1 files changed, 52 insertions, 0 deletions
diff --git a/firmware/os/algos/util/nano_assert.h b/firmware/os/algos/util/nano_assert.h
new file mode 100644
index 00000000..c6389c33
--- /dev/null
+++ b/firmware/os/algos/util/nano_assert.h
@@ -0,0 +1,52 @@
+#ifndef LOCATION_LBS_CONTEXTHUB_NANOAPPS_UTIL_NANO_ASSERT_H_
+#define LOCATION_LBS_CONTEXTHUB_NANOAPPS_UTIL_NANO_ASSERT_H_
+
+#if defined(__NANOHUB__) || defined(_OS_BUILD_)
+
+// For external nanoapps (__NANOHUB__ defined), use SRC_FILENAME provided
+// by the build system, which has the directory stripped. But allow the
+// full filename for OS builds, where ASSERT should only be used for local
+// development.
+#if !defined(SRC_FILENAME) && defined(_OS_BUILD_)
+#define SRC_FILENAME __FILENAME__
+#endif
+
+#if defined(_OS_BUILD_)
+  #include <seos.h>
+  #define ASSERT_LOG_FUNC(fmt, ...) osLog(LOG_ERROR, fmt, ##__VA_ARGS__)
+#elif defined(__NANOHUB__)
+  #include <syscallDo.h>
+  #define ASSERT_LOG_FUNC(fmt, ...) eOsLog(LOG_ERROR, fmt, ##__VA_ARGS__)
+#endif
+
+// Note that this just logs and doesn't actually stop execution on Nanohub
+#define ASSERT_IMPL(x) do {                                          \
+    if (!(x)) {                                                      \
+      ASSERT_LOG_FUNC("Assertion: %s:%d\n", SRC_FILENAME, __LINE__); \
+    }                                                                \
+  } while (0)
+
+#else  // Off-target testing, e.g. Google3
+
+#define NANO_ASSERT_ENABLED
+#include <assert.h>
+#define ASSERT_IMPL(x) assert(x)
+
+#endif
+
+#ifdef NANO_ASSERT_ENABLED
+#define ASSERT(x) ASSERT_IMPL(x)
+#else
+#define ASSERT(x) ((void)(x))
+#endif
+
+// Use NULL when compiling for C and nullptr for C++.
+#ifdef __cplusplus
+#define ASSERT_NOT_NULL(ptr) ASSERT((ptr) != nullptr)
+#else
+#define ASSERT_NOT_NULL(ptr) ASSERT((ptr) != NULL)
+#endif
+
+#define UNUSED(x) ((void)(sizeof(x)))
+
+#endif  // LOCATION_LBS_CONTEXTHUB_NANOAPPS_UTIL_NANO_ASSERT_H_