bommadsen/urcap-getrobotdata

URCap that reads a message from the Universal Robots (UR) Realtime Client on TCP port 30003.

urcap-getrobotdata's Issues

Possible error in calculating lengths?

I've used the version from your initial commit before and it worked fine, ofc I had to also change the length of the realtime message or only loop over the array, not the available data.
But when you changed the readSocket() function, I think there is just a small mistake in the array length calculations after changing from the initial commit, where you set the length of the double array to the length of the input bytes.

// Read the integer available in stream
int length = in.readInt();
System.out.println("Length is "+length);

// Initialize size of RealtimeMessage be using received length
RealtimeMessage = new double[length];
// Add length integer to output array
RealtimeMessage[0] = length;

// Calculate how much data is available from the length
int data_available = (length-4)/8;
System.out.println("There are "+data_available+" doubles available");

// Loop over reading the available data
int i = 1;
while (i <= dataAvailable) {
	...

which gives a double[] of length 1220 for the 153 values from the documentation.
I think should be the data_available and while i < data_available right?

// Read the integer available in stream
int byteLength = in.readInt();
System.out.println("Length is "+length);

// Calculate how much data is available from the length (Add 4 for the int -> double conversion for the length the 0th index)
int dataAvailable = (byteLength + 4) / 8;
System.out.println("There are "+data_available+" doubles available");

// Initialize size of RealtimeMessage be using received length
double[] realtimeMessage = new double[dataAvailable];
// Add byte length integer to double output array
realtimeMessage[0] = byteLength;

// Loop over reading the available data
int i = 1;
while (i < dataAvailable) {
	...

I should note, I haven't tested this on a robot or a simulator, I was writing unit tests first and it this didn't work according to the documentation from ClientInterfaces_Realtime.pdf from this article