Skip to content

Commit 2e92bb7

Browse files
Cleanup
1 parent ba7bab1 commit 2e92bb7

File tree

6 files changed

+9
-132
lines changed

6 files changed

+9
-132
lines changed

CMakeLists.txt

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -34,7 +34,6 @@ add_library(urcl SHARED
3434
src/rtde/rtde_client.cpp
3535
src/ur/ur_driver.cpp
3636
src/ur/calibration_checker.cpp
37-
src/ur/error_code_reader.cpp
3837
src/ur/dashboard_client.cpp
3938
src/ur/tool_communication.cpp
4039
src/ur/robot_receive_timeout.cpp

include/ur_client_library/primary/primary_client.h

Lines changed: 7 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,8 @@
1+
#ifndef UR_CLIENT_LIBRARY_PRIMARY_CLIENT_H_INCLUDED
2+
#define UR_CLIENT_LIBRARY_PRIMARY_CLIENT_H_INCLUDED
3+
14
#include <memory>
5+
#include <deque>
26

37
#include <ur_client_library/comm/stream.h>
48
#include <ur_client_library/comm/pipeline.h>
@@ -7,7 +11,7 @@
711
#include <ur_client_library/primary/primary_consumer.h>
812
#include <ur_client_library/primary/primary_package.h>
913
#include <ur_client_library/primary/primary_parser.h>
10-
#include <ur_client_library/ur/error_code_reader.h>
14+
1115
namespace urcl
1216
{
1317
namespace primary_interface
@@ -57,3 +61,5 @@ class PrimaryClient
5761

5862
} // namespace primary_interface
5963
} // namespace urcl
64+
65+
#endif // ifndef UR_CLIENT_LIBRARY_PRIMARY_CLIENT_H_INCLUDED

include/ur_client_library/ur/error_code_reader.h

Lines changed: 0 additions & 68 deletions
This file was deleted.

src/ur/error_code_reader.cpp

Lines changed: 0 additions & 61 deletions
This file was deleted.

src/ur/ur_driver.cpp

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -38,7 +38,6 @@
3838
#include <sstream>
3939

4040
#include <ur_client_library/ur/calibration_checker.h>
41-
#include <ur_client_library/ur/error_code_reader.h>
4241

4342
namespace urcl
4443
{

tests/test_ur_driver.cpp

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -393,6 +393,8 @@ TEST_F(UrDriverTest, read_error_code)
393393
}
394394

395395
ASSERT_EQ(error_codes.size(), 1);
396+
// Error code description can be found here:
397+
// 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
396398
ASSERT_EQ(error_codes.at(0).message_code, 209);
397399
ASSERT_EQ(error_codes.at(0).message_argument, 0);
398400

0 commit comments

Comments
 (0)