Problem in parse seondary monitor data after update from 3.x to 5.x

Technical Questions Robot Communication
1

Hey,

I recently update my robot Polyscope from 3.x to 5.x and now my python secondary monitor parser (which is based on an old example i got from this website) raising an exception every few packets:

raise ParsingException("Error, length of data smaller (%s) than declared (%s)" % (len(data), psize))

i tried to figure out what have has changed in the protocol but the changes i made didnt solve the problem.

this is the parse function:

    def parse_status(self, data):
        allData = {}
        while data:
            psize, ptype, pdata, data = self.analyze_header(data)
            if ptype == 16:
                allData["SecondaryClientData"] = self._get_data(pdata, "!iB", ("size", "type"))
                data = (pdata + data)[5:]  # This is the total size so we resend data to parser
             elif ptype == 0:
                  allData["RobotModeData"] = self._get_data(pdata, "!iBQ???????Bd", (
                        "size", "type", "timestamp", "isRobotConnected", "isRealRobotEnabled",                  "isPowerOnRobot", "isEmergencyStopped", "isSecurityStopped", "isProgramRunning", "isProgramPaused", "robotMode",
                        "speedFraction"))
              elif ptype == 1, 4, 5, 6, 3, 2, 9, 10, 8, 7, 20:
                  ...
       return allData

the header analyser:

def analyze_header(self, data):
        """
        read first 5 bytes and return complete packet
        """
        if len(data) < 5:
            raise ParsingException("Packet size %s smaller than header size (5 bytes)" % len(data))
        else:
            psize, ptype = struct.unpack("!iB", data[0:5])
            if psize < 5:
                raise ParsingException("Error, declared length of data smaller than its own header(5): ", psize)
            elif psize > len(data):
                raise ParsingException("Error, length of data smaller (%s) than declared (%s)" % (len(data), psize))
        return psize, ptype, data[:psize], data[psize:]

If anyone can tell what have changed so i would prevent this exception.

thanks!