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Quella
2025-09-24 10:53:28 +08:00
commit f8e4df77fb
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58
unitree_SDK/include/unitree/common/dds/dds_exception.hpp Normal file
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#ifndef __UT_DDS_EXCEPTION_HPP__
#define __UT_DDS_EXCEPTION_HPP__
#include <unitree/common/exception.hpp>
#include <unitree/common/dds/dds_error.hpp>
#define __UT_DDS_EXCEPTION_MESSAGE(e, d) \
std::string("Catch dds::core exception. Class:") + __UT_STR(d) + ", Message:" + e.what();
#define __UT_DDS_EXCEPTION_CATCH(except, l, t) \
catch (const except & e) \
{ \
if (l || t) \
{ \
std::string __t9b78e5r = __UT_DDS_EXCEPTION_MESSAGE(e, except); \
if (l) \
{ \
LOG_ERROR(l, __t9b78e5r); \
} \
if (t) \
{ \
UT_THROW(DdsException, __t9b78e5r); \
} \
} \
}
#define UT_DDS_EXCEPTION_TRY \
try \
{
#define UT_DDS_EXCEPTION_CATCH(l, t) \
} \
__UT_DDS_EXCEPTION_CATCH(::dds::core::Error, l, t) \
__UT_DDS_EXCEPTION_CATCH(::dds::core::InvalidArgumentError, l, t) \
__UT_DDS_EXCEPTION_CATCH(::dds::core::TimeoutError, l, t) \
__UT_DDS_EXCEPTION_CATCH(::dds::core::UnsupportedError, l, t) \
__UT_DDS_EXCEPTION_CATCH(::dds::core::AlreadyClosedError, l, t) \
__UT_DDS_EXCEPTION_CATCH(::dds::core::IllegalOperationError, l, t) \
__UT_DDS_EXCEPTION_CATCH(::dds::core::NotEnabledError, l, t) \
__UT_DDS_EXCEPTION_CATCH(::dds::core::PreconditionNotMetError, l, t) \
__UT_DDS_EXCEPTION_CATCH(::dds::core::ImmutablePolicyError, l, t) \
__UT_DDS_EXCEPTION_CATCH(::dds::core::InconsistentPolicyError, l, t) \
__UT_DDS_EXCEPTION_CATCH(::dds::core::OutOfResourcesError, l, t) \
__UT_DDS_EXCEPTION_CATCH(::dds::core::InvalidDowncastError, l, t) \
__UT_DDS_EXCEPTION_CATCH(::dds::core::NullReferenceError, l, t) \
__UT_DDS_EXCEPTION_CATCH(::dds::core::InvalidDataError, l, t) \
__UT_DDS_EXCEPTION_CATCH(::dds::core::Exception, l, t) \
__UT_DDS_EXCEPTION_CATCH(std::exception, l, t)
namespace unitree
{
namespace common
{
UT_DECL_EXCEPTION(DdsException, UT_ERR_DDS, UT_DESC_ERR(UT_ERR_DDS))
}
}
#endif//__UT_DDS_EXCEPTION_HPP__