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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-07 11:00:34 +08:00
Pavel Kirienko
118 lines
2.7 KiB
C++
118 lines
2.7 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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/**
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* UAVCAN version definition
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* // TODO: Use git short hash as build id
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*/
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#define UAVCAN_VERSION_MAJOR 0
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#define UAVCAN_VERSION_MINOR 1
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#define UAVCAN_VERSION_BUILD 0
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/**
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* UAVCAN can be compiled in C++11 mode.
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* This macro allows to detect which version of the C++ standard is being used.
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*/
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#define UAVCAN_CPP11 2011
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#define UAVCAN_CPP03 2003
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#if __cplusplus > 201200
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# error Unsupported C++ standard
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#elif (__cplusplus > 201100) || defined(__GXX_EXPERIMENTAL_CXX0X__)
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# define UAVCAN_CPP_VERSION UAVCAN_CPP11
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#else
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# define UAVCAN_CPP_VERSION UAVCAN_CPP03
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#endif
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/**
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* UAVCAN can be explicitly told to ignore exceptions, or it can be detected automatically.
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*/
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#ifndef UAVCAN_EXCEPTIONS
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# if __EXCEPTIONS || _HAS_EXCEPTIONS
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# define UAVCAN_EXCEPTIONS 1
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# else
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# define UAVCAN_EXCEPTIONS 0
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# endif
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#endif
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/**
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* Struct layout control.
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* Define UAVCAN_PACK_STRUCTS = 1 to reduce memory usage.
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*/
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#ifndef UAVCAN_PACK_STRUCTS
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# define UAVCAN_PACK_STRUCTS 0
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#endif
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#ifndef UAVCAN_PACKED_BEGIN
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# define UAVCAN_PACKED_BEGIN
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#endif
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#ifndef UAVCAN_PACKED_END
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# define UAVCAN_PACKED_END
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#endif
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/**
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* Declaration visibility
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* http://gcc.gnu.org/wiki/Visibility
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*/
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#ifndef UAVCAN_EXPORT
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# define UAVCAN_EXPORT
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#endif
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/**
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* Trade-off between ROM/RAM usage and functionality/determinism.
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* Note that this feature is not well tested and should be avoided.
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* Use code search for UAVCAN_TINY to find what functionality will be disabled.
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* This is particularly useful for embedded systems with less than 40kB of ROM.
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*/
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#ifndef UAVCAN_TINY
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# define UAVCAN_TINY 0
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#endif
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/**
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* It might make sense to remove toString() methods for an embedded system
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*/
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#ifndef UAVCAN_TOSTRING
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# define UAVCAN_TOSTRING 1
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#endif
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#if UAVCAN_TOSTRING
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# include <string>
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# include <cstdio>
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#endif
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namespace uavcan
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{
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/**
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* Should be OK for any target arch up to AMD64 and any compiler.
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* The library leverages compile-time checks to ensure that all types that are subject to dynamic allocation
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* fit this size; otherwise compilation fails.
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*/
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#if UAVCAN_MEM_POOL_BLOCK_SIZE
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static const unsigned MemPoolBlockSize = UAVCAN_MEM_POOL_BLOCK_SIZE;
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#else
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static const unsigned MemPoolBlockSize = 64;
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#endif
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#ifdef __BIGGEST_ALIGNMENT__
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static const unsigned MemPoolAlignment = __BIGGEST_ALIGNMENT__;
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#else
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static const unsigned MemPoolAlignment = 16;
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#endif
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typedef char _alignment_check_for_MEM_POOL_BLOCK_SIZE[((MemPoolBlockSize & (MemPoolAlignment - 1)) == 0) ? 1 : -1];
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template <typename T>
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struct UAVCAN_EXPORT IsDynamicallyAllocatable
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{
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static void check()
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{
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char dummy[(sizeof(T) <= MemPoolBlockSize) ? 1 : -1];
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(void)dummy;
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}
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};
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}
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