From 24280d5d52c1966466d883014f9fbee2135fbaa1 Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Thu, 11 Mar 2021 13:02:28 +0100
Subject: [PATCH] Add interface function to receive configured RTDE output
 recipe from driver

---
 include/ur_client_library/rtde/rtde_client.h | 10 ++++++++++
 include/ur_client_library/ur/ur_driver.h     |  7 +++++++
 src/ur/ur_driver.cpp                         |  5 +++++
 3 files changed, 22 insertions(+)

diff --git a/include/ur_client_library/rtde/rtde_client.h b/include/ur_client_library/rtde/rtde_client.h
index bfbbc5c9..528b1754 100644
--- a/include/ur_client_library/rtde/rtde_client.h
+++ b/include/ur_client_library/rtde/rtde_client.h
@@ -151,6 +151,16 @@ class RTDEClient
    */
   RTDEWriter& getWriter();
 
+  /*!
+   * \brief Getter for the RTDE output recipe.
+   *
+   * \returns The output recipe
+   */
+  std::vector<std::string> getOutputRecipe()
+  {
+    return output_recipe_;
+  }
+
 private:
   comm::URStream<RTDEPackage> stream_;
   std::vector<std::string> output_recipe_;
diff --git a/include/ur_client_library/ur/ur_driver.h b/include/ur_client_library/ur/ur_driver.h
index da72a2d4..e8322064 100644
--- a/include/ur_client_library/ur/ur_driver.h
+++ b/include/ur_client_library/ur/ur_driver.h
@@ -222,6 +222,13 @@ class UrDriver
     return robot_version_;
   }
 
+  /*!
+   * \brief Getter for the RTDE output recipe used in the RTDE client.
+   *
+   * \returns The used RTDE output recipe
+   */
+  std::vector<std::string> getRTDEOutputRecipe();
+
 private:
   std::string readScriptFile(const std::string& filename);
   std::string readKeepalive();
diff --git a/src/ur/ur_driver.cpp b/src/ur/ur_driver.cpp
index 8ce7ee78..5dd5919f 100644
--- a/src/ur/ur_driver.cpp
+++ b/src/ur/ur_driver.cpp
@@ -321,4 +321,9 @@ bool UrDriver::sendRobotProgram()
     return false;
   }
 }
+
+std::vector<std::string> UrDriver::getRTDEOutputRecipe()
+{
+  return rtde_client_->getOutputRecipe();
+}
 }  // namespace urcl