Pre-release/v1.1 (#28)

Release note:
https://github.com/flexivrobotics/flexiv_rdk/releases/tag/v1.1

.github/workflows/cmake.yml

@@ -125,12 +125,12 @@ jobs:
           cd ${{github.workspace}}/example
           mkdir build && cd build
           cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
-          cmake --build . --config Release
+          cmake --build . --config Release -j $(nproc)
 
       - name: Build tests
         # Find and link to the flexiv_rdk INTERFACE library, then build all tests.
         run: |
           cd ${{github.workspace}}/test
           mkdir build && cd build
           cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
-          cmake --build . --config Release
+          cmake --build . --config Release -j $(nproc)

.gitignore

@@ -3,6 +3,7 @@
 .DS_Store
 config.h
 build/
+install/
 cloned/
 html/
 __pycache__

CMakeLists.txt

@@ -1,13 +1,9 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.18.6)
 
 # ===================================================================
-#      PROJECT CONFIG
+#      PROJECT SETUP
 # ===================================================================
-project(flexiv_rdk VERSION 1.0.0)
-
-# C++14 required
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
+project(flexiv_rdk VERSION 1.1.0)
 
 # Configure build type
 if(NOT CMAKE_BUILD_TYPE)
@@ -69,7 +65,7 @@ if(fastrtps_FOUND)
 endif()
 
 # ===================================================================
-#      PROJECT LIBRARIES
+#      CREATE LIBRARY
 # ===================================================================
 # Create an INTERFACE library with no source file to compile
 add_library(${PROJECT_NAME} INTERFACE)
@@ -91,16 +87,11 @@ target_link_libraries(${PROJECT_NAME} INTERFACE
   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(${PROJECT_NAME} INTERFACE /W1)
-else()
+if(CMAKE_HOST_UNIX)
   target_compile_options(${PROJECT_NAME} INTERFACE -Wall -Wextra)
+else()
+  target_compile_options(${PROJECT_NAME} INTERFACE /W1)
 endif()
 
 # Install the INTERFACE library

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         = "1.0"
+PROJECT_NUMBER         = "1.1"
 
 # 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/CMakeLists.txt

@@ -1,8 +1,8 @@
-
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.18.6)
 project(flexiv_rdk-examples)
 
-set(CMAKE_CXX_STANDARD 14)
+# Show verbose build info
+SET(CMAKE_VERBOSE_MAKEFILE ON)
 
 message("OS: ${CMAKE_SYSTEM_NAME}")
 message("Processor: ${CMAKE_SYSTEM_PROCESSOR}")
@@ -44,4 +44,8 @@ find_package(flexiv_rdk REQUIRED)
 foreach(example ${EXAMPLE_LIST})
   add_executable(${example} ${example}.cpp)
   target_link_libraries(${example} flexiv::flexiv_rdk)
+  # C++17 required
+  set_target_properties(${example} PROPERTIES 
+    CXX_STANDARD 17
+    CXX_STANDARD_REQUIRED ON)
 endforeach()

example/basics1_display_robot_states.cpp

@@ -7,7 +7,6 @@
  */
 
 #include <flexiv/Robot.hpp>
-#include <flexiv/Exception.hpp>
 #include <flexiv/Log.hpp>
 #include <flexiv/Utility.hpp>
 
@@ -116,7 +115,7 @@ int main(int argc, char* argv[])
         // Properly exit thread
         lowPriorityThread.join();
 
-    } catch (const flexiv::Exception& e) {
+    } catch (const std::exception& e) {
         log.error(e.what());
         return 1;
     }

example/basics2_clear_fault.cpp

@@ -7,7 +7,6 @@
  */
 
 #include <flexiv/Robot.hpp>
-#include <flexiv/Exception.hpp>
 #include <flexiv/Log.hpp>
 #include <flexiv/Utility.hpp>
 
@@ -78,7 +77,7 @@ int main(int argc, char* argv[])
         } else {
             log.info("No fault on robot server");
         }
-    } catch (const flexiv::Exception& e) {
+    } catch (const std::exception& e) {
         log.error(e.what());
         return 1;
     }

example/basics3_primitive_execution.cpp

@@ -7,7 +7,6 @@
  */
 
 #include <flexiv/Robot.hpp>
-#include <flexiv/Exception.hpp>
 #include <flexiv/Log.hpp>
 #include <flexiv/Utility.hpp>
 
@@ -157,14 +156,14 @@ int main(int argc, char* argv[])
         log.info("Executing primitive: MoveL");
 
         // Example to convert target quaternion [w,x,y,z] to Euler ZYX using utility functions
-        std::vector<double> targetQuat = {0.9185587, 0.1767767, 0.3061862, 0.1767767};
+        std::array<double, 4> targetQuat = {0.9185587, 0.1767767, 0.3061862, 0.1767767};
         // ZYX = [30, 30, 30] degrees
         auto targetEulerDeg = flexiv::utility::rad2Deg(flexiv::utility::quat2EulerZYX(targetQuat));
 
         // Send command to robot. This motion will hold current TCP position and only do TCP
         // rotation
         robot.executePrimitive(
-            "MoveL(target=0.0 0.0 0.0 " + flexiv::utility::vec2Str(targetEulerDeg) + "TRAJ START)");
+            "MoveL(target=0.0 0.0 0.0 " + flexiv::utility::arr2Str(targetEulerDeg) + "TRAJ START)");
 
         // Wait for reached target
         while (flexiv::utility::parsePtStates(robot.getPrimitiveStates(), "reachedTarget") != "1") {
@@ -174,7 +173,7 @@ int main(int argc, char* argv[])
         // All done, stop robot and put into IDLE mode
         robot.stop();
 
-    } catch (const flexiv::Exception& e) {
+    } catch (const std::exception& e) {
         log.error(e.what());
         return 1;
     }

example/basics4_plan_execution.cpp

@@ -9,7 +9,6 @@
  */
 
 #include <flexiv/Robot.hpp>
-#include <flexiv/Exception.hpp>
 #include <flexiv/Log.hpp>
 #include <flexiv/Utility.hpp>
 
@@ -106,7 +105,7 @@ int main(int argc, char* argv[])
         while (true) {
             // Monitor fault on robot server
             if (robot.isFault()) {
-                throw flexiv::ServerException("Fault occurred on robot server, exiting ...");
+                throw std::runtime_error("Fault occurred on robot server, exiting ...");
             }
 
             // Get user input
@@ -164,7 +163,7 @@ int main(int argc, char* argv[])
             }
         }
 
-    } catch (const flexiv::Exception& e) {
+    } catch (const std::exception& e) {
         log.error(e.what());
         return 1;
     }

example/basics5_zero_force_torque_sensors.cpp

@@ -7,7 +7,6 @@
  */
 
 #include <flexiv/Robot.hpp>
-#include <flexiv/Exception.hpp>
 #include <flexiv/Log.hpp>
 #include <flexiv/Utility.hpp>
 
@@ -97,7 +96,7 @@ int main(int argc, char* argv[])
         flexiv::RobotStates robotStates;
         robot.getRobotStates(robotStates);
         log.info("TCP force and moment reading in base frame BEFORE sensor zeroing: "
-                 + flexiv::utility::vec2Str(robotStates.extWrenchInBase) + "[N][Nm]");
+                 + flexiv::utility::arr2Str(robotStates.extWrenchInBase) + "[N][Nm]");
 
         // Run the "ZeroFTSensor" primitive to automatically zero force and torque sensors
         robot.setMode(flexiv::Mode::NRT_PRIMITIVE_EXECUTION);
@@ -116,9 +115,9 @@ int main(int argc, char* argv[])
         // Get and print the current TCP force/moment readings
         robot.getRobotStates(robotStates);
         log.info("TCP force and moment reading in base frame AFTER sensor zeroing: "
-                 + flexiv::utility::vec2Str(robotStates.extWrenchInBase) + "[N][Nm]");
+                 + flexiv::utility::arr2Str(robotStates.extWrenchInBase) + "[N][Nm]");
 
-    } catch (const flexiv::Exception& e) {
+    } catch (const std::exception& e) {
         log.error(e.what());
         return 1;
     }

example/basics6_gripper_control.cpp

@@ -6,7 +6,6 @@
  */
 
 #include <flexiv/Robot.hpp>
-#include <flexiv/Exception.hpp>
 #include <flexiv/Log.hpp>
 #include <flexiv/Gripper.hpp>
 #include <flexiv/Utility.hpp>
@@ -169,7 +168,7 @@ int main(int argc, char* argv[])
         log.info("Program finished");
         printThread.join();
 
-    } catch (const flexiv::Exception& e) {
+    } catch (const std::exception& e) {
         log.error(e.what());
         return 1;
     }

example/basics7_auto_recovery.cpp

@@ -7,7 +7,6 @@
  */
 
 #include <flexiv/Robot.hpp>
-#include <flexiv/Exception.hpp>
 #include <flexiv/Log.hpp>
 #include <flexiv/Utility.hpp>
 
@@ -72,10 +71,10 @@ int main(int argc, char* argv[])
         // process is done, so just wait long enough for the process to finish
         std::this_thread::sleep_for(std::chrono::seconds(8));
 
-        // Start auto recovery if the system is in recovery state, the involved joints will start to
-        // move back into allowed position range
+        // Run automatic recovery if the system is in recovery state, the involved joints will start
+        // to move back into allowed position range
         if (robot.isRecoveryState()) {
-            robot.startAutoRecovery();
+            robot.runAutoRecovery();
             // Block forever, must reboot the robot and restart user program after recovery is done
             while (true) {
                 std::this_thread::sleep_for(std::chrono::seconds(1));
@@ -85,7 +84,7 @@ int main(int argc, char* argv[])
         else {
             log.info("Robot system is not in recovery state, nothing to be done, exiting ...");
         }
-    } catch (const flexiv::Exception& e) {
+    } catch (const std::exception& e) {
         log.error(e.what());
         return 1;
     }

example/intermediate1_realtime_joint_position_control.cpp

@@ -6,7 +6,6 @@
  */
 
 #include <flexiv/Robot.hpp>
-#include <flexiv/Exception.hpp>
 #include <flexiv/Log.hpp>
 #include <flexiv/Scheduler.hpp>
 #include <flexiv/Utility.hpp>
@@ -50,40 +49,36 @@ void printHelp()
 /** @brief Callback function for realtime periodic task */
 void periodicTask(flexiv::Robot& robot, flexiv::Scheduler& scheduler, flexiv::Log& log,
     flexiv::RobotStates& robotStates, const std::string& motionType,
-    const std::vector<double>& initPos)
+    const std::array<double, flexiv::k_jointDOF>& initPos)
 {
     // Local periodic loop counter
     static unsigned int loopCounter = 0;
 
     try {
         // Monitor fault on robot server
         if (robot.isFault()) {
-            throw flexiv::ServerException(
-                "periodicTask: Fault occurred on robot server, exiting ...");
+            throw std::runtime_error("periodicTask: Fault occurred on robot server, exiting ...");
         }
 
         // Read robot states
         robot.getRobotStates(robotStates);
 
-        // Robot degrees of freedom
-        size_t robotDOF = robotStates.q.size();
+        // Initialize target arrays to hold position
+        std::array<double, flexiv::k_jointDOF> targetPos = {};
+        std::array<double, flexiv::k_jointDOF> targetVel = {};
+        std::array<double, flexiv::k_jointDOF> targetAcc = {};
 
-        // Initialize target vectors to hold position
-        std::vector<double> targetPos(robotDOF, 0);
-        std::vector<double> targetVel(robotDOF, 0);
-        std::vector<double> targetAcc(robotDOF, 0);
-
-        // Set target vectors based on motion type
+        // Set target arrays based on motion type
         if (motionType == "hold") {
             targetPos = initPos;
         } else if (motionType == "sine-sweep") {
-            for (size_t i = 0; i < robotDOF; ++i) {
+            for (size_t i = 0; i < flexiv::k_jointDOF; ++i) {
                 targetPos[i]
                     = initPos[i]
                       + k_sineAmp * sin(2 * M_PI * k_sineFreq * loopCounter * k_loopPeriod);
             }
         } else {
-            throw flexiv::InputException(
+            throw std::invalid_argument(
                 "periodicTask: unknown motion type. Accepted motion types: hold, sine-sweep");
         }
 
@@ -92,7 +87,7 @@ void periodicTask(flexiv::Robot& robot, flexiv::Scheduler& scheduler, flexiv::Lo
 
         loopCounter++;
 
-    } catch (const flexiv::Exception& e) {
+    } catch (const std::exception& e) {
         log.error(e.what());
         scheduler.stop();
     }
@@ -184,7 +179,7 @@ int main(int argc, char* argv[])
         // Set initial joint positions
         robot.getRobotStates(robotStates);
         auto initPos = robotStates.q;
-        log.info("Initial joint positions set to: " + flexiv::utility::vec2Str(initPos));
+        log.info("Initial joint positions set to: " + flexiv::utility::arr2Str(initPos));
 
         // Create real-time scheduler to run periodic tasks
         flexiv::Scheduler scheduler;
@@ -196,7 +191,7 @@ int main(int argc, char* argv[])
         // Start all added tasks, this is by default a blocking method
         scheduler.start();
 
-    } catch (const flexiv::Exception& e) {
+    } catch (const std::exception& e) {
         log.error(e.what());
         return 1;
     }