Pre-release/v1.0 (#21)

Release note:
https://github.com/flexivrobotics/flexiv_rdk/releases/tag/v1.0

.github/workflows/cmake.yml

@@ -2,9 +2,9 @@ name: CMake
 
 on:
   push:
-    branches: [main]
+    branches: [main, v1.x]
   pull_request:
-    branches: [main]
+    branches: [main, v1.x]
   workflow_dispatch:
 
 env:
@@ -22,8 +22,15 @@ jobs:
     steps:
       - uses: actions/checkout@v2
 
+      - name: Build and install dependencies
+        # Build and install all dependencies to RDK installation directory.
+        run: |
+          cd ${{github.workspace}}
+          cd thirdparty
+          bash build_and_install_dependencies.sh ~/rdk_install
+
       - name: Build and install library
-        # Configure CMake, then build and install the flexiv_rdk INTERFACE library to an external directory.
+        # Configure CMake, then build and install the flexiv_rdk INTERFACE library to RDK installation directory.
         run: |
           cd ${{github.workspace}}
           mkdir -p build && cd build
@@ -56,8 +63,15 @@ jobs:
     steps:
       - uses: actions/checkout@v2
 
+      - name: Build and install dependencies
+        # Build and install all dependencies to RDK installation directory.
+        run: |
+          cd ${{github.workspace}}
+          cd thirdparty
+          bash build_and_install_dependencies.sh ~/rdk_install
+
       - name: Build and install library
-        # Configure CMake, then build and install the flexiv_rdk INTERFACE library to an external directory.
+        # Configure CMake, then build and install the flexiv_rdk INTERFACE library to RDK installation directory.
         run: |
           cd ${{github.workspace}}
           mkdir -p build && cd build
@@ -90,8 +104,15 @@ jobs:
     steps:
       - uses: actions/checkout@v2
 
+      - name: Build and install dependencies
+        # Build and install all dependencies to RDK installation directory.
+        run: |
+          cd ${{github.workspace}}
+          cd thirdparty
+          bash build_and_install_dependencies.sh ~/rdk_install
+
       - name: Build and install library
-        # Configure CMake, then build and install the flexiv_rdk INTERFACE library to an external directory.
+        # Configure CMake, then build and install the flexiv_rdk INTERFACE library to RDK installation directory.
         run: |
           cd ${{github.workspace}}
           mkdir build && cd build

.gitignore

@@ -3,5 +3,6 @@
 .DS_Store
 config.h
 build/
+cloned/
 html/
 __pycache__

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.4)
 # ===================================================================
 #      PROJECT CONFIG
 # ===================================================================
-project(flexiv_rdk VERSION 0.8.0)
+project(flexiv_rdk VERSION 1.0.0)
 
 # C++14 required
 set(CMAKE_CXX_STANDARD 14)
@@ -13,27 +13,28 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release CACHE STRING "CMake build type" FORCE)
 endif()
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Release" "Debug" "RelWithDebInfo")
 
 # Set static library
 message("OS: ${CMAKE_SYSTEM_NAME}")
 message("Processor: ${CMAKE_SYSTEM_PROCESSOR}")
 if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
   if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "x86_64")
-    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/libFlexivRdk.x86_64-linux-gnu.a")
+    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/libflexiv_rdk.linux-gnu-x86_64.a")
   elseif(${CMAKE_SYSTEM_PROCESSOR} MATCHES "aarch64")
-    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/libFlexivRdk.aarch64-linux-gnu.a")
+    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/libflexiv_rdk.linux-gnu-aarch64.a")
   else()
     message(FATAL_ERROR "Linux with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
   endif()
 elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
   if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "arm64")
-    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/libFlexivRdk.arm64-darwin.a")
+    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/libflexiv_rdk.darwin-arm64.a")
   else()
     message(FATAL_ERROR "Mac with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
   endif()
 elseif(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
   if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "AMD64")
-    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/FlexivRdk.win_amd64.lib")
+    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/flexiv_rdk.win-amd64.lib")
   else()
     message(FATAL_ERROR "Windows with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
   endif()
@@ -42,9 +43,30 @@ endif()
 # ===================================================================
 #      PROJECT DEPENDENCIES
 # ===================================================================
-# pthread
+# Threads
 set(THREADS_PREFER_PTHREAD_FLAG ON)
 find_package(Threads REQUIRED)
+if(Threads_FOUND)
+  message(STATUS "Found Threads: HAVE_PTHREAD = ${THREADS_HAVE_PTHREAD_ARG}")
+endif()
+
+# Eigen3
+find_package(Eigen3 REQUIRED HINTS ${CMAKE_INSTALL_PREFIX})
+if(Eigen3_FOUND)
+  message(STATUS "Found Eigen3: ${Eigen3_DIR}")
+endif()
+
+# Fast-CDR
+find_package(fastcdr 1.0.24 REQUIRED HINTS ${CMAKE_INSTALL_PREFIX})
+if(fastcdr_FOUND)
+  message(STATUS "Found fastcdr: ${fastcdr_DIR}")
+endif()
+
+# Fast-DDS (Fast-RTPS)
+find_package(fastrtps 2.6.2 REQUIRED HINTS ${CMAKE_INSTALL_PREFIX})
+if(fastrtps_FOUND)
+  message(STATUS "Found fastrtps: ${fastrtps_DIR}")
+endif()
 
 # ===================================================================
 #      PROJECT LIBRARIES
@@ -64,8 +86,16 @@ target_include_directories(${PROJECT_NAME} INTERFACE
 target_link_libraries(${PROJECT_NAME} INTERFACE
   ${RDK_STATIC_LIBRARY}
   Threads::Threads
+  Eigen3::Eigen
+  fastrtps
+  fastcdr
 )
 
+# librt is required for Linux
+if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
+  target_link_libraries(${PROJECT_NAME} INTERFACE -lrt)
+endif()
+
 # Use moderate compiler warning option 
 if(MSVC)
   target_compile_options(${PROJECT_NAME} INTERFACE /W1)
@@ -76,9 +106,3 @@ endif()
 # Install the INTERFACE library
 include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/FlexivInstallLibrary.cmake)
 FlexivInstallLibrary()
-
-# Also install Eigen headers
-install(
-  DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/eigen3/Eigen
-  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} 
-)

README.md

@@ -34,22 +34,27 @@ NOTE: if you will only be using Python RDK, you can skip this section and jump t
         sudo apt install build-essential git cmake cmake-qt-gui -y
 
 2. Choose a directory for installing ``flexiv_rdk`` library and all its dependencies. For example, a new folder named ``rdk_install`` under the home directory.
-3. In a new Terminal, use CMake to configure ``flexiv_rdk``:
+3. In a new Terminal, run the provided script to compile and install all dependencies to the installation directory chosen in step 1:
+
+        cd flexiv_rdk/thirdparty
+        bash build_and_install_dependencies.sh ~/rdk_install
+
+4. In a new Terminal, use CMake to configure ``flexiv_rdk``:
 
         cd flexiv_rdk
         mkdir build && cd build
         cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
 
    NOTE: ``-D`` followed by ``CMAKE_INSTALL_PREFIX`` is a CMake parameter specifying the path of the chosen installation directory. Alternatively, this configuration step can also be done through CMake GUI.
 
-4. Compile and install ``flexiv_rdk`` library:
+5. Compile and install ``flexiv_rdk`` library:
 
         cd flexiv_rdk/build
         cmake --build . --target install --config Release
 
    NOTE: the installation of ``flexiv_rdk`` library is complete now. The following steps show how to link to the installed library from a user project.
 
-5. To find and link to the installed ``flexiv_rdk`` library from a user project, using the provided example project for instance:
+6. To find and link to the installed ``flexiv_rdk`` library from a user project, using the provided example project for instance:
 
         cd flexiv_rdk/example
         mkdir build && cd build
@@ -58,11 +63,15 @@ NOTE: if you will only be using Python RDK, you can skip this section and jump t
 
    NOTE: ``-D`` followed by ``CMAKE_INSTALL_PREFIX`` tells user project's CMake where to find the installed ``flexiv_rdk`` library.
 
-6. Assuming the system setup detailed in the Flexiv RDK Manual is done, to run an compiled example program:
+7. Assuming the system setup detailed in the Flexiv RDK Manual is done, to run an compiled example program:
+
+        ./<program_name> [robot_serial_number]
+
+   For example:
 
-        ./<program_name> [robot_ip] [local_ip] [...]
+        ./display_robot_states Rizon4s-123456
 
-   Note: ``sudo`` is not required unless prompted by the program saying "root privilege is required".
+   Note: ``sudo`` is not required unless prompted by the program.
 
 #### Compile and install for macOS
 
@@ -89,4 +98,4 @@ Python 3.8 and 3.10 are supported by RDK, see Flexiv RDK Manual for more details
 2. Assume the system setup detailed in Flexiv RDK Manual is done, to run an example Python program:
 
         cd flexiv_rdk/example_py
-        python3 <program_name>.py [robot_ip] [local_ip] [...]
+        python3 <program_name>.py [robot_serial_number]

cmake/flexiv_rdk-config.cmake.in

@@ -3,6 +3,9 @@ include(CMakeFindDependencyMacro)
 # Find dependency
 set(THREADS_PREFER_PTHREAD_FLAG ON)
 find_dependency(Threads REQUIRED)
+find_dependency(Eigen3 REQUIRED)
+find_dependency(fastrtps 2.6.2 REQUIRED)
+find_dependency(fastcdr 1.0.24 REQUIRED)
 
 # Add targets file
 include("${CMAKE_CURRENT_LIST_DIR}/@[email protected]")

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         = "0.8"
+PROJECT_NUMBER         = "1.0"
 
 # 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/basics1_display_robot_states.cpp

@@ -27,9 +27,9 @@ void printDescription()
 void printHelp()
 {
     // clang-format off
-    std::cout << "Required arguments: [robot IP] [local IP]" << std::endl;
-    std::cout << "    robot IP: address of the robot server" << std::endl;
-    std::cout << "    local IP: address of this PC" << std::endl;
+    std::cout << "Required arguments: [robot SN]" << std::endl;
+    std::cout << "    robot SN: Serial number of the robot to connect to. "
+                 "Remove any space, for example: Rizon4s-123456" << std::endl;
     std::cout << "Optional arguments: None" << std::endl;
     std::cout << std::endl;
     // clang-format on
@@ -45,8 +45,7 @@ void printRobotStates(flexiv::Robot& robot, flexiv::Log& log)
         // Get the latest robot states
         robot.getRobotStates(robotStates);
 
-        // Print all robot states in JSON format using the built-in ostream
-        // operator overloading
+        // Print all robot states in JSON format using the built-in ostream operator overloading
         log.info("Current robot states:");
         std::cout << robotStates << std::endl;
         std::this_thread::sleep_for(std::chrono::seconds(1));
@@ -61,14 +60,12 @@ int main(int argc, char* argv[])
     flexiv::Log log;
 
     // Parse parameters
-    if (argc < 3 || flexiv::utility::programArgsExistAny(argc, argv, {"-h", "--help"})) {
+    if (argc < 2 || flexiv::utility::programArgsExistAny(argc, argv, {"-h", "--help"})) {
         printHelp();
         return 1;
     }
-    // IP of the robot server
-    std::string robotIP = argv[1];
-    // IP of the workstation PC running this program
-    std::string localIP = argv[2];
+    // Serial number of the robot to connect to. Remove any space, for example: Rizon4s-123456
+    std::string robotSN = argv[1];
 
     // Print description
     log.info("Tutorial description:");
@@ -78,7 +75,7 @@ int main(int argc, char* argv[])
         // RDK Initialization
         // =========================================================================================
         // Instantiate robot interface
-        flexiv::Robot robot(robotIP, localIP);
+        flexiv::Robot robot(robotSN);
 
         // Clear fault on robot server if any
         if (robot.isFault()) {

example/basics2_clear_fault.cpp

@@ -28,9 +28,9 @@ void printDescription()
 void printHelp()
 {
     // clang-format off
-    std::cout << "Required arguments: [robot IP] [local IP]" << std::endl;
-    std::cout << "    robot IP: address of the robot server" << std::endl;
-    std::cout << "    local IP: address of this PC" << std::endl;
+    std::cout << "Required arguments: [robot SN]" << std::endl;
+    std::cout << "    robot SN: Serial number of the robot to connect to. "
+                 "Remove any space, for example: Rizon4s-123456" << std::endl;
     std::cout << "Optional arguments: None" << std::endl;
     std::cout << std::endl;
     // clang-format on
@@ -44,14 +44,12 @@ int main(int argc, char* argv[])
     flexiv::Log log;
 
     // Parse parameters
-    if (argc < 3 || flexiv::utility::programArgsExistAny(argc, argv, {"-h", "--help"})) {
+    if (argc < 2 || flexiv::utility::programArgsExistAny(argc, argv, {"-h", "--help"})) {
         printHelp();
         return 1;
     }
-    // IP of the robot server
-    std::string robotIP = argv[1];
-    // IP of the workstation PC running this program
-    std::string localIP = argv[2];
+    // Serial number of the robot to connect to. Remove any space, for example: Rizon4s-123456
+    std::string robotSN = argv[1];
 
     // Print description
     log.info("Tutorial description:");
@@ -61,7 +59,7 @@ int main(int argc, char* argv[])
         // RDK Initialization
         // =========================================================================================
         // Instantiate robot interface
-        flexiv::Robot robot(robotIP, localIP);
+        flexiv::Robot robot(robotSN);
 
         // Fault Clearing
         // =========================================================================================

example/basics3_primitive_execution.cpp

@@ -28,9 +28,9 @@ void printDescription()
 void printHelp()
 {
     // clang-format off
-    std::cout << "Required arguments: [robot IP] [local IP]" << std::endl;
-    std::cout << "    robot IP: address of the robot server" << std::endl;
-    std::cout << "    local IP: address of this PC" << std::endl;
+    std::cout << "Required arguments: [robot SN]" << std::endl;
+    std::cout << "    robot SN: Serial number of the robot to connect to. "
+                 "Remove any space, for example: Rizon4s-123456" << std::endl;
     std::cout << "Optional arguments: None" << std::endl;
     std::cout << std::endl;
     // clang-format on
@@ -44,14 +44,12 @@ int main(int argc, char* argv[])
     flexiv::Log log;
 
     // Parse parameters
-    if (argc < 3 || flexiv::utility::programArgsExistAny(argc, argv, {"-h", "--help"})) {
+    if (argc < 2 || flexiv::utility::programArgsExistAny(argc, argv, {"-h", "--help"})) {
         printHelp();
         return 1;
     }
-    // IP of the robot server
-    std::string robotIP = argv[1];
-    // IP of the workstation PC running this program
-    std::string localIP = argv[2];
+    // Serial number of the robot to connect to. Remove any space, for example: Rizon4s-123456
+    std::string robotSN = argv[1];
 
     // Print description
     log.info("Tutorial description:");
@@ -61,7 +59,7 @@ int main(int argc, char* argv[])
         // RDK Initialization
         // =========================================================================================
         // Instantiate robot interface
-        flexiv::Robot robot(robotIP, localIP);
+        flexiv::Robot robot(robotSN);
 
         // Clear fault on robot server if any
         if (robot.isFault()) {