Remove build mode dependent public APIs

dartsim · Nov 16, 2024 · 17ffab2 · 17ffab2
1 parent 00aa831
commit 17ffab2
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Showing 41 changed files with 514 additions and 659 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -162,24 +162,11 @@ endif()
 #===============================================================================
 # Build type settings
 #===============================================================================
-if(NOT CMAKE_BUILD_TYPE)
-  set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build, options are: Debug | Release | RelWithDebInfo | MinSizeRel" FORCE)
-endif()
-string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE_UPPERCASE)
-
-set(DART_BUILD_MODE_DEBUG FALSE)
-set(DART_BUILD_MODE_RELEASE FALSE)
-
-if("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "DEBUG")
-  set(DART_BUILD_MODE_DEBUG TRUE)
-elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELEASE")
-  set(DART_BUILD_MODE_RELEASE TRUE)
-elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELWITHDEBINFO")
-  set(DART_BUILD_MODE_RELEASE TRUE)
-elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "MINSIZEREL")
-  set(DART_BUILD_MODE_RELEASE TRUE)
-else()
-  message(WARNING "CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} unknown. Valid options are: Debug | Release | RelWithDebInfo | MinSizeRel")
+if(NOT CMAKE_CONFIGURATION_TYPES)
+  if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
+    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+  endif()
 endif()
 
 # Active log level:
@@ -191,14 +178,33 @@ endif()
 # - ERROR: To enable log with DART_ERROR() and below
 # - FATAL: To enable log with DART_FATAL()
 # - OFF: To turn off all the logs
-if(DART_BUILD_MODE_DEBUG)
-  set(DART_ACTIVE_LOG_LEVEL "DEBUG" CACHE STRING "Compile time active log level to enable")
+if(NOT DART_ACTIVE_LOG_LEVEL)
+  if(NOT CMAKE_CONFIGURATION_TYPES AND CMAKE_BUILD_TYPE STREQUAL "Debug")
+    set(DART_ACTIVE_LOG_LEVEL "DEBUG" CACHE STRING "Compile time active log level to enable")
+  else()
+    set(DART_ACTIVE_LOG_LEVEL "INFO" CACHE STRING "Compile time active log level to enable")
+  endif()
+  set_property(CACHE DART_ACTIVE_LOG_LEVEL PROPERTY STRINGS TRACE DEBUG INFO WARN ERROR FATAL OFF)
+endif()
+if(DART_ACTIVE_LOG_LEVEL STREQUAL "TRACE")
+  set(DART_ACTIVE_LOG_LEVEL_VALUE 0)
+elseif(DART_ACTIVE_LOG_LEVEL STREQUAL "DEBUG")
+  set(DART_ACTIVE_LOG_LEVEL_VALUE 1)
+elseif(DART_ACTIVE_LOG_LEVEL STREQUAL "INFO")
+  set(DART_ACTIVE_LOG_LEVEL_VALUE 2)
+elseif(DART_ACTIVE_LOG_LEVEL STREQUAL "WARN")
+  set(DART_ACTIVE_LOG_LEVEL_VALUE 3)
+elseif(DART_ACTIVE_LOG_LEVEL STREQUAL "ERROR")
+  set(DART_ACTIVE_LOG_LEVEL_VALUE 4)
+elseif(DART_ACTIVE_LOG_LEVEL STREQUAL "FATAL")
+  set(DART_ACTIVE_LOG_LEVEL_VALUE 5)
+elseif(DART_ACTIVE_LOG_LEVEL STREQUAL "OFF")
+  set(DART_ACTIVE_LOG_LEVEL_VALUE 6)
 else()
-  set(DART_ACTIVE_LOG_LEVEL "INFO" CACHE STRING "Compile time active log level to enable")
+  message(FATAL_ERROR "Unknown DART_ACTIVE_LOG_LEVEL: ${DART_ACTIVE_LOG_LEVEL}")
 endif()
-set_property(CACHE DART_ACTIVE_LOG_LEVEL PROPERTY STRINGS TRACE DEBUG INFO WARN ERROR FATAL OFF)
 
-if(DART_BUILD_MODE_DEBUG)
+if(NOT CMAKE_CONFIGURATION_TYPES AND CMAKE_BUILD_TYPE STREQUAL "Debug")
   option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
 else()
   option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" ON)
@@ -355,14 +361,12 @@ if(DART_VERBOSE)
   message(STATUS "Build gui::osg   : ${DART_BUILD_GUI_OSG}")
   message(STATUS "Install path     : ${CMAKE_INSTALL_PREFIX}")
   message(STATUS "CXX_FLAGS        : ${CMAKE_CXX_FLAGS}")
-  if(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "RELEASE")
-    message(STATUS "CXX_FLAGS_RELEASE: ${CMAKE_CXX_FLAGS_RELEASE}")
-  elseif(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "DEBUG")
-    message(STATUS "CXX_FLAGS_DEBUG  : ${CMAKE_CXX_FLAGS_DEBUG}")
-  elseif(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "RELWITHDEBINFO")
+  if(NOT CMAKE_CONFIGURATION_TYPES)
+    message(STATUS "CXX_FLAGS_RELEASE       : ${CMAKE_CXX_FLAGS_RELEASE}")
+    message(STATUS "CXX_FLAGS_DEBUG         : ${CMAKE_CXX_FLAGS_DEBUG}")
+    message(STATUS "CXX_FLAGS_MINSIZEREL    : ${CXX_FLAGS_MINSIZEREL}")
     message(STATUS "CXX_FLAGS_RELWITHDEBINFO: ${CMAKE_CXX_FLAGS_RELWITHDEBINFO}")
-  elseif(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "PROFILE")
-    message(STATUS "CXX_FLAGS_PROFILE: ${CMAKE_CXX_FLAGS_PROFILE}")
+    message(STATUS "CXX_FLAGS_PROFILE       : ${CMAKE_CXX_FLAGS_PROFILE}")
   endif()
   message(STATUS "DART_SOURCE_DIR : ${DART_SOURCE_DIR}")
   message(STATUS "DART_BINARY_DIR : ${DART_BINARY_DIR}")

diff --git a/dart/common/FreeListAllocator.cpp b/dart/common/FreeListAllocator.cpp
@@ -372,7 +372,6 @@ void FreeListAllocator::MemoryBlockHeader::merge(MemoryBlockHeader* other)
 }
 
 //==============================================================================
-#if DART_BUILD_MODE_DEBUG
 bool FreeListAllocator::MemoryBlockHeader::isValid() const
 {
   if (mPrev != nullptr && mPrev->mNext != this) {
@@ -385,6 +384,5 @@ bool FreeListAllocator::MemoryBlockHeader::isValid() const
 
   return true;
 }
-#endif
 
 } // namespace dart::common
diff --git a/dart/common/FreeListAllocator.hpp b/dart/common/FreeListAllocator.hpp
@@ -126,10 +126,8 @@ class FreeListAllocator : public MemoryAllocator
     /// Merges this memory block with the given memory block
     void merge(MemoryBlockHeader* other);
 
-#if DART_BUILD_MODE_DEBUG
     /// [Debug only] Returns whether this memory block is valid
     bool isValid() const;
-#endif
   };
 
   /// Allocates a new memory block for \c sizeToAllocate bytes

diff --git a/dart/common/Logging.hpp b/dart/common/Logging.hpp
@@ -33,6 +33,8 @@
 #ifndef DART_COMMON_LOGGING_HPP_
 #define DART_COMMON_LOGGING_HPP_
 
+#include <dart/config.hpp>
+
 // clang-format off
 #define DART_LOG_LEVEL_TRACE 0
 #define DART_LOG_LEVEL_DEBUG 1
@@ -43,11 +45,6 @@
 #define DART_LOG_LEVEL_OFF   6
 // clang-format on
 
-// Default active log level
-#if !defined(DART_ACTIVE_LOG_LEVEL)
-  #define DART_ACTIVE_LOG_LEVEL DART_LOG_LEVEL_INFO
-#endif
-
 #if DART_ACTIVE_LOG_LEVEL <= DART_LOG_LEVEL_TRACE
   #define DART_TRACE(...) ::dart::common::trace(__VA_ARGS__)
 #else

diff --git a/dart/common/MemoryManager.cpp b/dart/common/MemoryManager.cpp
@@ -32,7 +32,7 @@
 
 #include "dart/common/MemoryManager.hpp"
 
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   #include "dart/common/Logging.hpp"
 #endif
 
@@ -49,11 +49,7 @@ MemoryManager& MemoryManager::GetDefault()
 MemoryManager::MemoryManager(MemoryAllocator& baseAllocator)
   : mBaseAllocator(baseAllocator),
     mFreeListAllocator(mBaseAllocator),
-#if DART_BUILD_MODE_RELEASE
     mPoolAllocator(mFreeListAllocator)
-#else
-    mPoolAllocator(mFreeListAllocator.getInternalAllocator())
-#endif
 {
   // Do nothing
 }
@@ -73,21 +69,13 @@ MemoryAllocator& MemoryManager::getBaseAllocator()
 //==============================================================================
 FreeListAllocator& MemoryManager::getFreeListAllocator()
 {
-#if DART_BUILD_MODE_RELEASE
   return mFreeListAllocator;
-#else
-  return mFreeListAllocator.getInternalAllocator();
-#endif
 }
 
 //==============================================================================
 PoolAllocator& MemoryManager::getPoolAllocator()
 {
-#if DART_BUILD_MODE_RELEASE
   return mPoolAllocator;
-#else
-  return mPoolAllocator.getInternalAllocator();
-#endif
 }
 
 //==============================================================================
@@ -144,20 +132,6 @@ void MemoryManager::deallocateUsingPool(void* pointer, size_t bytes)
   deallocate(Type::Pool, pointer, bytes);
 }
 
-#if DART_BUILD_MODE_DEBUG
-//==============================================================================
-bool MemoryManager::hasAllocated(void* pointer, size_t size) const noexcept
-{
-  if (mFreeListAllocator.hasAllocated(pointer, size))
-    return true;
-
-  if (mPoolAllocator.hasAllocated(pointer, size))
-    return true;
-
-  return false;
-}
-#endif
-
 //==============================================================================
 void MemoryManager::print(std::ostream& os, int indent) const
 {

diff --git a/dart/common/MemoryManager.hpp b/dart/common/MemoryManager.hpp
@@ -33,9 +33,6 @@
 #ifndef DART_COMMON_MEMORYMANAGER_HPP_
 #define DART_COMMON_MEMORYMANAGER_HPP_
 
-#if DART_BUILD_MODE_DEBUG
-  #include <mutex>
-#endif
 #include <dart/common/FreeListAllocator.hpp>
 #include <dart/common/PoolAllocator.hpp>
 
@@ -151,11 +148,6 @@ class MemoryManager final
   template <typename T>
   void destroyUsingPool(T* pointer) noexcept;
 
-#if DART_BUILD_MODE_DEBUG
-  /// Returns true if a pointer is allocated by the internal allocator.
-  [[nodiscard]] bool hasAllocated(void* pointer, size_t size) const noexcept;
-#endif
-
   /// Prints state of the memory manager.
   void print(std::ostream& os = std::cout, int indent = 0) const;
 
@@ -167,19 +159,11 @@ class MemoryManager final
   /// The base allocator to allocate memory chunk.
   MemoryAllocator& mBaseAllocator;
 
-#if DART_BUILD_MODE_RELEASE
   /// The free list allocator.
   FreeListAllocator mFreeListAllocator;
 
   /// The pool allocator.
   PoolAllocator mPoolAllocator;
-#else
-  /// The free list allocator.
-  FreeListAllocator::Debug mFreeListAllocator;
-
-  /// The pool allocator.
-  PoolAllocator::Debug mPoolAllocator;
-#endif
 };
 
 } // namespace dart::common

diff --git a/dart/config.hpp.in b/dart/config.hpp.in
@@ -34,8 +34,7 @@
            || (DART_MINOR_VERSION <= y && DART_PATCH_VERSION <= z))))
 
 // Deprecated in 6.14
-#define DART_VERSION_AT_LEAST(x, y, z)                                         \
-  DART_VERSION_GE(x, y, z)
+#define DART_VERSION_AT_LEAST(x, y, z) DART_VERSION_GE(x, y, z)
 
 // Deprecated in 6.14
 #define DART_MAJOR_MINOR_VERSION_AT_LEAST(x, y)                                \
@@ -44,8 +43,7 @@
        && (DART_MINOR_VERSION > y || (DART_MINOR_VERSION >= y))))
 
 // Deprecated in 6.14
-#define DART_VERSION_AT_MOST(x, y, z)                                          \
-  DART_VERSION_LE(x, y, z)
+#define DART_VERSION_AT_MOST(x, y, z) DART_VERSION_LE(x, y, z)
 
 // Deprecated in 6.14
 #define DART_MAJOR_MINOR_VERSION_AT_MOST(x, y)                                 \
@@ -62,10 +60,6 @@
   #define DART_COMPILER_MSVC
 #endif
 
-// Indicates the build mode used for compiling
-#cmakedefine01 DART_BUILD_MODE_DEBUG
-#cmakedefine01 DART_BUILD_MODE_RELEASE
-
 #cmakedefine01 HAVE_NLOPT
 #cmakedefine01 HAVE_IPOPT
 #cmakedefine01 HAVE_PAGMO
@@ -98,3 +92,5 @@
 #cmakedefine01 DART_USE_SYSTEM_IMGUI
 
 #cmakedefine01 DART_BUILD_PROFILE
+
+#define DART_ACTIVE_LOG_LEVEL @DART_ACTIVE_LOG_LEVEL_VALUE@