Update dashboard client documentation

Author: urfeex

doc/architecture.rst

@@ -16,8 +16,9 @@ fully functioning robot interface. For details on how to use it, please see the
 .. toctree::
    :maxdepth: 1
 
-   architecture/script_sender
+   architecture/dashboard_client
    architecture/rtde_client
+   architecture/script_sender
 
 The ``UrDriver``'s modules will be explained in the following.
 
@@ -59,17 +60,3 @@ sendScript()
 This function sends given URScript code directly to the secondary interface. The
 ``sendRobotProgram()`` function is a special case that will send the script code given in the
 ``RTDEClient`` constructor.
-
-DashboardClient
----------------
-
-The ``DashboardClient`` wraps the calls on the `Dashboard server <https://www.universal-robots.com/articles/ur-articles/dashboard-server-e-series-port-29999/>`_
-directly into C++ functions.
-
-After connecting to the dashboard server by using the ``connect()`` function, dashboard calls can be
-sent using the ``sendAndReceive()`` function. Answers from the dashboard server will be returned as
-string from this function. If no answer is received, a ``UrException`` is thrown.
-
-Note: In order to make this more useful developers are expected to wrap this bare interface into
-something that checks the returned string for something that is expected. See the
-`DashboardClientROS <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/include/ur_robot_driver/dashboard_client_ros.h>`_ as an example.

doc/architecture/dashboard_client.rst

@@ -0,0 +1,26 @@
+DashboardClient
+===============
+
+The ``DashboardClient`` wraps the calls on the `Dashboard server <https://www.universal-robots.com/articles/ur-articles/dashboard-server-e-series-port-29999/>`_
+directly into C++ functions.
+
+After connecting to the dashboard server by using the ``connect()`` function, dashboard calls can be
+sent using the ``sendAndReceive()`` function. Answers from the dashboard server will be returned as
+string from this function. If no answer is received, a ``UrException`` is thrown.
+
+The `dashboard_example.cpp <https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/examples/dashboard_example.cpp>`_ shows how to use this class:
+
+.. literalinclude:: ../../examples/dashboard_example.cpp
+   :language: c++
+   :caption: examples/dashboard_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: std::make_unique<DashboardClient>
+   :end-at: my_dashboard->commandCloseSafetyPopup();
+
+
+.. note::
+   In order to make this more useful developers are expected to wrap this bare interface into
+   something that checks the returned string for something that is expected. See the
+   `DashboardClientROS <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/include/ur_robot_driver/dashboard_client_ros.h>`_ as an example.
+

examples/dashboard_example.cpp

@@ -57,10 +57,8 @@ int main(int argc, char* argv[])
     robot_ip = std::string(argv[1]);
   }
 
-  // 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));
+  // Connect to the robot Dashboard Server
+  auto my_dashboard = std::make_unique<DashboardClient>(robot_ip);
   if (!my_dashboard->connect())
   {
     URCL_LOG_ERROR("Could not connect to dashboard");