Risolto problema in libURcom

package lenght mismatch per il pacchetto tipo 8 AdditionalInfo,
aggiunto uchar foo alla fine per far sparire l'errore.. chi sa perchè?

com/roboglue_com.cpp

@@ -5,7 +5,7 @@ RoboGlue_COM::RoboGlue_COM (RoboGlue_SHARED *mem): m(mem) {
     //////// SETUP LOGGER //////////
     liblog = spdlog::stdout_logger_mt("URcom_liblog");
     modlog = spdlog::stdout_logger_mt("RoboGlue_comlog");
-    liblog->set_level(spdlog::level::info);
+    liblog->set_level(spdlog::level::debug);
     modlog->set_level(spdlog::level::debug);
 
     ///////// INITIALIZE TCP SERVER ///////////

libURcom/URCLinterface.cpp

@@ -51,7 +51,7 @@ bool UR_CLinterface::connect(const char* ip, uint16_t port) {
 	try {
 		rsocket->connect(
 				tcp::endpoint(boost::asio::ip::address::from_string(ip), port));
-		if ((bool) rsocket->is_open()) {
+        if (static_cast<bool>(rsocket->is_open())) {
 			log->info("Connected to {0} on port {1}", ip, port);
 			return true;
 		}
@@ -75,7 +75,7 @@ void UR_CLinterface::sendCommand(std::string command) {
 	char* dataOut=NULL;
 	if (rsocket->is_open()){
 		command = command + '\n';
-		dataOut = (char*)malloc(command.size());
+        dataOut = static_cast<char*>(malloc(command.size()));
 		strncpy(dataOut, command.c_str(), command.size());
 		log->debug("Sending: {}, s:{}",dataOut,command.size());
 		boost::asio::write(*rsocket, boost::asio::buffer(dataOut, command.size()), error);
@@ -106,7 +106,7 @@ void UR_CLinterface::parseData(void){
 				subP = new versionSub(lastData, &clientData);
 				subP->parse();
 				firstMessage=false;
-				long t=(long)clientData.versonMessage.timestamp;
+                long t=static_cast<long>(clientData.versonMessage.timestamp);
                 std::string timestr=std::string(asctime(gmtime(&t)));
                 timestr.pop_back();
                 log->info("Connection Time: {}", timestr);
@@ -185,7 +185,7 @@ void UR_CLinterface::parseData(void){
 							subP = new toolModeSub(&lastData[currIndex], &clientData);
 							break;
 						case SAFETY_DATA:
-							//not yet implemented
+                            //TODO: not yet implemented
 							break;
 						default:
 							log->error("Unknown Subpackage: {}", subPackageType);
@@ -194,7 +194,7 @@ void UR_CLinterface::parseData(void){
 					if (subP != NULL) subP->parse();
 					currIndex+=subPackageSize;
 				} catch (long sizediff){
-					log->error("Package Length Mismatch: {}",sizediff);
+                    log->error("Package Length Mismatch: type_{:d}, diff_{:d}",subPackageType,sizediff);
 					currIndex+=subPackageSize;
 				}
 			}
@@ -225,7 +225,7 @@ void UR_CLinterface::readData(void) {
 			// all number are represented in network byte order, conversion required
 			packlen = ntohl(packlen);
 			// allocate memory for incoming package
-			lastData = (unsigned char*)malloc(packlen);
+            lastData = static_cast<unsigned char*>(malloc(packlen));
 			// blocking read of exactly packlen bytes
 			readata += boost::asio::read(*rsocket, receive_buffer,boost::asio::transfer_exactly(packlen), error);
 			//retreive all data from buffer

libURcom/clientMessage.cpp

@@ -366,6 +366,7 @@ namespace subpackage {
 		v->feedriveButtonPressed = this->getUChar(&dataIn);
 		v->feedriveButtonEnabled = this->getUChar(&dataIn);
 		v->ioEnableFeedrive = this->getUChar(&dataIn);
+        v->foo = this->getUChar(&dataIn);
 
 		// check if read data is aligned with package size
 		if (dataIn-begin != size) throw dataIn-begin-size;

libURcom/clientMessage.h

@@ -40,7 +40,7 @@ namespace subpackage {
 			robotModeSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~robotModeSub();
 
 			uint32_t parse();
@@ -51,7 +51,7 @@ namespace subpackage {
 			jointDataSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~jointDataSub();
 
 			uint32_t parse();
@@ -62,7 +62,7 @@ namespace subpackage {
 			cartesianInfoSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~cartesianInfoSub();
 
 			uint32_t parse();
@@ -73,7 +73,7 @@ namespace subpackage {
 			masterBoardSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~masterBoardSub();
 
 			uint32_t parse();
@@ -84,7 +84,7 @@ namespace subpackage {
 			toolDataSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~toolDataSub();
 
 			uint32_t parse();
@@ -95,7 +95,7 @@ namespace subpackage {
 			kineInfoSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~kineInfoSub();
 
 			uint32_t parse();
@@ -106,7 +106,7 @@ namespace subpackage {
 			configurationSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~configurationSub();
 
 			uint32_t parse();
@@ -117,7 +117,7 @@ namespace subpackage {
 			forceModeSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~forceModeSub();
 
 			uint32_t parse();
@@ -128,7 +128,7 @@ namespace subpackage {
 			additionalInfoSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~additionalInfoSub();
 
 			uint32_t parse();
@@ -139,7 +139,7 @@ namespace subpackage {
 			calibrationSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~calibrationSub();
 
 			uint32_t parse();
@@ -150,7 +150,7 @@ namespace subpackage {
 			toolComSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~toolComSub();
 
 			uint32_t parse();
@@ -161,7 +161,7 @@ namespace subpackage {
 			toolModeSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~toolModeSub();
 
 			uint32_t parse();
@@ -171,7 +171,8 @@ namespace subpackage {
 		public:
 			versionSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
-				dataOut=dout; };
+                dataOut=dout;
+            }
 			virtual ~versionSub();
 
 			uint32_t parse();

libURcom/packagetypes.h

@@ -273,6 +273,7 @@ typedef struct {
 	unsigned char feedriveButtonPressed;
 	unsigned char feedriveButtonEnabled;
 	unsigned char ioEnableFeedrive;
+    unsigned char foo;
 } additionalInfo_t;
 
 typedef struct {

roboglue.conf

@@ -12,30 +12,30 @@ connection\autoconnect=false
 connection\robotip=10.0.0.5
 connection\robotport=30002
 connection\robotretry=5
-kine\dhtable\1\dha=3.246e-321
-kine\dhtable\1\dhalpha=6.91983159050874e-310
-kine\dhtable\1\dhd=6.9198315899621e-310
-kine\dhtable\1\dhtheta=6.9198315899621e-310
-kine\dhtable\2\dha=6.9198315903799e-310
-kine\dhtable\2\dhalpha=3.56e-322
-kine\dhtable\2\dhd=3.16e-322
-kine\dhtable\2\dhtheta=6.91983159055775e-310
-kine\dhtable\3\dha=6.9198315906463e-310
-kine\dhtable\3\dhalpha=5e-324
-kine\dhtable\3\dhd=3.36e-322
+kine\dhtable\1\dha=6.94460589082162e-310
+kine\dhtable\1\dhalpha=6.9446058912971e-310
+kine\dhtable\1\dhd=1.099340831232476e+248
+kine\dhtable\1\dhtheta=1.332e-320
+kine\dhtable\2\dha=0
+kine\dhtable\2\dhalpha=6.9446058912884e-310
+kine\dhtable\2\dhd=1.3849777432376169e+219
+kine\dhtable\2\dhtheta=6.9446058913382e-310
+kine\dhtable\3\dha=0
+kine\dhtable\3\dhalpha=5.53e-322
+kine\dhtable\3\dhd=2.44861994589e-312
 kine\dhtable\3\dhtheta=8e-323
-kine\dhtable\4\dha=0
-kine\dhtable\4\dhalpha=0
-kine\dhtable\4\dhd=6.91983159056645e-310
+kine\dhtable\4\dha=2.37e-322
+kine\dhtable\4\dhalpha=2.37e-322
+kine\dhtable\4\dhd=0
 kine\dhtable\4\dhtheta=0
-kine\dhtable\5\dha=1.63e-322
-kine\dhtable\5\dhalpha=1.35e-321
-kine\dhtable\5\dhd=0
-kine\dhtable\5\dhtheta=3.2e-322
-kine\dhtable\6\dha=6.9198315905554e-310
-kine\dhtable\6\dhalpha=6.9198315903799e-310
-kine\dhtable\6\dhd=0
-kine\dhtable\6\dhtheta=6.9198315899621e-310
+kine\dhtable\5\dha=2.57e-322
+kine\dhtable\5\dhalpha=2.57e-322
+kine\dhtable\5\dhd=2.06e-321
+kine\dhtable\5\dhtheta=8.74e-322
+kine\dhtable\6\dha=6.9446058915066e-310
+kine\dhtable\6\dhalpha=6.9446058913493e-310
+kine\dhtable\6\dhd=6.94460589137854e-310
+kine\dhtable\6\dhtheta=6.94460589137854e-310
 kine\dhtable\size=6
 kine\maxreach=@Variant(\0\0\0\x87?\x99\x99\x9a)
 kine\prefix=0