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Release/v1.0 (#1)
Release note: https://github.com/flexivrobotics/flexiv_drdk/releases/tag/v1.0
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‎.clang-format‎

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---
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Language: Proto
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BasedOnStyle: Google
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---
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Language: Cpp
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AccessModifierOffset: -4
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AlignAfterOpenBracket: false
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AlignConsecutiveAssignments: false
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AlignConsecutiveDeclarations: false
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AlignEscapedNewlinesLeft: false
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AlignOperands: true
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AlignTrailingComments: true
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AllowAllParametersOfDeclarationOnNextLine: false
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AllowShortBlocksOnASingleLine: false
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AllowShortCaseLabelsOnASingleLine: false
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AllowShortFunctionsOnASingleLine: Inline
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AllowShortIfStatementsOnASingleLine: false
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AllowShortLoopsOnASingleLine: false
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AlwaysBreakAfterDefinitionReturnType: None
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AlwaysBreakAfterReturnType: None
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AlwaysBreakBeforeMultilineStrings: true
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AlwaysBreakTemplateDeclarations: true
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BasedOnStyle: WebKit
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BinPackArguments: true
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BinPackParameters: true
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BreakBeforeBraces: Mozilla
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BreakBeforeTernaryOperators: true
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BreakConstructorInitializersBeforeComma: true
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CommentPragmas: "^ IWYU pragma:"
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ConstructorInitializerAllOnOneLineOrOnePerLine: false
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ConstructorInitializerIndentWidth: 0
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ContinuationIndentWidth: 4
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Cpp11BracedListStyle: true
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DerivePointerAlignment: false
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DisableFormat: false
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ExperimentalAutoDetectBinPacking: false
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ForEachMacros: [foreach, Q_FOREACH, BOOST_FOREACH]
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IndentCaseLabels: true
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IndentWrappedFunctionNames: false
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KeepEmptyLinesAtTheStartOfBlocks: true
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MacroBlockBegin: ""
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NamespaceIndentation: None
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SpaceAfterCStyleCast: false
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SpaceBeforeParens: ControlStatements
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SpaceInEmptyParentheses: false
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SpacesInContainerLiterals: true
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SpacesInCStyleCastParentheses: false
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Standard: Cpp11
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TabWidth: 4
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UseTab: Never

‎.github/ISSUE_TEMPLATE/bug_report.md‎

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---
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name: Bug Report
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about: Report a bug to help us improve
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title: "[BUG] "
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type: Bug
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labels: bug
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assignees: pzhu-flexiv
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---
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## Version info
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- DRDK: [e.g. v1.0]
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- Robot software: [e.g. v3.9]
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- OS: [e.g. Ubuntu 22.04, x86_64]
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## How urgent is this bug? Have you found any workarounds?
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On a scale of 1 to 10.
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## Describe the issue and expected behavior
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The issue is ...
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The correct behavior you expect is ...
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## Steps to reproduce
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1. '....'
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2. '....'
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3. '....'
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4. See error
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## Screenshots
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If applicable, add screenshots to help explain your issue.
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## Additional context
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Add any other context about the issue.

‎.github/ISSUE_TEMPLATE/feature_request.md‎

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---
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name: Feature Request
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about: Suggest a new feature
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title: "[FEATURE] "
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type: Feature
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labels: enhancement
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assignees: pzhu-flexiv
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---
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## How urgent is this feature?
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On a scale of 1 to 10.
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## Is this feature request related to a problem?
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This new feature is needed so that ... can be solved.
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## Describe the solution you'd like
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What you want to happen.
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## Describe alternatives you've considered
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Any alternative solutions or workarounds you've considered.
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## Additional context
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Add any other context or screenshots about this feature.

‎.github/ISSUE_TEMPLATE/question.md‎

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---
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name: Question
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about: Ask a question related to DRDK
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title: "[QUESTION] "
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type: Question
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labels: help wanted
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assignees: pzhu-flexiv
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---
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## There might already be an answer to your question
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Someone might have asked similar questions before, you can search in the [Issues](https://github.com/flexivrobotics/flexiv_drdk/issues?q=type%3AQuestion) tab.
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## Not sure how to get started and write a working DRDK program?
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The usage of Flexiv DRDK is similar to Flexiv RDK, thus you can take a look at the [C++ examples](https://github.com/flexivrobotics/flexiv_rdk/tree/main/example) or [Python examples](https://github.com/flexivrobotics/flexiv_rdk/tree/main/example_py) from Flexiv RDK to get started.
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## Is this related to a specific version of DRDK?
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If yes, please specify.
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## Please describe your question
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Texts, screenshots, links, code blocks ...

‎.github/workflows/cmake.yml‎

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name: CMake
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on:
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push:
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branches: [main]
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pull_request:
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branches: [main]
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workflow_dispatch:
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env:
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# Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
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BUILD_TYPE: Release
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jobs:
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build-ubuntu-22:
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# GitHub-hosted Ubuntu 22.04 runner
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runs-on: ubuntu-22.04
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# Use shared steps
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steps:
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- uses: actions/checkout@v3
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- uses: ./.github/workflows/shared_steps

‎.github/workflows/shared_steps/action.yml‎

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name: "Shared Build Steps"
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runs:
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using: "composite"
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# Note: working directory will be reset to the repo root for each new step
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steps:
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# Build and install all dependencies to RDK installation directory.
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- name: Build and install dependencies
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shell: bash
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run: |
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pwd
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cd thirdparty
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bash build_and_install_dependencies.sh ~/drdk_install 4
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# Configure CMake, then build and install flexiv_rdk library to RDK installation directory.
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- name: Build and install library
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shell: bash
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run: |
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pwd
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mkdir -p build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/drdk_install
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cmake --build . --target install --config Release
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# Find and link to flexiv_rdk library, then build all example programs.
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- name: Build examples
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shell: bash
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run: |
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pwd
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cd example
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mkdir -p build && cd build
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cmake .. -DCMAKE_PREFIX_PATH=~/drdk_install
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cmake --build . --config Release -j 4

‎.gitignore‎

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.vscode
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.vs
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.DS_Store
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config.h
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build*/
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install/
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cloned/
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html/
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__pycache__

‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.16.3)
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# ===================================================================
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# PROJECT SETUP
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# ===================================================================
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project(flexiv_drdk VERSION 1.0.0)
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# Configure build type
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if(NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE Release CACHE STRING "CMake build type" FORCE)
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endif()
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set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Release" "Debug" "RelWithDebInfo")
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# Set static library according to platform
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message(STATUS "OS: ${CMAKE_SYSTEM_NAME}")
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message(STATUS "Processor: ${CMAKE_SYSTEM_PROCESSOR}")
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if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
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if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "x86_64")
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set(RDK_STATIC_LIB "libflexiv_drdk.x86_64-linux-gnu.a")
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elseif(${CMAKE_SYSTEM_PROCESSOR} MATCHES "aarch64")
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set(RDK_STATIC_LIB "libflexiv_drdk.aarch64-linux-gnu.a")
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else()
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message(FATAL_ERROR "Linux with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
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endif()
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elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
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if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "arm64")
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set(RDK_STATIC_LIB "libflexiv_drdk.arm64-darwin.a")
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else()
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message(FATAL_ERROR "Mac with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
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endif()
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elseif(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
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if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "AMD64")
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set(RDK_STATIC_LIB "flexiv_drdk.win_amd64.lib")
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else()
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message(FATAL_ERROR "Windows with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
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endif()
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endif()
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# ===================================================================
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# PROJECT DEPENDENCIES
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# ===================================================================
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# Threads
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set(THREADS_PREFER_PTHREAD_FLAG ON)
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find_package(Threads REQUIRED)
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if(Threads_FOUND)
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message(STATUS "Found Threads: HAVE_PTHREAD = ${THREADS_HAVE_PTHREAD_ARG}")
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endif()
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# Flexiv RDK
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find_package(flexiv_rdk REQUIRED)
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if(flexiv_rdk_FOUND)
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message(STATUS "Found flexiv_rdk: ${flexiv_rdk_DIR}")
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endif()
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# ===================================================================
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# CREATE LIBRARY
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# ===================================================================
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# Create an INTERFACE library with no source file to compile
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add_library(${PROJECT_NAME} INTERFACE)
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# Create an alias of the library using flexiv namespace,
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# to imitate the install target which uses flexiv namespace.
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add_library(flexiv::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
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target_include_directories(${PROJECT_NAME} INTERFACE
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(${PROJECT_NAME} INTERFACE
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${CMAKE_CURRENT_SOURCE_DIR}/lib/${RDK_STATIC_LIB}
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Threads::Threads
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flexiv::flexiv_rdk
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)
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# Use moderate compiler warning option
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if(CMAKE_HOST_UNIX)
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target_compile_options(${PROJECT_NAME} INTERFACE -Wall -Wextra)
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else()
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target_compile_options(${PROJECT_NAME} INTERFACE /W1)
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endif()
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# Install the INTERFACE library
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include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/FlexivInstallLibrary.cmake)
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FlexivInstallLibrary()

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