Release/v1.0.1

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.16.3)
 # ===================================================================
 #      PROJECT SETUP
 # ===================================================================
-project(flexiv_ddk VERSION 1.0.0)
+project(flexiv_ddk VERSION 1.0.1)
 
 # Configure build type
 if(NOT CMAKE_BUILD_TYPE)

doc/Doxyfile.in

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Flexiv DDK APIs"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 1.0
+PROJECT_NUMBER         = 1.0.1
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

example/basics3_display_plan_info.cpp

@@ -73,15 +73,14 @@ int main(int argc, char *argv[]) {
   spdlog::info(">>> Tutorial description <<<\nThis tutorial check connection "
                "with the robot and print plan info.");
 
+  // Setup signal handler for graceful exit
+  std::signal(SIGINT, SignalHandler);
   try {
     // DDK Initialization
     // =========================================================================================
     // Instantiate DDK client interface
     flexiv::ddk::Client client(robot_sn);
 
-    // Setup signal handler for graceful exit
-    std::signal(SIGINT, SignalHandler);
-
     // Print States
     // =========================================================================================
     // Use std::thread to do scheduling so that this example can run on all OS

example/basics4_display_primitive_states.cpp

@@ -46,17 +46,13 @@ void printPrimitiveStates(flexiv::ddk::Client &client) {
       std::this_thread::sleep_for(std::chrono::seconds(5));
       continue;
     }
-    // Print all robot states in JSON format using the built-in ostream operator
-    // overloading
+    // Print all robot states
     spdlog::info("Current primitive states:");
-    std::cout << "primitiveName= "
-              << flexiv::ddk::utility::ParsePtStates(client.primitive_states(),
-                                                     "primitiveName")
-              << std::endl;
-    std::cout << "reachedTarget= "
-              << flexiv::ddk::utility::ParsePtStates(client.primitive_states(),
-                                                     "reachedTarget")
-              << std::endl;
+    for (const auto &pt : client.primitive_states()) {
+      std::cout << pt.first << " = ";
+      std::visit([](auto &&arg) { std::cout << arg; }, pt.second);
+      std::cout << std::endl;
+    }
     std::this_thread::sleep_for(std::chrono::seconds(1));
   }
 }
@@ -76,7 +72,7 @@ int main(int argc, char *argv[]) {
 
   // Print description
   spdlog::info(">>> Tutorial description <<<\nThis tutorial check connection "
-               "with the robot and print plan infos.");
+               "with the robot and print primitive states.");
 
   try {
     // DDK Initialization

example/basics5_display_server_time.cpp

@@ -73,7 +73,7 @@ int main(int argc, char *argv[]) {
 
   // Print description
   spdlog::info(">>> Tutorial description <<<\nThis tutorial check connection "
-               "with the robot and print plan infos.");
+               "with the robot and print server time.");
 
   // Setup signal handler for graceful exit
   std::signal(SIGINT, SignalHandler);

example/basics6_display_system_status.cpp

@@ -75,7 +75,7 @@ int main(int argc, char *argv[]) {
 
   // Print description
   spdlog::info(">>> Tutorial description <<<\nThis tutorial check connection "
-               "with the robot and print plan infos.");
+               "with the robot and print system status.");
 
   // Setup signal handler for graceful exit
   std::signal(SIGINT, SignalHandler);

example/basics9_display_manipulability.cpp

@@ -70,7 +70,7 @@ int main(int argc, char *argv[]) {
 
   // Print description
   spdlog::info(">>> Tutorial description <<<\nThis tutorial check connection "
-               "with the robot and print received robot cartesian commands.");
+               "with the robot and print current manipulability.");
 
   // Setup signal handler for graceful exit
   std::signal(SIGINT, SignalHandler);

include/flexiv/ddk/client.hpp

@@ -8,6 +8,7 @@
 
 #include "data.hpp"
 #include <exception>
+#include <map>
 #include <memory>
 #include <vector>
 
@@ -26,6 +27,11 @@ class Client {
    * services will initialize and connection with the robot will be established.
    * @param[in] robot_sn Serial number of the robot to connect. The accepted
    * formats are: "Rizon 4s-123456" and "Rizon4s-123456".
+   * @param[in] network_interface_whitelist Limit the network interface(s) that
+   * can be used to try to establish connection with the specified robot. The
+   * whitelisted network interface is defined by its associated IPv4 address.
+   * For example, {"10.42.0.1", "192.168.2.102"}. If left empty, all available
+   * network interfaces will be tried when searching for the specified robot.
    * @throw std::invalid_argument if the format of [robot_sn] is invalid.
    * @throw std::runtime_error if the initialization sequence failed.
    * @throw std::logic_error if the connected robot does not have a valid DDK
@@ -34,7 +40,8 @@ class Client {
    * @warning This constructor blocks until the initialization sequence is
    * successfully finished and connection with the robot is established.
    */
-  Client(const std::string &robot_sn);
+  Client(const std::string &robot_sn,
+         const std::vector<std::string> &network_interface_whitelist = {});
   virtual ~Client();
 
   /**
@@ -86,7 +93,23 @@ class Client {
    * or the result is invalid.
    * @note This function blocks until a reply is received.
    */
-  const std::vector<std::string> primitive_states() const;
+  [[deprecated(
+      "[Will be removed in flexiv_ddk v1.1] Use the other primitive_states() "
+      "instead")]] const std::vector<std::string>
+  primitive_states(bool dummy)
+      const; ///< Unused parameter [dummy] is needed for function overloading
+
+  /**
+   * @brief [Blocking] State parameters of the executing primitive and their
+   * current values.
+   * @return A map of {pt_state_name, pt_state_value(s)}. Booleans are
+   * represented by int 1 and 0. For example,
+   * {{"primitiveName","MoveL"},{"reachedTarget", 0}, {"timePeriod", 5.6}}.
+   * @throw std::runtime_error if failed to get a reply from the connected
+   * robot.
+   * @note This function blocks until a reply is received.
+   */
+  std::map<std::string, FlexivPrimitiveStatesType> primitive_states() const;
 
   /**
    * @brief [Non-blocking] Access the current time from server. It contains
@@ -108,7 +131,8 @@ class Client {
   bool enabling_button_pressed() const;
 
   /**
-   * @brief [Non-blocking] Read all digital input ports on the control box.
+   * @brief [Non-blocking] Read all digital input ports on the control box,
+   * including 16 on the control box plus 2 inside the wrist connector.
    * @return Digital input readings array whose index corresponds to the digital
    * input port index. True: port high, false: port low.
    */

include/flexiv/ddk/data.hpp

@@ -10,8 +10,8 @@
 #include <array>
 #include <ostream>
 #include <string>
+#include <variant>
 #include <vector>
-
 namespace flexiv {
 namespace ddk {
 
@@ -21,8 +21,9 @@ constexpr size_t kCartDoF = 6;
 /** Size of pose array (3 position + 4 quaternion) */
 constexpr size_t kPoseSize = 7;
 
-/** Number of digital IO ports */
-constexpr size_t kIOPorts = 16;
+/** Number of digital IO ports (16 on control box + 2 inside the wrist
+ * connector) */
+constexpr size_t kIOPorts = 18;
 
 /**
  * @struct JointStates
@@ -291,6 +292,10 @@ struct ServerTime {
   int nano_sec = {};
 };
 
+/** Alias of the variant that holds all possible types of flexiv primitive
+ * states */
+using FlexivPrimitiveStatesType = std::variant<int, double, std::string>;
+
 /**
  * @brief Operator overloading to out stream all robot states in JSON format:
  * {"state_1": [val1,val2,val3,...], "state_2": [val1,val2,val3,...], ...}.

thirdparty/scripts/install_Fast-CDR.sh

@@ -25,7 +25,7 @@ cmake .. -DCMAKE_BUILD_TYPE=Release \
          -DBUILD_SHARED_LIBS=OFF \
          -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
          -DCMAKE_INSTALL_PREFIX=$INSTALL_DIR \
-         -DCAMEK_PREFIX_PATH=$INSTALL_DIR \
+         -DCMAKE_PREFIX_PATH=$INSTALL_DIR \
          -DCOMPILE_EXAMPLES=OFF
 
 # Build and install

thirdparty/scripts/install_Fast-DDS.sh

@@ -26,7 +26,7 @@ cmake .. -DCMAKE_BUILD_TYPE=Release \
          -DBUILD_SHARED_LIBS=OFF \
          -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
          -DCMAKE_INSTALL_PREFIX=$INSTALL_DIR \
-         -DCAMEK_PREFIX_PATH=$INSTALL_DIR \
+         -DCMAKE_PREFIX_PATH=$INSTALL_DIR \
          -DTHIRDPARTY_Asio=ON \
          -DCOMPILE_EXAMPLES=OFF \
          -DSQLITE3_SUPPORT=OFF \

thirdparty/scripts/install_eigen.sh

@@ -15,17 +15,16 @@ else
 fi
 
 # Use specific version
-git fetch -p
-git checkout 3.3.7
-git submodule update --init --recursive
+git fetch --prune --tags
+git checkout 3.4.0
 
 # Configure CMake
 mkdir -p build && cd build
 cmake .. -DCMAKE_BUILD_TYPE=Release \
          -DBUILD_SHARED_LIBS=OFF \
          -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
          -DCMAKE_INSTALL_PREFIX=$INSTALL_DIR \
-         -DCAMEK_PREFIX_PATH=$INSTALL_DIR 
+         -DCMAKE_PREFIX_PATH=$INSTALL_DIR 
 
 # Build and install
 cmake --build . --target install --config Release -j $NUM_JOBS

thirdparty/scripts/install_foonathan_memory.sh

@@ -24,7 +24,7 @@ mkdir -p build && cd build
 cmake .. -DCMAKE_BUILD_TYPE=Release \
          -DBUILD_SHARED_LIBS=OFF \
          -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-         -DCAMEK_PREFIX_PATH=$INSTALL_DIR \
+         -DCMAKE_PREFIX_PATH=$INSTALL_DIR \
          -DCMAKE_INSTALL_PREFIX=$INSTALL_DIR
 
 # Build and install

thirdparty/scripts/install_spdlog.sh

@@ -24,7 +24,7 @@ mkdir -p build && cd build
 cmake .. -DCMAKE_BUILD_TYPE=Release \
          -DBUILD_SHARED_LIBS=OFF \
          -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-         -DCAMEK_PREFIX_PATH=$INSTALL_DIR \
+         -DCMAKE_PREFIX_PATH=$INSTALL_DIR \
          -DCMAKE_INSTALL_PREFIX=$INSTALL_DIR 
 
 # Build and install

thirdparty/scripts/install_tinyxml2.sh

@@ -24,7 +24,7 @@ mkdir -p build && cd build
 cmake .. -DCMAKE_BUILD_TYPE=Release \
          -DBUILD_SHARED_LIBS=OFF \
          -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-         -DCAMEK_PREFIX_PATH=$INSTALL_DIR \
+         -DCMAKE_PREFIX_PATH=$INSTALL_DIR \
          -DCMAKE_INSTALL_PREFIX=$INSTALL_DIR 
 
 # Build and install