Added tests for the rtde interface clasess

[urmahp]

This adds tests for

• control package pause
• control package start
• control package setup outputs
• control package setup inputs
• get urcontrol version
• request protocol version
• rtde writer

Added more tests to

• test_rtde_data_package
• test_rtde_parser
• test_rtde_client

Added functionality to rtde_client

• get_target_frequency function and warning when it is not possible to set target frequency
• Read timeout in isRobotBooted is now based on target frequency
• Added a wait on 5 seconds to receive answer from pause request. This will prevent the driver from crashing once in a while when pausing the rtde client

Added functionality for rtde_writer

• Added checks for values and pins before sending to the robot
• Removed unnecessary sleep in desctructor

Added pipeline changes, so that the test output is shown in the pipeline in case of failure

[codecov[bot]]

Codecov Report

Base: 51.21% // Head: 63.40% // Increases project coverage by +12.19% :tada:

Coverage data is based on head (c5d853c) compared to base (1d9b975). Patch coverage: 90.85% of modified lines in pull request are covered.

Additional details and impacted files

```diff @@ Coverage Diff @@ ## master #125 +/- ## =========================================== + Coverage 51.21% 63.40% +12.19% =========================================== Files 82 89 +7 Lines 2466 2968 +502 Branches 279 310 +31 =========================================== + Hits 1263 1882 +619 + Misses 1072 925 -147 - Partials 131 161 +30 ``` | [Impacted Files](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/125?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots) | Coverage Δ | | |---|---|---| | [include/ur\_client\_library/rtde/rtde\_writer.h](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/125/diff?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-aW5jbHVkZS91cl9jbGllbnRfbGlicmFyeS9ydGRlL3J0ZGVfd3JpdGVyLmg=) | `80.00% <ø> (-20.00%)` | :arrow_down: | | [src/rtde/rtde\_client.cpp](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/125/diff?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-c3JjL3J0ZGUvcnRkZV9jbGllbnQuY3Bw) | `55.82% <44.44%> (+11.71%)` | :arrow_up: | | [tests/test\_rtde\_parser.cpp](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/125/diff?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-dGVzdHMvdGVzdF9ydGRlX3BhcnNlci5jcHA=) | `83.90% <75.86%> (-12.97%)` | :arrow_down: | | [tests/test\_rtde\_client.cpp](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/125/diff?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-dGVzdHMvdGVzdF9ydGRlX2NsaWVudC5jcHA=) | `81.52% <81.60%> (-13.22%)` | :arrow_down: | | [src/rtde/rtde\_writer.cpp](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/125/diff?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-c3JjL3J0ZGUvcnRkZV93cml0ZXIuY3Bw) | `79.62% <87.23%> (+67.34%)` | :arrow_up: | | [tests/test\_rtde\_writer.cpp](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/125/diff?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-dGVzdHMvdGVzdF9ydGRlX3dyaXRlci5jcHA=) | `93.57% <93.57%> (ø)` | | | [include/ur\_client\_library/rtde/rtde\_client.h](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/125/diff?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-aW5jbHVkZS91cl9jbGllbnRfbGlicmFyeS9ydGRlL3J0ZGVfY2xpZW50Lmg=) | `100.00% <100.00%> (+100.00%)` | :arrow_up: | | [tests/test\_rtde\_control\_package\_pause.cpp](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/125/diff?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-dGVzdHMvdGVzdF9ydGRlX2NvbnRyb2xfcGFja2FnZV9wYXVzZS5jcHA=) | `100.00% <100.00%> (ø)` | | | [tests/test\_rtde\_control\_package\_setup\_inputs.cpp](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/125/diff?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-dGVzdHMvdGVzdF9ydGRlX2NvbnRyb2xfcGFja2FnZV9zZXR1cF9pbnB1dHMuY3Bw) | `100.00% <100.00%> (ø)` | | | [tests/test\_rtde\_control\_package\_setup\_outputs.cpp](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/125/diff?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-dGVzdHMvdGVzdF9ydGRlX2NvbnRyb2xfcGFja2FnZV9zZXR1cF9vdXRwdXRzLmNwcA==) | `100.00% <100.00%> (ø)` | | | ... and [26 more](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/125/diff?src=pr&el=tree-more&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots) | | Help us with your feedback. Take ten seconds to tell us [how you rate us](https://about.codecov.io/nps?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots). Have a feature suggestion? [Share it here.](https://app.codecov.io/gh/feedback/?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots)

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