Add libassert library

WORKSPACE

@@ -1,5 +1,4 @@
 workspace(name = "robot")
-
 load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 
 http_archive(
@@ -199,6 +198,26 @@ http_archive(
   sha256 = "1ccaabbfe870f60af3d6a519c53e09f3dcf630207321dffa553564a8e75c4fc8",
 )
 
+http_archive(
+  name = "cpptrace",
+  url = "https://github.com/jeremy-rifkin/cpptrace/archive/refs/tags/v0.2.1.zip",
+  strip_prefix = "cpptrace-0.2.1",
+  build_file = "@//third_party:BUILD.cpptrace",
+  patches = [
+    "@//third_party:cpptrace-0001-config.patch",
+  ],
+  patch_args=["-p1"],
+  sha256 = "d274b672286825aba5ba11f4a87e3c1995ac43a5c4fd57f319fb77eb574cfcfd"
+)
+
+http_archive(
+  name = "assert",
+  url = "https://github.com/jeremy-rifkin/libassert/archive/f81df0aae6915fdbf7d5ea2ac24f77cb2e0e7ee1.zip",
+  build_file = "@//third_party:BUILD.assert",
+  strip_prefix = "libassert-f81df0aae6915fdbf7d5ea2ac24f77cb2e0e7ee1",
+  sha256 = "b1da53cbb265b2d943ed9063696567751c62c3e2836b6bfa04d1cf0b8eb5a971",
+)
+
 http_archive(
   name = "sophus_lie",
   urls = ["https://github.com/strasdat/Sophus/archive/refs/tags/1.22.4.zip"],
@@ -268,6 +287,7 @@ http_archive(
   build_file_content="#",
   sha256="bc7259271c058d4ad68a898b9f2aeec44cbaa6e25a45eb0bfd57387905bdfca5",
 )
+
 load("@drake_lib//:share/drake/repo.bzl", "drake_repository")
 drake_repository(name="drake", excludes=["eigen", "fmt"])
 

common/BUILD

@@ -39,3 +39,21 @@ cc_library(
   ],
   visibility = ["//visibility:public"],
 )
+
+cc_library(
+  name = "check",
+  hdrs = ["check.hh"],
+  deps = [
+    "@assert",
+  ],
+  visibility = ["//visibility:public"],
+)
+
+cc_test(
+  name = "check_test",
+  srcs = ["check_test.cc"],
+  deps = [
+    ":check",
+    "@com_google_googletest//:gtest_main",
+  ]
+)

common/check.hh

@@ -0,0 +1,8 @@
+
+#include "assert/assert.hpp"
+
+#define CHECK(expr, ...) ASSERT_INVOKE(expr, false, true, "CHECK", verification, , __VA_ARGS__)
+
+namespace robot {
+using check_failure = libassert::verification_failure;
+}

common/check_test.cc

@@ -0,0 +1,6 @@
+
+#include "common/check.hh"
+
+#include "gtest/gtest.h"
+
+TEST(AssertTest, assert_test) { EXPECT_THROW(CHECK(false), robot::check_failure); }

third_party/BUILD.assert

@@ -0,0 +1,14 @@
+
+cc_library(
+  name = "assert",
+  hdrs = ["include/assert.hpp"],
+  srcs = [
+    "src/assert.cpp",
+    "third_party/magic_enum.hpp",
+  ],
+  copts = ["-I external/assert/include"],
+  include_prefix = "assert",
+  strip_include_prefix = "include",
+  visibility = ["//visibility:public"],
+  deps = ["@cpptrace"],
+)

third_party/BUILD.cpptrace

@@ -0,0 +1,34 @@
+
+cc_library(
+  name = "dwarf",
+  hdrs = [
+    "bundled/libdwarf/libdwarf.h",
+    "bundled/libdwarf/dwarf.h"
+  ],
+  srcs = [
+    "bundled/libdwarf/config.h",
+    "bundled/libdwarf/libdwarf_private.h"] + 
+    glob([
+      "bundled/libdwarf/dwarf_*.h",
+      "bundled/libdwarf/dwarf_*.c"]),
+  strip_include_prefix="bundled/libdwarf",
+  deps = [
+    "@zlib",
+  ]
+)
+
+cc_library(
+  name = "cpptrace",
+  hdrs = ["include/cpptrace/cpptrace.hpp"],
+  srcs = glob(["src/**/*"]),
+  strip_include_prefix = "include",
+  visibility = ["//visibility:public"],
+  local_defines=[
+    "CPPTRACE_UNWIND_WITH_UNWIND",
+    "CPPTRACE_DEMANGLE_WITH_CXXABI",
+    "CPPTRACE_GET_SYMBOLS_WITH_LIBDWARF",
+  ],
+  deps = [
+    ":dwarf",
+  ],
+)