flexivrobotics · pzhu-flexiv · Dec 1, 2023 · Oct 3, 2023 · Oct 4, 2023 · Oct 4, 2023
diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
@@ -13,10 +13,7 @@ env:
 
 jobs:
   build-ubuntu-22:
-    # The CMake configure and build commands are platform agnostic and should work equally
-    # well on Windows or Mac.  You can convert this to a matrix build if you need
-    # cross-platform coverage.
-    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    # Use Ubuntu 22.04 runner
     runs-on: ubuntu-22.04
 
     steps:
@@ -27,7 +24,7 @@ jobs:
         run: |
           cd ${{github.workspace}}
           cd thirdparty
-          bash build_and_install_dependencies.sh ~/rdk_install
+          bash build_and_install_dependencies.sh ~/rdk_install $(nproc)
 
       - name: Build and install library
         # Configure CMake, then build and install the flexiv_rdk INTERFACE library to RDK installation directory.
@@ -54,10 +51,7 @@ jobs:
           make -j$(nproc)
 
   build-ubuntu-20:
-    # The CMake configure and build commands are platform agnostic and should work equally
-    # well on Windows or Mac.  You can convert this to a matrix build if you need
-    # cross-platform coverage.
-    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    # Use Ubuntu 20.04 runner
     runs-on: ubuntu-20.04
 
     steps:
@@ -68,7 +62,7 @@ jobs:
         run: |
           cd ${{github.workspace}}
           cd thirdparty
-          bash build_and_install_dependencies.sh ~/rdk_install
+          bash build_and_install_dependencies.sh ~/rdk_install $(nproc)
 
       - name: Build and install library
         # Configure CMake, then build and install the flexiv_rdk INTERFACE library to RDK installation directory.
@@ -94,12 +88,9 @@ jobs:
           cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
           make -j$(nproc)
 
-  build-windows-2022:
-    # The CMake configure and build commands are platform agnostic and should work equally
-    # well on Windows or Mac.  You can convert this to a matrix build if you need
-    # cross-platform coverage.
-    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
-    runs-on: windows-2022
+  build-macos-12:
+    # Use self-hosted macOS 12 runner with arm64 processor
+    runs-on: [self-hosted, macos-12, ARM64]
 
     steps:
       - uses: actions/checkout@v2
@@ -109,7 +100,45 @@ jobs:
         run: |
           cd ${{github.workspace}}
           cd thirdparty
-          bash build_and_install_dependencies.sh ~/rdk_install
+          bash build_and_install_dependencies.sh ~/rdk_install $(sysctl -n hw.ncpu)
+
+      - name: Build and install library
+        # Configure CMake, then build and install the flexiv_rdk INTERFACE library to RDK installation directory.
+        run: |
+          cd ${{github.workspace}}
+          mkdir -p build && cd build
+          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
+          make install
+
+      - name: Build examples
+        # Find and link to the flexiv_rdk INTERFACE library, then build all examples.
+        run: |
+          cd ${{github.workspace}}/example
+          mkdir -p build && cd build
+          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
+          make -j$(sysctl -n hw.ncpu)
+
+      - name: Build tests
+        # Find and link to the flexiv_rdk INTERFACE library, then build all tests.
+        run: |
+          cd ${{github.workspace}}/test
+          mkdir -p build && cd build
+          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
+          make -j$(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
+
+    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 $(nproc)
 
       - name: Build and install library
         # Configure CMake, then build and install the flexiv_rdk INTERFACE library to RDK installation directory.

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,9 +1,9 @@
-cmake_minimum_required(VERSION 3.18.6)
+cmake_minimum_required(VERSION 3.16.3)
 
 # ===================================================================
 #      PROJECT SETUP
 # ===================================================================
-project(flexiv_rdk VERSION 1.1.0)
+project(flexiv_rdk VERSION 1.2.0)
 
 # Configure build type
 if(NOT CMAKE_BUILD_TYPE)
@@ -16,21 +16,21 @@ 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/libflexiv_rdk.linux-gnu-x86_64.a")
+    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/libflexiv_rdk.x86_64-linux-gnu.a")
   elseif(${CMAKE_SYSTEM_PROCESSOR} MATCHES "aarch64")
-    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/libflexiv_rdk.linux-gnu-aarch64.a")
+    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/libflexiv_rdk.aarch64-linux-gnu.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/libflexiv_rdk.darwin-arm64.a")
+    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/libflexiv_rdk.arm64-darwin.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/flexiv_rdk.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()
@@ -47,19 +47,19 @@ if(Threads_FOUND)
 endif()
 
 # Eigen3
-find_package(Eigen3 REQUIRED HINTS ${CMAKE_INSTALL_PREFIX})
+find_package(Eigen3 REQUIRED)
 if(Eigen3_FOUND)
   message(STATUS "Found Eigen3: ${Eigen3_DIR}")
 endif()
 
 # Fast-CDR
-find_package(fastcdr 1.0.24 REQUIRED HINTS ${CMAKE_INSTALL_PREFIX})
+find_package(fastcdr 1.0.24 REQUIRED)
 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})
+find_package(fastrtps 2.6.2 REQUIRED)
 if(fastrtps_FOUND)
   message(STATUS "Found fastrtps: ${fastrtps_DIR}")
 endif()
@@ -70,11 +70,11 @@ endif()
 # Create an INTERFACE library with no source file to compile
 add_library(${PROJECT_NAME} INTERFACE)
 
-# Create an alias of the library using flexiv namespace, 
+# Create an alias of the library using flexiv namespace,
 # to imitate the install target which uses flexiv namespace.
 add_library(flexiv::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
-target_include_directories(${PROJECT_NAME} INTERFACE 
+target_include_directories(${PROJECT_NAME} INTERFACE
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
 )
@@ -87,7 +87,7 @@ target_link_libraries(${PROJECT_NAME} INTERFACE
   fastcdr
 )
 
-# Use moderate compiler warning option 
+# Use moderate compiler warning option
 if(CMAKE_HOST_UNIX)
   target_compile_options(${PROJECT_NAME} INTERFACE -Wall -Wextra)
 else()

diff --git a/README.md b/README.md
@@ -11,11 +11,11 @@ Flexiv RDK (Robotic Development Kit), a key component of the Flexiv Robotic Soft
 
 ## Compatibility Overview
 
-| **Supported OS**               | **Supported processor** | **Supported language** | **Required compiler kit** |
-| ------------------------------ | ----------------------- | ---------------------- | ------------------------- |
-| Linux (Ubuntu 18/20/22 tested) | 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+                |
+| **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+                |
 
 ## Quick Start
 
@@ -34,7 +34,7 @@ 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, run the provided script to compile and install all dependencies to the installation directory chosen in step 1:
+3. In a new Terminal, run the provided script to compile and install all dependencies to the installation directory chosen in step 2:
 
         cd flexiv_rdk/thirdparty
         bash build_and_install_dependencies.sh ~/rdk_install
@@ -82,10 +82,14 @@ 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 the "Desktop development with C++" package during installation.
-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.
+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:
+   * 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.
 
 ### Python RDK
 

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         = "1.1"
+PROJECT_NUMBER         = "1.2"
 
 # 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
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.18.6)
+cmake_minimum_required(VERSION 3.16.3)
 project(flexiv_rdk-examples)
 
 # Show verbose build info
@@ -21,10 +21,11 @@ set(EXAMPLE_LIST
   basics5_zero_force_torque_sensors
   basics6_gripper_control
   basics7_auto_recovery
+  basics8_update_robot_tool
+  intermediate6_robot_dynamics
   intermediate7_teach_by_demonstration
 )
 
-
 # Additional examples for Linux and Mac
 if(CMAKE_HOST_UNIX)
   list(APPEND EXAMPLE_LIST
@@ -33,7 +34,6 @@ if(CMAKE_HOST_UNIX)
     intermediate3_realtime_joint_floating
     intermediate4_realtime_cartesian_pure_motion_control
     intermediate5_realtime_cartesian_motion_force_control
-    intermediate6_robot_dynamics
   )
 endif()
 
@@ -44,8 +44,9 @@ 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(${example} PROPERTIES 
+  set_target_properties(${example} PROPERTIES
     CXX_STANDARD 17
     CXX_STANDARD_REQUIRED ON)
 endforeach()
diff --git a/example/basics1_display_robot_states.cpp b/example/basics1_display_robot_states.cpp
@@ -2,7 +2,7 @@
  * @example basics1_display_robot_states.cpp
  * This tutorial does the very first thing: check connection with the robot server and print
  * received robot states.
- * @copyright Copyright (C) 2016-2021 Flexiv Ltd. All Rights Reserved.
+ * @copyright Copyright (C) 2016-2023 Flexiv Ltd. All Rights Reserved.
  * @author Flexiv
  */
 
@@ -37,16 +37,12 @@ void printHelp()
 /** @brief Print robot states data @ 1Hz */
 void printRobotStates(flexiv::Robot& robot, flexiv::Log& log)
 {
-    // Data struct storing robot states
-    flexiv::RobotStates robotStates;
-
     while (true) {
-        // Get the latest robot states
-        robot.getRobotStates(robotStates);
-
         // 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 << robotStates << std::endl;
+        std::cout << robot.getRobotStates() << std::endl;
         std::this_thread::sleep_for(std::chrono::seconds(1));
     }
 }
@@ -95,14 +91,8 @@ int main(int argc, char* argv[])
         robot.enable();
 
         // Wait for the robot to become operational
-        int secondsWaited = 0;
         while (!robot.isOperational()) {
             std::this_thread::sleep_for(std::chrono::seconds(1));
-            if (++secondsWaited == 10) {
-                log.warn(
-                    "Still waiting for robot to become operational, please check that the robot 1) "
-                    "has no fault, 2) is in [Auto (remote)] mode");
-            }
         }
         log.info("Robot is now operational");
 

diff --git a/example/basics2_clear_fault.cpp b/example/basics2_clear_fault.cpp
@@ -2,7 +2,7 @@
  * @example basics2_clear_fault.cpp
  * This tutorial clears minor faults from the robot server if any. Note that critical faults cannot
  * be cleared, see RDK manual for more details.
- * @copyright Copyright (C) 2016-2021 Flexiv Ltd. All Rights Reserved.
+ * @copyright Copyright (C) 2016-2023 Flexiv Ltd. All Rights Reserved.
  * @author Flexiv
  */
 

diff --git a/example/basics3_primitive_execution.cpp b/example/basics3_primitive_execution.cpp
@@ -2,7 +2,7 @@
  * @example basics3_primitive_execution.cpp
  * This tutorial executes several basic robot primitives (unit skills). For detailed documentation
  * on all available primitives, please see [Flexiv Primitives](https://www.flexiv.com/primitives/).
- * @copyright Copyright (C) 2016-2021 Flexiv Ltd. All Rights Reserved.
+ * @copyright Copyright (C) 2016-2023 Flexiv Ltd. All Rights Reserved.
  * @author Flexiv
  */
 
@@ -79,14 +79,8 @@ int main(int argc, char* argv[])
         robot.enable();
 
         // Wait for the robot to become operational
-        int secondsWaited = 0;
         while (!robot.isOperational()) {
             std::this_thread::sleep_for(std::chrono::seconds(1));
-            if (++secondsWaited == 10) {
-                log.warn(
-                    "Still waiting for robot to become operational, please check that the robot 1) "
-                    "has no fault, 2) is in [Auto (remote)] mode");
-            }
         }
         log.info("Robot is now operational");