exceptions.py

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"""
Copy of ROS2 `rclpy.exceptions` for ROS1.
 
Supplemented copy from ROS2 `rclpy.exceptions`,
at https://github.com/ros2/rclpy (`rclpy/rclpy/exceptions.py`),
released under the Apache 2.0 License.
 
------------------------------------------------------------------------------
This file is part of rosros - simple unified interface to ROS1 / ROS2.
Released under the BSD License.
 
@author      Erki Suurjaak
@created     16.02.2022
@modified    23.02.2022
------------------------------------------------------------------------------
"""
## @namespace rosros.rclify.exceptions
 
# Original file copyright notice:
#
# Copyright 2016 Open Source Robotics Foundation, Inc.
#
# 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.
 
 
class NotInitializedException(Exception):
    """Raised when the rclpy implementation is accessed before rclpy.init()."""
 
    def __init__(self, *args):
        Exception.__init__(self, 'rclpy.init() has not been called', *args)
 
 
class NoTypeSupportImportedException(Exception):
    """Raised when there is no type support imported."""
 
    def __init__(self, *args):
        Exception.__init__(self, 'no type_support imported')
 
 
class NameValidationException(Exception):
    """Raised when a topic name, node name, or namespace are invalid."""
 
    def __init__(self, name_type, name, error_msg, invalid_index, *args):
        msg = """\
Invalid {name_type}: {error_msg}:
  '{name}'
   {indent}^\
""".format(name_type=name_type, name=name, error_msg=error_msg, indent=' ' * invalid_index)
        Exception.__init__(self, msg)
 
 
class InvalidNamespaceException(NameValidationException):
    """Raised when a namespace is invalid."""
 
    def __init__(self, name, error_msg, invalid_index, *args):
        NameValidationException.__init__(self, 'namespace', name, error_msg, invalid_index)
 
 
class InvalidNodeNameException(NameValidationException):
    """Raised when a node name is invalid."""
 
    def __init__(self, name, error_msg, invalid_index, *args):
        NameValidationException.__init__(self, 'node name', name, error_msg, invalid_index)
 
 
class InvalidTopicNameException(NameValidationException):
    """Raised when a topic name is invalid."""
 
    def __init__(self, name, error_msg, invalid_index, *args):
        NameValidationException.__init__(self, 'topic name', name, error_msg, invalid_index)
 
 
class InvalidServiceNameException(NameValidationException):
    """Raised when a service name is invalid."""
 
    def __init__(self, name, error_msg, invalid_index, *args):
        NameValidationException.__init__(self, 'service name', name, error_msg, invalid_index)
 
 
class ParameterException(Exception):
    """Base exception for parameter-related errors."""
 
    def __init__(self, error_msg, parameters, *args):
        Exception.__init__(self, f'{error_msg}: {parameters}')
 
 
class ParameterNotDeclaredException(ParameterException):
    """Raised when handling an undeclared parameter when it is not allowed."""
 
    def __init__(self, parameters, *args):
        Exception.__init__(self, 'Invalid access to undeclared parameter(s)', parameters, *args)
 
 
class ParameterAlreadyDeclaredException(ParameterException):
    """Raised when declaring a parameter that had been declared before."""
 
    def __init__(self, parameters, *args):
        Exception.__init__(self, 'Parameter(s) already declared', parameters, *args)
 
 
class InvalidParameterException(ParameterException):
    """Raised when a parameter to be declared has an invalid name."""
 
    def __init__(self, parameter, *args):
        Exception.__init__(self, 'Invalid parameter name', parameter, *args)
 
 
class InvalidParameterValueException(ParameterException):
    """Raised when a parameter is rejected by a user callback or when applying a descriptor."""
 
    def __init__(self, parameter, value, reason, *args):
        Exception.__init__(
            self,
            'Invalid parameter value ({value}) for parameter. Reason: {reason}'.format(
                value=value, reason=reason), parameter, *args)
 
 
class ParameterImmutableException(ParameterException):
    """Raised when a read-only parameter is modified."""
 
    def __init__(self, parameter, *args):
        Exception.__init__(self, 'Attempted to modify read-only parameter', parameter, *args)
 
 
class ROSInterruptException(Exception):
    """Raised when an operation is canceled by rclpy shutting down."""
 
    def __init__(self, *args):
        Exception.__init__(self, 'rclpy.shutdown() has been called', *args)