pub fn connect_handshake(
network: &Network,
library_version: u16,
) -> FrankaResult<u16>Expand description
Performs the Connect handshake and returns the server’s protocol version.
Port of the franka::connect<T, kLibraryVersion> template in src/network.h: send the
request carrying the client’s UDP port, block for the reply, and map the status.
kIncompatibleLibraryVersion becomes FrankaError::IncompatibleVersion, any other
non-success status becomes Protocol("libfranka: Protocol error during connection attempt").
The robot and the gripper differ only in the width of the status field (u8 vs u16), so
the layout chosen at connect time selects the right response struct.