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

use std::array::TryFromSliceError;

use crazyflie_link::Packet;
use futures::task::SpawnError;

/// [Result] alias for return types of the crate API
pub type Result<T> = std::result::Result<T, Error>;

/// Error enum type
#[derive(Debug)]
pub enum Error {
    /// Protocol version not supported, you need to update either the lib or the Crazyflie.
    ///
    /// see [the crate documentation](crate#compatibility) for more information.
    ProtocolVersionNotSupported,
    /// Unexpected protocol error. The String contains the reason.
    ProtocolError(String),
    /// Parameter subsystem error. The String contains the reason.
    ParamError(String),
    /// Log Subsystem error. The String contains the reason.
    LogError(String),
    /// [Value](crate::Value) conversion error. The String contains the reason.
    ConversionError(String),
    /// Crazyflie link configuration error. Returns the [error from the Link](crazyflie_link::Error).
    LinkError(crazyflie_link::Error),
    /// The Crazyflie object is currently disconnected.
    Disconnected,
    /// Variable not found in TOC.
    VariableNotFound,
    /// Error with the async executors.
    SystemError(String),
    /// App channel packets should be no larger than [APPCHANNEL_MTU](crate::subsystems::platform::APPCHANNEL_MTU)
    AppchannelPacketTooLarge,
}

impl std::fmt::Display for Error {
    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
        f.write_fmt(format_args!("Foo {}", self))
    }
}

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

impl From<TryFromSliceError> for Error {
    fn from(e: TryFromSliceError) -> Self {
        Self::ConversionError(format!("{:?}", e))
    }
}

impl From<crazyflie_link::Error> for Error {
    fn from(error: crazyflie_link::Error) -> Self {
        Self::LinkError(error)
    }
}

impl From<SpawnError> for Error {
    fn from(error: SpawnError) -> Self {
        Self::SystemError(format!("{}", error))
    }
}

impl From<flume::RecvError> for Error {
    fn from(_: flume::RecvError) -> Self {
        self::Error::Disconnected
    }
}

impl From<flume::SendError<Packet>> for Error {
    fn from(_: flume::SendError<Packet>) -> Self {
        self::Error::Disconnected
    }
}