ydlidar_rust_driver/
error.rs

1use core::fmt;
2
3/// Error types for LIDAR operations.
4#[derive(Debug)]
5pub enum LidarError {
6    /// Serial port error.
7    #[cfg(feature = "std")]
8    SerialPort(serialport::Error),
9    /// I/O error.
10    #[cfg(feature = "std")]
11    Io(std::io::Error),
12    /// Command timeout.
13    Timeout,
14    /// Not found device.
15    NotFound,
16    /// Invalid response from device.
17    InvalidResponse,
18    /// Command execution failed.
19    CommandFailed,
20    /// Buffer overflow.
21    BufferOverflow,
22}
23
24impl fmt::Display for LidarError {
25    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
26        match self {
27            #[cfg(feature = "std")]
28            LidarError::SerialPort(e) => write!(f, "Serial port error: {}", e),
29            #[cfg(feature = "std")]
30            LidarError::Io(e) => write!(f, "IO error: {}", e),
31            LidarError::Timeout => write!(f, "Command timeout"),
32            LidarError::NotFound => write!(f, "Device not found"),
33            LidarError::InvalidResponse => write!(f, "Invalid response from LIDAR"),
34            LidarError::CommandFailed => write!(f, "Command execution failed"),
35            LidarError::BufferOverflow => write!(f, "Scan buffer overflow"),
36        }
37    }
38}
39
40#[cfg(feature = "std")]
41impl std::error::Error for LidarError {
42    fn source(&self) -> Option<&(dyn std::error::Error + 'static)> {
43        match self {
44            LidarError::SerialPort(e) => Some(e),
45            LidarError::Io(e) => Some(e),
46            _ => None,
47        }
48    }
49}
50
51#[cfg(feature = "std")]
52impl From<serialport::Error> for LidarError {
53    fn from(e: serialport::Error) -> Self {
54        LidarError::SerialPort(e)
55    }
56}
57
58#[cfg(feature = "std")]
59impl From<std::io::Error> for LidarError {
60    fn from(e: std::io::Error) -> Self {
61        LidarError::Io(e)
62    }
63}
64
65impl embedded_io::Error for LidarError {
66    fn kind(&self) -> embedded_io::ErrorKind {
67        match self {
68            #[cfg(feature = "std")]
69            LidarError::SerialPort(_) => embedded_io::ErrorKind::Other,
70            #[cfg(feature = "std")]
71            LidarError::Io(_) => embedded_io::ErrorKind::Other,
72            LidarError::NotFound => embedded_io::ErrorKind::NotFound,
73            LidarError::Timeout => embedded_io::ErrorKind::TimedOut,
74            LidarError::InvalidResponse => embedded_io::ErrorKind::InvalidData,
75            LidarError::CommandFailed => embedded_io::ErrorKind::Other,
76            LidarError::BufferOverflow => embedded_io::ErrorKind::OutOfMemory,
77        }
78    }
79}
80
81/// Type alias for Results with LidarError.
82pub type Result<T> = core::result::Result<T, LidarError>;
83
84#[cfg(test)]
85mod tests {
86    use super::*;
87
88    #[test]
89    fn test_error_display() {
90        let err = LidarError::Timeout;
91        assert_eq!(format!("{}", err), "Command timeout");
92
93        let err = LidarError::InvalidResponse;
94        assert_eq!(format!("{}", err), "Invalid response from LIDAR");
95    }
96
97    #[test]
98    fn test_embedded_io_error_kind() {
99        use embedded_io::Error;
100
101        let err = LidarError::Timeout;
102        assert_eq!(err.kind(), embedded_io::ErrorKind::TimedOut);
103
104        let err = LidarError::InvalidResponse;
105        assert_eq!(err.kind(), embedded_io::ErrorKind::InvalidData);
106    }
107}
ydlidar_rust_driver/error.rs

ydlidar_rust_driver/
error.rs
