Pre-release/v1.3 (#48)

Release note: https://github.com/flexivrobotics/flexiv_rdk/releases/tag/v1.3
flexivrobotics · Mar 26, 2024 · 319f200 · 319f200
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diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
@@ -13,7 +13,7 @@ env:
 
 jobs:
   build-ubuntu-22:
-    # Use Ubuntu 22.04 runner
+    # Use GitHub-hosted Ubuntu 22.04 runner
     runs-on: ubuntu-22.04
 
     steps:
@@ -51,7 +51,7 @@ jobs:
           make -j$(nproc)
 
   build-ubuntu-20:
-    # Use Ubuntu 20.04 runner
+    # Use GitHub-hosted Ubuntu 20.04 runner
     runs-on: ubuntu-20.04
 
     steps:
@@ -126,9 +126,9 @@ jobs:
           cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
           make -j$(sysctl -n hw.ncpu)
 
-  build-windows-2019:
-    # Use Windows 2019 runner because the 2022 runner uses a MSVC version that's too new for one of the dependencies
-    runs-on: windows-2019
+  build-windows-2022:
+    # Use GitHub-hosted Windows 2022 runner
+    runs-on: windows-2022
 
     steps:
       - uses: actions/checkout@v2

diff --git a/.gitignore b/.gitignore
@@ -2,7 +2,7 @@
 .vs
 .DS_Store
 config.h
-build/
+build*/
 install/
 cloned/
 html/

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.16.3)
 # ===================================================================
 #      PROJECT SETUP
 # ===================================================================
-project(flexiv_rdk VERSION 1.2.0)
+project(flexiv_rdk VERSION 1.3.0)
 
 # Configure build type
 if(NOT CMAKE_BUILD_TYPE)

diff --git a/README.md b/README.md
@@ -14,12 +14,15 @@ Flexiv RDK (Robotic Development Kit), a key component of the Flexiv Robotic Soft
 | **Supported OS**           | **Supported processor** | **Supported language** | **Required compiler kit** |
 | -------------------------- | ----------------------- | ---------------------- | ------------------------- |
 | Linux (Ubuntu 20.04/22.04) | x86_64, arm64           | C++, Python            | build-essential           |
-| macOS 12 (Monterey)        | arm64                   | C++, Python            | Xcode Command Line Tools  |
-| Windows 10                 | x86_64                  | C++, Python            | MSVC 14.0+                |
+| macOS 12 and above         | arm64                   | C++, Python            | Xcode Command Line Tools  |
+| Windows 10/11              | x86_64                  | C++, Python            | MSVC v142+                |
 
 ## Quick Start
 
-**NOTE:** the full documentation is in [Flexiv RDK Manual](https://rdk.flexiv.com/manual/).
+### Note
+
+* The full documentation is in [Flexiv RDK Manual](https://rdk.flexiv.com/manual/).
+* You might need to turn off your computer's firewall to be able to connect to the robot.
 
 ### C++ RDK
 
@@ -82,20 +85,19 @@ NOTE: if you will only be using Python RDK, you can skip this section and jump t
 
 #### Compile and install for Windows
 
-1. Install Microsoft Visual Studio with version 2015 or above (MSVC 14.0+). Choose "Desktop development with C++" under the *Workloads* tab during installation. You only need to keep the following components for the selected workload:
+1. Install Microsoft Visual Studio 2019 (MSVC v142) or above . Choose "Desktop development with C++" under the *Workloads* tab during installation. You only need to keep the following components for the selected workload:
    * MSVC ... C++ x64/x86 build tools (Latest)
    * C++ CMake tools for Windows
    * Windows 10 SDK or Windows 11 SDK, depending on your actual Windows version
-2. Due to compatibility issue from one of the dependencies, the maximum compatible MSVC version is v14.36. Thus if the above selected "Latest" MSVC is higher than v14.36, an **additional** compatible MSVC needs to be installed. To do so, go to the *Individual components* tab (next to *Workloads*), and search for "MSVC x64/x86 build tools", then select a MSVC with version <= 14.36 to install. Note: you need to also **keep** the "Latest" selection of MSVC that comes with the "Desktop development with C++" workload so that the "C++ CMake tools for Windows" component can work properly.
-3. Download ``cmake-3.x.x-windows-x86_64.msi`` from [CMake download page](https://cmake.org/download/) and install the msi file. The minimum required version is 3.16.3. **Add CMake to system PATH** when prompted, so that ``cmake`` and ``cmake-gui`` command can be used from Command Prompt or a bash emulator.
-4. Install a bash emulator. Git Bash that comes with Git (for Windows) installation is recommended.
-5. Within the bash emulator, the rest steps are the same as [Compile and install for Linux](#compile-and-install-for-linux), beginning from step 2.
+2. Download ``cmake-3.x.x-windows-x86_64.msi`` from [CMake download page](https://cmake.org/download/) and install the msi file. The minimum required version is 3.16.3. **Add CMake to system PATH** when prompted, so that ``cmake`` and ``cmake-gui`` command can be used from Command Prompt or a bash emulator.
+3. Install a bash emulator. Git Bash that comes with Git (for Windows) installation is recommended.
+4. Within the bash emulator, the rest steps are the same as [Compile and install for Linux](#compile-and-install-for-linux), beginning from step 2.
 
 ### Python RDK
 
-Python 3.8 and 3.10 are supported by RDK, see Flexiv RDK Manual for more details. A brief instruction is provided below and applies to all supported OS.
+Python 3.10 and 3.12 are supported by RDK, see Flexiv RDK Manual for more details. A brief instruction is provided below and applies to all supported OS.
 
-1. Check Python version is 3.8.x or 3.10.x:
+1. Check Python version is 3.10.x or 3.12.x:
 
         python3 --version
 

diff --git a/doc/Doxyfile.in b/doc/Doxyfile.in
@@ -38,7 +38,7 @@ PROJECT_NAME           = "Flexiv RDK APIs"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = "1.2"
+PROJECT_NUMBER         = "1.3"
 
 # 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

diff --git a/example/CMakeLists.txt b/example/CMakeLists.txt
@@ -23,7 +23,6 @@ set(EXAMPLE_LIST
   basics7_auto_recovery
   basics8_update_robot_tool
   intermediate6_robot_dynamics
-  intermediate7_teach_by_demonstration
 )
 
 # Additional examples for Linux and Mac

diff --git a/example/basics1_display_robot_states.cpp b/example/basics1_display_robot_states.cpp
@@ -6,15 +6,15 @@
  * @author Flexiv
  */
 
-#include <flexiv/Robot.hpp>
-#include <flexiv/Log.hpp>
-#include <flexiv/Utility.hpp>
+#include <flexiv/robot.h>
+#include <flexiv/log.h>
+#include <flexiv/utility.h>
 
 #include <iostream>
 #include <thread>
 
 /** @brief Print tutorial description */
-void printDescription()
+void PrintDescription()
 {
     std::cout << "This tutorial does the very first thing: check connection with the robot server "
                  "and print received robot states."
@@ -23,7 +23,7 @@ void printDescription()
 }
 
 /** @brief Print program usage help */
-void printHelp()
+void PrintHelp()
 {
     // clang-format off
     std::cout << "Required arguments: [robot SN]" << std::endl;
@@ -39,10 +39,8 @@ void printRobotStates(flexiv::Robot& robot, flexiv::Log& log)
 {
     while (true) {
         // Print all robot states in JSON format using the built-in ostream operator overloading
-        // Note: because this is not a performance-critical loop, we can use the
-        // return-by-value-copy version of getRobotStates()
-        log.info("Current robot states:");
-        std::cout << robot.getRobotStates() << std::endl;
+        log.Info("Current robot states:");
+        std::cout << robot.states() << std::endl;
         std::this_thread::sleep_for(std::chrono::seconds(1));
     }
 }
@@ -55,58 +53,56 @@ int main(int argc, char* argv[])
     flexiv::Log log;
 
     // Parse parameters
-    if (argc < 2 || flexiv::utility::programArgsExistAny(argc, argv, {"-h", "--help"})) {
-        printHelp();
+    if (argc < 2 || flexiv::utility::ProgramArgsExistAny(argc, argv, {"-h", "--help"})) {
+        PrintHelp();
         return 1;
     }
     // Serial number of the robot to connect to. Remove any space, for example: Rizon4s-123456
-    std::string robotSN = argv[1];
+    std::string robot_sn = argv[1];
 
     // Print description
-    log.info("Tutorial description:");
-    printDescription();
+    log.Info("Tutorial description:");
+    PrintDescription();
 
     try {
         // RDK Initialization
         // =========================================================================================
         // Instantiate robot interface
-        flexiv::Robot robot(robotSN);
+        flexiv::Robot robot(robot_sn);
 
-        // Clear fault on robot server if any
-        if (robot.isFault()) {
-            log.warn("Fault occurred on robot server, trying to clear ...");
+        // Clear fault on the connected robot if any
+        if (robot.fault()) {
+            log.Warn("Fault occurred on the connected robot, trying to clear ...");
             // Try to clear the fault
-            robot.clearFault();
-            std::this_thread::sleep_for(std::chrono::seconds(2));
-            // Check again
-            if (robot.isFault()) {
-                log.error("Fault cannot be cleared, exiting ...");
+            if (!robot.ClearFault()) {
+                log.Error("Fault cannot be cleared, exiting ...");
                 return 1;
             }
-            log.info("Fault on robot server is cleared");
+            log.Info("Fault on the connected robot is cleared");
         }
 
         // Enable the robot, make sure the E-stop is released before enabling
-        log.info("Enabling robot ...");
-        robot.enable();
+        log.Info("Enabling robot ...");
+        robot.Enable();
 
         // Wait for the robot to become operational
-        while (!robot.isOperational()) {
+        while (!robot.operational()) {
             std::this_thread::sleep_for(std::chrono::seconds(1));
         }
-        log.info("Robot is now operational");
+        log.Info("Robot is now operational");
 
         // Print States
         // =========================================================================================
         // Use std::thread to do scheduling so that this example can run on all OS, since not all OS
         // support flexiv::Scheduler
-        std::thread lowPriorityThread(std::bind(printRobotStates, std::ref(robot), std::ref(log)));
+        std::thread low_priority_thread(
+            std::bind(printRobotStates, std::ref(robot), std::ref(log)));
 
         // Properly exit thread
-        lowPriorityThread.join();
+        low_priority_thread.join();
 
     } catch (const std::exception& e) {
-        log.error(e.what());
+        log.Error(e.what());
         return 1;
     }
 

diff --git a/example/basics2_clear_fault.cpp b/example/basics2_clear_fault.cpp
@@ -6,16 +6,16 @@
  * @author Flexiv
  */
 
-#include <flexiv/Robot.hpp>
-#include <flexiv/Log.hpp>
-#include <flexiv/Utility.hpp>
+#include <flexiv/robot.h>
+#include <flexiv/log.h>
+#include <flexiv/utility.h>
 
 #include <iostream>
 #include <string>
 #include <thread>
 
 /** @brief Print tutorial description */
-void printDescription()
+void PrintDescription()
 {
     std::cout << "This tutorial clears minor faults from the robot server if any. Note that "
                  "critical faults cannot be cleared, see RDK manual for more details."
@@ -24,7 +24,7 @@ void printDescription()
 }
 
 /** @brief Print program usage help */
-void printHelp()
+void PrintHelp()
 {
     // clang-format off
     std::cout << "Required arguments: [robot SN]" << std::endl;
@@ -43,42 +43,39 @@ int main(int argc, char* argv[])
     flexiv::Log log;
 
     // Parse parameters
-    if (argc < 2 || flexiv::utility::programArgsExistAny(argc, argv, {"-h", "--help"})) {
-        printHelp();
+    if (argc < 2 || flexiv::utility::ProgramArgsExistAny(argc, argv, {"-h", "--help"})) {
+        PrintHelp();
         return 1;
     }
     // Serial number of the robot to connect to. Remove any space, for example: Rizon4s-123456
-    std::string robotSN = argv[1];
+    std::string robot_sn = argv[1];
 
     // Print description
-    log.info("Tutorial description:");
-    printDescription();
+    log.Info("Tutorial description:");
+    PrintDescription();
 
     try {
         // RDK Initialization
         // =========================================================================================
         // Instantiate robot interface
-        flexiv::Robot robot(robotSN);
+        flexiv::Robot robot(robot_sn);
 
         // Fault Clearing
         // =========================================================================================
-        // Check if the robot has fault
-        if (robot.isFault()) {
-            log.warn("Fault occurred on robot server, trying to clear ...");
+        // Clear fault on the connected robot if any
+        if (robot.fault()) {
+            log.Warn("Fault occurred on the connected robot, trying to clear ...");
             // Try to clear the fault
-            robot.clearFault();
-            std::this_thread::sleep_for(std::chrono::seconds(2));
-            // Check again
-            if (robot.isFault()) {
-                log.error("Fault cannot be cleared, exiting ...");
+            if (!robot.ClearFault()) {
+                log.Error("Fault cannot be cleared, exiting ...");
                 return 1;
             }
-            log.info("Fault on robot server is cleared");
+            log.Info("Fault on the connected robot is cleared");
         } else {
-            log.info("No fault on robot server");
+            log.Info("No fault on the connected robot");
         }
     } catch (const std::exception& e) {
-        log.error(e.what());
+        log.Error(e.what());
         return 1;
     }
-Original file line number
+Diff line change
@@ Expand Up / @@ -2,7 +2,7 @@ @@
     .vs
     .DS_Store
     config.h
-    build/
+    build*/
     install/
     cloned/
     html/
@@ Expand Down @@