Apply suggestions from code review

examples/dashboard_example.cpp

@@ -29,14 +29,8 @@ using namespace urcl;
 // better configuration system such as Boost.Program_options
 const std::string DEFAULT_ROBOT_IP = "127.0.0.1";
 
-std::unique_ptr<DashboardClient> my_dashboard;
 
 // We need a callback function to register. See UrDriver's parameters for details.
-void handleRobotProgramState(bool program_running)
-{
- // Print the text in green so we see it better
- std::cout << "\033[1;32mProgram running: " << std::boolalpha << program_running << "\033[0m\n" << std::endl;
-}
 
 int main(int argc, char* argv[])
 {
@@ -51,6 +45,7 @@ int main(int argc, char* argv[])
 
  // Making the robot ready for the program by:
  // Connect the the robot Dashboard
+ std::unique_ptr<DashboardClient> my_dashboard;
  my_dashboard.reset(new DashboardClient(robot_ip));
  if (!my_dashboard->connect())
  {

examples/full_driver.cpp

@@ -46,7 +46,7 @@ const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt";
 const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542";
 
 std::unique_ptr<UrDriver> g_my_driver;
-std::unique_ptr<DashboardClient> my_dashboard;
+std::unique_ptr<DashboardClient> g_my_dashboard;
 vector6d_t g_joint_positions;
 
 // We need a callback function to register. See UrDriver's parameters for details.
@@ -69,36 +69,36 @@ int main(int argc, char* argv[])
 
  // Making the robot ready for the program by:
  // Connect the the robot Dashboard
- my_dashboard.reset(new DashboardClient(robot_ip));
- if (!my_dashboard->connect())
+ g_my_dashboard.reset(new DashboardClient(robot_ip));
+ if (!g_my_dashboard->connect())
  {
  URCL_LOG_ERROR("Could not connect to dashboard");
  return 1;
  }
 
  // Stop program, if there is one running
- if (!my_dashboard->commandStop())
+ if (!g_my_dashboard->commandStop())
  {
  URCL_LOG_ERROR("Could not send stop program command");
  return 1;
  }
 
- // Power it on
- if (!my_dashboard->commandPowerOff())
+ // Power it off
+ if (!g_my_dashboard->commandPowerOff())
  {
  URCL_LOG_ERROR("Could not send Power off command");
  return 1;
  }
 
  // Power it on
- if (!my_dashboard->commandPowerOn())
+ if (!g_my_dashboard->commandPowerOn())
  {
  URCL_LOG_ERROR("Could not send Power on command");
  return 1;
  }
 
  // Release the brakes
- if (!my_dashboard->commandBrakeRelease())
+ if (!g_my_dashboard->commandBrakeRelease())
  {
  URCL_LOG_ERROR("Could not send BrakeRelease command");
  return 1;

examples/primary_pipeline.cpp

@@ -48,7 +48,7 @@ int main(int argc, char* argv[])
  robot_ip = std::string(argv[1]);
  }
 
- // Parse how may seconds to run
+ // Parse how many seconds to run
  int second_to_run = -1;
  if (argc > 2)
  {

src/ur/dashboard_client.cpp

@@ -143,7 +143,7 @@ bool DashboardClient::waitForReply(const std::string& command, const std::string
  // Send the request
  response = sendAndReceive(command + "\n");
 
- // Check it the response was as expected
+ // Check if the response was as expected
  if (std::regex_match(response, std::regex(expected)))
  {
  return true;