[RoboX2020]

Fixes #3405.

After the switch to IDL-based RPC, the ControlBoard NWS only exposed the IControlMode setters over RPC, so yarp rpc could set modes but not read them back.

This mirrors the existing IInteractionMode getters: it adds getControlModeOneRPC, getControlModeAllRPC and getControlModeGroupRPC to ControlBoardMsgs.thrift, implements them in ControlBoardRPCd on top of IControlMode::getControlMode(s), and regenerates the committed IDL code. Returned modes use yarp::dev::ControlModeEnum so non-selectable states (hardware fault, calibrating, unknown) are reported faithfully.

Adds a regression test that talks to the NWS RPC port like yarp rpc does: it sets a mode through the existing setter, then reads it back through the new getters (per-axis, all and group).

[update-docs]

Thanks for opening this pull request! The maintainers of this repository would appreciate it if you would update the release notes by adding a file in doc/release/<target_branch>, based on your changes.

[codacy-production]

Up to standards ✅

🟢 Issues 0 issues

Results:
0 new issues

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🟢 Metrics 719 complexity · 132 duplication

Metric	Results
Complexity	719
Duplication	132

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🟢 Coverage ∅ diff coverage

Metric	Results
Coverage variation	Report missing for 763a4fb1
Diff coverage	✅ ∅ diff coverage

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Coverage variation details

	Coverable lines	Covered lines	Coverage
Common ancestor commit (763a4fb)	Report Missing	Report Missing	Report Missing
Head commit (86954cb)	361803	42104	11.64%

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Diff coverage details

	Coverable lines	Covered lines	Diff coverage
Pull request (#3406)	0	0	∅ (not applicable)

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[randaz81]

The use of yarp::os::Bottle should be always avoided in examples, clients and tests if a safe alternative is available.
In file controlBoard_nws_yarp_test.cpp please remove them and use something similar to:

        ControlBoardMsgs rpc_client;
        REQUIRE(rpc_client.yarp().attachAsClient(rpc));

        {
            return_getControlModeOne reply = rpc_client.getControlModeOneRPC(0);
            CHECK(reply.ret == ReturnValue_ok);
            CHECK(static_cast<std::int32_t>(reply.mode) == pos_direct);
        }

...

[RoboX2020]

Thanks for the review, Marco. The RPC section of the test now talks to the device through the generated ControlBoardMsgs client (attachAsClient on the port) with typed calls for the setter and all three getters, and the test target links ControlBoardMsgs. yarp::os::Bottle is gone from the file. Verified locally: the full dev::controlBoard_nws_yarp test passes.