Obbart/universal_robots_ros_driver
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Added exception for incorrectly parsed messages.

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This commit is contained in:
Tristan Schnell
2019-09-19 13:48:18 +02:00
committed by Felix Mauch
parent 0519866bb4
commit 39afd72e6e
1 changed files with 5 additions and 1 deletions
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6
ur_rtde_driver/include/ur_rtde_driver/comm/bin_parser.h
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@@ -31,6 +31,7 @@
#include <memory> #include <memory>
#include "ur_rtde_driver/log.h" #include "ur_rtde_driver/log.h"
#include "ur_rtde_driver/types.h" #include "ur_rtde_driver/types.h"
#include "ur_rtde_driver/exceptions.h"
namespace ur_driver namespace ur_driver
{ {
@@ -93,7 +94,10 @@ public:
template <typename T> template <typename T>
T peek() T peek()
{ {
assert(buf_pos_ + sizeof(T) <= buf_end_); if (buf_pos_ + sizeof(T) > buf_end_)
throw UrException("Could not parse received package. This can occur if the driver is started while the robot is "
"booting - please restart the driver once the robot has finished booting. "
"If the problem persists after the robot has booted, please contact the package maintainer.");
T val; T val;
std::memcpy(&val, buf_pos_, sizeof(T)); std::memcpy(&val, buf_pos_, sizeof(T));
return decode(val); return decode(val);