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use std::{ops::RangeInclusive, sync::Arc};
use thiserror::Error;
#[derive(Debug, Error)]
#[non_exhaustive]
pub enum Error {
#[error("arci: {:?}", .0)]
InterpolationError(String),
#[error("arci: Collision {} {}", .0, .1)]
CollisionError(String, String),
#[error(
"arci: Timeout {:?}: {} is larger than {}",
timeout,
allowable_total_diff,
err
)]
Timeout {
timeout: std::time::Duration,
allowable_total_diff: f64,
err: f64,
},
#[error("arci: Length mismatch (model = {}, input = {})", model, input)]
LengthMismatch { model: usize, input: usize },
#[error("arci: No Joint={} is found.", .0)]
NoJoint(String),
#[error(
"arci: Joint Names Mismatch : left = {:?}, right = {:?}",
partial,
full
)]
JointNamesMismatch {
partial: Vec<String>,
full: Vec<String>,
},
#[error("arci: CopyJointError {:?} {:?} : {:?} {:?}", .0, .1, .2, .3)]
CopyJointError(Vec<String>, Vec<f64>, Vec<String>, Vec<f64>),
#[error(
"arci: Wait timeout target={:?}, cur={:?} is_reached={:?}",
target,
current,
is_reached
)]
TimeoutWithDiff {
target: Vec<f64>,
current: Vec<f64>,
is_reached: Vec<bool>,
},
#[error("arci: Uninitialized : {}", message)]
Uninitialized { message: String },
#[error("arci: Connection error : {}", message)]
Connection { message: String },
#[error("arci: Canceled : {}", message)]
Canceled { message: String },
#[error(
"arci: Out of limit: joint={}, position={}, limit={:?}",
name,
position,
limit
)]
OutOfLimit {
name: String,
position: f64,
limit: RangeInclusive<f64>,
},
#[error("arci: Failed to construct instance: {}", .0)]
Lazy(Arc<Error>),
#[error("arci: urdf: {:?}", .0)]
Urdf(#[from] urdf_rs::UrdfError),
#[error("arci: Other: {:?}", .0)]
Other(#[from] anyhow::Error),
}