Throw RTDEInvalidKeyException on unknown RTDE key - #544
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urfeex merged 2 commits intoAug 5, 2026
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This allows parsing information about failed fields. Since RTDEInvalidKeyException inherits from UrException, this is not API-breaking.
Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## master #544 +/- ##
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- Coverage 79.29% 79.15% -0.14%
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Suggest adding a test covering this improvement
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This allows parsing information about failed fields. Since RTDEInvalidKeyException inherits from UrException, this is not API-breaking.
This should help in generate an explicit user output in UniversalRobots/Universal_Robots_ROS2_Driver#1551
Note
Low Risk
Narrow change to error typing and exception payload on RTDE recipe validation; still inherits from UrException so existing catch-by-base behavior largely holds, with clearer structured data for new handlers.
Overview
When RTDE output setup fails because recipe keys are unknown to the robot (and unavailable outputs are not ignored), the client now throws
RTDEInvalidKeyExceptioninstead of a genericUrException, carrying the list of bad keys and the existing error text.RTDEInvalidKeyExceptiongains a constructor that acceptsinvalid_keysplus optional message text, and exposesinvalid_keysas a public field so callers (e.g. ROS2 driver) can report which fields failed without parsingwhat().Tests for invalid input/output recipe keys use GMock
ThrowsMessage/HasSubstr, linkrtde_testsagainstgmock_main, and addTestableRTDEClientto exerciseinit()with an injected bad output recipe.Reviewed by Cursor Bugbot for commit 5444044. Bugbot is set up for automated code reviews on this repo. Configure here.