UrRtdeSafetyStatusBits does not have an entry for 3PE signal

[acmorrow]

Affected Client Library version(s)

2.4.0

What combination of platform is the Client Library running on.

Linux

How did you install the Client Library

Build the library from source

Which robot platform is the library connected to.

Real robot

Robot SW / URSim version(s)

N/A

How are you using the Client Library

Others

Issue details

The documentation for the safety_status_bits RTDE field indicates 12 bits (0-11), with the last bit being "is 3PE input active". However, UrRtdeSafetyStatusBits only defines 11 symbols, and lacks an entry for 3PE:

Universal_Robots_Client_Library/include/ur_client_library/rtde/rtde_client.h

Lines 67 to 77 in 173e3c3

	IS_NORMAL_MODE = 0,
	IS_REDUCED_MODE = 1,
	IS_PROTECTIVE_STOPPED = 2,
	IS_RECOVERY_MODE = 3,
	IS_SAFEGUARD_STOPPED = 4,
	IS_SYSTEM_EMERGENCY_STOPPED = 5,
	IS_ROBOT_EMERGENCY_STOPPED = 6,
	IS_EMERGENCY_STOPPED = 7,
	IS_VIOLATION = 8,
	IS_FAULT = 9,
	IS_STOPPED_DUE_TO_SAFETY = 10

.

Note that the SafetyStatus enum does have 3PE relevant values:

Universal_Robots_Client_Library/include/ur_client_library/ur/datatypes.h

Line 67 in 173e3c3

enum class SafetyStatus : int8_t // Only available on 3.10/5.4

.

So, I think this is just an oversight, but it would be nice if the Bits type included this information.

I'm happy to put together a PR for this if there is agreement that this issue should be fixed.

Relevant log output

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[urfeex]

Thank you for the feedback. https://docs.universal-robots.com/tutorials/communication-protocol-tutorials/rtde-guide.html indeed lists that field, but it is only available from version 5.25.0/10.12.0 (which are both not released, yet).

It should not harm to add it already, though. @acmorrow Would you like to make a PR for that? I can also make it, as it would be a one-liner, but if you like the contribution, please go ahead :-) That would probably also be the fastest way forward, then I can directly review and merge it.