Flexiv RDK 0.5.0 (#8)

Changelog at https://github.com/flexivrobotics/flexiv_rdk/releases/

Author: pzhu-flexiv

CMakeLists.txt

@@ -12,6 +12,8 @@ if( NOT CMAKE_BUILD_TYPE )
        FORCE )
 endif()
 
+option(BUILD_FOR_ARM64 "Link to RDK library for arm64 processor, otherwise link to x64" OFF)
+
 set(CMAKE_VERBOSE_MAKEFILE ON)
 
 set(THREADS_PREFER_PTHREAD_FLAG ON)
@@ -25,16 +27,18 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/example)
 
 # list of examples
 set(EXAMPLE_LIST
+  auto_recovery
   cartesian_impedance_control
+  clear_fault
+  display_robot_states
+  floating_with_soft_limits
+  gripper_control
   joint_impedance_control
   joint_position_control
   plan_execution
   primitive_execution
   robot_dynamics
-  display_robot_states
   series_operation
-  floating_with_soft_limits
-  auto_recovery
   visualization
 )
 
@@ -46,14 +50,24 @@ foreach(example ${EXAMPLE_LIST})
   target_include_directories(${example} 
     PUBLIC 
     ${CMAKE_CURRENT_SOURCE_DIR}/include
-    ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/Eigen
+    ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/eigen3
   )
 
+  # Link basic libraries
   target_link_libraries(${example} 
-      ${CMAKE_CURRENT_SOURCE_DIR}/lib/libFlexivRdk.a
-      anl
       Threads::Threads
+      anl
   )
+
+  # Link arm64 or x64 version of libFlexivRdk
+  if (${BUILD_FOR_ARM64})
+    target_link_libraries(${example} 
+      ${CMAKE_CURRENT_SOURCE_DIR}/lib/cpp/arm64/libFlexivRdk.a)
+  else()
+    target_link_libraries(${example} 
+      ${CMAKE_CURRENT_SOURCE_DIR}/lib/cpp/x64/libFlexivRdk.a)
+  endif()
+
 endforeach()
 
 
@@ -65,14 +79,13 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/test)
 
 # list of tests
 set(TEST_LIST
-  test_dynamic_engine
-  test_scheduler
-  test_set_tool
-  test_timeliness_monitor
-  test_data_integrity
+  test_dynamics_engine
+  test_dynamics_with_tool
   test_endurance
   test_log
   test_loop_latency
+  test_scheduler
+  test_timeliness_monitor
 )
 
 foreach(test ${TEST_LIST})
@@ -83,12 +96,22 @@ foreach(test ${TEST_LIST})
   target_include_directories(${test} 
     PUBLIC 
     ${CMAKE_CURRENT_SOURCE_DIR}/include
-    ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/Eigen
+    ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/eigen3
   )
 
+  # Link basic libraries
   target_link_libraries(${test} 
-      ${CMAKE_CURRENT_SOURCE_DIR}/lib/libFlexivRdk.a
-      anl
       Threads::Threads
+      anl
   )
+
+  # Link arm64 or x64 version of libFlexivRdk
+  if (${BUILD_FOR_ARM64})
+    target_link_libraries(${test} 
+      ${CMAKE_CURRENT_SOURCE_DIR}/lib/cpp/arm64/libFlexivRdk.a)
+  else()
+    target_link_libraries(${test} 
+      ${CMAKE_CURRENT_SOURCE_DIR}/lib/cpp/x64/libFlexivRdk.a)
+  endif()
+
 endforeach()

README.md

@@ -5,31 +5,33 @@
 
 Flexiv RDK (Robot Development Kit) is a powerful toolkit as an add-on to the Flexiv software platform. It enables the users to create complex applications with APIs that provide low-level real-time access to the robot.
 
-**C++** interface (real-time and non-real-time APIs) and **Python** interface (non-real-time APIs only) are supported.
+**C++** (access to all APIs) and **Python** (access to non-real-time APIs only) are supported.
 
 ## License
 
 Flexiv RDK is licensed under the [Apache 2.0 license](https://www.apache.org/licenses/LICENSE-2.0.html).
 
 ## References
 
-**[Flexiv RDK Manual](https://flexivrobotics.github.io/)** is the main reference and contains important information on how to properly set up the system and use Flexiv RDK library.
-
-[API documentation](https://flexivrobotics.github.io/flexiv_rdk/) contains details about available APIs, generated from Doxygen.
+[Flexiv RDK main webpage](https://rdk.flexiv.com/) contains important information like the user manual and API documentation, please read them carefully before proceeding.
 
 ## Run example programs
 
 **NOTE:** the instruction below is only a quick reference, assuming you've already gone through the Flexiv RDK Manual.
 
 ### C++ interface
 
-1. Configure and build example programs:
+1. Configure and compile example programs for x64 processors:
 
         cd flexiv_rdk
         mkdir build && cd build
         cmake ..
         make -j4
 
+   For arm64 processors, set the additional CMake option when configuring:
+
+        cmake .. -DBUILD_FOR_ARM64=ON
+
 2. The compiled program binaries will be output to ``flexiv_rdk/build/example``
 3. Assume the robot is booted and connected, to run an example program:
 
@@ -66,3 +68,4 @@ Flexiv RDK has integrated visualization (only available for C++ interface) based
 4. Use APIs in ``flexiv::Visualization`` to communicate with the Meshcat server, the empty scene will be populated with robot(s) and user-defined objects if any. Refer to ``example/visualization.cpp``.
 
 **Note:** only STL mesh files are supported, which are provided in ``spec/meshes``.
+

doc/Doxyfile.in

@@ -32,19 +32,19 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.
 
-PROJECT_NAME           = "RDK"
+PROJECT_NAME           = "Flexiv RDK APIs"
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = "0.4.0"
+PROJECT_NUMBER         = "0.5.0"
 
 # 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
 # quick idea about the purpose of the project. Keep the description short.
 
-PROJECT_BRIEF          = "C++ APIs"
+PROJECT_BRIEF          = ""
 
 # With the PROJECT_LOGO tag one can specify a logo or an icon that is included
 # in the documentation. The maximum height of the logo should not exceed 55

example/auto_recovery.cpp

@@ -3,13 +3,14 @@
  * Run auto-recovery if the robot's safety system is in recovery state,
  * otherwise run damped floating with joint soft limit disabled, so that the
  * user can manually trigger a safety system recovery state by moving any joint
- * close to its limit. See flexiv::Mode::MODE_AUTO_RECOVERY for more details.
+ * close to its limit. See flexiv::Robot::isRecoveryState() for more details.
  * @copyright Copyright (C) 2016-2021 Flexiv Ltd. All Rights Reserved.
  * @author Flexiv
  */
 
-#include <Robot.hpp>
-#include <Log.hpp>
+#include <flexiv/Robot.hpp>
+#include <flexiv/Exception.hpp>
+#include <flexiv/Log.hpp>
 
 #include <string>
 #include <thread>
@@ -32,49 +33,45 @@ int main(int argc, char* argv[])
     // IP of the workstation PC running this program
     std::string localIP = argv[2];
 
-    // RDK Initialization
-    //=============================================================================
-    // Instantiate robot interface
-    auto robot = std::make_shared<flexiv::Robot>();
-
-    // Create data struct for storing robot states
-    auto robotStates = std::make_shared<flexiv::RobotStates>();
+    try {
+        // RDK Initialization
+        //=============================================================================
+        // Instantiate robot interface
+        flexiv::Robot robot(robotIP, localIP);
 
-    // Initialize robot interface and connect to the robot server
-    robot->init(robotIP, localIP);
+        // Create data struct for storing robot states
+        flexiv::RobotStates robotStates;
 
-    // Wait for the connection to be established
-    do {
-        std::this_thread::sleep_for(std::chrono::milliseconds(1));
-    } while (!robot->isConnected());
-
-    // Enable the robot, make sure the E-stop is released before enabling
-    if (robot->enable()) {
+        // Enable the robot, make sure the E-stop is released before enabling
         log.info("Enabling robot ...");
-    }
+        robot.enable();
 
-    // Application-specific Code
-    //=============================================================================
-    // If the system is in recovery state, we can't use isOperational to tell if
-    // the enabling process is done, so just wait long enough for the process to
-    // finish
-    std::this_thread::sleep_for(std::chrono::seconds(8));
+        // Application-specific Code
+        //=============================================================================
+        // If the system is in recovery state, we can't use isOperational to
+        // tell if the enabling 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
-    if (robot->isRecoveryState()) {
-        robot->startAutoRecovery();
-        // Block forever, must reboot the robot and restart user program after
-        // auto recovery is done
-        do {
-            std::this_thread::sleep_for(std::chrono::milliseconds(1));
-        } while (true);
-    }
-    // Otherwise the system is normal, do nothing
-    else {
-        log.info(
-            "Robot system is not in recovery state, nothing to be done, "
-            "exiting ...");
+        // Start auto 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();
+            // Block forever, must reboot the robot and restart user program
+            // after auto recovery is done
+            while (true) {
+                std::this_thread::sleep_for(std::chrono::seconds(1));
+            }
+        }
+        // Otherwise the system is normal, do nothing
+        else {
+            log.info(
+                "Robot system is not in recovery state, nothing to be done, "
+                "exiting ...");
+        }
+    } catch (const flexiv::Exception& e) {
+        log.error(e.what());
+        return 0;
     }
 
     return 0;