Add support for setting socket max num tries and reconnect timeout

UniversalRobots / Universal_Robots_Client_Library

A C++ library for accessing the UR interfaces that facilitate the use of UR robotic manipulators by external applications.

Apache License 2.0

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Add support for setting socket max num tries and reconnect timeout #172

Closed fmauch closed 11 months ago

fmauch commented 1 year ago

This continues #141 and fixes #140.

ToDo:

[x] Add tests
- [x] Attempt to connect to a non-running robot with specified timeout and max_num_retries

codecov[bot] commented 12 months ago

Codecov Report

Patch coverage is 90.00% of modified lines.

Files Changed	Coverage
include/ur_client_library/comm/tcp_socket.h	`ø`
include/ur_client_library/rtde/rtde_client.h	`ø`
include/ur_client_library/ur/dashboard_client.h	`ø`
include/ur_client_library/comm/producer.h	`50.00%`
src/ur/dashboard_client.cpp	`50.00%`
include/ur_client_library/comm/pipeline.h	`66.66%`
include/ur_client_library/comm/stream.h	`100.00%`
src/comm/tcp_socket.cpp	`100.00%`
src/rtde/rtde_client.cpp	`100.00%`

:loudspeaker: Thoughts on this report? Let us know!.

fmauch commented 12 months ago

Going back to draft because of failing tests

fmauch commented 11 months ago

@urmahp I found one more flaw when passing reconnection time to the socket. The tests were succeeding but taking too long, since the default timeout is 10 seconds. I added a limit of 1.5 seconds (since the connection should take 2*500ms+overhead). This way we can make sure that the set timeout is actually being used.

Edit: Seeing that two tests now fail because of taking too long. Going to continue on this tomorrow.

fmauch commented 11 months ago

@urmahp If you could give it one more review, that would be great. I didn't clean up the commits since this seems to confuse coverage.io quite a lot. I'll do that right before merging.