From e7788fb3a0c57d5cfbeb233d59837b15b0856a09 Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Fri, 23 Feb 2024 00:59:43 +0100
Subject: [PATCH] =?UTF-8?q?=F0=9F=90=BD=20Makes=20model-loading=20use=20re?=
 =?UTF-8?q?sult=20type=20for=20error=20handling?=
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---
 app/src/App.svelte                       | 12 +++++++++---
 app/src/lib/utilities/model-utilities.ts |  9 +++++----
 2 files changed, 14 insertions(+), 7 deletions(-)

diff --git a/app/src/App.svelte b/app/src/App.svelte
index aac816c..032d8ee 100644
--- a/app/src/App.svelte
+++ b/app/src/App.svelte
@@ -15,9 +15,15 @@
 	onMount(async () => {
 		socketService.connect(socketLocation);
         registerFetchIntercept()
-        const [urdf, JOINT_NAME] = await loadModelAsync('/spot_micro.urdf.xacro') 
-        jointNames.set(JOINT_NAME)
-        model.set(urdf)
+        const modelRes = await loadModelAsync('/spot_micro.urdf.xacro') 
+        
+        if (modelRes.isOk()) {
+            const [urdf, JOINT_NAME] = modelRes.inner
+            jointNames.set(JOINT_NAME)
+            model.set(urdf)
+        } else {
+            console.error(modelRes.inner, {"exception": modelRes.exception})
+        }
 	});
 
     const registerFetchIntercept = () => {
diff --git a/app/src/lib/utilities/model-utilities.ts b/app/src/lib/utilities/model-utilities.ts
index 332dfc5..625569f 100644
--- a/app/src/lib/utilities/model-utilities.ts
+++ b/app/src/lib/utilities/model-utilities.ts
@@ -1,8 +1,9 @@
 import { LoaderUtils } from "three";
 import URDFLoader, { type URDFRobot } from "urdf-loader"
 import { XacroLoader } from "xacro-parser"
+import { Result } from "$lib/utilities";
 
-export const loadModelAsync = async (url:string):Promise<[URDFRobot, string[]]> => {
+export const loadModelAsync = async (url:string):Promise<Result<[URDFRobot, string[]], string>> => {
   return new Promise((resolve, reject) => {
     const xacroLoader = new XacroLoader();
     
@@ -22,9 +23,9 @@ export const loadModelAsync = async (url:string):Promise<[URDFRobot, string[]]>
             .filter(joint => joint[1].jointType !== 'fixed')
             .map(joint => joint[0])
 
-        resolve([model, joints]); 
-      } catch (error) {
-        reject(error); 
+            resolve(Result.ok([model, joints])); 
+        } catch (error) {
+            resolve(Result.err("Failed to load model", error)); 
       }
     }, (error) => reject(error)); 
   });