Fix: Implement SendHeartBeat for real-time connection in RW7.8 and later

[arjendeetman]

Depending on controller version and configuration, a client that holds mastership must send a heartbeat to the controller to show presence during execution.

If the client does not send a heartbeat with a specified interval, execution will stop and the controller will go to motors off.
This functionality is availabe in RobotWare 7.8 and later and is controlled via the configuration instance SYS/MASTER_BOOL/HeartBeat:

• If the parameter Select is true, a client that holds mastership must send heartbeats or program execution will stop.
• The parameter Timeout corresponds to the maximum heartbeat interval.

This is required for standalone applications, but not for RobotStudio add-ins.

Heartbeat during program execution

Depending on controller version and configuration, a client that holds mastership must send a heartbeat to the controller to show presence during execution. This is done by calling SendHeartBeat() which is supported from RobotWare 7.8.

If the client does not send a heartbeat with a specified interval, execution will stop and the controller will go to motors off.

This functionality is controlled via the configuration instance SYS/MASTER_BOOL/HeartBeat:

• If the parameter Select is true, a client that holds mastership must send heartbeats or program execution will stop.
• The parameter Timeout corresponds to the maximum heartbeat interval. The default is 2000 ms.

More info here and here