From 02f84afd77dbb455ff4e7ac5d962c76c857d194c Mon Sep 17 00:00:00 2001 From: Litzia Carla Vilchez Hipolito Date: Tue, 21 Apr 2026 07:51:22 +0000 Subject: [PATCH 1/3] Add primary configuration timeout from hardware interface --- include/ur_client_library/ur/ur_driver.h | 5 +++++ src/ur/ur_driver.cpp | 2 +- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/include/ur_client_library/ur/ur_driver.h b/include/ur_client_library/ur/ur_driver.h index 9098a5e5d..4ed55ac95 100644 --- a/include/ur_client_library/ur/ur_driver.h +++ b/include/ur_client_library/ur/ur_driver.h @@ -136,6 +136,11 @@ struct UrDriverConfiguration */ std::chrono::milliseconds rtde_initialization_timeout = std::chrono::seconds(5); + /*! + * \brief Timeout for waiting for primary client configuration data. + */ + std::chrono::milliseconds primary_configuration_timeout = std::chrono::seconds(1); + bool non_blocking_read = false; // TODO: Remove on 2027-05 diff --git a/src/ur/ur_driver.cpp b/src/ur/ur_driver.cpp index f77a9f5c8..4ae61771e 100644 --- a/src/ur/ur_driver.cpp +++ b/src/ur/ur_driver.cpp @@ -98,7 +98,7 @@ void UrDriver::init(const UrDriverConfiguration& config) startPrimaryClientCommunication(); - std::chrono::milliseconds timeout(1000); + std::chrono::milliseconds timeout(config.primary_configuration_timeout); try { waitFor([this]() { return primary_client_->getConfigurationData() != nullptr; }, timeout); From 904d5efa8dd3f16a9e42197a8097b29390bafe38 Mon Sep 17 00:00:00 2001 From: Litzia Carla Vilchez Hipolito Date: Wed, 6 May 2026 10:12:16 +0000 Subject: [PATCH 2/3] Revert "Add primary configuration timeout from hardware interface" This reverts commit 02f84afd77dbb455ff4e7ac5d962c76c857d194c. --- include/ur_client_library/ur/ur_driver.h | 5 ----- src/ur/ur_driver.cpp | 2 +- 2 files changed, 1 insertion(+), 6 deletions(-) diff --git a/include/ur_client_library/ur/ur_driver.h b/include/ur_client_library/ur/ur_driver.h index 4ed55ac95..9098a5e5d 100644 --- a/include/ur_client_library/ur/ur_driver.h +++ b/include/ur_client_library/ur/ur_driver.h @@ -136,11 +136,6 @@ struct UrDriverConfiguration */ std::chrono::milliseconds rtde_initialization_timeout = std::chrono::seconds(5); - /*! - * \brief Timeout for waiting for primary client configuration data. - */ - std::chrono::milliseconds primary_configuration_timeout = std::chrono::seconds(1); - bool non_blocking_read = false; // TODO: Remove on 2027-05 diff --git a/src/ur/ur_driver.cpp b/src/ur/ur_driver.cpp index 4ae61771e..f77a9f5c8 100644 --- a/src/ur/ur_driver.cpp +++ b/src/ur/ur_driver.cpp @@ -98,7 +98,7 @@ void UrDriver::init(const UrDriverConfiguration& config) startPrimaryClientCommunication(); - std::chrono::milliseconds timeout(config.primary_configuration_timeout); + std::chrono::milliseconds timeout(1000); try { waitFor([this]() { return primary_client_->getConfigurationData() != nullptr; }, timeout); From e6922b8c4aba75d10ddc618f7558ede44b7b4e57 Mon Sep 17 00:00:00 2001 From: Litzia Carla Vilchez Hipolito Date: Wed, 6 May 2026 10:13:57 +0000 Subject: [PATCH 3/3] Set primary client timeout of 10s --- src/ur/ur_driver.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/ur/ur_driver.cpp b/src/ur/ur_driver.cpp index f77a9f5c8..75f82c4f2 100644 --- a/src/ur/ur_driver.cpp +++ b/src/ur/ur_driver.cpp @@ -98,7 +98,7 @@ void UrDriver::init(const UrDriverConfiguration& config) startPrimaryClientCommunication(); - std::chrono::milliseconds timeout(1000); + std::chrono::milliseconds timeout(10000); try { waitFor([this]() { return primary_client_->getConfigurationData() != nullptr; }, timeout);