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use std::path::PathBuf;

use thiserror::Error;
use urdf_rs::UrdfError;

#[derive(Debug, Error)]
#[non_exhaustive]
pub enum Error {
    #[error("openrr-client: arci: {:?}", .0)]
    Arci(#[from] arci::Error),
    #[error("openrr-client: MismatchedLength {} != {}.", .0, .1)]
    MismatchedLength(usize, usize),
    #[error("openrr-client: No File {:?} is found ({}).", .0, .1)]
    NoFile(PathBuf, #[source] std::io::Error),
    #[error("openrr-client: No IkClient={} is found.", .0)]
    NoIkClient(String),
    #[error("openrr-client: No JointsPose {} {} is found.", .0, .1)]
    NoJointsPose(String, String),
    #[error("openrr-client: No HashMap item is found. HashMap={}, Key={}", .0, .1)]
    NoMapKey(String, String),
    #[error("openrr-client: No JointTrajectoryClient={} is found.", .0)]
    NoJointTrajectoryClient(String),
    #[error("openrr-client: No ParentDirectory {:?} is found.", .0)]
    NoParentDirectory(PathBuf),
    #[error("openrr-client: No UrdfPath is specified.")]
    NoUrdfPath,
    #[error("openrr-client: Failed to parse {:?} as toml ({}).", .0, .1)]
    TomlParseFailure(PathBuf, #[source] toml::de::Error),
    #[error("openrr-client: urdf-rs: {:?}", .0)]
    UrdfRs(#[from] UrdfError),
    #[error("openrr-client: Full Chain is none")]
    FullChainNotFound(String),
    #[error("openrr-client: Other: {:?}", .0)]
    Other(#[from] anyhow::Error),
}