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exceptions.h
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115 lines (96 loc) · 3.58 KB
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/* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved
* Copyright (C) 2018-2025 Davide Faconti, Eurecat - All Rights Reserved
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
* The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#ifndef BT_EXCEPTIONS_H
#define BT_EXCEPTIONS_H
#include <stdexcept>
#include <string>
#include <vector>
#include "utils/strcat.hpp"
namespace BT
{
class BehaviorTreeException : public std::exception
{
public:
BehaviorTreeException(std::string_view message)
: message_(static_cast<std::string>(message))
{}
template <typename... SV>
BehaviorTreeException(const SV&... args) : message_(StrCat(args...))
{}
const char* what() const noexcept
{
return message_.c_str();
}
private:
std::string message_;
};
// This errors are usually related to problems which "probably" require code refactoring
// to be fixed.
class LogicError : public BehaviorTreeException
{
public:
LogicError(std::string_view message) : BehaviorTreeException(message)
{}
template <typename... SV>
LogicError(const SV&... args) : BehaviorTreeException(args...)
{}
};
// This errors are usually related to problems that are relted to data or conditions
// that happen only at run-time
class RuntimeError : public BehaviorTreeException
{
public:
RuntimeError(std::string_view message) : BehaviorTreeException(message)
{}
template <typename... SV>
RuntimeError(const SV&... args) : BehaviorTreeException(args...)
{}
};
/// Information about a node in the tick backtrace.
struct TickBacktraceEntry
{
std::string node_name;
std::string node_path;
std::string registration_name;
};
/// Exception thrown when a node's tick() method throws an exception.
/// Contains information about the node where the exception originated.
class NodeExecutionError : public RuntimeError
{
public:
NodeExecutionError(TickBacktraceEntry failed_node, const std::string& original_message)
: RuntimeError(formatMessage(failed_node, original_message))
, failed_node_(std::move(failed_node))
, original_message_(original_message)
{}
/// The node that threw the exception
[[nodiscard]] const TickBacktraceEntry& failedNode() const
{
return failed_node_;
}
[[nodiscard]] const std::string& originalMessage() const
{
return original_message_;
}
private:
TickBacktraceEntry failed_node_;
std::string original_message_;
static std::string formatMessage(const TickBacktraceEntry& node,
const std::string& original_msg)
{
return StrCat("Exception in node '", node.node_path, "' [", node.registration_name,
"]: ", original_msg);
}
};
} // namespace BT
#endif