Proposed modifications to dev

src/dynamixel/errors/bad_packet.hpp

@@ -1,8 +1,8 @@
 #ifndef DYNAMIXEL_BAD_PACKET_ERROR_HPP_
 #define DYNAMIXEL_BAD_PACKET_ERROR_HPP_
 
-#include <string>
 #include <stdint.h>
+#include <string>
 
 #include "error.hpp"
 
@@ -39,7 +39,7 @@ namespace dynamixel {
         private:
             const std::vector<uint8_t> _packet;
         };
-    }
-}
+    } // namespace errors
+} // namespace dynamixel
 
 #endif

src/dynamixel/errors/crc_error.hpp

@@ -1,17 +1,18 @@
 #ifndef DYNAMIXEL_ERRORS_CRC_ERROR_HPP_
 #define DYNAMIXEL_ERRORS_CRC_ERROR_HPP_
 
-#include <string>
-#include <stdint.h>
 #include <sstream>
+#include <stdint.h>
+#include <string>
 
 #include "error.hpp"
 
 namespace dynamixel {
     namespace errors {
         class CrcError : public Error {
         public:
-            CrcError(uint8_t id, uint8_t protocol, uint32_t expected, uint32_t received) : _id(id), _protocol(protocol), _expected(expected), _received(received)
+            CrcError(uint8_t id, uint8_t protocol, uint32_t expected, uint32_t received)
+                : _id(id), _protocol(protocol), _expected(expected), _received(received)
             {
                 std::stringstream err_message;
                 err_message << "Status: checksum error while decoding packet with ID " << (int)id;
@@ -44,7 +45,7 @@ namespace dynamixel {
             uint8_t _id, _protocol;
             uint32_t _expected, _received;
         };
-    }
-}
+    } // namespace errors
+} // namespace dynamixel
 
 #endif

src/dynamixel/errors/error.hpp

@@ -47,8 +47,8 @@ namespace dynamixel {
         {
             return err.print(os);
         }
-    }
-}
+    } // namespace errors
+} // namespace dynamixel
 
 #define CHECK(val, msg) check(__FILE__, __LINE__, (val), msg)
 #endif

src/dynamixel/errors/servo_limit_error.hpp

@@ -1,9 +1,9 @@
 #ifndef DYNAMIXEL_ERRORS_SERVO_LIMIT_ERROR_HPP_
 #define DYNAMIXEL_ERRORS_SERVO_LIMIT_ERROR_HPP_
 
-#include <string>
-#include <stdint.h>
 #include <sstream>
+#include <stdint.h>
+#include <string>
 
 #include "error.hpp"
 
@@ -46,7 +46,7 @@ namespace dynamixel {
             int _id;
             double _max, _min, _value;
         };
-    }
-}
+    } // namespace errors
+} // namespace dynamixel
 
 #endif

src/dynamixel/errors/status_error.hpp

@@ -1,8 +1,8 @@
 #ifndef DYNAMIXEL_STATUS_ERROR_HPP_
 #define DYNAMIXEL_STATUS_ERROR_HPP_
 
-#include <string>
 #include <stdint.h>
+#include <string>
 
 #include "error.hpp"
 
@@ -38,7 +38,7 @@ namespace dynamixel {
         private:
             uint8_t _id, _protocol, _error_byte;
         };
-    }
-}
+    } // namespace errors
+} // namespace dynamixel
 
 #endif

src/dynamixel/errors/unpack_error.hpp

@@ -1,9 +1,9 @@
 #ifndef DYNAMIXEL_ERRORS_UNPACK_ERROR_HPP_
 #define DYNAMIXEL_ERRORS_UNPACK_ERROR_HPP_
 
-#include <string>
-#include <stdint.h>
 #include <sstream>
+#include <stdint.h>
+#include <string>
 
 #include "error.hpp"
 

src/dynamixel/errors/vector_size_errors.hpp

@@ -0,0 +1,55 @@
+#ifndef DYNAMIXEL_VECTOR_SIZE_ERROR_HPP_
+#define DYNAMIXEL_VECTOR_SIZE_ERROR_HPP_
+
+#include <string>
+
+#include "error.hpp"
+
+namespace dynamixel {
+    namespace errors {
+        class VectorEmptyError : public Error {
+        public:
+            VectorEmptyError(const std::string& method_name,
+                const std::string& vector_name)
+                : _method_name(method_name), _vector_name(vector_name)
+            {
+                this->_msg = "The vector " + vector_name + ", passed to "
+                    + method_name + " cannot be empty (size 0)";
+            }
+
+            std::string vector_name() const
+            {
+                return _vector_name;
+            }
+
+            std::string method_name() const
+            {
+                return _method_name;
+            }
+
+        protected:
+            const std::string _method_name, _vector_name;
+        };
+
+        class VectorSizesDifferError : public Error {
+        public:
+            VectorSizesDifferError(const std::string& method_name,
+                const std::string& name1, const std::string& name2)
+                : _method_name(method_name)
+            {
+                this->_msg = "The vectors " + name1 + " and " + name2
+                    + ", passed to " + method_name + " should have the same size.";
+            }
+
+            std::string method_name() const
+            {
+                return _method_name;
+            }
+
+        protected:
+            const std::string _method_name;
+        };
+    } // namespace errors
+} // namespace dynamixel
+
+#endif

src/dynamixel/instructions/bulk_read.hpp

@@ -4,7 +4,7 @@
 #include <cassert>
 #include <stdint.h>
 
-#include "../errors/error.hpp"
+#include "../errors/vector_size_errors.hpp"
 #include "../instruction_packet.hpp"
 
 namespace dynamixel {
@@ -54,7 +54,7 @@ namespace dynamixel {
                 const uint8_t& data_length)
             {
                 if (ids.size() == 0)
-                    throw errors::Error("BulkRead: ids vector of size zero");
+                    throw errors::VectorEmptyError("BulkRead", "ids");
 
                 std::vector<uint8_t> parameters(3 * ids.size() + 3);
 
@@ -95,7 +95,7 @@ namespace dynamixel {
                 const uint16_t& data_length)
             {
                 if (ids.size() == 0)
-                    throw errors::Error("BulkRead: ids vector of size zero");
+                    throw errors::VectorEmptyError("BulkRead", "ids");
 
                 std::vector<uint8_t> parameters(5 * ids.size() + 5);
                 size_t curr = 0;
@@ -116,11 +116,11 @@ namespace dynamixel {
                 std::vector<C> lengths)
             {
                 if (ids.size() == 0)
-                    throw errors::Error("BulkRead: ids vector of size zero");
+                    throw errors::VectorEmptyError("BulkRead", "ids");
                 if (ids.size() != addresses.size())
-                    throw errors::Error("BulkRead: mismatching size for ids and addresses");
+                    throw errors::VectorSizesDifferError("BulkRead", "ids", "addresses");
                 if (ids.size() != lengths.size())
-                    throw errors::Error("BulkRead: mismatching size for ids and lengths/sizes");
+                    throw errors::VectorSizesDifferError("BulkRead", "ids", "lengths");
             }
         };
     } // namespace instructions

src/dynamixel/instructions/bulk_write.hpp

@@ -4,7 +4,7 @@
 #include <cassert>
 #include <stdint.h>
 
-#include "../errors/error.hpp"
+#include "../errors/vector_size_errors.hpp"
 #include "../instruction_packet.hpp"
 
 namespace dynamixel {
@@ -22,7 +22,7 @@ namespace dynamixel {
                 const uint16_t& data_length, const std::vector<std::vector<uint8_t>>& data)
             {
                 if (ids.size() == 0)
-                    throw errors::Error("BulkWrite: ids vector of size zero");
+                    throw errors::VectorEmptyError("BulkWrite", "ids");
 
                 std::vector<uint8_t> parameters((5 + data_length) * ids.size() + 5);
                 size_t curr = 0;

src/dynamixel/instructions/sync_read.hpp

@@ -4,7 +4,7 @@
 #include <cassert>
 #include <stdint.h>
 
-#include "../errors/error.hpp"
+#include "../errors/vector_size_errors.hpp"
 #include "../instruction_packet.hpp"
 
 namespace dynamixel {
@@ -20,7 +20,7 @@ namespace dynamixel {
                 uint16_t data_length)
             {
                 if (ids.size() == 0)
-                    throw errors::Error("SyncRead: ids vector of size zero");
+                    throw errors::VectorEmptyError("SyncRead", "ids");
 
                 std::vector<uint8_t> parameters(ids.size() + 9);
 

src/dynamixel/instructions/sync_write.hpp

@@ -4,7 +4,7 @@
 #include <cassert>
 #include <stdint.h>
 
-#include "../errors/error.hpp"
+#include "../errors/vector_size_errors.hpp"
 #include "../instruction_packet.hpp"
 
 namespace dynamixel {
@@ -21,9 +21,9 @@ namespace dynamixel {
                 const std::vector<std::vector<uint8_t>>& data)
             {
                 if (ids.size() == 0)
-                    throw errors::Error("SyncWrite: ids vector of size zero");
+                    throw errors::VectorEmptyError("SyncWrite", "ids");
                 if (ids.size() != data.size())
-                    throw errors::Error("SyncWrite: mismatching vectors size for ids and data");
+                    throw errors::VectorSizesDifferError("SyncWrite", "ids", "data");
 
                 typename T::length_t data_length = data[0].size();
                 std::vector<uint8_t> parameters((data_length + 1) * ids.size() + 2);
@@ -50,9 +50,9 @@ namespace dynamixel {
                 const std::vector<std::vector<uint8_t>>& data)
             {
                 if (ids.size() == 0)
-                    throw errors::Error("SyncWrite: ids vector of size zero");
+                    throw errors::VectorEmptyError("SyncWrite", "ids");
                 if (ids.size() != data.size())
-                    throw errors::Error("SyncWrite: mismatching vectors size for ids and data");
+                    throw errors::VectorSizesDifferError("SyncWrite", "ids", "data");
 
                 typename T::length_t data_length = data[0].size();
                 std::vector<uint8_t> parameters((data_length + 1) * ids.size() + 4);