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use ethercat_soem_sys as sys;
use thiserror::Error;
#[derive(Debug, Clone, PartialEq)]
pub struct Error {
pub err_type: ErrType,
pub abort_code: i32,
pub msg: String,
}
#[derive(Debug, Clone, Copy, PartialEq, Error)]
pub enum ErrType {
#[error("Emergency")]
Emergency,
#[error("Packet")]
Packet,
#[error("Mailbox")]
Mbx,
#[error("SDO")]
Sdo,
#[error("SDO info")]
SdoInfo,
#[error("SOE")]
Soe,
#[error("FOE")]
Foe,
#[error("FOE packet number")]
FoePacketNumber,
#[error("FOE file not found")]
FoeFileNotFound,
#[error("FOE buf too small")]
FoeBufTooSmall,
#[error("EOE invalid RX data")]
EoeInvalidRxData,
#[error("Unknown error (type = {0})")]
Unknown(u32),
}
impl From<u32> for ErrType {
fn from(t: u32) -> Self {
match t {
sys::ec_err_type_EC_ERR_TYPE_EMERGENCY => Self::Emergency,
sys::ec_err_type_EC_ERR_TYPE_PACKET_ERROR => Self::Packet,
sys::ec_err_type_EC_ERR_TYPE_MBX_ERROR => Self::Mbx,
sys::ec_err_type_EC_ERR_TYPE_SDO_ERROR => Self::Sdo,
sys::ec_err_type_EC_ERR_TYPE_SDOINFO_ERROR => Self::SdoInfo,
sys::ec_err_type_EC_ERR_TYPE_SOE_ERROR => Self::Soe,
sys::ec_err_type_EC_ERR_TYPE_FOE_ERROR => Self::Foe,
sys::ec_err_type_EC_ERR_TYPE_FOE_PACKETNUMBER => Self::FoePacketNumber,
sys::ec_err_type_EC_ERR_TYPE_FOE_FILE_NOTFOUND => Self::FoeFileNotFound,
sys::ec_err_type_EC_ERR_TYPE_FOE_BUF2SMALL => Self::FoeBufTooSmall,
sys::ec_err_type_EC_ERR_TYPE_EOE_INVALID_RX_DATA => Self::EoeInvalidRxData,
_ => Self::Unknown(t),
}
}
}
impl From<sys::ec_errort> for Error {
fn from(e: sys::ec_errort) -> Self {
let err_type = ErrType::from(e.Etype);
let abort_code = unsafe { e.__bindgen_anon_1.AbortCode };
let msg = unsafe { super::c_array_to_string(sys::ecx_err2string(e)) };
Error {
err_type,
abort_code,
msg,
}
}
}