"""Custom exceptions for pyRobotiqGripper package."""
[docs]
class RobotiqGripperError(Exception):
"""Base exception for all pyRobotiqGripper errors."""
pass
[docs]
class GripperConnectionError(RobotiqGripperError):
"""Raised when connection to gripper fails or is lost."""
pass
[docs]
class GripperNotActivatedError(RobotiqGripperError):
"""Raised when an action is requested but gripper is not activated."""
[docs]
def __init__(self):
super().__init__(
"Gripper must be activated before requesting an action. "
"Call activate() or resetActivate() first."
)
[docs]
class GripperNotCalibratedError(RobotiqGripperError):
"""Raised when mm-based operations are used without calibration."""
[docs]
def __init__(self):
super().__init__(
"The gripper must be calibrated before using mm-based positioning. "
"Call calibrate(closemm, openmm) first."
)
[docs]
class GripperTimeoutError(RobotiqGripperError):
"""Raised when gripper operation exceeds timeout."""
[docs]
def __init__(self, operation: str = "Operation", timeout: float = 10):
super().__init__(
f"{operation} did not complete within {timeout} seconds."
)
[docs]
class GripperPositionError(RobotiqGripperError):
"""Raised when an invalid position is requested."""
[docs]
def __init__(self, position: int, min_val: int = 0, max_val: int = 255):
super().__init__(
f"Position {position} is out of range [{min_val}, {max_val}]."
)
[docs]
class GripperCalibrationError(RobotiqGripperError):
"""Raised when calibration data is invalid."""
pass
[docs]
class GripperCommunicationError(RobotiqGripperError):
"""Raised when Modbus communication fails."""
pass
[docs]
class UnsupportedGripperTypeError(RobotiqGripperError):
"""Raised when an unsupported gripper type is specified."""
[docs]
def __init__(self, gripper_type: str):
super().__init__(
f"Gripper type '{gripper_type}' is not supported."
)