From 14ab32dc57a5d6877223b065138295531affe5c4 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 21 May 2024 16:37:06 +0900
Subject: [PATCH] fix(expected): make error behavior clearer, add doc comments

---
 .../include/nebula_common/util/expected.hpp   | 38 ++++++++++++++++++-
 1 file changed, 36 insertions(+), 2 deletions(-)

diff --git a/nebula_common/include/nebula_common/util/expected.hpp b/nebula_common/include/nebula_common/util/expected.hpp
index 4fc35b3fa..6a441db70 100644
--- a/nebula_common/include/nebula_common/util/expected.hpp
+++ b/nebula_common/include/nebula_common/util/expected.hpp
@@ -7,6 +7,17 @@ namespace nebula
 namespace util
 {
 
+struct bad_expected_access : public std::exception {
+  bad_expected_access(const std::string & msg) : std::exception(), msg_(msg) {}
+
+  const char* what() const noexcept override {
+    return msg_.c_str();
+  }
+
+private:
+  const std::string msg_; 
+};
+
 /// @brief A poor man's backport of C++23's std::expected.
 ///
 /// At any given time, holds exactly one of: expected value, or error value.
@@ -19,23 +30,46 @@ namespace util
 template <typename T, typename E>
 struct expected
 {
+  /// @brief Whether the expected instance holds a value (as opposed to an error).
+  /// Call this before trying to access values via `value()`.
+  /// @return True if a value is contained, false if an error is contained
   bool has_value() { return std::holds_alternative<T>(value_); }
 
-  T value() { return std::get<T>(value_); }
+  /// @brief Retrieve the value, or throw `bad_expected_access` if an error is contained.
+  /// @return The value of type `T`
+  T value() {
+    if (!has_value()) {
+      throw bad_expected_access("value() called but containing error");
+    }
+    return std::get<T>(value_); 
+  }
 
+  /// @brief Return the contained value, or, if an error is contained, return the given `default_` instead.
+  /// @return The contained value, if any, else `default_`
   T value_or(const T & default_)
   {
     if (has_value()) return value();
     return default_;
   }
 
+  /// @brief Return the contained value, or, if an error is contained, throw `runtime_error(error_msg)`.
+  /// @return The contained value if no error is thrown
   T value_or_throw(const std::string & error_msg) {
     if (has_value()) return value();
     throw std::runtime_error(error_msg);
   }
 
-  E error() { return std::get<E>(value_); }
+  /// @brief Retrieve the error, or throw `bad_expected_access` if a value is contained.
+  /// @return The error of type `E`
+  E error() {
+    if (has_value()) {
+      throw bad_expected_access("error() called but containing value");
+    }
+    return std::get<E>(value_); 
+  }
 
+  /// @brief Return the contained error, or, if a value is contained, return the given `default_` instead.
+  /// @return The contained error, if any, else `default_`
   E error_or(const E & default_) { 
     if (!has_value()) return error();
     return default_;