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use thiserror::Error;
#[derive(Debug, Error)]
#[non_exhaustive]
pub enum Error {
#[error("arci_ros: No joint_state is available")]
NoJointStateAvailable,
#[error("arci_ros: length mismatch (model = {}, input = {})", model, input)]
LengthMismatch { model: usize, input: usize },
#[error("arci_ros: ActionResultTimeout")]
ActionResultTimeout,
#[error("arci_ros: ActionResultNotSuccess {}", .0)]
ActionResultNotSuccess(String),
#[error("arci_ros: ActionResultPreempted {}", .0)]
ActionResultPreempted(String),
#[error("arci_ros: ActionGoalSendingFailure")]
ActionGoalSendingFailure,
#[error("arci_ros: ActionCancelSendingFailure")]
ActionCancelSendingFailure,
#[error("arci_ros: arci: {:?}", .0)]
Arci(#[from] arci::Error),
#[error("arci_ros: Other: {:?}", .0)]
Other(#[from] anyhow::Error),
}
impl From<Error> for arci::Error {
fn from(e: Error) -> Self {
match e {
Error::Arci(e) => e,
e @ Error::ActionResultPreempted(_) => arci::Error::Canceled {
message: e.to_string(),
},
e => arci::Error::Other(e.into()),
}
}
}