From 07139fa0796c831af38b729d691fa3a2c2d8e1f0 Mon Sep 17 00:00:00 2001
From: Remi Siffert <remi.siffert@ocado.com>
Date: Wed, 2 Oct 2024 20:57:41 -0400
Subject: [PATCH] Added missing RTDE data packages and fixed incorrect names

---
 src/rtde/data_package.cpp | 18 ++++++++++++++----
 1 file changed, 14 insertions(+), 4 deletions(-)

diff --git a/src/rtde/data_package.cpp b/src/rtde/data_package.cpp
index bb3ba679..3f39798e 100644
--- a/src/rtde/data_package.cpp
+++ b/src/rtde/data_package.cpp
@@ -42,9 +42,8 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
   { "target_moment", vector6d_t() },
   { "actual_q", vector6d_t() },
   { "actual_qd", vector6d_t() },
-  { "actual_qdd", vector6d_t() },
   { "actual_current", vector6d_t() },
-  { "actual_moment", vector6d_t() },
+  { "actual_current_window", vector6d_t() },
   { "joint_control_output", vector6d_t() },
   { "actual_TCP_pose", vector6d_t() },
   { "actual_TCP_speed", vector6d_t() },
@@ -57,6 +56,7 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
   { "robot_mode", int32_t() },
   { "joint_mode", vector6int32_t() },
   { "safety_mode", int32_t() },
+  { "safety_status", int32_t() },
   { "actual_tool_accelerometer", vector3d_t() },
   { "speed_scaling", double() },
   { "target_speed_fraction", double() },
@@ -88,7 +88,7 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
   { "tool_output_voltage", int32_t() },
   { "tool_output_current", double() },
   { "tool_temperature", double() },
-  { "tool_force_scalar", double() },
+  { "tcp_force_scalar", double() },
   { "output_bit_registers0_to_31", uint32_t() },
   { "output_bit_registers32_to_63", uint32_t() },
   { "output_bit_register_0", bool() },
@@ -547,8 +547,18 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
   { "standard_digital_output", uint8_t() },
   { "configurable_digital_output_mask", uint8_t() },
   { "configurable_digital_output", uint8_t() },
-  { "tool_digital_output_mask", uint8_t() },
+  { "tool_output_mode", uint8_t() },
+  { "tool_digital_output0_mode", uint8_t() },
+  { "tool_digital_output1_mode", uint8_t() },
   { "tool_digital_output", uint8_t() },
+  { "payload", double() },
+  { "payload_cog", vector3d_t() },
+  { "payload_inertia", vector6d_t() },
+  { "script_control_line", uint32_t() },
+  { "ft_raw_wrench", vector6d_t() },
+  { "joint_position_deviation_ratio", double() },
+  { "collision_detection_ratio", double() },
+  { "time_scale_source", int32_t() },
   { "standard_analog_output_mask", uint8_t() },
   { "standard_analog_output_type", uint8_t() },
   { "standard_analog_output_0", double() },