From e4bc40fc09988cb49151fc9469719d23fd20dbd4 Mon Sep 17 00:00:00 2001
From: Simon Rasmussen <zetlon@gmail.com>
Date: Wed, 1 Mar 2017 12:40:55 +0100
Subject: [PATCH] Fixed minor parsing issues with RTState

---
 include/ur_modern_driver/ur/rt_state.h | 8 ++++----
 src/ur/rt_state.cpp                    | 9 ++++-----
 2 files changed, 8 insertions(+), 9 deletions(-)

diff --git a/include/ur_modern_driver/ur/rt_state.h b/include/ur_modern_driver/ur/rt_state.h
index 5574293..ea2dd5e 100644
--- a/include/ur_modern_driver/ur/rt_state.h
+++ b/include/ur_modern_driver/ur/rt_state.h
@@ -16,8 +16,8 @@ public:
 
 class RTShared {
 protected:
-    bool parse_shared1(BinParser& bp);
-    bool parse_shared2(BinParser& bp);
+    void parse_shared1(BinParser& bp);
+    void parse_shared2(BinParser& bp);
 
 public:
     double time;
@@ -34,14 +34,14 @@ public:
 
     double tcp_force[6];
 
-    //does not contain "_actual" postfix in V11_X but
+    //does not contain "_actual" postfix in V1_X but
     //they're the same fields so share anyway
     cartesian_coord_t tool_vector_actual;
     cartesian_coord_t tcp_speed_actual;
 
     //gap here depending on version
 
-    uint64_t digital_input;
+    uint64_t digital_inputs;
     double motor_temperatures[6];
     double controller_time;
     double robot_mode;
diff --git a/src/ur/rt_state.cpp b/src/ur/rt_state.cpp
index fe405af..2264835 100644
--- a/src/ur/rt_state.cpp
+++ b/src/ur/rt_state.cpp
@@ -1,7 +1,7 @@
 #include "ur_modern_driver/ur/rt_state.h"
 #include "ur_modern_driver/ur/consumer.h"
 
-bool RTShared::parse_shared1(BinParser& bp)
+void RTShared::parse_shared1(BinParser& bp)
 {
     bp.parse(time);
     bp.parse(q_target);
@@ -12,17 +12,15 @@ bool RTShared::parse_shared1(BinParser& bp)
     bp.parse(q_actual);
     bp.parse(qd_actual);
     bp.parse(i_actual);
-    return true;
 }
 
-bool RTShared::parse_shared2(BinParser& bp)
+void RTShared::parse_shared2(BinParser& bp)
 {
-    bp.parse(digital_input);
+    bp.parse(digital_inputs);
     bp.parse(motor_temperatures);
     bp.parse(controller_time);
     bp.consume(sizeof(double)); //Unused "Test value" field
     bp.parse(robot_mode);
-    return true;
 }
 
 bool RTState_V1_6__7::parse_with(BinParser& bp)
@@ -33,6 +31,7 @@ bool RTState_V1_6__7::parse_with(BinParser& bp)
     parse_shared1(bp);
 
     bp.parse(tool_accelerometer_values);
+    bp.consume(sizeof(double)*15);
     bp.parse(tcp_force);
     bp.parse(tool_vector_actual);
     bp.parse(tcp_speed_actual);