RSDK-2758 Consistent error handling & exception scheme

src/viam/examples/modules/example_module.cpp

@@ -78,7 +78,7 @@ int MyModule::which_ = 0;
 
 int main(int argc, char** argv) {
     if (argc < 2) {
-        throw "need socket path as command line argument";
+        throw std::runtime_error("need socket path as command line argument");
     }
 
     // Use set_logger_severity_from_args to set the boost trivial logger's

src/viam/sdk/CMakeLists.txt

@@ -43,6 +43,7 @@ target_sources(viamsdk
     # consider making all necessary runtime values a single `context` that has to
     # be initialized within main before anything else happens?
     registry/registry.cpp
+    common/exception.cpp
     common/linear_algebra.cpp
     common/proto_type.cpp
     common/utils.cpp

src/viam/sdk/common/exception.cpp

@@ -0,0 +1,68 @@
+#include <grpc/status.h>
+#include <viam/sdk/common/exception.hpp>
+namespace viam {
+namespace sdk {
+
+ViamException::ViamException(const std::string& what)
+    : std::runtime_error("ViamException: " + what), error_code_(ViamErrorCode::unknown){};
+
+ViamException::ViamException(const std::string& type,
+                             const ViamErrorCode& code,
+                             const std::string& what)
+    : std::runtime_error("ViamException(" + type + "): " + what), error_code_(code){};
+
+ViamException::~ViamException() = default;
+
+ViamException::ViamException(const ::grpc::Status& status_code)
+    : ViamException(status_code.error_message() + " " + status_code.error_details()) {}
+
+ViamException ViamException::from_viam_error_code(ViamErrorCode code) {
+    switch (code) {
+        case ViamErrorCode::ok: {
+            return ViamException(
+                "Ran ViamException::from_viam_error_code on an \'ok\' value. Check the code value "
+                "first.");
+        }
+        case ViamErrorCode::permission_denied: {
+            return PermissionDeniedException();
+        }
+        case ViamErrorCode::duplicate_resource: {
+            return DuplicateResourceException();
+        }
+        case ViamErrorCode::unimplemented: {
+            return UnimplementedException();
+        }
+        case ViamErrorCode::validation: {
+            return ValidationException();
+        }
+        case ViamErrorCode::connection: {
+            return ConnectionException();
+        }
+        case ViamErrorCode::unknown:
+        default: {
+            return ViamException();
+        }
+    }
+}
+
+ViamErrorCode ViamException::get_error_code() const noexcept {
+    return error_code_;
+}
+
+PermissionDeniedException::PermissionDeniedException(const std::string& what)
+    : ViamException("PermissionDenied", ViamErrorCode::permission_denied, what){};
+
+DuplicateResourceException::DuplicateResourceException(const std::string& what)
+    : ViamException("DuplicateResource", ViamErrorCode::duplicate_resource, what){};
+
+UnimplementedException::UnimplementedException(const std::string& what)
+    : ViamException("Unimplemented", ViamErrorCode::unimplemented, what){};
+
+ValidationException::ValidationException(const std::string& what)
+    : ViamException("Validation", ViamErrorCode::validation, what){};
+
+ConnectionException::ConnectionException(const std::string& what)
+    : ViamException("Connection", ViamErrorCode::connection, what){};
+
+}  // namespace sdk
+}  // namespace viam

src/viam/sdk/common/exception.hpp

@@ -0,0 +1,69 @@
+#pragma once
+#include <grpc/status.h>
+#include <grpcpp/impl/codegen/status.h>
+#include <iostream>
+#include <sstream>
+#include <stdexcept>
+#include <string>
+
+namespace viam {
+namespace sdk {
+
+enum class ViamErrorCode : uint8_t {
+    // Used to indicate no error
+    ok = 0,
+    // Default error code for ViamException
+    unknown = 1,
+    permission_denied = 2,
+    duplicate_resource = 3,
+    unimplemented = 4,
+    validation = 5,
+    connection = 6
+};
+
+class ViamException : public std::runtime_error {
+   public:
+    explicit ViamException(const std::string& what = "unknown");
+
+    explicit ViamException(const std::string& type,
+                           const ViamErrorCode& code,
+                           const std::string& what);
+
+    explicit ViamException(const ::grpc::Status& status_code);
+
+    static ViamException from_viam_error_code(ViamErrorCode code);
+
+    virtual ~ViamException();
+
+    ViamErrorCode get_error_code() const noexcept;
+
+   private:
+    ViamErrorCode error_code_;
+};
+
+class PermissionDeniedException : public ViamException {
+   public:
+    explicit PermissionDeniedException(const std::string& what = "unknown");
+};
+
+class DuplicateResourceException : public ViamException {
+   public:
+    explicit DuplicateResourceException(const std::string& what = "unknown");
+};
+
+class UnimplementedException : public ViamException {
+   public:
+    explicit UnimplementedException(const std::string& what = "unknown");
+};
+
+class ValidationException : public ViamException {
+   public:
+    explicit ValidationException(const std::string& what = "unknown");
+};
+
+class ConnectionException : public ViamException {
+   public:
+    explicit ConnectionException(const std::string& what = "unknown");
+};
+}  // namespace sdk
+}  // namespace viam

src/viam/sdk/common/proto_type.cpp

@@ -10,6 +10,7 @@
 #include <boost/variant/variant.hpp>
 #include <google/protobuf/struct.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/config/resource.hpp>
 
 namespace viam {
@@ -127,7 +128,7 @@ Value ProtoType::proto_value() {
             break;
         }
         default: {
-            throw std::runtime_error(
+            throw ViamException(
                 "Invalid proto_value conversion type. This should never happen;\
 						please file a bug report.");
         }
@@ -190,8 +191,9 @@ bool operator==(const ProtoType& lhs, const ProtoType& rhs) {
             return std::equal(lhs_vec.begin(), lhs_vec.end(), rhs_vec.begin(), rhs_vec.end(), pred);
         }
         default: {
-            throw "Invalid proto_value conversion type. This should never happen;\
-                   please file a bug report.";
+            throw ViamException(
+                "Invalid proto_value conversion type. This should never happen;\
+                   please file a bug report.");
         }
     }
 }

src/viam/sdk/components/base/base.cpp

@@ -5,6 +5,7 @@
 #include <viam/api/component/base/v1/base.grpc.pb.h>
 #include <viam/api/component/base/v1/base.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/base/client.hpp>
 #include <viam/sdk/components/base/server.hpp>
@@ -32,7 +33,7 @@ std::shared_ptr<ResourceRegistration> Base::resource_registration() {
     const google::protobuf::ServiceDescriptor* sd =
         p->FindServiceByName(viam::component::base::v1::BaseService::service_full_name());
     if (!sd) {
-        throw std::runtime_error("Unable to get service descriptor for the base service");
+        throw ViamException("Unable to get service descriptor for the base service");
     }
     return std::make_shared<BaseRegistration>(sd);
 }

src/viam/sdk/components/base/client.cpp

@@ -9,6 +9,7 @@
 #include <viam/api/common/v1/common.pb.h>
 #include <viam/api/component/base/v1/base.grpc.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/linear_algebra.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/base/base.hpp>
@@ -35,7 +36,7 @@ void BaseClient::move_straight(int64_t distance_mm, double mm_per_sec) {
 
     const grpc::Status status = stub_->MoveStraight(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
 }
 
@@ -51,7 +52,7 @@ void BaseClient::spin(double angle_deg, double degs_per_sec) {
 
     const grpc::Status status = stub_->Spin(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
 }
 
@@ -67,7 +68,7 @@ void BaseClient::set_power(const Vector3& linear, const Vector3& angular) {
 
     const grpc::Status status = stub_->SetPower(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
 }
 
@@ -83,7 +84,7 @@ void BaseClient::set_velocity(const Vector3& linear, const Vector3& angular) {
 
     const grpc::Status status = stub_->SetVelocity(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
 }
 
@@ -101,7 +102,7 @@ grpc::StatusCode BaseClient::stop() {
 
     const grpc::Status status = stub_->Stop(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return status.error_code();
 }
@@ -116,7 +117,7 @@ bool BaseClient::is_moving() {
 
     const grpc::Status status = stub_->IsMoving(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return response.is_moving();
 }
@@ -133,7 +134,7 @@ AttributeMap BaseClient::do_command(AttributeMap command) {
 
     const grpc::Status status = stub_->DoCommand(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return struct_to_map(response.result());
 }

src/viam/sdk/components/board/board.cpp

@@ -5,6 +5,7 @@
 #include <viam/api/component/board/v1/board.grpc.pb.h>
 #include <viam/api/component/board/v1/board.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/board/client.hpp>
 #include <viam/sdk/components/board/server.hpp>
@@ -32,7 +33,7 @@ std::shared_ptr<ResourceRegistration> Board::resource_registration() {
     const google::protobuf::ServiceDescriptor* sd =
         p->FindServiceByName(viam::component::board::v1::BoardService::service_full_name());
     if (!sd) {
-        throw std::runtime_error("Unable to get service descriptor for the board service");
+        throw ViamException("Unable to get service descriptor for the board service");
     }
     return std::make_shared<BoardRegistration>(sd);
 }
@@ -74,7 +75,7 @@ Board::power_mode Board::from_proto(viam::component::board::v1::PowerMode proto)
         }
         case viam::component::board::v1::POWER_MODE_UNSPECIFIED:
         default: {
-            throw std::runtime_error("Invalid proto board power_mode to decode");
+            throw ViamException("Invalid proto board power_mode to decode");
         }
     }
 }
@@ -112,7 +113,7 @@ viam::component::board::v1::PowerMode Board::to_proto(Board::power_mode power_mo
             return viam::component::board::v1::POWER_MODE_OFFLINE_DEEP;
         }
         default: {
-            throw std::runtime_error("Invalid board power_mode to encode");
+            throw ViamException("Invalid board power_mode to encode");
         }
     }
 }