trajectory_generation_exceptions.h

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#pragma once
 
#include <stdexcept>
#include <string>
 
#include <moveit_msgs/msg/move_it_error_codes.hpp>
 
namespace pilz_industrial_motion_planner
{
class MoveItErrorCodeException : public std::runtime_error
{
public:
  MoveItErrorCodeException(const std::string& msg);
 
protected:
  MoveItErrorCodeException(const MoveItErrorCodeException&) = default;
  MoveItErrorCodeException(MoveItErrorCodeException&&) = default;
  ~MoveItErrorCodeException() override = default;
 
  MoveItErrorCodeException& operator=(const MoveItErrorCodeException&) = default;
  MoveItErrorCodeException& operator=(MoveItErrorCodeException&&) = default;
 
public:
  virtual const moveit_msgs::msg::MoveItErrorCodes::_val_type& getErrorCode() const = 0;
};
 
template <moveit_msgs::msg::MoveItErrorCodes::_val_type ERROR_CODE = moveit_msgs::msg::MoveItErrorCodes::FAILURE>
class TemplatedMoveItErrorCodeException : public MoveItErrorCodeException
{
public:
  TemplatedMoveItErrorCodeException(const std::string& msg);
  TemplatedMoveItErrorCodeException(const std::string& msg,
                                    const moveit_msgs::msg::MoveItErrorCodes::_val_type& error_code);
 
public:
  const moveit_msgs::msg::MoveItErrorCodes::_val_type& getErrorCode() const override;
 
private:
  const moveit_msgs::msg::MoveItErrorCodes::_val_type error_code_{ ERROR_CODE };
};
 
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
inline MoveItErrorCodeException::MoveItErrorCodeException(const std::string& msg) : std::runtime_error(msg)
{
}
 
template <moveit_msgs::msg::MoveItErrorCodes::_val_type ERROR_CODE>
inline TemplatedMoveItErrorCodeException<ERROR_CODE>::TemplatedMoveItErrorCodeException(const std::string& msg)
  : MoveItErrorCodeException(msg)
{
}
 
template <moveit_msgs::msg::MoveItErrorCodes::_val_type ERROR_CODE>
inline TemplatedMoveItErrorCodeException<ERROR_CODE>::TemplatedMoveItErrorCodeException(
    const std::string& msg, const moveit_msgs::msg::MoveItErrorCodes::_val_type& error_code)
  : MoveItErrorCodeException(msg), error_code_(error_code)
{
}
 
template <moveit_msgs::msg::MoveItErrorCodes::_val_type ERROR_CODE>
inline const moveit_msgs::msg::MoveItErrorCodes::_val_type&
TemplatedMoveItErrorCodeException<ERROR_CODE>::getErrorCode() const
{
  return error_code_;
}
 
/*
 * @brief Macro to automatically generate a derived class of
 * the MoveItErrorCodeException class.
 */
#define CREATE_MOVEIT_ERROR_CODE_EXCEPTION(EXCEPTION_CLASS_NAME, ERROR_CODE)                                           \
  class EXCEPTION_CLASS_NAME : public TemplatedMoveItErrorCodeException<ERROR_CODE>                                    \
  {                                                                                                                    \
  public:                                                                                                              \
    EXCEPTION_CLASS_NAME(const std::string& msg) : TemplatedMoveItErrorCodeException(msg)                              \
    {                                                                                                                  \
    }                                                                                                                  \
                                                                                                                       \
    EXCEPTION_CLASS_NAME(const std::string& msg, const moveit_msgs::msg::MoveItErrorCodes::_val_type& error_code)      \
      : TemplatedMoveItErrorCodeException(msg, error_code)                                                             \
    {                                                                                                                  \
    }                                                                                                                  \
  }
 
}  // namespace pilz_industrial_motion_planner