Added watchdog configuration for the reverse socket

[urmahp]

This enables the possibility to configure the read timeout for the reverse socket running in the external control script

Separated control modes into realtime and non realtime to have different possible configurations for the watchdog

Added test to verify the changes

Updated test and examples to coincide with the new changes

[codecov]

Codecov Report

Patch coverage is 97.89% of modified lines.

Files Changed	Coverage
src/ur/ur_driver.cpp	84.61%
include/ur_client_library/comm/control_mode.h	100.00%
...lude/ur_client_library/control/reverse_interface.h	100.00%
include/ur_client_library/ur/ur_driver.h	100.00%
src/control/reverse_interface.cpp	100.00%
src/ur/robot_receive_timeout.cpp	100.00%

📢 Thoughts on this report? Let us know!.

[urmahp]

I have updated the PR based on your comments.

[urrsk]

We should also add a test, that verifies that the reverse interface timeout as well with in the expected time.

[urmahp]

We should also add a test, that verifies that the reverse interface timeout as well with in the expected time.

As the timeout is configured in the script the reverse interface will not timeout, the script will timeout. We could add a test that verifies that the script times out, but that would be a test under the UrDriver class, as it would require robot communication.

[urrsk]

We should also add a test, that verifies that the reverse interface timeout as well with in the expected time.

As the timeout is configured in the script the reverse interface will not timeout, the script will timeout. We could add a test that verifies that the script times out, but that would be a test under the UrDriver class, as it would require robot communication.

True. And yes that is a good idea

[fmauch]

This is looking really good and it reads much better with the RobotReceiveTimeout :-)

@urmahp a quick response to my comments would be nice, then I think we are good to merge this, as most of them is mainly aesthetics.

[urmahp]

I have updated the PR in relation to the comments and added a better test coverage of the changes.

[fmauch]

This looks good to me! I'll deploy it on my test system and merge if everything goes fine on the real robot.