[DashboardClientX] Apply httplib timeouts; wire setReceiveTimeout() (#518)

cpp-httplib's default read_timeout is 300 seconds. Because the PolyScope
X DashboardClientImplX constructor never overrides any timeout, every
dashboard call (commandPowerOff, commandStop, commandPlay, etc.) blocks
for the full 300 s when the controller becomes unresponsive — e.g. a
network partition or paused container in tests. Symptoms include
thread-pool exhaustion in callers that dispatch dashboard commands from
a bounded executor pool.

Two changes:

1. Apply explicit set_connection_timeout(5s), set_read_timeout(1s), and
set_write_timeout(5s) in the constructor. The 1 s read default matches
the contract already documented on this impl:
getConfiguredReceiveTimeout() returns {tv_sec = 1, tv_usec = 0}.

2. Wire setReceiveTimeout(const timeval&) into the underlying
httplib::Client instead of being a [[maybe_unused]] no-op. This makes
the base-class API work as documented on the X path; callers can now
tune the read timeout per their needs.

Both changes are backward-compatible: there is no public API change, and
the new defaults align with what the impl already advertised via
getConfiguredReceiveTimeout().


Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

Author: Vinicius-T-Robotics

include/ur_client_library/ur/dashboard_client_implementation.h

@@ -135,6 +135,27 @@ class DashboardClientImpl
    */
   virtual void setReceiveTimeout([[maybe_unused]] const timeval& timeout) {};
 
+  /*!
+   * \brief Gets the configured send timeout. If send timeout is unconfigured "normal" socket
+   * timeout of 1 second will be returned.
+   *
+   * \returns configured send timeout
+   */
+  virtual timeval getConfiguredSendTimeout() const
+  {
+    timeval tv;
+    tv.tv_sec = 1;
+    tv.tv_usec = 0;
+    return tv;
+  }
+
+  /*!
+   * \brief Sets the send timeout for the socket.
+   *
+   * \param timeout The timeout to be set
+   */
+  virtual void setSendTimeout([[maybe_unused]] const timeval& timeout) {};
+
   /*!
    * \brief Sends command and verifies that a valid answer is received.
    *

include/ur_client_library/ur/dashboard_client_implementation_x.h

@@ -162,9 +162,10 @@ class DashboardClientImplX : public DashboardClientImpl
   DashboardResponse commandUpdateProgram(const std::string& file_path) override;
   DashboardResponse commandDownloadProgram(const std::string& program_name, const std::string& save_path) override;
 
-  void setReceiveTimeout([[maybe_unused]] const timeval& timeout) override
-  {
-  }
+  // Defined in the .cpp because httplib::Client is only forward-declared in this header.
+  void setReceiveTimeout(const timeval& timeout) override;
+  void setSendTimeout(const timeval& timeout) override;
+  timeval getConfiguredSendTimeout() const override;
 
 protected:
   DashboardResponse performProgramUpload(
@@ -185,6 +186,8 @@ class DashboardClientImplX : public DashboardClientImpl
 
   std::unique_ptr<httplib::Client> cli_;
   VersionInformation robot_api_version_;
+  timeval recv_timeout_ = { 10, 0 };
+  timeval send_timeout_ = { 10, 0 };
 };
 
 }  // namespace urcl

src/ur/dashboard_client_implementation_x.cpp

@@ -24,6 +24,7 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
+#include <chrono>
 #include <string>
 #include <fstream>
 #include <ios>
@@ -49,6 +50,38 @@ DashboardClientImplX::DashboardClientImplX(const std::string& host) : DashboardC
   // Some targets have changed between versions redirecting to the correct endpoint. For this to
   // work, we'll have to follow redirects, which is not the default for httplib.
   cli_->set_follow_location(true);
+
+  // cpp-httplib's default read_timeout is 300 seconds. Applied unchanged, this makes any
+  // dashboard call hang for 5 minutes when the controller becomes unresponsive (e.g. network
+  // partition, paused container in tests).
+  //
+  // The 10 s default for read/write is chosen to cover blocking calls that legitimately take
+  // time on real hardware — brake_release, commandLoadProgram (read), commandUploadProgram
+  // (write), commandUpdateProgram (write), commandDownloadProgram (read) — without forcing
+  // each one to plumb its own timeout. commandPowerOn already accepts its own (longer)
+  // timeout parameter. Callers needing different limits can override via setReceiveTimeout.
+  cli_->set_connection_timeout(std::chrono::seconds(5));
+  cli_->set_read_timeout(std::chrono::seconds(recv_timeout_.tv_sec) + std::chrono::microseconds(recv_timeout_.tv_usec));
+  cli_->set_write_timeout(std::chrono::seconds(send_timeout_.tv_sec) +
+                          std::chrono::microseconds(send_timeout_.tv_usec));
+}
+
+void DashboardClientImplX::setReceiveTimeout(const timeval& timeout)
+{
+  recv_timeout_ = timeout;
+  if (cli_)
+  {
+    cli_->set_read_timeout(std::chrono::seconds(timeout.tv_sec) + std::chrono::microseconds(timeout.tv_usec));
+  }
+}
+
+void DashboardClientImplX::setSendTimeout(const timeval& timeout)
+{
+  send_timeout_ = timeout;
+  if (cli_)
+  {
+    cli_->set_write_timeout(std::chrono::seconds(timeout.tv_sec) + std::chrono::microseconds(timeout.tv_usec));
+  }
 }
 
 std::string DashboardClientImplX::sendAndReceive([[maybe_unused]] const std::string& text)
@@ -91,10 +124,12 @@ void DashboardClientImplX::disconnect()
 
 timeval DashboardClientImplX::getConfiguredReceiveTimeout() const
 {
-  timeval tv;
-  tv.tv_sec = 1;
-  tv.tv_usec = 0;
-  return tv;
+  return recv_timeout_;
+}
+
+timeval DashboardClientImplX::getConfiguredSendTimeout() const
+{
+  return send_timeout_;
 }
 
 VersionInformation DashboardClientImplX::queryPolyScopeVersion()
@@ -145,9 +180,35 @@ DashboardResponse DashboardClientImplX::commandPowerOff()
   return put("/robotstate/v1/state", R"({"action": "POWER_OFF"})");
 }
 
-DashboardResponse DashboardClientImplX::commandPowerOn([[maybe_unused]] const std::chrono::duration<double> timeout)
+DashboardResponse DashboardClientImplX::commandPowerOn(const std::chrono::duration<double> timeout)
 {
-  return put("/robotstate/v1/state", R"({"action": "POWER_ON"})");
+  // commandPowerOn can take significantly longer than steady-state dashboard calls (the robot
+  // boots, runs self-checks, etc.). Bump the read timeout to the caller-supplied value for the
+  // duration of the PUT, then restore — using the same save-bump-restore pattern as connect().
+  // The restore must run on every exit, including exceptions from inside put(), hence the
+  // catch(...) rethrow guard.
+  timeval configured_tv = getConfiguredReceiveTimeout();
+  // Preserve sub-second precision: duration_cast<seconds> truncates fractional values,
+  // so go via microseconds (the smallest unit timeval can represent) and split.
+  const auto pwron_us = std::chrono::duration_cast<std::chrono::microseconds>(timeout);
+  timeval pwron_tv;
+  pwron_tv.tv_sec = static_cast<long>(pwron_us.count() / 1'000'000);
+  pwron_tv.tv_usec = static_cast<long>(pwron_us.count() % 1'000'000);
+  setReceiveTimeout(pwron_tv);
+
+  DashboardResponse response;
+  try
+  {
+    response = put("/robotstate/v1/state", R"({"action": "POWER_ON"})");
+  }
+  catch (...)
+  {
+    setReceiveTimeout(configured_tv);
+    throw;
+  }
+
+  setReceiveTimeout(configured_tv);
+  return response;
 }
 
 DashboardResponse DashboardClientImplX::commandBrakeRelease()

tests/test_dashboard_client_x.cpp

@@ -451,6 +451,58 @@ TEST_F(DashboardClientTestX, download_program)
   }
 }
 
+TEST_F(DashboardClientTestX, set_receive_timeout)
+{
+  timeval expected_tv;
+  expected_tv.tv_sec = 30;
+  expected_tv.tv_usec = 0;
+  dashboard_client_->setReceiveTimeout(expected_tv);
+  EXPECT_TRUE(dashboard_client_->connect());
+
+  timeval actual_tv = dashboard_client_->getConfiguredReceiveTimeout();
+  EXPECT_EQ(expected_tv.tv_sec, actual_tv.tv_sec);
+  EXPECT_EQ(expected_tv.tv_usec, actual_tv.tv_usec);
+}
+
+TEST_F(DashboardClientTestX, set_send_timeout)
+{
+  timeval expected_tv;
+  expected_tv.tv_sec = 30;
+  expected_tv.tv_usec = 0;
+  dashboard_client_->setSendTimeout(expected_tv);
+  EXPECT_TRUE(dashboard_client_->connect());
+
+  timeval actual_tv = dashboard_client_->getConfiguredSendTimeout();
+  EXPECT_EQ(expected_tv.tv_sec, actual_tv.tv_sec);
+  EXPECT_EQ(expected_tv.tv_usec, actual_tv.tv_usec);
+}
+
+TEST_F(DashboardClientTestX, timeouts_round_trip_subsecond)
+{
+  timeval expected_tv;
+  expected_tv.tv_sec = 7;
+  expected_tv.tv_usec = 250000;
+  dashboard_client_->setReceiveTimeout(expected_tv);
+  dashboard_client_->setSendTimeout(expected_tv);
+
+  timeval recv_tv = dashboard_client_->getConfiguredReceiveTimeout();
+  EXPECT_EQ(expected_tv.tv_sec, recv_tv.tv_sec);
+  EXPECT_EQ(expected_tv.tv_usec, recv_tv.tv_usec);
+
+  timeval send_tv = dashboard_client_->getConfiguredSendTimeout();
+  EXPECT_EQ(expected_tv.tv_sec, send_tv.tv_sec);
+  EXPECT_EQ(expected_tv.tv_usec, send_tv.tv_usec);
+}
+
+TEST_F(DashboardClientTestX, microsecond_receive_timeout_makes_connect_fail)
+{
+  timeval tiny_tv;
+  tiny_tv.tv_sec = 0;
+  tiny_tv.tv_usec = 1;
+  dashboard_client_->setReceiveTimeout(tiny_tv);
+  EXPECT_FALSE(dashboard_client_->connect());
+}
+
 int main(int argc, char* argv[])
 {
   ::testing::InitGoogleTest(&argc, argv);