Lint

include/ur_client_library/primary/robot_message.h

@@ -66,7 +66,7 @@ class RobotMessage : public PrimaryPackage
   RobotMessage(const uint64_t timestamp, const uint8_t source) : timestamp_(timestamp), source_(source)
   {
   }
-    /*!
+  /*!
    * \brief Creates a new RobotMessage object to be filled from a package.
    *
    * \param timestamp Timestamp of the package

include/ur_client_library/primary/robot_message/error_code_message.h

@@ -1,7 +1,7 @@
 // Below code is copied from a branch on the Universal_Robot_Client_Library
-// with some modification. Link to branch: 
+// with some modification. Link to branch:
 // https://github.com/UniversalRobots/Universal_Robots_Client_Library/tree/improve_primary_interface
-// 
+//
 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
 
 // -- BEGIN LICENSE BLOCK ----------------------------------------------
@@ -52,15 +52,15 @@ enum class ReportLevel : int32_t
   DEVL_FAULT = 132
 };
 
-struct ErrorCode 
+struct ErrorCode
 {
-  int32_t message_code{-1};
-  int32_t message_argument{-1};
-  ReportLevel report_level{ReportLevel::DEBUG};
-  uint32_t data_type{0};
-  uint32_t data{0};
+  int32_t message_code{ -1 };
+  int32_t message_argument{ -1 };
+  ReportLevel report_level{ ReportLevel::DEBUG };
+  uint32_t data_type{ 0 };
+  uint32_t data{ 0 };
   std::string text;
-  uint64_t timestamp{0};
+  uint64_t timestamp{ 0 };
   std::string to_string;
 };
 
@@ -112,7 +112,7 @@ class ErrorCodeMessage : public RobotMessage
   int32_t message_code_;
   int32_t message_argument_;
   ReportLevel report_level_;
-  uint8_t data_type_;
+  uint32_t data_type_;
   uint32_t data_;
   std::string text_;
 };

include/ur_client_library/ur/error_code_client.h

@@ -10,15 +10,15 @@ namespace urcl
 {
 class ErrorCodeClient
 {
-public: 
+public:
   ErrorCodeClient() = delete;
-  ErrorCodeClient(comm::URStream<primary_interface::PrimaryPackage>& stream, comm::INotifier& notifier, 
-                primary_interface::PrimaryParser& parser);
+  ErrorCodeClient(comm::URStream<primary_interface::PrimaryPackage>& stream, comm::INotifier& notifier,
+                  primary_interface::PrimaryParser& parser);
   ~ErrorCodeClient();
 
-void start();
+  void start();
 
-std::deque<urcl::primary_interface::ErrorCode> getErrorCodes();
+  std::deque<urcl::primary_interface::ErrorCode> getErrorCodes();
 
 private:
   comm::URStream<primary_interface::PrimaryPackage>& stream_;
@@ -27,4 +27,4 @@ std::deque<urcl::primary_interface::ErrorCode> getErrorCodes();
   comm::URProducer<primary_interface::PrimaryPackage> prod_;
   comm::Pipeline<primary_interface::PrimaryPackage> pipeline_;
 };
-}
+}  // namespace urcl

include/ur_client_library/ur/error_code_reader.h

@@ -11,7 +11,7 @@ namespace urcl
 {
 /*!
  * \brief The ErrorCodeReader class consumes primary packages ignoring all but RobotCommMessage
- * packages to retrieve the latest code reported by the robot. 
+ * packages to retrieve the latest code reported by the robot.
  */
 class ErrorCodeReader : public comm::IConsumer<primary_interface::PrimaryPackage>
 {
@@ -53,15 +53,15 @@ class ErrorCodeReader : public comm::IConsumer<primary_interface::PrimaryPackage
   virtual bool consume(std::shared_ptr<primary_interface::PrimaryPackage> product);
 
   /*!
-  *  \brief Retrieves a list of error codes from the queue if there are any.
-  * 
-  *  \return A list of error codes 
-  */
+   *  \brief Retrieves a list of error codes from the queue if there are any.
+   *
+   *  \return A list of error codes
+   */
   std::deque<primary_interface::ErrorCode> getErrorCodesFromQueue();
+
 private:
   std::deque<primary_interface::ErrorCode> queue_;
   std::mutex queue_mutex_;
-
 };
 }  // namespace urcl
 

include/ur_client_library/ur/ur_driver.h

@@ -536,11 +536,11 @@ class UrDriver
   bool checkCalibration(const std::string& checksum);
 
   /*!
-  *  \brief Retrieves error codes ErrorCodeClient. 
-  *
-  *  \returns list of error codes 
-  *
-  */
+   *  \brief Retrieves error codes ErrorCodeClient.
+   *
+   *  \returns list of error codes
+   *
+   */
   std::deque<urcl::primary_interface::ErrorCode> getErrorCodes();
 
   /*!
@@ -657,11 +657,10 @@ class UrDriver
                        double target_frequency = 0.0, bool ignore_unavailable_outputs = false);
 
   /*!
-  *  \brief Starts the error code client 
-  */
+   *  \brief Starts the error code client
+   */
   void startErrorCodeClientCommunication();
 
-
 private:
   static std::string readScriptFile(const std::string& filename);
   /*!

src/primary/robot_message/error_code_message.cpp

@@ -1,7 +1,7 @@
 // Below code is copied from a branch on the Universal_Robot_Client_Library
 // with some modification. Link to branch:
 // https://github.com/UniversalRobots/Universal_Robots_Client_Library/tree/improve_primary_interface
-// 
+//
 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
 
 // -- BEGIN LICENSE BLOCK ----------------------------------------------

src/ur/error_code_client.cpp

@@ -4,29 +4,29 @@
 
 namespace urcl
 {
-ErrorCodeClient::ErrorCodeClient(comm::URStream<primary_interface::PrimaryPackage>& stream, comm::INotifier& notifier, 
-                primary_interface::PrimaryParser& parser)
-: stream_(stream)
-, parser_(parser)
-, prod_(stream_, parser_)
-, pipeline_(prod_, &consumer_, "ErrorCodeClient Pipeline", notifier)
+ErrorCodeClient::ErrorCodeClient(comm::URStream<primary_interface::PrimaryPackage>& stream, comm::INotifier& notifier,
+                                 primary_interface::PrimaryParser& parser)
+  : stream_(stream)
+  , parser_(parser)
+  , prod_(stream_, parser_)
+  , pipeline_(prod_, &consumer_, "ErrorCodeClient Pipeline", notifier)
 {
 }
 
 ErrorCodeClient::~ErrorCodeClient()
 {
-    URCL_LOG_INFO("Stopping error code client pipeline");
-    pipeline_.stop();
+  URCL_LOG_INFO("Stopping error code client pipeline");
+  pipeline_.stop();
 }
 
 void ErrorCodeClient::start()
 {
-    URCL_LOG_INFO("Starting error code client pipeline");
-    pipeline_.run();
+  URCL_LOG_INFO("Starting error code client pipeline");
+  pipeline_.run();
 }
 
 std::deque<urcl::primary_interface::ErrorCode> ErrorCodeClient::getErrorCodes()
 {
-    return consumer_.getErrorCodesFromQueue();
-}
+  return consumer_.getErrorCodesFromQueue();
 }
+}  // namespace urcl

src/ur/error_code_reader.cpp

@@ -17,9 +17,11 @@ bool ErrorCodeReader::consume(std::shared_ptr<primary_interface::PrimaryPackage>
     code.timestamp = error_code_message->timestamp_;
     code.to_string = error_code_message->toString();
 
-    const auto logContents = "Logging an ErrorCodeMessage from the UR Controller Box: " + error_code_message->toString();
+    const auto logContents =
+        "Logging an ErrorCodeMessage from the UR Controller Box: " + error_code_message->toString();
 
-    switch(code.report_level) {
+    switch (code.report_level)
+    {
       case urcl::primary_interface::ReportLevel::DEBUG:
       case urcl::primary_interface::ReportLevel::DEVL_DEBUG:
       case urcl::primary_interface::ReportLevel::DEVL_INFO:
@@ -35,8 +37,8 @@ bool ErrorCodeReader::consume(std::shared_ptr<primary_interface::PrimaryPackage>
         URCL_LOG_WARN(logContents.c_str());
         break;
       default:
-        //urcl::primary_interface::ReportLevel::VIOLATION:
-        //urcl::primary_interface::ReportLevel::FAULT:
+        // urcl::primary_interface::ReportLevel::VIOLATION:
+        // urcl::primary_interface::ReportLevel::FAULT:
         URCL_LOG_ERROR(logContents.c_str());
         break;
     }
@@ -47,7 +49,7 @@ bool ErrorCodeReader::consume(std::shared_ptr<primary_interface::PrimaryPackage>
   return true;
 }
 
-std::deque<primary_interface::ErrorCode> ErrorCodeReader::getErrorCodesFromQueue() 
+std::deque<primary_interface::ErrorCode> ErrorCodeReader::getErrorCodesFromQueue()
 {
   std::lock_guard<std::mutex> lock_guard(queue_mutex_);
   std::deque<primary_interface::ErrorCode> error_codes;