Refactor rtde parsing #419
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Creating new objects on the heap isn't really RT-capable and undeterministic. This adds the possibility to parse incoming data packages into a pre-allocated package to avoid having to create new objects on the fly. To achieve this, the pipeline in the RTDE client has been replaced by a double buffer with two pre-allocated objects.
This should be a lot faster in accessing/storing objects in the data package
Before that change we were basically allocating strings and a new DataPackage on each send operation. This change will preallocate a data package and re-use that for future send operations. The necessary RTDE dictionary keys are also preallocated.
Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## master #419 +/- ##
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+ Coverage 43.16% 83.08% +39.92%
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Files 99 1 -98
Lines 8685 272 -8413
Branches 1182 0 -1182
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- Hits 3749 226 -3523
+ Misses 4654 46 -4608
+ Partials 282 0 -282
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urrsk
reviewed
Jan 21, 2026
This is specific to testing since we restart the RTDE client in very quick succession. While we shutdown the connection from our end, the robot might not have freed the resources, yet.
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During refactoring I discovered an error in the string output, so I added this test.
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This is a refactor of RTDE communication effectively improving two things:
There's currently some documentation and testing missing, hence the draft status.