turret 0.1.3

MAVLink Gimbal Manager and CLI for STorM32 RC Commands gimbals
Documentation 
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//! Library-boundary error type.
//!
//! Every public function returns `Result<T, Error>`. Internal `?`
//! conversions funnel through the `#[from]` chains below.

use thiserror::Error as ThisError;

use crate::protocols::storm32_rc::Storm32Error;

/// Errors returned by the public library API.
#[derive(Debug, ThisError)]
#[non_exhaustive]
pub enum Error {
    /// Failure from the STorM32 RC driver.
    #[error("storm32: {0}")]
    Storm32(#[from] Storm32Error),

    /// Serial port open / configuration failure.
    #[error("serial port: {0}")]
    Serial(#[from] serialport::Error),

    /// Underlying I/O failure.
    #[error("i/o: {0}")]
    Io(#[from] std::io::Error),

    /// YAML configuration parse / serialization failure.
    #[cfg(feature = "daemon")]
    #[error("config: {0}")]
    Config(#[from] serde_yaml_ng::Error),

    /// JSON serialization / parse failure (IPC wire format).
    #[cfg(feature = "daemon")]
    #[error("json: {0}")]
    Json(#[from] serde_json::Error),

    /// MAVLink frame write failure.
    #[cfg(feature = "daemon")]
    #[error("mavlink write: {0}")]
    MavlinkWrite(#[from] mavlink::error::MessageWriteError),

    /// No supported gimbal protocol was detected on the given device path.
    #[error("no supported gimbal protocol detected on {device}: tried {tried}")]
    NotDetected {
        /// Device path that was probed.
        device: String,
        /// Comma-separated list of protocols that were attempted.
        tried: String,
    },

    /// Serial device path exists but is held exclusively by another
    /// process — typically a `turret --daemon` running on the same
    /// machine. Distinct from [`Error::NotDetected`] so the caller can
    /// surface the right hint ("stop the daemon" vs "no STorM32 found").
    #[error(
        "device {device} is held by another process \
         (likely `turret --daemon`); send commands via the daemon's IPC \
         socket, or stop the daemon first"
    )]
    DeviceBusy {
        /// Device path that was busy.
        device: String,
    },

    /// The requested operation is not supported by the active protocol.
    #[error("operation not supported by {protocol}: {op}")]
    Unsupported {
        /// Human-readable protocol name reported by the device.
        protocol: &'static str,
        /// Name of the operation that was attempted.
        op: &'static str,
    },

    /// Caller passed an argument that failed validation.
    #[error("invalid input: {0}")]
    InvalidInput(String),

    /// Daemon startup / wiring failure (socket bind, MAVLink link setup, etc.).
    #[error("daemon: {0}")]
    Daemon(String),
}

/// Convenience alias for `Result<T, Error>`.
pub type Result<T> = std::result::Result<T, Error>;