kcan 0.3.0

CAN controller primitives for actuator and motor control.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134

use std::fmt;

pub type Result<T> = std::result::Result<T, Error>;

#[derive(Debug, Clone, PartialEq)]
pub enum Error {
    InvalidRange {
        min: f64,
        max: f64,
    },
    InvalidBitWidth(u8),
    InvalidCanId(u32),
    PayloadTooLong {
        len: usize,
    },
    PayloadTooShort {
        expected: usize,
        actual: usize,
    },
    InvalidPayloadLength {
        expected: usize,
        actual: usize,
    },
    InvalidNodeId(u8),
    NonFiniteValue(&'static str),
    UnsupportedMode(u32),
    UnknownParameter(String),
    ReadOnlyParameter(&'static str),
    ParameterTypeMismatch {
        parameter: &'static str,
        expected: &'static str,
        actual: &'static str,
    },
    InvalidParameterValue {
        parameter: &'static str,
        constraint: &'static str,
    },
    InvalidModeTransition {
        from: u8,
        to: u8,
    },
    UnsafeOperation {
        operation: &'static str,
        required: &'static str,
        actual_mode: u8,
    },
    InvalidRefreshRate(f64),
    DuplicateMotorId(u8),
    UnknownMotorId(u8),
    UnknownMotorLabel(String),
    InvalidTraceLine {
        line: usize,
        reason: String,
    },
    Transport(String),
}

impl fmt::Display for Error {
    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
        match self {
            Self::InvalidRange { min, max } => {
                write!(
                    f,
                    "invalid range: max ({max}) must be greater than min ({min})"
                )
            }
            Self::InvalidBitWidth(bits) => write!(f, "invalid bit width: {bits}"),
            Self::InvalidCanId(id) => write!(f, "invalid CAN id: 0x{id:X}"),
            Self::PayloadTooLong { len } => write!(f, "CAN payload too long: {len} bytes"),
            Self::PayloadTooShort { expected, actual } => {
                write!(
                    f,
                    "payload too short: expected {expected} bytes, got {actual}"
                )
            }
            Self::InvalidPayloadLength { expected, actual } => {
                write!(
                    f,
                    "invalid payload length: expected exactly {expected} bytes, got {actual}"
                )
            }
            Self::InvalidNodeId(id) => {
                write!(f, "invalid Knott Dynamics node id: {id}; expected 1..63")
            }
            Self::NonFiniteValue(field) => write!(f, "{field} must be finite"),
            Self::UnsupportedMode(mode) => {
                write!(f, "mode 0x{mode:02X} cannot be requested over CAN")
            }
            Self::UnknownParameter(parameter) => {
                write!(f, "unknown Knott Dynamics parameter: {parameter}")
            }
            Self::ReadOnlyParameter(parameter) => {
                write!(f, "Knott Dynamics parameter {parameter} is read-only")
            }
            Self::ParameterTypeMismatch {
                parameter,
                expected,
                actual,
            } => write!(
                f,
                "Knott Dynamics parameter {parameter} expects {expected}, got {actual}"
            ),
            Self::InvalidParameterValue {
                parameter,
                constraint,
            } => write!(
                f,
                "invalid Knott Dynamics value for {parameter}; expected {constraint}"
            ),
            Self::InvalidModeTransition { from, to } => write!(
                f,
                "invalid Knott Dynamics mode transition from 0x{from:02X} to 0x{to:02X}"
            ),
            Self::UnsafeOperation {
                operation,
                required,
                actual_mode,
            } => write!(
                f,
                "unsafe Knott Dynamics {operation}: requires {required}, current mode is 0x{actual_mode:02X}"
            ),
            Self::InvalidRefreshRate(rate) => write!(f, "invalid refresh rate: {rate} Hz"),
            Self::DuplicateMotorId(id) => write!(f, "duplicate motor id: 0x{id:02X}"),
            Self::UnknownMotorId(id) => write!(f, "unknown motor id: 0x{id:02X}"),
            Self::UnknownMotorLabel(label) => write!(f, "unknown motor label: {label}"),
            Self::InvalidTraceLine { line, reason } => {
                write!(f, "invalid CAN trace line {line}: {reason}")
            }
            Self::Transport(message) => write!(f, "CAN transport error: {message}"),
        }
    }
}

impl std::error::Error for Error {}