- Introduce extensive debug message when data packet is lost to improve diagnostic.

- Default recorder.py  mode changed to "buffered". This ensures that data packages are no dropped in recorded file.
- Fix issue with binary data handling in python 3

Author: michal-milkowski

examples/record.py

@@ -55,11 +55,6 @@
     help="data output file to write to (robot_data.csv)",
 )
 parser.add_argument("--verbose", help="increase output verbosity", action="store_true")
-parser.add_argument(
-    "--buffered",
-    help="Use buffered receive which doesn't skip data",
-    action="store_true",
-)
 parser.add_argument(
     "--binary", help="save the data in binary format", action="store_true"
 )
@@ -114,10 +109,7 @@
         if args.samples > 0 and i >= args.samples:
             keep_running = False
         try:
-            if args.buffered:
-                state = con.receive_buffered(args.binary)
-            else:
-                state = con.receive(args.binary)
+            state = con.receive_buffered(args.binary)
             if state is not None:
                 writer.writerow(state)
                 i += 1

pom.xml

@@ -6,7 +6,7 @@
   <modelVersion>4.0.0</modelVersion>
   <groupId>com.ur.rtde.client</groupId>
   <artifactId>rtde</artifactId>
-  <version>2.7.2</version>
+  <version>2.7.12</version>
   <packaging>pom</packaging>
 
   <properties>

rtde/csv_binary_writer.py

@@ -108,7 +108,12 @@ def writeheader(self):
             headerStr += self.__header_names[i]
 
         headerStr += "\n"
-        self.__file.write(struct.pack(str(len(headerStr)) + "s", headerStr if sys.version_info[0] < 3 else headerStr.encode("utf-8")))
+        self.__file.write(
+            struct.pack(
+                str(len(headerStr)) + "s",
+                headerStr if sys.version_info[0] < 3 else headerStr.encode("utf-8"),
+            )
+        )
 
         # Header types
         typeStr = str("")
@@ -119,7 +124,12 @@ def writeheader(self):
             typeStr += self.getType(self.__types[i])
 
         typeStr += "\n"
-        self.__file.write(struct.pack(str(len(typeStr)) + "s", typeStr if sys.version_info[0] < 3 else typeStr.encode("utf-8")))
+        self.__file.write(
+            struct.pack(
+                str(len(typeStr)) + "s",
+                typeStr if sys.version_info[0] < 3 else typeStr.encode("utf-8"),
+            )
+        )
 
     def packToBinary(self, vtype, value):
         print(vtype)

rtde/rtde.py

@@ -83,6 +83,7 @@ def __init__(self, hostname, port=30004):
         self.__input_config = {}
         self.__skipped_package_count = 0
         self.__protocolVersion = RTDE_PROTOCOL_VERSION_1
+        self.__warning_counter = {}
 
     def connect(self):
         if self.__sock:
@@ -206,9 +207,9 @@ def send(self, input_data):
         return self.__sendall(Command.RTDE_DATA_PACKAGE, config.pack(input_data))
 
     def receive(self, binary=False):
-        """Recieve the latest data package.
-        If muliple packages has been received, older ones are discarded
-        and only the newest one will be returned. Will block untill a package
+        """Receive the latest data package.
+        If multiple packages has been received, older ones are discarded
+        and only the newest one will be returned. Will block until a package
         is received or the connection is lost
         """
         if self.__output_config is None:
@@ -218,8 +219,8 @@ def receive(self, binary=False):
         return self.__recv(Command.RTDE_DATA_PACKAGE, binary)
 
     def receive_buffered(self, binary=False, buffer_limit=None):
-        """Recieve the next data package.
-        If muliple packages has been received they are buffered and will
+        """Receive the next data package.
+        If multiple packages has been received they are buffered and will
         be returned on subsequent calls to this function.
         Returns None if no data is available.
         """
@@ -301,6 +302,9 @@ def has_data(self):
         return len(readable) != 0
 
     def __recv(self, command, binary=False):
+
+        previous_skipped_package_count = self.__skipped_package_count
+
         while self.is_connected():
             try:
                 self.__recv_to_buffer(DEFAULT_TIMEOUT)
@@ -321,16 +325,44 @@ def __recv(self, command, binary=False):
                     if len(self.__buf) >= 3 and command == Command.RTDE_DATA_PACKAGE:
                         next_packet_header = serialize.ControlHeader.unpack(self.__buf)
                         if next_packet_header.command == command:
-                            _log.debug("skipping package(1)")
                             self.__skipped_package_count += 1
                             continue
                     if packet_header.command == command:
+                        if (
+                            self.__skipped_package_count
+                            > previous_skipped_package_count
+                        ):
+                            _log.debug(
+                                "Total number of skipped packages increased to {}".format(
+                                    self.__skipped_package_count
+                                )
+                            )
+
+                        if self.__warning_counter:
+                            for warn in self.__warning_counter:
+                                _log.debug(
+                                    "A total of {} packets with command {} received, before expected command.".format(
+                                        self.__warning_counter[warn], warn
+                                    )
+                                )
+                            self.__warning_counter.clear()
+
                         if binary:
                             return packet[1:]
 
                         return data
                     else:
-                        _log.debug("skipping package(2)")
+                        if not packet_header.command in self.__warning_counter:
+                            _log.debug(
+                                "Packet with command {} doesn't match the expected command {}. It will be skipped.".format(
+                                    packet_header.command, command
+                                )
+                            )
+                            self.__warning_counter[packet_header.command] = 1
+                        else:
+                            self.__warning_counter[packet_header.command] = (
+                                self.__warning_counter[packet_header.command] + 1
+                            )
                 else:
                     break
         raise RTDEException(" _recv() Connection lost ")

rtde/serialize.py

@@ -22,6 +22,7 @@
 # SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 import struct
+import sys
 
 
 class ControlHeader(object):
@@ -167,8 +168,13 @@ class DataConfig(object):
     @staticmethod
     def unpack_recipe(buf):
         rmd = DataConfig()
-        rmd.id = struct.unpack_from(">B", buf)[0]
-        rmd.types = buf.decode("utf-8")[1:].split(",")
+        python_version = sys.version_info
+        if python_version.major == 2:
+            rmd.id = struct.unpack_from(">B", buf)[0]
+            rmd.types = buf.decode("utf-8")[1:].split(",")
+        else:
+            rmd.id = buf[0]
+            rmd.types = buf[1:].decode("utf-8").split(",")
         rmd.fmt = ">B"
         for i in rmd.types:
             if i == "INT32":

setup.py

@@ -26,6 +26,6 @@
 setup(
     name="UrRtde",
     packages=["rtde"],
-    version="2.7.2",
+    version="2.7.12",
     description="Real-Time Data Exchange (RTDE) python client + examples",
 )