Meaningful error codes instead of plain -1

libuavcan/include/uavcan/error.hpp

@@ -0,0 +1,29 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+namespace uavcan
+{
+/**
+ * Common error codes.
+ * Functions that return signed integers may also return inverted error codes,
+ * i.e. returned value should be inverted back to get the actual error code.
+ */
+enum
+{
+    ErrOk,
+    ErrFailure,
+    ErrInvalidParam,
+    ErrMemory,
+    ErrDriver,
+    ErrUnknownDataType,
+    ErrInvalidMarshalData,
+    ErrInvalidTransferListener,
+    ErrNotInited,
+    ErrRecursiveCall,
+    ErrLogic
+};
+
+}

libuavcan/include/uavcan/marshal/array.hpp

@@ -10,6 +10,7 @@
 #include <algorithm>
 #include <stdexcept>
 #include <cstring>
+#include <uavcan/error.hpp>
 #include <uavcan/fatal_error.hpp>
 #include <uavcan/util/compile_time.hpp>
 #include <uavcan/impl_constants.hpp>
@@ -308,7 +309,7 @@ class Array : public ArrayImpl<T, ArrayMode, MaxSize_>
                 }
                 if (size() == MaxSize_)   // Error: Max array length reached, but the end of stream is not
                 {
-                    return -1;
+                    return -ErrInvalidMarshalData;
                 }
                 push_back(value);
             }
@@ -323,7 +324,7 @@ class Array : public ArrayImpl<T, ArrayMode, MaxSize_>
             }
             if ((sz > 0) && ((sz - 1u) > (MaxSize_ - 1u))) // -Werror=type-limits
             {
-                return -1;
+                return -ErrInvalidMarshalData;
             }
             resize(sz);
             if (sz == 0)
@@ -333,7 +334,7 @@ class Array : public ArrayImpl<T, ArrayMode, MaxSize_>
             return decodeImpl(codec, tao_mode, FalseType());
         }
         assert(0); // Unreachable
-        return -1;
+        return -ErrLogic;
     }
 
 public:

libuavcan/include/uavcan/marshal/float_spec.hpp

@@ -5,13 +5,13 @@
 #pragma once
 
 #include <limits>
+#include <cmath>
 #include <uavcan/stdint.hpp>
 #include <uavcan/data_type.hpp>
 #include <uavcan/util/compile_time.hpp>
 #include <uavcan/impl_constants.hpp>
 #include <uavcan/marshal/type_util.hpp>
 #include <uavcan/marshal/integer_spec.hpp>
-#include <cmath>
 
 #ifndef UAVCAN_CPP_VERSION
 # error UAVCAN_CPP_VERSION

libuavcan/include/uavcan/node/generic_publisher.hpp

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <uavcan/error.hpp>
 #include <uavcan/node/abstract_node.hpp>
 #include <uavcan/data_type.hpp>
 #include <uavcan/node/global_data_type_registry.hpp>
@@ -35,11 +36,11 @@ class GenericPublisher
     INode& node_;
     LazyConstructor<TransferSender> sender_;
 
-    bool checkInit()
+    int checkInit()
     {
         if (sender_)
         {
-            return true;
+            return 0;
         }
 
         GlobalDataTypeRegistry::instance().freeze();
@@ -50,11 +51,11 @@ class GenericPublisher
         if (!descr)
         {
             UAVCAN_TRACE("GenericPublisher", "Type [%s] is not registered", DataSpec::getDataTypeFullName());
-            return false;
+            return -ErrUnknownDataType;
         }
         sender_.template construct<Dispatcher&, const DataTypeDescriptor&, CanTxQueue::Qos, MonotonicDuration>
             (node_.getDispatcher(), *descr, CanTxQueue::Qos(Qos), max_transfer_interval_);
-        return true;
+        return 0;
     }
 
     MonotonicTime getTxDeadline() const { return node_.getMonotonicTime() + tx_timeout_; }
@@ -67,15 +68,16 @@ class GenericPublisher
     int genericPublish(const DataStruct& message, TransferType transfer_type, NodeID dst_node_id,
                        TransferID* tid, MonotonicTime blocking_deadline)
     {
-        if (!checkInit())
+        const int res = checkInit();
+        if (res < 0)
         {
-            return -1;
+            return res;
         }
 
         IMarshalBuffer* const buf = getBuffer();
         if (!buf)
         {
-            return -1;
+            return -ErrMemory;
         }
 
         {
@@ -85,7 +87,7 @@ class GenericPublisher
             if (encode_res <= 0)
             {
                 assert(0);   // Impossible, internal error
-                return -1;
+                return -ErrInvalidMarshalData;
             }
         }
         if (tid)
@@ -117,7 +119,7 @@ public:
 
     int init()
     {
-        return checkInit() ? 0 : -1;
+        return checkInit();
     }
 
     int publish(const DataStruct& message, TransferType transfer_type, NodeID dst_node_id,
@@ -134,7 +136,7 @@ public:
 
     TransferSender* getTransferSender()
     {
-        checkInit();
+        (void)checkInit();
         return sender_.isConstructed() ? static_cast<TransferSender*>(sender_) : NULL;
     }
 

libuavcan/include/uavcan/node/generic_subscriber.hpp

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <uavcan/error.hpp>
 #include <uavcan/node/abstract_node.hpp>
 #include <uavcan/data_type.hpp>
 #include <uavcan/node/global_data_type_registry.hpp>
@@ -113,11 +114,11 @@ class GenericSubscriber : Noncopyable
     ReceivedDataStructureSpec message_;
     uint32_t failure_count_;
 
-    bool checkInit()
+    int checkInit()
     {
         if (forwarder_)
         {
-            return true;
+            return 0;
         }
 
         GlobalDataTypeRegistry::instance().freeze();
@@ -128,11 +129,11 @@ class GenericSubscriber : Noncopyable
         if (!descr)
         {
             UAVCAN_TRACE("GenericSubscriber", "Type [%s] is not registered", DataSpec::getDataTypeFullName());
-            return false;
+            return -ErrUnknownDataType;
         }
         forwarder_.template construct<SelfType&, const DataTypeDescriptor&, IAllocator&>
             (*this, *descr, node_.getAllocator());
-        return true;
+        return 0;
     }
 
     bool decodeTransfer(IncomingTransfer& transfer)
@@ -167,19 +168,20 @@ class GenericSubscriber : Noncopyable
     {
         stop();
 
-        if (!checkInit())
+        const int res = checkInit();
+        if (res < 0)
         {
             UAVCAN_TRACE("GenericSubscriber", "Initialization failure [%s]", DataSpec::getDataTypeFullName());
-            return -1;
+            return res;
         }
 
         if (!(node_.getDispatcher().*registration_method)(forwarder_))
         {
             UAVCAN_TRACE("GenericSubscriber", "Failed to register transfer listener [%s]",
                          DataSpec::getDataTypeFullName());
-            return -1;
+            return -ErrInvalidTransferListener;
         }
-        return 1;
+        return 0;
     }
 
 protected:

libuavcan/include/uavcan/node/node.hpp

@@ -5,6 +5,7 @@
 #pragma once
 
 #include <cassert>
+#include <uavcan/error.hpp>
 #include <uavcan/impl_constants.hpp>
 #include <uavcan/dynamic_memory.hpp>
 #include <uavcan/node/abstract_node.hpp>
@@ -94,7 +95,7 @@ public:
         {
             return INode::spin(deadline);
         }
-        return -1;
+        return -ErrNotInited;
     }
 
     int spin(MonotonicDuration duration)
@@ -103,7 +104,7 @@ public:
         {
             return INode::spin(duration);
         }
-        return -1;
+        return -ErrNotInited;
     }
 
     bool isStarted() const { return started_; }

libuavcan/include/uavcan/node/publisher.hpp

@@ -37,7 +37,7 @@ public:
         if (!dst_node_id.isUnicast())
         {
             assert(0);
-            return -1;
+            return -ErrInvalidParam;
         }
         return publish(message, TransferTypeMessageUnicast, dst_node_id);
     }

libuavcan/include/uavcan/node/scheduler.hpp

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <uavcan/error.hpp>
 #include <uavcan/linked_list.hpp>
 #include <uavcan/transport/dispatcher.hpp>
 

libuavcan/include/uavcan/node/service_client.hpp

@@ -182,7 +182,7 @@ public:
         if (!isCallbackValid())
         {
             UAVCAN_TRACE("ServiceClient", "Invalid callback");
-            return -1;
+            return -ErrInvalidParam;
         }
         pending_ = true;
 
@@ -196,7 +196,7 @@ public:
         {
             UAVCAN_TRACE("ServiceClient", "Type [%s] is not registered", DataType::getDataTypeFullName());
             cancel();
-            return -1;
+            return -ErrUnknownDataType;
         }
 
         /*
@@ -211,7 +211,7 @@ public:
         {
             UAVCAN_TRACE("ServiceClient", "OTR access failure, dtd=%s", descr->toString().c_str());
             cancel();
-            return -1;
+            return -ErrMemory;
         }
         const TransferID transfer_id = *otr_tid;
         otr_tid->increment();
@@ -235,7 +235,7 @@ public:
         {
             assert(0);  // Must have been created
             cancel();
-            return -1;
+            return -ErrLogic;
         }
         const typename TransferListenerType::ExpectedResponseParams erp(server_node_id, transfer_id);
         tl->setExpectedResponseParams(erp);

libuavcan/include/uavcan/node/service_server.hpp

@@ -91,7 +91,7 @@ public:
         if (!try_implicit_cast<bool>(callback, true))
         {
             UAVCAN_TRACE("ServiceServer", "Invalid callback");
-            return -1;
+            return -ErrInvalidParam;
         }
         callback_ = callback;
 

libuavcan/include/uavcan/node/subscriber.hpp

@@ -67,7 +67,7 @@ public:
         if (!try_implicit_cast<bool>(callback, true))
         {
             UAVCAN_TRACE("Subscriber", "Invalid callback");
-            return -1;
+            return -ErrInvalidParam;
         }
         callback_ = callback;
 

libuavcan/include/uavcan/protocol/panic_listener.hpp

@@ -101,7 +101,7 @@ public:
         if (!try_implicit_cast<bool>(callback, true))
         {
             UAVCAN_TRACE("PanicListener", "Invalid callback");
-            return -1;
+            return -ErrInvalidParam;
         }
         callback_ = callback;
         return sub_.start(PanicMsgCallback(this, &PanicListener::handleMsg));

libuavcan/include/uavcan/transport/can_io.hpp

@@ -6,6 +6,7 @@
 #pragma once
 
 #include <cassert>
+#include <uavcan/error.hpp>
 #include <uavcan/stdint.hpp>
 #include <uavcan/linked_list.hpp>
 #include <uavcan/dynamic_memory.hpp>

libuavcan/include/uavcan/transport/dispatcher.hpp

@@ -5,6 +5,7 @@
 #pragma once
 
 #include <cassert>
+#include <uavcan/error.hpp>
 #include <uavcan/stdint.hpp>
 #include <uavcan/transport/perf_counter.hpp>
 #include <uavcan/transport/transfer_listener.hpp>

libuavcan/include/uavcan/transport/transfer_buffer.hpp

@@ -7,6 +7,7 @@
 #include <algorithm>
 #include <limits>
 #include <uavcan/stdint.hpp>
+#include <uavcan/error.hpp>
 #include <uavcan/transport/frame.hpp>
 #include <uavcan/linked_list.hpp>
 #include <uavcan/dynamic_memory.hpp>
@@ -166,7 +167,7 @@ public:
         if (!data)
         {
             assert(0);
-            return -1;
+            return -ErrInvalidParam;
         }
         if (offset >= max_write_pos_)
         {
@@ -186,7 +187,7 @@ public:
         if (!data)
         {
             assert(0);
-            return -1;
+            return -ErrInvalidParam;
         }
         if (offset >= Size)
         {

libuavcan/include/uavcan/transport/transfer_listener.hpp

@@ -6,6 +6,7 @@
 
 #include <cassert>
 #include <algorithm>
+#include <uavcan/error.hpp>
 #include <uavcan/stdint.hpp>
 #include <uavcan/transport/transfer_receiver.hpp>
 #include <uavcan/transport/perf_counter.hpp>

libuavcan/include/uavcan/transport/transfer_sender.hpp

@@ -6,6 +6,7 @@
 
 #include <cstdlib>
 #include <cassert>
+#include <uavcan/error.hpp>
 #include <uavcan/data_type.hpp>
 #include <uavcan/transport/crc.hpp>
 #include <uavcan/transport/transfer.hpp>

libuavcan/src/node/scheduler.cpp

@@ -157,7 +157,7 @@ int Scheduler::spin(MonotonicTime deadline)
     if (inside_spin_)  // Preventing recursive calls
     {
         assert(0);
-        return -1;
+        return -ErrRecursiveCall;
     }
     inside_spin_ = true;
 

libuavcan/src/protocol/data_type_info_provider.cpp

@@ -84,7 +84,7 @@ void DataTypeInfoProvider::handleGetDataTypeInfoRequest(const protocol::GetDataT
 
 int DataTypeInfoProvider::start()
 {
-    int res = -1;
+    int res = 0;
 
     res = cats_srv_.start(
         ComputeAggregateTypeSignatureCallback(this, &DataTypeInfoProvider::handleComputeAggregateTypeSignatureRequest));

libuavcan/src/protocol/global_time_sync_master.cpp

@@ -108,12 +108,12 @@ int GlobalTimeSyncMaster::init()
         GlobalDataTypeRegistry::instance().find(DataTypeKindMessage, protocol::GlobalTimeSync::getDataTypeFullName());
     if (desc == NULL)
     {
-        return -1;
+        return -ErrUnknownDataType;
     }
     dtid_ = desc->getID();
 
     // Iface master array
-    int res = -1;
+    int res = -ErrLogic;
     for (uint8_t i = 0; i < MaxCanIfaces; i++)
     {
         if (!iface_masters_[i].isConstructed())

libuavcan/src/protocol/node_initializer.cpp

@@ -105,7 +105,7 @@ int NodeInitializer::checkOneNodeOneDataTypeKind(NodeID nid, DataTypeKind kind)
     }
     if (!last_cats_request_ok_)
     {
-        return -1;
+        return -ErrFailure;
     }
     return 0;
 }

libuavcan/src/protocol/node_status_provider.cpp

@@ -59,15 +59,13 @@ void NodeStatusProvider::handleGetNodeInfoRequest(const protocol::GetNodeInfo::R
 
 int NodeStatusProvider::startAndPublish()
 {
-    int res = -1;
-
     if (!isNodeInfoInitialized())
     {
         UAVCAN_TRACE("NodeStatusProvider", "Node info was not initialized");
-        return -1;
+        return -ErrNotInited;
     }
 
-    res = publish(); // Initial broadcast
+    int res = publish(); // Initial broadcast
     if (res < 0)
     {
         goto fail;

libuavcan/src/protocol/param_server.cpp

@@ -73,7 +73,7 @@ int ParamServer::start(IParamManager* manager)
 {
     if (manager == NULL)
     {
-        return -1;
+        return -ErrInvalidParam;
     }
     manager_ = manager;
 

libuavcan/src/transport/can_io.cpp

@@ -219,7 +219,7 @@ int CanIOManager::sendToIface(int iface_index, const CanFrame& frame, MonotonicT
     if (iface == NULL)
     {
         assert(0);   // Nonexistent interface
-        return -1;
+        return -ErrLogic;
     }
     const int res = iface->send(frame, tx_deadline, flags);
     if (res != 1)
@@ -311,7 +311,7 @@ int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, Monoton
             const int select_res = driver_.select(masks, blocking_deadline);
             if (select_res < 0)
             {
-                return select_res;
+                return -ErrDriver;
             }
             assert(masks.read == 0);
         }
@@ -383,7 +383,7 @@ int CanIOManager::receive(CanRxFrame& out_frame, MonotonicTime blocking_deadline
             const int select_res = driver_.select(masks, blocking_deadline);
             if (select_res < 0)
             {
-                return select_res;
+                return -ErrDriver;
             }
         }
 
@@ -418,7 +418,7 @@ int CanIOManager::receive(CanRxFrame& out_frame, MonotonicTime blocking_deadline
                 {
                     counters_[i].frames_rx += 1;
                 }
-                return res;
+                return (res < 0) ? -ErrDriver : res;
             }
         }
 

libuavcan/src/transport/dispatcher.cpp

@@ -226,7 +226,7 @@ int Dispatcher::send(const Frame& frame, MonotonicTime tx_deadline, MonotonicTim
     if (frame.getSrcNodeID() != getNodeID())
     {
         assert(0);
-        return -1;
+        return -ErrLogic;
     }
 
     CanFrame can_frame;
@@ -234,7 +234,7 @@ int Dispatcher::send(const Frame& frame, MonotonicTime tx_deadline, MonotonicTim
     {
         UAVCAN_TRACE("Dispatcher", "Unable to send: frame is malformed: %s", frame.toString().c_str());
         assert(0);
-        return -1;
+        return -ErrLogic;
     }
     return canio_.send(can_frame, tx_deadline, blocking_deadline, iface_mask, qos, flags);
 }

libuavcan/src/transport/frame.cpp

@@ -29,7 +29,7 @@ int Frame::getMaxPayloadLen() const
     }
     default:
         assert(0);
-        return -1;
+        return -ErrLogic;
     }
 }
 

libuavcan/src/transport/transfer_buffer.cpp

@@ -113,7 +113,7 @@ int DynamicTransferBufferManagerEntry::read(unsigned int offset, uint8_t* data,
     if (!data)
     {
         assert(0);
-        return -1;
+        return -ErrInvalidParam;
     }
     if (offset >= max_write_pos_)
     {
@@ -148,7 +148,7 @@ int DynamicTransferBufferManagerEntry::write(unsigned int offset, const uint8_t*
     if (!data)
     {
         assert(0);
-        return -1;
+        return -ErrInvalidParam;
     }
 
     if (offset >= max_size_)
@@ -190,7 +190,6 @@ int DynamicTransferBufferManagerEntry::write(unsigned int offset, const uint8_t*
         if (new_block == NULL)
         {
             break;                        // We're in deep shit.
-
         }
         // Appending the chain with the new block
         if (last_written_block != NULL)

libuavcan/src/transport/transfer_listener.cpp

@@ -15,7 +15,7 @@ namespace uavcan
 int IncomingTransfer::write(unsigned int, const uint8_t*, unsigned int)
 {
     assert(0);  // Incoming transfer container is read-only
-    return -1;
+    return -ErrLogic;
 }
 
 /*
@@ -35,7 +35,7 @@ int SingleFrameIncomingTransfer::read(unsigned int offset, uint8_t* data, unsign
     if (data == NULL)
     {
         assert(0);
-        return -1;
+        return -ErrInvalidParam;
     }
     if (offset >= payload_len_)
     {
@@ -69,7 +69,7 @@ int MultiFrameIncomingTransfer::read(unsigned int offset, uint8_t* data, unsigne
     if (tbb == NULL)
     {
         UAVCAN_TRACE("MultiFrameIncomingTransfer", "Read failed: no such buffer");
-        return -1;
+        return -ErrLogic;
     }
     return tbb->read(offset, data, len);
 }

libuavcan/src/transport/transfer_sender.cpp

@@ -31,7 +31,7 @@ int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime
             assert(0);
             UAVCAN_TRACE("TransferSender", "Frame payload write failure, %i", res);
             registerError();
-            return (res < 0) ? res : -1;
+            return (res < 0) ? res : -ErrLogic;
         }
         frame.makeLast();
         assert(frame.isLast() && frame.isFirst());
@@ -97,7 +97,7 @@ int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime
     }
 
     assert(0);
-    return -1; // Return path analysis is apparently broken. There should be no warning, this 'return' is unreachable.
+    return -ErrLogic; // Return path analysis is apparently broken. There should be no warning, this 'return' is unreachable.
 }
 
 int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime tx_deadline,
@@ -113,7 +113,7 @@ int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime
     {
         UAVCAN_TRACE("TransferSender", "OTR access failure, dtd=%s tt=%i",
                      data_type_.toString().c_str(), int(transfer_type));
-        return -1;
+        return -ErrMemory;
     }
 
     const TransferID this_tid = tid->get();

libuavcan/test/marshal/array.cpp

@@ -552,7 +552,7 @@ TEST(Array, TailArrayOptimizationErrors)
         a2.push_back(56);   // Garbage
         ASSERT_EQ(1, a2.size());
         // Will fail - declared length is more than 5 items
-        ASSERT_EQ(-1, A::decode(a2, sc_rd, uavcan::TailArrayOptDisabled));
+        ASSERT_GT(0, A::decode(a2, sc_rd, uavcan::TailArrayOptDisabled));
         // Must be cleared
         ASSERT_TRUE(a2.empty());
     }
@@ -563,7 +563,7 @@ TEST(Array, TailArrayOptimizationErrors)
         a2.push_back(56);   // Garbage
         ASSERT_EQ(1, a2.size());
         // Will fail - no length field, but the stream is too long
-        ASSERT_EQ(-1, A::decode(a2, sc_rd, uavcan::TailArrayOptEnabled));
+        ASSERT_GT(0, A::decode(a2, sc_rd, uavcan::TailArrayOptEnabled));
         // Will contain some garbage
         ASSERT_EQ(5, a2.size());
         // Interpreted stream - see the values above

libuavcan/test/node/node.cpp

@@ -67,7 +67,7 @@ TEST(Node, Basic)
      * Init the first node
      */
     ASSERT_FALSE(node1.isStarted());
-    ASSERT_EQ(-1, node1.spin(uavcan::MonotonicDuration::fromMSec(20)));  // Not initialized - will fail
+    ASSERT_EQ(-uavcan::ErrNotInited, node1.spin(uavcan::MonotonicDuration::fromMSec(20)));
     ASSERT_LE(0, node1.start(result));
     ASSERT_TRUE(node1.isStarted());
 

libuavcan/test/node/service_client.cpp

@@ -63,7 +63,7 @@ TEST(ServiceClient, Basic)
 
     // Server
     uavcan::ServiceServer<root_ns_a::StringService> server(nodes.a);
-    ASSERT_EQ(1, server.start(stringServiceServerCallback));
+    ASSERT_EQ(0, server.start(stringServiceServerCallback));
 
     {
         // Caller

libuavcan/test/node/subscriber.cpp

@@ -82,7 +82,7 @@ TEST(Subscriber, Basic)
         sizeof(uavcan::Subscriber<uavcan::mavlink::Message, Listener::ExtendedBinder>) << std::endl;
 
     // Null binder - will fail
-    ASSERT_EQ(-1, sub_extended.start(Listener::ExtendedBinder(NULL, NULL)));
+    ASSERT_EQ(-uavcan::ErrInvalidParam, sub_extended.start(Listener::ExtendedBinder(NULL, NULL)));
 
     Listener listener;
 
@@ -125,10 +125,10 @@ TEST(Subscriber, Basic)
      */
     ASSERT_EQ(0, node.getDispatcher().getNumMessageListeners());
 
-    ASSERT_EQ(1, sub_extended.start(listener.bindExtended()));
-    ASSERT_EQ(1, sub_extended2.start(listener.bindExtended()));
-    ASSERT_EQ(1, sub_simple.start(listener.bindSimple()));
-    ASSERT_EQ(1, sub_simple2.start(listener.bindSimple()));
+    ASSERT_EQ(0, sub_extended.start(listener.bindExtended()));
+    ASSERT_EQ(0, sub_extended2.start(listener.bindExtended()));
+    ASSERT_EQ(0, sub_simple.start(listener.bindSimple()));
+    ASSERT_EQ(0, sub_simple2.start(listener.bindSimple()));
 
     ASSERT_EQ(4, node.getDispatcher().getNumMessageListeners());
 

libuavcan/test/transport/can/io.cpp

@@ -94,12 +94,12 @@ TEST(CanIOManager, Reception)
      * Perf counters
      */
     driver.select_failure = true;
-    EXPECT_EQ(-1, iomgr.receive(frame, uavcan::MonotonicTime(), flags));
+    EXPECT_EQ(-uavcan::ErrDriver, iomgr.receive(frame, uavcan::MonotonicTime(), flags));
 
     driver.select_failure = false;
     driver.ifaces.at(1).pushRx(frames[0][0]);
     driver.ifaces.at(1).rx_failure = true;
-    EXPECT_EQ(-1, iomgr.receive(frame, uavcan::MonotonicTime(), flags));
+    EXPECT_EQ(-uavcan::ErrDriver, iomgr.receive(frame, uavcan::MonotonicTime(), flags));
 
     driver.ifaces.at(0).num_errors = 9000;
     driver.ifaces.at(1).num_errors = 100500;
@@ -268,8 +268,9 @@ TEST(CanIOManager, Transmission)
      */
     // Select failure
     driver.select_failure = true;
-    EXPECT_EQ(-1, iomgr.receive(rx_frame, tsMono(2000), flags));
-    EXPECT_EQ(-1, iomgr.send(frames[0], tsMono(2100), tsMono(2000), ALL_IFACES_MASK, CanTxQueue::Volatile, flags));
+    EXPECT_EQ(-uavcan::ErrDriver, iomgr.receive(rx_frame, tsMono(2000), flags));
+    EXPECT_EQ(-uavcan::ErrDriver,
+              iomgr.send(frames[0], tsMono(2100), tsMono(2000), ALL_IFACES_MASK, CanTxQueue::Volatile, flags));
     EXPECT_EQ(1200, clockmock.monotonic);
     EXPECT_EQ(1200, clockmock.utc);
     ASSERT_EQ(0, flags);