serialization_format.h

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#ifndef NROS_SERIALIZATION_FORMAT_H
#define NROS_SERIALIZATION_FORMAT_H
 
#include "nros/nros_generated.h"
 
#if defined(__cplusplus)
#define NROS_STATIC_ASSERT(cond, msg) static_assert(cond, msg)
#elif defined(__STDC_VERSION__) && __STDC_VERSION__ >= 202311L
#define NROS_STATIC_ASSERT(cond, msg) static_assert(cond, msg)
#elif defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L
#define NROS_STATIC_ASSERT(cond, msg) _Static_assert(cond, msg)
#else
/* Pre-C11 fallback: a negative array size. The tag must be unique within the
   translation unit, and `__LINE__` is NOT — two generated message headers
   included in one TU collide whenever the assertion lands on the same line
   number in both. `__COUNTER__` (gcc, clang, armcc) is unique per expansion;
   `__LINE__` is the last resort for a compiler with neither. */
#define NROS_STATIC_ASSERT_CAT_(a, b) a##b
#define NROS_STATIC_ASSERT_CAT(a, b) NROS_STATIC_ASSERT_CAT_(a, b)
#ifdef __COUNTER__
#define NROS_STATIC_ASSERT_TAG_ __COUNTER__
#else
#define NROS_STATIC_ASSERT_TAG_ __LINE__
#endif
#define NROS_STATIC_ASSERT(cond, msg)                                                              \
    typedef char NROS_STATIC_ASSERT_CAT(nros_static_assert_,                                       \
                                        NROS_STATIC_ASSERT_TAG_)[(cond) ? 1 : -1]
#endif
 
/* RFC-0088 D2 — reserved discriminants for the in-tree formats. Low values for
   readability, and nothing more: the allocation is per image, so these are the
   values THIS image's `nros_serdes::format::SerializationFormatId` uses, not a
   registry any other image is bound by. */
#define NROS_SERIALIZATION_FORMAT_ID_CDR 1
#define NROS_SERIALIZATION_FORMAT_ID_UORB 2
 
#ifndef NROS_SERIALIZATION_FORMAT_ID
#error                                                                                             \
    "NROS_SERIALIZATION_FORMAT_ID is missing — <nros/nros_generated.h> did not supply it. Regenerate the committed cbindgen headers (`cargo run -p nros-cbindgen-headers`)."
#endif
 
#if NROS_SERIALIZATION_FORMAT_ID == NROS_SERIALIZATION_FORMAT_ID_CDR
#define NROS_SERIALIZATION_FORMAT "cdr"
#elif NROS_SERIALIZATION_FORMAT_ID == NROS_SERIALIZATION_FORMAT_ID_UORB
#define NROS_SERIALIZATION_FORMAT "uorb"
#else
#error                                                                                             \
    "NROS_SERIALIZATION_FORMAT_ID names a format this header has no name for — add its row here and in `nros_serdes::format::SerializationFormatId` together (RFC-0088 D2)."
#endif
 
#define NROS_ASSERT_MESSAGE_FORMAT(msg_format_id, type_literal)                                    \
    NROS_STATIC_ASSERT((msg_format_id) == NROS_SERIALIZATION_FORMAT_ID,                            \
                       "RFC-0088: " type_literal                                                   \
                       " is not encoded in the format the linked backend speaks "                  \
                       "(NROS_SERIALIZATION_FORMAT) — one image, one backend, one encoding")
 
#endif /* NROS_SERIALIZATION_FORMAT_H */