Minor code style fixes and cleanup

Author: fmauch

examples/dashboard_example.cpp

@@ -29,14 +29,7 @@ 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 +44,7 @@ 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;