \"-Wvariadic-macros\"")
 #if defined(__clang__)
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_SELF_ASSIGN_OVERLOADED \
 _Pragma("GCC diagnostic ignored \"-Wself-assign-overloaded\"")
 #else
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED \
 _Pragma("GCC diagnostic ignored \"-Wmaybe-uninitialized\"")
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_SELF_ASSIGN_OVERLOADED
 #endif
#elif defined(WIN32)
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH _Pragma("warning(push)")
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_POP _Pragma("warning(pop)")
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS \
 _Pragma("warning(disable : 4996)")
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_VARIADIC_MACROS
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_SELF_ASSIGN_OVERLOADED
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
#else
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_VARIADIC_MACROS
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_SELF_ASSIGN_OVERLOADED
 #define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
#endif // __GNUC__ || __clang__

// Handle explicitely the GCC boring warning: 'anonymous variadic macros were introduced in C++11'
#include <exception>
#include <stdexcept>
#include <sstream>

#if defined(__GNUC__)
 #pragma GCC system_header
#endif

PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_VARIADIC_MACROS

#if WIN32
 #define PINOCCHIO_PRETTY_FUNCTION __FUNCSIG__
#else
 #define PINOCCHIO_PRETTY_FUNCTION __PRETTY_FUNCTION__
#endif

#if !defined(PINOCCHIO_NO_THROW)
 #define PINOCCHIO_THROW(condition, exception_type, message) \
 if (!(condition)) \
 { \
 throw exception_type(message); \
 }

 #define PINOCCHIO_THROW_PRETTY(exception, message) \
 { \
 std::stringstream ss; \
 ss << "From file: " << __FILE__ << "\n"; \
 ss << "in function: " << PINOCCHIO_PRETTY_FUNCTION << "\n"; \
 ss << "at line: " << __LINE__ << "\n"; \
 ss << "message: " << message << "\n"; \
 throw exception(ss.str()); \
 }
#else
 #define PINOCCHIO_THROW(condition, exception_type, message)
 #define PINOCCHIO_THROW_PRETTY(exception, message)
#endif

#define _PINOCCHIO_EXPAND(x) x
#define _PINOCCHIO_GET_OVERRIDE_FOR_CHECK_INPUT_ARGUMENT(_1, _2, MACRO_NAME, ...) MACRO_NAME

#define _PINOCCHIO_CHECK_INPUT_ARGUMENT_2(condition, message) \
 PINOCCHIO_THROW(condition, std::invalid_argument, message)

#define _PINOCCHIO_CHECK_INPUT_ARGUMENT_1(condition) \
 _PINOCCHIO_CHECK_INPUT_ARGUMENT_2( \
 condition, "The following check on the input argument has failed: " #condition)

#define _PINOCCHIO_CHECK_INPUT_ARGUMENT_0

#define PINOCCHIO_CHECK_INPUT_ARGUMENT(...) \
 _PINOCCHIO_EXPAND(_PINOCCHIO_EXPAND(_PINOCCHIO_GET_OVERRIDE_FOR_CHECK_INPUT_ARGUMENT( \
 __VA_ARGS__, _PINOCCHIO_CHECK_INPUT_ARGUMENT_2, _PINOCCHIO_CHECK_INPUT_ARGUMENT_1, \
 _PINOCCHIO_CHECK_INPUT_ARGUMENT_0))(__VA_ARGS__))

#define _PINOCCHIO_GET_OVERRIDE_FOR_CHECK_ARGUMENT_SIZE(_1, _2, _3, MACRO_NAME, ...) MACRO_NAME

#define _PINOCCHIO_CHECK_ARGUMENT_SIZE_3(size, expected_size, message) \
 if (size != expected_size) \
 { \
 std::ostringstream oss; \
 oss << "wrong argument size: expected " << expected_size << ", got " << size << std::endl; \
 oss << "hint: " << message << std::endl; \
 PINOCCHIO_THROW(false, std::invalid_argument, oss.str()); \
 }

#define _PINOCCHIO_CHECK_ARGUMENT_SIZE_2(size, expected_size) \
 _PINOCCHIO_CHECK_ARGUMENT_SIZE_3( \
 size, expected_size, \
 PINOCCHIO_STRING_LITERAL(size) " is different from " PINOCCHIO_STRING_LITERAL(expected_size))

#define _PINOCCHIO_CHECK_ARGUMENT_SIZE_1

#define PINOCCHIO_CHECK_ARGUMENT_SIZE(...) \
 _PINOCCHIO_EXPAND(_PINOCCHIO_EXPAND(_PINOCCHIO_GET_OVERRIDE_FOR_CHECK_ARGUMENT_SIZE( \
 __VA_ARGS__, _PINOCCHIO_CHECK_ARGUMENT_SIZE_3, _PINOCCHIO_CHECK_ARGUMENT_SIZE_2, \
 _PINOCCHIO_CHECK_ARGUMENT_SIZE_1))(__VA_ARGS__))

PINOCCHIO_COMPILER_DIAGNOSTIC_POP

#endif // ifndef __pinocchio_macros_hpp__