Allow an empty input recipe to the RTDE client

Author: urfeex

include/ur_client_library/rtde/data_package.h

@@ -71,6 +71,22 @@ class DataPackage : public RTDEPackage
     this->protocol_version_ = other.protocol_version_;
   }
 
+  DataPackage& operator=(DataPackage& other)
+  {
+    this->data_ = other.data_;
+    this->recipe_ = other.recipe_;
+    this->protocol_version_ = other.protocol_version_;
+    return *this;
+  }
+
+  DataPackage operator=(const DataPackage& other)
+  {
+    this->data_ = other.data_;
+    this->recipe_ = other.recipe_;
+    this->protocol_version_ = other.protocol_version_;
+    return *this;
+  }
+
   /*!
    * \brief Creates a new DataPackage object, based on a given recipe.
    *
@@ -82,6 +98,7 @@ class DataPackage : public RTDEPackage
     : RTDEPackage(PackageType::RTDE_DATA_PACKAGE), recipe_(recipe), protocol_version_(protocol_version)
   {
   }
+
   virtual ~DataPackage() = default;
 
   /*!

include/ur_client_library/rtde/rtde_writer.h

@@ -67,6 +67,15 @@ class RTDEWriter
       writer_thread_.join();
     }
   }
+
+  /*!
+   * \brief Sets a new input recipe. This can be used to change the input recipe on the fly, if
+   * needed.
+   *
+   * \param recipe The new recipe to use
+   */
+  void setInputRecipe(const std::vector<std::string>& recipe);
+
   /*!
    * \brief Starts the writer thread, which periodically clears the queue to write packages to the
    * robot.
@@ -162,7 +171,7 @@ class RTDEWriter
   uint8_t pinToMask(uint8_t pin);
   comm::URStream<RTDEPackage>* stream_;
   std::vector<std::string> recipe_;
-  uint8_t recipe_id_;
+  uint8_t recipe_id_ = 0;
   moodycamel::BlockingReaderWriterQueue<std::unique_ptr<DataPackage>> queue_;
   std::thread writer_thread_;
   bool running_;

src/rtde/rtde_client.cpp

@@ -41,7 +41,6 @@ RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier, const st
   : stream_(robot_ip, UR_RTDE_PORT)
   , output_recipe_(ensureTimestampIsPresent(readRecipe(output_recipe_file)))
   , ignore_unavailable_outputs_(ignore_unavailable_outputs)
-  , input_recipe_(readRecipe(input_recipe_file))
   , parser_(output_recipe_)
   , prod_(std::make_unique<comm::URProducer<RTDEPackage>>(stream_, parser_))
   , notifier_(notifier)
@@ -51,6 +50,11 @@ RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier, const st
   , target_frequency_(target_frequency)
   , client_state_(ClientState::UNINITIALIZED)
 {
+  if (!input_recipe_file.empty())
+  {
+    input_recipe_ = readRecipe(input_recipe_file);
+    writer_.setInputRecipe(input_recipe_);
+  }
 }
 
 RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier, const std::vector<std::string>& output_recipe,
@@ -169,9 +173,12 @@ void RTDEClient::setupCommunication(const size_t max_num_tries, const std::chron
     return;
   }
 
-  setupInputs();
-  if (client_state_ == ClientState::UNINITIALIZED)
-    return;
+  if (input_recipe_.size() > 0)
+  {
+    setupInputs();
+    if (client_state_ == ClientState::UNINITIALIZED)
+      return;
+  }
 
   // We finished communication for now
   pipeline_->stop();

src/rtde/rtde_writer.cpp

@@ -37,6 +37,14 @@ RTDEWriter::RTDEWriter(comm::URStream<RTDEPackage>* stream, const std::vector<st
 {
 }
 
+void RTDEWriter::setInputRecipe(const std::vector<std::string>& recipe)
+{
+  std::lock_guard<std::mutex> guard(package_mutex_);
+  recipe_ = recipe;
+  package_ = DataPackage(recipe_);
+  package_.initEmpty();
+}
+
 void RTDEWriter::init(uint8_t recipe_id)
 {
   recipe_id_ = recipe_id;