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Beam Bots - The framework for resilient robotics.

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bb lib bb error invalid joint_config.ex
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lib/bb/error/invalid/joint_config.ex 

# SPDX-FileCopyrightText: 2025 James Harton

#

# SPDX-License-Identifier: Apache-2.0



defmodule BB.Error.Invalid.JointConfig do

  @moduledoc """

  Invalid joint configuration.



  Raised when joint configuration is invalid (e.g., missing limits,

  invalid joint type for actuator, incompatible settings).

  """

  use BB.Error,

    class: :invalid,

    fields: [:joint, :field, :value, :expected, :message]



  @type t :: %__MODULE__{

          joint: atom(),

          field: atom() | nil,

          value: term(),

          expected: term(),

          message: String.t() | nil

        }



  defimpl BB.Error.Severity do

    def severity(_), do: :error

  end



  def message(%{joint: joint, field: field, value: _value, expected: _expected, message: msg})

      when not is_nil(msg) do

    "Invalid joint configuration for #{inspect(joint)}.#{field}: #{msg}"

  end



  def message(%{joint: joint, field: field, value: value, expected: expected, message: nil}) do

    "Invalid joint configuration for #{inspect(joint)}.#{field}: " <>

      "got #{inspect(value)}, expected #{inspect(expected)}"

  end

end