switched from handling the data package as a unique pointer to a plain reference

Author: t-schnell

ur_robot_driver/include/ur_robot_driver/ros/data_field_publisher.h

@@ -51,7 +51,7 @@ class DataFieldPublisher
    *
    * \returns True if the realtime publisher could publish the data.
    */
-  virtual bool publish(const std::unique_ptr<DataPackage>& data_package) = 0;
+  virtual bool publish(const DataPackage& data_package) = 0;
 
   /*!
    * \brief Creates a DataFieldPublisher object based on a given data field.
@@ -93,9 +93,9 @@ class DirectDataPublisher : public DataFieldPublisher
    *
    * \returns True if the realtime publisher could publish the data.
    */
-  virtual bool publish(const std::unique_ptr<DataPackage>& data_package)
+  virtual bool publish(const DataPackage& data_package)
   {
-    if (data_package->getData(data_field_identifier_, data_))
+    if (data_package.getData(data_field_identifier_, data_))
     {
       if (pub_)
       {
@@ -145,9 +145,9 @@ class ArrayDataPublisher : public DataFieldPublisher
    *
    * \returns True if the realtime publisher could publish the data.
    */
-  virtual bool publish(const std::unique_ptr<DataPackage>& data_package)
+  virtual bool publish(const DataPackage& data_package)
   {
-    if (data_package->getData(data_field_identifier_, data_))
+    if (data_package.getData(data_field_identifier_, data_))
     {
       if (pub_)
       {

ur_robot_driver/include/ur_robot_driver/ros/data_package_publisher.h

@@ -58,12 +58,12 @@ class DataPackagePublisher
     }
   }
 
-  void publishData(const std::unique_ptr<DataPackage>& data_package)
   /*!
    * \brief Publishes all relevant data fields of a given data package.
    *
    * \param data_package The data package to publish
    */
+  void publishData(const DataPackage& data_package)
   {
     for (auto const& i : publishers_)
     {

ur_robot_driver/include/ur_robot_driver/rtde/data_package.h

@@ -127,11 +127,11 @@ class DataPackage : public RTDEPackage
    * \returns True on success, false if the field cannot be found inside the package.
    */
   template <typename T>
-  bool getData(const std::string& name, T& val)
+  bool getData(const std::string& name, T& val) const
   {
     if (data_.find(name) != data_.end())
     {
-      val = boost::strict_get<T>(data_[name]);
+      val = boost::strict_get<T>(data_.at(name));
     }
     else
     {
@@ -152,13 +152,13 @@ class DataPackage : public RTDEPackage
    * \returns True on success, false if the field cannot be found inside the package.
    */
   template <typename T, size_t N>
-  bool getData(const std::string& name, std::bitset<N>& val)
+  bool getData(const std::string& name, std::bitset<N>& val) const
   {
     static_assert(sizeof(T) * 8 >= N, "Bitset is too large for underlying variable");
 
     if (data_.find(name) != data_.end())
     {
-      val = std::bitset<N>(boost::strict_get<T>(data_[name]));
+      val = std::bitset<N>(boost::strict_get<T>(data_.at(name)));
     }
     else
     {

ur_robot_driver/src/ros/hardware_interface.cpp

@@ -426,7 +426,7 @@ void HardwareInterface::read(const ros::Time& time, const ros::Duration& period)
     publishPose();
     publishRobotAndSafetyMode();
 
-    rtde_data_pub_->publishData(data_pkg);
+    rtde_data_pub_->publishData(*data_pkg);
 
     // pausing state follows runtime state when pausing
     if (runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PAUSED))