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/*
* Copyright 2017 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef SDF_ERROR_HH_
#define SDF_ERROR_HH_
#include <iostream>
#include <string>
#include <sdf/sdf_config.h>
#include "sdf/system_util.hh"
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::string
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
namespace sdf
{
// Inline bracket to help doxygen filtering.
inline namespace SDF_VERSION_NAMESPACE {
//
/// \enum ErrorCode
/// \brief Set of error codes. Usually one or more errors are returned in
/// an Errors vector. The collection of Errors should be take as a whole,
/// where an error toward the beginning of the vector can inform errors
/// toward the end of the vector.
/// \sa Errors
enum class ErrorCode
{
// \brief No error
NONE = 0,
/// \brief Indicates that reading an SDF file failed.
FILE_READ,
/// \brief A duplicate name was found for an element where unique names
/// are required.
DUPLICATE_NAME,
/// \brief A reserved name was used in an entity name attribute.
RESERVED_NAME,
/// \brief Indicates that a required SDF attribute is missing.
ATTRIBUTE_MISSING,
/// \brief This error indicates that an SDF attribute is invalid.
ATTRIBUTE_INVALID,
/// \brief This error indicates that an SDF attribute is deprecated.
ATTRIBUTE_DEPRECATED,
/// \brief Indicates that a required SDF element is missing.
ELEMENT_MISSING,
/// \brief This error indicates that an SDF element is invalid.
ELEMENT_INVALID,
/// \brief This error indicates that an SDF element is deprecated.
ELEMENT_DEPRECATED,
/// \brief Indicates that an incorrect SDF element type was
/// encountered. This error is used when an element of certain type is
/// expected, and an element of a different type was received.
ELEMENT_INCORRECT_TYPE,
/// \brief A URI is invalid.
URI_INVALID,
/// \brief A error occured while trying to resolve a URI.
URI_LOOKUP,
/// \brief A filesystem directory does not exist.
DIRECTORY_NONEXISTANT,
/// \brief A model with an invalid canonical link.
MODEL_CANONICAL_LINK_INVALID,
/// \brief A model without a link.
MODEL_WITHOUT_LINK,
/// \brief Indicates that a DOM object tried to read a nested model.
NESTED_MODELS_UNSUPPORTED,
/// \brief A link has invalid inertia.
LINK_INERTIA_INVALID,
/// \brief A joint has an invalid child link.
JOINT_CHILD_LINK_INVALID,
/// \brief A joint has an invalid parent link.
JOINT_PARENT_LINK_INVALID,
/// \brief A joint has the same link specified as parent and child.
JOINT_PARENT_SAME_AS_CHILD,
/// \brief The frame attached-to value does not match the name of an
/// existing frame in the current scope.
FRAME_ATTACHED_TO_INVALID,
/// \brief The frame attached-to graph contains a cycle.
FRAME_ATTACHED_TO_CYCLE,
/// \brief The frame attached-to graph has an internal error.
FRAME_ATTACHED_TO_GRAPH_ERROR,
/// \brief The pose relative-to value does not match the name of an
/// existing frame in the current scope.
POSE_RELATIVE_TO_INVALID,
/// \brief The pose relative-to graph contains a cycle.
POSE_RELATIVE_TO_CYCLE,
/// \brief The pose relative-to graph has an internal error.
POSE_RELATIVE_TO_GRAPH_ERROR,
/// \brief Indicates that reading an SDF string failed.
STRING_READ,
};
class SDFORMAT_VISIBLE Error
{
/// \brief default constructor
public: Error() = default;
/// \brief Constructor.
/// \param[in] _code The error code.
/// \param[in] _message A description of the error.
/// \sa ErrorCode.
public: Error(const ErrorCode _code, const std::string &_message);
/// \brief Get the error code.
/// \return An error code.
/// \sa ErrorCode.
public: ErrorCode Code() const;
/// \brief Get the error message, which is a description of the error.
/// \return Error message.
public: std::string Message() const;
/// \brief Safe bool conversion.
/// \return True if this Error's Code() != NONE. In otherwords, this is
/// true when there is an error.
public: explicit operator bool() const;
/// \brief Compare this Error to a boolean value.
/// \return True if the boolean evaluation of this Error equals _value.
/// If _value == false, then true is returned when this Error's Code() is
/// equal to NONE and false is returned otherwise. If _value == true,
/// then true is returned when this Error's Code() is not equal to NONE
/// and false is returned otherwise.
/// \sa explicit operator bool() const
public: bool operator==(const bool _value) const;
/// \brief Output operator for an error.
/// \param[in,out] _out The output stream.
/// \param[in] _err The error to output.
/// \return Reference to the given output stream
public: friend std::ostream &operator<<(std::ostream &_out,
const sdf::Error &_err)
{
_out << "Error Code "
<< static_cast<std::underlying_type<sdf::ErrorCode>::type>(_err.Code())
<< " Msg: " << _err.Message();
return _out;
}
/// \brief The error code value.
private: ErrorCode code = ErrorCode::NONE;
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::string
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
/// \brief Description of the error.
private: std::string message = "";
#ifdef _WIN32
#pragma warning(pop)
#endif
};
}
}
#ifdef _WIN32
#pragma warning(pop)
#endif
#endif
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