Enum Error 

#[non_exhaustive]
pub enum Error {
    Transport(TransportError),
    Codec(CodecError),
    ConfigSchema(String),
    ConfigIo(Error),
    UnknownBusName(String),
    UnknownVendor(String),
    DuplicateBusName(String),
    DuplicateGroupName(String),
    MotorNotSupportedByCodec {
        vendor: String,
        motor_type: MotorTypeId,
        bus_name: String,
    },
    GripperRequiresOneMotor {
        got: usize,
    },
    CommandLengthMismatch {
        expected: usize,
        got: usize,
    },
    NotConnected,
    OpeningOutOfRange {
        got: f64,
    },
    OpeningCurrentOutOfRange {
        got: f64,
    },
    OpeningCalibrationRequired,
    OpeningCalibrationFailed {
        name: String,
        reason: String,
    },
    OpeningControlModeVerificationFailed {
        name: String,
        reason: String,
    },
    TopologyLocked,
    CanIdCollision {
        bus_name: String,
        recv_id: u32,
        existing: RouteKey,
        attempted: RouteKey,
    },
    BusPoisoned,
    Internal(&'static str),
}

All errors can-motor-control can return.

Wraps the lower-layer error types (TransportError, CodecError) while adding composition-level variants (config schema, builder validation, lifecycle).

Variants (Non-exhaustive)

Non-exhaustive enums could have additional variants added in future. Therefore, when matching against variants of non-exhaustive enums, an extra wildcard arm must be added to account for any future variants.

Transport(TransportError)

A transport operation failed.

Codec(CodecError)

A codec operation failed.

ConfigSchema(String)

TOML schema validation failed.

ConfigIo(Error)

Reading the config file failed.

UnknownBusName(String)

Reference to a bus name that wasn’t registered.

UnknownVendor(String)

Vendor name not in the codec registry.

DuplicateBusName(String)

Two add_bus calls used the same name.

DuplicateGroupName(String)

Two add_* group calls used the same name.

MotorNotSupportedByCodec

The bus’s codec does not support a motor type the user tried to add.

Fields

vendor: String

Vendor short-name of the bus’s codec.

motor_type: MotorTypeId

Motor type the user attempted to add.

bus_name: String

Bus name the motor was being attached to.

GripperRequiresOneMotor

Gripper construction tried to attach a number of motors other than 1.

Fields

got: usize

Motor count supplied.

CommandLengthMismatch

A batch command’s slice length didn’t match the group’s motor count.

Fields

expected: usize

arm.len().

got: usize

Caller-supplied slice length.

NotConnected

Operation requires connect() first.

OpeningOutOfRange

Normalized gripper opening was outside the supported range.

Fields

got: f64

Caller-supplied opening.

OpeningCurrentOutOfRange

Per-unit opening current was outside the supported range.

Fields

got: f64

Caller-supplied per-unit current.

OpeningCalibrationRequired

Normalized opening was requested before session calibration completed.

OpeningCalibrationFailed

Per-session gripper opening calibration failed.

Fields

name: String

Gripper group name.

reason: String

Human-readable reason.

OpeningControlModeVerificationFailed

Damiao opening-control mode could not be verified before enable.

Fields

name: String

reason: String

TopologyLocked

Builder-style mutation after connect().

CanIdCollision

Two motors on one bus share the same recv ID.

Fields

bus_name: String

Bus where the collision occurred.

recv_id: u32

The colliding recv_id.

existing: RouteKey

The existing route.

attempted: RouteKey

The route the second motor was trying to claim.

BusPoisoned

The bus mutex was poisoned (a thread panicked while holding it).

Internal(&'static str)

Invariant violated.

Trait Implementations

impl Debug for Error

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

Formats the value using the given formatter.

impl Display for Error

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

Formats the value using the given formatter.

impl Error for Error

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<CodecError> for Error

fn from(source: CodecError) -> Self

Converts to this type from the input type.

impl From<Error> for Error

fn from(source: Error) -> Self

Converts to this type from the input type.

impl From<TransportError> for Error

fn from(source: TransportError) -> Self

Converts to this type from the input type.