When in CI, do not evaluate keyboard input

Github actions seem to send keyboard input to the program with a very
high frequency.

Author: urfeex

.github/workflows/ci.yml

@@ -95,6 +95,8 @@ jobs:
           CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
       - name: run examples
         run: ./run_examples.sh "192.168.56.101" 1
+        env:
+          URCL_EXAMPLES_IN_CI: 1
       - name: install gcovr
         if: ${{ !cancelled() && steps.build.outcome == 'success' }}
         run: sudo apt-get install -y gcovr

examples/external_fts_through_rtde.cpp

@@ -298,11 +298,19 @@ int main(int argc, char* argv[])
   // The RTDE thread sends the force-torque data to the robot and receives the wrench data from the
   // robot.
   std::thread rtde_thread(rtdeWorker, second_to_run);
-
   // Modify the artificial force-torque input through keyboard input
-  ftInputTui();
-
-  g_RUNNING = false;
+  if (std::getenv("URCL_EXAMPLES_IN_CI") == nullptr)
+  {
+    ftInputTui();
+  }
+  else
+  {
+    // In CI mode, just keep the main thread alive while g_RUNNING is true
+    while (g_RUNNING)
+    {
+      std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    }
+  }
   if (rtde_thread.joinable())
   {
     rtde_thread.join();