autd3_cpu_wire/
error.rs

1crate::wire_enum! {
2    pub enum Error {
3        None = 0x00,
4        UnknownCmd = 0x01,
5        InvalidPayload = 0x02,
6        InvalidSilencerSetting = 0x04,
7        InvalidTransitionMode = 0x05,
8        MissTransitionTime = 0x06,
9        FpgaTimeout = 0x07,
10        SyncNotReady = 0x08,
11        InvalidSync0Cycle = 0x09,
12    }
13}
14
15impl Error {
16    #[must_use]
17    pub const fn describe(self) -> &'static str {
18        match self {
19            Self::None => "no error",
20            Self::UnknownCmd => "unknown command (device firmware may be out of date)",
21            Self::InvalidPayload => "invalid payload",
22            Self::InvalidSilencerSetting => "invalid silencer setting",
23            Self::InvalidTransitionMode => "invalid transition mode for the target loop behavior",
24            Self::MissTransitionTime => "sys-time transition is too close to now (would be missed)",
25            Self::FpgaTimeout => "FPGA did not acknowledge a register update in time",
26            Self::SyncNotReady => "EtherCAT DC is not configured (no SYNC0 time available)",
27            Self::InvalidSync0Cycle => {
28                "invalid Sync0 cycle time (master's DC config missing or not a multiple of 500us)"
29            }
30        }
31    }
32}
33
34#[must_use]
35pub fn describe_device_error(code: u8) -> &'static str {
36    match Error::from_u8(code) {
37        Some(e) => e.describe(),
38        None => "unknown error code",
39    }
40}
41
42#[cfg(test)]
43mod tests {
44    use super::*;
45
46    #[test]
47    fn error_round_trips() {
48        for raw in 0u8..=0xFF {
49            match Error::from_u8(raw) {
50                Some(e) => {
51                    assert_eq!(e.as_u8(), raw);
52                    assert_eq!(Error::try_from(raw), Ok(e));
53                }
54                None => assert_eq!(Error::try_from(raw), Err(raw)),
55            }
56        }
57    }
58
59    #[test]
60    fn unknown_code_describes_generically() {
61        assert_eq!(describe_device_error(0xFF), "unknown error code");
62    }
63}
autd3_cpu_wire/error.rs

autd3_cpu_wire/
error.rs
