feat: Move configurable EtherCAT timeouts to RTUnit

source/armarx/control/ethercat/RTUnit.cpp

@@ -107,6 +107,7 @@ namespace armarx::control::ethercat
         Bus& bus = Bus::getBus();
         bus.setRobot(robot);
         bus.setLocalMinimumLoggingLevel(this->getEffectiveLoggingLevel());
+        bus.setTimeouts(ethercatTimeouts); // Set configured timeouts.
     }
 
     void
@@ -267,6 +268,19 @@ namespace armarx::control::ethercat
         def->optional(properties.robotJointsNodeSet, "nodeSet.robotJoints", "The node set which contains the actuated joints.");
         def->optional(properties.robotColNodeSet, "nodeSet.robotCol", "The node set for e.g. gravity computation.");
 
+        def->optional(ethercatTimeouts.registerRead_us,
+                      "ethercat.timeouts.register_read",
+                      "EtherCAT timeout for a register frame to read certain registers in µs.");
+        def->optional(ethercatTimeouts.stateCheck_us,
+                      "ethercat.timeouts.state_check",
+                      "EtherCAT timeout to check for the current EtherCAT state of slaves in µs.");
+        def->optional(ethercatTimeouts.sdoRead_us,
+                      "ethercat.timeouts.sdo_read",
+                      "EtherCAT timeout to read an SDO in µs.");
+        def->optional(ethercatTimeouts.sdoWrite_us,
+                      "ethercat.timeouts.sdo_write",
+                      "EtherCAT timeout to write an SDO in µs.");
+
         return def;
     }
 

source/armarx/control/ethercat/RTUnit.h

@@ -35,6 +35,8 @@
 #include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
 #include <ArmarXCore/core/services/tasks/PeriodicTask.h>
 
+#include <armarx/control/ethercat/bus_io/Timeouts.h>
+
 #include <RobotAPI/components/units/RobotUnit/RobotUnit.h>
 
 /**
@@ -209,6 +211,9 @@ namespace armarx::control::ethercat
             std::string robotJointsNodeSet = "RobotJoints";
             std::string robotColNodeSet = "RobotCol";
         } properties;
+
+        armarx::control::ethercat::Timeouts ethercatTimeouts;
+
     };
 
 } // namespace armarx::control::ethercat