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 To achieve this, the pipeline in the RTDE client has been replaced by a double buffer with two pre-allocated objects.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❌ Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## master #419 +/- ##
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- Coverage 43.13% 38.03% -5.10%
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Files 99 100 +1
Lines 8685 8766 +81
Branches 1182 1182
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- Hits 3746 3334 -412
- Misses 4657 5200 +543
+ Partials 282 232 -50
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urrsk
reviewed
Jan 21, 2026
| // loop. | ||
| my_client.start(); | ||
| my_client.start(false); | ||
| const std::string key = "target_speed_fraction"; |
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variable should have a more explaning name and maybe also in UPPERCAST letters as it is a constant
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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.