deke_linear/
error.rs

1use deke_types::DekeError;
2
3/// Errors surfaced by the constant-speed Cartesian follower.
4#[derive(Debug, thiserror::Error)]
5pub enum LinearError {
6    #[error("need at least 2 poses to define a path, got {0}")]
7    TooFewPoses(usize),
8    #[error("run {run}: every vertex coincides — nothing to follow")]
9    DegenerateRun { run: usize },
10    #[error("run {run}: Cartesian pose at arc length {s:.4} m has no reachable IK solution")]
11    Unreachable { run: usize, s: f64 },
12    #[error(
13        "run {run}: every reachable configuration at arc length {s:.4} m is rejected by the validator (obstructed)"
14    )]
15    Obstructed { run: usize, s: f64 },
16    #[error("run {run}: could not route a continuous joint track through the IK candidates")]
17    NoContinuousTrack { run: usize },
18    #[error(
19        "retimer stalled on run {run} near arc length {s:.4} m (path likely passes through a singularity)"
20    )]
21    Stalled { run: usize, s: f64 },
22    #[error(
23        "run {run}: holding constant TCP speed forbids the interior dip at arc length {s:.4} m (max feasible {feasible_speed:.4} m/s < commanded {commanded:.4} m/s)"
24    )]
25    SpeedDipRequired {
26        run: usize,
27        s: f64,
28        feasible_speed: f64,
29        commanded: f64,
30    },
31    #[error(
32        "run {run}: cannot keep joint {joint} under its {kind} limit at arc length {s:.4} m ({value:.3} > {limit:.3}) — the joint path is too curved here for the commanded speed; smooth the path or lower the speed"
33    )]
34    LimitExceeded {
35        run: usize,
36        s: f64,
37        joint: usize,
38        /// `"velocity"`, `"acceleration"`, or `"jerk"`.
39        kind: &'static str,
40        value: f64,
41        limit: f64,
42    },
43    #[error(
44        "run {run}: cannot keep the TCP {kind} under its limit ({value:.4} > {limit:.4}) — the commanded speed is too high for the path here"
45    )]
46    TcpLimitExceeded {
47        run: usize,
48        /// `"acceleration"` or `"jerk"`.
49        kind: &'static str,
50        value: f64,
51        limit: f64,
52    },
53    #[error(transparent)]
54    Deke(#[from] DekeError),
55}
56
57impl From<LinearError> for DekeError {
58    fn from(e: LinearError) -> Self {
59        match e {
60            LinearError::Deke(d) => d,
61            other => DekeError::RetimerFailed(other.to_string()),
62        }
63    }
64}
deke_linear/error.rs

deke_linear/
error.rs
