Throw an exception in isRobotProtectiveStopped when no robot mode has been received, yet

Author: urfeex

include/ur_client_library/primary/primary_client.h

@@ -188,13 +188,15 @@ class PrimaryClient
    *
    * The robot's protective_stop state will be updated in the background. This will always show the latest received
    * state independent of the time that has passed since receiving it.
+   *
+   * \throws UrException when no robot mode data has been received, yet.
    */
   bool isRobotProtectiveStopped()
   {
     std::shared_ptr<RobotModeData> robot_mode_data = consumer_->getRobotModeData();
     if (robot_mode_data == nullptr)
     {
-      return false;
+      throw UrException("Robot mode data is a nullptr. Probably it hasn't been received, yet.");
     }
     return robot_mode_data->is_protective_stopped_;
   }

tests/test_primary_client.cpp

@@ -128,6 +128,7 @@ TEST_F(PrimaryClientTest, test_uninitialized_primary_client)
 {
   // The client is not started yet, so the robot mode should be UNKNOWN
   ASSERT_EQ(client_->getRobotMode(), RobotMode::UNKNOWN);
+  ASSERT_THROW(client_->isRobotProtectiveStopped(), UrException);
 }
 
 TEST_F(PrimaryClientTest, test_stop_command)
@@ -189,4 +190,4 @@ int main(int argc, char* argv[])
   }
 
   return RUN_ALL_TESTS();
-}
+}