Print error code texts

.github/codecov.yml

@@ -7,3 +7,4 @@ ignore:
   - "3rdparty/**/*"  # ignore examples
   - "examples/*"  # ignore examples
   - "tests/*"  # ignore unit tests
+  - "scripts/generate_error_codes.py"  # maintenance script, not part of the library

.github/workflows/check_error_codes.yml

@@ -0,0 +1,129 @@
+name: Check UR ErrorCodes version
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 6 * * *'   # Every night at 06:00 UTC
+
+jobs:
+  check_error_codes:
+    name: Check UR ErrorCodes JSON version
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write        # push update branch
+      issues: write          # open notification issue
+      pull-requests: write   # open PR with the regenerated header
+
+    steps:
+      - uses: actions/checkout@v7
+
+      - name: Check error codes version
+        id: check
+        # continue-on-error so subsequent steps can still run and open a PR/issue
+        continue-on-error: true
+        run: |
+          python3 scripts/generate_error_codes.py \
+            --check \
+            --header include/ur_client_library/ur/error_code_texts.h
+
+      - name: Extract versions
+        if: steps.check.outcome == 'failure'
+        id: versions
+        run: |
+          COMMITTED=$(python3 -c "
+          import re
+          m = re.search(r'ERROR_CODE_JSON_VERSION\s*=\s*\"([^\"]+)\"',
+                        open('include/ur_client_library/ur/error_code_texts.h').read())
+          print(m.group(1) if m else 'unknown')
+          ")
+          UPSTREAM=$(python3 -c "
+          import urllib.request, json
+          data = json.loads(urllib.request.urlopen(
+            'https://www.universal-robots.com/manuals/EN/PDF/Shared/ErrorCodes/ErrorCodes.json'
+          ).read())
+          print(data.get('version', 'unknown'))
+          ")
+          # Validate both versions match N.N.N before using them in branch
+          # names, PR titles, and commit messages.  An unexpected format
+          # (e.g. containing '/', '"', or newlines) would otherwise allow
+          # injection into those fields.
+          VERSION_RE='^[0-9]+\.[0-9]+\.[0-9]+$'
+          if ! echo "$COMMITTED" | grep -qE "$VERSION_RE"; then
+            echo "ERROR: committed version '$COMMITTED' does not match expected N.N.N format" >&2
+            exit 1
+          fi
+          if ! echo "$UPSTREAM" | grep -qE "$VERSION_RE"; then
+            echo "ERROR: upstream version '$UPSTREAM' does not match expected N.N.N format" >&2
+            exit 1
+          fi
+
+          echo "committed=$COMMITTED" >> "$GITHUB_OUTPUT"
+          echo "upstream=$UPSTREAM"   >> "$GITHUB_OUTPUT"
+
+      - name: Ensure label exists
+        if: steps.check.outcome == 'failure' && steps.versions.outcome == 'success'
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          gh label create "error-codes-outdated" \
+            --description "Upstream UR ErrorCodes JSON has a newer version than the committed header" \
+            --color "e4e669" \
+            --force
+
+      - name: Regenerate header and open PR
+        if: steps.check.outcome == 'failure' && steps.versions.outcome == 'success'
+        id: pr
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          COMMITTED: ${{ steps.versions.outputs.committed }}
+          UPSTREAM: ${{ steps.versions.outputs.upstream }}
+        run: |
+          BRANCH="auto/update-error-codes-v${UPSTREAM}"
+
+          # Skip if a PR for exactly this branch is already open
+          OPEN_PR=$(gh pr list \
+            --label "error-codes-outdated" \
+            --state open \
+            --json headRefName \
+            --jq "[.[] | select(.headRefName == \"$BRANCH\")] | length")
+
+          if [ "$OPEN_PR" -gt 0 ]; then
+            echo "PR for branch $BRANCH already open — skipping."
+            echo "pr_url=" >> "$GITHUB_OUTPUT"
+          else
+            git config user.name "github-actions[bot]"
+            git config user.email "github-actions[bot]@users.noreply.github.com"
+            git checkout -b "$BRANCH"
+
+            python3 scripts/generate_error_codes.py \
+              --overlay scripts/error_code_overrides.json \
+              --output include/ur_client_library/ur/error_code_texts.h
+
+            git add include/ur_client_library/ur/error_code_texts.h
+            git commit -m "chore: update error_code_texts.h to UR ErrorCodes JSON v${UPSTREAM}"
+            git push origin "$BRANCH"
+
+            PR_URL=$(gh pr create \
+              --title "chore: update error_code_texts.h to UR ErrorCodes JSON v${UPSTREAM}" \
+              --label "error-codes-outdated" \
+              --base "${{ github.event.repository.default_branch }}" \
+              --head "$BRANCH" \
+              --body "The upstream UR ErrorCodes JSON has been updated. This PR regenerates \`error_code_texts.h\` automatically.
+
+| | Version |
+|---|---|
+| Previous header (\`ERROR_CODE_JSON_VERSION\`) | \`${COMMITTED}\` |
+| Upstream JSON | \`${UPSTREAM}\` |
+
+**Workflow run:** ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}
+
+> [!NOTE]
+> Only \`include/ur_client_library/ur/error_code_texts.h\` is updated here.
+> If you have pending entries in \`scripts/error_code_overrides.json\`, verify
+> they are still correct against the new JSON before merging.")
+
+            echo "pr_url=$PR_URL" >> "$GITHUB_OUTPUT"
+          fi
+      - name: Fail if version mismatch
+        if: steps.check.outcome == 'failure'
+        run: exit 1

CMakeLists.txt

@@ -30,6 +30,7 @@ add_library(urcl
     src/primary/primary_client.cpp
     src/primary/robot_message.cpp
     src/primary/robot_message/error_code_message.cpp
+    src/ur/error_code_overrides.cpp
     src/primary/robot_message/key_message.cpp
     src/primary/robot_message/runtime_exception_message.cpp
     src/primary/robot_message/text_message.cpp
@@ -131,6 +132,37 @@ if(CMAKE_COMPILE_WARNING_AS_ERROR)
   endif()
 endif()
 
+##
+## Error code text generation / version check targets
+##
+find_package(Python3 COMPONENTS Interpreter)
+if(Python3_FOUND)
+  set(_error_codes_header
+    "${CMAKE_CURRENT_SOURCE_DIR}/include/ur_client_library/ur/error_code_texts.h")
+  set(_error_codes_overlay
+    "${CMAKE_CURRENT_SOURCE_DIR}/scripts/error_code_overrides.json")
+  set(_error_codes_script
+    "${CMAKE_CURRENT_SOURCE_DIR}/scripts/generate_error_codes.py")
+
+  add_custom_target(generate_error_codes
+    COMMAND ${Python3_EXECUTABLE} ${_error_codes_script}
+            --overlay ${_error_codes_overlay}
+            --output  ${_error_codes_header}
+    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    COMMENT "Regenerating error_code_texts.h from upstream UR ErrorCodes JSON"
+    VERBATIM
+  )
+
+  add_custom_target(check_error_codes
+    COMMAND ${Python3_EXECUTABLE} ${_error_codes_script}
+            --check
+            --header ${_error_codes_header}
+    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    COMMENT "Checking error_code_texts.h version against upstream UR ErrorCodes JSON"
+    VERBATIM
+  )
+endif()
+
 ##
 ## Build testing if enabled by option
 ##

include/ur_client_library/primary/primary_consumer.h

@@ -132,7 +132,7 @@ class PrimaryConsumer : public AbstractPrimaryConsumer
     code.timestamp = pkg.timestamp_;
     code.to_string = pkg.toString();
 
-    const auto log_contents = "Logging an ErrorCodeMessage from the UR Controller Box: " + pkg.toString();
+    const auto log_contents = pkg.toString();
 
     switch (code.report_level)
     {
@@ -143,18 +143,18 @@ class PrimaryConsumer : public AbstractPrimaryConsumer
       case ReportLevel::DEVL_VIOLATION:
       case ReportLevel::DEVL_FAULT:
       case ReportLevel::DEVL_CRITICAL_FAULT:
-        URCL_LOG_DEBUG(log_contents.c_str());
+        URCL_LOG_DEBUG("%s", log_contents.c_str());
         break;
       case ReportLevel::INFO:
-        URCL_LOG_INFO(log_contents.c_str());
+        URCL_LOG_INFO("%s", log_contents.c_str());
         break;
       case ReportLevel::WARNING:
-        URCL_LOG_WARN(log_contents.c_str());
+        URCL_LOG_WARN("%s", log_contents.c_str());
         break;
       case ReportLevel::VIOLATION:
       case ReportLevel::FAULT:
       case ReportLevel::CRITICAL_FAULT:
-        URCL_LOG_ERROR(log_contents.c_str());
+        URCL_LOG_ERROR("%s", log_contents.c_str());
         break;
     }
 

include/ur_client_library/ur/error_code_overrides.h

@@ -0,0 +1,72 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2026 Universal Robots A/S
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * Declaration of the dynamic error-code text override hook.
+ *
+ * Edit src/ur/error_code_overrides.cpp to add
+ * runtime-computed descriptions for specific error codes.  That file
+ * is intentionally NOT touched by the code-generation script.
+ *
+ */
+//----------------------------------------------------------------------
+
+#pragma once
+
+#include <cstdint>
+#include <optional>
+#include <string>
+
+namespace urcl
+{
+namespace primary_interface
+{
+/*!
+ * \brief Optional dynamic override for an error code text.
+ *
+ * Called by ErrorCodeMessage::toString() before the static lookup table.
+ * Return a non-empty optional to supply a custom description; return
+ * std::nullopt to fall through to the generated table.
+ *
+ * Implement additional cases in
+ * src/ur/error_code_overrides.cpp.
+ *
+ * \param code    The error code (message_code_)
+ * \param arg     The error argument (message_argument_)
+ * \returns       A human-readable string, or std::nullopt
+ */
+std::optional<std::string> getErrorCodeTextOverride(int32_t code, int32_t arg);
+
+}  // namespace primary_interface
+}  // namespace urcl