Refactor rtde parsing

[urfeex]

This is a refactor of RTDE communication effectively improving two things:

• No more heap memory allocations during communication once everything is setup
• Reduced parsing and access times of RTDE data that reduces the time of read and send operations

There's currently some documentation and testing missing, hence the draft status.

---

Note

High Risk
Touches core RTDE networking/parsing/IO concurrency and changes public APIs with deprecations; regressions could impact real-time data integrity, reconnection behavior, and write semantics under load.

Overview
RTDE read path is refactored to avoid per-cycle heap allocations and reduce overhead. RTDEClient no longer relies on the Pipeline for reads; it uses URProducer directly plus a double-buffered background read thread, and introduces start(bool read_packages_in_background) with new getDataPackage(DataPackage&/unique_ptr&, timeout) and getDataPackageBlocking(...) APIs while deprecating the allocating getDataPackage(timeout) overload.

RTDE parsing and packages are updated to support reuse and stricter validation. Parser/IProducer add single-product parse/tryGet overloads, RTDEParser is split into a new rtde_parser.cpp with a prealloc-friendly parse path (vector-based parse deprecated), RTDEPackage exposes getType(), and DataPackage switches from an unordered_map to an ordered vector store, initializes empty data on construction, validates recipe keys (throwing new RTDEInvalidKeyException), adds type checking on setData, and improves toString() formatting.

RTDE write path is refactored for fewer allocations and batching. RTDEWriter replaces the moodycamel queue with double-buffered storage + condition variable, adds sendPackage() for sending a fully-prepared package, preallocates register key strings, and resets mask fields after sending; it now throws on init()/setInputRecipe() while running.

API consumers, docs, and tests are migrated to the new allocation-free patterns. Examples and documentation now show preallocating DataPackage and using the new read modes; ExampleRobotWrapper removes its custom RTDE consumer thread and forwards the background-read choice to UrDriver. Tests are expanded/updated for background vs blocking read, reconnection, invalid keys/conflicts, DataPackage parsing/toString, and parser single-product mode.

CI and tooling tweaks: workflow disables URSim port forwarding, gates coverage uploads on successful build, shortens example sleep between runs, and improves fake RTDE server thread shutdown safety.

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[codecov]

Codecov Report

❌ Patch coverage is 79.59184% with 80 lines in your changes missing coverage. Please review.
✅ Project coverage is 75.01%. Comparing base (08c33c3) to head (4e23395).

Files with missing lines	Patch %	Lines
src/rtde/rtde_client.cpp	76.72%	11 Missing and 16 partials ⚠️
src/rtde/rtde_parser.cpp	70.00%	20 Missing and 7 partials ⚠️
include/ur_client_library/comm/producer.h	45.83%	9 Missing and 4 partials ⚠️
include/ur_client_library/rtde/data_package.h	68.75%	1 Missing and 4 partials ⚠️
include/ur_client_library/exceptions.h	60.00%	4 Missing ⚠️
include/ur_client_library/primary/primary_parser.h	75.00%	0 Missing and 2 partials ⚠️
src/rtde/rtde_writer.cpp	98.01%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #419      +/-   ##
==========================================
- Coverage   75.33%   75.01%   -0.32%     
==========================================
  Files         102      103       +1     
  Lines        5120     5328     +208     
  Branches      544      553       +9     
==========================================
+ Hits         3857     3997     +140     
- Misses        980     1065      +85     
+ Partials      283      266      -17     

Flag	Coverage Δ
start_ursim	83.27% <100.00%> (-1.35%)	⬇️
ur20-latest	70.51% <75.51%> (?)
ur5-3.14.3	?
ur5e-10.7.0	65.95% <77.26%> (+0.64%)	⬆️
ur5e-5.9.4	74.30% <79.01%> (+0.77%)	⬆️

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[urrsk]

• Let's us ensure that this warning only applies when there is something unexpected happening

[urfeex]

With the latest changes I could not encounter this during normal operation. I've added a more descriptive output in that case so if it ever happened, we know a bit better what happened.

[urrsk]

bugbot run

[cursor]

Skipping Bugbot: Bugbot is disabled for this repository

[urrsk]

bugbot run

[urrsk]

• Consider make one if elseif case instead of an if else in an if

[urfeex]

The result = std::make_unique<DataPackage>(recipe_, protocol_version_); is common for both cases, which is why I catch those cases in the outer if. Depending on what's the cause for a not correctly allocated data package the output is different, hence the inner if.

Merging both layers into a single if...else if would require duplicating the important line potentially increasing the error missing one case when updating the code in the future. My opinion on this isn't that strong, if you think that the following structure is better, we can go with that:

      if (result == nullptr)
      {
        URCL_LOG_WARN("The passed result pointer is empty. A new DataPackage will "
                      "have to be allocated. Please pass a pre-allocated DataPackage if you expect a DataPackage "
                      "would be sent.");
        result = std::make_unique<DataPackage>(recipe_, protocol_version_);
      }
      else if (result->getType() != PackageType::RTDE_DATA_PACKAGE)
      {
        URCL_LOG_WARN("Passed a pre-allocated RTDE package of type %u while a DataPackage was received. A new "
                      "DataPackage will have to be allocated. Please pass a pre-allocated DataPackage if you expect "
                      "a DataPackage would be sent.",
                      result->getType());
        result = std::make_unique<DataPackage>(recipe_, protocol_version_);
      }

[urrsk]

Look very good. Just a small comment

[cursor]

Cursor Bugbot has reviewed your changes and found 1 potential issue.

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