Created new exception MissingArgument

After further thought, I dont think the Incompatible version exception is appropriate for one of the exception calls, as the robot is not actually incompatible, the function just needs more information. The new exception conveys that, i think. I can't quite make my mind up about whether it should mention that this is due to the robot version, though, so I have left it out for now.

Author: URJala

include/ur_client_library/exceptions.h

@@ -32,6 +32,7 @@
 #include <chrono>
 #include <stdexcept>
 #include <sstream>
+#include "ur/version_information.h"
 
 namespace urcl
 {
@@ -129,13 +130,14 @@ class IncompatibleRobotVersion : public UrException
 {
 public:
   explicit IncompatibleRobotVersion() = delete;
-  explicit IncompatibleRobotVersion(const std::string& text, const VersionInformation& minimum_robot_version, const VersionInformation& actual_robot_version)
+  explicit IncompatibleRobotVersion(const std::string& text, const VersionInformation& minimum_robot_version,
+                                    const VersionInformation& actual_robot_version)
     : std::runtime_error(text)
   {
     std::stringstream ss;
     ss << text << "\n"
        << "The requested feature is incompatible with the connected robot. Minimum required Polyscope version: "
-       << required_robot_version << ", actual Polyscope version: " << actual_robot_version;
+       << minimum_robot_version << ", actual Polyscope version: " << actual_robot_version;
     text_ = ss.str();
   }
   virtual const char* what() const noexcept override
@@ -163,5 +165,27 @@ class InvalidRange : public UrException
     return text_.c_str();
   }
 };
+
+class MissingArgument : public UrException
+{
+private:
+  std::string text_;
+
+public:
+  explicit MissingArgument() = delete;
+  explicit MissingArgument(std::string text, std::string function_name, std::string argument_name, float default_value)
+    : std::runtime_error("")
+  {
+    std::stringstream ss;
+    ss << text << "\nMissing argument when calling function: " << function_name
+       << ". \nArgument missing: " << argument_name
+       << ". \nSet to default value if not important, default value is: " << default_value;
+    text_ = ss.str();
+  }
+  virtual const char* what() const noexcept override
+  {
+    return text_.c_str();
+  }
+};
 }  // namespace urcl
 #endif  // ifndef UR_CLIENT_LIBRARY_EXCEPTIONS_H_INCLUDED

src/ur/ur_driver.cpp

@@ -364,7 +364,8 @@ bool UrDriver::startForceMode(const vector6d_t& task_frame, const vector6uint32_
     std::stringstream ss;
     ss << "Force mode gain scaling factor cannot be set on a CB3 robot.";
     URCL_LOG_ERROR(ss.str().c_str());
-    throw IncompatibleRobotVersion(ss.str(), 5, robot_version_.major);
+    VersionInformation req_version = VersionInformation::fromString("5.0.0.0");
+    throw IncompatibleRobotVersion(ss.str(), req_version, robot_version_);
   }
   // Test that the type is either 1, 2 or 3.
   switch (type)
@@ -430,7 +431,7 @@ bool UrDriver::startForceMode(const vector6d_t& task_frame, const vector6uint32_
     std::stringstream ss;
     ss << "You should also specify a force mode gain scaling factor to activate force mode on an e-series robot.";
     URCL_LOG_ERROR(ss.str().c_str());
-    throw IncompatibleRobotVersion(ss.str(), 3, robot_version_.major);
+    throw MissingArgument(ss.str(), "startForceMode", "gain_scaling_factor", 0.5);
   }
   // Test that the type is either 1, 2 or 3.
   switch (type)