132 lines
5.6 KiB
Rust
132 lines
5.6 KiB
Rust
#![allow(non_camel_case_types)]
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use rcl::*;
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use thiserror::Error;
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// TODO
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#[derive(Error, Debug)]
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pub enum Error {
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// Copied from the generated bindgen
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#[error("RCL_RET_OK")]
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RCL_RET_OK,
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#[error("RCL_RET_ERROR")]
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RCL_RET_ERROR,
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#[error("RCL_RET_TIMEOUT")]
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RCL_RET_TIMEOUT,
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#[error("RCL_RET_BAD_ALLOC")]
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RCL_RET_BAD_ALLOC,
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#[error("RCL_RET_INVALID_ARGUMENT")]
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RCL_RET_INVALID_ARGUMENT,
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#[error("RCL_RET_UNSUPPORTED")]
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RCL_RET_UNSUPPORTED,
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#[error("RCL_RET_ALREADY_INIT")]
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RCL_RET_ALREADY_INIT,
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#[error("RCL_RET_NOT_INIT")]
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RCL_RET_NOT_INIT,
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#[error("RCL_RET_MISMATCHED_RMW_ID")]
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RCL_RET_MISMATCHED_RMW_ID,
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#[error("RCL_RET_TOPIC_NAME_INVALID")]
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RCL_RET_TOPIC_NAME_INVALID,
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#[error("RCL_RET_SERVICE_NAME_INVALID")]
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RCL_RET_SERVICE_NAME_INVALID,
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#[error("RCL_RET_UNKNOWN_SUBSTITUTION")]
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RCL_RET_UNKNOWN_SUBSTITUTION,
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#[error("RCL_RET_ALREADY_SHUTDOWN")]
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RCL_RET_ALREADY_SHUTDOWN,
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#[error("RCL_RET_NODE_INVALID")]
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RCL_RET_NODE_INVALID,
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#[error("RCL_RET_NODE_INVALID_NAME")]
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RCL_RET_NODE_INVALID_NAME,
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#[error("RCL_RET_NODE_INVALID_NAMESPACE")]
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RCL_RET_NODE_INVALID_NAMESPACE,
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#[error("RCL_RET_PUBLISHER_INVALID")]
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RCL_RET_PUBLISHER_INVALID,
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#[error("RCL_RET_SUBSCRIPTION_INVALID")]
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RCL_RET_SUBSCRIPTION_INVALID,
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#[error("RCL_RET_SUBSCRIPTION_TAKE_FAILED")]
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RCL_RET_SUBSCRIPTION_TAKE_FAILED,
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#[error("RCL_RET_CLIENT_INVALID")]
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RCL_RET_CLIENT_INVALID,
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#[error("RCL_RET_CLIENT_TAKE_FAILED")]
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RCL_RET_CLIENT_TAKE_FAILED,
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#[error("RCL_RET_SERVICE_INVALID")]
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RCL_RET_SERVICE_INVALID,
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#[error("RCL_RET_SERVICE_TAKE_FAILED")]
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RCL_RET_SERVICE_TAKE_FAILED,
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#[error("RCL_RET_TIMER_INVALID")]
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RCL_RET_TIMER_INVALID,
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#[error("RCL_RET_TIMER_CANCELED")]
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RCL_RET_TIMER_CANCELED,
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#[error("RCL_RET_WAIT_SET_INVALID")]
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RCL_RET_WAIT_SET_INVALID,
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#[error("RCL_RET_WAIT_SET_EMPTY")]
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RCL_RET_WAIT_SET_EMPTY,
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#[error("RCL_RET_WAIT_SET_FULL")]
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RCL_RET_WAIT_SET_FULL,
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#[error("RCL_RET_INVALID_REMAP_RULE")]
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RCL_RET_INVALID_REMAP_RULE,
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#[error("RCL_RET_WRONG_LEXEME")]
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RCL_RET_WRONG_LEXEME,
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#[error("RCL_RET_INVALID_PARAM_RULE")]
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RCL_RET_INVALID_PARAM_RULE,
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#[error("RCL_RET_INVALID_LOG_LEVEL_RULE")]
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RCL_RET_INVALID_LOG_LEVEL_RULE,
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#[error("RCL_RET_EVENT_INVALID")]
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RCL_RET_EVENT_INVALID,
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#[error("RCL_RET_EVENT_TAKE_FAILED")]
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RCL_RET_EVENT_TAKE_FAILED,
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// Our own errors
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#[error("No typesupport built for the message type: {}", msgtype)]
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InvalidMessageType { msgtype: String },
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#[error("Serde error: {}", err)]
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SerdeError { err: String },
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// action errors. perhaps they exist in the rcl?
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#[error("Goal rejected by server.")]
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GoalRejected,
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}
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impl Error {
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pub fn from_rcl_error(e: i32) -> Self {
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let e = e as u32;
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match e {
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_ if e == RCL_RET_OK => Error::RCL_RET_OK,
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_ if e == RCL_RET_ERROR => Error::RCL_RET_ERROR,
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_ if e == RCL_RET_TIMEOUT => Error::RCL_RET_TIMEOUT,
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_ if e == RCL_RET_BAD_ALLOC => Error::RCL_RET_BAD_ALLOC,
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_ if e == RCL_RET_INVALID_ARGUMENT => Error::RCL_RET_INVALID_ARGUMENT,
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_ if e == RCL_RET_UNSUPPORTED => Error::RCL_RET_UNSUPPORTED,
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_ if e == RCL_RET_ALREADY_INIT => Error::RCL_RET_ALREADY_INIT,
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_ if e == RCL_RET_NOT_INIT => Error::RCL_RET_NOT_INIT,
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_ if e == RCL_RET_MISMATCHED_RMW_ID => Error::RCL_RET_MISMATCHED_RMW_ID,
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_ if e == RCL_RET_TOPIC_NAME_INVALID => Error::RCL_RET_TOPIC_NAME_INVALID,
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_ if e == RCL_RET_SERVICE_NAME_INVALID => Error::RCL_RET_SERVICE_NAME_INVALID,
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_ if e == RCL_RET_UNKNOWN_SUBSTITUTION => Error::RCL_RET_UNKNOWN_SUBSTITUTION,
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_ if e == RCL_RET_ALREADY_SHUTDOWN => Error::RCL_RET_ALREADY_SHUTDOWN,
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_ if e == RCL_RET_NODE_INVALID => Error::RCL_RET_NODE_INVALID,
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_ if e == RCL_RET_NODE_INVALID_NAME => Error::RCL_RET_NODE_INVALID_NAME,
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_ if e == RCL_RET_NODE_INVALID_NAMESPACE => Error::RCL_RET_NODE_INVALID_NAMESPACE,
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_ if e == RCL_RET_PUBLISHER_INVALID => Error::RCL_RET_PUBLISHER_INVALID,
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_ if e == RCL_RET_SUBSCRIPTION_INVALID => Error::RCL_RET_SUBSCRIPTION_INVALID,
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_ if e == RCL_RET_SUBSCRIPTION_TAKE_FAILED => Error::RCL_RET_SUBSCRIPTION_TAKE_FAILED,
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_ if e == RCL_RET_CLIENT_INVALID => Error::RCL_RET_CLIENT_INVALID,
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_ if e == RCL_RET_CLIENT_TAKE_FAILED => Error::RCL_RET_CLIENT_TAKE_FAILED,
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_ if e == RCL_RET_SERVICE_INVALID => Error::RCL_RET_SERVICE_INVALID,
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_ if e == RCL_RET_SERVICE_TAKE_FAILED => Error::RCL_RET_SERVICE_TAKE_FAILED,
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_ if e == RCL_RET_TIMER_INVALID => Error::RCL_RET_TIMER_INVALID,
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_ if e == RCL_RET_TIMER_CANCELED => Error::RCL_RET_TIMER_CANCELED,
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_ if e == RCL_RET_WAIT_SET_INVALID => Error::RCL_RET_WAIT_SET_INVALID,
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_ if e == RCL_RET_WAIT_SET_EMPTY => Error::RCL_RET_WAIT_SET_EMPTY,
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_ if e == RCL_RET_WAIT_SET_FULL => Error::RCL_RET_WAIT_SET_FULL,
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_ if e == RCL_RET_INVALID_REMAP_RULE => Error::RCL_RET_INVALID_REMAP_RULE,
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_ if e == RCL_RET_WRONG_LEXEME => Error::RCL_RET_WRONG_LEXEME,
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_ if e == RCL_RET_INVALID_PARAM_RULE => Error::RCL_RET_INVALID_PARAM_RULE,
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_ if e == RCL_RET_INVALID_LOG_LEVEL_RULE => Error::RCL_RET_INVALID_LOG_LEVEL_RULE,
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_ if e == RCL_RET_EVENT_INVALID => Error::RCL_RET_EVENT_INVALID,
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_ if e == RCL_RET_EVENT_TAKE_FAILED => Error::RCL_RET_EVENT_TAKE_FAILED,
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_ => panic!("TODO: add error code {}", e),
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}
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}
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}
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