Primary client script execution feedback

[URJala]

This is not quite done yet, but the main logic and the test cases are there
Still missing documentation and example also needs to be finished.

---

Note

Medium Risk
Adds new blocking URScript execution flow in PrimaryClient that parses/rewrites scripts and reacts to robot error/key/runtime-exception messages, which could affect program execution/stop behavior. Includes substantial new test infrastructure (fake primary server) and example/docs, but changes are isolated to primary-client script sending paths.

Overview
Adds a new PrimaryClient::sendScriptBlocking() API that prepares and validates URScript, checks robot/safety state, sends the script, and then waits for PROGRAM_XXX_STARTED/STOPPED plus error-code and runtime-exception messages to determine success (optionally failing on warnings and issuing stop program on faults/violations).

Extends the primary consumer/visitor to handle KeyMessage and RuntimeExceptionMessage, adds ScriptCodeSyntaxException, and adjusts runtime-exception line/column types to uint32_t. Also adds a send_script example + docs and introduces a FakePrimaryServer with new unit/integration tests covering success paths, timeouts, read-only primary interface (C210), warnings/faults, and runtime exceptions.

^{Reviewed by Cursor Bugbot for commit 772f460. Bugbot is set up for automated code reviews on this repo. Configure here.}

[codecov]

Codecov Report

❌ Patch coverage is 90.81633% with 18 lines in your changes missing coverage. Please review.
✅ Project coverage is 77.72%. Comparing base (3f95311) to head (772f460).
⚠️ Report is 6 commits behind head on master.

Files with missing lines	Patch %	Lines
src/primary/primary_client.cpp	92.09%	1 Missing and 13 partials ⚠️
include/ur_client_library/exceptions.h	50.00%	2 Missing ⚠️
...clude/ur_client_library/primary/primary_consumer.h	83.33%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #484      +/-   ##
==========================================
+ Coverage   76.96%   77.72%   +0.75%     
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  Files         116      116              
  Lines        6343     6563     +220     
  Branches     2761     2898     +137     
==========================================
+ Hits         4882     5101     +219     
+ Misses       1113     1098      -15     
- Partials      348      364      +16     

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python_scripts	75.90% <ø> (ø)
start_ursim	81.75% <ø> (-3.34%)	⬇️
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[urfeex]

First, very high-level overview.

[urfeex]

There seems to be an error somewhere in the logic. When I run the example with a robot that is not break-released, it releases breaks correctly, but then not all following commands are executed. I don't know whether there are some messages being lost due to the frequency things are called with or if there are flags that would need to be reset on the way.

This could be related with the error code handling. One example output is

[1776862206.490350] INFO /home/feex/git/ur_client_library/src/primary/primary_client.cpp 74: Starting primary client pipeline
Client connected
[1776862212.575126] INFO /home/feex/git/ur_client_library/include/ur_client_library/primary/primary_consumer.h 147: Logging an ErrorCodeMessage from the UR Controller Box: C100A7
[1776862212.581287] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 237: Robot encountered error(s) during script execution, stopping program
[1776862212.581336] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581351] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581362] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581385] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581397] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581407] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581426] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581438] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581453] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581466] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581488] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581505] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C286A1
[1776862212.581516] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C304A4
[1776862212.581537] ERROR /home/feex/git/ur_client_library/src/primary/primary_client.cpp 240: Robot error code: C100A7
[1776862212.684815] INFO /home/feex/git/ur_client_library/src/primary/primary_client.cpp 262: Script with name cool_function_name started
[1776862212.684926] INFO /home/feex/git/ur_client_library/src/primary/primary_client.cpp 256: Script with name cool_function_name executed successfully
[1776862212.685579] INFO /home/feex/git/ur_client_library/src/primary/primary_client.cpp 68: Stopping primary client pipeline

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Cursor Bugbot has reviewed your changes using default mode and found 1 potential issue.

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