Setting an anlog output without specifying a domain doesn't work

[fmauch]

Affected Client Library version(s)

all

What combination of platform is the Client Library running on.

Linux without realtime patch

How did you install the Client Library

Build the library from source

Which robot platform is the library connected to.

URSim in docker

Robot SW / URSim version(s)

irrelevant

How are you using the Client Library

Headless without using the teach pendant, Through the robot teach pendant using External Control URCap

Issue details

Setting an analog output through sendStandardAnalogOutput without specifying an output domain doesn't work as expected.

Since the RTDEWriter always caches a full package with all recipe entries to avoid allocations for each sending operation, it will store the last set output domain and send that with each sent package. Since the RTDE protocol doesn't contain an option to "leave as configured on the TP" this can't be done with that method.

However, it might be worthwhile looking into whether we can change the communication on the client library's side. Since we create a new package to be sent from the cached package in each send operation the reasoning for keeping a cached package around might not hold up anyway. That might require some refactoring in our RTDEClient structure which is why I will not put that on the top priority list.

Relevant log output

No response

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