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#![allow(non_camel_case_types)]
use r2r_actions::*;
use r2r_rcl::*;
use thiserror::Error;

/// r2r Result type.
pub type Result<T> = std::result::Result<T, Error>;

/// r2r Error type.
///
/// These values are mostly copied straight from the RCL headers, but
/// some are specific to r2r, such as `GoalCancelRejected` which does
/// not have an analogue in the rcl.
#[derive(Error, Clone, Debug)]
pub enum Error {
    #[error("RCL_RET_OK")]
    RCL_RET_OK,
    #[error("RCL_RET_ERROR")]
    RCL_RET_ERROR,
    #[error("RCL_RET_TIMEOUT")]
    RCL_RET_TIMEOUT,
    #[error("RCL_RET_BAD_ALLOC")]
    RCL_RET_BAD_ALLOC,
    #[error("RCL_RET_INVALID_ARGUMENT")]
    RCL_RET_INVALID_ARGUMENT,
    #[error("RCL_RET_UNSUPPORTED")]
    RCL_RET_UNSUPPORTED,
    #[error("RCL_RET_ALREADY_INIT")]
    RCL_RET_ALREADY_INIT,
    #[error("RCL_RET_NOT_INIT")]
    RCL_RET_NOT_INIT,
    #[error("RCL_RET_MISMATCHED_RMW_ID")]
    RCL_RET_MISMATCHED_RMW_ID,
    #[error("RCL_RET_TOPIC_NAME_INVALID")]
    RCL_RET_TOPIC_NAME_INVALID,
    #[error("RCL_RET_SERVICE_NAME_INVALID")]
    RCL_RET_SERVICE_NAME_INVALID,
    #[error("RCL_RET_UNKNOWN_SUBSTITUTION")]
    RCL_RET_UNKNOWN_SUBSTITUTION,
    #[error("RCL_RET_ALREADY_SHUTDOWN")]
    RCL_RET_ALREADY_SHUTDOWN,
    #[error("RCL_RET_NODE_INVALID")]
    RCL_RET_NODE_INVALID,
    #[error("RCL_RET_NODE_INVALID_NAME")]
    RCL_RET_NODE_INVALID_NAME,
    #[error("RCL_RET_NODE_INVALID_NAMESPACE")]
    RCL_RET_NODE_INVALID_NAMESPACE,
    #[error("RCL_RET_PUBLISHER_INVALID")]
    RCL_RET_PUBLISHER_INVALID,
    #[error("RCL_RET_SUBSCRIPTION_INVALID")]
    RCL_RET_SUBSCRIPTION_INVALID,
    #[error("RCL_RET_SUBSCRIPTION_TAKE_FAILED")]
    RCL_RET_SUBSCRIPTION_TAKE_FAILED,
    #[error("RCL_RET_CLIENT_INVALID")]
    RCL_RET_CLIENT_INVALID,
    #[error("RCL_RET_CLIENT_TAKE_FAILED")]
    RCL_RET_CLIENT_TAKE_FAILED,
    #[error("RCL_RET_SERVICE_INVALID")]
    RCL_RET_SERVICE_INVALID,
    #[error("RCL_RET_SERVICE_TAKE_FAILED")]
    RCL_RET_SERVICE_TAKE_FAILED,
    #[error("RCL_RET_TIMER_INVALID")]
    RCL_RET_TIMER_INVALID,
    #[error("RCL_RET_TIMER_CANCELED")]
    RCL_RET_TIMER_CANCELED,
    #[error("RCL_RET_WAIT_SET_INVALID")]
    RCL_RET_WAIT_SET_INVALID,
    #[error("RCL_RET_WAIT_SET_EMPTY")]
    RCL_RET_WAIT_SET_EMPTY,
    #[error("RCL_RET_WAIT_SET_FULL")]
    RCL_RET_WAIT_SET_FULL,
    #[error("RCL_RET_INVALID_REMAP_RULE")]
    RCL_RET_INVALID_REMAP_RULE,
    #[error("RCL_RET_WRONG_LEXEME")]
    RCL_RET_WRONG_LEXEME,
    #[error("RCL_RET_INVALID_PARAM_RULE")]
    RCL_RET_INVALID_PARAM_RULE,
    #[error("RCL_RET_INVALID_LOG_LEVEL_RULE")]
    RCL_RET_INVALID_LOG_LEVEL_RULE,
    #[error("RCL_RET_EVENT_INVALID")]
    RCL_RET_EVENT_INVALID,
    #[error("RCL_RET_EVENT_TAKE_FAILED")]
    RCL_RET_EVENT_TAKE_FAILED,

    // Our own errors
    #[error("Clock type is not RosTime")]
    ClockTypeNotRosTime,
    #[error("No typesupport built for the message type: {}", msgtype)]
    InvalidMessageType { msgtype: String },
    #[error("Serde error: {}", err)]
    SerdeError { err: String },

    // action errors.
    #[error("RCL_RET_ACTION_NAME_INVALID")]
    RCL_RET_ACTION_NAME_INVALID,
    #[error("RCL_RET_ACTION_GOAL_ACCEPTED")]
    RCL_RET_ACTION_GOAL_ACCEPTED,
    #[error("RCL_RET_ACTION_GOAL_REJECTED")]
    RCL_RET_ACTION_GOAL_REJECTED,
    #[error("RCL_RET_ACTION_CLIENT_INVALID")]
    RCL_RET_ACTION_CLIENT_INVALID,
    #[error("RCL_RET_ACTION_CLIENT_TAKE_FAILED")]
    RCL_RET_ACTION_CLIENT_TAKE_FAILED,
    #[error("RCL_RET_ACTION_SERVER_INVALID")]
    RCL_RET_ACTION_SERVER_INVALID,
    #[error("RCL_RET_ACTION_SERVER_TAKE_FAILED")]
    RCL_RET_ACTION_SERVER_TAKE_FAILED,
    #[error("RCL_RET_ACTION_GOAL_HANDLE_INVALID")]
    RCL_RET_ACTION_GOAL_HANDLE_INVALID,
    #[error("RCL_RET_ACTION_GOAL_EVENT_INVALID")]
    RCL_RET_ACTION_GOAL_EVENT_INVALID,

    #[error("Goal cancel request rejected by server.")]
    GoalCancelRejected,

    #[error("Unknown goal id.")]
    GoalCancelUnknownGoalID,

    #[error("Goal already in a terminal state.")]
    GoalCancelAlreadyTerminated,

    #[error("Invalid parameter name: {name}")]
    InvalidParameterName { name: String },

    #[error("Invalid type for parameter {name} (should be {ty})")]
    InvalidParameterType { name: String, ty: &'static str },

    #[error("Parameter {name} conversion failed: {msg}")]
    ParameterValueConv { name: String, msg: String },

    #[error(
        "Parameter {name} was expected to be of type {expected_type} but was of type {actual_type}"
    )]
    ParameterWrongType {
        name: String,
        expected_type: &'static str,
        actual_type: &'static str,
    },
}

impl Error {
    pub fn from_rcl_error(e: i32) -> Self {
        let e = e as u32;
        match e {
            _ if e == RCL_RET_OK => Error::RCL_RET_OK,
            _ if e == RCL_RET_ERROR => Error::RCL_RET_ERROR,
            _ if e == RCL_RET_TIMEOUT => Error::RCL_RET_TIMEOUT,
            _ if e == RCL_RET_BAD_ALLOC => Error::RCL_RET_BAD_ALLOC,
            _ if e == RCL_RET_INVALID_ARGUMENT => Error::RCL_RET_INVALID_ARGUMENT,
            _ if e == RCL_RET_UNSUPPORTED => Error::RCL_RET_UNSUPPORTED,
            _ if e == RCL_RET_ALREADY_INIT => Error::RCL_RET_ALREADY_INIT,
            _ if e == RCL_RET_NOT_INIT => Error::RCL_RET_NOT_INIT,
            _ if e == RCL_RET_MISMATCHED_RMW_ID => Error::RCL_RET_MISMATCHED_RMW_ID,
            _ if e == RCL_RET_TOPIC_NAME_INVALID => Error::RCL_RET_TOPIC_NAME_INVALID,
            _ if e == RCL_RET_SERVICE_NAME_INVALID => Error::RCL_RET_SERVICE_NAME_INVALID,
            _ if e == RCL_RET_UNKNOWN_SUBSTITUTION => Error::RCL_RET_UNKNOWN_SUBSTITUTION,
            _ if e == RCL_RET_ALREADY_SHUTDOWN => Error::RCL_RET_ALREADY_SHUTDOWN,
            _ if e == RCL_RET_NODE_INVALID => Error::RCL_RET_NODE_INVALID,
            _ if e == RCL_RET_NODE_INVALID_NAME => Error::RCL_RET_NODE_INVALID_NAME,
            _ if e == RCL_RET_NODE_INVALID_NAMESPACE => Error::RCL_RET_NODE_INVALID_NAMESPACE,
            _ if e == RCL_RET_PUBLISHER_INVALID => Error::RCL_RET_PUBLISHER_INVALID,
            _ if e == RCL_RET_SUBSCRIPTION_INVALID => Error::RCL_RET_SUBSCRIPTION_INVALID,
            _ if e == RCL_RET_SUBSCRIPTION_TAKE_FAILED => Error::RCL_RET_SUBSCRIPTION_TAKE_FAILED,
            _ if e == RCL_RET_CLIENT_INVALID => Error::RCL_RET_CLIENT_INVALID,
            _ if e == RCL_RET_CLIENT_TAKE_FAILED => Error::RCL_RET_CLIENT_TAKE_FAILED,
            _ if e == RCL_RET_SERVICE_INVALID => Error::RCL_RET_SERVICE_INVALID,
            _ if e == RCL_RET_SERVICE_TAKE_FAILED => Error::RCL_RET_SERVICE_TAKE_FAILED,
            _ if e == RCL_RET_TIMER_INVALID => Error::RCL_RET_TIMER_INVALID,
            _ if e == RCL_RET_TIMER_CANCELED => Error::RCL_RET_TIMER_CANCELED,
            _ if e == RCL_RET_WAIT_SET_INVALID => Error::RCL_RET_WAIT_SET_INVALID,
            _ if e == RCL_RET_WAIT_SET_EMPTY => Error::RCL_RET_WAIT_SET_EMPTY,
            _ if e == RCL_RET_WAIT_SET_FULL => Error::RCL_RET_WAIT_SET_FULL,
            _ if e == RCL_RET_INVALID_REMAP_RULE => Error::RCL_RET_INVALID_REMAP_RULE,
            _ if e == RCL_RET_WRONG_LEXEME => Error::RCL_RET_WRONG_LEXEME,
            _ if e == RCL_RET_INVALID_PARAM_RULE => Error::RCL_RET_INVALID_PARAM_RULE,
            _ if e == RCL_RET_INVALID_LOG_LEVEL_RULE => Error::RCL_RET_INVALID_LOG_LEVEL_RULE,
            _ if e == RCL_RET_EVENT_INVALID => Error::RCL_RET_EVENT_INVALID,
            _ if e == RCL_RET_EVENT_TAKE_FAILED => Error::RCL_RET_EVENT_TAKE_FAILED,
            _ if e == RCL_RET_ACTION_NAME_INVALID => Error::RCL_RET_ACTION_NAME_INVALID,
            _ if e == RCL_RET_ACTION_GOAL_ACCEPTED => Error::RCL_RET_ACTION_GOAL_ACCEPTED,
            _ if e == RCL_RET_ACTION_GOAL_REJECTED => Error::RCL_RET_ACTION_GOAL_REJECTED,
            _ if e == RCL_RET_ACTION_CLIENT_INVALID => Error::RCL_RET_ACTION_CLIENT_INVALID,
            _ if e == RCL_RET_ACTION_CLIENT_TAKE_FAILED => Error::RCL_RET_ACTION_CLIENT_TAKE_FAILED,
            _ if e == RCL_RET_ACTION_SERVER_INVALID => Error::RCL_RET_ACTION_SERVER_INVALID,
            _ if e == RCL_RET_ACTION_SERVER_TAKE_FAILED => Error::RCL_RET_ACTION_SERVER_TAKE_FAILED,
            _ if e == RCL_RET_ACTION_GOAL_HANDLE_INVALID => {
                Error::RCL_RET_ACTION_GOAL_HANDLE_INVALID
            }
            _ if e == RCL_RET_ACTION_GOAL_EVENT_INVALID => Error::RCL_RET_ACTION_GOAL_EVENT_INVALID,
            _ => panic!("TODO: add error code {}", e),
        }
    }

    /// Internal function used by code derived for the RosParams trait.
    pub fn update_param_name(self, param_name: &str) -> Error {
        match self {
            Error::InvalidParameterName { name: _ } => Error::InvalidParameterName {
                name: param_name.to_string(),
            },
            Error::InvalidParameterType { name: _, ty } => Error::InvalidParameterType {
                name: param_name.to_string(),
                ty,
            },
            Error::ParameterValueConv { name: _, msg } => Error::ParameterValueConv {
                name: param_name.to_string(),
                msg,
            },
            _ => self,
        }
    }
}