Remove unwrap() (#53)

* crying * no more unwraps * return result * fix bindings * fix bins * use result * ? ;) * no more * none remain * .vscode * truly all has been conquered * bump version to 0.2.9
kscalelabs · Nov 15, 2024 · a24ae71 · a24ae71
1 parent 42f51f5
commit a24ae71
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Showing 8 changed files with 335 additions and 200 deletions.
diff --git a/.gitignore b/.gitignore
@@ -27,3 +27,6 @@ Cargo.lock
 
 # CSV files
 *.csv
+
+# VSCode
+.vscode/
diff --git a/Cargo.toml b/Cargo.toml
@@ -8,7 +8,7 @@ resolver = "2"
 
 [workspace.package]
 
-version = "0.2.8"
+version = "0.2.9"
 authors = ["Wesley Maa <[email protected]>", "Pawel Budzianowski <[email protected]>", "Benjamin Bolte <[email protected]>"]
 edition = "2021"
 description = "Actuator package"

diff --git a/actuator/bindings/src/lib.rs b/actuator/bindings/src/lib.rs
@@ -278,8 +278,9 @@ impl PyRobstrideMotorsSupervisor {
             .into_iter()
             .map(|(k, v)| (k, RobstrideMotorControlParams::from(v)))
             .collect();
-        self.inner.set_all_params(params);
-        Ok(())
+        self.inner
+            .set_all_params(params)
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
     fn set_params(&self, motor_id: u8, params: PyRobstrideMotorControlParams) -> PyResult<()> {
@@ -384,26 +385,29 @@ impl PyRobstrideMotorsSupervisor {
             .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
-    fn get_latest_feedback(&self) -> HashMap<u8, PyRobstrideMotorFeedback> {
-        self.inner
+    fn get_latest_feedback(&self) -> PyResult<HashMap<u8, PyRobstrideMotorFeedback>> {
+        Ok(self.inner
             .get_latest_feedback()
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))?
             .into_iter()
             .map(|(k, v)| (k, v.into()))
-            .collect()
+            .collect())
     }
 
     fn toggle_pause(&self) -> PyResult<()> {
-        self.inner.toggle_pause();
-        Ok(())
+        self.inner
+            .toggle_pause()
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
     fn stop(&self) -> PyResult<()> {
-        self.inner.stop();
-        Ok(())
+        self.inner
+            .stop()
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
     fn __repr__(&self) -> PyResult<String> {
-        let motor_count = self.inner.get_latest_feedback().len();
+        let motor_count = self.inner.get_latest_feedback().map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))?.len();
         Ok(format!(
             "PyRobstrideMotorsSupervisor(motor_count={})",
             motor_count
@@ -412,7 +416,7 @@ impl PyRobstrideMotorsSupervisor {
 
     #[getter]
     fn total_commands(&self) -> PyResult<u64> {
-        Ok(self.inner.get_total_commands())
+        self.inner.get_total_commands().map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
     fn failed_commands_for(&self, motor_id: u8) -> PyResult<u64> {
@@ -422,32 +426,40 @@ impl PyRobstrideMotorsSupervisor {
     }
 
     fn reset_command_counters(&self) -> PyResult<()> {
-        self.inner.reset_command_counters();
-        Ok(())
+        self.inner
+            .reset_command_counters()
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
     fn is_running(&self) -> PyResult<bool> {
-        Ok(self.inner.is_running())
+        self.inner
+            .is_running()
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
     #[setter]
     fn max_update_rate(&self, rate: f64) -> PyResult<()> {
-        self.inner.set_max_update_rate(rate);
-        Ok(())
+        self.inner
+            .set_max_update_rate(rate)
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
     #[getter]
     fn actual_update_rate(&self) -> PyResult<f64> {
-        Ok(self.inner.get_actual_update_rate())
+        self.inner
+            .get_actual_update_rate()
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
     fn toggle_serial(&self) -> PyResult<bool> {
-        Ok(self.inner.toggle_serial())
+        self.inner
+            .toggle_serial()
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 
     #[getter]
     fn serial(&self) -> PyResult<bool> {
-        Ok(self.inner.get_serial())
+        self.inner.get_serial().map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
     }
 }
 

diff --git a/actuator/robstride/Cargo.toml b/actuator/robstride/Cargo.toml
@@ -25,6 +25,7 @@ log = "^0.4.22"
 serialport = { version = "^4.2.0", optional = true }
 clap = { version = "4.3", features = ["derive"] }
 serde = { version = "^1.0", features = ["derive"] }
+eyre = "^0.6"
 
 [target.'cfg(any(target_os = "macos", target_os = "linux"))'.dependencies]
 serialport = "^4.2.0"

diff --git a/actuator/robstride/src/bin/multisupervisor.rs b/actuator/robstride/src/bin/multisupervisor.rs
@@ -38,7 +38,7 @@ fn sinusoid(
 
     let start = Instant::now();
     let mut last_second = start;
-    controller.reset_command_counters();
+    controller.reset_command_counters()?;
 
     while start.elapsed() < duration {
         let t = start.elapsed().as_secs_f32();
@@ -53,7 +53,7 @@ fn sinusoid(
         if last_second.elapsed() > Duration::from_secs(1) {
             println!(
                 "Commands per second: {}",
-                total_commands as f32 / start.elapsed().as_secs_f32()
+                total_commands.unwrap_or(0) as f32 / start.elapsed().as_secs_f32()
             );
             last_second = Instant::now();
         }
@@ -231,21 +231,21 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
                 println!("Added motors {:?} to zero list", test_ids);
             }
             "get_feedback" | "g" => {
-                let feedback = controller.get_latest_feedback();
+                let feedback = controller.get_latest_feedback()?;
                 for (id, fb) in feedback {
                     println!("Motor {}: {:?}", id, fb);
                 }
             }
             "pause" | "w" => {
-                controller.toggle_pause();
+                controller.toggle_pause()?;
                 println!("Toggled pause state");
             }
             "reset" | "r" => {
-                controller.reset();
+                controller.reset()?;
                 println!("Reset motors");
             }
             "quit" | "q" => {
-                controller.stop();
+                controller.stop()?;
                 println!("Exiting...");
                 break;
             }

diff --git a/actuator/robstride/src/bin/supervisor.rs b/actuator/robstride/src/bin/supervisor.rs
@@ -31,7 +31,7 @@ fn sinusoid(
 
     let start = Instant::now();
     let mut last_second = start;
-    controller.reset_command_counters();
+    controller.reset_command_counters()?;
 
     while start.elapsed() < duration {
         let t = start.elapsed().as_secs_f32();
@@ -44,7 +44,7 @@ fn sinusoid(
         if last_second.elapsed() > Duration::from_secs(1) {
             println!(
                 "Commands per second: {}",
-                total_commands as f32 / start.elapsed().as_secs_f32()
+                total_commands.unwrap_or(0) as f32 / start.elapsed().as_secs_f32()
             );
             last_second = Instant::now();
         }
@@ -181,21 +181,21 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
                 println!("Added motor {} to zero list", test_id);
             }
             "get_feedback" | "g" => {
-                let feedback = controller.get_latest_feedback();
+                let feedback = controller.get_latest_feedback()?;
                 for (id, fb) in feedback {
                     println!("Motor {}: {:?}", id, fb);
                 }
             }
             "pause" | "w" => {
-                controller.toggle_pause();
+                controller.toggle_pause()?;
                 println!("Toggled pause state");
             }
             "reset" | "r" => {
-                controller.reset();
+                controller.reset()?;
                 println!("Reset motors");
             }
             "quit" | "q" => {
-                controller.stop();
+                controller.stop()?;
                 println!("Exiting...");
                 break;
             }

diff --git a/actuator/robstride/src/motor.rs b/actuator/robstride/src/motor.rs
@@ -184,10 +184,11 @@ impl Motors {
                     "Failed to get the current mode",
                 ));
             }
-
-            let single_read_mode = read_mode.values().next().unwrap().clone();
-            if read_mode.values().all(|&x| x == single_read_mode) {
-                self.mode = single_read_mode;
+            if let Some(first_mode) = read_mode.values().next() {
+                let single_read_mode = first_mode.clone();
+                if read_mode.values().all(|&x| x == single_read_mode) {
+                    self.mode = single_read_mode;
+                }
             }
         }