From bce38e160386cf48f0331ef67b76b543221d32c2 Mon Sep 17 00:00:00 2001
From: Pablo Garrido <pablogs9@gmail.com>
Date: Tue, 29 Mar 2022 15:40:49 +0200
Subject: [PATCH] Reduce error handling static size (#14) (#15)

This reverts commit befc608e21c653404f2fd876986969286125a527.

Reduce error handling static size (#14) (#15)

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>
(cherry picked from commit 1176652124c12b23cb58f052077901d2c24dbf39)

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
Revert "Revert "Install headers to include\${PROJECT_NAME} (#351)""

This reverts commit 4546892d5b3b4ef0d6e906c55e4b898c4c6d965a.
---
 include/rcutils/error_handling.h | 17 +++++++++++++++--
 src/error_handling_helpers.h     |  4 ++++
 2 files changed, 19 insertions(+), 2 deletions(-)

diff --git a/include/rcutils/error_handling.h b/include/rcutils/error_handling.h
index 78b3a008..3c5cf936 100644
--- a/include/rcutils/error_handling.h
+++ b/include/rcutils/error_handling.h
@@ -52,7 +52,7 @@ extern "C"
 #elif !defined(RCUTILS_NO_FILESYSTEM)
 #define RCUTILS_SAFE_FWRITE_TO_STDERR(msg) \
   do {fwrite(msg, sizeof(char), strlen(msg), stderr);} while (0)
-#else 
+#else
   #define RCUTILS_SAFE_FWRITE_TO_STDERR(msg)
 #endif
 
@@ -65,6 +65,8 @@ extern "C"
  * \param[in] format_string The string to be used as the format of the error message.
  * \param[in] ... Arguments for the format string.
  */
+
+#if !defined(RCUTILS_AVOID_DYNAMIC_ALLOCATION)
 #define RCUTILS_SAFE_FWRITE_TO_STDERR_WITH_FORMAT_STRING(format_string, ...) \
   do { \
     char output_msg[RCUTILS_ERROR_MESSAGE_MAX_LENGTH]; \
@@ -75,7 +77,11 @@ extern "C"
       RCUTILS_SAFE_FWRITE_TO_STDERR(output_msg); \
     } \
   } while (0)
+#else
+#define RCUTILS_SAFE_FWRITE_TO_STDERR_WITH_FORMAT_STRING(format_string, ...)
+#endif
 
+#if !defined(RCUTILS_AVOID_DYNAMIC_ALLOCATION)
 /// The maximum length a formatted number is allowed to have.
 #define RCUTILS_ERROR_STATE_LINE_NUMBER_STR_MAX_LENGTH 20  // "18446744073709551615"
 
@@ -102,6 +108,13 @@ extern "C"
     RCUTILS_ERROR_STATE_LINE_NUMBER_STR_MAX_LENGTH - \
     RCUTILS_ERROR_FORMATTING_CHARACTERS - \
     1)
+#else
+#define RCUTILS_ERROR_STATE_LINE_NUMBER_STR_MAX_LENGTH 1
+#define RCUTILS_ERROR_FORMATTING_CHARACTERS 1
+#define RCUTILS_ERROR_MESSAGE_MAX_LENGTH 1
+#define RCUTILS_ERROR_STATE_MESSAGE_MAX_LENGTH 1
+#define RCUTILS_ERROR_STATE_FILE_MAX_LENGTH 1
+#endif  // RCUTILS_AVOID_DYNAMIC_ALLOCATION
 
 /// Struct wrapping a fixed-size c string used for returning the formatted error string.
 typedef struct rcutils_error_string_s
@@ -123,7 +136,7 @@ typedef struct rcutils_error_state_s
 } rcutils_error_state_t;
 
 // make sure our math is right...
-#if __STDC_VERSION__ >= 201112L
+#if __STDC_VERSION__ >= 201112L && !defined(RCUTILS_AVOID_DYNAMIC_ALLOCATION)
 static_assert(
   sizeof(rcutils_error_string_t) == (
     RCUTILS_ERROR_STATE_MESSAGE_MAX_LENGTH +
diff --git a/src/error_handling_helpers.h b/src/error_handling_helpers.h
index 4914c4fe..b6a1dc67 100644
--- a/src/error_handling_helpers.h
+++ b/src/error_handling_helpers.h
@@ -108,6 +108,7 @@ static
 void
 __rcutils_convert_uint64_t_into_c_str(uint64_t number, char * buffer, size_t buffer_size)
 {
+#if !defined(RCUTILS_AVOID_DYNAMIC_ALLOCATION)
   assert(buffer != NULL);
   assert(buffer_size >= 21);
   (void)buffer_size;  // prevent warning in release builds where there is no assert(...)
@@ -131,6 +132,7 @@ __rcutils_convert_uint64_t_into_c_str(uint64_t number, char * buffer, size_t buf
 
   // reverse the string in place
   __rcutils_reverse_str(buffer, strnlen(buffer, 21));
+#endif
 }
 
 // do not use externally, internal function which is only to be used by error_handling.c
@@ -140,6 +142,7 @@ __rcutils_format_error_string(
   rcutils_error_string_t * error_string,
   const rcutils_error_state_t * error_state)
 {
+#if !defined(RCUTILS_AVOID_DYNAMIC_ALLOCATION)
   assert(error_string != NULL);
   assert(error_state != NULL);
   static const char format_1[] = ", at ";
@@ -173,6 +176,7 @@ __rcutils_format_error_string(
   written = __rcutils_copy_string(offset, bytes_left, line_number_buffer);
   offset += written;
   offset[0] = '\0';
+#endif
 }
 
 #ifdef __cplusplus