RobotModuleMacros.h File Reference

#include <mc_rbdyn/RobotModule.h>
#include <mc_rtc/version.h>

Include dependency graph for RobotModuleMacros.h:

Go to the source code of this file.

Macros
#define	ROBOT_MODULE_CHECK_VERSION(NAME)
#define	ROBOT_MODULE_COMMON(NAME)
#define	ROBOT_MODULE_DEFAULT_CONSTRUCTOR(NAME, TYPE)
#define	ROBOT_MODULE_CANONIC_CONSTRUCTOR(NAME, TYPE)

Macro Definition Documentation

ROBOT_MODULE_CANONIC_CONSTRUCTOR

#define ROBOT_MODULE_CANONIC_CONSTRUCTOR	(		NAME,
			TYPE
	)

Value:

    extern "C"                                                                  \
    {                                                                           \
      ROBOT_MODULE_COMMON(NAME)                                                 \
      ROBOT_MODULE_API unsigned int create_args_required()                      \
      {                                                                         \
        return 3;                                                               \
      }                                                                         \
      ROBOT_MODULE_API mc_rbdyn::RobotModule * create(const std::string &,      \
                                                      const std::string & path, \
                                                      const std::string & name) \
      {                                                                         \
        return new TYPE(path, name);                                            \
      }                                                                         \
    }

ROBOT_MODULE_CANONIC_CONSTRUCTOR Declare an external symbol for creation using the cannonical constructor (const string &, const string &) Also declare destruction symbol Exclusive of ROBOT_MODULE_DEFAULT_CONSTRUCTOR

ROBOT_MODULE_CHECK_VERSION

#define ROBOT_MODULE_CHECK_VERSION

(

NAME

)

Value:

    if(mc_rtc::MC_RTC_VERSION != mc_rtc::version())                                                                    \
    {                                                                                                                  \
      mc_rtc::log::error("{} was compiled with {} but mc_rtc is currently at version {}, you might experience subtle " \
                         "issues and should recompile your code",                                                      \
                         NAME, mc_rtc::MC_RTC_VERSION, mc_rtc::version());                                             \
    }

A simple compile-time versus run-time version checking macro

If you are not relying on ROBOT_MODULE_DEFAULT_CONSTRUCTOR or ROBOT_MODULE_CANONIC_CONSTRUCTOR you should use this in your MC_RTC_ROBOT_MODULE implementation

ROBOT_MODULE_COMMON

#define ROBOT_MODULE_COMMON

(

NAME

)

Value:

    ROBOT_MODULE_API void MC_RTC_ROBOT_MODULE(std::vector<std::string> & names) \
    {                                                                           \
      ROBOT_MODULE_CHECK_VERSION(NAME)                                          \
      names = {NAME};                                                           \
    }                                                                           \
    ROBOT_MODULE_API void destroy(mc_rbdyn::RobotModule * ptr)                  \
    {                                                                           \
      delete ptr;                                                               \
    }

ROBOT_MODULE_COMMON Declare a destroy symbol and CLASS_NAME symbol Constructor should be declared by the user

ROBOT_MODULE_DEFAULT_CONSTRUCTOR

#define ROBOT_MODULE_DEFAULT_CONSTRUCTOR	(		NAME,
			TYPE
	)

Value:

    extern "C"                                                             \
    {                                                                      \
      ROBOT_MODULE_COMMON(NAME)                                            \
      ROBOT_MODULE_API unsigned int create_args_required()                 \
      {                                                                    \
        return 1;                                                          \
      }                                                                    \
      ROBOT_MODULE_API mc_rbdyn::RobotModule * create(const std::string &) \
      {                                                                    \
        return new TYPE();                                                 \
      }                                                                    \
    }

ROBOT_MODULE_DEFAULT_CONSTRUCTOR Declare an external symbol for creation using a default constructor Also declare destruction symbol Exclusive of ROBOT_MODULE_CANONIC_CONSTRUCTOR