Enum RobotError 

pub enum RobotError {
    HardwareFailure(String),
    StatePoisoned {
        reason: String,
    },
    EmergencyStop,
    CanBusFatal(String),
    Timeout {
        timeout_ms: u64,
    },
    InvalidTransition {
        from: String,
        to: String,
    },
    JointLimitExceeded {
        joint: Joint,
        value: f64,
        limit: f64,
    },
    VelocityLimitExceeded {
        joint: Joint,
        value: f64,
        limit: f64,
    },
    TorqueLimitExceeded {
        joint: Joint,
        value: f64,
        limit: f64,
    },
    CanIoError(String),
    SerializationError(String),
    Protocol(ProtocolError),
    Infrastructure(DriverError),
    CanAdapter(CanError),
    InvalidFrameId {
        id: u32,
    },
    InvalidDataLength {
        expected: usize,
        actual: usize,
    },
    ConfigError(String),
    InvalidParameter {
        param: String,
        reason: String,
    },
    Unknown(String),
}

机器人错误类型

分层错误类型，支持致命错误和可恢复错误的区分。

Variants

HardwareFailure(String)

硬件通信失败

StatePoisoned

状态机损坏

Fields

reason: String

损坏原因

EmergencyStop

急停触发

CanBusFatal(String)

CAN 总线错误（致命）

Timeout

命令超时

Fields

timeout_ms: u64

超时时间（毫秒）

InvalidTransition

无效的状态转换

Fields

from: String

起始状态

to: String

目标状态

JointLimitExceeded

关节限位超出

Fields

joint: Joint

关节索引

value: f64

实际值

limit: f64

限位值

VelocityLimitExceeded

速度限制超出

Fields

joint: Joint

关节索引

value: f64

实际速度

limit: f64

限速

TorqueLimitExceeded

力矩限制超出

Fields

joint: Joint

关节索引

value: f64

实际力矩

limit: f64

限矩

CanIoError(String)

CAN 总线 I/O 错误（可恢复）

SerializationError(String)

序列化错误

Protocol(ProtocolError)

协议错误（自动转换自 protocol::ProtocolError）

Infrastructure(DriverError)

驱动层错误（自动转换自 driver::DriverError）

CanAdapter(CanError)

CAN 适配器错误（自动转换自 can::CanError）

InvalidFrameId

无效的帧ID

Fields

id: u32

帧 ID

InvalidDataLength

无效的数据长度

Fields

expected: usize

期望长度

actual: usize

实际长度

ConfigError(String)

配置错误

InvalidParameter

参数无效

Fields

param: String

参数名

reason: String

原因

Unknown(String)

未知错误

Implementations

impl RobotError

pub fn is_fatal(&self) -> bool

是否为致命错误

致命错误表示系统处于不安全状态，必须立即停止。

pub fn is_retryable(&self) -> bool

是否可重试

可重试错误表示重新执行操作可能会成功。

pub fn is_config_error(&self) -> bool

是否为配置错误

pub fn is_limit_error(&self) -> bool

是否为限位错误

pub fn context(self, context: impl Into<String>) -> RobotError

添加上下文信息

pub fn hardware_failure(msg: impl Into<String>) -> RobotError

创建硬件故障错误

pub fn state_poisoned(reason: impl Into<String>) -> RobotError

创建状态损坏错误

pub fn timeout(timeout_ms: u64) -> RobotError

创建超时错误

pub fn invalid_transition( from: impl Into<String>, to: impl Into<String>, ) -> RobotError

创建无效状态转换错误

pub fn joint_limit(joint: Joint, value: f64, limit: f64) -> RobotError

创建关节限位错误

pub fn velocity_limit(joint: Joint, value: f64, limit: f64) -> RobotError

创建速度限制错误

pub fn torque_limit(joint: Joint, value: f64, limit: f64) -> RobotError

创建力矩限制错误

Trait Implementations

impl Debug for RobotError

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl Display for RobotError

fn fmt(&self, __formatter: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl Error for RobotError

fn source(&self) -> Option<&(dyn Error + 'static)>

Returns the lower-level source of this error, if any.

fn description(&self) -> &str

👎Deprecated since 1.42.0: use the Display impl or to_string()

fn cause(&self) -> Option<&dyn Error>

👎Deprecated since 1.33.0: replaced by Error::source, which can support downcasting

fn provide<'a>(&'a self, request: &mut Request<'a>)

🔬This is a nightly-only experimental API. (error_generic_member_access)

Provides type-based access to context intended for error reports.

impl From<CanError> for RobotError

fn from(source: CanError) -> RobotError

Converts to this type from the input type.

impl From<DriverError> for RobotError

fn from(source: DriverError) -> RobotError

Converts to this type from the input type.

impl From<ProtocolError> for RobotError

fn from(source: ProtocolError) -> RobotError

Converts to this type from the input type.

impl From<RobotError> for ControlError

fn from(source: RobotError) -> ControlError

Converts to this type from the input type.