Conditional Inclusion

本文介绍如何使用预处理器的条件指令来选择性地包含代码。通过#if等指令可以在编译时根据不同的条件包含或跳过特定代码段。例如,确保头文件仅被包含一次或根据系统类型选择不同版本的头文件。

4.11.3 ConditionalInclusion

It is possible to control preprocessing itself with conditionalstatements that are evaluated during preprocessing. This provides away to include code selectively, depending on the value ofconditions evaluated during compilation.

The #if line evaluates a constant integer expression(which may not include sizeof, casts, or enumconstants). If the expression is non-zero, subsequent lines untilan #endif or #elif or #else areincluded. (The preprocessor statement #elif is likeelse-if.) The expression defined(name)in a #if is 1 if the name has been defined, and 0otherwise.

For example, to make sure that the contents of a filehdr.h are included only once, the contents of the file aresurrounded with a conditional like this:

   #if !defined(HDR)
   #define HDR

   

   #endif
The first inclusion of hdr.h defines the nameHDR; subsequent inclusions will find the name defined andskip down to the #endif. A similar style can be used toavoid including files multiple times. If this style is usedconsistently, then each header can itself include any other headerson which it depends, without the user of the header having to dealwith the interdependence.

This sequence tests the name SYSTEM to decide whichversion of a header to include:

   #if SYSTEM == SYSV
       #define HDR "sysv.h"
   #elif SYSTEM == BSD
       #define HDR "bsd.h"
   #elif SYSTEM == MSDOS
       #define HDR "msdos.h"
   #else
       #define HDR "default.h"
   #endif
   #include HDR
The #ifdef and #ifndef lines are specializedforms that test whether a name is defined. The first example of#if above could have been written
   #ifndef HDR
   #define HDR

   

   #endif
[INFO] [launch]: All log files can be found below /home/jian/.ros/log/2025-05-30-19-43-55-764119-jian-desktop-30712 [INFO] [launch]: Default logging verbosity is set to INFO Task exception was never retrieved future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=AttributeError("'list' object has no attribute 'describe_sub_entities'")> Traceback (most recent call last): File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event await self.__process_event(next_event) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event visit_all_entities_and_collect_futures(entity, self.__context)) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures sub_entities = entity.visit(context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit return self.execute(context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/include_launch_description.py", line 145, in execute declared_launch_arguments = launch_description.get_launch_arguments() File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description.py", line 126, in get_launch_arguments process_entities(self.entities, _conditional_inclusion=conditional_inclusion) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description.py", line 119, in process_entities process_entities( File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description.py", line 122, in process_entities process_entities( File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description.py", line 120, in process_entities entity.describe_sub_entities(), _conditional_inclusion=False) AttributeError: 'list' object has no attribute 'describe_sub_entities'
05-31
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