hex_motor/
error.rs

1//! 公共错误类型。
2
3use thiserror::Error;
4
5use crate::types::MotorErrorKind;
6
7#[derive(Debug, Error)]
8pub enum Error {
9    #[error("CAN transport: {0}")]
10    Transport(#[from] can_transport::CanIoError),
11
12    #[error("SDO: {0}")]
13    Sdo(#[from] canopen_sdo::asynch::AsyncSdoError),
14
15    #[error("unknown node {0}")]
16    UnknownNode(u8),
17
18    #[error("invalid node id {0} (must be 1..=127)")]
19    InvalidNodeId(u8),
20
21    #[error("invalid COB-ID 0x{cob_id:X}: {reason}")]
22    InvalidCobId { cob_id: u16, reason: &'static str },
23
24    #[error("motor reported error: {0:?}")]
25    InErrorState(MotorErrorKind),
26
27    #[error("nid 0x{nid:02X} not ready (lifecycle = {lifecycle})")]
28    NotReady { nid: u8, lifecycle: String },
29
30    #[error("target `{given}` does not match current mode `{expected}`")]
31    TargetModeMismatch {
32        expected: String,
33        given: &'static str,
34    },
35
36    #[error("set_mode confirmation timed out (waiting for TPDO feedback)")]
37    ModeConfirmTimeout,
38
39    #[error("internal: {0}")]
40    Internal(String),
41}
42
43pub type Result<T> = std::result::Result<T, Error>;
hex_motor/error.rs

hex_motor/
error.rs
