So I accidentally modified a header (CBCentralManager.h) and caused the above error to show when I build. I searched stack overflow for the solution, and found
I tried deleting the precompiled ~/Library/Developer/Xcode and restarting Xcode, plus a few of the other ideas presented here, nothing was working. As it seems to be a multiple-target kind of issue, I found after changing the target to another target, building/uploading the other target successfully, then changing back (after doing the other things) to the target I was looking to build / upload originally, I was finally successful.