Switch from failure to thiserror. Closes #2

.gitignore

@@ -2,10 +2,4 @@
 
 Cargo.lock
 
-# code generation
+.envrc
-msg_gen/src/introspection_functions.rs
-msg_gen/src/msg_bindings.rs
-msg_gen/src/msg_includes.h
-rcl/src/rcl_bindings.rs
-rcl/src/rcl_wrapper.h
-src/generated_msgs.rs

Cargo.toml

@@ -1,7 +1,7 @@
 
 [package]
 name = "r2r"
-version = "0.0.7"
+version = "0.0.8"
 authors = ["Martin Dahl <martin.dahl@gmail.com>"]
 description = "Minimal ros2 bindings."
 license = "Apache-2.0/MIT"
@@ -10,8 +10,7 @@ edition = "2018"
 [dependencies]
 serde = { version = "1.0.123", features = ["derive"] }
 serde_json = "1.0.62"
-failure = "0.1.8"
+thiserror = "1.0"
-failure_derive = "0.1.8"
 lazy_static = "1.4.0"
 common = { path = "common", version = "0.0.3" }
 rcl = { path = "rcl", version = "0.0.3" }

examples/client.rs

@@ -1,9 +1,8 @@
 use r2r;
-use failure::Error;
 
 use r2r::example_interfaces::srv::AddTwoInts;
 
-fn main() -> Result<(), Error> {
+fn main() -> Result<(), Box<dyn std::error::Error>> {
     let ctx = r2r::Context::create()?;
     let mut node = r2r::Node::create(ctx, "testnode", "")?;
     let client = node.create_client::<AddTwoInts::Service>("/add_two_ints")?;

examples/clock.rs

@@ -1,8 +1,6 @@
 use r2r;
-use failure::Error;
 
-
+fn main() -> Result<(), Box<dyn std::error::Error>> {
-fn main() -> Result<(), Error> {
     {
         let mut clock = r2r::Clock::create(r2r::ClockType::RosTime)?;
         let now = clock.get_now()?;

examples/logging.rs

@@ -1,11 +1,10 @@
 use r2r;
-use failure::Error;
 
 /// try to run like this
 /// cargo run --example logging -- --ros-args --log-level DEBUG
 /// The logs produced with the node logger should show up in /rosout
 
-fn main() -> Result<(), Error> {
+fn main() -> Result<(), Box<dyn std::error::Error>> {
     r2r::log_debug!("before_init", "debug msg");
     let ctx = r2r::Context::create()?;
     let node = r2r::Node::create(ctx, "logger_node", "")?;

examples/parameters.rs

@@ -1,10 +1,9 @@
 use r2r;
-use failure::Error;
 
 // try to run like this
 // cargo run --example parameters -- --ros-args -p param_key:=[hej,hopp] -p key2:=5.5 key2=true -r __ns:=/demo -r __node:=my_node
 
-fn main() -> Result<(), Error> {
+fn main() -> Result<(), Box<dyn std::error::Error>> {
     let ctx = r2r::Context::create()?;
     let node = r2r::Node::create(ctx, "testnode", "")?;
 

examples/publish_complex_msgs.rs

@@ -2,9 +2,8 @@ use r2r;
 use r2r::builtin_interfaces::msg::Duration;
 use r2r::trajectory_msgs::msg::*;
 use r2r::std_msgs::msg::Int32;
-use failure::Error;
 
-fn main() -> Result<(), Error> {
+fn main() -> Result<(), Box<dyn std::error::Error>> {
     let ctx = r2r::Context::create()?;
     let mut node = r2r::Node::create(ctx, "testnode", "")?;
     let publisher = node.create_publisher::<JointTrajectoryPoint>("/hej")?;

examples/rostopic_echo.rs

@@ -2,9 +2,8 @@ use r2r;
 use std::thread;
 use std::env;
 use std::collections::HashMap;
-use failure::Error;
 
-fn main() -> Result<(), Error> {
+fn main() -> Result<(), Box<dyn std::error::Error>> {
     let ctx = r2r::Context::create()?;
     let mut node = r2r::Node::create(ctx, "echo", "")?;
 

examples/rostopic_list.rs

@@ -1,9 +1,8 @@
 use r2r;
 use std::thread;
 use std::time::Duration;
-use failure::Error;
 
-fn main() -> Result<(), Error> {
+fn main() -> Result<(), Box<dyn std::error::Error>> {
     let ctx = r2r::Context::create()?;
     let node = r2r::Node::create(ctx, "testnode", "")?;
 

examples/service.rs

@@ -1,6 +1,4 @@
 use r2r;
-use failure::Error;
-
 use r2r::example_interfaces::srv::AddTwoInts;
 
 fn handle_service(request: AddTwoInts::Request) -> AddTwoInts::Response {
@@ -10,7 +8,7 @@ fn handle_service(request: AddTwoInts::Request) -> AddTwoInts::Response {
     }
 }
 
-fn main() -> Result<(), Error> {
+fn main() -> Result<(), Box<dyn std::error::Error>> {
     let ctx = r2r::Context::create()?;
     let mut node = r2r::Node::create(ctx, "testnode", "")?;
     node.create_service::<AddTwoInts::Service>("/add_two_ints", Box::new(handle_service))?;

examples/subscriber.rs

@@ -1,9 +1,8 @@
 use r2r;
 use std::sync::mpsc;
 use std::thread;
-use failure::Error;
 
-fn main() -> Result<(), Error> {
+fn main() -> Result<(), Box<dyn std::error::Error>> {
     let ctx = r2r::Context::create()?;
 
     let th = {

examples/subscriber_with_thread.rs

@@ -1,11 +1,10 @@
 use std::sync::mpsc;
 use std::thread;
-use failure::Error;
 
 use r2r;
 use r2r::std_msgs;
 
-fn main() -> Result<(), Error> {
+fn main() -> Result<(), Box<dyn std::error::Error>> {
     let ctx = r2r::Context::create()?;
     let mut node = r2r::Node::create(ctx, "testnode", "")?;
 

examples/wall_timer.rs

@@ -1,7 +1,6 @@
 use r2r;
-use failure::Error;
 
-fn main() -> Result<(), Error> {
+fn main() -> Result<(), Box<dyn std::error::Error>> {
     let ctx = r2r::Context::create()?;
     let mut node = r2r::Node::create(ctx, "testnode", "")?;
 

src/error.rs

@@ -1,84 +1,85 @@
 #![allow(non_camel_case_types)]
 use rcl::*;
+use thiserror::Error;
 
 // TODO
 
-#[derive(Debug, Fail)]
+#[derive(Error, Debug)]
 pub enum Error {
     // Copied from the generated bindgen
-    #[fail(display = "RCL_RET_OK")]
+    #[error("RCL_RET_OK")]
     RCL_RET_OK,
-    #[fail(display = "RCL_RET_ERROR")]
+    #[error("RCL_RET_ERROR")]
     RCL_RET_ERROR,
-    #[fail(display = "RCL_RET_TIMEOUT")]
+    #[error("RCL_RET_TIMEOUT")]
     RCL_RET_TIMEOUT,
-    #[fail(display = "RCL_RET_BAD_ALLOC")]
+    #[error("RCL_RET_BAD_ALLOC")]
     RCL_RET_BAD_ALLOC,
-    #[fail(display = "RCL_RET_INVALID_ARGUMENT")]
+    #[error("RCL_RET_INVALID_ARGUMENT")]
     RCL_RET_INVALID_ARGUMENT,
-    #[fail(display = "RCL_RET_UNSUPPORTED")]
+    #[error("RCL_RET_UNSUPPORTED")]
     RCL_RET_UNSUPPORTED,
-    #[fail(display = "RCL_RET_ALREADY_INIT")]
+    #[error("RCL_RET_ALREADY_INIT")]
     RCL_RET_ALREADY_INIT,
-    #[fail(display = "RCL_RET_NOT_INIT")]
+    #[error("RCL_RET_NOT_INIT")]
     RCL_RET_NOT_INIT,
-    #[fail(display = "RCL_RET_MISMATCHED_RMW_ID")]
+    #[error("RCL_RET_MISMATCHED_RMW_ID")]
     RCL_RET_MISMATCHED_RMW_ID,
-    #[fail(display = "RCL_RET_TOPIC_NAME_INVALID")]
+    #[error("RCL_RET_TOPIC_NAME_INVALID")]
     RCL_RET_TOPIC_NAME_INVALID,
-    #[fail(display = "RCL_RET_SERVICE_NAME_INVALID")]
+    #[error("RCL_RET_SERVICE_NAME_INVALID")]
     RCL_RET_SERVICE_NAME_INVALID,
-    #[fail(display = "RCL_RET_UNKNOWN_SUBSTITUTION")]
+    #[error("RCL_RET_UNKNOWN_SUBSTITUTION")]
     RCL_RET_UNKNOWN_SUBSTITUTION,
-    #[fail(display = "RCL_RET_ALREADY_SHUTDOWN")]
+    #[error("RCL_RET_ALREADY_SHUTDOWN")]
     RCL_RET_ALREADY_SHUTDOWN,
-    #[fail(display = "RCL_RET_NODE_INVALID")]
+    #[error("RCL_RET_NODE_INVALID")]
     RCL_RET_NODE_INVALID,
-    #[fail(display = "RCL_RET_NODE_INVALID_NAME")]
+    #[error("RCL_RET_NODE_INVALID_NAME")]
     RCL_RET_NODE_INVALID_NAME,
-    #[fail(display = "RCL_RET_NODE_INVALID_NAMESPACE")]
+    #[error("RCL_RET_NODE_INVALID_NAMESPACE")]
     RCL_RET_NODE_INVALID_NAMESPACE,
-    #[fail(display = "RCL_RET_PUBLISHER_INVALID")]
+    #[error("RCL_RET_PUBLISHER_INVALID")]
     RCL_RET_PUBLISHER_INVALID,
-    #[fail(display = "RCL_RET_SUBSCRIPTION_INVALID")]
+    #[error("RCL_RET_SUBSCRIPTION_INVALID")]
     RCL_RET_SUBSCRIPTION_INVALID,
-    #[fail(display = "RCL_RET_SUBSCRIPTION_TAKE_FAILED")]
+    #[error("RCL_RET_SUBSCRIPTION_TAKE_FAILED")]
     RCL_RET_SUBSCRIPTION_TAKE_FAILED,
-    #[fail(display = "RCL_RET_CLIENT_INVALID")]
+    #[error("RCL_RET_CLIENT_INVALID")]
     RCL_RET_CLIENT_INVALID,
-    #[fail(display = "RCL_RET_CLIENT_TAKE_FAILED")]
+    #[error("RCL_RET_CLIENT_TAKE_FAILED")]
     RCL_RET_CLIENT_TAKE_FAILED,
-    #[fail(display = "RCL_RET_SERVICE_INVALID")]
+    #[error("RCL_RET_SERVICE_INVALID")]
     RCL_RET_SERVICE_INVALID,
-    #[fail(display = "RCL_RET_SERVICE_TAKE_FAILED")]
+    #[error("RCL_RET_SERVICE_TAKE_FAILED")]
     RCL_RET_SERVICE_TAKE_FAILED,
-    #[fail(display = "RCL_RET_TIMER_INVALID")]
+    #[error("RCL_RET_TIMER_INVALID")]
     RCL_RET_TIMER_INVALID,
-    #[fail(display = "RCL_RET_TIMER_CANCELED")]
+    #[error("RCL_RET_TIMER_CANCELED")]
     RCL_RET_TIMER_CANCELED,
-    #[fail(display = "RCL_RET_WAIT_SET_INVALID")]
+    #[error("RCL_RET_WAIT_SET_INVALID")]
     RCL_RET_WAIT_SET_INVALID,
-    #[fail(display = "RCL_RET_WAIT_SET_EMPTY")]
+    #[error("RCL_RET_WAIT_SET_EMPTY")]
     RCL_RET_WAIT_SET_EMPTY,
-    #[fail(display = "RCL_RET_WAIT_SET_FULL")]
+    #[error("RCL_RET_WAIT_SET_FULL")]
     RCL_RET_WAIT_SET_FULL,
-    #[fail(display = "RCL_RET_INVALID_REMAP_RULE")]
+    #[error("RCL_RET_INVALID_REMAP_RULE")]
     RCL_RET_INVALID_REMAP_RULE,
-    #[fail(display = "RCL_RET_WRONG_LEXEME")]
+    #[error("RCL_RET_WRONG_LEXEME")]
     RCL_RET_WRONG_LEXEME,
-    #[fail(display = "RCL_RET_INVALID_PARAM_RULE")]
+    #[error("RCL_RET_INVALID_PARAM_RULE")]
     RCL_RET_INVALID_PARAM_RULE,
-    #[fail(display = "RCL_RET_INVALID_LOG_LEVEL_RULE")]
+    #[error("RCL_RET_INVALID_LOG_LEVEL_RULE")]
     RCL_RET_INVALID_LOG_LEVEL_RULE,
-    #[fail(display = "RCL_RET_EVENT_INVALID")]
+    #[error("RCL_RET_EVENT_INVALID")]
     RCL_RET_EVENT_INVALID,
-    #[fail(display = "RCL_RET_EVENT_TAKE_FAILED")]
+    #[error("RCL_RET_EVENT_TAKE_FAILED")]
     RCL_RET_EVENT_TAKE_FAILED,
 
     // Our own errors
-    #[fail(display = "No typesupport build for the message type: {}", msgtype)]
+    #[error("No typesupport built for the message type: {}", msgtype)]
     InvalidMessageType { msgtype: String },
-    #[fail(display = "Serde error: {}", err)]
+    #[error("Serde error: {}", err)]
     SerdeError { err: String },
 }
 

src/lib.rs

@@ -1,7 +1,6 @@
 include!(concat!(env!("OUT_DIR"), "/_r2r_generated_msgs.rs"));
 include!(concat!(env!("OUT_DIR"), "/_r2r_generated_untyped_helper.rs"));
 
-#[macro_use] extern crate failure_derive;
 use serde::{Deserialize, Serialize};
 use std::ffi::{CString,CStr};
 use std::mem::MaybeUninit;

tests/threads.rs

@@ -1,12 +1,11 @@
 use std::thread;
 use std::time::Duration;
-use failure::Error;
 
 use r2r;
 
 #[test]
 // Let's create and drop a lot of node and publishers for a while to see that we can cope.
-fn doesnt_crash() -> Result<(), Error> {
+fn doesnt_crash() -> Result<(), Box<dyn std::error::Error>> {
     // a global shared context.
     let ctx = r2r::Context::create()?;