Cleanup

Author: jessica-chen-ocado

CMakeLists.txt

@@ -34,7 +34,6 @@ add_library(urcl SHARED
     src/rtde/rtde_client.cpp
     src/ur/ur_driver.cpp
     src/ur/calibration_checker.cpp
-    src/ur/error_code_reader.cpp
     src/ur/dashboard_client.cpp
     src/ur/instruction_executor.cpp
     src/ur/tool_communication.cpp

include/ur_client_library/primary/primary_client.h

@@ -1,4 +1,8 @@
+#ifndef UR_CLIENT_LIBRARY_PRIMARY_CLIENT_H_INCLUDED
+#define UR_CLIENT_LIBRARY_PRIMARY_CLIENT_H_INCLUDED
+
 #include <memory>
+#include <deque>
 
 #include <ur_client_library/comm/stream.h>
 #include <ur_client_library/comm/pipeline.h>
@@ -7,7 +11,7 @@
 #include <ur_client_library/primary/primary_consumer.h>
 #include <ur_client_library/primary/primary_package.h>
 #include <ur_client_library/primary/primary_parser.h>
-#include <ur_client_library/ur/error_code_reader.h>
+
 namespace urcl
 {
 namespace primary_interface
@@ -57,3 +61,5 @@ class PrimaryClient
 
 }  // namespace primary_interface
 }  // namespace urcl
+
+#endif  // ifndef UR_CLIENT_LIBRARY_PRIMARY_CLIENT_H_INCLUDED

include/ur_client_library/ur/error_code_reader.h

@@ -38,7 +38,6 @@
 #include <sstream>
 
 #include <ur_client_library/ur/calibration_checker.h>
-#include <ur_client_library/ur/error_code_reader.h>
 
 namespace urcl
 {

src/ur/error_code_reader.cpp

@@ -259,6 +259,8 @@ TEST_F(UrDriverTest, read_error_code)
   }
 
   ASSERT_EQ(error_codes.size(), 1);
+  // Error code description can be found here:
+  // https://myur.universal-robots.com/manuals/content/SW_5_16/Documentation%20Menu/Error%20Codes/Introduction/C209%20A%20protective%20stop%20was%20triggered%20%28for%20test%20purposes%20only%29
   ASSERT_EQ(error_codes.at(0).message_code, 209);
   ASSERT_EQ(error_codes.at(0).message_argument, 0);