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JohnN193
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Mar 24, 2026
| return event_stop_detected_{}; | ||
| } | ||
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| if (arm_conn_->dashboard->getState() != urcl::comm::SocketState::Connected) { |
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this function got removed from the public api. At first I thought it was still on the polyscope 5 client, but everything related to the tcp socket is now private, which honestly makes sense.
we already have everything in try/catches in case of failure, so having this check was kinda redundant in the first place
JohnN193
commented
Mar 24, 2026
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| arm_connection->data_package = std::make_unique<urcl::rtde_interface::DataPackage>( | ||
| arm_connection->driver->getRTDEOutputRecipe()); | ||
| if (!arm_connection->driver->getDataPackage(*arm_connection->data_package)) { |
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urcl changed how get package works to avoid a heap allocation on every packet read.
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still need to test on hardware